CN107883875B - Visual detection positioning device and visual detection positioning method for autonomous sea cucumber capturing device - Google Patents
Visual detection positioning device and visual detection positioning method for autonomous sea cucumber capturing device Download PDFInfo
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
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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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Abstract
The invention provides a visual detection positioning device and a visual detection positioning method for an autonomous sea cucumber capturing device. The underwater part comprises an industrial personal computer, a display screen, a power supply system, a light source brightness control box and an image acquisition device, wherein the industrial personal computer is respectively connected with the display screen, the power supply system, the light source brightness control box and the image acquisition device, the power supply system is respectively connected with the image acquisition device, the lighting system, the industrial personal computer, the display screen and the light source brightness control box, the light source brightness control box is connected with the lighting system, and the outer sides of the image acquisition device and the lighting system are respectively provided with the waterproof device. The sea cucumber fishing device has the advantages of high flexibility, capability of being installed on different hulls, no limitation of the size and the appearance of the hulls, capability of improving the sea cucumber fishing efficiency, reduction of the cost of manpower and material resources for fishing, and real realization of automation of sea cucumber fishing.
Description
Technical Field
The invention relates to an aquatic product capturing device, in particular to a visual detection positioning device and method of a capturing device capable of capturing sea cucumbers autonomously.
Background
Sea cucumber contains abundant proteins and mucopolysaccharide, and has high nutritive and medicinal values. Sea cucumber body wall contains abundant collagen component and proteoglycan, and contains various microelements such as calcium, magnesium salt, iron, manganese, etc. Since ancient times, sea cucumber is taken as a nourishing food and a traditional Chinese medicine diet by people in China. Modern medicine proves that the acidic mucopolysaccharide contained in sea cucumber has special functions on the growth, healing, osteogenesis, tissue aging prevention, arteriosclerosis and the like of human bodies; the pentapeptide and triterpene glycoside have antitumor, antiinflammatory and hemolytic effects.
At present, sea cucumber fishing is usually carried out manually, or a method for manually operating related devices to catch by observing underwater image information through a camera on a ship body on the water surface. The method of manual fishing requires that the fishing personnel submerge in water for fishing operation, has an influence on the health of the personnel and may be a threat to the life safety of the personnel. Meanwhile, the method has high cost, the fishing time is limited by the capacity of carrying oxygen each time, the efficiency is low, and the manpower and material resources are wasted. The method for manually operating the related device to catch by observing the underwater image information through the camera on the water surface requires the human to operate the power device to distinguish the sea cucumbers in the advancing process, the method can be influenced by the influence of the interference of human eyes by the underwater objects to influence judgment so as to ignore the influence of targets, and the position of the ship body is required to be continuously adjusted to catch after the sea cucumbers are found, so that time is wasted.
Disclosure of Invention
The invention aims to provide an autonomous sea cucumber capturing device vision detection positioning device capable of automatically detecting and positioning an underwater target. The invention aims to provide a visual detection positioning method.
The invention discloses a visual detection positioning device of an autonomous sea cucumber capturing device, which comprises a water part and an underwater part, wherein the water part and the underwater part are connected together through a data line and a power line, the underwater part comprises an image acquisition device, a lighting system and a waterproof device, the water part comprises an industrial personal computer, a display screen, a power system and a light source brightness control box, the industrial personal computer is respectively connected with the display screen, the power system, the light source brightness control box and the image acquisition device, the power system is respectively connected with the image acquisition device, the lighting system, the industrial personal computer, the display screen and the light source brightness control box, the light source brightness control box is connected with the lighting system, and the waterproof devices are arranged outside the image acquisition device and the lighting system.
The vision detection positioning device of the autonomous sea cucumber capturing device of the invention can also comprise:
1. the image acquisition device adopts a binocular vision camera.
2. The power supply system is a generator, a lithium battery or a switching power supply, and is transformed by a transformer and then respectively output to the image acquisition device, the lighting system, the industrial personal computer, the display screen and the light source brightness control box.
3. The image acquisition device is arranged at the front end or the bottom of the underwater fishing head of the autonomous sea cucumber fishing device.
4. The image acquisition device and the lighting system are respectively or together installed in the waterproof device for waterproof protection.
The visual detection and positioning method of the visual detection and positioning device of the autonomous sea cucumber capturing device based on the invention comprises the following steps:
the image acquisition device sends the acquired underwater video image information to the industrial personal computer, software in the industrial personal computer firstly carries out image preprocessing on the acquired sea cucumber image, the preprocessing comprises image graying, image enhancement and image filtering operation, the image enhancement comprises self-adaptive histogram enhancement, and the image filtering comprises median filtering; then, detecting a sea cucumber target in the image by using a pre-trained convolutional neural network model, distinguishing whether the sea cucumber exists in the image, and if the sea cucumber target exists, framing the sea cucumber target out on the image by using a rectangular frame to position the sea cucumber target on a two-dimensional image;
after the sea cucumber target is positioned on the two-dimensional image, the internal and external parameters of the calibrated binocular camera are read, and corresponding characteristics are selected for carrying out characteristic extraction operation, wherein the used characteristics comprise: and (3) carrying out three-dimensional matching on the two processed images obtained by the binocular camera, wherein the matching method is a FLANN method, calculating parallax according to a matching result, calculating depth information of the sea cucumber according to the obtained parallax, calculating X, Y coordinate information of the sea cucumber, determining three-dimensional geographic coordinate information of the sea cucumber, and outputting the three-dimensional coordinate position of the sea cucumber.
The invention provides a visual detection positioning system of an autonomous sea cucumber capturing device, which can automatically detect sea cucumber and position the sea cucumber, provide three-dimensional geographic coordinate information of the sea cucumber for the autonomous sea cucumber capturing device, guide the autonomous sea cucumber capturing device to capture, and save a great deal of labor and material costs.
The working principle of the invention is as follows: according to the invention, underwater information is clearly and accurately fed back to the industrial personal computer through the illumination system and the image acquisition device, and the industrial personal computer completely displays data on the display screen through calculation and processing.
The visual detection positioning system provided by the invention has the following beneficial effects:
1. the visual detection positioning system has high flexibility, can be installed on different ship bodies, and is not limited by the size and the appearance of the ship bodies.
2. The image acquisition device is a binocular vision camera and can be arranged at the lower part or the front end of the fishing head, so that underwater video image information can be conveniently acquired.
3. The underwater video image information can be displayed on a display screen in real time, so that the fishing personnel can observe and control conveniently.
4. The industrial personal computer can construct underwater three-dimensional topography information in real time according to the underwater image video information acquired by the binocular camera.
5. The autonomous sea cucumber catching device can automatically catch sea cucumbers according to the sea cucumber coordinate information obtained by the visual detection positioning system, so that the sea cucumber catching efficiency is greatly improved, the cost of manpower and material resources for sea cucumber catching is reduced, and the automation of sea cucumber catching is truly realized.
Drawings
Fig. 1 is a schematic structural view of a visual detection positioning system of an autonomous sea cucumber capturing device.
Fig. 2 is a sea cucumber detection flow chart of the vision detection positioning system of the autonomous sea cucumber capturing device.
Fig. 3 is a sea cucumber positioning flow chart of the vision detection positioning system of the autonomous sea cucumber capturing device.
Fig. 4 is a workflow diagram of the vision inspection positioning system of the autonomous sea cucumber fishing apparatus.
Detailed Description
The invention is described in more detail below by way of example.
Referring to fig. 1, the vision detecting and positioning device of the autonomous sea cucumber capturing device comprises a water part and an underwater part; the water part and the underwater part are connected together through a data line and a power line; wherein the underwater portion comprises: an image acquisition device 7, an illumination system 4 and a waterproof device 3; the water section includes: the system comprises an industrial personal computer 1, a display screen 5, a power supply system 2 and a light source brightness control box 6; the industrial personal computer is respectively connected with the display screen, the power supply system, the light source brightness control box and the image acquisition device; the power supply system is respectively connected with the image acquisition device, the lighting system, the industrial personal computer, the display screen and the light source brightness control box; the light source brightness control box is connected with the lighting system; the outside of the image acquisition device and the lighting system are provided with waterproof devices.
The image acquisition device adopts a binocular vision camera.
The power supply system can be a generator, a lithium battery or a switching power supply, and is transformed by a transformer and then respectively output to the image acquisition device, the lighting system, the industrial personal computer, the display screen and the light source brightness control box.
The image acquisition device can be arranged at the front end or the bottom of the underwater fishing head of the corresponding autonomous sea cucumber fishing device.
The image acquisition device and the lighting system can be respectively or together installed in the waterproof device for waterproof protection.
The image acquisition device 7 is used for acquiring underwater video image information, and the underwater video image information is transmitted to the industrial personal computer 1 of the water part through a data line; the industrial personal computer 1 is used for processing the underwater video image information, detecting sea cucumbers, obtaining three-dimensional position coordinate information of the sea cucumbers, and constructing a three-dimensional topography map under water in real time.
The illumination system 4 provides light sources with different brightness for the image acquisition device under the control of the light source brightness control box 6, so that the quality of the acquired underwater image video information is improved.
The waterproof device 3 provides waterproof protection for the image pickup device 7 and the illumination system 4 and prevents them from being damaged by collision.
The display screen 5 is connected with the industrial personal computer 1 to display the underwater image video information acquired by the image acquisition device on the screen for reference observation of operators.
The power supply system 2 supplies power to the image acquisition device 7, the lighting system 4, the industrial personal computer 1, the display screen 5 and the light source brightness control box 6.
In practical application, the image acquisition device 7 and the illumination system 4 are respectively or together installed in the waterproof device 3 for waterproof protection. The water part can be arranged on different ship bodies, and a power supply system on the ship body can be a generator, a lithium battery or a switching power supply for supplying power to the image acquisition device 7, the lighting system 4, the industrial personal computer 1, the display screen 5 and the light source brightness control box 6.
In practical application, the image acquisition device 7 uses a binocular vision camera for acquiring underwater video image information, and can be arranged at the front end or the lower end of the underwater sea cucumber capturing device.
Fig. 2 is a sea cucumber detection flow chart of the vision detection positioning system of the autonomous sea cucumber capturing device. As shown in fig. 2, the sea cucumber detection process is that the image acquisition device 7 sends the acquired underwater video image information to the industrial personal computer 1, software in the industrial personal computer 1 firstly carries out image preprocessing on the acquired sea cucumber image, including operations such as image graying, image enhancement, image filtering and the like, the image enhancement includes methods such as self-adaptive histogram enhancement and the like, and the image filtering includes methods such as median filtering and the like; and detecting a sea cucumber target in the image by using a pre-trained convolutional neural network model, distinguishing whether the sea cucumber exists in the image, and if the sea cucumber target exists, framing the sea cucumber target on the image by using a rectangular frame, so as to position the sea cucumber target on a two-dimensional image, wherein an output result of a sea cucumber visual detection process is an important basis of a sea cucumber positioning process.
In practical application, in order to solve the problem of low quality of the underwater video image acquired by the image acquisition device 7 under the condition of insufficient underwater light, the light source brightness control box 6 is required to adjust the brightness of the lighting system, and the most suitable brightness is selected to acquire a clearer underwater video image.
Fig. 3 is a sea cucumber positioning flow chart of the vision detection positioning system of the autonomous sea cucumber capturing device. As shown in fig. 3, the sea cucumber positioning process is that the image acquisition device 7 sends the acquired underwater video image information to the industrial personal computer 1, software in the industrial personal computer 1 firstly carries out image preprocessing on the acquired sea cucumber image, including operations such as image graying, image enhancement, image filtering and the like, the image enhancement includes methods such as self-adaptive histogram enhancement and the like, and the image filtering includes methods such as median filtering and the like; and then reading out the internal and external parameters of the calibrated binocular camera, and selecting corresponding characteristics to perform characteristic extraction operation, wherein the used characteristics comprise: harris corner features, SIFT features, SURF features and the like, and then performing stereo matching on two processed images obtained by the binocular camera, wherein the matching method comprises the following steps: the FLANN method calculates parallax according to the matching result, calculates the depth information of the sea cucumber according to the obtained parallax, calculates X, Y coordinate information of the sea cucumber, and can determine three-dimensional geographic coordinate information of the sea cucumber and output the three-dimensional coordinate position of the sea cucumber.
Fig. 4 is a workflow diagram of the vision inspection positioning system of the autonomous sea cucumber fishing apparatus. As shown in fig. 4, in the vision detection positioning system of the autonomous sea cucumber capturing device according to the embodiment of the invention, the image acquisition device 7 acquires underwater video image information, software in the industrial personal computer 1 processes the underwater video image information, detects whether the acquired information contains sea cucumbers, and if the sea cucumbers are not detected, continues to detect until the sea cucumbers are detected; and if the sea cucumber is detected, carrying out the next step, carrying out sea cucumber positioning, and finally outputting three-dimensional coordinate information of the sea cucumber. The obtained sea cucumber coordinates are transmitted to the autonomous sea cucumber capturing device to guide the autonomous sea cucumber capturing device to automatically capture sea cucumbers, so that the cost of capturing sea cucumbers is greatly reduced, and the efficiency of capturing sea cucumbers is improved. The software in the industrial personal computer can also utilize the three-dimensional coordinates of each point calculated in the image to correspondingly match with the real environment to form a point cloud base corresponding to the environment, so that the three-dimensional reconstruction of the topographic and geomorphic information of the environment is completed. The autonomous sea cucumber capturing device can automatically plan a travel route according to the obtained topography and topography information, so that the purpose of obstacle avoidance is achieved, and the real automation of the autonomous sea cucumber capturing device is realized.
Claims (5)
1. A visual detection positioning method of an autonomous sea cucumber capturing device visual detection positioning device is characterized by comprising the following steps: the device comprises a water part and an underwater part, wherein the water part and the underwater part are connected together through a data line and a power line, the underwater part comprises an image acquisition device, a lighting system and a waterproof device, the water part comprises an industrial personal computer, a display screen, a power supply system and a light source brightness control box, the industrial personal computer is respectively connected with the display screen, the power supply system, the light source brightness control box and the image acquisition device, the power supply system is respectively connected with the image acquisition device, the lighting system, the industrial personal computer, the display screen and the light source brightness control box, the light source brightness control box is connected with the lighting system, the waterproof devices are arranged on the outer sides of the image acquisition device and the lighting system, the image acquisition device is used for transmitting acquired underwater video image information to the industrial personal computer, software in the industrial personal computer firstly carries out image preprocessing on acquired sea cucumber images, the preprocessing comprises image graying, image enhancement and image filtering operation, the image enhancement comprises self-adaptive histogram enhancement, and the image filtering comprises median filtering; then, detecting a sea cucumber target in the image by using a pre-trained convolutional neural network model, distinguishing whether the sea cucumber exists in the image, and if the sea cucumber target exists, framing the sea cucumber target out on the image by using a rectangular frame to position the sea cucumber target on a two-dimensional image; and then reading out the internal and external parameters of the calibrated binocular camera, and selecting corresponding characteristics to perform characteristic extraction operation, wherein the used characteristics comprise: and (3) carrying out three-dimensional matching on the two processed images obtained by the binocular camera, wherein the matching method is a FLANN method, calculating parallax according to a matching result, calculating depth information of the sea cucumber according to the obtained parallax, calculating X, Y coordinate information of the sea cucumber, determining three-dimensional geographic coordinate information of the sea cucumber, and outputting the three-dimensional coordinate position of the sea cucumber.
2. The visual inspection positioning method of the visual inspection positioning device of the autonomous sea cucumber fishing device according to claim 1, which is characterized by comprising the following steps: the image acquisition device adopts a binocular vision camera.
3. The visual inspection and positioning method of the visual inspection and positioning device of the autonomous sea cucumber fishing device according to claim 2, which is characterized by comprising the following steps: the power supply system is a generator, a lithium battery or a switching power supply.
4. The visual inspection and positioning method of the visual inspection and positioning device of the autonomous sea cucumber fishing device according to claim 3, which is characterized by comprising the following steps: the image acquisition device is arranged at the front end or the bottom of the underwater fishing head of the autonomous sea cucumber fishing device.
5. The visual inspection and positioning method of the visual inspection and positioning device of the autonomous sea cucumber fishing device according to claim 4, which is characterized in that: the image acquisition device and the lighting system are respectively or together installed in the waterproof device for waterproof protection.
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| CN108876855A (en) * | 2018-05-28 | 2018-11-23 | 哈尔滨工程大学 | A kind of sea cucumber detection and binocular visual positioning method based on deep learning |
| CN108902064B (en) * | 2018-06-19 | 2023-12-01 | 安阳师范学院 | Shellfish fishing device based on machine vision technology |
| CN109287578B (en) * | 2018-11-08 | 2023-07-04 | 中国农业大学 | Sea cucumber catching system |
| 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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