CN117572438A - Navigation type fish shoal detection method and system - Google Patents
Navigation type fish shoal detection method and system Download PDFInfo
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- CN117572438A CN117572438A CN202410046019.3A CN202410046019A CN117572438A CN 117572438 A CN117572438 A CN 117572438A CN 202410046019 A CN202410046019 A CN 202410046019A CN 117572438 A CN117572438 A CN 117572438A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 352
- 238000001514 detection method Methods 0.000 title claims abstract description 210
- 238000000034 method Methods 0.000 claims abstract description 29
- 238000005516 engineering process Methods 0.000 claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 40
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 12
- 229910052760 oxygen Inorganic materials 0.000 claims description 12
- 239000001301 oxygen Substances 0.000 claims description 12
- 230000007613 environmental effect Effects 0.000 claims description 7
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- 238000013507 mapping Methods 0.000 description 4
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Classifications
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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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- 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
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
- A01K79/02—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery by electrocution
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Environmental Sciences (AREA)
- Acoustics & Sound (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a walking type shoal detection method and system, and aims to provide a high-efficiency and accurate shoal detection scheme. The method comprises the steps of obtaining position information of a target fishing boat fishing area and optimal living environment information of target fishes, and planning a detection route in real time by combining the real-time environment information. And detecting the target area by using a sonar detection technology to obtain real-time sonar detection data. And then, comparing the target fish position with the historical sonar data to determine the target fish position of the fishing area of the target fishing boat. Finally, the target fish location is routed to the target fishing vessel and a fishing plan is generated for sharing into other fishing vessels in the target fishing vessel fishing area. The method has the advantages that the detection route can be accurately determined, and the detection efficiency is improved; the method can accurately determine the position of the target fish, improve the detection accuracy and promote the sharing and cooperation of resources.
Description
Technical Field
The invention relates to the technical field of fish shoal detection, in particular to a walking type fish shoal detection method and system.
Background
In the field of fishery, scientific and efficient detection and positioning of fish shoals are important for fishing activities of fishermen. The traditional shoal detection method mainly depends on experience and observation of fishermen, has various limitations, such as strong subjectivity, low accuracy and the like, and cannot meet the requirements of modern fishery on efficient fishing. In recent years, along with the development of technology, sonar technology is widely applied in the field of fish shoal detection. The sonar technology can acquire the position, the form and other information of a target object by transmitting sound waves and receiving echoes, and has the characteristics of non-invasiveness, real-time performance and high precision. The sonar detection system can realize the omnibearing and real-time shoal detection of a target area by installing sonar equipment on a fishing boat and combining a positioning technology. However, there are still some problems with the current methods and systems for fish detection. For example, there is a lack of adequate knowledge and efficient use of the optimal living environment of the target fish, a lack of dynamic probe route planning for real-time environmental information, and an inability to accurately determine the target fish location. Therefore, there is a need for a method and a system for detecting fish shoal by walking, which solve the problems existing in the prior art and improve the accuracy and efficiency of fish shoal detection.
Disclosure of Invention
In order to solve at least one of the above-mentioned problems, the present invention provides a method and a system for detecting a sailing fish school.
The first aspect of the invention provides a sailing fish school detection method, which comprises the following steps:
acquiring position information of a target fishing boat fishing area and optimal living environment information of target fishes;
acquiring real-time environment information, and planning a detection route in real time according to the real-time environment information and optimal living environment information of target fish;
detecting a target area by using a sonar detection technology through navigation according to the position information and the detection route of the fishing area to obtain real-time sonar detection data;
acquiring historical sonar data of the target fish, comparing the sonar detection data with the historical sonar data to obtain the target fish in the fishing area of the target fishing vessel, and determining the position of the target fish based on the position information of the real-time sonar detection data;
and sending the target fish position to a target fishing boat, generating a fishing scheme, and sharing the fishing scheme to other fishing boats in a fishing area of the target fishing boat.
In this scheme, obtain the location information of target fishing boat fishing region, the best living environment information of target fish, specifically do:
Acquiring position information of a target fishing boat fishing area through a geographic information system, wherein the position information comprises longitude and latitude information of the target fishing boat fishing area;
obtaining optimal living environment information of target fish in the Internet, wherein the optimal living environment information of the target fish comprises a water temperature range, a salinity range and a dissolved oxygen content range of optimal living of the target fish;
the target fish includes a protected fish of a target fishing vessel fishing area and a target fishing fish.
In this scheme, obtain real-time environmental information, according to real-time environmental information, target fish optimum living environment information, real-time planning surveys the route, specifically does:
constructing a map model based on a geographic information system;
according to the position information of the target fishing boat fishing area, the target fishing boat fishing area is guided into a map model to be displayed in a preset display;
dividing a target fishing area into N small areas in a map model;
acquiring real-time environment information of the N small areas through sensor equipment, wherein the real-time environment information comprises water temperature, salinity and dissolved oxygen content;
according to the optimal living environment information of the target fish, calculating and analyzing the living environment suitability of the target fish in each small area by combining the real-time environment information;
Judging based on the suitability of the living environment and the position information of the target fishing boat fishing area, if the suitability of the living environment is larger than a preset value, planning the small area into a detection route, and if the suitability of the living environment is smaller than the preset value, not detecting the small area;
and planning a detection route in real time based on a path planning algorithm, and generating a detection route scheme.
In this scheme, according to the positional information and the detection route of catching the regional, utilize sonar detection technique to survey the target area through walking the navigation, obtain real-time sonar detection data, specifically do:
detecting a target area by using a sonar detection technology through navigation according to the position information and the detection route of the capturing area to obtain real-time sonar detection data, wherein the sonar detection data comprises the ripple shape, the echo intensity and the echo receiving time of a sonar echo;
and recording the position information acquired by sonar detection data through a GPS positioning technology.
In this scheme, obtain the historical sonar data of target fish, compare with historical sonar data according to sonar detection data, obtain the target fish of target fishing area, the position information when obtaining based on real-time sonar detection data confirms the target fish position, specifically does:
Acquiring historical sonar data of target fish, wherein the historical sonar data includes the wave shape and the echo intensity of sonar echo;
according to the wave shape and echo intensity of sonar echo in sonar detection data and historical sonar data, comparing and analyzing to judge whether target fish exists in a target fishing boat fishing area;
if the target fish exists, determining the type of the target fish according to sonar detection data, wherein the type of the target fish comprises protected fish and target fishing fish;
and determining the position of the target fish according to the position information acquired by the sonar detection data, wherein the position of the target fish comprises the position of the protected fish and the position of the target fish.
In this scheme, will target fish position is sent to target fishing boat in to generate and catch the scheme, will catch the scheme sharing and catch in the regional other fishing boats of target fishing boat catch, specifically be:
comparing the position of the protected fish with the position of the target fishing fish, and judging whether the protected fish exists at the position of the target fishing fish;
if the protected fish exists, driving sound wave data of the protected fish are obtained, sound waves are emitted according to the driving sound wave data, and driving operation is carried out on the protected fish;
The target fish position is sent to a target fishing boat, fishing operation is carried out according to the target fish position, and a fishing scheme is generated;
sharing the fishing scheme to other fishing vessels in the target fishing vessel fishing area.
The second aspect of the invention also provides a sailing fish detection system, which comprises: the device comprises a memory and a processor, wherein the memory comprises a walking type shoal detection method program, and when the walking type shoal detection method program is executed by the processor, the following steps are realized:
acquiring position information of a target fishing boat fishing area and optimal living environment information of target fishes;
acquiring real-time environment information, and planning a detection route in real time according to the real-time environment information and optimal living environment information of target fish;
detecting a target area by using a sonar detection technology through navigation according to the position information and the detection route of the fishing area to obtain real-time sonar detection data;
acquiring historical sonar data of the target fish, comparing the sonar detection data with the historical sonar data to obtain the target fish in the fishing area of the target fishing vessel, and determining the position of the target fish based on the position information of the real-time sonar detection data;
And sending the target fish position to a target fishing boat, generating a fishing scheme, and sharing the fishing scheme to other fishing boats in a fishing area of the target fishing boat.
In this scheme, obtain real-time environmental information, according to real-time environmental information, target fish optimum living environment information, real-time planning surveys the route, specifically does:
constructing a map model based on a geographic information system;
according to the position information of the target fishing boat fishing area, the target fishing boat fishing area is guided into a map model to be displayed in a preset display;
dividing a target fishing area into N small areas in a map model;
acquiring real-time environment information of the N small areas through sensor equipment, wherein the real-time environment information comprises water temperature, salinity and dissolved oxygen content;
according to the optimal living environment information of the target fish, calculating and analyzing the living environment suitability of the target fish in each small area by combining the real-time environment information;
judging based on the suitability of the living environment and the position information of the target fishing boat fishing area, if the suitability of the living environment is larger than a preset value, planning the small area into a detection route, and if the suitability of the living environment is smaller than the preset value, not detecting the small area;
And planning a detection route in real time based on a path planning algorithm, and generating a detection route scheme.
In this scheme, obtain the historical sonar data of target fish, compare with historical sonar data according to sonar detection data, obtain the target fish of target fishing area, the position information when obtaining based on real-time sonar detection data confirms the target fish position, specifically does:
acquiring historical sonar data of target fish, wherein the historical sonar data includes the wave shape and the echo intensity of sonar echo;
according to the wave shape and echo intensity of sonar echo in sonar detection data and historical sonar data, comparing and analyzing to judge whether target fish exists in a target fishing boat fishing area;
if the target fish exists, determining the type of the target fish according to sonar detection data, wherein the type of the target fish comprises protected fish and target fishing fish;
and determining the position of the target fish according to the position information acquired by the sonar detection data, wherein the position of the target fish comprises the position of the protected fish and the position of the target fish.
In this scheme, will target fish position is sent to target fishing boat in to generate and catch the scheme, will catch the scheme sharing and catch in the regional other fishing boats of target fishing boat catch, specifically be:
Comparing the position of the protected fish with the position of the target fishing fish, and judging whether the protected fish exists at the position of the target fishing fish;
if the protected fish exists, driving sound wave data of the protected fish are obtained, sound waves are emitted according to the driving sound wave data, and driving operation is carried out on the protected fish;
the target fish position is sent to a target fishing boat, fishing operation is carried out according to the target fish position, and a fishing scheme is generated;
sharing the fishing scheme to other fishing vessels in the target fishing vessel fishing area.
The invention discloses a walking type shoal detection method and system, and aims to provide a high-efficiency and accurate shoal detection scheme. The method comprises the steps of obtaining position information of a target fishing boat fishing area and optimal living environment information of target fishes, and planning a detection route in real time by combining the real-time environment information. And detecting the target area by using a sonar detection technology to obtain real-time sonar detection data. And then, comparing the target fish position with the historical sonar data to determine the target fish position of the fishing area of the target fishing boat. Finally, the target fish location is routed to the target fishing vessel and a fishing plan is generated for sharing into other fishing vessels in the target fishing vessel fishing area. The method has the advantages that the detection route can be accurately determined, and the detection efficiency is improved; the method can accurately determine the position of the target fish, improve the detection accuracy and promote the sharing and cooperation of resources.
Drawings
FIG. 1 shows a flow chart of a method of detecting a sailing fish school according to the present invention;
FIG. 2 shows a flow chart of the present invention for planning a probing route in real time;
FIG. 3 shows a flow chart of the present invention for determining the location of a target fish;
fig. 4 shows a block diagram of a walkthrough fish detection system of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Fig. 1 shows a flow chart of a sailing fish school detection method according to the invention.
As shown in fig. 1, the first aspect of the present invention provides a method for detecting a sailing fish school, which includes:
s102, acquiring position information of a target fishing boat fishing area and optimal living environment information of target fishes;
S104, acquiring real-time environment information, and planning a detection route in real time according to the real-time environment information and the optimal living environment information of the target fish;
s106, detecting the target area by using a sonar detection technology through navigation according to the position information and the detection route of the fishing area to obtain real-time sonar detection data;
s108, acquiring historical sonar data of the target fish, comparing the sonar detection data with the historical sonar data to obtain the target fish in the target fishing area, and determining the position of the target fish based on the position information of the real-time sonar detection data;
s110, sending the target fish position to a target fishing boat, generating a fishing scheme, and sharing the fishing scheme to other fishing boats in a fishing area of the target fishing boat.
The sailing means that sonar equipment is carried on the ship, and sonar detection is performed on the ship in a moving state.
According to the embodiment of the invention, the acquisition of the position information of the target fishing boat fishing area and the optimal living environment information of the target fish is specifically as follows:
acquiring position information of a target fishing boat fishing area through a geographic information system, wherein the position information comprises longitude and latitude information of the target fishing boat fishing area;
Obtaining optimal living environment information of target fish in the Internet, wherein the optimal living environment information of the target fish comprises a water temperature range, a salinity range and a dissolved oxygen content range of optimal living of the target fish;
the target fish includes a protected fish of a target fishing vessel fishing area and a target fishing fish.
The protected fish means fish protected by legal protection or fishery management regulation, and the target fish means fish targeted for the purpose of fishing.
Fig. 2 shows a flow chart of the invention for planning a probing route in real time.
According to the embodiment of the invention, the acquisition of the real-time environment information and the real-time planning of the detection route according to the real-time environment information and the optimal living environment information of the target fish are specifically as follows:
s202, constructing a map model based on a geographic information system;
s204, according to the position information of the target fishing boat fishing area, the target fishing boat fishing area is guided into a map model and displayed in a preset display;
s206, dividing the target fishing area into N small areas in the map model;
s208, acquiring real-time environment information of the N small areas through sensor equipment, wherein the real-time environment information comprises water temperature, salinity and dissolved oxygen content;
S210, calculating and analyzing the suitability of the living environment of the target fish in each small area according to the optimal living environment information of the target fish and combining the real-time environment information;
s212, judging based on the suitability of the living environment and the position information of the target fishing boat fishing area, if the suitability of the living environment is larger than a preset value, planning the small area into a detection route, and if the suitability of the living environment is smaller than the preset value, not detecting the small area;
s214, planning a detection route in real time based on a path planning algorithm, and generating a detection route scheme.
The target fishing boat fishing area is led into the map model to be displayed in a preset display, so that the position and the range of the target fishing area can be intuitively known, and a foundation is provided for the subsequent detection route planning; the target fishing area is divided into N small areas in a grid form, so that the detection order is facilitated, and the acquisition of real-time environment information of each small area is facilitated; the sensor device comprises a water temperature sensor, a salinity sensor and an oxygen sensor; judging based on the suitability of the living environment and the position information of the target fishing boat fishing area, if the suitability of the living environment is larger than a preset value, planning the small area into a detection route, which means that the small area has better living conditions, and the situation that target fishes are possibly gathered is worth further detection; if the suitability of the living environment is smaller than a preset value, the small area is not detected, so that the waste of resources and time is avoided; the path planning algorithm comprises a Dijkstra algorithm, and the shortest path planning based on the small areas needing to be detected can be realized by using the algorithm, so that the detection efficiency is improved, and the resource waste is reduced.
According to the embodiment of the invention, the target area is detected by the sonar detection technology through navigation according to the position information and the detection route of the capturing area to obtain real-time sonar detection data, which comprises the following specific steps:
detecting a target area by using a sonar detection technology through navigation according to the position information and the detection route of the capturing area to obtain real-time sonar detection data, wherein the sonar detection data comprises the ripple shape, the echo intensity and the echo receiving time of a sonar echo;
and recording the position information of sonar detection data during acquisition by a GPS positioning technology.
In the course of performing navigation detection, the sonar equipment emits sound wave pulses, echoes are generated when the sound wave pulses meet fish shoals or other objects, and the target fish position is analyzed and judged by the strength, the ripple shape and the time of the received echo signals reaching the receiver; and recording real-time position information during sonar detection data acquisition by a GPS positioning system carried by the ship.
FIG. 3 shows a flow chart of the present invention for determining the location of a target fish.
According to the embodiment of the invention, the historical sonar data of the target fish is obtained, the target fish in the target fishing area is obtained by comparing sonar detection data with the historical sonar data, and the position of the target fish is determined based on the position information obtained by the real-time sonar detection data, specifically:
S302, acquiring historical sonar data of target fish, wherein the historical sonar data is based on the ripple shape and echo intensity of sonar echo;
s304, comparing and analyzing according to the wave shape and the echo intensity of sonar echo in sonar detection data and historical sonar data, and judging whether target fishes exist in a target fishing area;
s306, if the target fish exists, determining the type of the target fish according to sonar detection data, wherein the type of the target fish comprises protected fish and target fishing fish;
s308, determining the position of the target fish according to the position information acquired by the sonar detection data, wherein the position of the target fish comprises the position of the protected fish and the position of the target fished fish.
The historical sonar data of the target fish are obtained through a fishery database; by comparing and analyzing the wave shape, echo intensity and historical sonar data of sonar echo in sonar detection data and comparing real-time data with the historical data, whether the detected region has target fish or not can be judged; and determining the position of the target fish according to the position information obtained by the sonar detection data.
According to the embodiment of the invention, the target fish position is sent to a target fishing boat, a fishing scheme is generated, and the fishing scheme is shared to other fishing boats in a fishing area of the target fishing boat, specifically:
Comparing the position of the protected fish with the position of the target fishing fish, and judging whether the protected fish exists at the position of the target fishing fish;
if the protected fish exists, driving sound wave data of the protected fish are obtained, sound waves are emitted according to the driving sound wave data, and driving operation is carried out on the protected fish;
the target fish position is sent to a target fishing boat, fishing operation is carried out according to the target fish position, and a fishing scheme is generated;
sharing the fishing scheme to other fishing vessels in the target fishing vessel fishing area.
The method comprises the steps of comparing the position of the protected fish with the position of the target fishing fish, judging whether the protected fish exists at the position of the target fishing fish, judging whether the position of the protected fish is overlapped with the position of the target fishing fish, and if so, judging that the protected fish exists at the position of the target fishing fish; the method comprises the steps of performing driving operation on the protected fish, avoiding false catching of the protected fish and protecting ecological balance; the fishing scheme comprises position records of the protected fish and the target fishing fish, fishing operation is carried out through the position records, the position of the protected fish is avoided in the fishing process, and fishing operation is carried out in the target fishing fish position; the fishing scheme is shared to other fishing vessels in the target fishing vessel fishing area, so that the sharing of fishery resources is realized, and the maximization of resource utilization is realized.
According to an embodiment of the present invention, further comprising:
acquiring deep water area images and characteristic information of target fishes in a target fishing area;
constructing an image processing model by constructing an image enhancement algorithm;
the deep water area image is imported into an image processing model, and the deep water area image is converted from a color level space to a gray level space, so that a gray level image is obtained;
calculating a histogram of the gray level image, counting the number of pixels with different gray levels, and accumulating the number of pixels with different gray levels to obtain the total number of pixels;
obtaining the cumulative probability of different pixels in the image according to the total number of pixels and the number of pixels;
multiplying the accumulated probability by a gray level maximum value to obtain a brightness enhanced gray mapping table;
pixel values of the deep water area image are subjected to pixel replacement according to the gray mapping table, and a deep water area brightness enhancement image is obtained;
and (3) extracting features of the deep water area brightness enhancement image, comparing the extracted features with feature information of target fishes, and judging whether the target fishes exist in the deep water area or not to obtain a fish shoal detection result of the deep water area.
In the deep water area, the detection distance of the sonar equipment is limited, so that the deep water area cannot be detected, and the shoal of the deep water area can be detected according to the embodiment of the invention, and the short plate which cannot detect the target fish in the deep water area due to the limited detection distance of the sonar equipment is supplemented; due to insufficient illumination of a deep water area, the image brightness of the deep water area does not meet the detection of fish shoals; the image enhancement algorithm comprises a histogram homogenization operation and a color enhancement operation.
According to an embodiment of the present invention, further comprising:
performing terrain detection on the N small areas by using a sonar detection technology to obtain terrain detection data;
analyzing the underwater ecological environment according to the terrain detection data to obtain ecological environment data;
obtaining topographic data suitable for survival of target fishes and ecological environment data suitable for survival;
comparing the terrain detection data and the ecological environment data with the terrain data suitable for survival of the target fish and the ecological environment data suitable for survival to predict the target fish wandering area;
and planning the target fish wandering area into a detection route according to the target fish wandering area, and correcting the detection route.
It should be noted that, in the course of detecting a sailing fish school, the fish school may be frightened due to the movement of the fishing boat, and in the embodiment of the present invention, the prediction of the area of the fish school that is frightened is implemented; the correction detection route can detect the shoal of fish more accurately, obtains better shoal of fish resources, and improves fishing efficiency and capturing amount for subsequent fishing of the fishing boat.
Fig. 4 shows a block diagram of a walkthrough fish detection system of the present invention.
The second aspect of the invention also provides a navigable fish detection system 4 comprising: the memory 41 and the processor 42, wherein the memory includes a sailing type shoal detection method program, and when the sailing type shoal detection method program is executed by the processor, the following steps are implemented:
Acquiring position information of a target fishing boat fishing area and optimal living environment information of target fishes;
acquiring real-time environment information, and planning a detection route in real time according to the real-time environment information and optimal living environment information of target fish;
detecting a target area by using a sonar detection technology through navigation according to the position information and the detection route of the fishing area to obtain real-time sonar detection data;
acquiring historical sonar data of the target fish, comparing the sonar detection data with the historical sonar data to obtain the target fish in the fishing area of the target fishing vessel, and determining the position of the target fish based on the position information of the real-time sonar detection data;
and sending the target fish position to a target fishing boat, generating a fishing scheme, and sharing the fishing scheme to other fishing boats in a fishing area of the target fishing boat.
The sailing means that sonar equipment is carried on the ship, and sonar detection is performed on the ship in a moving state.
According to the embodiment of the invention, the acquisition of the position information of the target fishing boat fishing area and the optimal living environment information of the target fish is specifically as follows:
acquiring position information of a target fishing boat fishing area through a geographic information system, wherein the position information comprises longitude and latitude information of the target fishing boat fishing area;
Obtaining optimal living environment information of target fish in the Internet, wherein the optimal living environment information of the target fish comprises a water temperature range, a salinity range and a dissolved oxygen content range of optimal living of the target fish;
the target fish includes a protected fish of a target fishing vessel fishing area and a target fishing fish.
The protected fish means fish protected by legal protection or fishery management regulation, and the target fish means fish targeted for the purpose of fishing.
According to the embodiment of the invention, the acquisition of the real-time environment information and the real-time planning of the detection route according to the real-time environment information and the optimal living environment information of the target fish are specifically as follows:
constructing a map model based on a geographic information system;
according to the position information of the target fishing boat fishing area, the target fishing boat fishing area is guided into a map model to be displayed in a preset display;
dividing a target fishing area into N small areas in a map model;
acquiring real-time environment information of the N small areas through sensor equipment, wherein the real-time environment information comprises water temperature, salinity and dissolved oxygen content;
according to the optimal living environment information of the target fish, calculating and analyzing the living environment suitability of the target fish in each small area by combining the real-time environment information;
Judging based on the suitability of the living environment and the position information of the target fishing boat fishing area, if the suitability of the living environment is larger than a preset value, planning the small area into a detection route, and if the suitability of the living environment is smaller than the preset value, not detecting the small area;
and planning a detection route in real time based on a path planning algorithm, and generating a detection route scheme.
The target fishing boat fishing area is led into the map model to be displayed in a preset display, so that the position and the range of the target fishing area can be intuitively known, and a foundation is provided for the subsequent detection route planning; the target fishing area is divided into N small areas in a grid form, so that the detection order is facilitated, and the acquisition of real-time environment information of each small area is facilitated; the sensor device comprises a water temperature sensor, a salinity sensor and an oxygen sensor; judging based on the suitability of the living environment and the position information of the target fishing boat fishing area, if the suitability of the living environment is larger than a preset value, planning the small area into a detection route, which means that the small area has better living conditions, and the situation that target fishes are possibly gathered is worth further detection; if the suitability of the living environment is smaller than a preset value, the small area is not detected, so that the waste of resources and time is avoided; the path planning algorithm comprises a Dijkstra algorithm, and the shortest path planning based on the small areas needing to be detected can be realized by using the algorithm, so that the detection efficiency is improved, and the resource waste is reduced.
According to the embodiment of the invention, the target area is detected by the sonar detection technology through navigation according to the position information and the detection route of the capturing area to obtain real-time sonar detection data, which comprises the following specific steps:
detecting a target area by using a sonar detection technology through navigation according to the position information and the detection route of the capturing area to obtain real-time sonar detection data, wherein the sonar detection data comprises the ripple shape, the echo intensity and the echo receiving time of a sonar echo;
and recording the position information of sonar detection data during acquisition by a GPS positioning technology.
In the course of performing navigation detection, the sonar equipment emits sound wave pulses, echoes are generated when the sound wave pulses meet fish shoals or other objects, and the target fish position is analyzed and judged by the strength, the ripple shape and the time of the received echo signals reaching the receiver; and recording real-time position information during sonar detection data acquisition by a GPS positioning system carried by the ship.
According to the embodiment of the invention, the historical sonar data of the target fish is obtained, the target fish in the target fishing area is obtained by comparing sonar detection data with the historical sonar data, and the position of the target fish is determined based on the position information obtained by the real-time sonar detection data, specifically:
Acquiring historical sonar data of target fish, wherein the historical sonar data includes the wave shape and the echo intensity of sonar echo;
according to the wave shape and echo intensity of sonar echo in sonar detection data and historical sonar data, comparing and analyzing to judge whether target fish exists in a target fishing boat fishing area;
if the target fish exists, determining the type of the target fish according to sonar detection data, wherein the type of the target fish comprises protected fish and target fishing fish;
and determining the position of the target fish according to the position information acquired by the sonar detection data, wherein the position of the target fish comprises the position of the protected fish and the position of the target fish.
The historical sonar data of the target fish are obtained through a fishery database; by comparing and analyzing the wave shape, echo intensity and historical sonar data of sonar echo in sonar detection data and comparing real-time data with the historical data, whether the detected region has target fish or not can be judged; and determining the position of the target fish according to the position information obtained by the sonar detection data.
According to the embodiment of the invention, the target fish position is sent to a target fishing boat, a fishing scheme is generated, and the fishing scheme is shared to other fishing boats in a fishing area of the target fishing boat, specifically:
Comparing the position of the protected fish with the position of the target fishing fish, and judging whether the protected fish exists at the position of the target fishing fish;
if the protected fish exists, driving sound wave data of the protected fish are obtained, sound waves are emitted according to the driving sound wave data, and driving operation is carried out on the protected fish;
the target fish position is sent to a target fishing boat, fishing operation is carried out according to the target fish position, and a fishing scheme is generated;
sharing the fishing scheme to other fishing vessels in the target fishing vessel fishing area.
The method comprises the steps of comparing the position of the protected fish with the position of the target fishing fish, judging whether the protected fish exists at the position of the target fishing fish, judging whether the position of the protected fish is overlapped with the position of the target fishing fish, and if so, judging that the protected fish exists at the position of the target fishing fish; the method comprises the steps of performing driving operation on the protected fish, avoiding false catching of the protected fish and protecting ecological balance; the fishing scheme comprises position records of the protected fish and the target fishing fish, fishing operation is carried out through the position records, the position of the protected fish is avoided in the fishing process, and fishing operation is carried out in the target fishing fish position; the fishing scheme is shared to other fishing vessels in the target fishing vessel fishing area, so that the sharing of fishery resources is realized, and the maximization of resource utilization is realized.
According to an embodiment of the present invention, further comprising:
acquiring deep water area images and characteristic information of target fishes in a target fishing area;
constructing an image processing model by constructing an image enhancement algorithm;
the deep water area image is imported into an image processing model, and the deep water area image is converted from a color level space to a gray level space, so that a gray level image is obtained;
calculating a histogram of the gray level image, counting the number of pixels with different gray levels, and accumulating the number of pixels with different gray levels to obtain the total number of pixels;
obtaining the cumulative probability of different pixels in the image according to the total number of pixels and the number of pixels;
multiplying the accumulated probability by a gray level maximum value to obtain a brightness enhanced gray mapping table;
pixel values of the deep water area image are subjected to pixel replacement according to the gray mapping table, and a deep water area brightness enhancement image is obtained;
and (3) extracting features of the deep water area brightness enhancement image, comparing the extracted features with feature information of target fishes, and judging whether the target fishes exist in the deep water area or not to obtain a fish shoal detection result of the deep water area.
In the deep water area, the detection distance of the sonar equipment is limited, so that the deep water area cannot be detected, and the shoal of the deep water area can be detected according to the embodiment of the invention, and the short plate which cannot detect the target fish in the deep water area due to the limited detection distance of the sonar equipment is supplemented; due to insufficient illumination of a deep water area, the image brightness of the deep water area does not meet the detection of fish shoals; the image enhancement algorithm comprises a histogram homogenization operation and a color enhancement operation.
According to an embodiment of the present invention, further comprising:
performing terrain detection on the N small areas by using a sonar detection technology to obtain terrain detection data;
analyzing the underwater ecological environment according to the terrain detection data to obtain ecological environment data;
obtaining topographic data suitable for survival of target fishes and ecological environment data suitable for survival;
comparing the terrain detection data and the ecological environment data with the terrain data suitable for survival of the target fish and the ecological environment data suitable for survival to predict the target fish wandering area;
and planning the target fish wandering area into a detection route according to the target fish wandering area, and correcting the detection route.
It should be noted that, in the course of detecting a sailing fish school, the fish school may be frightened due to the movement of the fishing boat, and in the embodiment of the present invention, the prediction of the area of the fish school that is frightened is implemented; the correction detection route can detect the shoal of fish more accurately, obtains better shoal of fish resources, and improves fishing efficiency and capturing amount for subsequent fishing of the fishing boat.
The invention discloses a walking type shoal detection method and system, and aims to provide a high-efficiency and accurate shoal detection scheme. The method comprises the steps of obtaining position information of a target fishing boat fishing area and optimal living environment information of target fishes, and planning a detection route in real time by combining the real-time environment information. And detecting the target area by using a sonar detection technology to obtain real-time sonar detection data. And then, comparing the target fish position with the historical sonar data to determine the target fish position of the fishing area of the target fishing boat. Finally, the target fish location is routed to the target fishing vessel and a fishing plan is generated for sharing into other fishing vessels in the target fishing vessel fishing area. The method has the advantages that the detection route can be accurately determined, and the detection efficiency is improved; the method can accurately determine the position of the target fish, improve the detection accuracy and promote the sharing and cooperation of resources.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The sailing type fish school detection method is characterized by comprising the following steps of:
acquiring position information of a target fishing boat fishing area and optimal living environment information of target fishes;
acquiring real-time environment information, and planning a detection route in real time according to the real-time environment information and optimal living environment information of target fish;
detecting a target area by using a sonar detection technology through navigation according to the position information and the detection route of the fishing area to obtain real-time sonar detection data;
acquiring historical sonar data of the target fish, comparing the sonar detection data with the historical sonar data to obtain the target fish in the fishing area of the target fishing vessel, and determining the position of the target fish based on the position information of the real-time sonar detection data;
And sending the target fish position to a target fishing boat, generating a fishing scheme, and sharing the fishing scheme to other fishing boats in a fishing area of the target fishing boat.
2. The method for detecting the sailing shoal according to claim 1, wherein the obtaining of the position information of the target fishing vessel fishing area and the optimal living environment information of the target fish is specifically as follows:
acquiring position information of a target fishing boat fishing area through a geographic information system, wherein the position information comprises longitude and latitude information of the target fishing boat fishing area;
obtaining optimal living environment information of target fish in the Internet, wherein the optimal living environment information of the target fish comprises a water temperature range, a salinity range and a dissolved oxygen content range of optimal living of the target fish;
the target fish includes a protected fish of a target fishing vessel fishing area and a target fishing fish.
3. The method for detecting the fish shoal by walking according to claim 1, wherein the acquiring real-time environment information, and planning the detection route in real time according to the real-time environment information and the optimal living environment information of the target fish, specifically comprises:
constructing a map model based on a geographic information system;
According to the position information of the target fishing boat fishing area, the target fishing boat fishing area is guided into a map model to be displayed in a preset display;
dividing a target fishing area into N small areas in a map model;
acquiring real-time environment information of the N small areas through sensor equipment, wherein the real-time environment information comprises water temperature, salinity and dissolved oxygen content;
according to the optimal living environment information of the target fish, calculating and analyzing the living environment suitability of the target fish in each small area by combining the real-time environment information;
judging based on the suitability of the living environment and the position information of the target fishing boat fishing area, if the suitability of the living environment is larger than a preset value, planning the small area into a detection route, and if the suitability of the living environment is smaller than the preset value, not detecting the small area;
and planning a detection route in real time based on a path planning algorithm, and generating a detection route scheme.
4. The method for detecting the flying fish shoal according to claim 1, wherein the detecting the target area by the flying sonar detection technology according to the position information and the detection route of the capturing area to obtain real-time sonar detection data comprises the following steps:
Detecting a target area by using a sonar detection technology through navigation according to the position information and the detection route of the capturing area to obtain real-time sonar detection data, wherein the sonar detection data comprises the ripple shape, the echo intensity and the echo receiving time of a sonar echo;
and recording the position information acquired by sonar detection data through a GPS positioning technology.
5. The method for detecting the flying fish shoal according to claim 1, wherein the step of obtaining the historical sonar data of the target fish, comparing the sonar detection data with the historical sonar data to obtain the target fish in the fishing area of the target fishing vessel, and determining the position of the target fish based on the position information obtained by the real-time sonar detection data comprises the following steps:
acquiring historical sonar data of target fish, wherein the historical sonar data includes the wave shape and the echo intensity of sonar echo;
according to the wave shape and echo intensity of sonar echo in sonar detection data and historical sonar data, comparing and analyzing to judge whether target fish exists in a target fishing boat fishing area;
if the target fish exists, determining the type of the target fish according to sonar detection data, wherein the type of the target fish comprises protected fish and target fishing fish;
And determining the position of the target fish according to the position information acquired by the sonar detection data, wherein the position of the target fish comprises the position of the protected fish and the position of the target fish.
6. The method of claim 5, wherein the step of sending the target fish position to a target fishing vessel and generating a fishing plan, and sharing the fishing plan to other fishing vessels in a fishing area of the target fishing vessel is specifically:
comparing the position of the protected fish with the position of the target fishing fish, and judging whether the protected fish exists at the position of the target fishing fish;
if the protected fish exists, driving sound wave data of the protected fish are obtained, sound waves are emitted according to the driving sound wave data, and driving operation is carried out on the protected fish;
the target fish position is sent to a target fishing boat, fishing operation is carried out according to the target fish position, and a fishing scheme is generated;
sharing the fishing scheme to other fishing vessels in the target fishing vessel fishing area.
7. The sailing type fish detection system is characterized by comprising a storage and a processor, wherein the storage comprises a sailing type fish detection method program, and when the sailing type fish detection method program is executed by the processor, the following steps are realized:
Acquiring position information of a target fishing boat fishing area and optimal living environment information of target fishes;
acquiring real-time environment information, and planning a detection route in real time according to the real-time environment information and optimal living environment information of target fish;
detecting a target area by using a sonar detection technology through navigation according to the position information and the detection route of the fishing area to obtain real-time sonar detection data;
acquiring historical sonar data of the target fish, comparing the sonar detection data with the historical sonar data to obtain the target fish in the fishing area of the target fishing vessel, and determining the position of the target fish based on the position information of the real-time sonar detection data;
and sending the target fish position to a target fishing boat, generating a fishing scheme, and sharing the fishing scheme to other fishing boats in a fishing area of the target fishing boat.
8. The sailing fish school detection system according to claim 7, wherein the acquiring real-time environmental information, and planning the detection route in real time according to the real-time environmental information and the optimal living environment information of the target fish, specifically comprises:
constructing a map model based on a geographic information system;
According to the position information of the target fishing boat fishing area, the target fishing boat fishing area is guided into a map model to be displayed in a preset display;
dividing a target fishing area into N small areas in a map model;
acquiring real-time environment information of the N small areas through sensor equipment, wherein the real-time environment information comprises water temperature, salinity and dissolved oxygen content;
according to the optimal living environment information of the target fish, calculating and analyzing the living environment suitability of the target fish in each small area by combining the real-time environment information;
judging based on the suitability of the living environment and the position information of the target fishing boat fishing area, if the suitability of the living environment is larger than a preset value, planning the small area into a detection route, and if the suitability of the living environment is smaller than the preset value, not detecting the small area;
and planning a detection route in real time based on a path planning algorithm, and generating a detection route scheme.
9. The sailing shoal detection system according to claim 7, wherein the obtaining the historical sonar data of the target fish, comparing the sonar detection data with the historical sonar data to obtain the target fish in the fishing area of the target fishing vessel, and determining the position of the target fish based on the position information obtained by the real-time sonar detection data specifically comprises:
Acquiring historical sonar data of target fish, wherein the historical sonar data includes the wave shape and the echo intensity of sonar echo;
according to the wave shape and echo intensity of sonar echo in sonar detection data and historical sonar data, comparing and analyzing to judge whether target fish exists in a target fishing boat fishing area;
if the target fish exists, determining the type of the target fish according to sonar detection data, wherein the type of the target fish comprises protected fish and target fishing fish;
and determining the position of the target fish according to the position information acquired by the sonar detection data, wherein the position of the target fish comprises the position of the protected fish and the position of the target fish.
10. The navigable type fish detection system as claimed in claim 7, wherein the sending the target fish position to a target fishing vessel and generating a fishing scheme sharing the fishing scheme to other fishing vessels in a fishing area of the target fishing vessel is as follows:
comparing the position of the protected fish with the position of the target fishing fish, and judging whether the protected fish exists at the position of the target fishing fish;
if the protected fish exists, driving sound wave data of the protected fish are obtained, sound waves are emitted according to the driving sound wave data, and driving operation is carried out on the protected fish;
The target fish position is sent to a target fishing boat, fishing operation is carried out according to the target fish position, and a fishing scheme is generated;
sharing the fishing scheme to other fishing vessels in the target fishing vessel fishing area.
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