CN114155685A - Underwater monitoring device and method for marine ranching - Google Patents
Underwater monitoring device and method for marine ranching Download PDFInfo
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- CN114155685A CN114155685A CN202111575541.3A CN202111575541A CN114155685A CN 114155685 A CN114155685 A CN 114155685A CN 202111575541 A CN202111575541 A CN 202111575541A CN 114155685 A CN114155685 A CN 114155685A
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- shipborne
- optical fiber
- control system
- imaging device
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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
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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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
Abstract
The invention discloses an underwater monitoring device and a monitoring method for a marine ranching, wherein the monitoring device comprises an optical fiber monitoring system, a distance-gated laser imaging device and a shipborne analysis control system, wherein the optical fiber monitoring system and the distance-gated laser imaging device are electrically connected with the shipborne analysis control system; utilize the combination technique of optic fibre and netting, change through the atress of optic fibre and realize reporting to the police, when the stress of netting end exceeded the threshold value and reported to the police, the shooting device starts to shoot, utilizes simultaneously can be in deep water district, dim and dark and muddy water based on range gate laser imaging realization real-time observation and analysis, solves the problem of all-weather real-time response real-time observation.
Description
Technical Field
The invention belongs to the technical field of optical fiber monitoring of marine ranches, and particularly relates to an underwater monitoring device and method for a marine ranch.
Background
In the field of marine ranches, underwater monitoring, especially in dim or even dark bodies of water, is a difficult problem. Since the open net cage is directly exposed to the sea and is easily subjected to different natural disasters and human injuries, real-time monitoring response to the open net cage is important. The traditional underwater observation mode is that a diver carries a lighting tool to perform underwater touch and photograph, or a robot is used for performing underwater high-definition shooting. However, the method can only adapt to observation under the condition of good light, and the all-weather real-time observation is difficult to realize for monitoring weak light and deep water environment.
Disclosure of Invention
The invention provides an underwater monitoring device and method for a marine ranch, which can monitor an open net cage in real time and all weather.
In order to achieve the purpose, the invention relates to an underwater monitoring device for a marine ranching, which comprises an optical fiber monitoring system, a distance-gated laser imaging device and a shipborne analysis control system, wherein the optical fiber monitoring system and the distance-gated laser imaging device are electrically connected with the shipborne analysis control system; the optical fiber monitoring system is used for monitoring the external force applied to the netting and judging whether the external force applied to the netting is greater than a threshold value, and if the external force applied to the netting is greater than the threshold value, an alarm signal is sent to the shipborne analysis control system; the shipborne analysis control system is used for sending a starting signal to the distance gated laser imaging device according to the alarm signal; the distance-gated laser imaging device is used for underwater shooting according to a starting signal sent by the shipborne analysis control system.
Further, the optical fiber monitoring system is arranged at the structural connection position of the net cage.
Furthermore, the optical fiber monitoring system comprises an optical fiber sensing ring and a controller which are electrically connected, the optical fiber sensing ring is installed at the upper end of the netting, after the optical fiber sensing ring senses pressure, the pressure value is transmitted to the controller, the controller judges, and if the action value of a certain position exceeds a threshold value, the controller sends an alarm signal and target position information to the shipborne analysis and control system.
Further, the distance-gated laser imaging device comprises an upper computer, a processor, a camera unit, a sequencer and a laser lighting device, wherein the camera unit, the sequencer and the light laser lighting device are all connected with the processor, and the processor is connected with the upper computer; the sequencer is used for controlling the pulse laser emitted by the laser lighting device; the laser lighting device is used for emitting pulse laser which is transmitted to the direction of a target object; the solid-state camera unit is used for shooting a monitoring picture and transmitting the monitoring picture to the processor; the processor is used for carrying out 3D processing on the monitoring picture of the solid-state camera unit; the upper computer is used for receiving, storing and analyzing the data and the 3D data collected by the camera unit in real time and returning a shooting control instruction of the solid-state camera unit.
Further, the distance-gated laser imaging device is arranged on the guide rail device.
Furthermore, the guide rail device comprises an inner layer guide rail, an outer layer guide rail and a feeding guide rail, wherein the inner layer guide rail and the outer layer guide rail are concentrically arranged, the circle center is the geometric center of the feeding guide rail, the feeding guide rail is in a cross shape, and four end points of the feeding guide rail are connected with the outer layer guide rail.
The monitoring method based on the monitoring device comprises the following steps:
s1, monitoring the stress condition of the net in real time by the optical fiber monitoring system, and sending a starting signal to the distance-gated laser imaging device by the shipborne analysis control system when the stress of the net is monitored to be larger than a threshold value;
s2, starting underwater shooting by the distance gating laser imaging device;
and S3, sending the shot image to a shipborne analysis control system by the range-gated laser imaging device.
Further, in S1, when it is detected that the force applied to the netting is greater than the threshold value, the shipborne analysis control system further sends a position signal to be monitored to the cradle head.
Compared with the prior art, the invention has at least the following beneficial technical effects:
the invention utilizes the combination technology of the optical fiber and the netting to realize the alarm through the stress change of the optical fiber, when the stress of the netting end exceeds the threshold value for alarm, the shooting device starts the shooting, and simultaneously, the distance-gated laser imaging based on the deep water area, the dark and the turbid water body is utilized to realize the real-time observation and analysis, thereby solving the problem of all-weather real-time response real-time observation.
The optical fiber monitoring system is connected with the upper end of the netting, and when the netting is subjected to an acting force exceeding a safety threshold, the optical fiber monitoring system sends alarm information.
Furthermore, in order to compare and analyze the overall stress condition of the net cage, the optical fiber monitoring system is arranged at the structural connection part of the net cage according to the requirement, and the stress change borne by the netting end is reflected in an auxiliary mode through testing the stress change.
Furthermore, the distance-gated laser imaging device is arranged on the guide rail device and can be conveniently moved to a target position or used for multi-position shooting.
The monitoring method comprises the steps of monitoring the stress condition of the net in real time through an optical fiber monitoring system, and starting a distance-gated laser imaging device to carry out underwater shooting when the stress of the net is monitored to be larger than a threshold value; the range-gated imaging has the advantages of clear imaging, high contrast, strong anti-interference capability, no influence of ambient light and the like. Can be used for observing objects in dark and turbid water bodies.
Drawings
FIG. 1 is a front view of a netting based on fiber optic monitoring;
FIG. 2 is a top view of a mesh based on fiber optic monitoring;
FIG. 3 is a perspective view of a netting based on fiber monitoring;
FIG. 4 is a schematic view of an automatic rail-type observation apparatus;
FIG. 5 is a schematic view of a guide rail;
FIG. 6 is a schematic diagram of the principle of range-gated laser imaging;
FIG. 7 is a schematic diagram of a range-gated laser imaging device.
In the drawings: 1. the system comprises a net cage, 2, an optical fiber induction ring, 4, a ship, 5, a shipborne analysis control system, 6, a guide rail device, 61, an inner guide rail, 62, an outer guide rail, 63, a feeding guide rail, 7, a distance gating laser imaging device, 71, a camera unit, 72, a sequencer, 73, a processor, 74, a computer, 75, a laser lighting device, 8, a controller, 10, a target object, 11 and a netting.
Detailed Description
In order to make the objects and technical solutions of the present invention clearer and easier to understand. The present invention will be described in further detail with reference to the following drawings and examples, wherein the specific examples are provided for illustrative purposes only and are not intended to limit the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A deepwater aquaculture net cage is arranged in a marine ranch and comprises a net and a framework for installing the net.
An underwater monitoring device for a marine ranching comprises an optical fiber monitoring system and a guide rail type underwater monitoring device.
Referring to fig. 1 to 3, the optical fiber monitoring system includes an optical fiber sensing ring 2 and a controller 8, the optical fiber sensing ring 2 is installed at the upper end of a netting 11 and used for carrying out multipoint monitoring on the stress of the netting 11, when the optical fiber sensing ring 2 senses an acting force, a pressure value is transmitted to the controller 8, the controller 8 carries out judgment, if the acting force value of a certain position exceeds a threshold value, the controller 8 sends an alarm signal and target position information to a shipborne analysis control system 5 on a ship 4, the shipborne analysis control system 5 gives an alarm, and sends a starting signal and the target position information to a distance-gated laser imaging device 7.
Preferably, in order to compare and analyze the overall stress condition of the net cage 1, an optical fiber monitoring system can be arranged at the connection point of the net cage 1 according to the requirement, and the stress change borne by the end of the net 11 is reflected in an auxiliary manner by testing the stress change.
Referring to fig. 4, the upper part of the open net cage for deep water aquaculture is provided with a guide rail type underwater monitoring device, the guide rail type underwater monitoring device comprises a guide rail device 6 and a distance-gated laser imaging device 7, the guide rail device 6 is installed on the outer side of the upper end of the open net cage for deep water aquaculture, the distance-gated laser imaging device 7 is installed on the guide rail device 6 and can move along the guide rail device 6, and the distance-gated laser imaging device 7 is connected with the shipborne analysis control system 5.
Referring to fig. 5, the guide rail device 6 comprises an inner guide rail 61, an outer guide rail 62 and a feeding guide rail 63, the inner guide rail and the outer guide rail 62 of the inner guide rail 61 are concentrically arranged, the circle center is the geometric center of the feeding guide rail 63, the feeding guide rail 63 is cross-shaped, four end points of the feeding guide rail 63 are connected with the outer guide rail 62, a holder is mounted on the guide rail device 6, and a distance-gated laser imaging device 7 is mounted on the holder;
in an initial state, the cradle head is positioned on the inner-layer guide rail 61, and after receiving a signal of the shipborne analysis control system 5, the cradle head drives the distance-gated laser imaging device 7 to move to a target position along the guide rail device 6 for observation and shooting.
In order to realize shooting at different angles, the laser imaging device arranged on the holder below the guide rail can realize shooting angle change, and the realization is mainly carried out remote control through a shipborne analysis and control system. This device requires that the imaging device is always connected to the control system by a line on the guide rail.
As shown in fig. 6, the distance-gated laser imaging device 7 is designed and installed to monitor the situation in turbid and dark water bodies.
The range-gated imaging technique is a "range-tomographic" imaging technique that images a target at a particular distance based on controlling the relative delay between gating and laser pulses. Because the influence of atmospheric scattered radiation in the transmission process is filtered, the range-gated imaging has the advantages of clear imaging, high contrast, strong anti-interference capability, no influence of ambient light and the like. Can be used for observing objects in dark and turbid water bodies.
Referring to fig. 7, the main components of the range-gated camera device include a laptop computer 74 as the host computer, a processor 73, two high-definition solid-state camera units 71, a light laser lighting device 75, such as the series developed by Bright Solutions, and a composite umbilical cord for transmitting power and signals.
The light laser lighting device, the high-definition solid-state camera unit and the sequencer are all connected with the processor, and the processor is connected with the laptop through the umbilical cord.
The strobe laser illumination unit and the two optional solid state camera units are integrated in a compact waterproof enclosure, connected by cables to a processor for accepting the returned optical signals. The strength of the waterproof shell is designed according to the actual water depth, and the cable is arranged according to the submergence depth.
Wherein:
the sequencer is used for controlling the pulse laser emitted by the laser lighting device;
the laser lighting device is used for emitting pulse laser which propagates towards the target object 10;
the solid-state camera unit is used for shooting a monitoring picture and transmitting the monitoring picture to the processor;
the processor is used for carrying out 3D processing on the data acquired by the solid-state camera unit to obtain 3D image data;
the portable computer is used for receiving, storing and analyzing data collected by two different camera units and 3D data in real time and returning a shooting control instruction of the solid-state camera unit.
The monitoring method based on the monitoring device is characterized by comprising the following steps of:
s1, monitoring the stress condition of the net 11 in real time by the optical fiber monitoring system, and when the stress condition of the net 11 is greater than a threshold value, sending a starting signal to the distance-gated laser imaging device 7 through the shipborne analysis control system 5 and sending a position signal to be monitored to the cradle head;
s2, starting underwater shooting by the distance gated laser imaging device 7;
s3, the range-gated laser imaging device 7 sends the captured image to the onboard analysis control system 5. The invention aims to solve the safety monitoring problem of the net cage, can timely respond to emergency situations by combining netting and optical fiber monitoring, can realize all-weather real-time monitoring by a distance-gated laser imaging technology, and has high practicability and universality under the conditions of various dark or turbid water bodies and the like.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (8)
1. The marine ranch underwater monitoring device is characterized by comprising an optical fiber monitoring system, a distance-gated laser imaging device (7) and a shipborne analysis control system (5), wherein the optical fiber monitoring system and the distance-gated laser imaging device (7) are electrically connected with the shipborne analysis control system (5);
the optical fiber monitoring system is used for monitoring the external force applied to the netting (11), judging whether the external force applied to the netting (11) is larger than a threshold value or not, and if the external force applied to the netting is larger than the threshold value, sending an alarm signal to the shipborne analysis control system (5);
the shipborne analysis control system (5) is used for sending a starting signal to the distance gated laser imaging device (7) according to the alarm signal;
the range-gated laser imaging device (7) is used for underwater shooting according to a starting signal sent by the shipborne analysis control system (5).
2. A marine ranch underwater monitoring device according to claim 1, characterized in that the fiber optic monitoring system is provided at the structural connection of the net cage (1).
3. The underwater marine ranch monitoring device of claim 1, characterized in that the optical fiber monitoring system comprises an optical fiber sensing ring (2) and a controller (8) which are electrically connected, the optical fiber sensing ring (2) is installed at the upper end of the netting, when the optical fiber sensing ring (2) senses pressure, the pressure value is transmitted to the controller (8), the controller (8) makes judgment, and if the action value of a certain position exceeds a threshold value, the controller sends an alarm signal and target position information to the shipborne analysis and control system.
4. The marine ranch underwater monitoring device of claim 1, wherein the range-gated laser imaging device (7) comprises an upper computer, a processor (73), a camera unit (71), a sequencer (72) and a laser lighting device (75), the camera unit (71), the sequencer (72) and the light laser lighting device (75) are all connected with the processor (73), and the processor (73) is connected with the upper computer;
the sequencer (72) is used for controlling the pulse laser emitted by the laser lighting device;
the laser lighting device (75) is used for emitting pulse laser which is transmitted to the direction of the target object (10);
the solid-state camera unit (71) is used for shooting a monitoring picture and transmitting the monitoring picture to the processor;
the processor (73) is used for carrying out 3D processing on the monitoring picture of the solid-state camera unit;
the upper computer is used for receiving, storing and analyzing the data and the 3D data collected by the camera unit in real time and returning a shooting control instruction of the solid-state camera unit.
5. A marine ranch underwater monitoring device according to claim 1, characterized in that the distance-gated laser imaging device (7) is arranged on a rail device (6).
6. An underwater marine ranch monitoring device according to claim 5, characterized in that the rail means (6) comprises an inner rail (61), an outer rail (62) and a feed rail (63), the inner rail (61) and the outer rail (62) being concentrically arranged with the center of the circle being the geometric center of the feed rail (63), the feed rail (63) being cross-shaped, four ends of the feed rail (63) being connected to the outer rail.
7. The monitoring method of the monitoring device according to claim 1, comprising the steps of:
s1, the stress condition of the net (11) is monitored in real time by the optical fiber monitoring system, and when the stress of the net (11) is monitored to be larger than a threshold value, a starting signal is sent to the distance-gated laser imaging device (7) through the shipborne analysis control system (5);
s2, starting underwater shooting by the distance gating laser imaging device (7);
s3, the distance-gated laser imaging device (7) sends the shot image to the shipborne analysis control system (5).
8. A monitoring method according to claim 7, wherein in S1, when the force on the netting is detected to be greater than the threshold value, the shipborne analysis control system (5) further sends a position signal to be monitored to the pan/tilt head.
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| CN202111575541.3A CN114155685A (en) | 2021-12-21 | 2021-12-21 | Underwater monitoring device and method for marine ranching |
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| CN202111575541.3A CN114155685A (en) | 2021-12-21 | 2021-12-21 | Underwater monitoring device and method for marine ranching |
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