GB2623714A - An analysing device and method for analysing a submerged net - Google Patents

An analysing device and method for analysing a submerged net Download PDF

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Publication number
GB2623714A
GB2623714A GB2401879.8A GB202401879A GB2623714A GB 2623714 A GB2623714 A GB 2623714A GB 202401879 A GB202401879 A GB 202401879A GB 2623714 A GB2623714 A GB 2623714A
Authority
GB
United Kingdom
Prior art keywords
subsea
net
assembly
unit
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
GB2401879.8A
Other versions
GB202401879D0 (en
Inventor
Einar Jakobsen Hans
Lillebo Håvard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Watbots AS
Original Assignee
Watbots AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Watbots AS filed Critical Watbots AS
Publication of GB202401879D0 publication Critical patent/GB202401879D0/en
Publication of GB2623714A publication Critical patent/GB2623714A/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K61/00—Culture of aquatic animals
    • A01K61/60—Floating cultivation devices, e.g. rafts or floating fish-farms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • 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
    • A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
    • A01K63/10—Cleaning bottoms or walls of ponds or receptacles
    • 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
    • A01K75/00—Accessories for fishing nets; Details of fishing nets, e.g. structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/136—Segmentation; Edge detection involving thresholding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Zoology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Farming Of Fish And Shellfish (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The present disclosure describes a subsea assembly (100) for imaging and cleaning a submerged net (130), the subsea assembly (100) comprising a first subsea unit (110) for being positioned on a first side of the net (130), the first subsea unit (110) comprising at least two parallelly oriented belt assemblies, and a camera (200), a second subsea unit (120) for being positioned on a second side of the net (130) opposite to the first subsea unit (110), the second subsea unit (120) comprising at least two parallelly oriented belt assemblies (150), and a background element (240), where the first subsea unit (110) and/or the second subsea unit (120) further comprises a cleaning means (140) for cleaning the net (130), where each belt assembly (150) comprises a track (160) provided with magnets for generating an attractive force between the belt assemblies (150) of the first subsea unit (110) and the belt assemblies (150) of the second subsea unit (120) such that the subsea assembly (100) adhere to the net (130), and where the camera (200) and the background element (240) are arranged such that they face each other when the subsea assembly (100) adhere to the net (130). The present disclosure also describes use of a subsea assembly (100) and a method for imaging and cleaning a submerged net (130) of a fish pen.

Claims (5)

Claims:
1. A subsea assembly (100) for imaging and cleaning a submerged net (130), the subsea assembly (100) comprising a first subsea unit (110) for being positioned on a first side of the net (130), the first subsea unit (110) comprising at least two parallelly oriented belt assemblies, and a camera (200), a second subsea unit (120) for being positioned on a second side of the net (130) opposite to the first subsea unit (110), the second subsea unit (120) comprising at least two parallelly oriented belt assemblies (150), and a background element (240), where the first subsea unit (110) and/or the second subsea unit (120) further comprises a cleaning means (140) for cleaning the net (130), where each belt assembly (150) comprises a track (160) provided with magnets for generating an attractive force between the belt assemblies (150) of the first subsea unit (110) and the belt assemblies (150) of the second subsea unit (120) such that the subsea assembly (100) adhere to the net (130), and where the camera (200) and the background element (240) are arranged such that they face each other when the subsea assembly (100) adhere to the net (130), and where the background element is shaped to provide a fixed homogeneous background for the camera, in the same manner as a cover for a flatbed scanner, when the camera captures images.
2. The subsea assembly (100) according to claim 1, where the first subsea unit (110) and/or second subsea unit (120) further comprises a light source (250).
3. The subsea assembly (100) according to claim 1 or 2, where the light source (250) is integrated in the background element (240).
4. The subsea assembly (100) according to any one of the preceding claims, where the camera (200) is a line camera (260).
5. The subsea assembly (100) according to any one of the preceding claims, where the light source (250) has an elongated shape or where the light source (250) comprises a plurality of LEDs (270) arranged in a line. The subsea assembly (100) according to any one of the preceding claims, where the background element (240) comprises a Lambertian surface. The subsea assembly (100) according to any one of the preceding claims, where the light source (250) is configured to flash. The subsea assembly (100) according to any one of the preceding claims, where the first subsea unit (110) further comprises a filter (280) arranged in front of the camera (200). The subsea assembly (100) according to any one of the preceding claims, where the camera (200) comprises a spectrometer. The subsea assembly (100) according to any one of the preceding claims where the background element (240) comprises a plane surface (290). The subsea assembly (100) according to any one of the preceding claims, where each belt assembly comprises a track (160), a rear road wheel (170), a middle road wheel (180) and a front road wheel (190), and where each road wheel is provided with a suspension (200). Use of the subsea assembly (100) according to any one of the claims 1 - 11 for imaging and cleaning a net (130) or a sheet of a fish pen. A method for imaging and cleaning a submerged net (130) of a fish pen, comprising the steps of: a) providing a subsea assembly (100) according to any one or more of the claims 1 - 12, b) positioning the first subsea unit (110) on a first side of the net (130), c) positioning the second subsea unit (120) on a second side of the net (130) opposite to the first subsea unit (110), d) driving the subsea assembly (100) across the net (130), e) imaging the submerged net (130) of a fish pen using the camera (200) of the first subsea unit (110), and f) cleaning the submerged net (130) of a fish pen using the cleaning means (140) of the first subsea unit (110) and/or second subsea unit (120). The method according to claim 13, wherein in step b and c, the first subsea unit (110) is positioned on the side of the net (130) facing into the fish pen and wherein the second subsea unit (120) is positioned on the side of the net (130) facing out from the fish pen.
GB2401879.8A 2021-08-11 2022-08-11 An analysing device and method for analysing a submerged net Pending GB2623714A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20210975A NO347478B1 (en) 2021-08-11 2021-08-11 An analysing device and method for analysing a submerged net
PCT/NO2022/050191 WO2023018335A1 (en) 2021-08-11 2022-08-11 An analysing device and method for analysing a submerged net

Publications (2)

Publication Number Publication Date
GB202401879D0 GB202401879D0 (en) 2024-03-27
GB2623714A true GB2623714A (en) 2024-04-24

Family

ID=85200916

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2401879.8A Pending GB2623714A (en) 2021-08-11 2022-08-11 An analysing device and method for analysing a submerged net

Country Status (5)

Country Link
CA (1) CA3228642A1 (en)
DK (1) DK202430083A1 (en)
GB (1) GB2623714A (en)
NO (2) NO347478B1 (en)
WO (1) WO2023018335A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206997291U (en) * 2017-05-16 2018-02-13 广东海洋大学 A kind of spiral-flow type deep-sea etting cleaning device
WO2018080315A1 (en) * 2016-10-28 2018-05-03 HAUKÅS, John Kristian Assembly for carrying out an operation on a net
US20200353516A1 (en) * 2019-05-08 2020-11-12 Zhejiang Ocean University Intelligent robot for cleaning and mending net cages and use method thereof
CN112792077A (en) * 2021-01-29 2021-05-14 武汉第二船舶设计研究所 Underwater cleaning robot for net cage of deep-sea fishing ground

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7934575B2 (en) * 2007-12-20 2011-05-03 Markus Waibel Robotic locomotion method and mobile robot
NO20172022A1 (en) * 2017-12-21 2019-05-27 Narvik Maritime Service As Method and device for cleaning a net in a fish farm
CN109178240A (en) * 2018-08-21 2019-01-11 中国船舶重工集团公司第七〇九研究所 A kind of submarine mechanical formula sewage disposal apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018080315A1 (en) * 2016-10-28 2018-05-03 HAUKÅS, John Kristian Assembly for carrying out an operation on a net
CN206997291U (en) * 2017-05-16 2018-02-13 广东海洋大学 A kind of spiral-flow type deep-sea etting cleaning device
US20200353516A1 (en) * 2019-05-08 2020-11-12 Zhejiang Ocean University Intelligent robot for cleaning and mending net cages and use method thereof
CN112792077A (en) * 2021-01-29 2021-05-14 武汉第二船舶设计研究所 Underwater cleaning robot for net cage of deep-sea fishing ground

Also Published As

Publication number Publication date
DK202430083A1 (en) 2024-02-27
NO20211001A1 (en) 2023-02-13
NO347478B1 (en) 2023-11-20
CA3228642A1 (en) 2023-02-16
GB202401879D0 (en) 2024-03-27
NO20210975A1 (en) 2023-02-13
WO2023018335A1 (en) 2023-02-16

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