CN108267122A - A kind of long measuring device of underwater Fish and measuring method based on machine vision - Google Patents
A kind of long measuring device of underwater Fish and measuring method based on machine vision Download PDFInfo
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- CN108267122A CN108267122A CN201810378897.XA CN201810378897A CN108267122A CN 108267122 A CN108267122 A CN 108267122A CN 201810378897 A CN201810378897 A CN 201810378897A CN 108267122 A CN108267122 A CN 108267122A
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- 230000037396 body weight Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
- G01C11/10—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken using computers to control the position of the pictures
Abstract
The present invention provides a kind of long measuring device of underwater Fish and measuring method based on machine vision, and device includes underwater water-proof CCD camera, upper and lower slide rail, the first motor, input unit and controller；The output of input unit connects the input of controller, and the output of controller connects the first motor, and the first motor connects glidepath, and controller and water-proof CCD camera are bi-directionally connected, and water-proof CCD camera is on upper and lower slide rail.Underwater water-proof CCD camera receives the first position of the first shooting instruction sent in water according to controller and fish body is shot, obtain the first fish body image, first motor receives the instruction control upper and lower slide rail that moves up and down sent according to controller and moves up and down the second position stopped after pre-determined distance in water, the camera receives the second position of the second shooting instruction sent in water according to controller and fish body is shot, the second fish body image is obtained, controller is long according to two fish body images calculating fish body bodies.Risk of damage of the present invention is low, takes short, efficient.
Description
Technical field
The present invention relates to fields of measurement, and dress is measured more particularly, to a kind of underwater Fish length based on machine vision
It puts and measuring method.
Background technology
As Fisheries Development big country, fish culture plant layout is huge in China.Fish growth DATA REASONING is in breeding process
In it is essential, be related to enterprise fish fry is launched, the feeding of feed, disease control, harvest fishing etc..
Traditional Fish length measuring method, i.e., will by tools such as vernier caliper, measured body weight devices mainly by manual measurement
Live fish is salvaged to assess body weight gain, but this method takes that longer, labour intensive, efficiency are low, tend to have omission, and to fish
Body causes stress, increases the risk of damage or reduces the feeding rate of fish and inhibit growth.
Invention content
The present invention provide it is a kind of overcome the above problem or solve the above problems at least partly based on machine vision
The underwater long measuring device of Fish and measuring method.
In a first aspect, the present invention provides a kind of long measuring device of underwater Fish based on machine vision, including：It is underwater anti-
Water camera, upper and lower slide rail, the first motor, input unit and controller；
The output of the input unit connects the input of the controller, output connection first electricity of the controller
Machine, first motor connect the upper and lower slide rail, and the controller and the water-proof CCD camera are bi-directionally connected, and the waterproof is taken the photograph
As head is mounted on the upper and lower slide rail.
Preferably, it further includes：Left and right sliding rail and the second motor；
Second motor connects the left and right sliding rail, and the upper and lower slide rail is mounted on the left and right sliding rail, the control
The output of device processed connects second motor.
Preferably, first motor and second motor are stepper motor.
Preferably, the camera lens of the underwater water-proof CCD camera for can 360 degree rotation CCD camera lenses.
Second aspect, the present invention also provides a kind of based on the long measuring device of underwater Fish based on machine vision
Underwater Fish length measuring method, including：
The input unit receives the first shooting instruction, and first shooting instruction is sent to the controller, institute
It states controller and first shooting instruction is sent to the underwater water-proof CCD camera, the underwater water-proof CCD camera is according to
The first position of first shooting instruction in water shoots fish body, and the control is sent to after obtaining the first fish body image
Device；
Input unit reception moves up and down instruction, and moves up and down instruction by described and be sent to the controller, institute
It states controller to move up and down instruction by described and be sent to first motor, first motor moves up and down instruction according to
Operation, the upper and lower slide rail to be controlled to move up and down the second position stopped after pre-determined distance in water；
The input unit receives the second shooting instruction, and second shooting instruction is sent to the controller, institute
It states controller and second shooting instruction is sent to the underwater water-proof CCD camera, the underwater water-proof CCD camera is according to
The second position of second shooting instruction in water shoots fish body, and the control is sent to after obtaining the second fish body image
Device；
The controller is long according to the first fish body image and the second fish body image calculating fish body body.
Preferably, the controller is long according to the first fish body image and the second fish body image calculating fish body body,
Including：
Length of the fish body in the first fish body image is calculated according to the first fish body image；
Length of the fish body in the second fish body image is calculated according to the second fish body image；
According to length and fish body length in second fish body image of the fish body in the first fish body image, fish is calculated
Body body is long.
Preferably, length of the fish body in the first fish body image is calculated according to the first fish body image, including：
The binary image of the first fish body image according to the first fish body image acquisition；
The contour images of fish body in the first fish body image are obtained according to the binary image；
The coordinate value of the corresponding each pixel of profile of fish body is obtained according to the contour images of the fish body；
According to the coordinate value of the corresponding each pixel of the profile of the fish body, length of the fish body in the first fish body image is calculated
Degree.
Preferably, the length of length and fish body in the second fish body image according to the fish body in the first fish body image
Degree, calculating fish body body is long, including：
According to length and fish body length in second fish body image of the fish body in the first fish body image, pass through public affairs
Formula (one), (two), (three) calculating fish body body are long
L=a/u1+bp1(1)
u1=f-km/ (k-1) (two)
K=p2/p1(3)
Wherein, L is long for fish body body, p1For length of the fish body in the first fish body image, p2It is fish body in the second fish body image
In length, a, b are constant, and f is the focal length of underwater water-proof CCD camera, and for precognition value, m is the pre-determined distance.
Preferably, before the input unit receives the first shooting instruction, the method further includes：
Input unit reception moves left and right instruction, and moves left and right instruction by described and be sent to the controller, institute
It states controller to move left and right instruction by described and be sent to the second motor, second motor moves left and right instruction fortune according to
Row, left and right sliding rail to be controlled to move left and right；
The input unit, which receives, to be stopped moving left and right instruction, and the stopping is moved left and right instruction and is sent to the control
The stopping is moved left and right instruction and is sent to second motor by device processed, the controller, and second motor is according to
It is out of service that stopping moves left and right instruction, sliding rail stopping in left and right to be controlled to move left and right, and rest on the first position.
Preferably, before the input unit receives the first shooting instruction, the method further includes：
The input unit receives rotation instruction, and the rotation instruction is sent to the controller, the controller
The rotation instruction is sent to the electric rotating machine of the underwater water-proof CCD camera, the electric rotating machine is instructed according to the rotation
Rotation；
The input unit receives instruction of stopping rotating, and the instruction of stopping rotating is sent to the controller, described
The instruction of stopping rotating is sent to the electric rotating machine by controller, and electric rotating machine instruction of stopping rotating according to stops
Spin-ended turn.
As shown from the above technical solution, the output of the invention due to the input unit connects the input of the controller,
The output of the controller connects first motor, and first motor connects the upper and lower slide rail, the controller and institute
It states water-proof CCD camera to be bi-directionally connected, the water-proof CCD camera is mounted on the upper and lower slide rail, and controller can pass through control first
Motor control upper and lower slide rail moves up and down, and shoots the fish body of mobile two front and rear positions respectively by underwater water-proof CCD camera
Image, long further according to the fish body image calculating fish body body of two positions, fish body does not have to be detached from pond, will not cause to press to fish body
Power can be such that fish body is grown under conditions of stabilization, reduce the risk of damage, will not inhibit it because of the feeding rate for reducing fish
Growth takes short, efficient.
Description of the drawings
Fig. 1 is the structure diagram of the long measuring device of underwater Fish based on machine vision of one embodiment of the invention；
Fig. 2 is the flow chart of underwater Fish length measuring method that one embodiment of the invention provides；
Fig. 3 is the schematic diagram at the interface of touch display screen that one embodiment of the invention provides.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but be not limited to the scope of the present invention.
Fig. 1 is the structure diagram of the long measuring device of underwater Fish based on machine vision of one embodiment of the invention.
A kind of long measuring device of underwater Fish based on machine vision as shown in Figure 1, including：Underwater water-proof CCD camera
5th, upper and lower slide rail 4, the first motor 3, input unit and controller 2；
The output of the input unit connects the input of the controller 2, the output connection described first of the controller 2
Motor 3, first motor 3 connect the upper and lower slide rail 4, and the controller 2 and the water-proof CCD camera are bi-directionally connected, described
Water-proof CCD camera is mounted on the upper and lower slide rail 4.
It is understood that the input unit, for the first shooting instruction of reception, moves up and down instruction and the second shooting
Instruction, and by first shooting instruction, it is described move up and down instruction and second shooting instruction be sent to the controller
2；
The controller 2, it is described underwater anti-for first shooting instruction and second shooting instruction to be sent to
Water camera 5 moves up and down described instruction and is sent to first motor 3, according to the first fish body image and the second fish body figure
It is long as calculating fish body body；
First motor 3 for moving up and down instruction operation according to, is moved down with controlling on the upper and lower slide rail 4
The second position in water is stopped after dynamic pre-determined distance；
The underwater water-proof CCD camera 5, for according to first shooting instruction first position in water to fish body into
Row shooting, is sent to the controller 2, according to the second of second shooting instruction in water after obtaining the first fish body image
It puts and fish body is shot, the controller 2 is sent to after obtaining the second fish body image.
What deserves to be explained is the fish body image in the present embodiment is coloured image, it is the same below.
What deserves to be explained is described device further includes power supply 1, the power supply 1 connects the controller 2, is the control
Device 2 provides electric energy.
In a specific embodiment, the camera lens of the underwater water-proof CCD camera 5 can be can 360 degree rotation CCD camera lenses.
Underwater water-proof CCD camera 5 can connect the controller 2 by AV1 Interface Videos line.
The present invention connects the input of the controller 2 due to the output of the input unit, and the output of the controller 2 connects
First motor 3 is connect, first motor 3 connects the upper and lower slide rail 4, and the controller 2 and the water-proof CCD camera are double
To connection, the water-proof CCD camera is mounted on the upper and lower slide rail 4, and controller 2 can be by controlling the first motor 3 to control up and down
Sliding rail 4 moves up and down, and shoots the fish body image of mobile two front and rear positions respectively by underwater water-proof CCD camera 5, then root
Fish body image calculating fish body body according to two positions is long, and fish body does not have to be detached from pond, will not be caused stress to fish body, can make fish body
It is grown under conditions of stabilization, reduces the risk of damage, growth will not be inhibited because of the feeding rate for reducing fish, taken
It is short, efficient.
Fish body growth parameter(s) database can also be established for farm according to above-mentioned multiple data of acquisition, to feed mechanism,
Supervision of epidemic disease, shoal of fish analysis, abnormal behaviour etc. carry out data support.User can realize remote monitoring fish body growing state, to life
Long data, which are analyzed and established, preferably feeds mechanism and harvest time, reaches optimal economic income state.
As a kind of preferred embodiment, further include：6 and second motor of left and right sliding rail；
Second motor connects the left and right sliding rail 6, and the upper and lower slide rail 4 is mounted on the left and right sliding rail 6, described
The output of controller 2 connects second motor.
What deserves to be explained is the input unit, it is additionally operable to receive and moves left and right instruction and stopping moves left and right instruction, and
Instruction is moved left and right by described and stopping moves left and right instruction and is sent to the controller 2；
The controller 2, be additionally operable to by it is described move left and right instruction and the stopping move left and right instruction be sent to it is described
Second motor；
Second motor, for moving left and right instruction operation, left and right sliding rail 6 to be controlled to move left and right, root according to
According to it is described stopping move left and right instruction it is out of service, with control left and right sliding rail 6 stopping move left and right, and rest on described first
It puts.
Location A is rested on it should be noted that setting and being set before left and right sliding rail 6 moves, the present embodiment is directed to location A shooting
Bad less than the fish body or shooting to be measured, therefore, described structure control or so sliding rail 6 is moved to through this embodiment
First position, and first position can take the fish body to be measured.Certainly, if location A can take the fish body to be measured,
Mobile left and right sliding rail 6 is not needed to then.
What deserves to be explained is described device may also include display device, the output connection display dress of the controller 2
It puts, for showing the fish body that underwater water-proof CCD camera 5 is irradiated to and the fish body image taken.The input unit and described
Display device can become one, and such as be integrated into touch display screen.
In the present embodiment, the fish body that underwater water-proof CCD camera 5 is irradiated to is shown by display device, by display device
Upper observation determines the need for moving left and right underwater water-proof CCD camera 5, and when current shooting position is bad, input moves left and right finger
It enables, when determining that best fish body image can be taken, input stops moving left and right instruction, makes underwater water-proof CCD camera 5 can be with
Optimum position is rested on, final to ensure that best fish body image is obtained, i.e. the present embodiment can be by adjusting left and right sliding rail 6
Position adjusts the position of underwater water-proof CCD camera 5, so as to obtain best fish body image.
As a kind of preferred embodiment, further include：Drive control device；
The output of the controller connects the input of the drive control device, described in the output connection of the drive control device
First motor and second motor.
The controller 2 connects 3 and second motor of the first motor by drive control device 2, and connection relation can adopt
With existing connection relation, details are not described herein.
What deserves to be explained is if the data-interface of drive control device 2 is USB port, described device may also include：USB turns
Parallel operation；
The output of the controller connects the input of the USB converter, and the output of the USB converter connects the drive
The input of movement controller.
In a specific embodiment, 3 and second motor of the first motor can be stepper motor.
What deserves to be explained is the input unit can be realized by hardware device, such as touch display screen etc., but not office
It is limited to this, can be also realized by input circuit.C470 controllers 2 or C490 controllers 2 etc. can be used, but simultaneously in the controller 2
It is not limited to this, it will not enumerate in the present embodiment.
The above device embodiment of the present invention is only section Example, and those skilled in the art are in above-mentioned each device embodiment
On the basis of available various modifications it is within the scope of the present invention.
Fig. 2 is the flow chart of underwater Fish length measuring method that one embodiment of the invention provides.
A kind of underwater fish based on the long measuring device of underwater Fish based on machine vision as shown in Figure 2
Body length measuring method, including：
S201, the input unit receive the first shooting instruction, and first shooting instruction are sent to the control
First shooting instruction is sent to the underwater water-proof CCD camera, the underwater water-proof CCD camera root by device, the controller
Fish body is shot according to the first position of first shooting instruction in water, is sent to after the first fish body image of acquisition described
Controller；
S202, input unit reception move up and down instruction, and move up and down instruction by described and be sent to the control
Device, the controller move up and down described instruction and are sent to first motor, and first motor is moved down according on described
Dynamic instruction operation, the upper and lower slide rail to be controlled to move up and down the second position stopped after pre-determined distance in water；
S203, the input unit receive the second shooting instruction, and second shooting instruction are sent to the control
Second shooting instruction is sent to the underwater water-proof CCD camera, the underwater water-proof CCD camera root by device, the controller
Fish body is shot according to the second position of second shooting instruction in water, is sent to after the second fish body image of acquisition described
Controller；
S204, the controller are long according to the first fish body image and the second fish body image calculating fish body body.
Controller of the present invention can be by controlling the first motor that upper and lower slide rail is controlled to move up and down, and imaged by underwater waterproof
Head shoots the fish body image of mobile two front and rear positions respectively, long further according to the fish body image calculating fish body body of two positions,
Fish body does not have to be detached from pond, will not be caused stress to fish body, fish body can be made to be grown under conditions of stabilization, reduce the wind of damage
Danger will not inhibit growth because of the feeding rate for reducing fish, take short, efficient.
As a kind of preferred embodiment, the step S204, including：
Length of the fish body in the first fish body image is calculated according to the first fish body image；
Length of the fish body in the second fish body image is calculated according to the second fish body image；
According to length and fish body length in second fish body image of the fish body in the first fish body image, fish is calculated
Body body is long.
As a kind of preferred embodiment, length of the fish body in the first fish body image is calculated according to the first fish body image
Degree, including：
The binary image of the first fish body image according to the first fish body image acquisition；
It is understood that collected first fish body image is subjected to gray processing；
What deserves to be explained is by the colored image of shooting be converted to the process of gray level image the gray processing of image at
It manages, the color of each pixel has tri- components of R, G, B to determine in coloured image, and each component has 255 intermediate values can use, and gray scale
Image is a kind of identical rainbow image of tri- components of RGB, so after collecting fish image, using following formula (one)
Three components are weighted, obtain gray level image.
F (i, j)=0.30R (i, j)+0.59G (i, j)+0.11B (i, j) (one)
Wherein, it is i that f (i, j), which is horizontal pixel coordinate points, and longitudinal pixel coordinate point is the color of the pixel of the pixel of j,
R (i, j) is that horizontal pixel coordinate points are i, and longitudinal pixel coordinate point is the R component of the pixel of j, and G (i, j) is sat for horizontal pixel
Punctuate is i, and longitudinal pixel coordinate point is the G components of the pixel of j, and B (i, j) is that horizontal pixel coordinate points are i, and longitudinal pixel is sat
Punctuate is the B component of the pixel of j.
In order to enable convenience of calculation, obtained gray level image is handled by maximum variance between clusters after gray processing,
Obtain binary image.
This step specifically includes：The gray value of each pixel in image is set as 0 (black) and 255 (whites),
Allow whole image that only black and white effect is presented.After fish body image gray processing, binaryzation is performed, program is schemed by calculating
As in pixel matrix the gray value of all pixels point average value, each pixel is then allowed to be compared with average value
Compared with being set as 0 less than average value, be set as 255 more than average value, obtain binary image.
The binary image is corrected by the way of medium filtering；
If there is white noise around obtained binary image, denoising point button is clicked, it will using median filter
Picture element matrix traverses one time, and the pixel that the difference of transference surrounding pixel gray value is bigger changes to take the value close with surrounding pixel values,
Eliminate isolated noise spot.
The contour images of fish body in the first fish body image are obtained according to the binary image；
This step specifically includes：Contours extract is carried out to the binary image using canny algorithms, obtains the profile
Image, and be shown on interface (such as touch display screen).The interface of touch display screen is as shown in Figure 3.According to the fish body
Contour images obtain the coordinate value of the corresponding each pixel of profile of fish body；
According to the coordinate value of the corresponding each pixel of the profile of the fish body, length of the fish body in the first fish body image is calculated
Degree.
It is understood that the method for length of the fish body in the second fish body image is calculated according to the second fish body image
It is identical with the embodiment, it repeats no more.
It is described below and calculates the specific of length of the fish body in fish body image according to the contour images of fish body in fish body image
Step, including：
It traverses each white pixel point coordinates value (x, y) on profile and is stored in Vector Groups, finding length direction (can people
To set which direction as length direction) on min coordinates point (x1,y1) and maximum coordinates point (x2,y2) (coordinate points are picture
Vegetarian refreshments, similarly hereinafter), following formula (two) is utilized to calculate the distance between two pixels | dis |, the as length of fish body in the picture
Degree.
As a kind of preferred embodiment, according to length of the fish body in the first fish body image and fish body in the second fish body
Length in image, calculating fish body body is long, including：
According to length and fish body length in second fish body image of the fish body in the first fish body image, pass through public affairs
Formula (three), (four), (five) calculating fish body body are long
L=a/u1+bp1(3)
u1=f-km/ (k-1) (four)
K=p2/p1(5)
Wherein, L is long for fish body body, p1For length of the fish body in the first fish body image, p2It is fish body in the second fish body image
In length, a, b are constant, and f is the focal length of underwater water-proof CCD camera, and for precognition value, m is the pre-determined distance.
As a kind of preferred embodiment, before the input unit in the step S201 receives the first shooting instruction,
The method further includes：
Input unit reception moves left and right instruction, and moves left and right instruction by described and be sent to the controller, institute
It states controller to move left and right instruction by described and be sent to the second motor, second motor moves left and right instruction fortune according to
Row, left and right sliding rail to be controlled to move left and right；
The input unit, which receives, to be stopped moving left and right instruction, and the stopping is moved left and right instruction and is sent to the control
The stopping is moved left and right instruction and is sent to second motor by device processed, the controller, and second motor is according to
It is out of service that stopping moves left and right instruction, sliding rail stopping in left and right to be controlled to move left and right, and rest on the first position.
According to the introduction of device embodiment it is found that in the present embodiment, water is shown by the display device being connect with controller
The fish body that lower water-proof CCD camera is irradiated to determines the need for moving left and right underwater waterproof camera shooting by observing on the display apparatus
Head, when current shooting position is bad, input moves left and right instruction, when determining that best fish body image can be taken, input
Stopping moves left and right instruction, and underwater water-proof CCD camera is allow to rest on optimum position, final to ensure that best fish is obtained
Body image, i.e. the present embodiment can adjust the position of underwater water-proof CCD camera by adjusting the position of left and right sliding rail, so as to
To best fish body image.
As a kind of preferred embodiment, before the input unit in the step S201 receives the first shooting instruction,
The method further includes：
The input unit receives rotation instruction, and the rotation instruction is sent to the controller, the controller
The rotation instruction is sent to the electric rotating machine of the underwater water-proof CCD camera, the electric rotating machine is instructed according to the rotation
Rotation；
The input unit receives instruction of stopping rotating, and the instruction of stopping rotating is sent to the controller, described
The instruction of stopping rotating is sent to the electric rotating machine by controller, and electric rotating machine instruction of stopping rotating according to stops
Spin-ended turn.
What deserves to be explained is rotation instruction is manually entered in the case of fish head and fish tail cannot be seen clearly on the display apparatus,
And instruction of stopping rotating is manually entered in the case where fish head and fish tail can be seen clearly, it thereby may be ensured that and take best fish body figure
Picture.In actual use, first two are controlled respectively the stepper motor arrangement that upper and lower slide rail and left and right sliding rail slide slided in corresponding
On rail, underwater water-proof CCD camera is connected, and be installed on upper and lower slide rail with controller by AV data lines, sliding rail is placed in foster
It grows in the pond of fish body, by controller control stepper motor and underwater water-proof CCD camera, stepper motor converts electrical energy into machinery
Upper and lower slide rail and left and right sliding rail can be driven to slide up and down so that underwater water-proof CCD camera in different distances (herein not
Same distance refers mainly to different water depth) under shoot the image of fish body activity, be stored in the memory cards of inside modules, operating personnel are being controlled
Device interface (such as touch display screen) processed selection needs the fish body measured, and with mouse circle outpour come, memory card by image transmitting extremely
Data processing module and the long computing module of body (the two modules are the different function modules in controller), data processing module root
According to image acquisition relevant parameter and it is sent to the long computing module of body.It is long that the long computing module of body according to relevant parameter calculates fish body body
It is shown on the screen (screen can be touch display screen) of controller, and is recorded in memory card.Controller can be set between shooting
Every after shooting, controller sends sleep signal, and underwater water-proof CCD camera returns to initial position, and enters dormant state.
The data that controller will receive, are classified with image capturing time, association fish body individual growth data, video image
Data establish fish body growth parameter(s) database, and are uploaded to server.
The above method embodiment of the present invention is only section Example, and those skilled in the art are in above-mentioned each method embodiment
On the basis of available various modifications it is within the scope of the present invention.
It should be noted that in all parts of the device of the invention, according to the function that it to be realized to therein
Component has carried out logical partitioning, and still, the present invention is not only restricted to this, all parts can be repartitioned as needed or
Person combines, for example, some components for single component or can be further broken into some component combinations more to
Subassembly.
It should be noted that the present invention will be described rather than limits the invention, and ability for above-described embodiment
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.Word " comprising " is not arranged
Except there are element or steps not listed in the claims.The present invention can by means of include the hardware of several different elements with
And it is realized by means of properly programmed computer.If in the unit claim for listing equipment for drying, in these devices
Several can be embodied by same hardware branch.
Embodiment of above is only suitable for illustrating the present invention, and not limitation of the present invention, in relation to the common of technical field
Technical staff without departing from the spirit and scope of the present invention, can also make a variety of changes and modification, therefore all
Equivalent technical solution also belongs to scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (10)
1. a kind of long measuring device of underwater Fish based on machine vision, which is characterized in that including：Underwater water-proof CCD camera,
Upper and lower slide rail, the first motor, input unit and controller；
The output of the input unit connects the input of the controller, and the output of the controller connects first motor,
First motor connects the upper and lower slide rail, and the controller and the water-proof CCD camera are bi-directionally connected, the waterproof camera shooting
Head is mounted on the upper and lower slide rail.
2. the apparatus according to claim 1, which is characterized in that further include：Left and right sliding rail and the second motor；
Second motor connects the left and right sliding rail, and the upper and lower slide rail is mounted on the left and right sliding rail, the controller
Output connect second motor.
3. the apparatus of claim 2, which is characterized in that first motor and second motor are stepping electricity
Machine.
4. the apparatus according to claim 1, which is characterized in that the camera lens of the underwater water-proof CCD camera is can 360 degree of rotations
The CCD camera lenses turned.
5. a kind of water of the long measuring device of underwater Fish based on machine vision based on described in any one of claim 1-4
Lower Fish length measuring method, which is characterized in that including：
The input unit receives the first shooting instruction, and first shooting instruction is sent to the controller, the control
First shooting instruction is sent to the underwater water-proof CCD camera by device processed, and the underwater water-proof CCD camera is according to described first
The first position of shooting instruction in water shoots fish body, and the controller is sent to after obtaining the first fish body image；
Input unit reception moves up and down instruction, and moves up and down instruction by described and be sent to the controller, the control
Device processed moves up and down described instruction and is sent to first motor, and first motor moves up and down instruction fortune according to
Row, the upper and lower slide rail to be controlled to move up and down the second position stopped after pre-determined distance in water；
The input unit receives the second shooting instruction, and second shooting instruction is sent to the controller, the control
Second shooting instruction is sent to the underwater water-proof CCD camera by device processed, and the underwater water-proof CCD camera is according to described second
The second position of shooting instruction in water shoots fish body, and the controller is sent to after obtaining the second fish body image；
The controller is long according to the first fish body image and the second fish body image calculating fish body body.
6. according to the method described in claim 5, it is characterized in that, the controller is according to the first fish body image and described
Second fish body image calculating fish body body is long, including：
Length of the fish body in the first fish body image is calculated according to the first fish body image；
Length of the fish body in the second fish body image is calculated according to the second fish body image；
According to length and fish body length in second fish body image of the fish body in the first fish body image, fish body body is calculated
It is long.
7. according to the method described in claim 6, it is characterized in that, fish body is calculated in the first fish according to the first fish body image
Length in body image, including：
The binary image of the first fish body image according to the first fish body image acquisition；
The contour images of fish body in the first fish body image are obtained according to the binary image；
The coordinate value of the corresponding each pixel of profile of fish body is obtained according to the contour images of the fish body；
According to the coordinate value of the corresponding each pixel of the profile of the fish body, length of the fish body in the first fish body image is calculated.
8. according to the method described in claim 6, it is characterized in that, according to length of the fish body in the first fish body image and
Length of the fish body in the second fish body image, calculating fish body body is long, including：
According to length and fish body length in second fish body image of the fish body in the first fish body image, pass through formula
(1), (two), (three) calculating fish body body are long
L=a/u1+bp1(1)
u1=f-km/ (k-1) (two)
K=p2/p1(3)
Wherein, L is long for fish body body, p1For length of the fish body in the first fish body image, p2It is fish body in the second fish body image
Length, a, b are constant, and f is the focal length of underwater water-proof CCD camera, and for precognition value, m is the pre-determined distance.
9. according to the method described in claim 5, it is characterized in that, the input unit receive the first shooting instruction before, institute
The method of stating further includes：
Input unit reception moves left and right instruction, and moves left and right instruction by described and be sent to the controller, the control
Device processed moves left and right described instruction and is sent to the second motor, and second motor moves left and right instruction operation according to, with
Control left and right sliding rail moves left and right；
The input unit, which receives, to be stopped moving left and right instruction, and the stopping is moved left and right instruction and is sent to the control
The stopping is moved left and right instruction and is sent to second motor by device, the controller, and second motor stops according to
It is out of service only to move left and right instruction, left and right sliding rail stopping to be controlled to move left and right, and rest on the first position.
10. according to the method described in claim 5, it is characterized in that, the input unit receive the first shooting instruction before, institute
The method of stating further includes：
The input unit receives rotation instruction, and the rotation instruction is sent to the controller, and the controller is by institute
The electric rotating machine that rotation instruction is sent to the underwater water-proof CCD camera is stated, the electric rotating machine is according to the rotation instruction rotation
Turn；
The input unit receives instruction of stopping rotating, and the instruction of stopping rotating is sent to the controller, the control
The instruction of stopping rotating is sent to the electric rotating machine by device, and the electric rotating machine, which stops rotating to instruct according to, stops rotation
Turn.
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| CN110298856A (en) * | 2019-06-19 | 2019-10-01 | 江苏农林职业技术学院 | A kind of contactless evaluation method of length of fish body |
| CN111127396A (en) * | 2019-11-21 | 2020-05-08 | 中国农业大学 | Fish weight measuring and calculating method and device |
| CN111678441A (en) * | 2020-07-30 | 2020-09-18 | 厦门理工学院 | Underwater fish body measuring device and method based on deep learning |
| CN111738279A (en) * | 2020-06-24 | 2020-10-02 | 西藏自治区农牧科学院水产科学研究所 | Non-contact type automatic acquisition device and method for fish morphological phenotype |
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