CN105116885A - Automatic bait casting workboat vision navigation method based on artificial identification - Google Patents
Automatic bait casting workboat vision navigation method based on artificial identification Download PDFInfo
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Abstract
The invention discloses an automatic bait casting workboat vision navigation method based on artificial identification. An automatic bait casting workboat adopts a visual navigation mode and drives along a predetermined route, navigation information expressed by an artificial marker is obtained through image processing performed on the set artificial marker, a position and a course of the automatic bait casting workboat are judged, a corresponding control strategy is made, and the automatic bait casting workboat is controlled to drive along the predetermined router. The method is advantageous in that a lot of manual operation can be saved, freshwater shrimp culturists' labor intensity is reduced, a basis is provided for achievement of automation and intelligentization of the freshwater shrimp breeding industry, and scale development of the freshwater shrimp breeding industry is facilitated.
Description
Technical field
The invention belongs to agricultural engineering and field of machine vision, is that a kind of image processing techniques, computer technology etc. of adopting carries out the method for vision guided navigation to shrimp culture automatic job ship.
Background technology
In recent years, along with the raising of living standards of the people, high protein Aquatic products consumption amount increases year by year.According to data, the first half of the year in 2014, China's aquaculture area reached 762.98 ten thousand hectares, output of aquatic products 2616.38 ten thousand tons, and will continue the trend keeping increasing year by year.Nowadays, the aquaculture of China there has been impressive achievement, and aquaculture product output has reached whole world aquatic products total amount 70%, becomes the first in the world aquaculture big country, and product water outlet amount the first in the world for years.Freshwater shrimp rich in nutritive value, delicious flavour, powerful demand impels the cultivation scale of freshwater shrimp to increase rapidly.And along with the increase of market abroad demand, high-quality freshwater shrimp is the important outlet aquatic products of China.In recent years along with the continuous rise of freshwater shrimp price, and the operation of its cultural technique is relatively simple, and shrimp culture market outlook are extensively had an optimistic view of, and current China shrimp culture water surface area is sharply increased.
But the automatization level of China's shrimp culture industry seems quite delayed, in current cultivation work, breeding feed is thrown in major part and is adopted artificial mode to carry out, and the workload of this working method and labour intensity are comparatively large, and particularly when cultured area is large, labour intensity is huge.And in whole cultivation bait throwing in process substantially or rely on raiser to carry out according to personal experience, have spreading uneven, measure the shortcomings such as inaccurate and feeding is not punctual.
Based on above situation, consider to adopt the operation ship having installed Autoamtic bait putting machine, the mode controlled in conjunction with self-navigation carrys out bait throwing in.The navigate mode of non-visual information that what general navigate mode adopted is, as GPS navigation.Though GPS navigation location is comparatively accurate, but expensive, for common cultivation peasant household, added cost.Vision guided navigation is that artificial intelligence is driven or auxiliary gordian technique step of driving, and is the process (being generally view data) by vision data, and information useful in extraction environment, provides reliable foundation for travelling decision-making.From shrimp culture technical experience, require cultivating pool: shrimp pool area optimum is 3 ~ 5 mu, what generally present is that thing is long, north and south is wide, dark more than 1.2 meters of the pool, the depth of water more than 1 meter, rectangular plane distribution, its versus environmental is applicable to the method considering to use vision guided navigation.If the manual identification's thing adding some settings in Cultivated water environment, carry out image procossing again by some image shot by cameras, obtain corresponding navigation information, ensure that operation ship travels on predetermined path.
Summary of the invention
For the problems referred to above, in conjunction with the basic condition of current shrimp culture pond environment, the present invention adopts the operation ship having installed Autoamtic bait putting machine, shrimp pool periphery artificially arranges some markers, adopt image processing techniques, obtain the navigation information of Autoamtic bait putting operation ship, propose a kind of method of the shrimp culture Autoamtic bait putting operation ship vision guided navigation based on manual identification, realize the automatic running bait throwing in of Autoamtic bait putting operation ship.This invention is to the gentle reduction aquaculture cost of the aquaculture Automated water that reduces labor intensity, improves, and tool is of great significance.
Based on a manual identification's Autoamtic bait putting operation ship vision navigation method, comprise the following steps:
Step 1, on the shrimp pool, all around assigned address arranges specific manual identification's thing, and different manual identification's things represents different navigation informations; Navigation information comprises and represents straight movement control signal and represent Servo Control signal two class manual identification thing, straight movement control signal manual identification thing adopts sphere of movements for the elephants shape pattern code to distinguish different course line, with sphere of movements for the elephants type pattern upper left corner grid for most significant digit, lower right corner grid is lowest order, binary coding is carried out by direction from right to left, from bottom to top, wherein black box represents " 1 ", and white boxes represents " 0 "; Servo Control signal manual identification thing is divided three classes, and green circular pattern represents left turn signal, and red circular pattern represents stopping signal for turn, and blue circular pattern represents right turn signal;
Step 2, Autoamtic bait putting operation ship selects three cameras, install fixing on forward and backward, the right of Autoamtic bait putting operation ship respectively, by hull control module, image procossing is carried out to the image of camera collection, front and back camera A, B control straight-line travelling signal for obtaining, and the right camera C controls to turn and stop signal for turn for obtaining;
Step 3, first hull control module judges self position and attitude according to front camera A and formulates corresponding control strategy, controls the transport condition of Autoamtic bait putting operation ship; If the picture centre that front camera A takes is on the left side of marker, then fore should edge run-out to the right; If the picture centre that front camera A takes is on the right of marker, then fore should edge run-out left; Fore deflection is until front marker is in the centre position gathering image;
Step 4, when the marker of front camera A shooting is in the centre position gathering image, now should judge the position of ship according to the position of marker in rear camera B shooting image; If the picture centre that rear camera B takes is on the right of marker, can judge that now Autoamtic bait putting operation ship hull is positioned at the right in course line, then fore should edge run-out left; If the picture centre that rear camera B takes is on the marker left side, can judge that now Autoamtic bait putting operation ship hull is positioned at the left side in course line, then fore should edge run-out to the right; If rear marker is in the middle of collection image, then Autoamtic bait putting operation ship travels in advertised route;
Step 5, after having deflected, according to this strategy position of dynamic conditioning ship and attitude repeatedly, makes Autoamtic bait putting operation ship can according to desired trajectory straight-line travelling by step 4;
Step 6, when camera C on the right of Autoamtic bait putting operation ship photographs the signal of left and right pool bank Servo Control signal manual identification thing, Autoamtic bait putting operation ship hull control module, according to the navigation information identified, controls and changes the corresponding transport condition of Autoamtic bait putting operation ship; When a left side (right side) turning navigation signal being detected, a fore left side (right side) turns until stopping signal for turn being detected, stops turning rear ship namely on next course line;
Step 7, repeats step 3-6, until complete the bait throwing in operation of this Autoamtic bait putting operation ship.
Further, the setting of the thing of manual identification described in step 1, also comprises, and before and after the shrimp pool, pool bank arranges the manual identification's thing representing straight movement control signal according to track spacing, and wherein manual identification's article pattern coding at two ends, same course line is consistent; Often pair of Servo Control signal manual identification thing near front (afterwards) pool bank side is identical with front (afterwards) pool bank horizontal range.
Further, on the operation ship of Autoamtic bait putting described in step 2, the method to set up of camera is: front and back camera A, B are arranged on sustained height along hull axis; Camera C installs on the right side of Autoamtic bait putting operation ship hull, and height is highly consistent with front and back camera A, B.
Further, in step 4, describedly take the position of marker in image according to rear camera B and judge the method for the position of Autoamtic bait putting operation ship, also comprise, the angle of Autoamtic bait putting operation ship fore in deflection according to former and later two distances of deflection than determining; Deflection front distance ratio is: the picture centre marker distance adjacent with two, rear that rear camera B takes than; Deflection after distance ratio be: front camera A take picture centre marker distance adjacent with two, front than; This deflection is until deflection longitudinal separation is than equal.
Further, described straight movement control signal manual identification's thing center and Servo Control signal manual identification's thing center are in same level.
Beneficial effect of the present invention is: Autoamtic bait putting operation ship adopts vision guided navigation mode to travel along prebriefed pattern, its navigation information of expressing is obtained by carrying out image procossing to the manual identification's thing arranged, judge position and the course of Autoamtic bait putting operation ship, make corresponding control strategy, control Autoamtic bait putting operation ship and independently travel by predetermined course line.The invention has the advantages that and can save a large amount of manual operations, the labour intensity of the person that alleviates shrimp culture, for robotization, the intellectuality realizing shrimp culture industry provides foundation, is conducive to the large-scale development of shrimp culture industry.
Accompanying drawing explanation
Fig. 1 the present invention is based on the total environment top plan view using vision navigation system;
Fig. 2 is the automatic job ship sketch that present system uses;
Fig. 3 is manual identification's thing that the present invention adopts;
Fig. 4 is that operation ship travels regular process flow diagram;
Fig. 5 is left-hand bend schematic diagram;
Fig. 6 is right-hand bend schematic diagram;
Fig. 7 is the control adjustable strategies schematic diagram of operation ship on course line.
Embodiment
Below in conjunction with accompanying drawing illustrate and specifically implement the present invention is described further.
The air navigation aid of vision that utilizes relatively more conventional at present is mainly divided into two kinds: utilize manual identification's thing method of identification and image scene method of identification.Manual identification's thing method of identification refers to and add some artificial markers (such as arrow, figure, flag etc.) in operative scenario, is identified by these markers, to determine position or path planning from image.The invention provides a kind of shrimp culture automatic job ship vision navigation method based on manual identification, for the basic condition of shrimp culture pond environment, design is a kind of based on manual identification's vision navigation method, be applied on shrimp culture automatic job ship, thus reach the object of the ship view-based access control model self-navigation that fulfils assignment.
We select following cultivating pool so that the present invention to be described: see Fig. 1, and pond size is about 3 mu, and long is 50m, and wide is 40m, does not in general substantially have barrier in the shrimp pool, and the water surface is tranquiler, and water quality is limpider.The Autoamtic bait putting machine selected feeds intake according to fan-shaped regional extent, it is 8-12m that Autoamtic bait putting operation ship once travels even bait throwing in scope, device for feeding fish bait bait throwing in scope is 8m in the present invention, can plan 5 paths, is the driving path of Autoamtic bait putting operation ship planning as shown in phantom in Figure 1.With Autoamtic bait putting operation ship in Fig. 1 for references object, the prawn pool artificially defines and arranges four direction: front, rear, left and right, for realizing autonomous vision guided navigation, four direction is all arranged specific manual identification's thing all around; Wherein in Servo Control signal manual identification thing: marker 1 is green circular indicia thing, refers to left-hand bend; Marker 2 is red circular marker, refers to and turns left to stop; Marker 3 is red circular marker, and referring to turns right stops; Marker 4 is blue circular indicia thing, refers to right-hand bend; Straight movement control signal manual identification thing be labeled as 5,6,7,8,9,10 ..., wherein marker 7 and marker 8 are the straight movement control signal manual identification thing on same course line, other the like.
From the dotted line Fig. 1, we can find out that the main driving mode of Autoamtic bait putting operation ship has: straight-line travelling, left-hand bend and right-hand bend.See Fig. 2, Autoamtic bait putting operation ship the right and left respectively has a slurry, by driven by motor, is controlled the paddling starched by the rotating speed controlling motor, and then controls the transport condition of Autoamtic bait putting operation ship.If left and right slurry speed is identical, then Autoamtic bait putting operation ship straight-line travelling; If the right slurry of left slurry rotating ratio is fast, then turns right, otherwise then turn left.Autoamtic bait putting operation ship hull is forward and backward, 1 camera is installed on the right respectively, and camera adopts the industrial camera of automatic focusing, is numbered A, B, C respectively.Operation ship length is 140cm, and width is 85cm, is 80cm from water surface elevation, and camera installation site is 60cm from water surface elevation.
Because pond is not of uniform size, sometimes the course line designed may be more, and for avoiding influencing each other of the marker of fore-and-aft direction on each course line, manual identification's thing on the fore-and-aft direction of different course lines should be distinguished to some extent, in the present invention, the marker of fore-and-aft direction adopts the sphere of movements for the elephants shape pattern as shown in Fig. 3 (1), it is of a size of 100cm × 100cm, sphere of movements for the elephants shape pattern is made up of four lattices, each lattice is of a size of 50cm × 50cm, with the grid in the upper left corner for most significant digit, lower right corner grid is lowest order, by from right to left, binary coding is carried out in direction from bottom to top, wherein black blockage represents " 1 ", white blockage represents " 0 ".In invention implementation process, calculate deviation angle (distance proportion of picture centre and marker) for convenience of in image procossing, the marker of expression " 0000 " is such as installed in total environment top plan view, as shown in Figure 1 near the right on the bank.On fore-and-aft direction, all the other markers put installation according to the order in course line, I puts in course line the marker installed and represent " 0001 ", II puts in course line the marker installed and represent " 0010 ", and III puts in course line the marker installing representative digit " 0011 ", by that analogy.
Manual identification's thing on the bank left and right directions of the pool, the shrimp pool is as shown in Fig. 3 (2), (3), (4), and object is that the left-hand bend realizing Autoamtic bait putting operation ship travels, stops turning entering craspedodrome state (wherein marker 2,3 is same marker), right-hand bend traveling.Equally distributed green (R0G255B0), red (R255G0B0), blue (R0G0B255) in the RGB color space that Fig. 3 (2), (3), (4) are chosen respectively, its shape is circle.Above manual identification's thing should be installed perpendicular to surface level, and center is liftoff, and water surface elevation is 60cm.
As shown in Figure 1, in order to make the Autoamtic bait putting operation ship bait throwing in scope whole cultivating pool of uniform fold as far as possible, straight movement control signal manual identification's thing interval 8m on fore-and-aft direction, Servo Control signal manual identification thing 1,2 is 8m from the pool, front bank and Servo Control signal manual identification thing 3,4 from the distance of the pool, rear bank.
In the present invention, Autoamtic bait putting operation ship being travelled the decomposing trajectories of one-period is Four processes, Four processes corresponds to I, II, III, IV course line of operation ship in order respectively, the traveling rule of the course line that this Four processes is corresponding and Autoamtic bait putting operation ship of the present invention, see Fig. 1 and Fig. 4, the concrete rule declaration that travels is as follows.
Autoamtic bait putting operation ship placement a point in FIG, as the starting point of Autoamtic bait putting operation ship, Autoamtic bait putting operation ship opens operating switch.The image of the straight movement control signal manual identification thing 7,8 of fore-and-aft direction, respectively at camera A, B image pickup scope, obtains navigation information by image procossing, and two oar motor, with identical speed operation, controls Autoamtic bait putting operation ship straight-line travelling.In this process, Autoamtic bait putting operation ship travels on the straight line determined by straight movement control signal manual identification thing 7,8, and namely course line I travels.
Autoamtic bait putting operation ship travels by course line I, until left-hand bend control signal manual identification thing 1 enters the right camera C image pickup scope, namely arrives b point.Obtain left-hand bend navigation information by the process of image, by controlling the rotating speed of motor, Autoamtic bait putting operation ship enters left-hand bend state, and Autoamtic bait putting operation ship travels on the II of course line.As shown in Figure 5, it is 8m that Autoamtic bait putting operation ship once travels even bait throwing in scope, and ship does half circular motion from b point place, turns left 180 °.After Autoamtic bait putting operation ship drives to c point by course line II, marker 2 enters the right camera C image pickup scope, then left-hand bend transport condition terminates.
Autoamtic bait putting operation ship arrives c point to be turned left to terminate, then straight movement control signal manual identification thing 9,10 enters camera B, A image pickup scope respectively, obtain navigation information by image procossing, two oar motor, with identical speed operation, controls Autoamtic bait putting operation ship straight-line travelling.In this process, Autoamtic bait putting operation ship travels on the straight line determined by straight movement control signal manual identification thing 9,10, and namely course line III travels.
Autoamtic bait putting operation ship travels by course line III, until marker 4 enters the right camera C image pickup scope, namely arrives d point.By the process to image, obtain navigation information, by controlling the rotating speed of motor, then Autoamtic bait putting operation ship enters right-hand bend state, and Autoamtic bait putting operation ship travels on the IV of course line.As shown in Figure 6, turn left similar with Autoamtic bait putting operation ship, it is 8m that Autoamtic bait putting operation ship once travels even bait throwing in scope, and Autoamtic bait putting operation ship moves in a circle from d point place, turns right 180 °.After Autoamtic bait putting operation ship travels arrival e point by course line IV, marker 3 enters the right camera C image pickup scope, then turn right to travel and terminate.After arriving e point, Autoamtic bait putting operation ship completes one-period work, and the next one is cycled to repeat above Four processes and completes further vision guided navigation and bait throwing in work operations.
Dynamic adjustment process during Autoamtic bait putting operation ship straight-line travelling: when Autoamtic bait putting operation ship straight-line travelling, for Autoamtic bait putting operation ship on I course line, as shown in Figure 7, when Autoamtic bait putting operation ship be subject to external interference course occur departing from time, judge by image procossing front, the current course line marker whether in the picture heart that front camera A takes in invention, if do not exist, adjust Autoamtic bait putting operation ship fore and make the front marker heart in the picture, rear, the current course line marker relative position in the picture taken by rear camera B again judges that Autoamtic bait putting operation ship is relative to the position in course line and attitude.The position of Autoamtic bait putting operation ship hull can be divided into two kinds:
(1) camera A in front aims at front marker, and the picture centre that rear camera B takes is on the right of marker, then Autoamtic bait putting operation ship is positioned at the right side in course line;
(2) camera A in front aims at front marker, and the picture centre that rear camera B takes is on the marker left side, then Autoamtic bait putting operation ship is positioned at the left side in course line.
For Fig. 7, control strategy of the present invention is described, for convenience of describing, using Autoamtic bait putting operation ship as reference object, the prawn pool artificially defines and arranges four direction: front, rear, left and right.In Fig. 7, sphere of movements for the elephants shape pattern is straight movement control signal manual identification thing, when Autoamtic bait putting operation ship in the figure 7 shown in the initial position at P place, the control strategy of Autoamtic bait putting operation ship in straight-line travelling process can be obtained by analysis:
(1) front camera A is made to aim at Autoamtic bait putting operation ship front marker.First judge that front camera A takes marker position in the picture, the picture centre of now front camera A shooting is on the left side of marker, i.e. Autoamtic bait putting operation ship P place in the figure 7, then Autoamtic bait putting operation fore should deflect to the right, until front, current course line marker is in image center location;
(2) determine the position in the relative course line of Autoamtic bait putting operation ship hull according to the position of marker in rear camera B shooting image, and adjust the operation ship method of operation.In the middle of the image that front, course line marker is taken at front camera A, judge the position of rear, current course line marker in the wings in image captured by camera B again, now the marker picture centre that camera B takes in the wings in rear, current course line keeps left limit, namely in Fig. 7 shown in Q position, Autoamtic bait putting operation ship the right in setting course line is then described, now Autoamtic bait putting operation ship fore should deflect left.
The angle of Autoamtic bait putting operation ship fore in deflection is according to deflecting former and later two distances than determining; Deflection front distance ratio is: the picture centre marker distance adjacent with two, rear that rear camera B takes than; Deflection after distance ratio be: front camera A take picture centre marker distance adjacent with two, front than; This deflection is until deflection longitudinal separation is than equal.Such as when Q position, two marker centers that rear camera B takes are respectively L from the distance of picture centre
1, L
2, as shown in Figure 7.After Autoamtic bait putting operation ship fore deflects left, two marker centers that front camera A takes are respectively L from the distance of picture centre
3, L
4.When the angle of deflection meets
time, Autoamtic bait putting operation ship fore deflects this process left to be terminated, and Autoamtic bait putting operation ship walks to as M position in Fig. 7;
(3) front camera A is again made to aim at ship front marker.Autoamtic bait putting operation ship is M position in the figure 7, the picture centre of now front camera A shooting is on the left side of marker, then Autoamtic bait putting operation fore should deflect to the right, this process is until the centre position of outrunner's work marker image captured by the camera A of front, namely camera A in front aims at front marker, and its result is as N position in Fig. 7; (adjustment process of similar step 1)
(4) again determine the position in the relative course line of Autoamtic bait putting operation ship hull according to the position of marker in rear camera B shooting image, and formulate the Autoamtic bait putting operation ship method of operation.When front camera A aims at front marker, judge the relative position of rear, current course line marker in the wings in image captured by camera B again, now the marker image that camera B takes in the wings is kept right limit, i.e. N position in Fig. 7, Autoamtic bait putting operation ship the right in setting course line is then described, then Autoamtic bait putting operation ship fore should deflect left, and when Q position, two marker centers that rear camera B takes are respectively L from the distance of picture centre
5, L
6, as shown in Figure 7.After Autoamtic bait putting operation ship fore deflects left, two marker centers that front camera A takes are respectively L from the distance of picture centre
7, L
8.When the angle of deflection meets
time, Autoamtic bait putting operation ship fore deflects this process left to be terminated, as T position in Fig. 7; (adjustment process of similar step 2)
(5) by above control strategy dynamic conditioning repeatedly, namely after first making front camera A aligning front manual identification's thing, judge position that rear camera B aims at is positioned at which side in setting course line again, after adjustment, make Autoamtic bait putting operation ship be in a stable straight-line travelling process;
(6) in above dynamic conditioning, if target identification thing in picture position away from centre position, then deflection angle should be larger in the corresponding direction for Autoamtic bait putting operation ship fore, and in this deflection, the running time of Autoamtic bait putting operation ship is also relatively long.
The image information of turning is obtained here by the mode of CF identification.When the right marker 1 enters camera C image pickup scope, camera C collects left turn signal, and according to the navigation information identified, Autoamtic bait putting operation ship enters left-hand bend state; When completing left-hand bend 180 °, when marker 2 enters camera C image pickup scope, camera C collects left-hand bend stop signal, and now just straight movement control signal manual identification thing 9,10 enters camera B, A image pickup scope respectively, and Autoamtic bait putting operation ship does straight travel state.In like manner, the traveling rule that Autoamtic bait putting operation ship is turned right can be obtained.
The above is in conjunction with concrete preferred embodiment to further description of the present invention, can not assert that the specific embodiment of the present invention is only limitted to this.It should be noted that the scientific research technician for the field that the invention relates to, under the prerequisite not departing from the technology of the present invention method and design, can also make some places and improve and replace, these improve with replacing also is protected scope of the present invention.
Claims (5)
1., based on a manual identification's Autoamtic bait putting operation ship vision navigation method, it is characterized in that, comprise the following steps:
Step 1, on the shrimp pool, all around assigned address arranges specific manual identification's thing, and different manual identification's things represents different navigation informations; Navigation information comprises and represents straight movement control signal and represent Servo Control signal two class manual identification thing, straight movement control signal manual identification thing adopts sphere of movements for the elephants shape pattern code to distinguish different course line, with sphere of movements for the elephants type pattern upper left corner grid for most significant digit, lower right corner grid is lowest order, binary coding is carried out by direction from right to left, from bottom to top, wherein black box represents " 1 ", and white boxes represents " 0 "; Servo Control signal manual identification thing is divided three classes, and green circular pattern represents left turn signal, and red circular pattern represents stopping signal for turn, and blue circular pattern represents right turn signal;
Step 2, Autoamtic bait putting operation ship selects three cameras, install fixing on forward and backward, the right of Autoamtic bait putting operation ship respectively, by hull control module, image procossing is carried out to the image of camera collection, front and back camera A, B control straight-line travelling signal for obtaining, and the right camera C controls to turn and stop signal for turn for obtaining;
Step 3, first hull control module judges self position and attitude according to front camera A and formulates corresponding control strategy, controls the transport condition of Autoamtic bait putting operation ship; If the picture centre that front camera A takes is on the left side of marker, then fore should edge run-out to the right; If the picture centre that front camera A takes is on the right of marker, then fore should edge run-out left; Fore deflection is until front marker is in the centre position gathering image;
Step 4, when the marker of front camera A shooting is in the centre position gathering image, now should judge the position of ship according to the position of marker in rear camera B shooting image; If the picture centre that rear camera B takes is on the right of marker, can judge that now Autoamtic bait putting operation ship hull is positioned at the right in course line, then fore should edge run-out left; If the picture centre that rear camera B takes is on the marker left side, can judge that now Autoamtic bait putting operation ship hull is positioned at the left side in course line, then fore should edge run-out to the right; If rear marker is in the middle of collection image, then Autoamtic bait putting operation ship travels in advertised route;
Step 5, after having deflected, according to this strategy position of dynamic conditioning ship and attitude repeatedly, makes Autoamtic bait putting operation ship can according to desired trajectory straight-line travelling by step 4;
Step 6, when camera C on the right of Autoamtic bait putting operation ship photographs the signal of left and right pool bank Servo Control signal manual identification thing, Autoamtic bait putting operation ship hull control module, according to the navigation information identified, controls and changes the corresponding transport condition of Autoamtic bait putting operation ship; When a left side (right side) turning navigation signal being detected, a fore left side (right side) turns until stopping signal for turn being detected, stops turning rear ship namely on next course line;
Step 7, repeats step 3-6, until complete the bait throwing in operation of this Autoamtic bait putting operation ship.
2. according to claim 1 based on the Autoamtic bait putting operation ship vision navigation method of manual identification, it is characterized in that: the setting of the thing of manual identification described in step 1, also comprise, before and after the shrimp pool, pool bank arranges the manual identification's thing representing straight movement control signal according to track spacing, and wherein manual identification's article pattern coding at two ends, same course line is consistent; Often pair of Servo Control signal manual identification thing near front (afterwards) pool bank side is identical with front (afterwards) pool bank horizontal range.
3., according to claim 1 based on the Autoamtic bait putting operation ship vision navigation method of manual identification, it is characterized in that: on the operation ship of Autoamtic bait putting described in step 2, the method to set up of camera is: front and back camera A, B are arranged on sustained height along hull axis; Camera C installs on the right side of Autoamtic bait putting operation ship hull, and height is highly consistent with front and back camera A, B.
4. according to claim 1 based on the Autoamtic bait putting operation ship vision navigation method of manual identification, it is characterized in that: in step 4, describedly take the position of marker in image according to rear camera B and judge the method for the position of Autoamtic bait putting operation ship, also comprise, the angle of Autoamtic bait putting operation ship fore in deflection is according to deflecting former and later two distances than determining; Deflection front distance ratio is: the picture centre marker distance adjacent with two, rear that rear camera B takes than; Deflection after distance ratio be: front camera A take picture centre marker distance adjacent with two, front than; This deflection is until deflection longitudinal separation is than equal.
5. according to claim 1 based on the Autoamtic bait putting operation ship vision navigation method of manual identification, it is characterized in that: described straight movement control signal manual identification's thing center and Servo Control signal manual identification's thing center are in same level.
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| CN201510420140.9A CN105116885B (en) | 2015-07-16 | 2015-07-16 | A kind of Autoamtic bait putting operation ship vision navigation method based on manual identification |
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| CN201510420140.9A CN105116885B (en) | 2015-07-16 | 2015-07-16 | A kind of Autoamtic bait putting operation ship vision navigation method based on manual identification |
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Cited By (7)
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| CN105466429A (en) * | 2015-12-29 | 2016-04-06 | 江苏大学 | Complete-covering automatic and even feeding track planning method for aquaculture pond |
| CN107085426A (en) * | 2017-05-10 | 2017-08-22 | 成都优威骐翼教育科技有限公司 | Interactive robot motion's track coded system |
| CN108575849A (en) * | 2018-05-07 | 2018-09-28 | 周长宾 | A kind of unmanned Autoamtic bait putting ship of luffing segmentation operation |
| CN109448051A (en) * | 2018-11-29 | 2019-03-08 | 北京久其软件股份有限公司 | One kind is stumbled line method for drafting and device |
| CN109669446A (en) * | 2017-10-13 | 2019-04-23 | 苏州宝时得电动工具有限公司 | Return guide line finding method, device and automatic mobile device |
| CN109753075A (en) * | 2019-01-29 | 2019-05-14 | 中国农业科学院农业资源与农业区划研究所 | A kind of agricultural garden robot navigation method of view-based access control model |
| CN111552309A (en) * | 2020-05-21 | 2020-08-18 | 上海海洋大学 | Ship edge-tracking control method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105466429A (en) * | 2015-12-29 | 2016-04-06 | 江苏大学 | Complete-covering automatic and even feeding track planning method for aquaculture pond |
| CN105466429B (en) * | 2015-12-29 | 2018-06-01 | 江苏大学 | A kind of aquaculture pond all standing automatic uniform feeds method for planning track |
| CN107085426A (en) * | 2017-05-10 | 2017-08-22 | 成都优威骐翼教育科技有限公司 | Interactive robot motion's track coded system |
| CN109669446A (en) * | 2017-10-13 | 2019-04-23 | 苏州宝时得电动工具有限公司 | Return guide line finding method, device and automatic mobile device |
| CN109669446B (en) * | 2017-10-13 | 2022-04-15 | 苏州宝时得电动工具有限公司 | Regression guide line searching method and device and automatic moving equipment |
| CN108575849A (en) * | 2018-05-07 | 2018-09-28 | 周长宾 | A kind of unmanned Autoamtic bait putting ship of luffing segmentation operation |
| CN108575849B (en) * | 2018-05-07 | 2021-09-17 | 滨州市北海新区海缘养殖科技有限公司 | Feeding method of amplitude-variable sectional operation unmanned automatic feeding boat |
| CN109448051A (en) * | 2018-11-29 | 2019-03-08 | 北京久其软件股份有限公司 | One kind is stumbled line method for drafting and device |
| CN109753075A (en) * | 2019-01-29 | 2019-05-14 | 中国农业科学院农业资源与农业区划研究所 | A kind of agricultural garden robot navigation method of view-based access control model |
| CN111552309A (en) * | 2020-05-21 | 2020-08-18 | 上海海洋大学 | Ship edge-tracking control method |
| CN111552309B (en) * | 2020-05-21 | 2021-04-20 | 上海海洋大学 | Ship edge-tracking control method |
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Application publication date: 20151202 Assignee: Dongtai tepusong Machinery Equipment Co.,Ltd. Assignor: Dongtai Chengdong science and Technology Pioneer Park Management Co.,Ltd. Contract record no.: X2023980043158 Denomination of invention: A Visual Navigation Method for Automatic Bait Operation Ship Based on Artificial Identification Granted publication date: 20171205 License type: Common License Record date: 20231012 |
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