CN108844574B - Autonomous inspection type fishery aquaculture acoustic monitoring system - Google Patents
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Abstract
The invention discloses an autonomous inspection type fishery aquaculture acoustic monitoring system which comprises aquaculture facilities, a water surface positioning detection platform and a water surface platform, wherein the water surface positioning detection platform and the water surface platform are connected through a wireless communication protocol; the water surface positioning detection platform comprises an overwater autonomous inspection platform and a positioning array; the overwater autonomous inspection platform comprises a fishing probe sensor module, a fishing probe signal processing module, a positioning module, a main control module, a communication module and a battery pack for providing working voltage for the main control module, the positioning module, the communication module and the fishing probe signal processing module. The invention finishes the autonomous monitoring of the culture process of the large-scale culture facility by taking the overwater autonomous inspection platform as a carrier of acoustic detection and the autonomous movement track planning of positioning matrix positioning and wireless data transmission, and has the advantages of seamless coverage, autonomous inspection, low cost, no influence by drift and the like.
Description
Technical Field
The invention relates to the technical field of marine fishery, in particular to an autonomous inspection type fishery aquaculture acoustic monitoring system.
Background
The marine fishery culture is going to the open sea and the deep sea, the scale of a large fence, a large net cage and a culture ship adopted in the culture process is also getting larger and larger, if developed countries actively promote research and construction on a semi-submersible type deep water culture platform, the 'sea fishing ground No. 1' designed and researched by Norwegian Saima group is put into trial operation in 2018 years, the diameter of a facility main body is 110m and the height is 67m, the facility main body is suitable for the water depth working range of 100 plus one year and 300m, the culture capacity exceeds 20 million cubic meters, and intelligent production operation equipment is equipped, so that the culture production of the whole facility can be completed by only 7 workers; the abandoned offshore oil platform is used as a logistics support workstation to control a plurality of net cage groups in open sea, and an open sea platform type net cage culture base is established; the ocean university and Hubei ocean engineering equipment research institute of China are jointly designed, the first large-scale culture platform 'dark blue No. 1' in deep open sea in China built by Qingdao Wu ship engineering Limited company is already put into use, the platform is 35 meters high and 180 meters in circumference, can hold 5 million cubic meters of culture water, can culture 30 thousands of salmon at one time, and pushes the culture battleline to the outside in 130 seas. The large-scale cultivation platform introduced above represents the development trend of future fishery cultivation, and in the future, the large-scale cultivation implementation with more and more quantity, larger and larger scale and more distant offshore is put into use.
Aiming at the situation that the cultured fishes need to be effectively monitored in real time by the culture platform, as the scale of culture facilities is increased and the light transmittance of seawater in part of sea areas is not high, the seamless monitoring of the culture area can hardly be completed by adopting optical video monitoring in the traditional culture process; the traditional fixed acoustic detection instrument is adopted to monitor the culture process, position dead angles exist, the traditional fixed acoustic detection instrument can only be installed at multiple points, and the cost is greatly improved. Meanwhile, due to the influence of sea wind and water flow, the position of a large-scale cultivation facility can drift to a certain extent, and if a global satellite positioning system, a Beidou satellite and other satellites are adopted for positioning, great position deviation can be caused.
Disclosure of Invention
In order to find a more effective implementation scheme for monitoring culture facilities, the invention provides an autonomous inspection type fishery culture acoustic monitoring system.
In order to achieve the purpose, the invention discloses an autonomous inspection type fishery aquaculture acoustic monitoring system which comprises aquaculture facilities, a water surface positioning detection platform and a water surface platform, wherein the water surface positioning detection platform is connected with the water surface platform through a wireless communication protocol; the water surface positioning detection platform comprises an overwater autonomous inspection platform and a plurality of positioning matrixes fixed on the aquaculture facility and used for positioning the autonomous inspection type fishery aquaculture acoustic monitoring system;
on water independently patrol and examine the platform including the fishing of being used for sound signal and signal conversion visit sensor module, with signal processing module is visited to the fishing that sensor module is connected, with the corresponding being used for of location array acquires on water independently patrol and examine the positioning module of the positional information of platform, according to receiving the control parameter of surface of water platform perhaps on water independently patrol and examine the positional information adjustment of platform on water independently patrol and examine the host system on water autonomously patrol and examine the platform and patrol and examine the route, with the communication module of surface of water platform communication and do host system, positioning module, communication module and fishing visit signal processing module provide operating voltage's group battery, positioning module, communication module and fishing visit signal processing module respectively with host system connects.
Preferably, the surface of water platform including be used for showing to patrol and examine information or read the control parameter's of external input demonstration and control module and with the communication module of the platform of independently patrolling and examining on water passes through the wireless communication module that wireless communication agreement is connected, demonstration and control module with wireless communication module connects.
Preferably, the fish detection sensor module comprises a sensor for acquiring sound signals in the culture facility during inspection and an impedance matching unit connected with the sensor, and the fish detection sensor module is connected with the fish detection signal processing module through the impedance matching unit.
Preferably, the fishing probe signal processing module comprises a signal processing unit, a receiver connected with the impedance matching unit and a transmitter connected with the fishing probe sensor module, and the receiver, the transmitter and the main control module are respectively connected with the signal processing unit.
Preferably, the signal processing unit includes a processor, a dynamic memory, a flash memory, a signal isolation unit, and an ethernet transceiver connected to the main control module, where the ethernet transceiver, the dynamic memory, and the flash memory are respectively connected to the processor, and the processor is connected to the transmitter through the signal isolation unit.
Preferably, the processor includes a data terminal DA and a control terminal KZ, the receiver includes a transceiving conversion unit, a low noise amplification unit, a variable gain amplification unit, and an anti-aliasing filtering unit connected to the impedance matching unit, the transceiving conversion unit, the low noise amplification unit, the variable gain amplification unit, and the anti-aliasing filtering unit are sequentially connected to each other, the anti-aliasing filtering unit is connected to the data terminal DA, and the transceiving conversion unit and the variable gain amplification unit are respectively connected to the control terminal KZ.
Preferably, the transmitter comprises a power amplifier driving unit, a power amplifying unit, a low-pass filtering unit and a transformer, wherein the power amplifier driving unit, the power amplifying unit, the low-pass filtering unit and the transformer are connected with the signal isolating unit, and the power amplifier driving unit, the power amplifying unit, the low-pass filtering unit and the transformer are connected in sequence.
Compared with the prior art, the autonomous inspection type fishery aquaculture acoustic monitoring system has the following beneficial effects:
the autonomous inspection type fishery aquaculture acoustic monitoring system provided by the invention completes autonomous monitoring of a large-scale aquaculture facility culture process by adopting the overwater autonomous inspection platform as a carrier of acoustic detection and autonomous movement track planning of positioning matrix positioning and wireless data transmission, and has the advantages of seamless coverage, autonomous inspection, low cost, no influence of drift and the like.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of an overall module of an autonomous inspection type fishery aquaculture acoustic monitoring system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a matching structure of an overwater autonomous inspection platform and aquaculture facilities of the autonomous inspection type fishery aquaculture acoustic monitoring system according to the embodiment of the invention;
FIG. 3 is a schematic diagram of the module structures of a fishery detection sensor module and a fishery detection signal processing module of the autonomous inspection type fishery aquaculture acoustic monitoring system according to the embodiment of the invention;
FIG. 4 is a schematic flow chart of a using method of the autonomous inspection type fishery aquaculture acoustic monitoring system according to the embodiment of the invention.
The labels in the figures illustrate:
80. a breeding facility;
10. an overwater autonomous inspection platform; 101. a main control module; 102. a battery pack; 103. a fish detection sensor module; 105. a fishing exploration signal processing module; 1051. a receiver; 1053. a transmitter; 1055. a signal processing unit; 107. a positioning module; 109. a communication module; 30. positioning a base array;
20. a water surface platform; 201. a wireless communication module; 203. and a display and control module.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
Referring to fig. 1-3, an autonomous patrol type fishery aquaculture acoustic monitoring system according to an embodiment of the present invention is applied to an aquaculture facility 80 shown in fig. 2. The invention embodiment relates to an autonomous inspection type fishery aquaculture acoustic monitoring system, which comprises aquaculture facilities 80, a water surface positioning detection platform and a water surface platform 20, wherein the water surface positioning detection platform comprises an overwater autonomous inspection platform 10 and a plurality of positioning matrixes 30 which are fixed on the aquaculture facilities 80 and used for positioning the autonomous inspection type fishery aquaculture acoustic monitoring system; the water autonomous inspection platform 10 and the water surface platform 20 are connected through a wireless communication protocol.
The overwater autonomous inspection platform 10 comprises a fishing probe sensor module 103 for converting sound signals and electric signals, a fishing probe signal processing module 105 connected with the fishing probe sensor module 103, a positioning module 107 corresponding to the positioning matrix 30 and used for acquiring position information of the overwater autonomous inspection platform 10 in real time, a main control module 101 for adjusting an inspection path of the overwater autonomous inspection platform 10 according to received control parameters of the water surface platform 20 or the position information of the overwater autonomous inspection platform 10, a communication module 109 communicating with the water surface platform 20, and a battery pack 102 for providing working voltage for the main control module 101, the positioning module 107, the communication module 109 and the fishing probe signal processing module 105, wherein the positioning module 107, the communication module 109 and the fishing probe signal processing module 105 are respectively connected with the main control module 101.
The fish detection sensor module 103 includes a sensor for acquiring a sound signal in the aquaculture facility 80 at the time of inspection and an impedance matching unit connected to the sensor, wherein the fish detection sensor module 103 is connected to the fish detection signal processing module 105 through the impedance matching unit.
The fishing probe signal processing module 105 comprises a signal processing unit 1055, a receiver 1051 connected with the impedance matching unit, and a transmitter 1053 connected with the fishing probe sensor module 103, wherein the receiver 1051, the transmitter 1053, and the main control module 101 are respectively connected with the signal processing unit 1055.
The signal processing unit 1055 includes a processor, a dynamic memory, a flash memory, a signal isolation unit, and an ethernet transceiver connected to the main control module 101, wherein the ethernet transceiver, the dynamic memory, and the flash memory are respectively connected to the processor, and the processor is connected to the transmitter 1053 through the signal isolation unit.
The processor comprises a data terminal DA and a control terminal KZ. The receiver 1051 comprises a transceiving conversion unit, a low noise amplification unit, a variable gain amplification unit and an anti-aliasing filtering unit which are connected with an impedance matching unit of the fishing probe sensor module 103, wherein the transceiving conversion unit, the low noise amplification unit, the variable gain amplification unit and the anti-aliasing filtering unit are sequentially connected, the anti-aliasing filtering unit is connected with a data end DA of the processor, and the transceiving conversion unit and the variable gain amplification unit are respectively connected with a control end KZ of the processor.
The transmitter 1053 comprises a power amplifier driving unit, a power amplifying unit, a low-pass filtering unit and a transformer, wherein the power amplifier driving unit, the power amplifying unit, the low-pass filtering unit and the transformer are connected with the signal isolating unit, and the transformer is connected with the fishing rod sensor module 103.
In some embodiments, the processor drives the signal isolation unit by pulse width modulation (DSM) modulation.
The water surface platform 20 comprises a display and control module 203 for displaying inspection information or reading externally input control parameters and a wireless communication module 201 connected with the communication module 109 of the overwater autonomous inspection platform 10 through a wireless communication protocol, wherein the display and control module 203 is connected with the wireless communication module 201.
Referring to fig. 4, in order to facilitate understanding of the autonomous inspection type fishery culture acoustic monitoring system according to the embodiment of the present invention, the following schematic flow chart of the using method of the autonomous inspection type fishery culture acoustic monitoring system according to the embodiment of the present invention:
initializing an autonomous inspection type fishery breeding acoustic monitoring system;
judging whether parameter setting is received or not, and if not, re-initializing; if yes, routing inspection and frequency planning are carried out;
specifically, the control parameters are obtained by the display and control module 203. The water surface platform 20 transmits the control parameters to the communication module 109 through the wireless communication module 201, and the main control module 101 reads the control parameters and sets the routing plan and the frequency plan of the inspection in the aquaculture water area based on the control parameters.
Routing inspection; judging whether the positioning information is changed, if so, adjusting the path for inspection, and if not, continuing inspection;
specifically, the overwater autonomous inspection platform 10 starts to inspect, and the position of the overwater autonomous inspection platform 10 is obtained in real time through the positioning module 107; the main control module 101 performs path adjustment according to the acquired real-time position.
Judging whether the polling is finished or not when the polling is continued, if so, finishing the polling, and if not, judging whether the positioning information is changed or not again; meanwhile, whether the routing inspection is finished or not is judged when the routing inspection is adjusted, if yes, the routing inspection is finished, and if not, whether the positioning information is changed or not is judged again.
Thus, the monitoring of the cultivation facility 80 can be realized through the above-mentioned process.
Compared with the prior art, the autonomous inspection type fishery aquaculture acoustic monitoring system provided by the embodiment of the invention has the following beneficial effects:
the autonomous inspection type fishery aquaculture acoustic monitoring system provided by the embodiment of the invention adopts the overwater autonomous inspection platform 10 as a carrier for acoustic detection, and autonomous movement track planning of positioning of the positioning matrix 30, and data is transmitted wirelessly to complete autonomous monitoring of a large aquaculture facility aquaculture process, and the autonomous inspection type fishery aquaculture acoustic monitoring system has the advantages of seamless coverage, autonomous inspection, low cost, no influence of drift and the like.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (1)
1. An autonomous inspection type fishery culture acoustic monitoring system is used for monitoring a deep and open sea culture platform in real time,
the autonomous inspection type fishery breeding acoustic monitoring system comprises a water surface positioning detection platform and a water surface platform, wherein the water surface positioning detection platform is connected with the water surface platform through a wireless communication protocol; the water surface positioning detection platform comprises an overwater autonomous inspection platform and a plurality of positioning matrixes fixed on the aquaculture facility and used for positioning the autonomous inspection type fishery aquaculture acoustic monitoring system;
the above-water autonomous inspection platform comprises a fish detection sensor module for converting sound signals and electric signals, a fish detection signal processing module connected with the fish detection sensor module, a positioning module corresponding to the positioning array and used for acquiring the position information of the above-water autonomous inspection platform in real time, a main control module for adjusting the inspection path of the above-water autonomous inspection platform according to the received control parameters of the water surface platform or the position information of the above-water autonomous inspection platform, a communication module communicating with the water surface platform and a battery pack for providing working voltage for the main control module, the positioning module, the communication module and the fish detection signal processing module, wherein the positioning module, the communication module and the fish detection signal processing module are respectively connected with the main control module,
the water surface platform comprises a display and control module for displaying inspection information or reading externally input control parameters and a wireless communication module which is connected with the communication module of the water autonomous inspection platform through a wireless communication protocol, the display and control module is connected with the wireless communication module,
the fishing detection sensor module comprises a sensor for acquiring sound signals in the culture facility during inspection and an impedance matching unit connected with the sensor, the fishing detection sensor module is connected with the fishing detection signal processing module through the impedance matching unit,
the fishing probe signal processing module comprises a signal processing unit, a receiver connected with the impedance matching unit and a transmitter connected with the fishing probe sensor module, the receiver, the transmitter and the main control module are respectively connected with the signal processing unit,
the signal processing unit comprises a processor, a dynamic memory, a flash memory, a signal isolation unit and an Ethernet transceiver connected with the main control module, the Ethernet transceiver, the dynamic memory and the flash memory are respectively connected with the processor, the processor is connected with the transmitter through the signal isolation unit,
the processor comprises a data end DA and a control end KZ, the receiver comprises a transceiving conversion unit, a low-noise amplification unit, a variable gain amplification unit and an anti-aliasing filtering unit which are connected with the impedance matching unit, the transceiving conversion unit, the low-noise amplification unit, the variable gain amplification unit and the anti-aliasing filtering unit are sequentially connected, the anti-aliasing filtering unit is connected with the data end DA, the transceiving conversion unit and the variable gain amplification unit are respectively connected with the control end KZ,
the transmitter comprises a power amplifier driving unit, a power amplifying unit, a low-pass filtering unit and a transformer, wherein the power amplifier driving unit, the power amplifying unit, the low-pass filtering unit and the transformer are connected with the signal isolating unit, the transformer is connected with the fishing rod sensor module, the power amplifier driving unit, the power amplifying unit, the low-pass filtering unit and the transformer are sequentially connected,
the autonomous inspection type fishery breeding acoustic monitoring method comprises the following steps:
initializing an autonomous inspection type fishery breeding acoustic monitoring system;
judging whether parameter setting is received or not, and if not, re-initializing; if yes, routing inspection and frequency planning are carried out;
specifically, the control parameters are acquired through the display and control module 203, the water surface platform 20 transmits the control parameters to the communication module 109 through the wireless communication module 201, and the main control module 101 reads the control parameters and sets routing and frequency planning of routing inspection in the aquaculture water area based on the control parameters;
routing inspection; judging whether the positioning information is changed, if so, adjusting the path for inspection, and if not, continuing inspection;
specifically, the overwater autonomous inspection platform 10 starts to inspect, and the position of the overwater autonomous inspection platform 10 is obtained in real time through the positioning module 107; the main control module 101 performs path adjustment according to the acquired real-time position;
judging whether the polling is finished or not when the polling is continued, if so, finishing the polling, and if not, judging whether the positioning information is changed or not again; meanwhile, whether the routing inspection is finished or not is judged when the routing inspection is adjusted, if yes, the routing inspection is finished, and if not, whether the positioning information is changed or not is judged again.
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| CN110763207A (en) * | 2019-10-30 | 2020-02-07 | 无锡市海鹰加科海洋技术有限责任公司 | Intelligent sounding system |
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| KR101896000B1 (en) * | 2016-02-22 | 2018-10-24 | (주)넥스트팩토리 | A System Preventing Plundering Fishing Gear Installed On The Sea |
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| CN106681412B (en) * | 2017-02-23 | 2018-06-19 | 唐山曹妃甸宏强农业有限公司 | A kind of intelligent fishery cultivating system based on Internet of Things |
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| CN107301689A (en) * | 2017-06-16 | 2017-10-27 | 中国人民解放军海军工程大学 | A kind of net cage inspection device and its method based on unmanned boat |
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