CN105572760A - Automatic detector - Google Patents
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- CN105572760A CN105572760A CN201511004184.XA CN201511004184A CN105572760A CN 105572760 A CN105572760 A CN 105572760A CN 201511004184 A CN201511004184 A CN 201511004184A CN 105572760 A CN105572760 A CN 105572760A
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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Abstract
The invention relates to an automatic fish body detector based on feature extraction. The automatic detector comprises an underwater robot main body, a scattered light removing device, a feature extraction device, and a fish body type recognition device, the scattered light removing device, the feature extraction device, and the fish body type recognition device are all positioned on the underwater robot main body, the scattered light removing device is used for performing scattered light removing processing of shot underwater images, the feature extraction device is used for extracting underwater fish body features of the underwater images after scattered light removing processing, and the fish body type recognition device is used for determining the types of fish bodies based on features of the underwater fish bodies. According to the automatic detector, the influence of underwater scattered light on the underwater images can be eliminated, and automatic directional catching of the fish bodies is realized.
Description
The divisional application that the present invention is application number is 201510471330.3, the applying date is on August 4th, 2015, denomination of invention is the patent of " robotization detection instrument ".
Technical field
The present invention relates to fishery and fish for field, particularly relate to a kind of robotization detection instrument.
Background technology
At present, fishing operations, mainly based on personnel's operation waterborne, because lack the fishing utility appliance being exclusively used in underwater environment, and cannot carry out underwater fishing, be mainly manifested in: 1, lack the robot mechanism being exclusively used in underwater environment; 2, lack underwater picture and remove scattering equipment; 3, effective underwater picture identification equipment is lacked.
For this reason, the invention provides the robotization fish body detection instrument that a kind of feature based extracts, by underwater robot structure reasonable in design, build the electronic assistance aids of multiple applicable underwater environment simultaneously, complete high efficiency underwater fishing.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides the robotization fish body detection instrument that a kind of feature based extracts, the underwater people utilizing special research and development is fishing platform, underwater picture is adopted to remove scattering equipment, introducing comprises medium filtering subset, the image-preprocessing device of low-pass filtering subset and homomorphic filtering subset, also introduce the fish body identification equipment based on neural network recognization and fish body positioning equipment under water, the fishing structure of direction and dynamics is fished by self-adaptative adjustment, dynamically any region completes accurately fish body under water and fishes under water.
According to an aspect of the present invention, provide the robotization fish body detection instrument that a kind of feature based extracts, described detection instrument comprises underwater human agent, scattered light eliminating equipment, feature extracting device and fish body type identification equipment, described scattered light eliminating equipment, described feature extracting device and described fish body type identification equipment are all positioned on described underwater human agent, described scattered light eliminating equipment is used for performing scattered light Transformatin to the underwater picture of shooting, described feature extracting device is for extracting the body characteristics of fish under water in the underwater picture after scattered light Transformatin, described fish body type identification equipment is used for determining fish body type based on the described body characteristics of fish under water.
More specifically, in the robotization fish body detection instrument that described feature based extracts, also comprise: fishing net weight measuring equipment, be arranged in fishing net container, for detecting and exporting fishing net weight, fishing net container, be arranged on described underwater human agent, 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 on described underwater human agent, 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 on described underwater human agent, 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 on described underwater human agent, 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 on described underwater human agent, 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 on described underwater human agent, reclaim driver with described electronic snap close and described fishing net to be connected respectively, be connected with treatment facility waterborne 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, ultrasonic ranging equipment, is positioned in described underwater vehicle main body, for finding range to described underwater vehicle main body objects ahead to obtain objects ahead distance, underwater photograph technical equipment, be arranged on described underwater human agent, comprise semisphere watertight transparent cover, floor light subset and CCD vision sensor, described semisphere watertight transparent cover is for holding described floor light subset and described CCD vision sensor, described floor light subset provides floor light for the underwater photograph technical of described CCD vision sensor, described CCD vision sensor to objects ahead shooting to obtain the underwater picture comprising objects ahead, described scattered light eliminating equipment is connected respectively with described CCD vision sensor, described ultrasonic ranging equipment and described floor light subset, to obtain floor light brightness described in described objects ahead Distance geometry, and remove the scattered light composition formed on objects ahead because floor light subset irradiates in described underwater picture based on floor light brightness described in described objects ahead Distance geometry, to obtain sharpening underwater picture, described underwater human agent comprises driving arrangement and robotic's framework, described driving arrangement comprises driving governor, larboard DC speed-reducing, starboard DC speed-reducing, sink-float motor, right-handed screw oar, counter propeller, subsidiary screw propeller and shaft coupling, described larboard DC speed-reducing, described starboard DC speed-reducing and described sink-float motor are respectively by described shaft coupling and described right-handed screw oar, described counter propeller is connected with described subsidiary screw propeller, described driving governor receives the drive control signal that described treatment facility waterborne sends, with larboard DC speed-reducing according to the content driven of described drive control signal and described starboard DC speed-reducing to control described right-handed screw oar and described counter propeller respectively, underwater human agent is driven to realize advancing, retreat and left and right action, also for the motor that rises and falls according to the content driven of described drive control signal to control described subsidiary screw propeller, underwater human agent is driven to realize rising and dive action, pre-processing device, is arranged on described underwater human agent, is connected with described scattered light eliminating equipment, comprise medium filtering subset, low-pass filtering subset and homomorphic filtering subset, described medium filtering subset is connected with described scattered light eliminating equipment, for performing medium filtering to described sharpening underwater picture, with the spot noise in sharpening underwater picture described in filtering, obtains the first filtering image, described low-pass filtering subset is connected with described medium filtering subset, for removing the random noise in described first filtering image, obtains the second filtering image, described homomorphic filtering subset is connected with described low-pass filtering subset, for performing image enhaucament, to obtain enhancing underwater picture to described second filtering image, feature extracting device, be arranged on described underwater human agent, be connected with described pre-processing device, comprise Iamge Segmentation subset and eigenvector recognition subset, the fish body target in described enhancing underwater picture is identified to obtain fish volume image under water based on fish volume image gray threshold scope by described Iamge Segmentation subset, described eigenvector recognition subset is connected with described Iamge Segmentation subset, 8 geometric properties of fish body target are under water determined: Euler's hole count, circularity, angle point number, convex-concave degree, smoothness, length-diameter ratio, tight ness rating and main shaft angle based on the described volume image of fish under water, and by described 8 geometric properties composition characteristics vector, fish body type identification equipment, be arranged on described underwater human agent, be connected with described feature extracting device, adopt single hidden layer BP neural network that 8 inputs 4 export, using 8 geometric properties of fish body target under water as input layer, output layer is fish body type under water, the described body of fish under water type comprises rare type, edible type, hazard types and other types, when the body of the fish under water type that output layer exports is for edible type, calculate fish body deviation angle under water based on the relative position of the described volume image of fish under water in described underwater picture, buoy waterborne, is arranged on the top water surface of described underwater human agent, 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, GLONASS positioning equipment, is arranged on described buoy waterborne, provides electric power supply by described power-supply unit, for receiving the GLONASS locator data that GLONASS satellite sends, sonar detection equipment, is arranged on described buoy waterborne, provides electric power supply by described power-supply unit, for detecting the relative distance of described underwater human agent to described buoy waterborne, and to adjust the distance output as first-phase, Freescale IMX6 processor, be arranged on described underwater human agent, be connected respectively with described fish body type identification equipment, described GLONASS positioning equipment, described sonar detection equipment and described ultrasonic ranging equipment, when described in receiving under water fish body type be rare type or edible type time, to adjust the distance based on described GLONASS locator data, described first-phase and described objects ahead distance calculates fish body locator data, described Freescale IMX6 processor also reclaims driver with described fishing net weight measuring equipment, described electronic snap close, described fishing net release actuator and described fishing net and is connected respectively, when described in receiving, fish body type is for edible type under water, according to objects ahead Distance geometry 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 robotization fish body detection instrument that described feature based extracts: described Freescale IMX6 processor, when fish body type is rare type described in receiving, sends alerting signal under water.
More specifically, in the robotization fish body detection instrument that described feature based extracts, also comprising: underwater cable, being connected with Freescale IMX6 processor, for transmitting underwater data.
More specifically, in the robotization fish body detection instrument extracted at described feature based: described Freescale IMX6 processor sends alerting signal by described underwater cable.
More specifically, in the robotization fish body detection instrument that described feature based extracts: described Freescale IMX6 processor when described in receiving under water fish body type be rare type or edible type time, start described GLONASS positioning equipment, described sonar detection equipment and described ultrasonic ranging equipment.
More specifically, in the robotization fish body detection instrument that described feature based extracts: described Freescale IMX6 processor when described in receiving under water fish body type be hazard types or other types time, close described GLONASS positioning equipment, described sonar detection equipment and described ultrasonic ranging equipment.
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 robotization fish body detection instrument that the feature based illustrated according to an embodiment of the present invention extracts.
Reference numeral: 1 underwater human agent; 2 scattered light eliminating equipments; 3 feature extracting device; 4 fish body type identification equipment
Embodiment
Below with reference to accompanying drawings the embodiment of the robotization fish body detection instrument that feature based of the present invention extracts is described in detail.
In prior art, underwater fishing cannot really be implemented always, and main cause is that a series of underwater fishing utility appliance researched and developed are difficult to adapt to particular surroundings under water.
In order to overcome above-mentioned deficiency, the present invention has built a kind of underwater vehicle for automatically fishing, and with the artificial underwater fishing platform of underwater, is gone out the multiple fishing utility appliance of applicable underwater environment by appropriate design, and submarine mechanicalization is fished becomes possibility.
Fig. 1 is the block diagram of the robotization fish body detection instrument that the feature based illustrated according to an embodiment of the present invention extracts, described detection instrument comprises underwater human agent, scattered light eliminating equipment, feature extracting device and fish body type identification equipment, described scattered light eliminating equipment, described feature extracting device and described fish body type identification equipment are all positioned on described underwater human agent, described scattered light eliminating equipment is used for performing scattered light Transformatin to the underwater picture of shooting, described feature extracting device is for extracting the body characteristics of fish under water in the underwater picture after scattered light Transformatin, described fish body type identification equipment is used for determining fish body type based on the described body characteristics of fish under water.
Then, continue to be further detailed the concrete structure of the robotization fish body detection instrument that feature based of the present invention extracts.
Described detection instrument also comprises: fishing net weight measuring equipment, is arranged in fishing net container, for detecting and exporting fishing net weight.
Described detection instrument also comprises: fishing net container, be arranged on described underwater human agent, 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 detection instrument also comprises: fishing net release actuator, is arranged on described underwater human agent, 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 detection instrument also comprises: fishing net reclaims driver, is arranged on described underwater human agent, 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 detection instrument also comprises: release motor, is arranged on described underwater human agent, is connected with described fishing net release actuator, for described fishing net release actuator provides power to the control that fishing net discharges.
Described detection instrument also comprises: reclaim motor, be arranged on described underwater human agent, reclaim driver be connected with described fishing net, provides power for described fishing net reclaims driver to the control that fishing net discharges.
Described detection instrument also comprises: signal receiver waterborne, be arranged on described underwater human agent, reclaim driver with described electronic snap close and described fishing net to be connected respectively, be connected with treatment facility waterborne 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 detection instrument also comprises: ultrasonic ranging equipment, is positioned in described underwater vehicle main body, for finding range to described underwater vehicle main body objects ahead to obtain objects ahead distance.
Described detection instrument also comprises: underwater photograph technical equipment, be arranged on described underwater human agent, comprise semisphere watertight transparent cover, floor light subset and CCD vision sensor, described semisphere watertight transparent cover is for holding described floor light subset and described CCD vision sensor, described floor light subset provides floor light for the underwater photograph technical of described CCD vision sensor, described CCD vision sensor to objects ahead shooting to obtain the underwater picture comprising objects ahead; Described scattered light eliminating equipment is connected respectively with described CCD vision sensor, described ultrasonic ranging equipment and described floor light subset, to obtain floor light brightness described in described objects ahead Distance geometry, and remove the scattered light composition formed on objects ahead because floor light subset irradiates in described underwater picture based on floor light brightness described in described objects ahead Distance geometry, to obtain sharpening underwater picture.
Described underwater human agent comprises driving arrangement and robotic's framework, described driving arrangement comprises driving governor, larboard DC speed-reducing, starboard DC speed-reducing, sink-float motor, right-handed screw oar, counter propeller, subsidiary screw propeller and shaft coupling, described larboard DC speed-reducing, described starboard DC speed-reducing and described sink-float motor are respectively by described shaft coupling and described right-handed screw oar, described counter propeller is connected with described subsidiary screw propeller, described driving governor receives the drive control signal that described treatment facility waterborne sends, with larboard DC speed-reducing according to the content driven of described drive control signal and described starboard DC speed-reducing to control described right-handed screw oar and described counter propeller respectively, underwater human agent is driven to realize advancing, retreat and left and right action, also for the motor that rises and falls according to the content driven of described drive control signal to control described subsidiary screw propeller, underwater human agent is driven to realize rising and dive action.
Described detection instrument also comprises: pre-processing device, is arranged on described underwater human agent, is connected with described scattered light eliminating equipment, comprise medium filtering subset, low-pass filtering subset and homomorphic filtering subset; Described medium filtering subset is connected with described scattered light eliminating equipment, for performing medium filtering to described sharpening underwater picture, with the spot noise in sharpening underwater picture described in filtering, obtains the first filtering image; Described low-pass filtering subset is connected with described medium filtering subset, for removing the random noise in described first filtering image, obtains the second filtering image; Described homomorphic filtering subset is connected with described low-pass filtering subset, for performing image enhaucament, to obtain enhancing underwater picture to described second filtering image.
Described feature extracting device, be arranged on described underwater human agent, be connected with described pre-processing device, comprise Iamge Segmentation subset and eigenvector recognition subset, the fish body target in described enhancing underwater picture is identified to obtain fish volume image under water based on fish volume image gray threshold scope by described Iamge Segmentation subset; Described eigenvector recognition subset is connected with described Iamge Segmentation subset, 8 geometric properties of fish body target are under water determined: Euler's hole count, circularity, angle point number, convex-concave degree, smoothness, length-diameter ratio, tight ness rating and main shaft angle based on the described volume image of fish under water, and by described 8 geometric properties composition characteristics vector.
Described fish body type identification equipment, be arranged on described underwater human agent, be connected with described feature extracting device, adopt single hidden layer BP neural network that 8 inputs 4 export, using 8 geometric properties of fish body target under water as input layer, output layer is fish body type under water, the described body of fish under water type comprises rare type, edible type, hazard types and other types, when the body of the fish under water type that output layer exports is for edible type, calculate fish body deviation angle under water based on the relative position of the described volume image of fish under water in described underwater picture.
Described detection instrument also comprises: buoy waterborne, is arranged on the top water surface of described underwater human agent.
Described detection instrument 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 detection instrument also comprises: GLONASS positioning equipment, is arranged on described buoy waterborne, provides electric power supply by described power-supply unit, for receiving the GLONASS locator data that GLONASS satellite sends.
Described detection instrument also comprises: sonar detection equipment, is arranged on described buoy waterborne, provides electric power supply by described power-supply unit, for detecting the relative distance of described underwater human agent to described buoy waterborne, and to adjust the distance output as first-phase.
Described detection instrument also comprises: Freescale IMX6 processor, be arranged on described underwater human agent, be connected respectively with described fish body type identification equipment, described GLONASS positioning equipment, described sonar detection equipment and described ultrasonic ranging equipment, when described in receiving under water fish body type be rare type or edible type time, to adjust the distance based on described GLONASS locator data, described first-phase and described objects ahead distance calculates fish body locator data; Described Freescale IMX6 processor also reclaims driver with described fishing net weight measuring equipment, described electronic snap close, described fishing net release actuator and described fishing net and is connected respectively, when described in receiving, fish body type is for edible type under water, according to objects ahead Distance geometry 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 robotization fish body detection instrument that described feature based extracts: described Freescale IMX6 processor, when fish body type is rare type described in receiving, sends alerting signal under water; Described detection instrument also comprises: underwater cable, is connected, for transmitting underwater data with Freescale IMX6 processor; Described Freescale IMX6 processor sends alerting signal by described underwater cable; Described Freescale IMX6 processor when described in receiving under water fish body type be rare type or edible type time, start described GLONASS positioning equipment, described sonar detection equipment and described ultrasonic ranging equipment; And, described Freescale IMX6 processor when described in receiving under water fish body type be hazard types or other types time, close described GLONASS positioning equipment, described sonar detection equipment and described ultrasonic ranging equipment.
The robotization fish body detection instrument adopting feature based of the present invention to extract, for the technical matters being difficult to the fishing of successful implementation submarine mechanicalization in prior art, have employed the high-precision laser imaging device of applicable underwater environment, image-preprocessing device, image recognition apparatus and fishing net self-adapting electronic driving arrangement, underwater robot is fished automatically and becomes possibility, thus improve the efficiency of fishing significantly.
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 (2)
1. the robotization fish body detection instrument of a feature based extraction, described detection instrument comprises underwater human agent, scattered light eliminating equipment, feature extracting device and fish body type identification equipment, described scattered light eliminating equipment, described feature extracting device and described fish body type identification equipment are all positioned on described underwater human agent, described scattered light eliminating equipment is used for performing scattered light Transformatin to the underwater picture of shooting, described feature extracting device is for extracting the body characteristics of fish under water in the underwater picture after scattered light Transformatin, described fish body type identification equipment is used for determining fish body type based on the described body characteristics of fish under water.
2. the robotization fish body detection instrument of feature based extraction as claimed in claim 1, it is characterized in that, described detection instrument also comprises:
Fishing net weight measuring equipment, is arranged in fishing net container, for detecting and exporting fishing net weight;
Fishing net container, be arranged on described underwater human agent, 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 on described underwater human agent, 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 on described underwater human agent, 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 on described underwater human agent, 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 on described underwater human agent, 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 on described underwater human agent, reclaim driver with described electronic snap close and described fishing net to be connected respectively, be connected with treatment facility waterborne 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;
Ultrasonic ranging equipment, is positioned in described underwater vehicle main body, for finding range to described underwater vehicle main body objects ahead to obtain objects ahead distance;
Underwater photograph technical equipment, be arranged on described underwater human agent, comprise semisphere watertight transparent cover, floor light subset and CCD vision sensor, described semisphere watertight transparent cover is for holding described floor light subset and described CCD vision sensor, described floor light subset provides floor light for the underwater photograph technical of described CCD vision sensor, described CCD vision sensor to objects ahead shooting to obtain the underwater picture comprising objects ahead;
Described scattered light eliminating equipment is connected respectively with described CCD vision sensor, described ultrasonic ranging equipment and described floor light subset, to obtain floor light brightness described in described objects ahead Distance geometry, and remove the scattered light composition formed on objects ahead because floor light subset irradiates in described underwater picture based on floor light brightness described in described objects ahead Distance geometry, to obtain sharpening underwater picture;
Described underwater human agent comprises driving arrangement and robotic's framework, described driving arrangement comprises driving governor, larboard DC speed-reducing, starboard DC speed-reducing, sink-float motor, right-handed screw oar, counter propeller, subsidiary screw propeller and shaft coupling, described larboard DC speed-reducing, described starboard DC speed-reducing and described sink-float motor are respectively by described shaft coupling and described right-handed screw oar, described counter propeller is connected with described subsidiary screw propeller, described driving governor receives the drive control signal that described treatment facility waterborne sends, with larboard DC speed-reducing according to the content driven of described drive control signal and described starboard DC speed-reducing to control described right-handed screw oar and described counter propeller respectively, underwater human agent is driven to realize advancing, retreat and left and right action, also for the motor that rises and falls according to the content driven of described drive control signal to control described subsidiary screw propeller, underwater human agent is driven to realize rising and dive action,
Pre-processing device, is arranged on described underwater human agent, is connected with described scattered light eliminating equipment, comprise medium filtering subset, low-pass filtering subset and homomorphic filtering subset; Described medium filtering subset is connected with described scattered light eliminating equipment, for performing medium filtering to described sharpening underwater picture, with the spot noise in sharpening underwater picture described in filtering, obtains the first filtering image; Described low-pass filtering subset is connected with described medium filtering subset, for removing the random noise in described first filtering image, obtains the second filtering image; Described homomorphic filtering subset is connected with described low-pass filtering subset, for performing image enhaucament, to obtain enhancing underwater picture to described second filtering image;
Feature extracting device, be arranged on described underwater human agent, be connected with described pre-processing device, comprise Iamge Segmentation subset and eigenvector recognition subset, the fish body target in described enhancing underwater picture is identified to obtain fish volume image under water based on fish volume image gray threshold scope by described Iamge Segmentation subset; Described eigenvector recognition subset is connected with described Iamge Segmentation subset, 8 geometric properties of fish body target are under water determined: Euler's hole count, circularity, angle point number, convex-concave degree, smoothness, length-diameter ratio, tight ness rating and main shaft angle based on the described volume image of fish under water, and by described 8 geometric properties composition characteristics vector;
Fish body type identification equipment, be arranged on described underwater human agent, be connected with described feature extracting device, adopt single hidden layer BP neural network that 8 inputs 4 export, using 8 geometric properties of fish body target under water as input layer, output layer is fish body type under water, the described body of fish under water type comprises rare type, edible type, hazard types and other types, when the body of the fish under water type that output layer exports is for edible type, calculate fish body deviation angle under water based on the relative position of the described volume image of fish under water in described underwater picture;
Buoy waterborne, is arranged on the top water surface of described underwater human agent;
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,
GLONASS positioning equipment, is arranged on described buoy waterborne, provides electric power supply by described power-supply unit, for receiving the GLONASS locator data that GLONASS satellite sends;
Sonar detection equipment, is arranged on described buoy waterborne, provides electric power supply by described power-supply unit, for detecting the relative distance of described underwater human agent to described buoy waterborne, and to adjust the distance output as first-phase;
Freescale IMX6 processor, be arranged on described underwater human agent, be connected respectively with described fish body type identification equipment, described GLONASS positioning equipment, described sonar detection equipment and described ultrasonic ranging equipment, when described in receiving under water fish body type be rare type or edible type time, to adjust the distance based on described GLONASS locator data, described first-phase and described objects ahead distance calculates fish body locator data; Described Freescale IMX6 processor also reclaims driver with described fishing net weight measuring equipment, described electronic snap close, described fishing net release actuator and described fishing net and is connected respectively, when described in receiving, fish body type is for edible type under water, according to objects ahead Distance geometry 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;
Described Freescale IMX6 processor, when fish body type is rare type described in receiving, sends alerting signal under water;
Underwater cable, is connected with Freescale IMX6 processor, for transmitting underwater data;
Described Freescale IMX6 processor sends alerting signal by described underwater cable.
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| KR101167567B1 (en) * | 2011-10-19 | 2012-07-27 | (주)그린시스 | Fish monitoring digital image processing apparatus and method |
| CN103400147B (en) * | 2013-07-25 | 2016-07-06 | 中国农业大学 | Target fish recognition method and system based on image procossing |
| CN103577808A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Frogman recognition method |
| CN105052849A (en) * | 2015-07-25 | 2015-11-18 | 张磊 | Diver portable system for orientation capturing of fish body |
-
2015
- 2015-08-04 CN CN201511004184.XA patent/CN105572760A/en not_active Withdrawn
- 2015-08-04 CN CN201510471330.3A patent/CN105068138A/en active Pending
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| CN105068138A (en) | 2015-11-18 |
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Application publication date: 20160511 |