CN110393165A - A kind of off-lying sea cultivation net cage bait-throwing method based on Autoamtic bait putting ship - Google Patents
A kind of off-lying sea cultivation net cage bait-throwing method based on Autoamtic bait putting ship Download PDFInfo
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- CN110393165A CN110393165A CN201910625650.8A CN201910625650A CN110393165A CN 110393165 A CN110393165 A CN 110393165A CN 201910625650 A CN201910625650 A CN 201910625650A CN 110393165 A CN110393165 A CN 110393165A
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- bait
- throwing
- net cage
- autoamtic
- marker
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
-
- 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
-
- 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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention discloses a kind of bait-throwing method of aquaculture net cage, especially a kind of off-lying sea cultivation net cage bait-throwing method based on Autoamtic bait putting ship.Comprising: which control module drives Autoamtic bait putting ship approaching aquaculture net cage firstly, the GPS information of the aquaculture net cage and Autoamtic bait putting ship obtained according to GPS/IMU module, navigation obstacle avoidance module carry out the flight course planning of Autoamtic bait putting ship；Secondly, the bait throwing in marker of visual recognition module identification aquaculture net cage, and to its real-time tracking, positioning；Again, according to the real-time positioning information of the bait throwing in marker of aquaculture net cage, control module calculates effective parking place of Autoamtic bait putting ship, and navigation obstacle avoidance module adjusts flight course planning in real time, controls Autoamtic bait putting ship with effective bait throwing in posture and reaches effective parking place；Then, control module driving bait-laying device for fish accurately launches bait in effective parking place, completes primary effective bait throwing in.The technical issues of bait throwing in accurate which solve off-lying sea cultivation net cage realization Autoamtic bait putting ship.
Description
Technical field
The present invention relates to a kind of bait-throwing method of aquaculture net cage, especially a kind of off-lying sea cultivation net based on Autoamtic bait putting ship
Case bait-throwing method.
Background technique
Modern marine fishery cultivating gradually to the mode development of off-lying sea cage culture, is largely carried out using HDPE floating cage
Culturing marine products.
The Sinl'Perca chuatsT of artificial bait-throwing-in boat is mainly used in off-lying sea cage culture, there are defects below: firstly, artificial throw
The human cost of bait ship is big；Secondly, considering off-lying sea adverse circumstances, the personal safety of operator can not be obtained on artificial bait-throwing-in boat
To guarantee.
With the maturation and development of unmanned boat technology, the carrying function of unmanned boat is constantly excavated.In aquaculture direction
On, unmanned manipulation bait-throwing-in boat gradually substitutes original artificial bait throwing in, compares more artificial bait throwing in, and unmanned manipulation bait-throwing-in boat reduces people
The manpower of work bait throwing in distributes, and solves human safety issues waterborne.Unmanned manipulation bait-throwing-in boat passes through accurate GPS positioning, root
, fixed point bait throwing in quantitative according to bait throwing in demand.For example, the announcement Chinese invention patent application of number of patent application 201910328839.0
The unmanned manipulation bait-throwing-in boat of the one kind provided in file and its control method.
But the bait throwing in position that existing unmanned manipulation bait-throwing-in boat is only applicable to aquaculture net cage is preset, and completes to throw
The case where above-mentioned bait throwing in position no longer changes during bait.Therefore, for the factors shadow such as ocean current and wave in some breeding environments
Aquaculture net cage is rung, the off-lying sea cultivation net cage for causing aquaculture net cage position constantly to be floated at random in a certain range, it is clear that existing
Unmanned manipulation bait-throwing-in boat and bait-throwing method are just unable to complete accurate fixed point, quantitative bait casting.
Summary of the invention
It is provided a kind of based on the remote of Autoamtic bait putting ship the purpose of the present invention is to solve above-mentioned the deficiencies in the prior art
Extra large aquaculture net cage bait-throwing method.
To achieve the goals above, a kind of off-lying sea cultivation net cage bait throwing in side based on Autoamtic bait putting ship designed by the present invention
Method, using carry by GPS/IMU module, environmental perception module, navigation obstacle avoidance module, visual recognition module, control module and
The Autoamtic bait putting ship of the feeding system of bait-laying device for fish composition；
GPS/IMU module, for obtaining the GPS information and Attitude information of aquaculture net cage and Autoamtic bait putting ship；
Environmental perception module, for obtaining obstacle information；Such as: underwater obstacle can detect using sonar technology；Using sharp
Optical radar technology can detect water obstacle；
Navigation obstacle avoidance module is supported according to environmental perception module obstacle information obtained and GPS/IMU module are obtained
Grow the flight course planning of the GPS information progress Autoamtic bait putting ship of net cage and Autoamtic bait putting ship；
Visual recognition module, the bait throwing in marker of aquaculture net cage for identification, and to its real-time tracking, positioning；
Control module calculates the position of effectively berthing of Autoamtic bait putting ship according to the real-time positioning information of the bait throwing in marker of aquaculture net cage
It sets, controls Autoamtic bait putting ship with effective bait throwing in posture and reach effective parking place；Effective parking place refers to that hull is mobile
It is effectively shed within radius to bait throwing in marker is corresponding, and guarantees that hull longitudinal center plane is parallel to selected bait throwing in marker
Tangential direction；Wherein, it is described effectively shed radius according to the bait throwing in of the installation site of bait-laying device for fish on hull and bait-laying device for fish away from
From determination；
And bait-laying device for fish, for completing bait throwing in；
In addition, needing to install bait throwing in marker, the bait throwing in advance on aquaculture net cage before bait-throwing method specific implementation of the present invention
Marker will use painted sphere, and the size of sphere is according to effective working distance of binocular camera in visual recognition module
From design.
Steps are as follows for specific bait throwing in:
Firstly, the GPS information of the aquaculture net cage and Autoamtic bait putting ship obtained according to GPS/IMU module, navigation obstacle avoidance module is carried out
The flight course planning of Autoamtic bait putting ship, the GPS information of aquaculture net cage is preset at this time, and control module drives Autoamtic bait putting ship
Approaching aquaculture net cage, and the obstacle information obtained in real time according to environmental perception module complete avoidance；
Secondly, the bait throwing in marker of visual recognition module identification aquaculture net cage, and to its real-time tracking, positioning；Specific steps are such as
Under:
S01, carry out camera calibration, acquire camera internal reference and outer ginseng, obtain each pixel depth information and pixel coordinate with
The corresponding relationship of world coordinate system；
S02 chooses a frame from the left mesh color image sequence of binocular camera, carries out noise suppression preprocessing operation；
S03 sets RGB feature threshold value, carries out color segmentation, the region for being up to threshold value is set as candidate regions；
S04 carries out edge extracting for the candidate regions of previous step, and is segmented carry out circular fitting, clusters to similar circular arc,
And the circular arc after clustering is fitted again, selects the circular target in image；
S05 demarcates the pixel coordinate in the center of circle to world coordinate system, to determine the distance and bearing of bait throwing in marker；
S06 establishes the RGB feature and geometrical characteristic weight histogram of this bait throwing in marker, carries out bait throwing in using Kalman filtering
The position prediction of marker, and carry out in estimation range the matching of characteristic value is looked under characteristic value most matched region is used as
The target position of one frame；
S07 repeats S06, realizes real-time tracking, the positioning of bait throwing in marker；
Again, according to the real-time positioning information of the bait throwing in marker of aquaculture net cage, control module calculates corresponding in bait throwing in marker
Effectively shed within radius, and guarantee that hull longitudinal center plane is parallel to effectively berthing position for the tangential direction of bait throwing in marker
It sets, and navigation obstacle avoidance module adjusts flight course planning in real time, controls Autoamtic bait putting ship and effectively stopped with the arrival of effective bait throwing in posture
It sets in berth；The radius of effectively shedding is determined according to the installation site of bait-laying device for fish on hull and the bait throwing in distance of bait-laying device for fish；
Then, control module driving bait-laying device for fish accurately launches bait in effective parking place, completes primary effectively throwing
Bait；
Finally, the GPS information of the aquaculture net cage and Autoamtic bait putting ship obtained according to GPS/IMU module, navigation obstacle avoidance module is carried out
The flight course planning of Autoamtic bait putting ship, the control module driving next aquaculture net cage of Autoamtic bait putting ship approaching continue to complete effective throwing
Bait, or make a return voyage.
The bait throwing in marker of above-mentioned visual recognition module identification aquaculture net cage, and to its real-time tracking, positioning, it is double in step
The depth measurement process of mesh camera is as follows:
1, it is demarcated firstly the need of to binocular camera, obtains inside and outside parameter, the homography matrix of two cameras；
2, original image is corrected according to calibration result, two images after correction are generally aligned in the same plane and parallel to each other；
3, pixel matching is carried out to two images after correction；
4, the depth of each pixel is calculated according to matching result, to obtain depth map.
In addition, the corresponding relationship of pixel coordinate and world coordinate system, such as formula 1:
The imaging process of camera is related to four coordinate systems: world coordinate system, camera coordinates system, image coordinate system, pixel coordinate
System.
World coordinate system:
The absolute coordinate system of objective three-dimensional world, also referred to as objective coordinate system.Because digital camera is placed in three dimensions, we
This frame of reference of world coordinate system is needed to describe the position of digital camera, and describes to place in this three-dimensional ring with it
The position of other any objects in border indicates its coordinate value with (X, Y, Z).
Camera coordinates system (optical center coordinate system):
Using the optical center of camera as coordinate origin, X axis and Y axis are respectively parallel to the X axis and Y axis of image coordinate system, camera
Optical axis is Z axis, indicates its coordinate value with (Xc, Yc, Zc).
Image coordinate system:
Using the center of the CCD plane of delineation as coordinate origin, X-axis and Y axis are respectively parallel to two vertical edges of the plane of delineation, use
(x, y) indicates its coordinate value.Image coordinate system is that the position of pixel in the picture is indicated with physical unit (such as millimeter).
Pixel coordinate system:
Using the top left corner apex of the CCD plane of delineation as origin, X axis and Y axis be respectively parallel to image coordinate system X axis and
Y axis indicates its coordinate value with (u, v).The image of digital camera acquisition is the form to form standard electric signal first, then
Digital picture is transformed to by analog-to-digital conversion again.The storage form of each image is the array of M × N, the image of M row N column
Each of element numerical value represent be picture point gray scale.Pixel, pixel coordinate system is exactly such each element
Image coordinate system as unit of pixel.
The coordinate in world coordinate system of a known object point in the real world is (X, Y, Z), by camera
Shooting obtains picture, and the pixel coordinate on picture is (u, v).Assuming that the coordinate in image coordinate system is (x, y),
Coordinate in camera coordinates system is (Xc, Yc, Zc).Conversion between each coordinate is as follows:
The transformational relation of pixel coordinate system and image coordinate system, such as formula 2:
Above formula is indicated with matrix form again using homogeneous coordinates, such as formula 3:
Wherein (u0, v0) is coordinate of the image coordinate system origin in pixel coordinate system, and dx and dy are that each pixel exists respectively
Physical size on the direction plane of delineation x and y.
The relationship of image coordinate system and camera coordinates system, such as formula 4:
Wherein f is focal length (as plane is at a distance from camera coordinates system origin).
Above-mentioned relation is indicated with homogeneous coordinate system and matrix, such as formula 5:
The relationship of camera coordinates system and world coordinate system, such as formula 6:
Wherein R is 3 × 3 orthogonal spin matrixs, and t is D translation vector.
It follows that the relationship of pixel coordinate system and world coordinate system, can obtain above-mentioned formula 1 by formula 3, formula 5, formula 6.
Compared with prior art, a kind of off-lying sea cultivation net cage bait-throwing method based on Autoamtic bait putting ship that the present invention obtains,
It can realize precisely feeding for more net cages in certain off-lying sea fishing zone, can simplify off-lying sea cultivation process, save manpower, realize remote
The automation of extra large seining cultivation carries out off-lying sea aquaculture especially suitable for HDPE floating cage.
Detailed description of the invention
Fig. 1 is the logic diagram of visual recognition module；
Fig. 2 is the spatial position schematic diagram of Autoamtic bait putting ship with corresponding effective parking place.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
A kind of off-lying sea cultivation net cage bait-throwing method based on Autoamtic bait putting ship provided by the present embodiment, using carry by
What GPS/IMU module, environmental perception module, navigation obstacle avoidance module, visual recognition module, control module and bait-laying device for fish formed
The Autoamtic bait putting ship of feeding system；
GPS/IMU module, for obtaining the GPS information and Attitude information of aquaculture net cage and Autoamtic bait putting ship；
Environmental perception module, for obtaining obstacle information；Underwater obstacle is detected using sonar technology in the present embodiment；Using
Laser radar technique detects water obstacle；
Navigation obstacle avoidance module is supported according to environmental perception module obstacle information obtained and GPS/IMU module are obtained
Grow the flight course planning of the GPS information progress Autoamtic bait putting ship of net cage and Autoamtic bait putting ship；
Visual recognition module, the bait throwing in marker of aquaculture net cage for identification, and to its real-time tracking, positioning；
Control module calculates the position of effectively berthing of Autoamtic bait putting ship according to the real-time positioning information of the bait throwing in marker of aquaculture net cage
It sets, controls Autoamtic bait putting ship with effective bait throwing in posture and reach effective parking place；Effective parking place refers to that hull is mobile
It is effectively shed within radius to bait throwing in marker is corresponding, and guarantees that hull longitudinal center plane is parallel to selected bait throwing in marker
Tangential direction；Wherein, it is described effectively shed radius according to the bait throwing in of the installation site of bait-laying device for fish on hull and bait-laying device for fish away from
From determination；
And bait-laying device for fish, for completing bait throwing in；
In addition, needing to install bait throwing in mark in advance on aquaculture net cage before the present embodiment provides a kind of specific implementation of bait-throwing method
Will object, bait throwing in marker described in the present embodiment uses painted sphere, and the size of sphere is according to visual recognition module
The effective working distance of middle binocular camera designs.
Steps are as follows for specific bait throwing in:
Firstly, the GPS information of the aquaculture net cage and Autoamtic bait putting ship obtained according to GPS/IMU module, navigation obstacle avoidance module is carried out
The flight course planning of Autoamtic bait putting ship, the GPS information of aquaculture net cage is preset at this time, and control module drives Autoamtic bait putting ship
Approaching aquaculture net cage, and the obstacle information obtained in real time according to environmental perception module complete avoidance；
Secondly, the bait throwing in marker of visual recognition module identification aquaculture net cage, and to its real-time tracking, positioning；Specific steps are such as
Under:
S01, carry out camera calibration, acquire camera internal reference and outer ginseng, obtain each pixel depth information and pixel coordinate with
The corresponding relationship of world coordinate system；
S02 chooses a frame from the left mesh color image sequence of binocular camera, carries out noise suppression preprocessing operation；
S03 sets RGB feature threshold value, carries out color segmentation, the region for being up to threshold value is set as candidate regions；
S04 carries out edge extracting for the candidate regions of previous step, and is segmented carry out circular fitting, clusters to similar circular arc,
And the circular arc after clustering is fitted again, selects the circular target in image；
S05 demarcates the pixel coordinate in the center of circle to world coordinate system, to determine the distance and bearing of bait throwing in marker；
S06 establishes the RGB feature and geometrical characteristic weight histogram of this bait throwing in marker, carries out bait throwing in using Kalman filtering
The position prediction of marker, and carry out in estimation range the matching of characteristic value is looked under characteristic value most matched region is used as
The target position of one frame；
S07 repeats S06, realizes real-time tracking, the positioning of bait throwing in marker；
Again, according to the real-time positioning information of the bait throwing in marker of aquaculture net cage, control module calculates corresponding in bait throwing in marker
Effectively shed within radius, and guarantee that hull longitudinal center plane is parallel to effectively berthing position for the tangential direction of bait throwing in marker
It sets, and navigation obstacle avoidance module adjusts flight course planning in real time, controls Autoamtic bait putting ship and effectively stopped with the arrival of effective bait throwing in posture
It sets in berth；The radius of effectively shedding is determined according to the installation site of bait-laying device for fish on hull and the bait throwing in distance of bait-laying device for fish；
Then, control module driving bait-laying device for fish accurately launches bait in effective parking place, completes primary effectively throwing
Bait；
Finally, the GPS information of the aquaculture net cage and Autoamtic bait putting ship obtained according to GPS/IMU module, navigation obstacle avoidance module is carried out
The flight course planning of Autoamtic bait putting ship, the control module driving next aquaculture net cage of Autoamtic bait putting ship approaching continue to complete effective throwing
Bait, or make a return voyage.
If the next aquaculture net cage of Autoamtic bait putting ship approaching continues to complete effective bait throwing in, need to repeat the above steps, directly
Next effective parking place is reached with effective bait throwing in posture to the Autoamtic bait putting ship, completes accurate bait throwing in.
The calculating step of above-mentioned effective parking place, by taking bait throwing in marker is in the right front of hull as an example:
As shown in Figure 2 (a), it is assumed that right side θ of the known bait throwing in marker in ship1, distance is L1, then θ on the right side of ship1+θ2In angle away from
From for L3Position be this moment calculated effective parking place, the corresponding radius of effectively shedding of bait throwing in marker is greater than L at this time2,
I.e. ship is stopped in the achievable primary effective bait throwing in this position, then control module will be according to θ1+θ2Angle, navigation obstacle avoidance module
Adjust the yaw angle of ship；
As shown in Fig. 2 (b), the spatial positional information of the bait throwing in marker obtained next time is the front of ship, and distance is L1, then
θ on the right side of ship2Distance is L in angle3Position be this moment calculated effective parking place, equally, bait throwing in marker is corresponding at this time
Effectively shed radius greater than L2, then control module will be according to θ2Angle, navigation obstacle avoidance module readjust the yaw of ship
Angle；
As shown in Fig. 2 (c), the spatial positional information of the bait throwing in marker obtained next time is the left side θ of ship1, distance is L1, then
θ on the right side of ship2-θ1Distance is L in angle3Position be this moment calculated effective parking place, equally, bait throwing in marker at this time
Corresponding radius of effectively shedding is greater than L2, then control module will be according to θ2-θ1Angle, navigation obstacle avoidance module readjust ship
Yaw angle；
As shown in Fig. 2 (d), when ship last time captures the bait throwing in marker in the video sequence, i.e. bait throwing in marker will
Jump out camera fields of view, at this time according to the distance and bearing information of the bait throwing in marker of last time capture to ship to being finely adjusted,
It can guarantee that hull rests in effective parking place with effective posture.
Claims (1)
1. a kind of off-lying sea cultivation net cage bait-throwing method based on Autoamtic bait putting ship, using carrying by GPS/IMU module, environment sensing
The Autoamtic bait putting for the feeding system that module, navigation obstacle avoidance module, visual recognition module, control module and bait-laying device for fish form
Ship；Bait throwing in marker on aquaculture net cage uses painted sphere, and the size of the sphere is according to visual recognition mould
The effective working distance design of binocular camera in block, it is characterized in that including the following steps:
Firstly, the GPS information of the aquaculture net cage and Autoamtic bait putting ship obtained according to GPS/IMU module, navigation obstacle avoidance module is carried out
The flight course planning of Autoamtic bait putting ship, control module drive Autoamtic bait putting ship approaching aquaculture net cage, and according to environmental perception module reality
When the obstacle information that obtains, complete avoidance；
Secondly, the bait throwing in marker of visual recognition module identification aquaculture net cage, and to its real-time tracking, positioning；Specific steps are such as
Under:
S01, carry out camera calibration, acquire camera internal reference and outer ginseng, obtain each pixel depth information and pixel coordinate with
The corresponding relationship of world coordinate system；
S02 chooses a frame from the left mesh color image sequence of binocular camera, carries out noise suppression preprocessing operation；
S03 sets RGB feature threshold value, carries out color segmentation, the region for being up to threshold value is set as candidate regions；
S04 carries out edge extracting for the candidate regions of previous step, and is segmented carry out circular fitting, clusters to similar circular arc,
And the circular arc after clustering is fitted again, selects the circular target in image；
S05 demarcates the pixel coordinate in the center of circle to world coordinate system, to determine the distance and bearing of bait throwing in marker；
S06 establishes the RGB feature and geometrical characteristic weight histogram of this bait throwing in marker, carries out bait throwing in using Kalman filtering
The position prediction of marker, and carry out in estimation range the matching of characteristic value is looked under characteristic value most matched region is used as
The target position of one frame；
S07 repeats S06, realizes real-time tracking, the positioning of bait throwing in marker；
Again, according to the real-time positioning information of the bait throwing in marker of aquaculture net cage, control module calculates corresponding in bait throwing in marker
Effectively shed within radius, and guarantee that hull longitudinal center plane is parallel to effectively berthing position for the tangential direction of bait throwing in marker
It sets, and navigation obstacle avoidance module adjusts flight course planning in real time, controls Autoamtic bait putting ship and effectively stopped with the arrival of effective bait throwing in posture
It sets in berth；The radius of effectively shedding is determined according to the installation site of bait-laying device for fish on hull and the bait throwing in distance of bait-laying device for fish；
Then, control module driving bait-laying device for fish accurately launches bait in effective parking place, completes primary effectively throwing
Bait；
Finally, the GPS information of the aquaculture net cage and Autoamtic bait putting ship obtained according to GPS/IMU module, navigation obstacle avoidance module is carried out
The flight course planning of Autoamtic bait putting ship, the control module driving next aquaculture net cage of Autoamtic bait putting ship approaching continue to complete effective throwing
Bait, or make a return voyage.
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