CN110199961A - A kind of automatic obstacle avoiding tracks the multifunctional intellectual fisherman of identification - Google Patents
A kind of automatic obstacle avoiding tracks the multifunctional intellectual fisherman of identification Download PDFInfo
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- CN110199961A CN110199961A CN201910510087.XA CN201910510087A CN110199961A CN 110199961 A CN110199961 A CN 110199961A CN 201910510087 A CN201910510087 A CN 201910510087A CN 110199961 A CN110199961 A CN 110199961A
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Classifications
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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
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
-
- 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
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
- A01K79/02—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery by electrocution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/14—Fishing vessels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Life Sciences & Earth Sciences (AREA)
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- Environmental Sciences (AREA)
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- Food Science & Technology (AREA)
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Abstract
It tracks the multifunctional intellectual fisherman of identification the invention discloses a kind of automatic obstacle avoiding, belongs to intelligent fisherman technical field.The fisherman includes hull, hull includes: fish-catching apparatus, drive system, location of communication system, image processing system, automatic obstacle avoiding system waterborne, Auto-searching track system waterborne and control system, control system receives the signal that fish-catching apparatus, location of communication system, automatic obstacle avoiding system waterborne, Auto-searching track system waterborne, image processing system are sent and data are handled, and sends its operation of instruction control to fish-catching apparatus, drive system.Present system can automatic obstacle avoiding track and reach water quality the best of it, fish quality the best of it identifies fish, and is independently fished that food safety is guaranteed；The system does not need artificially to be controlled, as long as capable of being opened by one key, fisherman can voluntarily work in waters；Fishing range is big, and mobility is big, light, not time-consuming, effortlessly, can capture a large amount of fish.
Description
Technical field
The present invention relates to intelligent fisherman technical fields, and in particular to a kind of automatic obstacle avoiding tracks the multifunctional intellectual of identification
Fisherman.
Background technique
21 century is " numerical ocean model ", and there is a large amount of living resources in ocean.The mankind can pass through living marine resources
The potential value of ocean, is converted into real value by exploitation, is created condition for the survival and development of the mankind.
In the fishing method being commonly used at present, typically with fishings sides such as fish hook, fishing net, electric fishing fish, fishing medicines
Method.It fishing net or is fished by manpower pulling by novel fishings equipment such as electric fishing device, ultrasonic wave device for use in fishing trawl, these
Method require it is subjective control, intelligence is not achieved, and novel fishing equipment is captured by hitting dizzy method,
Flesh of fish matter is caused to decline.
With the continuous improvement of material life, requirement of the people to quality of the life is also higher and higher, and seafood products are also more next
More liked；It is national in recent years simultaneously it is food-safe also especially pay attention to, so food safety becomes, to measure current people raw
One important indicator of quality living.However water pollution and dispensing expedite the emergence of element, result in people to the load of fish quality on the market
The heart, but this kind of traditional fishing's mode such as fishing rod or fishing net does not ensure that the quality of fish.
Existing automatic fishing-rods can not achieve mobility fishing, and subjective dependence is big, be unable to autonomous classification fish,
Not can guarantee the quality of fish, can not sound under observation water, while fishing and being limited in scope, need to be in bank operation, and scientific research
A large amount of fish are showed in the place aggregation trip dagger-axe far from land.
Existing automatic fisherman, can not automatic obstacle avoiding, be unable to Auto-searching track, the optimal waters of water quality cannot be found,
And need subjective control, can not autonomous classification fish, while not can guarantee the quality of fish, and can not sound under observation water yet.
Existing automatic fishing device can not independently be produced electricl energy to each system power supply, not accomplished complete self-sufficient.
In addition, the pollutant of the midwater in ocean and river, due to unsighted, the limited constraint of range, so that beating
The pollutant of fishing midwater becomes a very thorny problem.
Therefore, developing a kind of intelligent fisherman for capableing of Auto-searching track identification is that those skilled in the art need what is solved to ask
Topic.
Summary of the invention
It tracks the multifunctional intellectual fisherman of identification the purpose of the present invention is to provide a kind of automatic obstacle avoiding, it is autonomous to realize
The comprehensive performance that avoidance tracks with autonomous classification fishing.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of automatic obstacle avoiding tracks the multifunctional intellectual fisherman of identification, including hull, the hull include:
Fish-catching apparatus, including fishing system and attracting system；
Drive system moves horizontally and vertical folding and unfolding for driving hull to navigate by water and controlling fish-catching apparatus；
Location of communication system carries out positioning to the underway position of hull and sends signal and data or reception to host computer
Signal and data；
Image processing system, including underwater camera and digital image recognition module, underwater camera pass through fiber optic cables
By underwater picture real-time Transmission to digital image recognition module, then by location of communication system by real-time video data transmission extremely
Host computer；
Automatic obstacle avoiding system waterborne, including distance measuring sensor, the distance measuring sensor include laser sensor and ultrasonic wave
Sensor, the distance between the distance measuring sensor measurement and barrier；
Auto-searching track system waterborne, including underwater environment monitor sensor, and the underwater environment monitoring sensor includes temperature
Spend sensor, water quality sensor and sonar fish deteclor；
Control system, receive fish-catching apparatus, location of communication system, automatic obstacle avoiding system waterborne, Auto-searching track system waterborne,
The signal and data that image processing system is sent, and its fortune of instruction control is sent from primary response and to fish-catching apparatus, drive system
Row.
The fishing system includes:
Fishing net, the frame and nylon fishing net built including carbon fiber pipe；
Eight claw hooks are spaced apart from each other 45 ° of fish hook composition including 8, pressure sensor are arranged on eight claw hook, when eight pawls
Some hook in hook is under pressure, then shrinks corresponding fish hook；
Fish box, for loading the fish of capture；
Slave computer alarm device has captured fish and power supply deficiency for reminding.
The attracting system includes fishing lamp, sound wave fish-catching container and bait.
Through scientific research, most of fish can tend to light source, sound source and food movement, therefore the fishing lamp is not only
Fish can be lured to enter trapping region, and illumination can be provided to underwater high-definition camera；The sound wave fish-catching container can
Issue the favorite sound wave of most of fish；The bait is adhered to eight claw hooks using the favorite food of most of fish
Bill on.
The drive system includes:
Based on the direct current propeller asynchronous machine of PWM wave control, for controlling the ship trajectory of hull；
Direct current slide bar synchronous motor and direct current wheel shaft synchronous motor are respectively used to moving horizontally and hanging down for control fish-catching apparatus
Straight folding and unfolding.
The direct current propeller asynchronous machine based on PWM wave control is installed on hull, host computer or control system
The revolving speed of asynchronous machine can be controlled by changing the duty ratio of PWM wave, because of interlink function, to control turning for propeller
Speed, to control the ship trajectory of fisherman；The direct current wheel shaft synchronous motor is connect with fish-catching apparatus, host computer or control
System controls the positive and negative rotation of motor by low and high level, because of linkage effect, controls the positive and negative rotation of wheel shaft, to control fishing dress
The folding and unfolding set.
The location of communication system includes navigation positioning module and wireless communication module, and the navigation positioning module includes
DR navigator fix and GPS navigation positioning, the wireless communication module includes WBee module, between control system and host computer
Signal transmission.
The DR navigator fix can be provided in a short time high-precision by the independent navigation of dead reckoning method
The navigational parameter of degree；The GPS navigation positioning, is satellite navigation global positioning system, can give in long range long-time
User provides low cost, high-precision navigator fix information, but civilian GPS navigation is located in short distance and can not provide the user with
High-precision navigator fix information, therefore in conjunction with two kinds of positioning navigation methods, a kind of complementary collaborative location navigation is provided
Method.
Wireless communication use WBee technology, be mainly used for upper computer and lower computer intercommunication, mutually transmission and
Long-range control.
The host computer mainly includes mobile phone, PC, and mobile phone is based on Android and develops environment, and computer is opened based on LabView
Hair ring border separately designs out the host computer operating software of visualization interface.
The image processing system includes underwater high-definition camera and digital image recognition module；The underwater high definition
Camera passes through fiber optic cables for the real-time video picture transmission of underwater high definition to digital image recognition module, then passes through no line chart
Transmission module, by video data transmission to host computer, and real-time display, it is observed for user.
The digital image recognition module, inside there is the database largely about fish feature, is mainly that fish are each
The real-time pictures transmitted can be carried out corresponding algorithm process, reached by the profile under a dimension, therefore digital image recognition module
Decontamination, binaryzation retouch side, compare fish characteristic, if threshold value is in a certain range, i.e., similarity reaches 85% or more, can
It is accredited as fish.
The automatic obstacle avoiding system waterborne mainly includes distance measuring sensor；The distance measuring sensor is respectively arranged at hull
The left and right sides and hull front end.The distance measuring sensor includes laser sensor and ultrasonic sensor；Described
Laser sensor, which has, realizes contactless telemeasurement, and speed is fast, and precision is high, and range is big, and light resistance is good, and point interference performance is strong
The features such as, therefore can realize the distance between telemetering and barrier；The ultrasonic sensor, using ultrasonic echo
Measurement is apart from principle, in short distance ranging, has measurement accurate, and it is big that short distance measures coverage area, contactless, waterproof and low
The advantages that cost；Therefore the present invention combines above two sensor, the two ranging complements each other, and blind area is generated when can avoid ranging and is led
Cause can not measure the distance between barrier, improve measurement accuracy.
Specifically, the distance measuring sensor is divided into three kinds, and respectively master reference, left side secondary sensor and right side pair passes
Sensor.The master reference is set to fisherman hull front end Jian Chu, and centre is laser sensor, and two sides are ultrasonic sensors；
The left side secondary sensor is set to the left side of fisherman hull, is made of a laser sensor and ultrasonic sensor；It is described
Right side secondary sensor is set to the right side of fisherman hull, is made of a laser sensor and ultrasonic sensor；All swashs
Optical sensor and ultrasonic sensor detect at a distance from the barrier in front of it, and the front refers to before hull on line direction
Front.
The Auto-searching track system waterborne mainly includes temperature sensor, water quality sensor and sonar fish deteclor；It is described
Temperature sensor, measure submarine temperatures；The water quality sensor includes measurement pH value, dissolved oxygen, turbidity；The sound
Fish deteclor, for monitor underwater movement fish total number, export five results: it is very much, more, in, less, seldom, one
Share 5 parameters.
The control system includes main controller；The main controller is the dsp processor based on TMS320F28335.It is described
Dsp processor receives the fish-catching apparatus, location of communication system, image processing system, waterborne autonomous by serial communication protocol
The signal of obstacle avoidance system, Auto-searching track system waterborne, and executed instruction to fish-catching apparatus, drive system transmission.
Specifically, the dsp processor based on TMS320F28335 (is connected by serial ports with each sensor
Sensor includes laser sensor, ultrasonic sensor, temperature sensor, water quality sensor, sonar sensor and pressure sensing
Device) and (system being connected includes fishing system, attracting system, image processing system, location of communication system with corresponding system
And drive system) reach corresponding serial communication protocol, it is ensured that the data on each sensor and each system are converted by A/D
It is transmitted to main controller, it is ensured that main controller executes instruction accordingly to the transmission of each system.
The multifunctional intellectual fisherman further includes providing the energy supplying system of electric energy with the operation of each component for the navigation of hull,
The energy supplying system includes device of solar generating, wave energy generating set and battery.
The device of solar generating, the solar panel including being set to fisherman surface.The wave-energy power generation
Device is set to the two sides of hull.The battery is installed in the hull interior of fisherman, can store solar energy and wave energy
Generated electricity also can be the navigation of hull and the operation power supply of each component.
It tracks the fortune of the multifunctional intellectual fisherman of identification it is a further object to provide the automatic obstacle avoiding
Row method, the operation method include that autonomous mode and/or people control mode,
The autonomous mode includes:
Automatic obstacle avoiding system waterborne, the distance between detection and barrier are opened, and feeds back to control system, when positioned at ship
The distance measuring sensor of body front end and/or the distance measuring sensor on the left of hull detect barrier, and control system control is driven
Dynamic system drive hull moves to right；When the distance measuring sensor and/or the distance measuring sensor on the right side of hull for being located at hull front end
Detect that barrier, control system control drive system driving hull move to left；When the distance measuring sensor of the left and right sides detects barrier
Hinder object, control system controls 90 ° of hull corner operations；
Auto-searching track opens Auto-searching track system waterborne, the temperature sensor measurement water temperature, and signal is transmitted
To control system；The water quality sensor measures water PH value, dissolved oxygen, turbidity, and transmits a signal to control system；Institute
The total number of the fish of sonar fish deteclor monitoring underwater movement is stated, and exports 5 result parameters: it is very much, it is more, in, it is few, very
It is few；Control system receives each sensor information, and is handled, according to the principle of priority from high to low: pH value 6.8~9.0,
16 DEG C~26 DEG C of water temperature, dissolved oxygen 5mg/L~8mg/L, turbidity 30%~70% and fish quantity >=it is few, if more than meeting
All conditions, control system drives fish-catching apparatus work, if being unsatisfactory for all of the above condition, control system drives hull navigation,
According to the condition of priority from high to low, successively track, until meeting full terms；
It includes: unlatching image processing system that the people, which controls mode, and underwater picture is transmitted to by location of communication system
Position machine, user watch underwater real-time pictures by host computer, and send control instruction to control system by host computer to control
The motion profile and fish-catching apparatus of hull work.
Fisherman in autonomous mode, opens all systems, by automatic obstacle avoiding, Auto-searching track, autonomous classification, so that catching
Fishing boat reaches water quality the best of it and carries out automatic identification capture fish.
Fisherman only opens drive system, fish-catching apparatus, image processing system and control system in people's control mode, uses
The real-time pictures that family is transmitted in host computer viewing underwater camera, and send and instruct to control system, control the movement of fisherman
Track, the opening and closing of the receiving/releasing and fishing net of fish-catching apparatus.
In people's control mode, fisherman can realize fishing, can also salvage to the drift of midwater, the drift
Stream object includes rubbish (rubbish of midwater, due to the muddiness of water, the limited reason of distance, from being difficult to be salvaged on the bank),
Therefore fish-catching apparatus becomes fishing device.
The operation method further includes mode of independently making a return voyage, and only opens location of communication system, drive system and control system,
Fisherman is according to the track backtracking of traveling to initial position.The mode of independently making a return voyage includes that a key makes a return voyage, is fully loaded with and makes a return voyage
It makes a return voyage with energy deficiency.
One key, which makes a return voyage, sends return instruction for host computer, and fisherman packs up fishing net and fish box, closes except positioning is logical
Remaining system other than letter system, energy supplying system and drive system, and according to the track backtracking of traveling to initial position.
It is described it is fully loaded make a return voyage for fish box full load, fisherman packs up fishing net and fish box, closes and remove location of communication system, supplies
Remaining system other than energy system and drive system, and according to the track backtracking of traveling to initial position.
The energy deficiency is returned as fisherman will record the energy of oneself loss when arriving at the destination, at this time
When remaining capacity is only enough to 1.1 times of backtracking energy consumption, it is automatically closed except location of communication system, power-supply system and drive
Remaining system other than dynamic system, and according to the track backtracking of traveling to initial position.
It is that the present invention has the utility model has the advantages that
(1) the present invention provides a kind of multifunctional intellectuals that automatic obstacle avoiding tracks to fish system, can reach automatic obstacle avoiding
The comprehensive system to track with autonomous classification fishing, the system can autonomous classification fish, and independently fished.
(2) present system can automatic obstacle avoiding Auto-searching track reach water quality the best of it, fish quality the best of it, then hang down
When fish in fishing is edible, food safety is guaranteed；This system will capture fish alive, guarantee the meat of fish.
(3) present system does not need artificially to be controlled, as long as capable of being opened by one key, fisherman can the voluntarily work in waters
Make；Fishing range is big, and mobility is big, light, not time-consuming, effortlessly, can capture a large amount of fish.
(4) pollutant of midwater, due to unsighted, the limited constraint of salvaging range, so that salvaging midwater
Pollutant become a very thorny problem, present system can easily salvage the pollutant in waters middle layer.
(5) present system can sound under observation water in real time, fishing while can observe sub-marine situations again, improve fishing
Entertainment.
(6) energy supplying system in present system can independently be generated by device of solar generating, wave energy generating set
Electrical energy for storage is in battery, to give system power supply.
Detailed description of the invention
Fig. 1 is the total system schematic diagram of fisherman of the present invention.
Fig. 2 is the schematic diagram of fisherman in embodiment.
Fig. 3 is the schematic diagram of fish-catching apparatus in embodiment.
Fig. 4 is the flow diagram of navigator fix in embodiment.
Fig. 5 is the flow diagram wirelessly communicated in embodiment.
Fig. 6 is the schematic diagram of host computer functional module in embodiment.
Fig. 7 is the position of sensor in embodiment.
Fig. 8 is yaw angle schematic diagram.
Fig. 9 is the remote ranging of sensor in embodiment.
Figure 10 is sensor short distance ranging in embodiment.
Figure 11 is the flow diagram of Auto-searching track in embodiment.
Figure 12 is the flow diagram fished automatically in embodiment.
Figure 13 is fish-catching apparatus course of work schematic diagram in embodiment, wherein (A) is fishing net opening state, (B) is fishing net
Closed state, (C) are that fishing net is moved to fish box state.
Specific embodiment
The invention will be further described with attached drawing combined with specific embodiments below.
As shown in Figure 1-3, present embodiments providing a kind of multifunctional intellectual fisherman that automatic obstacle avoiding tracks, including hull
1, fish-catching apparatus, drive system, location of communication system, image processing system, automatic obstacle avoiding system waterborne, water are set on hull 1
Upper Auto-searching track system, control system, power-supply system.
Specifically, fish-catching apparatus includes fishing system and attracting system.
Fishing system includes light-duty fishing net 2, eight claw hooks 3, fish box 4, alarm device and pressure sensor.
Light-duty 2 frame of fishing net is built by carbon fiber pipe, and lower portion is made of the fishing net that nylon is made into, carbon fiber
Dimension pipe has light-weight, and the characteristics such as pull resistance is strong, and density is small and corrosion-resistant, nylon fishing net is resistance to tough, and impact resistance is corrosion-resistant, springs back
Property it is good and the characteristics such as easily dry, it is seen that the light-duty fishing net as made by both materials, the complex environment in Yi Shiying water.
Eight claw hooks 3 are spaced apart from each other 45 ° of compositions, can be captured a plurality of fish simultaneously by 8 common fish hooks；The pressure passes
Sensor is installed on eight claw hooks, when some hook in eight claw hooks is by certain pressure, is then shunk corresponding fish hook, is made this hook
The fish of capture, which can not break off relations, to be escaped.
Fish box 4 is the fish for loading capture, is arranged in inside the fisherman.
Alarm device includes host computer alarm device and slave computer alarm device, plays warning and informing.The host computer alarm
Device is a visualization model on Labview platform, and slave computer alarm device is mounted in the outside of fishing ship.When fisherman is caught
Fish or fish box full load are received, upper computer and lower computer alarm device is synchronous to be opened, and duration 1 minute.
Attracting system includes fishing lamp 5, sound wave fish-catching container 6 and bait.Through scientific research, most of fish can tend to
Light source, sound source and food movement, therefore fishing lamp can not only lure fish to enter trapping region, and can give underwater high-definition camera
Head provides illumination.Sound wave fish-catching container can issue the favorite sound wave of most of fish.Bait is big most of favorite foods of fish
Object is adhered on the bill of eight claw hooks.
Drive system for drive hull navigate by water and control fish-catching apparatus move horizontally with vertical folding and unfolding, including be based on
Direct current propeller asynchronous machine 7, direct current slide bar synchronous motor and the direct current wheel shaft synchronous motor of PWM wave control.
Direct current propeller asynchronous machine 7 based on PWM wave control is used to drive the navigation of fisherman, host computer 8 or master control
Device 14 can control the revolving speed of asynchronous machine by changing the duty ratio of PWM wave, because of interlink function, to control propeller
Revolving speed, to control the ship trajectory of fisherman.
Direct current slide bar synchronous motor is moved horizontally for controlling fish-catching apparatus, by host computer 8 or main controller 14, passes through height
Low level controls the positive and negative rotation of motor, moves horizontally fish-catching apparatus on slide bar 15.
Direct current wheel shaft synchronous motor, by host computer 8 or main controller 14, passes through height electricity for controlling fish-catching apparatus work
It puts down to control the positive and negative rotation of motor, because of linkage effect, the positive and negative rotation of wheel shaft 16 is controlled, to control the folding and unfolding of fish-catching apparatus.
Location of communication system includes navigator fix, wireless communication 9 and host computer 8.
Navigator fix include DR navigator fix and GPS navigation positioning, DR navigator fix, be by dead reckoning method, this
It is a kind of independent navigation, high-precision navigational parameter can be provided in a short time, and its interference performance is strong, good concealment, but
It is that error is accumulated with the increase of navigation time, this is the fatal defects of DR navigator fix, therefore in short distance long-time, need pair
DR navigator fix is compensated and is corrected, but it is not suitable for the independent navigation in long range long-time.GPS navigation positions, and is
Satellite navigation global positioning system, by with satellite communication, obtain corresponding three dimensional local information, speed and motion profile etc.
Navigator fix information, this is a kind of by satellite acquisition navigator fix information, can be provided the user in long range long-time
Inexpensive, high-precision navigator fix information, but civilian GPS navigation be located in short distance can not provide the user with it is high-precision
Navigator fix information, therefore above two positioning navigation method is combined, a kind of complementary collaborative positioning navigation method is provided.
As shown in figure 4, the complementary collaborative positioning navigation method includes working method I and working method II；It is described
Working method I, i.e., GPS navigation position, using the section start of fisherman as the center of circle, carry out drawing circle as radius using 10m, in radius
It is a-quadrant outside the circle of 10m, fisherman carries out working method I (i.e. GPS navigation positioning) in a-quadrant；The working method II,
That is DR navigator fix carries out drawing circle as radius using 10m using the section start of fisherman as the center of circle, is B in the circle of radius 10m
Region, fisherman carry out working method II (i.e. DR navigator fix) in B area, since DR is not suitable for prolonged individually navigation,
Therefore it is being compensated and is being corrected every 20 minutes, which ensures that the accuracies of DR navigator fix.
Wireless communication 9 includes mainly WBee module, uses WBee technology, this is a kind of low frequency, low complex degree, long wave
Long, diffracting power is strong, and barrier influences smaller, long transmission distance on it, high-efficient, and its maximum visual straight line two-way communication away from
From≤4km, it is mainly used for the intercommunication of upper computer and lower computer, mutually transmission and long-range control, as shown in Figure 5.
Host computer 8 mainly includes mobile phone/PC, and mobile phone is based on Android and develops environment, and computer is based on LabView and develops ring
Border, separately designs out the host computer operating software of visualization interface, and the functional module of host computer 8 is as shown in Figure 6.
Image processing system includes underwater high-definition camera 10 and digital image recognition module.
Underwater high-definition camera 10 passes through cable for the real-time video picture transmission of underwater high definition to digital image recognition mould
Block, then by wireless image transmission module, by video data transmission to host computer 8, and real-time display, it is observed for user.
Digital image recognition module inside has the database largely about fish feature, is mainly each dimension of fish
Under profile, the real-time pictures transmitted can carry out corresponding algorithm process, reach decontamination by therefore digital image recognition module,
Binaryzation retouches side, compares fish characteristic, if threshold value is in a certain range, i.e., similarity reaches 85% or more, it is possible to identify is
Fish.
Automatic obstacle avoiding system waterborne mainly includes distance measuring sensor；The distance measuring sensor include laser sensor a and
Ultrasonic sensor b.Laser sensor, which has, realizes contactless telemeasurement, and speed is fast, and precision is high, and range is big, light resistance
It is good, the features such as interference performance is strong is put, therefore can realize the distance between telemetering and barrier, but closely small obstacle
Object since the biography speed of light is big, therefore can be similar to linear propagation, therefore laser ranging be used alone, probably due to the reason of dead angle, and
Position and the relative distance of barrier can not be measured.Ultrasonic sensor is measured using ultrasonic echo apart from principle, in short distance
The advantages that accurate from ranging, having measurement, short distance measurement coverage area is big, contactless, waterproof and low cost.Therefore it combines upper
Two kinds of sensors are stated, the two ranging complements each other, it can avoid generating blind area when ranging, and lead to not between measurement and barrier
Distance, improve measurement accuracy.
Specifically, as shown in fig. 7, the distance measuring sensor is divided into three kinds, respectively master reference 11, left side pair sensing
Device 12 and right side secondary sensor 13.The master reference is set to fisherman hull front end Jian Chu, and centre is laser sensor a, and two
Side is ultrasonic sensor b；The left side secondary sensor is set to the left side of fisherman hull, by a laser sensor a and surpasses
Sonic sensor b composition；The right side secondary sensor is set to the right side of fisherman hull, by a laser sensor a and ultrasound
Wave sensor b composition；All laser sensor a and ultrasonic sensor b are detected at a distance from the barrier in front of it, institute
It states front and refers to front before hull on line direction.
Auto-searching track system waterborne mainly includes temperature sensor, water quality sensor and sonar fish deteclor；The temperature
Sensor measures submarine temperatures, and through scientific research, water temperature has a great impact to the existence of fish, optimum Fish Survival
Water temperature is 16 DEG C~26 DEG C；The water quality sensor includes measurement pH value, dissolved oxygen, turbidity, through scientific research, pH value,
Dissolved oxygen and turbidity suffer from very big influence to the existence of fish, and in pH value 6.8~9.0, water temperature is 16 DEG C~26 DEG C, molten
The waters of oxygen 5mg/L~8mg/L and turbidity 30%~70% are solved, the living environment of fish is optimal, and under this environment
Fish it is not only resourceful, but also quality is best；The sonar fish deteclor, come monitor underwater movement fish overall number
Amount, exports five results: it is very much, it is more, in, it is few, seldom；One shares 5 parameters.
Control system includes main controller 14, and main controller 14 is the dsp processor based on TMS320F28335, is had
The high speed processing capacity of 150MHZ, having 32 is floating point processing unit, and 6 DMA channels are supported ADC, McBSP and EMIF, had
The PWM on up to 18 tunnels is exported, wherein there is the PWM that 6 tunnels are the distinctive higher precision of TI to export (HRPWM), 12 16 channel ADC,
With stronger operational capability；The dsp processor based on TMS320F28335 is by serial ports, with each sensor (phase
Sensor even includes laser sensor, ultrasonic sensor, temperature sensor, water quality sensor, sonar sensor and pressure
Sensor) and (system being connected fishes system, attracting system, image processing system, location of communication system with corresponding system
And drive system) reach corresponding serial communication protocol, it is ensured that the data on each sensor and each system are converted by A/D
It is transmitted to main controller, it is ensured that main controller executes instruction accordingly to the transmission of each system.
Power-supply system includes device of solar generating, wave energy generating set and battery；The solar power generation dress
It sets, installs solar panel on the surface of fisherman；The wave energy generating set installs wave energy in the two sides of hull
Power generator；The hull interior of the battery installing fisherman, can store electricity caused by solar energy and wave energy
Amount, also can be carried out charging；
The multifunctional intellectual fisherman that automatic obstacle avoiding provided in this embodiment tracks, there are three types of working methods for tool: A, autonomous
Mode, B, people control mode (PC control), C, salvage mode.
A. autonomous mode, fisherman opens all systems, and passes through automatic obstacle avoiding, Auto-searching track, autonomous classification, so that catching
Fishing boat reaches water quality the best of it and carries out automatic identification capture fish.
Specifically, automatic obstacle avoiding is opened automatic obstacle avoiding system waterborne, the distance between detection and barrier, and is fed back to
Control system.
As seen in figs. 8-10, when remote ranging, laser sensor a is leading to be used, left side secondary sensor 12 and right side pair
The ranging of the laser sensor a of sensor 13 is 10m, and the laser sensor a of master reference 11 is 9.5m, each sensor detection
When to barrier, output numerical value 1, and control centre is successively fed back to, and when output valve is 111,110 or 100, control system control
Drive system driving hull processed moves to right；When output valve is 011 or 001, control system control drive system driving hull is moved to left；
When output valve is 000, control system controls drive system driving hull straight trip.
When short distance ranging, ultrasonic sensor b is leading to be used, and the ranging of ultrasonic sensor b is 0.5m, works as output valve
When being -0100 or -1000, control system control drive system driving hull is moved to right；When output valve is -0010 or -0001, control
System control drive system driving hull processed moves to left；When output valve is 0000, control system controls drive system and drives hull
Straight trip；
Auto-searching track, as shown in figure 11, the temperature sensor measurement water temperature, and transmit a signal to control system
System；The water quality sensor measures water PH value, dissolved oxygen, turbidity, and transmits a signal to control system；The sonar is visited
Fish device monitors the total number of the fish of underwater movement, and exports 5 result parameters: it is very much, it is more, in, it is few, seldom；Control system
System receives each sensor information, and is handled, according to the principle of priority from high to low: pH value 6.8~9.0, and 16 DEG C of water temperature
~26 DEG C, dissolved oxygen 5mg/L~8mg/L, turbidity 30%~70% and fish quantity >=it is few, if meeting all conditions above,
Control system drives fish-catching apparatus work, as shown in figure 12.If being unsatisfactory for all of the above condition, control system drives hull boat
Row, according to the condition of priority from high to low, successively tracks, until meeting full terms.
Autonomous fishing, as shown in figure 13,1. when sonar fish deteclor feedback fish numerical value be it is few, when middle, then close at image
The digital image recognition module of reason system, only when fish rise to the bait, fish hook is by certain pressure, pressure sensor fed back values,
And corresponding fish hook (be directed to a small number of fish rise to the bait) is shunk, when eight fish hooks are all shunk, then it is closed fishing net 2, alarm device (on
The alarm device of position machine and slave computer sounds simultaneously) it sounds, fish-catching apparatus is moved upwards by wheel shaft 16, is moved to one inside fishing boat
After determining height, 15 setting in motion of slide bar moves fish-catching apparatus to the fish box 4 of fishing boat left part, reaches the middle position of fish box 4
When, reinflated fishing net 2, relax fish hook, and fish freely falling body moves downward, falls into fish box.2. working as sonar fish deteclor, fish is fed back
Class numerical value be it is more, when more, then open the digital image recognition module of image processing system, when digital image recognition module, know
It Chu not be then closed fishing net 2, (alarm device of upper computer and lower computer is simultaneously for alarm device near a large amount of shoal of fish aggregation fish-catching apparatus
Sound) it sounds, fish-catching apparatus is moved upwards by wheel shaft 16, it moves to inside fishing boat after certain altitude, 15 setting in motion of slide bar,
Move fish-catching apparatus to the fish box 4 of fishing boat left part, when reaching the middle position of fish box, reinflated fishing net 2, relaxation fish hook, fish
Type free falling bodies, move downward, and fall into fish box.When fish box reaches certain load, alarm device sounds (upper computer and lower computer
While sound), fisherman makes a return voyage according to former track Automatic Track Finding.
B. people controls mode (PC control), and fisherman only opens drive system, fish-catching apparatus, at power-supply system and image
Underwater high-definition camera in reason system；The real-time pictures that user is transmitted in host computer viewing underwater camera, and freely control
The motion profile of fisherman processed, the opening and closing of the receiving/releasing and fishing net of fish-catching apparatus.
C. mode is salvaged, the salvaging mode refers to and salvages the drift of midwater, the drift
Including rubbish (rubbish of midwater, due to the muddiness of water, the limited reason of distance, from being difficult to be salvaged on the bank), therefore will
Fish-catching apparatus changes fishing device into, and only opens drive system, attracting system, fishes system, power-supply system and image procossing
Underwater high-definition camera in system, and by PC control fisherman, it is seen by picture under the Real-time Water of host computer
Rubbish position is examined, and manipulates the salvaging that fishing device carries out drift, dustbin is installed in fisherman, can will bother
Drift places dustbin, and when dustbin full load, alarm device is given a warning.
The multifunctional intellectual fisherman that automatic obstacle avoiding provided in this embodiment tracks has the function of independently to return, specially
A), a key returns, b), it is fully loaded return, c), energy deficiency returns.
A), a key returns, and is related to host computer, location of communication system and drive system work, refers to when host computer sends to return
It enabling, fisherman packs up fishing net and fish box, and it closes and removes location of communication system, remaining system other than power-supply system and drive system,
And according to the track backtracking of traveling to initial position.
B), it is fully loaded with and returns, when fish box full load, fisherman packs up fishing net and fish box, closes and removes location of communication system, power supply
Remaining system other than system and drive system, and according to the track backtracking of traveling to initial position.
C), energy deficiency returns, and fisherman will record the energy of oneself loss when arriving at the destination, at this time when surplus
When remaining electricity is only enough to 1.1 times of backtracking energy consumption, it is automatically closed except location of communication system, power-supply system and driving system
Remaining system other than system, and according to the track backtracking of traveling to initial position.
Claims (10)
- The multifunctional intellectual fisherman of identification 1. a kind of automatic obstacle avoiding tracks, including hull, which is characterized in that the hull packet It includes:Fish-catching apparatus, including fishing system and attracting system；Drive system, for driving hull to navigate by water and the folding and unfolding of control fish-catching apparatus；Location of communication system carries out positioning to the underway position of hull and sends signal and data to host computer or receive signal And data；Image processing system, including underwater camera and digital image recognition module, underwater camera pass through fiber optic cables for water Lower picture real-time Transmission to digital image recognition module, then by location of communication system by real-time video data transmission to upper Machine；Automatic obstacle avoiding system waterborne, including distance measuring sensor, the distance measuring sensor include laser sensor and supersonic sensing Device, the distance between the distance measuring sensor measurement and barrier；Auto-searching track system waterborne, including underwater environment monitor sensor, and the underwater environment monitoring sensor includes that temperature passes Sensor, water quality sensor and sonar fish deteclor；Control system receives fish-catching apparatus, location of communication system, automatic obstacle avoiding system waterborne, Auto-searching track system waterborne, image The signal and data that processing system is sent, and its operation of instruction control is sent from primary response and to fish-catching apparatus, drive system.
- The multifunctional intellectual fisherman of identification 2. automatic obstacle avoiding as described in claim 1 tracks, which is characterized in that described catches Fish system includes:Fishing net, the frame and nylon fishing net built including carbon fiber pipe；Eight claw hooks are spaced apart from each other 45 ° of fish hook composition including 8, pressure sensor are arranged on eight claw hook, when in eight claw hooks Some hook be under pressure, then shrink corresponding fish hook；Fish box, for loading the fish of capture；Slave computer alarm device has captured fish and power supply deficiency for reminding.
- The multifunctional intellectual fisherman of identification 3. automatic obstacle avoiding as described in claim 1 tracks, which is characterized in that described lures Fish system includes fishing lamp, sound wave fish-catching container and bait.
- The multifunctional intellectual fisherman of identification 4. automatic obstacle avoiding as described in claim 1 tracks, which is characterized in that the drive Dynamic system includes:Based on the direct current propeller asynchronous machine of PWM wave control, for controlling the ship trajectory of hull；Direct current slide bar synchronous motor and direct current wheel shaft synchronous motor are respectively used to moving horizontally and vertically receiving for control fish-catching apparatus It puts.
- The multifunctional intellectual fisherman of identification 5. automatic obstacle avoiding as described in claim 1 tracks, which is characterized in that described determines Bit walk system includes navigation positioning module and wireless communication module, and the navigation positioning module includes DR navigator fix and GPS Navigator fix, the wireless communication module include WBee module, the transmission for signal and data between host computer.
- The multifunctional intellectual fisherman of identification 6. automatic obstacle avoiding as described in claim 1 tracks, which is characterized in that the survey The left and right sides and hull front end of hull are respectively arranged at away from sensor.
- The multifunctional intellectual fisherman of identification 7. automatic obstacle avoiding as described in claim 1 tracks, which is characterized in that the control System processed includes main controller, and the main controller is dsp processor, receives the fish-catching apparatus, positioning by serial communication protocol Communication system, image processing system, automatic obstacle avoiding system waterborne, Auto-searching track system waterborne signal and data, and to fishing Device, drive system transmission execute instruction.
- The multifunctional intellectual fisherman of identification 8. automatic obstacle avoiding as described in claim 1 tracks, which is characterized in that further include for The navigation of hull provides the energy supplying system of electric energy with the operation of each component, and the energy supplying system includes device of solar generating, wave It can power generator and battery.
- 9. the operation method that such as described in any item automatic obstacle avoidings of claim 1-8 track the multifunctional intellectual fisherman of identification, It is characterized in that, the operation method includes that autonomous mode and/or people control mode,The autonomous mode includes:Automatic obstacle avoiding opens automatic obstacle avoiding system waterborne, the distance between detection and barrier, and feeds back to control system, when Barrier, control system are detected positioned at the distance measuring sensor of hull front end and/or the distance measuring sensor on the left of hull Control drive system driving hull moves to right；When the distance measuring sensor and/or the ranging on the right side of hull for being located at hull front end Sensor detects that barrier, control system control drive system driving hull move to left；When the distance measuring sensor of the left and right sides is equal Barrier is detected, control system controls 90 ° of hull corner operations；Auto-searching track opens Auto-searching track system waterborne, the temperature sensor measurement water temperature, and transmits a signal to control System processed；The water quality sensor measures water PH value, dissolved oxygen, turbidity, and transmits a signal to control system；The sound Fish deteclor monitors the total number of the fish of underwater movement, and exports 5 result parameters: it is very much, it is more, in, it is few, seldom；Control System processed receives each sensor information, and is handled, according to the principle of priority from high to low: pH value 6.8~9.0, water temperature 16 DEG C~26 DEG C, dissolved oxygen 5mg/L~8mg/L, turbidity 30%~70% and fish quantity >=it is few, if meeting all of above Condition, control system drives fish-catching apparatus work, if being unsatisfactory for all of the above condition, control system drives hull navigation, according to The condition of priority from high to low, successively tracks, until meeting full terms；It includes: unlatching image processing system that the people, which controls mode, and underwater picture is transmitted to host computer by location of communication system, User watches underwater real-time pictures by host computer, and sends control instruction to control system by host computer to control hull Motion profile and fish-catching apparatus work.
- The operation method of the multifunctional intellectual fisherman of identification 10. the automatic obstacle avoiding as claimed in claim 9 tracks, Be characterized in that, the operation method further includes mode of independently making a return voyage, it is described independently make a return voyage mode be only open location of communication system, Drive system and control system, fisherman is according to the track backtracking of traveling to initial position.
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