CN110393165B - Open sea aquaculture net cage bait feeding method based on automatic bait feeding boat - Google Patents
Open sea aquaculture net cage bait feeding method based on automatic bait feeding boat Download PDFInfo
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- 238000009360 aquaculture Methods 0.000 title claims abstract description 58
- 244000144974 aquaculture Species 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005266 casting Methods 0.000 claims abstract description 91
- 239000003550 marker Substances 0.000 claims abstract description 50
- 230000000007 visual effect Effects 0.000 claims abstract description 13
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- 238000009434 installation Methods 0.000 claims description 5
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- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 229920001903 high density polyethylene Polymers 0.000 description 2
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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
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
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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
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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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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- 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
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Abstract
The invention discloses a feeding method for an aquaculture net cage, in particular to a feeding method for an open sea aquaculture net cage based on an automatic feeding boat. It includes: firstly, according to the GPS information of the aquaculture net cage and the automatic feeding boat acquired by the GPS/IMU module, the navigation obstacle avoidance module plans the route of the automatic feeding boat, and the control module drives the automatic feeding boat to approach the aquaculture net cage; secondly, the visual identification module identifies the feeding marker of the aquaculture net cage, and tracks and positions the feeding marker in real time; thirdly, according to the real-time positioning information of the feeding markers of the aquaculture net cage, the control module calculates the effective parking position of the automatic feeding boat, and controls the automatic feeding boat to reach the effective parking position in an effective feeding posture by combining with the navigation obstacle avoidance module to adjust the air route plan in real time; and then, the control module drives the bait casting device to accurately cast the bait at the effective parking position, so that one-time effective bait casting is completed. The automatic bait casting device solves the technical problem that the open sea aquaculture net cage realizes accurate bait casting of an automatic bait casting boat.
Description
Technical Field
The invention relates to a feeding method for an aquaculture net cage, in particular to a feeding method for an open sea aquaculture net cage based on an automatic feeding boat.
Background
Modern marine fishery culture gradually develops to a mode of open sea cage culture, and a large amount of HDPE floating cages are used for marine product culture.
The method of feeding by using an artificial feeding boat is mainly adopted in open sea cage culture, and has the following defects: firstly, the labor cost of the manual bait casting boat is large; secondly, the personal safety of the operators on the artificial feeding boat can not be guaranteed in consideration of the severe environment of open sea.
With the maturity and development of unmanned ship technology, the carrying function of unmanned ships is continuously developed. In the aquaculture direction, the unmanned bait casting boat replaces original artificial bait casting gradually, compares artificial bait casting, and the unmanned bait casting boat that controls has reduced the manpower distribution of artificial bait casting, has solved the personal safety problem on water. The unmanned bait casting boat carries out quantitative and fixed-point bait casting according to bait casting requirements through accurate GPS positioning. For example, the published chinese patent application No. 201910328839.0 discloses an unmanned bait casting boat and a method for controlling the same.
However, the existing unmanned bait casting boat is only suitable for the situation that the bait casting position of the aquaculture net cage is preset and the bait casting position is not changed any more in the bait casting process. Therefore, for the open sea aquaculture net cages in which factors such as ocean currents, sea waves and the like in some aquaculture environments influence the aquaculture net cages to cause the position of the aquaculture net cages to continuously and randomly float within a certain range, it is obvious that the existing unmanned bait casting boat and bait casting method cannot complete accurate fixed-point and quantitative bait casting.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provide a method for feeding an open sea aquaculture net cage based on an automatic feeding boat.
In order to achieve the purpose, the invention designs an open-sea aquaculture net cage bait casting method based on an automatic bait casting boat, which adopts the automatic bait casting boat carrying a bait casting system consisting of a GPS/IMU module, an environment perception module, a navigation obstacle avoidance module, a visual identification module, a control module and a bait casting device;
the GPS/IMU module is used for acquiring GPS information and hull posture information of the aquaculture net cage and the automatic feeding boat;
the environment perception module is used for acquiring barrier information; for example: underwater obstacles can be detected by using a sonar technology; the above-water obstacles can be detected by adopting a laser radar technology;
the navigation obstacle avoidance module is used for planning the route of the automatic feeding boat according to the obstacle information obtained by the environment sensing module and the GPS information of the aquaculture net cage and the automatic feeding boat obtained by the GPS/IMU module;
the visual identification module is used for identifying the feeding markers of the aquaculture net cage, and tracking and positioning the feeding markers in real time;
the control module is used for calculating the effective parking position of the automatic feeding boat according to the real-time positioning information of the feeding marker of the aquaculture net cage and controlling the automatic feeding boat to reach the effective parking position in an effective feeding posture; the effective mooring position refers to the situation that the ship body moves to the position within the effective throwing radius corresponding to the bait casting marker, and the longitudinal central plane of the ship body is parallel to the tangential direction of the selected bait casting marker; wherein the effective throwing radius is determined according to the installation position of the bait casting device on the ship body and the bait casting distance of the bait casting device;
and, a feeding device for completing feeding;
in addition, before the bait casting method is implemented, bait casting markers need to be installed on the aquaculture net cage in advance, the bait casting markers are spherical bodies with bright colors, and the size of each spherical body is designed according to the effective working distance of the binocular camera in the visual identification module.
The specific bait casting steps are as follows:
firstly, navigation obstacle avoidance module carries out route planning of automatic feeding boat according to GPS information of the aquaculture net cage and the automatic feeding boat acquired by GPS/IMU module, the GPS information of the aquaculture net cage is preset, the control module drives the automatic feeding boat to approach the aquaculture net cage, and obstacle avoidance is completed according to obstacle information acquired by environment sensing module in real time;
secondly, the visual identification module identifies the feeding marker of the aquaculture net cage, and tracks and positions the feeding marker in real time; the method comprises the following specific steps:
s01, calibrating the camera to obtain internal and external parameters of the camera, and obtaining the depth information of each pixel and the corresponding relation between the pixel coordinate and the world coordinate system;
s02, selecting a frame from the left eye color image sequence of the binocular camera, and carrying out denoising pretreatment operation;
s03, setting RGB characteristic threshold, carrying out color segmentation, and setting the region reaching the threshold as a candidate region;
s04, extracting edges of the candidate areas in the previous step, performing arc fitting in a segmented mode, clustering arcs of the same type, fitting the clustered arcs again, and selecting a circular target in the image;
s05, calibrating the pixel coordinates of the circle center to a world coordinate system to determine the distance and the direction of the bait casting marker;
s06, establishing RGB (red, green, blue) feature and geometric feature weight histograms of the bait casting marker, predicting the position of the bait casting marker by using Kalman filtering, matching feature values in a predicted region, and finding a region with the most matched feature value as a target position of a next frame;
s07, repeating S06 to realize real-time tracking and positioning of the bait casting marker;
thirdly, according to the real-time positioning information of the feeding marker of the aquaculture net cage, the control module calculates the effective throwing radius corresponding to the feeding marker, ensures the effective parking position of the longitudinal center plane of the ship body parallel to the tangential direction of the feeding marker, and controls the automatic feeding boat to reach the effective parking position in an effective feeding posture by combining with a navigation obstacle avoidance module to adjust the route plan in real time; the effective throwing radius is determined according to the installation position of the bait casting device on the ship body and the bait casting distance of the bait casting device;
then, the control module drives the bait casting device to accurately cast bait at the effective parking position, and one-time effective bait casting is completed;
and finally, according to the GPS information of the aquaculture net cages and the automatic feeding ships acquired by the GPS/IMU module, the navigation obstacle avoidance module plans the route of the automatic feeding ships, and the control module drives the automatic feeding ships to approach the next aquaculture net cage to continue effective feeding or return.
The above-mentioned vision identification module discerns aquaculture net case's the marker of feeding to its real-time tracking, location, binocular camera's degree of depth measurement process in the step, as follows:
1. firstly, calibrating a binocular camera to obtain internal and external parameters and a homography matrix of the two cameras;
2. correcting the original image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other;
3. matching pixel points of the two corrected images;
4. and calculating the depth of each pixel according to the matching result, thereby obtaining a depth map.
In addition, the correspondence between the pixel coordinates and the world coordinate system is as follows:
the imaging process of the camera involves four coordinate systems: world coordinate system, camera coordinate system, image coordinate system, pixel coordinate system.
World coordinate system:
the absolute coordinate system of the objective three-dimensional world is also called an objective coordinate system. Because the digital camera is placed in a three-dimensional space, we need the reference coordinate system of the world coordinate system to describe the position of the digital camera, and use it to describe the position of any other object placed in the three-dimensional environment, and its coordinate values are represented by (X, Y, Z).
Camera coordinate system (optical center coordinate system):
the coordinate values are expressed by (Xc, Yc, Zc) with the optical center of the camera as the origin of coordinates, the X-axis and the Y-axis being parallel to the X-axis and the Y-axis of the image coordinate system, respectively, and the optical axis of the camera as the Z-axis.
Image coordinate system:
the coordinate values are expressed by (X, Y) with the center of the CCD image plane as the origin of coordinates and the X-axis and the Y-axis parallel to two vertical sides of the image plane, respectively. The image coordinate system is the representation of the location of a pixel in an image in physical units (e.g., millimeters).
Pixel coordinate system:
the coordinate values are expressed by (u, v) with the vertex of the upper left corner of the CCD image plane as the origin and the X-axis and the Y-axis parallel to the X-axis and the Y-axis of the image coordinate system, respectively. The images acquired by the digital camera are first formed into a standard electrical signal and then converted into digital images by analog-to-digital conversion. The storage form of each image is an array of M × N, and the numerical value of each element in the image of M rows and N columns represents the gray scale of the image point. Each element is called a pixel, and the pixel coordinate system is an image coordinate system taking the pixel as a unit.
The coordinates of an object point in the real world in the world coordinate system are known as (X, Y, Z), a picture is obtained by shooting with a camera, and the pixel coordinates on the picture are known as (u, v). Let the coordinates in the image coordinate system be (x, y) and the coordinates in the camera coordinate system be (Xc, Yc, Zc). The transformation between the individual coordinates is as follows:
the conversion relationship between the pixel coordinate system and the image coordinate system is as follows:
the above formula is expressed in a homogeneous coordinate reuse matrix form, as in formula 3:
where (u 0, v 0) is the coordinates of the origin of the image coordinate system in the pixel coordinate system, and dx and dy are the physical dimensions of each pixel in the x and y directions of the image plane, respectively.
The relationship between the image coordinate system and the camera coordinate system is as follows:
where f is the focal length (distance of the image plane from the origin of the camera coordinate system).
The above relationship is expressed in terms of a homogeneous coordinate system and matrix, as shown in equation 5:
the relationship between the camera coordinate system and the world coordinate system is as follows:
where R is a 3 × 3 orthogonal rotation matrix and t is a three-dimensional translation vector.
From this, it is understood that the relationship between the pixel coordinate system and the world coordinate system is expressed by the above expression 1 from the expressions 3, 5, and 6.
Compared with the prior art, the method for feeding the open sea aquaculture net cages based on the automatic feeding boat can realize accurate feeding of multiple net cages in a certain open sea fishing area, simplify the open sea aquaculture process, save manpower, realize automation of open sea purse net aquaculture, and is particularly suitable for the HDPE floating net cages to carry out open sea aquatic product aquaculture.
Drawings
FIG. 1 is a logic block diagram of a visual recognition module;
fig. 2 is a schematic representation of the spatial position of an automatic bait casting vessel and the corresponding operative mooring position.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The method for feeding the open-sea aquaculture net cages based on the automatic feeding boat adopts the automatic feeding boat which carries a feeding system consisting of a GPS/IMU module, an environment perception module, a navigation obstacle avoidance module, a visual identification module, a control module and a feeding device;
the GPS/IMU module is used for acquiring GPS information and hull posture information of the aquaculture net cage and the automatic feeding boat;
the environment perception module is used for acquiring barrier information; in the embodiment, a sonar technology is adopted to detect underwater obstacles; detecting the above-water obstacles by adopting a laser radar technology;
the navigation obstacle avoidance module is used for planning the route of the automatic feeding boat according to the obstacle information obtained by the environment sensing module and the GPS information of the aquaculture net cage and the automatic feeding boat obtained by the GPS/IMU module;
the visual identification module is used for identifying the feeding markers of the aquaculture net cage, and tracking and positioning the feeding markers in real time;
the control module is used for calculating the effective parking position of the automatic feeding boat according to the real-time positioning information of the feeding marker of the aquaculture net cage and controlling the automatic feeding boat to reach the effective parking position in an effective feeding posture; the effective mooring position refers to the situation that the ship body moves to the position within the effective throwing radius corresponding to the bait casting marker, and the longitudinal central plane of the ship body is parallel to the tangential direction of the selected bait casting marker; wherein the effective throwing radius is determined according to the installation position of the bait casting device on the ship body and the bait casting distance of the bait casting device;
and, a feeding device for completing feeding;
in addition, before the bait casting method is implemented, a bait casting marker needs to be installed on the aquaculture net cage in advance, in this embodiment, the bait casting marker is a sphere with bright color, and the size of the sphere is designed according to the effective working distance of the binocular camera in the visual identification module.
The specific bait casting steps are as follows:
firstly, navigation obstacle avoidance module carries out route planning of automatic feeding boat according to GPS information of the aquaculture net cage and the automatic feeding boat acquired by GPS/IMU module, the GPS information of the aquaculture net cage is preset, the control module drives the automatic feeding boat to approach the aquaculture net cage, and obstacle avoidance is completed according to obstacle information acquired by environment sensing module in real time;
secondly, the visual identification module identifies the feeding marker of the aquaculture net cage, and tracks and positions the feeding marker in real time; the method comprises the following specific steps:
s01, calibrating the camera to obtain internal and external parameters of the camera, and obtaining the depth information of each pixel and the corresponding relation between the pixel coordinate and the world coordinate system;
s02, selecting a frame from the left eye color image sequence of the binocular camera, and carrying out denoising pretreatment operation;
s03, setting RGB characteristic threshold, carrying out color segmentation, and setting the region reaching the threshold as a candidate region;
s04, extracting edges of the candidate areas in the previous step, performing arc fitting in a segmented mode, clustering arcs of the same type, fitting the clustered arcs again, and selecting a circular target in the image;
s05, calibrating the pixel coordinates of the circle center to a world coordinate system to determine the distance and the direction of the bait casting marker;
s06, establishing RGB (red, green, blue) feature and geometric feature weight histograms of the bait casting marker, predicting the position of the bait casting marker by using Kalman filtering, matching feature values in a predicted region, and finding a region with the most matched feature value as a target position of a next frame;
s07, repeating S06 to realize real-time tracking and positioning of the bait casting marker;
thirdly, according to the real-time positioning information of the feeding marker of the aquaculture net cage, the control module calculates the effective throwing radius corresponding to the feeding marker, ensures the effective parking position of the longitudinal center plane of the ship body parallel to the tangential direction of the feeding marker, and controls the automatic feeding boat to reach the effective parking position in an effective feeding posture by combining with a navigation obstacle avoidance module to adjust the route plan in real time; the effective throwing radius is determined according to the installation position of the bait casting device on the ship body and the bait casting distance of the bait casting device;
then, the control module drives the bait casting device to accurately cast bait at the effective parking position, and one-time effective bait casting is completed;
and finally, according to the GPS information of the aquaculture net cages and the automatic feeding ships acquired by the GPS/IMU module, the navigation obstacle avoidance module plans the route of the automatic feeding ships, and the control module drives the automatic feeding ships to approach the next aquaculture net cage to continue effective feeding or return.
If the automatic feeding boat approaches the next aquaculture net cage to continue effective feeding, the steps are repeated until the automatic feeding boat reaches the next effective parking position in an effective feeding posture, and accurate feeding is completed.
The above-mentioned steps of calculating the effective berthing position take the bait casting marker in the right front of the hull as an example:
as shown in FIG. 2 (a), it is assumed that the bait casting marker is known to be on the right side θ of the ship1A distance of L1Then the right side of the ship theta1+θ2At an angular distance L3The effective parking position calculated at this moment, at the moment, the effective throwing radius corresponding to the bait casting marker is larger than L2I.e. the boat is parked at this position to complete an effective bait casting, the control module will act according to theta1+θ2Adjusting the yaw angle of the ship by combining the navigation obstacle avoidance module;
as shown in FIG. 2(b), the spatial position information of the bait casting marker acquired next time is directly ahead of the ship and the distance is L1Then the right side of the ship theta2At an angular distance L3Is an effective parking position calculated at this moment, and the corresponding effective throwing radius of the bait casting marker is larger than L2Then the control module will be based on θ2The angle is combined with a navigation obstacle avoidance module to readjust the yaw angle of the ship;
as shown in fig. 2(c), the spatial position information of the bait casting marker acquired next time is the left side θ of the ship1A distance of L1Then the right side of the ship theta2-θ1At an angular distance L3Is an effective parking position calculated at this moment, and the corresponding effective throwing radius of the bait casting marker is larger than L2Then the control module will be based on θ2-θ1The angle is combined with a navigation obstacle avoidance module to readjust the yaw angle of the ship;
as shown in fig. 2(d), when the boat last captured the bait casting marker in the video sequence, that is, the bait casting marker is about to jump out of the camera view, the boat direction is finely adjusted according to the distance and orientation information of the last captured bait casting marker, so that the boat body can be guaranteed to be parked at an effective parking position in an effective posture.
Claims (1)
1. An open sea aquaculture net cage bait casting method based on an automatic bait casting boat adopts the automatic bait casting boat which carries a bait casting system consisting of a GPS/IMU module, an environment perception module, a navigation obstacle avoidance module, a visual identification module, a control module and a bait casting device; the bait casting marker on the aquaculture net cage is a sphere with bright color, the size of the sphere is designed according to the effective working distance of a binocular camera in the visual identification module, and the bait casting marker is characterized by comprising the following steps:
firstly, according to GPS information of the aquaculture net cage and the automatic feeding boat acquired by a GPS/IMU module, a navigation obstacle avoidance module plans a route of the automatic feeding boat, a control module drives the automatic feeding boat to approach the aquaculture net cage, and obstacle avoidance is completed according to obstacle information acquired by an environment sensing module in real time;
secondly, the visual identification module identifies the feeding marker of the aquaculture net cage, and tracks and positions the feeding marker in real time; the method comprises the following specific steps:
s01, calibrating the camera to obtain internal and external parameters of the camera, and obtaining the depth information of each pixel and the corresponding relation between the pixel coordinate and the world coordinate system;
s02, selecting a frame from the left eye color image sequence of the binocular camera, and carrying out denoising pretreatment operation;
s03, setting RGB characteristic threshold, carrying out color segmentation, and setting the region reaching the threshold as a candidate region;
s04, extracting edges of the candidate areas in the previous step, performing arc fitting in a segmented mode, clustering arcs of the same type, fitting the clustered arcs again, and selecting a circular target in the image;
s05, calibrating the pixel coordinates of the circle center to a world coordinate system to determine the distance and the direction of the bait casting marker;
s06, establishing RGB (red, green, blue) feature and geometric feature weight histograms of the bait casting marker, predicting the position of the bait casting marker by using Kalman filtering, matching feature values in a predicted region, and finding a region with the most matched feature value as a target position of a next frame;
s07, repeating S06 to realize real-time tracking and positioning of the bait casting marker;
thirdly, according to the real-time positioning information of the feeding marker of the aquaculture net cage, the control module calculates the effective throwing radius corresponding to the feeding marker, ensures the effective parking position of the longitudinal center plane of the ship body parallel to the tangential direction of the feeding marker, and controls the automatic feeding boat to reach the effective parking position in an effective feeding posture by combining with a navigation obstacle avoidance module to adjust the route plan in real time; the effective throwing radius is determined according to the installation position of the bait casting device on the ship body and the bait casting distance of the bait casting device;
then, the control module drives the bait casting device to accurately cast bait at the effective parking position, and one-time effective bait casting is completed;
and finally, according to the GPS information of the aquaculture net cages and the automatic feeding ships acquired by the GPS/IMU module, the navigation obstacle avoidance module plans the route of the automatic feeding ships, and the control module drives the automatic feeding ships to approach the next aquaculture net cage to continue effective feeding or return.
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