CN113016682B - Deepwater net cage monitoring system - Google Patents
Deepwater net cage monitoring system Download PDFInfo
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- CN113016682B CN113016682B CN202110270229.7A CN202110270229A CN113016682B CN 113016682 B CN113016682 B CN 113016682B CN 202110270229 A CN202110270229 A CN 202110270229A CN 113016682 B CN113016682 B CN 113016682B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 230000002159 abnormal effect Effects 0.000 claims abstract description 80
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- 230000033001 locomotion Effects 0.000 claims description 19
- 238000005286 illumination Methods 0.000 claims description 9
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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 technology for monitoring a deepwater net cage, in particular to a deepwater net cage monitoring system, which comprises the following components: sonar system, AUV cruising system and control system; the sonar system is used for monitoring the fish swarm activity condition of the warning range of the deepwater net cage; the AUV cruising system is used for cruising the fish swarm activity condition in the warning range of the deepwater net cage; when the control system receives the fish swarm activity condition and/or alarm of the warning range of the deepwater net cage sent by the sonar system and/or the AUV cruise system, judging whether the deepwater net cage has an abnormal condition, and controlling the sonar system and/or the AUV cruise system to respond according to the fish swarm activity condition of the warning range of the deepwater net cage so as to protect the fish swarm in the deepwater net cage from being invaded, discover the problems of whether the net clothing of the deepwater net cage is damaged and whether the cultured fish swarm escapes as early as possible, and take remedial measures in time, thereby reducing loss.
Description
Technical Field
The invention relates to a technology for monitoring a deepwater net cage, in particular to a deepwater net cage monitoring system.
Background
The deepwater net cage is usually positioned in a deep water area and far away from the shore, the condition of external marine organism invasion can occur, when the net cage is damaged, external fish shoals can enter the net cage, the fish shoals in the net cage can escape from the net cage, damage is caused to the living environment of the fish shoals in the net cage, and certain loss is caused.
Disclosure of Invention
Embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art or related technologies.
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 monitoring system for a deepwater net cage, which is characterized by comprising:
sonar system, AUV cruising system and control system;
the sonar system is used for monitoring the fish swarm activity condition of the warning range of the deepwater net cage;
the AUV cruising system is used for cruising the fish swarm activity condition in the warning range of the deepwater net cage;
the control system is used for receiving the fish swarm activity condition and the netting state of the deep water net cage 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 swarm activity condition of the deep water net cage warning range.
In addition, the deep water net cage 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 sound matrix module is used for sending and/or receiving sound wave signals; the data processing module converts the sound wave signals into electric signals and transmits the electric signals to the control system;
the control system judges whether abnormal fish swarm activities exist in the warning range of the deepwater net cage according to the electric signals, and judges whether the deepwater net cage has abnormal states when the abnormal fish swarm activities exist, if the deepwater net cage does not have the abnormal states, the control system controls the sonar system to emit high-frequency sound waves.
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 sound waves in a direction perpendicular to the deepwater net cage upright post;
the T-shaped acoustic array transmits and/or receives sound waves to the directions of two end faces 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 receiving and transmitting mode.
In one aspect of the present invention, an AUV cruise system includes: a communication module and an on-water workstation;
the water 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.
In one aspect of the present invention, a control system is configured to:
when abnormal fish swarm activities exist in the warning range of the deepwater net cage and no abnormal state exists in the deepwater net cage, controlling the AUV to cruise according to a preset route;
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 issued 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: a water surface communication unit and an underwater communication unit;
the water surface communication unit performs data interaction with the water workstation through a radio and/or wireless network; the underwater communication unit performs data interaction with the above-water workstation through a mode of underwater acoustic communication.
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 heading and the submergence 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 also for:
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 given to the communication module to control the AUV to reach an abnormal region, and the image module is controlled to pick up the abnormal region, so that whether the deepwater net cage in the abnormal region is damaged or not is judged; the illumination device is used to illuminate the abnormal area.
In one aspect of the present invention, the control system further includes: an alarm module;
the control system is also for:
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 staff; the alarm is an audible and visual alarm.
In one aspect of the present invention, the deepwater cage monitoring system further comprises: a communication system; the communication system includes: radio, wireless network and satellite communications, and the radio, wireless network and satellite communications are redundant to each other.
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 cruising system and a control system, wherein the sonar system is used for monitoring the fish swarm activity condition of a deepwater net cage warning range, the AUV cruising system is used for inspecting the fish swarm activity condition of the deepwater net cage warning range, when the control system receives the fish swarm activity condition of the deepwater net cage warning range sent by the sonar system and/or the AUV cruising system, the control system judges whether the deepwater net cage is abnormal or not, and controls the sonar system and/or the AUV cruising system to respond according to the fish swarm activity condition of the deepwater net cage warning range so as to protect the fish swarm in the deepwater net cage from being disturbed, discover whether the net clothing of the deepwater net cage is damaged or not and whether the cultured fish swarm escapes or not as early as possible, and take remedial measures in time so as to reduce losses.
Additional 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 foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 shows a schematic block diagram of a deep water cage monitoring system provided in accordance with one embodiment of the present invention;
FIG. 2 shows a schematic diagram of a deep water cage monitoring system according to one embodiment of the present invention;
FIG. 3 shows another schematic diagram of a deep water cage monitoring system provided in accordance with one embodiment of the present invention;
fig. 4 shows still another structural schematic diagram of a deep water cage monitoring system provided according to an embodiment of the present invention.
Wherein, the correspondence between the reference numerals and the component names in fig. 2 to 4 is:
1 netting, 2 side upright posts, 3 cylindrical acoustic array range, 4 abnormal state,
5 center column, 6T-shaped acoustic array, 7AUV
100 sonar systems, 110 acoustic array modules, 120 data processing modules, 200 control systems, 210 alarm modules, 300AUV cruise systems, 310 water workstations, 320 communication modules, 330 motion control modules, 340 image modules, 400 communication systems.
Detailed Description
The present invention is described in further detail below with reference to the drawings and examples to enable those skilled in the art to practice the invention by referring 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 one embodiment of the present invention, there is provided a deep water cage monitoring system, as shown in fig. 1, comprising: 100 to 400
wherein, sonar system 100 is used for monitoring the activity condition of the shoal in the warning range of the deepwater net cage;
the AUV cruise system 300 is used for patrolling the fish school activity condition in the warning range of the deepwater net cage;
the control system 200 is configured to receive the fish-shoal activity condition and the net status of the deep-water cage warning range sent by the sonar system 100 and/or the AUV cruise system 300, and control the sonar system 100 and/or the AUV cruise system 300 to respond according to the fish-shoal activity condition of the deep-water cage warning range.
In this embodiment, the deep water 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 swarm activity condition of the deep water cage warning range, the AUV cruise system 300 is used for inspecting the fish swarm activity condition of the deep water cage warning range, when the control system 200 receives the fish swarm activity condition of the deep water cage warning range sent by the sonar system 100 and/or the AUV cruise system 300, judging whether the deep water cage is abnormal, and controlling the sonar system 100 and/or the AUV cruise system 300 to respond according to the fish swarm activity condition of the deep water cage warning range, so as to protect the fish swarm in the deep water cage from being disturbed, discover whether the net of the deep water cage is damaged or not and whether the cultured fish swarm escapes or not as early as possible, and take remedial measures in time, so as to reduce loss.
In one embodiment of the 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 watertight cables; the acoustic array module 110 is configured to emit and/or receive acoustic signals; the data processing module 120 converts the acoustic wave signal into an electrical signal and transmits the electrical signal to the control system 200;
the control system 200 judges whether the abnormal fish swarm activity exists in the warning range of the deepwater net cage according to the electric signals, and judges whether the deepwater net cage has an abnormal state 4 when the abnormal fish swarm activity exists, if the deepwater net cage does not have the abnormal state 4, the control system 200 controls the sonar system 100 to emit high-frequency sound waves.
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 watertight cables, so as to supply power to the sonar system 100, and has good waterproof performance, so that the safety and stability of the system are improved. The acoustic array module 110 is configured to send and/or receive acoustic signals, detect the condition of the warning range of the deepwater net cage through the acoustic signals, perform filtering processing on the received acoustic waves returned from the detected object through the data processing module 120, filter out the acoustic waves interfering with the detection result, so as to improve the detection accuracy, the data processing module 120 converts the filtered acoustic waves into electrical signals and transmits the electrical signals to the control system 200, the control system 200 determines whether the deepwater net cage has abnormal fish swarm activity in the warning range according to the electrical signals, if yes, the control system 200 continues to determine whether the deepwater net cage has abnormal state 4, and if the deepwater net cage is not in the abnormal state 4, the control system 200 sends a command for sending high-frequency acoustic waves to the sonar system 100 through the data processing module 120, so as to disperse the fish swarms with abnormal activity in the warning range of the deepwater net cage, thereby realizing the function of automatic dispersion, improving the dispersion efficiency and reducing the loss.
It will be appreciated that the abnormal state 4 includes abnormal activity of a fish population outside the netting 1 within the warning range of the deepwater netting, the sonar system 100 detecting the presence of a fish population inside the deepwater netting 1 or the sonar system 100 detecting the presence of a fish population outside the deepwater 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, the cylindrical acoustic array transmitting and/or receiving sound waves in a direction perpendicular to the deepwater cage upright; the T-shaped acoustic array 6 transmits and/or receives sound waves to the directions of two end surfaces of the upright post connected with the deepwater net cage; the cylindrical acoustic array and the T-shaped acoustic array 6 are respectively arranged in a receiving and transmitting mode.
In this embodiment, the acoustic array module 110 is provided with a cylindrical acoustic array and a T-shaped acoustic array 6, wherein the cylindrical acoustic array is located on the side upright post 2 of the deepwater net cage, and it can be understood that, in order to maximize the sonar range emitted by each cylindrical acoustic array, the cylindrical acoustic array is disposed at the center position of the netting 1 surrounded by two adjacent side upright posts 2, and the cylindrical acoustic array emits and/or receives sound waves in the direction perpendicular to the deepwater net cage upright post, and fig. 2 shows the range of sonar beams, by providing the cylindrical acoustic array, the sonar detection of the side direction of the deepwater net cage can be performed omnidirectionally, and the detection is more comprehensive, thereby avoiding the omission of the side direction detection.
The T-shaped acoustic array 6 is arranged on the netting 1 close to the central upright 5 and transmits and/or receives sound waves to the directions of the two end faces connected to the deepwater net cage upright, so that the warning range in the range of the top and the bottom of the deepwater net cage is comprehensively scanned, the detection is more comprehensive, and the detection omission of the side face direction is avoided.
In one embodiment, the deep water net cage is a cylindrical inscribed equilateral hexagon with the diameter of 110 meters, the cultivation height is 50 meters, the total height of the net cage is 80 meters, then a cylindrical acoustic array and a matched data processing module 120 are respectively arranged at the center positions of 6 sides 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 a cultivation area of the deep water net cage, and 14 acoustic arrays and matched data processing modules 120 are in total, 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 working mode of receiving, transmitting and separating, so that mutual interference between emitted and received sound waves is avoided, and the detection accuracy is improved.
In one embodiment of the invention, the AUV cruise system 300 includes: a communication module 320 and an on-water workstation 310; the water workstation 310 is configured to receive the instruction sent by the control system 200 and send the instruction to the communication module 320;
the communication module 320 is configured to interact data with the AUV7 in the AUV cruise system 300, such that the control system 200 controls movement of the AUV 7.
In this embodiment, the AUV cruise system 300 is provided with a communication module 320 and a water workstation 310, wherein the communication module 320 is configured to interact data with the AUV7 in the AUV cruise system 300, so that the control system 200 controls the movement of the AUV7, specifically, the water 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 water workstation 310 through the communication module 320 and is further transmitted to the control system 200.
In one embodiment of the invention, the control system 200 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 exist in the abnormal state 4, controlling the AUV7 to cruise according to a preset route; when abnormal fish swarm activity exists in the warning range of the deepwater net cage and the deepwater net cage has an abnormal state 4, an instruction is given to the communication module 320 to control the AUV7 to move to an abnormal region.
In this embodiment, when the control system 200 determines that there is no abnormal fish activity within the warning range of the deepwater net cage, the AUV7 is controlled to cruise according to a preset route, and it is understood that the AUV7 is cruising around the edge of the deepwater net cage.
In one embodiment, the deep water cage is a cylindrical inscribed equilateral hexagon with a diameter of 110 meters, the height of the culture is 50 meters, and the total height of the cage is 80 meters, then the AUV7 cruises along a preset path 3 meters from the edge of the deep water cage to monitor the condition of the deep water cage on a daily basis.
When the control system 200 determines that the abnormal fish swarm activity exists in the warning range of the deepwater net cage and further determines that the abnormal state 4 does not exist in the deepwater net cage, the AUV7 is controlled to cruise according to a preset route.
When the control system 200 determines that there is abnormal fish swarm activity in the warning range of the deepwater net cage and further determines that there is abnormal state 4 in the deepwater net cage, an instruction is issued to the communication module 320 to control the AUV7 to move to the abnormal region, so as to monitor the deepwater net cage abnormal condition. It can be appreciated that the above-described abnormal state 4 includes: the fish school in the netting 1 swims out of the netting 1, and the fish school outside the netting 1 attacks or enters the netting 1, etc.
In one aspect of the present invention, the communication module 320 includes: a water surface communication unit and an underwater communication unit; the surface communication unit performs data interaction with the water workstation 310 through a radio and/or wireless network; the underwater communication unit performs data interaction with the above-water workstation 310 through a mode of underwater acoustic communication.
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 communication unit and the water workstation 310 perform data interaction through a radio or wireless network, and further, the control system 200 and the water workstation 310 perform signal transmission through a radio, wireless network or satellite communication mode, so as to control the movement of the AUV7 on the water surface.
When the AUV7 is submerged under water, the underwater communication module 320 is enabled to perform data interaction with the above-water workstation 310, it can be appreciated that the underwater communication module 320 performs data interaction with the above-water workstation 310 by adopting an underwater acoustic communication manner, and further, the control system 200 and the above-water workstation 310 perform signal transmission by adopting a radio, a wireless network or a satellite communication manner, so as to control the movement of the AUV7 under water.
In one embodiment of the invention, the AUV cruise system 300 further includes: a motion control module 330; the motion control module 330 is configured to receive instructions from the control system 200 to control the speed, heading, and submergence depth of the AUV 7.
In this embodiment, the AUV cruise system 300 is further provided with a motion control module 330, when the motion control module 330 of the AUV cruise system 300 receives the command from the control system 200, the speed, heading and submergence depth of the AUV7 are controlled according to the command content, for example, the abnormal state 4 of the deepwater net cage is not generated, the motion control module 330 controls the AUV7 to move according to the preset daily monitored route, for example, the abnormal state 4 of the deepwater net cage is generated, and the motion control module 330 controls the AUV7 to change the speed, heading and submergence depth and move towards the abnormal region of the deepwater net cage, so as to obtain the abnormal state 4.
In one embodiment of the invention, the AUV cruise system 300 further includes: an image module 340 and an illumination device; the control system 200 is also 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 given to the communication module 320 to control the AUV7 to reach an abnormal region, and the image module 340 is controlled to pick up the abnormal region so as to judge whether the deepwater net cage of the abnormal region is damaged; the illumination device is used to illuminate the abnormal area.
In this embodiment, the AUV cruising system 300 is further provided with an image module 340 and an illumination device, when an abnormal fish swarm activity exists in the warning range of the deepwater net cage and an abnormal state 4 exists in the deepwater net cage, 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 condition of the abnormal region, and is further provided with the illumination device to assist illumination so as to acquire a clearer and more accurate image and video.
In one embodiment of the present invention, the control system 200 further comprises: an alarm module 210; the control system 200 is also configured to: when judging that the deepwater net cage in the abnormal area is damaged, the alarm module 210 receives information sent by the control system 200 and sends an alarm to staff; the alarm is an audible and visual alarm.
In this embodiment, the control system 200 is further provided with an alarm module 210, when the control system 200 receives the image of the abnormal area of the deepwater net cage transmitted from the image module 340 and compares the image with the image of the abnormal area in the normal state, if it is determined that the net cage in the area is damaged, the control system 200 controls the alarm module 210 to send an alarm, so as to inform the staff of timely performing emergency repair on the damaged net cage, reduce loss and improve safety and reliability of the deepwater net cage.
It can be appreciated that the alarm can be an audible and visual alarm, and the staff can be more comprehensively reminded of timely reacting through sound and light.
In one embodiment of the invention, the deepwater cage monitoring system further comprises: a communication system 400; the communication system 400 includes: radio, wireless network and satellite communications, and the radio, wireless network and satellite communications are redundant to each other.
In this embodiment, the deepwater net cage monitoring system is further provided 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 that the deepwater net cage can be ensured to be transmitted and stored in real time under emergency situations such as damage of the deepwater net cage or abnormal fish swarm activities, the situation that the deepwater net cage cannot be timely handled when the deepwater net cage is in an abnormal state 4 is avoided, and the safety and reliability of the deepwater net cage are improved.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean 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 above terms 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 of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A deepwater cage monitoring system, comprising:
sonar system, AUV cruising system and control system;
the sonar system is used for monitoring the fish swarm activity condition of the deepwater net cage warning range;
the AUV cruising system is used for cruising the fish swarm activity condition of the deepwater net cage warning range;
the control system is used for receiving the shoal activity condition of the deepwater net cage 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 shoal activity condition of the deepwater net cage warning range;
the AUV cruise system includes:
a communication module and an on-water workstation;
the water 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;
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 heading and the submergence depth of the AUV;
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 sound matrix module is used for sending and/or receiving sound wave signals;
the data processing module converts the sound wave signals into electric signals and transmits the electric signals to the control system;
the control system judges whether abnormal fish swarm activities exist in the warning range of the deepwater net cage according to the electric signals, and judges whether the deepwater net cage has an abnormal state when the abnormal fish swarm activities exist, if the deepwater net cage does not have the abnormal state, the control system controls the sonar system to emit high-frequency sound waves;
wherein the abnormal state includes: the shoal of fish outside the netting of the deepwater net cage attacks or enters the netting;
the acoustic array module includes:
a cylindrical acoustic array and a T-shaped acoustic array;
the cylindrical acoustic array transmits and/or receives sound waves in a direction perpendicular to the deepwater net cage upright post;
the T-shaped acoustic array transmits and/or receives sound waves to the directions of two end faces of the upright post connected with the deepwater net cage;
the cylindrical acoustic array and the T-shaped acoustic array are transmitted and received separately;
the control system is used for:
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, controlling the AUV to cruise according to a preset route;
when the abnormal fish swarm activity exists 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;
the communication module includes:
a water surface communication unit and an underwater communication unit;
the water surface communication unit performs data interaction with the water workstation through a radio and/or wireless network;
and the underwater communication unit performs data interaction with the water workstation through a mode of underwater acoustic communication.
2. The deep water cage monitoring system of claim 1 wherein the AUV cruise system further comprises:
an image module and an illumination device;
the control system is further configured to:
when the abnormal fish swarm activity exists in the warning range of the deepwater net cage and the deepwater net cage is in an abnormal state, an instruction is given to the communication module to control the AUV to reach an abnormal region, and an image module is controlled to pick up the 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 the abnormal area.
3. The deepwater cage monitoring system of claim 2 wherein the control system further comprises:
an alarm module;
the control system is further configured to:
when judging that the deepwater net cage in the abnormal area is damaged, the alarm module receives information sent by the control system and sends an alarm to staff;
the alarm is an audible and visual alarm.
4. The deepwater cage monitoring system as set forth in claim 1, further comprising:
a communication system; the communication system includes: radio, wireless network and satellite communication, and the radio, the wireless network and the satellite communication are mutually redundant.
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| GR1010693B (en) * | 2023-07-06 | 2024-05-20 | Πανεπιστημιο Αιγαιου/Ειδικος Λογαριασμος Κονδυλιων Ερευνας, | Underwater fisheries net monitoring system |
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| CN101334473B (en) * | 2008-08-04 | 2011-07-20 | 厦门大学 | Deep water net cage fish school status remote real time monitoring instrument based on acoustic multi-beam |
| CN101493524A (en) * | 2009-02-19 | 2009-07-29 | 浙江海洋学院 | Sonar detecting method for large yellow croaker escaping from deep water net cage and special equipment thereof |
| CN101833097B (en) * | 2010-05-19 | 2012-08-08 | 华南理工大学 | Underwater net cage multi-beam fish driving monitoring system and method |
| CN102231082B (en) * | 2011-04-08 | 2013-06-12 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| JP6014382B2 (en) * | 2012-06-20 | 2016-10-25 | 古野電気株式会社 | Underwater detection device, underwater display system, program, and underwater display method |
| CN102975830A (en) * | 2012-11-26 | 2013-03-20 | 武汉劳雷绿湾船舶科技有限公司 | Hybrid power underwater robot |
| CN203623941U (en) * | 2013-12-18 | 2014-06-04 | 国家电网公司 | Ship draught depth automatic detecting device based on single wave beam sonar array scanning technology |
| CN107318742A (en) * | 2017-08-08 | 2017-11-07 | 李姗姗 | A kind of highly effective and safe aquaculture tank |
| CN109828606A (en) * | 2019-03-21 | 2019-05-31 | 青岛罗博飞海洋技术有限公司 | A kind of underwater net cage cruising inspection system |
| CN211669547U (en) * | 2019-03-21 | 2020-10-13 | 青岛罗博飞海洋技术有限公司 | Underwater net cage inspection system |
| CN110084792B (en) * | 2019-04-19 | 2021-12-03 | 大连理工大学 | Anomaly detection method for net of marine aquaculture net cage |
| CN112149354A (en) * | 2020-09-24 | 2020-12-29 | 哈尔滨工程大学 | Reinforced learning algorithm research platform for UUV cluster |
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