CN107883875A - Autonomous type sea cucumber finishing device visual detection positioning device and vision-based detection localization method - Google Patents
Autonomous type sea cucumber finishing device visual detection positioning device and vision-based detection localization method Download PDFInfo
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- CN107883875A CN107883875A CN201711181188.4A CN201711181188A CN107883875A CN 107883875 A CN107883875 A CN 107883875A CN 201711181188 A CN201711181188 A CN 201711181188A CN 107883875 A CN107883875 A CN 107883875A
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- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000000007 visual effect Effects 0.000 title claims abstract description 15
- 230000004807 localization Effects 0.000 title abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 238000001914 filtration Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 230000002708 enhancing effect Effects 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000013527 convolutional neural network Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000004078 waterproofing Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 4
- 241000208340 Araliaceae Species 0.000 description 4
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 4
- 235000003140 Panax quinquefolius Nutrition 0.000 description 4
- 235000008434 ginseng Nutrition 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 230000009466 transformation Effects 0.000 description 2
- 241000965254 Apostichopus japonicus Species 0.000 description 1
- OYPRJOBELJOOCE-UHFFFAOYSA-N Calcium Chemical compound [Ca] OYPRJOBELJOOCE-UHFFFAOYSA-N 0.000 description 1
- 229920002683 Glycosaminoglycan Polymers 0.000 description 1
- PWHULOQIROXLJO-UHFFFAOYSA-N Manganese Chemical compound [Mn] PWHULOQIROXLJO-UHFFFAOYSA-N 0.000 description 1
- 102000016611 Proteoglycans Human genes 0.000 description 1
- 108010067787 Proteoglycans Proteins 0.000 description 1
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- 210000001367 artery Anatomy 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- A01K80/00—Harvesting oysters, mussels, sponges or the like
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- Life Sciences & Earth Sciences (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
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Abstract
The present invention is to provide a kind of autonomous type sea cucumber finishing device visual detection positioning device and vision-based detection localization method.Including above water and underwater portion, above water and underwater portion are linked together by data wire and power line, underwater portion includes image collecting device, illuminator and water-tight device, above water includes industrial computer, display screen, power-supply system and light-source brightness control box, industrial computer connects display screen respectively, power-supply system, light-source brightness control box and image collecting device, power-supply system connects image collecting device respectively, illuminator, industrial computer, display screen and light-source brightness control box, light-source brightness control box connects illuminator, water-tight device is equipped with the outside of image collecting device and illuminator.The present invention has high degree of flexibility, can be arranged on different hulls, and the advantages that not limited by hull size, profile can improve the efficiency that sea cucumber is caught, and reduce man power and material's cost of fishing, is truly realized the automation that sea cucumber is caught.
Description
Technical field
It is specifically a kind of independently to carry out catching for sea cucumber fishing the present invention relates to a kind of aquatic product fishery device
Drag for the visual detection positioning device and method of device.
Background technology
Sea cucumber contains abundant protein and glutinous polysaccharide, and nutrition and medical value are high.Wall of sea cucumber Stichopus japonicus contains abundant glue
Ultimate constituent and proteoglycans, and contain the various trace elements such as calcium, magnesium salts and iron, manganese.Since ancient times, our people is just sea cucumber
As a kind of nourishing food and drug food of TCM.Modern medicine proves, growth of the acidic mucopolysaccharide that sea cucumber contains to human body, more
Wound, skeletonization and prevention failure, artery sclerosis etc. have specific function；The composition such as pentapeptide and triterpene glucosides have it is antitumor,
Anti-inflammatory activity and haemocylolysis.
At this stage, use of sea cucumber fishing is manually caught more, or people is seen on the hull of the water surface by camera
Examine underwater picture information and be operated manually the method that relevant apparatus is caught.The method manually caught is, it is necessary to catch personnel
Pull the plug and carry out fishing operation, can have an impact to the health of people, and the life security of people may be constituted a threat to.Simultaneously
Such a method cost is high, and each fishing time is limited by oxygen capacity is carried, and efficiency is low, wasting manpower and material resources.And people is in water
On face by camera observe underwater picture information be operated manually method that relevant apparatus caught, it is necessary to people operate it is dynamic
Power apparatus goes to distinguish sea cucumber during advance, and this kind of method may be disturbed by immersed body by human eye and then influence to sentence
It is disconnected so as to neglect the influence of target, while after finding sea cucumber, it is also necessary to constantly go to adjust hull position and caught, wasted
Time.
The content of the invention
It is an object of the invention to provide it is a kind of can automatic detection submarine target, submarine target is positioned it is autonomous
Formula sea cucumber finishing device visual detection positioning device.It is an object of the invention to provide a kind of vision-based detection localization method.
The autonomous type sea cucumber finishing device visual detection positioning device of the present invention includes above water and underwater portion, waterborne
Part and underwater portion are linked together by data wire and power line, and the underwater portion includes image collecting device, illumination
System and water-tight device, the above water include industrial computer, display screen, power-supply system and light-source brightness control box, industrial computer
Display screen, power-supply system, light-source brightness control box and image collecting device are connected respectively, and the power-supply system distinguishes connection figure picture
Harvester, illuminator, industrial computer, display screen and light-source brightness control box, the light-source brightness control box connection illumination system
Water-tight device is equipped with the outside of system, described image harvester and illuminator.
The autonomous type sea cucumber finishing device visual detection positioning device of the present invention can also include：
1st, described image harvester uses binocular vision camera.
2nd, the power-supply system is generator, lithium battery or Switching Power Supply, is exported respectively to figure after transformer transformation
As harvester, illuminator, industrial computer, display screen, light-source brightness control box.
3rd, described image harvester is arranged on the front end or bottom that autonomous type sea cucumber finishing device catches head under water.
4th, described image harvester and illuminator are arranged in water-tight device separately or together, carry out waterproof guarantor
Shield.
The vision-based detection localization method of autonomous type sea cucumber finishing device visual detection positioning device based on the present invention is：
The underwater video image information collected is sent to industrial computer by image collecting device, and the software in industrial computer is first
The pretreatment of image is carried out to the sea cucumber image collected, it is described to pre-process gray processing, image enhaucament, the image filter for including image
Ripple operates, and described image enhancing includes self-adapting histogram enhancing, and described image filtering includes medium filtering；Afterwards using advance
The convolutional neural networks model trained detects to the sea cucumber target in image, identifies and whether there is sea cucumber in image,
If sea cucumber target be present, sea cucumber target is outlined on image using rectangle frame, determine on the two dimensional image of sea cucumber target
Position；
The inside and outside parameter that the binocular camera demarcated is read out in the positioning on the two dimensional image of sea cucumber target afterwards is carried out,
Corresponding feature is selected to carry out feature extraction operation, the feature used includes：Harris Corner Features, SIFT feature, SURF are special
Sign, the image after the two width processing then obtained to binocular camera carry out Stereo matching, and matching process is FLANN methods, according to
Matching result carries out the calculating of parallax, and the depth information of sea cucumber is gone out further according to the disparity computation drawn, sea cucumber is calculated again with this
X, Y-coordinate information, thereby determine that out the three-dimensional geographic coordinate information of sea cucumber, export the three-dimensional coordinate position of sea cucumber.
, being capable of automatic detection sea the invention provides a kind of vision-based detection alignment system of autonomous type sea cucumber finishing device
Ginseng, the position of positioning sea cucumber, the three-dimensional geographic coordinate information of sea cucumber is provided for autonomous type sea cucumber finishing device, instructs autonomous type extra large
Ginseng fishing transposition is caught, and has saved a large amount of human and material resources costs.
The operation principle of the present invention：The present invention is clear simultaneously by underwater information by illuminator and image collecting device
Industrial computer accurately is fed back to, industrial computer is completely shown on a display screen by calculating and handling, by data.
Vision-based detection alignment system proposed by the invention has the advantages that：
1. the vision-based detection alignment system of the present invention has high degree of flexibility, can be arranged on different hulls, not by hull
Size, profile are limited.
2. image collector is set to binocular vision camera, the bottom or front end of fishing head can be arranged on, it is convenient to gather water
Lower video image information.
3. underwater video image information can real-time display on the display screen, facilitate fishing personnel to carry out observation control.
4. industrial computer can construct underwater three dimensional terrain in real time according to the underwater image video information that binocular camera collects
Geomorphology information.
5. autonomous type sea cucumber finishing device can be carried out automatically according to the sea cucumber coordinate information that vision-based detection alignment system obtains
The fishing of sea cucumber, the efficiency of sea cucumber fishing is substantially increased, reduce man power and material's cost of sea cucumber fishing, be truly realized
The automation of sea cucumber fishing.
Brief description of the drawings
Fig. 1 is the structural representation of autonomous type sea cucumber finishing device vision-based detection alignment system.
Fig. 2 is the sea cucumber overhaul flow chart of autonomous type sea cucumber finishing device vision-based detection alignment system.
Fig. 3 is the sea cucumber positioning flow figure of autonomous type sea cucumber finishing device vision-based detection alignment system.
Fig. 4 is the workflow diagram of autonomous type sea cucumber finishing device vision-based detection alignment system.
Embodiment
Illustrate below and the present invention is described in more detail.
With reference to Fig. 1, autonomous type sea cucumber finishing device visual detection positioning device includes above water and underwater portion；It is waterborne
Part and underwater portion are linked together by data wire and power line；Wherein, underwater portion includes：Image collecting device 7, shine
Bright system 4, water-tight device 3；Above water includes：Industrial computer 1, display screen 5, power-supply system 2, light-source brightness control box 6；It is described
Industrial computer connects display screen, power-supply system, light-source brightness control box, image collecting device respectively；The power-supply system connects respectively
Connect image collecting device, illuminator, industrial computer, display screen and light-source brightness control box；The light-source brightness control box connection
Illuminator；Water-tight device is equipped with the outside of described image harvester and illuminator.
Described image harvester uses binocular vision camera.
The power-supply system can be generator, lithium battery or Switching Power Supply, exported respectively after transformer transformation to
Image collecting device, illuminator, industrial computer, display screen, light-source brightness control box.
Described image harvester can be arranged on front end or bottom that corresponding autonomous type sea cucumber finishing device catches head under water
Portion.
Described image harvester and illuminator can be arranged in water-tight device separately or together, carry out waterproof guarantor
Shield.
Image collecting device 7 is used to gather underwater video image information, and underwater video image information is transmitted to institute through data wire
State above-water industrial computer 1；Industrial computer 1 is used to handle the underwater video image information, detects sea cucumber, and must go to sea
The three-dimensional location coordinates information of ginseng, and underwater three dimensional terrain geomorphologic map can be constructed in real time.
Illuminator 4 provides the light of different brightness under the control of light-source brightness control box 6 for described image harvester
Source, improve the underwater image video information quality collected.
Water-tight device 3 is that image collecting device 7 and illuminator 4 provide waterproofing protection, and avoid it from being collided and
Damage.
Display screen 5 is connected with industrial computer 1 by the underwater image video presentation of information that image acquisition device arrives to screen
For operating personnel with reference to observation on curtain.
Power-supply system 2 is image collecting device 7, illuminator 4, industrial computer 1, display screen 5, light-source brightness control box 6 supply
Electricity.
In actual applications, image collecting device 7 and illuminator 4 are arranged in water-tight device 3 separately or together, are entered
Row waterproofing protection.Above water can be arranged on different hulls on, the power-supply system on hull can be generator, lithium battery or
Person's Switching Power Supply, powered for image collecting device 7, illuminator 4, industrial computer 1, display screen 5, light-source brightness control box 6.
In actual applications, image collecting device 7 uses binocular vision camera, for gathering underwater video image letter
Breath, the front end or lower end of underwater sea cucumber finishing device can be arranged on.
Fig. 2 is the sea cucumber overhaul flow chart of autonomous type sea cucumber finishing device vision-based detection alignment system.It is as shown in Fig. 2 extra large
The underwater video image information collected is sent to industrial computer 1 by the flow of survey of engaging in an inspection for image collecting device 7, in industrial computer 1
Software the pretreatment of image, including the filter of the gray processing of image, image enhaucament, image are carried out to the sea cucumber image that collects first
The methods of ripple etc. operates, and image enhaucament includes the methods of self-adapting histogram strengthens, and image filtering includes medium filtering；Make afterwards
The sea cucumber target in image is detected with training in advance good convolutional neural networks model, identifies in image and whether there is
Sea cucumber, if sea cucumber target be present, sea cucumber target is outlined on image using rectangle frame, on the two dimensional image for carrying out sea cucumber target
Positioning, the output result of sea cucumber vision inspection process is the important foundation of sea cucumber position fixing process.
In actual applications, to improve underwater insufficient light in the case of the underwater video that collects of image collecting device 7
The problem of picture quality is not high is chosen most suitable brightness, adopted, it is necessary to the brightness of the regulation illuminator of light-source brightness control box 6
Collect more clearly underwater video image.
Fig. 3 is the sea cucumber positioning flow figure of autonomous type sea cucumber finishing device vision-based detection alignment system.It is as shown in figure 3, extra large
The underwater video image information collected is sent to industrial computer 1 by the flow of ginseng positioning for image collecting device 7, in industrial computer 1
Software the pretreatment of image, including the filter of the gray processing of image, image enhaucament, image are carried out to the sea cucumber image that collects first
The methods of ripple etc. operates, and image enhaucament includes the methods of self-adapting histogram strengthens, and image filtering includes medium filtering；Read afterwards
The inside and outside parameter for the binocular camera demarcated is taken out, selects corresponding feature to carry out feature extraction operation, the feature bag used
Include：Harris Corner Features, SIFT feature, SURF features etc., the image after the two width processing then obtained to binocular camera enter
Row Stereo matching, matching process include：The methods of FLANN, the calculating of parallax is carried out according to matching result, is regarded further according to what is drawn
Difference calculates the depth information of sea cucumber, calculates X, the Y-coordinate information of sea cucumber again with this, thus can determine that sea cucumber dimensionally
Coordinate information is managed, exports the three-dimensional coordinate position of sea cucumber.
Fig. 4 is the workflow diagram of autonomous type sea cucumber finishing device vision-based detection alignment system.It is as shown in figure 4, of the invention
The autonomous type sea cucumber finishing device vision-based detection alignment system of embodiment, underwater video image is gathered by image collecting device 7
Information, the software processing underwater video image information in industrial computer 1, detects in the information collected whether include sea cucumber, if
Do not detect that sea cucumber then continues to detect, untill detecting sea cucumber；Carry out in next step, carrying out sea cucumber and determining if sea cucumber is detected
Position, finally export the three-dimensional coordinate information of sea cucumber.Obtained sea cucumber coordinate will be passed to autonomous type sea cucumber finishing device, instruct it
The automatic fishing work for carrying out sea cucumber, the cost of fishing sea cucumber is greatly reduced, improve the efficiency of fishing sea cucumber.In industrial computer
Software can also utilize the three-dimensional coordinate of each point calculated in image, corresponding with the progress of real environment to match, and form ring
Cloud storehouse is put in border accordingly, so as to complete three-dimensional reconstruction to the topography and geomorphology information of environment.Autonomous type sea cucumber finishing device can root
Course has been planned automatically according to the topography and geomorphology information drawn, has reached the purpose of avoidance, realizes autonomous type sea cucumber fishing dress
The real automation put.
Claims (6)
1. a kind of autonomous type sea cucumber finishing device visual detection positioning device, including above water and underwater portion, above water
Linked together with underwater portion by data wire and power line, it is characterized in that：The underwater portion include image collecting device,
Illuminator and water-tight device, the above water include industrial computer, display screen, power-supply system and light-source brightness control box, work
Control machine connects display screen, power-supply system, light-source brightness control box and image collecting device respectively, and the power-supply system connects respectively
Image collecting device, illuminator, industrial computer, display screen and light-source brightness control box, the light-source brightness control box connection are shone
Water-tight device is equipped with the outside of bright system, described image harvester and illuminator.
2. autonomous type sea cucumber finishing device visual detection positioning device according to claim 1, it is characterized in that：Described image
Harvester uses binocular vision camera.
3. autonomous type sea cucumber finishing device visual detection positioning device according to claim 2, it is characterized in that：The power supply
System is generator, lithium battery or Switching Power Supply.
4. autonomous type sea cucumber finishing device visual detection positioning device according to claim 3, it is characterized in that：Described image
Harvester is arranged on the front end or bottom that autonomous type sea cucumber finishing device catches head under water.
5. autonomous type sea cucumber finishing device visual detection positioning device according to claim 4, it is characterized in that：Described image
Harvester and illuminator are arranged in water-tight device separately or together, carry out waterproofing protection.
A kind of 6. vision-based detection positioning of autonomous type sea cucumber finishing device visual detection positioning device based on described in claim 1
Method, it is characterized in that：The underwater video image information collected is sent to industrial computer by image collecting device, soft in industrial computer
Part carries out the pretreatment of image to the sea cucumber image that collects first, it is described pre-process the gray processing for including image, image enhaucament,
Image filtering operations, described image enhancing include self-adapting histogram enhancing, and described image filtering includes medium filtering；Make afterwards
The sea cucumber target in image is detected with training in advance good convolutional neural networks model, identifies in image and whether there is
Sea cucumber, if sea cucumber target be present, sea cucumber target is outlined on image using rectangle frame, on the two dimensional image for carrying out sea cucumber target
Positioning；The inside and outside parameter for the binocular camera demarcated is read out afterwards, selects corresponding feature to carry out feature extraction operation,
The feature used includes：Harris Corner Features, SIFT feature, SURF features, the two width processing then obtained to binocular camera
Image afterwards carries out Stereo matching, and matching process is FLANN methods, and the calculating of parallax is carried out according to matching result, further according to
The disparity computation gone out goes out the depth information of sea cucumber, calculates X, the Y-coordinate information of sea cucumber again with this, thereby determines that out the three of sea cucumber
Geographic coordinate information is tieed up, exports the three-dimensional coordinate position of sea cucumber.
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| CN109596165A (en) * | 2018-11-23 | 2019-04-09 | 湖南城市学院 | A kind of intelligence geography information dynamic early-warning is deployed to ensure effective monitoring and control of illegal activities system and method |
| CN110599489A (en) * | 2019-08-26 | 2019-12-20 | 华中科技大学 | Target space positioning method |
| CN111053069A (en) * | 2019-12-26 | 2020-04-24 | 杭州电子科技大学 | Underwater self-adaptive snail picking device |
| CN112949532A (en) * | 2021-03-15 | 2021-06-11 | 燕山大学 | Jellyfish real-time online monitoring system and method |
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