GB2624333A - Method for detecting wear of a net - Google Patents

Method for detecting wear of a net Download PDF

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Publication number
GB2624333A
GB2624333A GB2401919.2A GB202401919A GB2624333A GB 2624333 A GB2624333 A GB 2624333A GB 202401919 A GB202401919 A GB 202401919A GB 2624333 A GB2624333 A GB 2624333A
Authority
GB
United Kingdom
Prior art keywords
subsea
net
image
strand
pixel
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
GB2401919.2A
Other versions
GB202401919D0 (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
Priority claimed from NO20210975A external-priority patent/NO347478B1/en
Application filed by Watbots AS filed Critical Watbots AS
Publication of GB202401919D0 publication Critical patent/GB202401919D0/en
Publication of GB2624333A publication Critical patent/GB2624333A/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
    • A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
    • A01K63/10—Cleaning bottoms or walls of ponds or receptacles
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • 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
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/94—Investigating contamination, e.g. dust
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • 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
    • 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
    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Immunology (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Geometry (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The present disclosure describes provides a method for determining the strand thickness of at least one strand of a submerged net, the method comprising the steps of moving a subsea assembly across the submerged net while the subsea assembly adheres to the net, collecting image data from a line camera of the subsea assembly as the subsea assembly adheres to and moves across the submerged net, generating, by an on-board computer of the subsea assembly, a two-dimensional image of a portion of the submerged net based on the received image data, and determining, by the on-board computer of the subsea assembly, the strand thickness of the at least one strand of the submerged net based on the two-dimensional image.

Claims (3)

Claims:
1. A method for determining the strand thickness of at least one strand of a submerged net, the method comprising the steps of: moving a subsea assembly across the submerged net while the subsea assembly adheres to the net, collecting image data from a line camera of the subsea assembly as the subsea assembly adheres to and moves across the submerged net, generating, by an on-board computer of the subsea assembly, a two- dimensional image of a portion of the submerged net based on the received image data, and determining, by the on-board computer of the subsea assembly, the strand thickness of the at least one strand of the submerged net based on the two- dimensional image.
2. A computer-implemented method for determining the strand thickness of at least one strand of a submerged net, the method comprising: receiving image data from a line camera of a subsea assembly as the subsea assembly adheres to and moves across the submerged net, generating a two-dimensional image of a portion of the submerged net based on the received image data, and determining the strand thickness of the at least one strand of the submerged net based on the two-dimensional image.
3. The computer-implemented method according to claim 2, wherein determining the strand thickness of the strand of the submerged net comprises the step of: converting the two-dimensional image into a first binary image, where Each pixel of the first binary image represents a corresponding pixel in the two- dimensional image, where Each pixel of the first binary image is assigned a first binary value if the brightness of the corresponding pixel in the two- dimensional image is above/below a first predetermined threshold, and where Each pixel of the first binary image is assigned a second binary value if the brightness of the corresponding pixel in the two-dimensional image is below/above a first predetermined threshold, converting the first binary image into a distance map image, where Each pixel of the distance map image represents a corresponding pixel in the first binary image, and where Each pixel of the distance map image is assigned a value that denotes the distance between the corresponding pixel in the first binary image and the most proximate pixel to the corresponding pixel in the first binary image having the second binary value, assigning a zero value to each pixel of the distance map image having a value above a second predetermined threshold value, and converting the distance map image into a second binary image, where Each pixel of the second binary image represents a corresponding pixel in the distance map image, where Each pixel of the second binary image is assigned the first binary value if the brightness of the corresponding pixel in the distance map image is non-zero, and where Each pixel of the second binary image is assigned the second binary value if the brightness of the corresponding pixel in the distance map image is zero, and determining the strand thickness of the at least one strand of the submerged net based on the second binary image. The computer-implemented method according to claim 2 or 3, further comprising: generating a data file containing information on the thickness of the at least one strand of the submerged net and the position of the at least one strand in the two-dimensional image. A data processing apparatus comprising means for carrying out the method of any one of the claims 2 - 4. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of any one of the claims 2 - 4. A computer-readable medium having stored thereon the computer program of claim 6. A subsea assembly (100) for imaging and analysing 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 line 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), where at least one of the first subsea unit (110) and the second subsea unit (120) further comprises an on-board computer (382) configured perform the method of any one of the claims 1-3, and 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). The subsea assembly (100) according to claim 8, where the second subsea unit (120) further comprises a background element (240), and where the line 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 subsea assembly (100) according to claim 9, where the first subsea unit (110) and/or second subsea unit (120) further comprises a light source (250). The subsea assembly (100) according to claim 10, where the light source (250) is integrated in the background element (240). The subsea assembly (100) according to claim 10 or 11, 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 claims 8 - 12, where the first subsea unit (110) further comprises a filter (280) arranged in front of the line camera (200). The subsea assembly (100) according to any one of claims 8 - 13, where at least one of the first subsea unit (110) and the second subsea unit (120) further comprises a cleaning means (140) for cleaning the net (130). Use of the subsea assembly (100) according to any one of the claims 8 - 14 for imaging and analysing a net (130) or a sheet of a fish pen.
GB2401919.2A 2021-08-11 2022-08-11 Method for detecting wear of a net Pending GB2624333A (en)

Applications Claiming Priority (3)

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
NO20211001A NO20211001A1 (en) 2021-08-11 2021-08-20 Method for detecting wear of a net
PCT/NO2022/050192 WO2023018336A1 (en) 2021-08-11 2022-08-11 Method for detecting wear of a net

Publications (2)

Publication Number Publication Date
GB202401919D0 GB202401919D0 (en) 2024-03-27
GB2624333A true GB2624333A (en) 2024-05-15

Family

ID=85200918

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2401919.2A Pending GB2624333A (en) 2021-08-11 2022-08-11 Method for detecting wear of a net

Country Status (4)

Country Link
CA (1) CA3228647A1 (en)
DK (1) DK202430086A1 (en)
GB (1) GB2624333A (en)
WO (1) WO2023018336A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015110791A1 (en) * 2014-01-21 2015-07-30 Parkburn Precision Handling Systems Limited Monitoring system
NO20161708A1 (en) * 2016-10-28 2018-04-30 Haukaas John Kristian Assembly for carrying out an operation on a net
EP3617123A1 (en) * 2018-08-29 2020-03-04 Otis Elevator Company Elevator rope inspection device and method for inspecting an elevator rope
EP3617124A1 (en) * 2018-08-29 2020-03-04 Otis Elevator Company Elevator rope elongation measuring device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015110791A1 (en) * 2014-01-21 2015-07-30 Parkburn Precision Handling Systems Limited Monitoring system
NO20161708A1 (en) * 2016-10-28 2018-04-30 Haukaas John Kristian Assembly for carrying out an operation on a net
EP3617123A1 (en) * 2018-08-29 2020-03-04 Otis Elevator Company Elevator rope inspection device and method for inspecting an elevator rope
EP3617124A1 (en) * 2018-08-29 2020-03-04 Otis Elevator Company Elevator rope elongation measuring device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PASPALAKIS et al, "Automated fish cage net inspection using image processing techniques", IET Image Processsing, vol. 14(10), pages 2028-2034 *

Also Published As

Publication number Publication date
GB202401919D0 (en) 2024-03-27
DK202430086A1 (en) 2024-02-29
WO2023018336A1 (en) 2023-02-16
CA3228647A1 (en) 2023-02-16

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