CN113016682A - Deepwater net cage monitoring system - Google Patents
Deepwater net cage monitoring system Download PDFInfo
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- CN113016682A CN113016682A CN202110270229.7A CN202110270229A CN113016682A CN 113016682 A CN113016682 A CN 113016682A CN 202110270229 A CN202110270229 A CN 202110270229A CN 113016682 A CN113016682 A CN 113016682A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 36
- 230000002159 abnormal effect Effects 0.000 claims abstract description 79
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- 241000196171 Hydrodictyon reticulatum Species 0.000 claims abstract description 58
- 230000000694 effects Effects 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims description 68
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 230000003993 interaction Effects 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000005286 illumination Methods 0.000 claims description 5
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- 230000000246 remedial effect Effects 0.000 abstract description 3
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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
- A01K61/60—Floating cultivation devices, e.g. rafts or floating fish-farms
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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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 relates to a deepwater net cage monitoring technology, in particular to a deepwater net cage monitoring system, which comprises: the system comprises a sonar system, an AUV cruise system and a control system; the sonar system is used for monitoring the fish school movement condition within the deep water net cage warning range; the AUV cruising system is used for patrolling the fish school activity condition within the deep water net cage warning range; when the control system receives the fish school activity condition and/or alarm in the warning range of the deepwater net cage sent by the sonar system and/or the AUV cruise system, whether the deepwater net cage is in an abnormal condition or not is judged, the sonar system and/or the AUV cruise system is controlled to respond according to the fish school activity condition in the warning range of the deepwater net cage, so that the fish school in the deepwater net cage is protected from being invaded, the problems that whether the net clothing of the deepwater net cage is damaged and whether the cultured fish school escapes or not are discovered as early as possible are solved, and remedial measures are taken in time to reduce loss.
Description
Technical Field
The invention relates to a deepwater net cage monitoring technology, in particular to a deepwater net cage monitoring system.
Background
The deep water net cage is usually positioned in a deep water area and far away from the shore, so that the condition of external marine organism invasion can occur, when the net cage is damaged, external fish schools can enter the net cage, internal fish schools can escape from the net cage, the living environment of the fish schools in the net cage is damaged, and certain loss is caused, therefore, the invention provides a monitoring system which can monitor the activity of the external fish schools and quickly judge whether the net cage is damaged or not.
Disclosure of Invention
The embodiments of the present invention are directed to solving at least one of the technical problems occurring in the prior art or the related art.
Therefore, the embodiment of the invention aims to provide a deepwater net cage monitoring system.
In order to achieve the above object, the present invention provides a deepwater net cage monitoring system, which is characterized by comprising:
the system comprises a sonar system, an AUV cruise system and a control system;
the sonar system is used for monitoring the fish school movement condition within the deep water net cage warning range;
the AUV cruising system is used for patrolling the fish school activity condition within the deep water net cage warning range;
the control system is used for receiving the fish shoal activity condition and the netting state of the deepwater net cage in the guard range from the sonar system and/or the AUV cruise system, and controlling the sonar system and/or the AUV cruise system to respond according to the fish shoal activity condition in the guard range of the deepwater net cage.
In addition, the deepwater network box monitoring system in the technical scheme provided by the embodiment of the invention can also have the following additional technical characteristics:
in one technical scheme of the invention, the sonar system comprises an acoustic array module and a data processing module;
the data processing module is connected with the control system through a watertight cable; the acoustic array module is used for sending and/or receiving acoustic signals; the data processing module converts the sound wave signal into an electric signal and transmits the electric signal to the control system;
the control system judges whether abnormal fish shoal movement exists in the warning range of the deepwater net cage according to the electric signals, judges whether the deepwater net cage has an abnormal state or not when the abnormal fish shoal movement exists, and controls the sonar system to send out high-frequency sound waves if the deepwater net cage does not have the abnormal state.
In one aspect of the present invention, an acoustic array module includes: a cylindrical acoustic array and a T-shaped acoustic array;
the cylindrical acoustic array transmits and/or receives acoustic waves to the direction vertical to the deep water net cage upright post;
the T-shaped acoustic array transmits and/or receives acoustic waves to the two end surface directions of the upright post connected with the deepwater net cage; the cylindrical acoustic array and the T-shaped acoustic array are respectively arranged in a transmitting and receiving mode.
In one aspect of the present invention, an AUV cruise system includes: a communication module and a marine workstation;
the overwater workstation is used for receiving the instruction sent by the control system and sending the instruction to the communication module;
the communication module is used for interacting data with the AUV in the AUV cruise system so as to enable the control system to control the movement of the AUV.
In one aspect of the present invention, a control system is configured to:
when abnormal fish shoal activities exist in the warning range of the deepwater net cage and the deepwater net cage does not have abnormal states, controlling the AUV to cruise according to a preset route;
when abnormal fish swarm movement exists in the warning range of the deepwater net cage and the deepwater net cage is in an abnormal state, an instruction is sent to the communication module to control the AUV to move to an abnormal area.
In one aspect of the present invention, a communication module includes: the system comprises a water surface communication unit and an underwater communication unit;
the water surface communication unit carries out data interaction with the overwater workstation through a radio and/or a wireless network; and the underwater communication unit performs data interaction with the overwater workstation in an underwater acoustic communication mode.
In one aspect of the present invention, the AUV cruise system further includes: a motion control module; the motion control module is used for receiving an instruction sent by the control system to control the navigational speed, the course and the diving depth of the AUV.
In one aspect of the present invention, the AUV cruise system further includes: an image module and an illumination device;
the control system is further configured to:
when abnormal fish swarm activities exist in the warning range of the deepwater net cage and the deepwater net cage is in an abnormal state, an instruction is sent to the communication module to control the AUV to reach an abnormal area, and then the image module is controlled to carry out image shooting on the abnormal area, so that whether the deepwater net cage in the abnormal area is damaged or not is judged; the illumination device is used for illuminating an abnormal area.
In one aspect of the present invention, the control system further includes: an alarm module;
the control system is further configured to:
when the deepwater net cage in the abnormal area is judged to be damaged, the alarm module receives the information sent by the control system and sends an alarm to a worker; the alarm is an audible and visual alarm.
In one technical scheme of the invention, the deepwater net cage monitoring system further comprises: a communication system; a communication system includes: the wireless communication system comprises a radio, a wireless network and a satellite communication, wherein the radio, the wireless network and the satellite communication are redundant.
Compared with the prior art, the invention at least comprises the following beneficial effects:
the invention provides a deepwater net cage monitoring system which is provided with a sonar system, an AUV (autonomous underwater vehicle) cruising system and a control system, wherein the sonar system is used for monitoring the fish shoal activity condition within the deepwater net cage warning range, the AUV cruising system is used for patrolling the fish shoal activity condition within the deepwater net cage warning range, when the control system receives the fish shoal activity condition within the deepwater net cage warning range sent by the sonar system and/or the AUV cruising system, whether the deepwater net cage is in an abnormal condition or not is judged, the sonar system and/or the AUV cruising system is controlled to respond according to the fish shoal activity condition within the deepwater net cage warning range, so that fish shoals in the deepwater net cage are protected from being invaded, the problems that whether a net coat of the deepwater net cage is damaged and cultured fish shoals escape or not are discovered as early as possible, and remedial measures are taken in time, and the loss is reduced.
Other advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic block diagram of a deep water net cage monitoring system according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a deep water net cage monitoring system according to an embodiment of the present invention;
fig. 3 is another schematic structural diagram of a deep water net cage monitoring system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a deep water net cage monitoring system according to an embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 2 to 4 is:
1 netting, 2 side columns, 3 cylindrical acoustic array range, 4 abnormal state,
5 central column, 6T type acoustic array, 7AUV
100 sonar system, 110 acoustic array module, 120 data processing module, 200 control system, 210 alarm module, 300AUV cruise system, 310 overwater workstation, 320 communication module, 330 motion control module, 340 image module, 400 communication system.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
In an embodiment of the present invention, there is provided a system for automatically pushing a tag, as shown in fig. 1, the system including: 100 to 400
the sonar system 100 is used for monitoring the fish school movement condition within the deep water net cage warning range;
the AUV cruise system 300 is used for patrolling the fish school activity condition within the deep water net cage warning range;
the control system 200 is used for receiving the fish shoal activity condition and the netting state of the warning range of the deep water net cage sent by the sonar system 100 and/or the AUV cruise system 300 and controlling the sonar system 100 and/or the AUV cruise system 300 to respond according to the fish shoal activity condition in the warning range of the deep water net cage.
In this embodiment, the deepwater net cage monitoring system is provided with a sonar system 100, an AUV cruise system 300 and a control system 200, wherein, the sonar system 100 is used for monitoring the fish shoal activity in the deep water net cage warning range, the AUV cruise system 300 is used for patrolling the fish shoal activity in the deep water net cage warning range, when the control system 200 receives the fish school activity condition of the deepwater net cage warning range sent by the sonar system 100 and/or the AUV cruise system 300, whether the deepwater net cage is abnormal or not is judged, and controls the sonar system 100 and/or the AUV cruise system 300 to respond according to the fish school activity condition within the warning range of the deep water net cage, therefore, fish shoals in the deepwater net cage are protected from being invaded, the problems that whether net clothes of the deepwater net cage are damaged and whether cultured fish shoals escape are discovered as early as possible are solved, remedial measures are taken in time, and losses are reduced.
In one embodiment of the present invention, sonar system 100 includes an acoustic array module 110 and a data processing module 120; the data processing module 120 is connected with the control system 200 through a watertight cable; the acoustic array module 110 is used for sending and/or receiving acoustic signals; the data processing module 120 converts the sound wave signal into an electric signal and transmits the electric signal to the control system 200;
the control system 200 judges whether abnormal fish shoal activity exists in the warning range of the deep water net cage according to the electric signals, judges whether the deep water net cage has an abnormal state 4 when the abnormal fish shoal activity exists, and controls the sonar system 100 to emit high-frequency sound waves by the control system 200 if the abnormal state 4 does not exist in the deep water net cage.
In this embodiment, the sonar system 100 is provided with the acoustic array module 110 and the data processing module 120, wherein the data processing module 120 is connected with the control system 200 through a watertight cable, so as to supply power to the sonar system 100, and the sonar system has good waterproof performance, and improves the safety and stability of the system. The acoustic array module 110 is used for sending and/or receiving acoustic signals, detecting the condition of the warning range of the deep water net cage through the acoustic signals, filtering the received acoustic waves returned from the detected objects through the data processing module 120, filtering out the acoustic waves which interfere the detection result, so as to improve the detection accuracy, converting the acoustic waves after filtering into electric signals by the data processing module 120 and transmitting the electric signals to the control system 200, judging whether abnormal fish swarm activities exist in the warning range of the deep water net cage or not by the control system 200 according to the electric signals, continuously judging whether the deep water net cage has the abnormal state 4 or not when judging that the abnormal fish swarm activities exist in the warning range, if the deep water net cage is not in the abnormal state 4, sending a command of sending high-frequency acoustic waves to the sonar system 100 through the data processing module 120 by the control system 200, the fish school that moves unusually in this dissipation deep water net cage's warning scope to this realizes the function of automatic dissipation, has improved dissipation efficiency, and reduces the loss.
It is understood that the abnormal state 4 includes abnormal activities of fish schools outside the netting 1 within the warning range of the deepwater net cage, the sonar system 100 detects that fish schools inside the deepwater net cage appear outside the netting 1, or the sonar system 100 detects that fish schools outside the deepwater net cage appear inside the netting 1.
In one embodiment of the present invention, as shown in fig. 2 to 4, the acoustic array module 110 includes: a cylindrical acoustic array and a T-shaped acoustic array 6, wherein the cylindrical acoustic array transmits and/or receives acoustic waves to the direction vertical to the deep water net cage upright post; the T-shaped acoustic array 6 transmits and/or receives acoustic waves to the two end surface directions of the upright columns connected to the deepwater net cage; the cylindrical acoustic array and the T-shaped acoustic array 6 are respectively arranged in a transmitting and receiving way.
In this embodiment, the acoustic matrix module 110 is provided with a cylindrical acoustic matrix and a T-shaped acoustic matrix 6, wherein the cylindrical acoustic matrix is located on the side pillars 2 of the deep water net cage, it can be understood that, in order to maximize the range of sonar emitted by each cylindrical acoustic matrix, the cylindrical acoustic matrix is disposed at the center of the netting 1 surrounded by two adjacent side pillars 2, and the cylindrical acoustic matrix transmits and/or receives acoustic waves in a direction perpendicular to the deep water net cage pillars, fig. 2 shows the range of sonar beams, and by providing the cylindrical acoustic matrix, sonar detection can be performed in all directions in the side direction of the deep water net cage, so that the detection is more comprehensive, and omission of side direction detection is avoided.
The T-shaped acoustic array 6 is arranged on the netting 1 close to the central upright post 5 and transmits and/or receives acoustic waves to the two end surface directions connected with the deep water net cage upright post, so that the warning ranges in the top and bottom ranges of the deep water net cage are comprehensively scanned, the detection is more comprehensive, and the omission of the side surface direction detection is avoided.
In one embodiment, a cylindrical inscribed equilateral hexagon with the diameter of 110 meters is adopted for the deep water net cage, the cultivation height is 50 meters, the total height of the net cage is 80 meters, a cylindrical acoustic array and a matched data processing module 120 are respectively arranged at the center positions of 6 side surfaces of the deep water net cage, 4T-shaped acoustic arrays 6 and matched data processing modules 120 are respectively arranged at the top and the bottom of the cultivation area of the deep water net cage, and 14 acoustic arrays and matched data processing modules 120 are totally arranged, so that the warning range of the deep water net cage is comprehensively scanned.
The cylindrical acoustic array and the T-shaped acoustic array 6 both adopt a receiving and transmitting separately-arranged working mode, so that mutual interference between the transmitted and received acoustic waves is avoided, and the detection accuracy is improved.
In one embodiment of the present invention, the AUV cruise system 300 includes: a communication module 320 and a marine workstation 310; the overwater workstation 310 is used for receiving the instruction sent by the control system 200 and sending the instruction to the communication module 320;
the communication module 320 is used to interact with the AUV7 in the AUV cruise system 300 to cause the control system 200 to control the movement of the AUV 7.
In this embodiment, the AUV cruise system 300 is provided with a communication module 320 and a marine workstation 310, wherein the communication module 320 is configured to interact data with the AUV7 in the AUV cruise system 300, so as to enable the control system 200 to control the movement of the AUV7, specifically, the marine workstation 310 receives an instruction sent by the control system 200 and sends the instruction to the communication module 320, the communication module 320 controls the movement of the AUV7 according to the instruction, and the movement information of the AUV7 is also sent to the marine workstation 310 through the communication module 320 and further transmitted to the control system 200.
In one embodiment of the invention, the control system 200 is configured to: when abnormal fish shoal activities exist in the warning range of the deepwater net cage and the deepwater net cage does not have the abnormal state 4, controlling the AUV7 to cruise according to a preset route; when abnormal fish school activities exist in the warning range of the deep water net cage and the deep water net cage has an abnormal state 4, an instruction is sent to the communication module 320 to control the AUV7 to move to an abnormal area.
In this embodiment, when the control system 200 determines that there is no abnormal fish shoal activity within the warning range of the deep water cage, the AUV7 is controlled to cruise along a preset route, and it is understood that the AUV7 cruises around the edge of the deep water cage.
In one embodiment, the deepwater net cage has a cylindrical inscribed equilateral hexagon with a diameter of 110 meters, a height of 50 meters for cultivation, and an overall height of 80 meters, and the AUV7 cruises along a preset route 3 meters from the edge of the deepwater net cage to constantly monitor the status of the deepwater net cage.
When the control system 200 judges that abnormal fish swarm activities exist in the warning range of the deepwater net cage and further judges that the deepwater net cage does not have the abnormal state 4, the AUV7 is controlled to cruise according to a preset route.
When the control system 200 determines that abnormal fish swarm activities exist within the warning range of the deep water net cage and further determines that the deep water net cage has the abnormal state 4, an instruction is issued to the communication module 320 to control the AUV7 to move to the abnormal region, so as to monitor the abnormal condition of the deep water net cage. It is understood that the above abnormal state 4 includes: fish in the net 1 swim out of the net 1, and fish outside the net 1 attacks or enters the net 1.
In one aspect of the present invention, the communication module 320 includes: the system comprises a water surface communication unit and an underwater communication unit; the water surface communication unit performs data interaction with the water workstation 310 through radio and/or a wireless network; the underwater communication unit performs data interaction with the above-water workstation 310 through the underwater acoustic communication mode.
The communication module 320 is provided with a water surface communication unit and an underwater communication unit, when the AUV7 floats to the water surface, the water surface communication unit and the water surface workstation 310 perform data interaction through a radio or wireless network, and further, the control system 200 and the water surface workstation 310 perform signal transmission through radio, wireless network or satellite communication and the like, so as to control the movement of the AUV7 on the water surface.
When the AUV7 dives underwater, the underwater communication module 320 is enabled to perform data interaction with the above-water workstation 310, and it can be understood that the underwater communication module 320 performs data interaction with the above-water workstation 310 in an underwater acoustic communication manner, and further, the control system 200 and the above-water workstation 310 perform signal transmission in a wireless, wireless network, or satellite communication manner, so as to control the underwater movement of the AUV 7.
In one embodiment of the present invention, the AUV cruise system 300 further comprises: a motion control module 300; the motion control module 300 is used for receiving instructions from the control system 200 to control the speed, heading, and diving depth of the AUV 7.
In this embodiment, the AUV cruise system 300 is further provided with a motion control module 300, and when the motion control module 300 of the AUV cruise system 300 receives a command sent from the control system 200, the navigation speed, the heading and the submergence depth of the AUV7 are controlled according to the content of the command, such as the deep water net cage is in the abnormal state 4, the motion control module 300 controls the AUV7 to move according to a preset daily monitored route, such as the deep water net cage is in the abnormal state 4, and the motion control module 300 controls the AUV7 to change the navigation speed, the heading and the submergence depth and move towards the abnormal area of the deep water net cage, so as to obtain the abnormal state 4.
In one embodiment of the present invention, the AUV cruise system 300 further comprises: an image module 340 and an illumination device; the control system 200 is further configured to: when abnormal fish swarm activities exist in the warning range of the deepwater net cage and the deepwater net cage has an abnormal state 4, an instruction is sent to the communication module 320 to control the AUV7 to reach an abnormal region, and then the image module 340 is controlled to shoot an abnormal region, so that whether the deepwater net cage in the abnormal region is damaged or not is judged; the illumination device is used for illuminating an abnormal area.
In this embodiment, the AUV cruise system 300 further includes an image module 340 and a lighting device, when abnormal fish swarm activities exist in the warning range of the deep water net cage and the deep water net cage has an abnormal state 4, after the AUV7 reaches the abnormal region, the control system 200 issues an instruction to control the image module 340 to shoot the abnormal region, so as to observe the abnormal region, and further includes a lighting device to assist in lighting, so as to obtain clearer and more accurate images and videos, after the control system 200 receives the video image of the deep water net cage sent by the image module 340, the video image of the deep water net cage is compared with the stored video image of the normal deep water net cage in the region, so as to determine whether the net cage is damaged or not, if not, the control system 200 sends a high-frequency sound wave to drive the abnormal fish swarm, thereby saving labor cost and improving automation degree, the damage condition of the deepwater net cage is accurately judged.
In one embodiment of the present invention, the control system 200 further comprises: an alarm module 210; the control system 200 is further configured to: when the deepwater net cage in the abnormal area is judged to be damaged, the alarm module 210 receives the information sent by the control system 200 and sends an alarm to the staff; the alarm is an audible and visual alarm.
In this embodiment, the control system 200 is further provided with an alarm module 210, and when the control system 200 receives the image of the abnormal deep water net cage region transmitted from the image module 340 and compares the image with the image in the normal state of the region, if it is determined that the net cage in the region is damaged, the control system 200 controls the alarm module 210 to send an alarm, so as to notify a worker to perform emergency repair on the damaged net cage in time, reduce loss, and improve the safety and reliability of the deep water net cage.
It can be understood that the alarm can be an audible and visual alarm, and the staff can be more comprehensively reminded to respond in time through sound and light.
In an embodiment of the present invention, the deepwater net cage monitoring system further includes: a communication system 400; the communication system 400 includes: the wireless communication system comprises a radio, a wireless network and a satellite communication, wherein the radio, the wireless network and the satellite communication are redundant.
In this embodiment, the deepwater net cage monitoring system is further equipped with a communication system 400, the communication system 400 is provided with radio, wireless network and satellite communication, and the radio, wireless network and satellite communication are mutually redundant, so as to ensure that data can be transmitted and stored in real time under emergency conditions such as damage of the deepwater net cage or abnormal fish movement, avoid the situation that the deepwater net cage cannot be responded in time when abnormal state 4 occurs due to incapability of real-time monitoring, and improve the safety and reliability of the deepwater net cage.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A deepwater net cage monitoring system, comprising:
the system comprises a sonar system, an AUV cruise system and a control system;
the sonar system is used for monitoring the fish school activity condition within the deep water net cage warning range;
the AUV cruise system is used for patrolling the fish shoal activity condition within the deep water net cage warning range;
the control system is used for receiving the fish shoal activity condition of the deepwater net cage in the warning range sent by the sonar system and/or the AUV cruise system, and controlling the sonar system and/or the AUV cruise system to respond according to the fish shoal activity condition in the warning range of the deepwater net cage.
2. The deepwater net cage monitoring system according to claim 1, wherein:
the sonar system comprises an acoustic array module and a data processing module;
the data processing module is connected with the control system through a watertight cable;
the acoustic array module is used for sending and/or receiving acoustic wave signals;
the data processing module converts the sound wave signal into an electric signal and transmits the electric signal to the control system;
the control system judges whether abnormal fish shoal movement exists in the warning range of the deep water net cage according to the electric signals, and when the abnormal fish shoal movement exists, the control system judges whether the deep water net cage is in an abnormal state, and if the deep water net cage is not in the abnormal state, the control system controls the sonar system to send out high-frequency sound waves.
3. The deep water net cage monitoring system of claim 2, wherein the acoustic matrix module comprises:
a cylindrical acoustic array and a T-shaped acoustic array;
the cylindrical acoustic array transmits and/or receives acoustic waves in a direction perpendicular to the deep water net cage upright post;
the T-shaped acoustic array transmits and/or receives acoustic waves to the two end surface directions of the deep water net cage upright post;
and the cylindrical acoustic array and the T-shaped acoustic array are respectively arranged in a transmitting and receiving way.
4. The deepwater net cage monitoring system as claimed in claim 1, wherein the AUV cruise system comprises:
a communication module and a marine workstation;
the overwater workstation is used for receiving the instruction sent by the control system and sending the instruction to the communication module;
the communication module is used for interacting data with an AUV in the AUV cruise system so as to enable the control system to control the movement of the AUV.
5. The deepwater net cage monitoring system according to claim 4, wherein:
the control system is configured to:
when abnormal fish swarm activities exist in the warning range of the deepwater net cage and the deepwater net cage does not have abnormal states, controlling the AUV to cruise according to a preset route;
when the abnormal fish swarm activities exist in the warning range of the deepwater net cage and the deepwater net cage is in an abnormal state, an instruction is issued to the communication module to control the AUV to move to an abnormal area.
6. The deepwater net cage monitoring system as claimed in claim 4, wherein the communication module comprises:
the system comprises a water surface communication unit and an underwater communication unit;
the water surface communication unit carries out data interaction with the overwater workstation through a radio and/or a wireless network;
and the underwater communication unit performs data interaction with the overwater workstation in an underwater acoustic communication mode.
7. The deepwater net cage monitoring system as recited in claim 4, wherein the AUV cruise system further comprises:
a motion control module;
and the motion control module is used for receiving an instruction sent by the control system to control the navigational speed, the course and the diving depth of the AUV.
8. The deepwater net cage monitoring system as recited in claim 4, wherein the AUV cruise system further comprises:
an image module and an illumination device;
the control system is further configured to:
when abnormal fish swarm activities exist in the warning range of the deepwater net cage and the deepwater net cage is in an abnormal state, giving an instruction to the communication module to control the AUV to reach an abnormal area, and controlling the image module to shoot the abnormal area so as to judge whether the deepwater net cage in the abnormal area is damaged;
the lighting device is used for illuminating the abnormal area.
9. The deepwater net cage monitoring system as recited in claim 8, wherein the control system further comprises:
an alarm module;
the control system is further configured to:
when the deepwater net cage in the abnormal area is judged to be damaged, the alarm module receives information sent by the control system and sends an alarm to a worker;
the alarm is an audible and visual alarm.
10. The deepwater net cage monitoring system of claim 1, further comprising:
a communication system; the communication system includes: the system comprises a radio, a wireless network and a satellite communication, wherein the radio, the wireless network and the satellite communication are redundant.
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