CN220773623U - Chinese white dolphin observation system for maritime buoy - Google Patents

Abstract

The utility model discloses a Chinese white dolphin observation system for an offshore buoy, which comprises an RV1126 main control module, a camera module, a laser radar module, an alarm device module, a GPS (global positioning system) locator module, a hydrophone module, a power module, a loudspeaker module, a switch module and a wireless routing module. By using the method, the device and the system, the device can run at sea in all weather, automatically acquire the discovery time, longitude and latitude, the relative distance between the device and the buoy and the number of individuals, and effectively improve the overall efficiency of the population ecology investigation of the Chinese white dolphin. The utility model is used as a Chinese white dolphin observation system for an offshore buoy, and can be widely applied to the technical field of offshore biological observation treatment.

Description

Chinese white dolphin observation system for maritime buoy

Technical Field

The utility model relates to the technical field of marine biological observation treatment, in particular to a Chinese white dolphin observation system for an offshore buoy.

Background

At present, in the population ecology investigation of Chinese white dolphins, the dolphins are mainly observed through a telescope (7 multiplied by 50), and then the dolphins with different sides are shot through a handheld long-focus camera, each parameter of the dolphin group is recorded by personnel, the dolphin witness recording list records comprise the discovery time, longitude and latitude, angle, visual measurement distance, individual number, body color composition, behavior and the like, and the data recording list in the course observation, the longitude and latitude, the navigational speed, the course and the like are all obtained through a handheld GPS. At present, manual handheld devices are used, and the investigation is completed by the mutual cooperation among required personnel. And the shot data needs to be processed again on a computer in the later period, so that the effective picture of the shot dolphin is found, the time cost and the labor cost are relatively high, and the efficiency is relatively low.

Disclosure of Invention

In order to solve the technical problems, the utility model aims to provide the Chinese white dolphin observation system for the maritime buoy, which can run at sea in all weather, automatically acquire the discovery time, longitude and latitude, the relative distance between the buoy and the individual number, and effectively improve the overall efficiency of the population ecology investigation of the Chinese white dolphin.

The first technical scheme adopted by the utility model is as follows: the intelligent monitoring system comprises an RV1126 main control module, a camera module, a laser radar module, an alarm device module, a GPS locator module, a hydrophone module, a power module, a loudspeaker module, a switch module and a wireless routing module, wherein the data output ends of the hydrophone module, the laser radar module, the GPS locator module and the camera module are connected with the signal receiving end of the RV1126 main control module; the signal output end of the RV1126 main control module is electrically connected with the loudspeaker module through a sound card, and the RV1126 main control module is connected with the wireless routing module through a wireless network card; the switch module is electrically connected with the RV1126 main control module, the camera module and the laser radar module; the power module provides power for each module.

Further, RV1126 main control module still includes USB1 interface, USB2 interface, J45 interface, VCC end, D-end, D+ end and GND end, RV1126 main control module passes through USB1 interface and is connected with the switch module, RV1126 main control module passes through USB2 interface and is connected with GPS locator module, RV1126 main control module passes through J45 interface and is connected with wireless routing module, RV1126 main control module's D-end and D+ end carry out data signal's transmission with each connection module, RV1126 main control module's VCC termination high level, RV1126 main control module's GND end ground connection.

Further, the camera module comprises a visible light camera module and an infrared camera module, and the camera module adopts a DS-2CD3T47F (D) WDP2-L (S) camera.

Further, the switch module adopts an MS10232 chip, and comprises an RX+ end, an RX-end, a TX+ end and a TX-end, wherein the RX+ end of the switch module is connected with a third pin of the camera module, the RX-end of the switch module is connected with a sixth pin of the camera module, the TX+ end of the switch module is connected with a first pin of the camera module, and the TX-end of the switch module is connected with a second pin of the camera module.

Further, the laser radar module is a Velodyne 16-line laser radar.

Further, the wireless routing module adopts an RTL8201F chip, wherein a twenty-fourth pin of the RTL8201F chip of the wireless routing module is connected with a thirteenth pin of the camera module, and a twenty-fifth pin of the RTL8201F chip of the wireless routing module is connected with a fifteen pin of the camera module.

Further, the working voltage of the GPS locator module is 3.3V, two sets of power supply circuits with 3.3V output are designed by adopting TPS76333DBR and XC62FP3302PR, wherein the TPS76333DBR chip is used for generating the working voltage of the GPS locator module, the enabling end of the TPS76333DBR chip is connected with the RV1126 main control module to control the working of the GPS locator module, and the XC62FP3302 is a voltage stabilizing chip and is used for generating the working voltage of the main controller.

The beneficial effects of the utility model are as follows: according to the Chinese white dolphin observation system of the marine buoy, provided by the utility model, the visible light and the infrared camera are carried, when the dolphin is monitored by the hydrophone, a detection signal is input to the RV1126 development board through the local area network, the white dolphin photo seen by the camera can be detected and stored through the yolov5 target recognition technology of the RV1126 development board, the relative distance between the current position and the white dolphin is detected by the laser radar, the longitude and latitude position of the white dolphin on the map is calculated by combining with the current position of the GPS locator module, the system can run at sea all weather, the discovery time, the longitude and latitude, the relative distance between the white dolphin and the buoy and the individual number are automatically acquired, and the overall efficiency of the population ecology investigation of the Chinese white dolphin is effectively improved.

Drawings

FIG. 1 is a block diagram of a white dolphin observation system for use with an offshore buoy in accordance with the present utility model;

FIG. 2 is a schematic diagram of a model configuration of the marine buoy of the present utility model;

FIG. 3 is a specific circuit diagram of the peripheral structure of the Raixing micro RV1126 chip of the present utility model;

FIG. 4 is a specific circuit diagram of the internal structure of the Raixing micro RV1126 chip according to the present utility model;

FIG. 5 is a specific circuit diagram of an RJ45 interface of the camera module of the present utility model;

FIG. 6 is a schematic view of a camera module according to the present utility model;

FIG. 7 is a specific circuit diagram of an input/output interface of the camera module of the present utility model;

fig. 8 is a specific circuit diagram of the switch module of the present utility model;

fig. 9 is a specific circuit diagram of a wireless routing module of the present utility model;

FIG. 10 is a schematic diagram of the structure of a lidar module of the present utility model;

FIG. 11 is a specific circuit diagram of a GPS locator module of the present utility model;

FIG. 12 is a schematic diagram of the connection between the various modules of the present utility model;

FIG. 13 is a schematic flow chart of the steps of the present utility model for observing a white dolphin in a marine buoy.

Reference numerals: u0, a power module; u1, RV1126 master control module; u2, a switch module; u3, a laser radar module; u4, a camera module; u5, wireless route module; u6, GPS locator module; A. an offshore buoy; B. a laser radar; C. a visible light camera and an infrared camera; D. RV1126 development board; E. a GPS locator; F. an alarm device; G. a solar panel; 1. a rayleigh micro RV1126 chip; 2. a hydrophone audio signal input interface; 3. a camera serial interface input interface; 4. displaying a serial interface output interface; 5. a switch network interface; 6. a TF flash card interface; 7. a USB interface; 8. a wireless network card interface; 9. other device interfaces.

Detailed Description

The utility model will now be described in further detail with reference to the drawings and to specific examples. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.

Referring to fig. 1 and 12, the utility model provides a white dolphin observation system for an offshore buoy, which comprises an RV1126 main control module, a camera module, a laser radar module, an alarm device module, a GPS (global positioning system) locator module, a hydrophone module, a power module, a loudspeaker module, a switch module and a wireless routing module, wherein the data output ends of the hydrophone module, the laser radar module, the GPS locator module and the camera module are connected with the signal receiving end of the RV1126 main control module; the signal output end of the RV1126 main control module is electrically connected with the loudspeaker module through a sound card, and the RV1126 main control module is connected with the wireless routing module through a wireless network card; the switch module is electrically connected with the RV1126 main control module, the camera module and the laser radar module; the power module provides power for each module.

Specifically, the utility model provides a Chinese white dolphin observation integrated system which is applied to an offshore buoy in all weather, and comprises the following steps: RV1126 development board, visible light camera, laser radar, alarm device, GPS locator, hydrophone. The visible light camera, the laser radar, the alarm device and the GPS positioner are all connected to the RV1126 development board. When the hydrophone monitors dolphin, a detection signal is input to the RV1126 development board through the local area network, the RV1126 development board loads a detection model file on the TF card, a target detection technology is adopted to carry out target recognition on a picture captured by the visible light camera, after the dolphin is recognized, a loudspeaker is controlled to make a sound to remind a dolphin recorder and control an alarm device, detected dolphin data and images are uploaded to a remote laboratory host, and meanwhile point cloud data of a laser radar dolphin are extracted to return to the relative distance between the dolphin and a buoy and are sent to the remote laboratory host. According to the utility model, the yolov5 target detection technology is adopted to identify the picture captured by the camera, compared with the previous method that GPS is respectively recorded by the handheld equipment to estimate the position of the dolphin, the handheld camera is used for shooting and reprocessing pictures, the observation efficiency of the white dolphin is higher, and the labor cost is lower.

Further as a preferred embodiment of the present utility model, the RV1126 main control module further includes a USB1 interface, a USB2 interface, a J45 interface, a VCC end, a D-end, a d+ end, and a GND end, where the RV1126 main control module is connected to the switch module through the USB1 interface, the RV1126 main control module is connected to the GPS locator module through the USB2 interface, the RV1126 main control module is connected to the wireless routing module through the J45 interface, the D-end and the d+ end of the RV1126 main control module transmit data signals with each connection module, the VCC end of the RV1126 main control module is connected to a high level, and the GND end of the RV1126 main control module is connected to the ground.

Specifically, referring to fig. 3 and fig. 4, rv1126 is a special general SoC for machine vision application that is derived by a core micro, integrates an ISP of 14M and a 1.2TOPS NPU, supports 4K video encoding and decoding, supports the same encoding and decoding, is mainly applied to intelligent security, video communication and edge computing scenes, and is currently applied to products such as intelligent cameras, video conference cameras, face recognition equipment and the like, all falls to the ground, image data of eight cameras with different protocol interfaces such as CVBS, AHD, FPD-Link and GMSL are acquired, an PHY chip is used as a bridge chip, image output is transmitted to two MIPI interfaces of an RV1126 core processing chip through MIPI CSI protocol, and image data of another camera is acquired and transmitted to a DVP interface of the RV1126 core processing chip; the RV1126 core processing chip stores the image data in a storage and stores the processed image data in the storage together, and simultaneously sends the processed image data to a display module for display through MIPI DSI protocol or RGB protocol.

Further as a preferred embodiment of the present utility model, the camera module comprises a visible light camera module and an infrared camera module, and the camera module adopts a DS-2CD3T47F (D) WDP2-L (S) camera.

Specifically, referring to fig. 5, fig. 6 and fig. 7, a protection circuit is used for a camera module ethernet port JR45 to prevent network equipment from being damaged by lightning stroke, a 400-ten-thousand-wide-angle full-color network camera DS-2CD3T47F (D) WDP2-L (S), a full-color high-sensitivity sensor and an F1.0 ultra-large aperture lens provide clearer video stream input for intelligent application, the accuracy of intelligent service processing is comprehensively improved, the highest resolution can reach 3840x 1080@25fps to support backlight compensation, strong light suppression, 3D digital noise reduction, 120dB wide dynamic, 1 built-in microphone is locally stored in a Micro SD/Micro SDHC/Micro SDXC card adapted to different monitoring environments, 1 built-in speaker is supported, two-way voice intercom supports two-wire DC 12V, 100mA power output is used for power supply of a pickup, the reliability is high, and the size of the camera is 193.46 x 103.58 x 77.24mm.

Further as a preferred embodiment of the present utility model, referring to fig. 8, the switch module employs an MS10232 chip, which includes an rx+ end, an RX-end, a tx+ end, and a TX-end, where the rx+ end of the switch module is connected to pin No. three of the camera module, the RX-end of the switch module is connected to pin No. six of the camera module, the tx+ end of the switch module is connected to pin No. one of the camera module, and the TX-end of the switch module is connected to pin No. two of the camera module.

Further in accordance with a preferred embodiment of the present utility model and with reference to FIG. 10, the lidar module is a Velodyne 16-line lidar.

Further as a preferred embodiment of the present utility model, referring to fig. 9, the wireless routing module employs an RTL8201F chip, wherein a twenty-fourth pin of the RTL8201F chip of the wireless routing module is connected to a thirteenth pin of the camera module, and a twenty-fifth pin of the RTL8201F chip of the wireless routing module is connected to a fifteenth pin of the camera module.

Further as a preferred embodiment of the present utility model, referring to fig. 11, the working voltage of the GPS locator module is 3.3V, two sets of power circuits with 3.3V output are designed by adopting TPS76333DBR and XC62FP3302PR, wherein the TPS76333DBR chip is used for generating the working voltage of the GPS locator module, and is connected with the RV1126 main control module through its enabling end to control the working of the GPS locator module, and XC62FP3302 is a voltage stabilizing chip for generating the working voltage of the main controller.

The working principle of the specific embodiment of the utility model is as follows:

referring to fig. 2, in order to avoid short circuit of integrated system equipment for observing Chinese dolphin, the RV1126 development board D, the GPS positioner E and the alarm device F are tightly packaged in the marine buoy A by using a soft polyurethane foam plastic shell, the laser radar B, the visible light camera and the infrared camera C are connected from the RV1126 development board D through a middle lead of the marine buoy A, the visual fields of the visible light camera and the infrared camera C can cover all 360-degree observation angles, the equipment power supply is provided by a 12V solar panel G, not only can provide a stable power supply for the integrated system for observing Chinese dolphin at sea, but also provide a certain protection for the laser radar and the rain protection of the camera, and the system is ensured to realize 24-hour real-time operation of the system on the buoy.

Furthermore, as the equipment is placed on the buoy and can be severely corroded and damaged by water, the visible light camera, the infrared camera, the laser radar, the alarm device and the RV1126 development board are required to be integrated, and the equipment is sealed by a soft polyurethane foam plastic shell, so that the water tightness of the equipment is improved, and the electronic equipment is prevented from being damaged;

specific examples:

the utility model provides an all-weather Chinese dolphin observation integrated system applied to an offshore buoy, which comprises a power supply module U0, an RV1126 main control module U1, a switch module U2, a laser radar module U3, a camera module U4, a wireless routing module U5 and a GPS (global positioning system) locator module U6, wherein the switch module U2 is used for supplying power to a camera and the laser radar; the RV1126 main control module U1 is respectively connected with a power supply module U0, a switch module U2 for supplying power to the camera and the laser radar, a wireless routing module U5 and a GPS locator module U6;

the system is used for carrying the visible light and the infrared camera, the yolov5 target recognition technology of the RV1126 development board can be used for detecting and storing white dolphin pictures and videos seen by the camera, then the laser radar is used for detecting the relative distance between the current position and the white dolphin, and the longitude and latitude positions of the white dolphin on the map are calculated by combining the gps current position;

referring to fig. 13, the best weight of the identification model of the dolphin observation system is obtained first, when the hydrophone monitors dolphin, a detection signal is input to the RV1126 development board through the local area network, the RV1126 development board loads a detection model file on the TF card, the target detection technology is adopted to identify the image captured by the visible light camera, after the dolphin is identified, the speaker is controlled to make a sound to remind a dolphin recorder and control an alarm device to upload the detected dolphin data and image to a remote laboratory host, so that the current system uses the camera to shoot, the shot video is processed into a picture frame, the two visible light cameras need to be calibrated with a laser radar, the images on the three spaces are aligned, and the trained network model file for detecting the dolphin is placed in a designated folder in the RV1126 development board, and the driver of the equipment is written by using c++. And the laser radar extracts the longitude and latitude of the buoy by detecting the relative distance between the identified dolphin object and the buoy, and calculates the gps position of the dolphin. When the dolphin is captured by the camera, the loudspeaker sends out reminding sound, and meanwhile, the detected dolphin image, GPS position coordinates and other information are sent to the remote server;

in order to improve the detection precision of the model, the image frames are preprocessed, wherein the preprocessing comprises blurring, brightness, cutting, rotation, translation, mirror image and other changes of the image, so that more data sets with different interferences are obtained. The feature extraction of the white dolphin is more robust when the model is trained. The color of sea waves under visible light is close to that of white dolphin, chinese white dolphin and white sea waves in pictures are respectively marked into two categories, a two-category data set is established, and the data set is divided into a training set, a verification set and a test set; inputting the pictures in the training set and the verification set into a YOLOv5 network model for model training to obtain optimal weight data of the YOLOv5 network model; the Chinese white dolphin observation integrated system not only can identify and detect dolphin in real time, but also combines a laser radar and a GPS module, obtains a 3D (three-dimensional) sounding box coordinate by detecting that 2D sounding box coordinate information of a dolphin detection result is projected into a point cloud, and then outputs the longitude and latitude positions of the dolphin by combining the 3D sounding box coordinate and the GPS position of a self buoy;

the above-mentioned YOLOv5 network model scales the picture acquired from the camera to 608 x 608, and then changes the original SPP network into the SPPF network, because the two functions are the same, but the latter has higher efficiency. Extracting a characteristic diagram of the dolphin through the SPPF network; and dividing the feature map into N multiplied by N feature maps, dividing the scaled picture into N multiplied by N grid units according to the feature map, predicting 1 if the target is considered to be in the grid, otherwise, predicting 0, and finally connecting all the grids predicted as 1 together to obtain the integral position of the target. Meanwhile, yolov5 detects targets in 3 different scale spaces and generates three prior frames of 76, 176, 38 and 19, a clustering algorithm is used for carrying out regression on the prior frames, the size and the position of the prior frames are adjusted through translation and scaling, so that errors between the positions of the prior frames and the real frames are minimized, finally, loss in yolov5 is composed of two portions of loss of positive samples and negative samples, the negative samples correspond to the background of an image, if the negative samples are far more than the positive samples, the negative samples can submerge the loss of the positive samples, and therefore the efficiency and the detection accuracy of network convergence are reduced, namely the problem of imbalance between the positive samples and the negative samples is solved by increasing the number of the positive samples;

and marking the region of the detected object in the image by using labelImg software, obtaining the coordinates and the label file of the object in the image position, sending the images and the coordinate label file to a network for training, and finally obtaining a network model file trained by yolov5, wherein the network model file can enable the RV1126 development board to detect the detected object with trained marks.

While the preferred embodiment of the present utility model has been described in detail, the utility model is not limited to the embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the utility model, and these modifications and substitutions are intended to be included in the scope of the present utility model as defined in the appended claims.

Claims (7)

1. The Chinese white dolphin observation system for the maritime buoy is characterized by comprising an RV1126 main control module, a camera module, a laser radar module, an alarm device module, a GPS (global positioning system) locator module, a hydrophone module, a power supply module, a loudspeaker module, a switch module and a wireless routing module;

the data output ends of the hydrophone module, the laser radar module, the GPS locator module and the camera module are connected with the signal receiving end of the RV1126 main control module;

the signal output end of the RV1126 main control module is electrically connected with the loudspeaker module through a sound card, and the RV1126 main control module is connected with the wireless routing module through a wireless network card;

the switch module is electrically connected with the RV1126 main control module, the camera module and the laser radar module;

the power module provides power for each module.

2. The Chinese white dolphin observation system for maritime buoys of claim 1, wherein said RV1126 main control module further comprises a USB1 interface, a USB2 interface, a J45 interface, a VCC end, a D-end, a D+ end and a GND end, said RV1126 main control module is connected with a switch module through the USB1 interface, said RV1126 main control module is connected with a GPS locator module through the USB2 interface, said RV1126 main control module is connected with a wireless routing module through the J45 interface, the D-end and the D+ end of said RV1126 main control module transmit data signals with each connection module, the VCC end of said RV1126 main control module is connected with high level, and the GND end of said RV1126 main control module is grounded.

3. The system of claim 1, wherein the camera module comprises a visible light camera module and an infrared camera module, and wherein the camera module employs a DS-2CD3T47F (D) WDP2-L (S) camera.

4. A dolphin observation system according to claim 3, wherein the switch module is a MS10232 chip, comprising an rx+ end, an RX-end, a tx+ end and a TX-end, wherein the rx+ end of the switch module is connected with pin No. three of the camera module, the RX-end of the switch module is connected with pin No. six of the camera module, the tx+ end of the switch module is connected with pin No. one of the camera module, and the TX-end of the switch module is connected with pin No. two of the camera module.

5. The white dolphin observation system for use in a marine buoy of claim 1, wherein said lidar module is a Velodyne 16-line lidar.

6. The white dolphin observation system of claim 1, wherein said wireless routing module is an RTL8201F chip, wherein a twenty-fourth pin of said RTL8201F chip of said wireless routing module is connected to a thirteen pin of said camera module, and a twenty-fifth pin of said RTL8201F chip of said wireless routing module is connected to a fifteen pin of said camera module.

7. The white dolphin observation system of claim 1, wherein the working voltage of the GPS locator module is 3.3V, two sets of power supply circuits with 3.3V output are designed by adopting TPS76333DBR and XC62FP3302PR, wherein a TPS76333DBR chip is used for generating the working voltage of the GPS locator module, the working of the GPS locator module is controlled by connecting an enabling end thereof with an RV1126 main control module, and an XC62FP3302 is a voltage stabilizing chip used for generating the working voltage of a main controller.