JP7107780B2 - System for grasping bottom-of-water organisms and method for grasping bottom-of-water organisms - Google Patents

Description

The present invention relates to a bottom-of-water organism observation system and a bottom-of-water organism observation method for observing the degree of coverage of bottom-of-water organisms such as seaweed, seaweed (seaweeds), and shellfish growing on the seabed.

Underwater organisms such as seaweed, seaweed (seaweeds), sea urchins, shellfish, and other underwater organisms are observed and photographed by divers diving to understand the situation. BACKGROUND ART There is known a technique for grasping the state of seaweed cover in a sea area by taking photographs or the like and managing a large number of photographic data. In diving work, there are restrictions on diving time and movement and movement due to water resistance and tidal currents, and the current situation is that there are differences in work time and work accuracy depending on the diver's ability.

For this reason, there have been conventionally proposed techniques for grasping the state of seaweed covering in sea areas using an underwater traveling video system while minimizing the restrictions imposed on humans (for example, Patent Document 1). By using an underwater traveling video system that can shoot underwater, it is possible to measure the degree of coverage of seaweeds by taking pictures in a wide range based on information on seaweeds.

However, the technique of Patent Document 1 has the problem that it takes time and effort to extract the necessary images (images of seaweeds) from the acquired images and to associate the extracted images with their positions. Met. In addition, large-scale and expensive equipment such as a horizontal thrust force generator, a vertical thrust force generator, and a control device for controlling photographing and movement have been required.

JP-A-2002-58370

SUMMARY OF THE INVENTION The present invention has been made in view of the above situation, and provides a system and a method for understanding bottom-of-water organisms that can obtain necessary images of bottom-of-water organisms in association with their positions without using large-scale equipment. intended to provide

In order to achieve the above object, a system for grasping bottom-of-water organisms according to claim 1 of the present invention comprises: frame body means for specifying a frame portion surrounding an area for photographing bottom-of-water organisms that is moved up and down in water; a photographing means for continuously photographing images of a range of parts at predetermined intervals; a position recording means for recording the water depth position and the horizontal position of the frame means together with the time; and the water depth position recorded by the position recording means. and matching means for matching the horizontal position with the image captured by the photographing means, wherein the matching means matches the water depth position and the horizontal position to the desired bottom of the water. A selection means is provided for selecting a necessary image in which the information of the organism is captured, and the selection means selects the image at the time when the frame body means reaches the bottom of the water from a predetermined water depth before reaching the bottom of the water. It is characterized in that a predetermined depth of water before reaching the bottom of the water selected as the necessary image is set as the maximum height of the bottom organism .

In the present invention according to claim 1, the frame means is moved up and down in the water, and the images of aquatic organisms on the bottom of the water are continuously photographed while recording the water depth and horizontal position. By matching the horizontal position, the position can be associated for multiple images of the bottom.
Then, it is possible to select a necessary image in which desired information on a bottom-of-water organism is photographed from an image in which the water depth and horizontal position are matched.
In addition, it is possible to select, as the necessary image, the image at the time when the frame means reaches the bottom of the water from a predetermined water depth before reaching the bottom of the water. As a bottom organism, for example, it can be applied as a system for obtaining an image of seaweed. Obtainable.

As a result, it is possible to obtain the necessary images of the bottom organisms in relation to their position without the use of extensive equipment.

Further, the system for understanding bottom-of-water organisms according to claim 2 of the present invention is the system for grasping bottom-of-water organisms according to claim 1 , wherein information about the recorded horizontal position of the required image selected by the selection means is provided. and display means for displaying the status of the necessary image on the map.

According to the second aspect of the present invention, by displaying the conditions of the necessary images on the map, it is possible to grasp the conditions of the bottom-of-water organisms by checking the map, and to easily obtain necessary information. . As for the necessary images, for example, different types of dots are displayed on the map according to the amount of underwater organisms and the shooting time (time), and the image corresponding to the clicked dot is displayed by clicking the dot on the map. is displayed in another frame.

Further, according to claim 3 of the present invention, there is provided a system for grasping bottom-of-water organisms according to claim 1 or claim 2 , wherein the underwater is in the sea, and the bottom-of-water organisms are seaweed or seagrass. characterized by being

In the present invention according to claim 3 , it is possible to grasp the situation of seaweeds and seaweeds (seaweeds) in the sea.

According to a fourth aspect of the present invention, there is provided a method for ascertaining bottom-of-water organisms for achieving the above-described object, in which images of the bottom of the water are continuously photographed while recording water depth and horizontal position, and the recorded water depth is compared with the photographed images. , matching the horizontal positions, selecting and selecting a necessary image in which information of the bottom-bottom organisms from the water depth at which the bottom-bottom organisms are at their maximum height to the bottom of the water is captured from the images obtained by matching the water depth and the horizontal position; The present invention is characterized in that the situation of the necessary image obtained is displayed on a map.

In the present invention according to claim 4 , images of aquatic organisms on the bottom of the water are continuously photographed while recording the water depth and horizontal position, and by matching the recorded water depth and horizontal position with the photographed images, By associating positions with a large number of images, it becomes possible to obtain the necessary images of the bottom-of-the-bottom aquatic organisms by associating them with the positions without using large-scale equipment.

INDUSTRIAL APPLICABILITY The system and method for grasping bottom-of-water organisms of the present invention make it possible to obtain necessary images of bottom-of-water organisms in association with positions without using large-scale equipment.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram of the overall situation of a bottom-of-water organism grasping system according to an embodiment of the present invention; It is a schematic block diagram of an injection device. 3 is a block configuration diagram of control means; FIG. It is a graph of the relationship between water depth and time. FIG. 4 is a display explanatory diagram of display means;

The system for grasping bottom-of-water organisms and the method for grasping bottom-of-water organisms, as bottom-of-water organisms, include seaweeds and seaweeds (seaweeds), for example, large-scale images of the growth conditions (covering conditions) of seaweeds in seaweed beds. It is a technology that can be obtained without using expensive equipment. The field of grasping aquatic organisms is not limited to seaweed, but can be applied to techniques for obtaining images for confirming the growth status of seaweed, sea urchins, and shellfish.

FIG. 1 shows the overall situation of the system for grasping underwater organisms according to one embodiment of the present invention, FIG. 2 shows the schematic configuration of the input device, FIG. 3 shows the block configuration of the control means, and FIG. 4 shows the necessary image selection. FIG. 5 shows a graph of the relationship between water depth and time used for this purpose, and an explanation of the display of the display means.

Based on FIG. 1, the overall situation of the system for understanding bottom-of-water organisms will be described.

As shown in the figure, the system for understanding bottom-of-water organisms has a vessel 2 that navigates on the sea in a seaweed bed 1 . The vessel 2 is equipped with a loading device 3 to be thrown into the seabed, and the navigation of the vessel 2 and the loading and withdrawal of the loading device 3 to the seabed are carried out in conjunction with each other. The injection device 3 is provided with a camera 4 as a photographing device, and the camera 4 continuously takes pictures of the seabed at predetermined intervals (for example, every one to several seconds). In addition, the injection device 3 is provided with a water depth gauge 6 to record the water depth position (position recording means).

A control means 7 is mounted on the ship 2 , and image data captured by the camera 4 , GPS device 5 (satellite, receiver, etc.), and recorded information of the water depth gauge 6 are input to the control means 7 . In the control means 7, the image photographed by the camera 4, the water depth position, and the horizontal position are compared (matched: matching means). The collated data is classified (grouped) by sea area and stored in the control means 7 .

In addition, without installing the control means 7 on the ship 2, the data of the image taken by the camera 4, the GPS device 5 (satellite, receiver, etc.: position recording means), and the recorded information of the water depth gauge 6 are recorded as log data. It is also possible to provide a means for storing log data as a log data and manage the information of the log data at a predetermined processing facility. By managing log data, it becomes possible to manage data from many sea areas in one processing facility.

The configuration of the charging device 3 will be specifically described with reference to FIG.

As shown in the figure, the injection device 3 is connected to a vessel 2 (see FIG. 1) via a rope 12, and the rope 12 is paid out and hoisted to be thrown into the seabed and hoisted up.

In the input device 3, a circular horizontal frame member 15 (frame portion: frame body means ) are provided. A support frame 16 (frame means) is provided on the upper side of the horizontal frame member 15 , and a camera 4 for photographing the range of the horizontal frame member 15 is attached to the upper end of the support frame 16 .

It should be noted that it is also possible to apply a frame function for specifying the photographing range of the camera 4 without providing the horizontal frame member 15 as the frame portion for specifying the photographing range of the seaweed 11 (see FIG. 1) of the seaweed bed 1. is. Further, the horizontal frame member 15 is not limited to a circular shape, and may be rectangular, triangular, or polygonal.

A receiver 17 of the GPS device 5 is attached to the vessel 2, and the horizontal position (latitude/longitude) of the camera 4 (the injection device 3) is recorded together with the time. A water depth gauge 6 is attached to the horizontal frame member 15, and the position (water depth) of the horizontal frame member 15 is recorded.

The image information captured by the camera 4, the horizontal position (latitude and longitude) for each time obtained by the receiver 17, and the water depth information of the water depth gauge 6 are sent to the ship 2 (see Fig. 1) via a communication cable or the like. It is sent to the control means 7 (see FIG. 1). Information about the relationship between water depth and time (information shown in FIG. 4 to be described later) is stored in the control means 7 together with image information captured by the camera 4 .

The input device 3 is moved up and down in the sea of the seaweed bed 1, and the seaweed 11 (see FIG. 1) on the seabed is continuously photographed while recording the water depth and horizontal position (latitude and longitude). By matching the water depth and horizontal position (latitude and longitude), it is possible to associate positions with many images of the seabed of the seaweed bed 1 .

The functions of the control means 7 will be specifically described based on the block configuration of FIG. 3, the graph of the relationship between water depth and time of FIG. 4, and the display status of the display means of FIG.

As shown in FIG. 3, the control means 7 is provided with a storage means 21, and an image captured by the camera 4, the horizontal position (latitude and longitude) for each time, and the water depth information of the water depth gauge 6 are stored in the storage means 21. stored in In the storage means 21, the image captured by the camera 4 is collated with the water depth position and the horizontal position, and the collated data are classified (groups 1, 2, 3, . . . ) for each sea area and stored. be.

The control means 7 is provided with a selection storage means 22, and the selection storage means 22 stores necessary images as extracted photographs among the images classified (grouped) and stored by the storage means 21 for each sea area. . That is, from the images classified (grouped) for each sea area by the storage means 21 and stored, the selection means 23 selects necessary images in which desired information is captured.

The selecting means 23 selects an image at the time when the horizontal frame member 15 (see FIG. 2) reaches the seabed from a predetermined water depth (maximum height of the seaweed 11) before reaching the seabed as a necessary image. .

That is, as shown in FIG. 4, the vertical movement of the loading device 3 starts to descend at time t0 and reaches the seabed at time t2. When the maximum height of the seaweed 11 in this sea area (for example, group 1) and the time of shallow depth from the seabed is set to t1, the image of the time indicated by the dotted line in the figure from time t1 to time t2 is group 1 is selected as the required image of the ocean area.

Similarly, while the injection device 3 repeats vertical movement, the time indicated by the dotted line in the figure from time t3 to time t4 in the desired sea area (eg, group 2), in the desired sea area (eg, group 3) The images at the time indicated by the dotted line in the figure from time t5 to time t6 are selected as the necessary images of groups 2 and 3. FIG.

As shown in FIG. 3, the necessary images of the group selected and classified by the selection means 23 are sent to the data organizing means 24, and the positions of the classified (grouped) necessary images are collated with the map. . That is, the necessary images of groups 1, 2, 3, .

The necessary images sorted by the data sorting means 24 are recorded on the actual map by the map recording means 25 , and the information recorded on the map is output to the display means 26 of the control means 7 . That is, the display means 26 is provided for displaying the status of the necessary image selected by the selecting means 23 on the map based on the recorded horizontal position information.

By displaying the state of the necessary image on the map, the state of the seaweed 11, for example, the degree of coverage, can be grasped by checking the map, and necessary information can be easily obtained. As the state of the necessary image, for example, dots of different types are displayed on the map according to the amount of seaweed 11 and the time (time) of photographing, and by clicking a dot on the map, an image corresponding to the clicked dot is displayed. is displayed in another frame.

That is, as shown in FIG. 5, different types of dots (circles with different color densities such as .circle-marks) are displayed on the map according to the amount of seaweed 11 and the time (time) of photographing. , images 31 and 32 corresponding to the clicked dot can be displayed in separate frames. Images 31 and 32 show the seaweed 11 within the horizontal frame member 15 .

In the images 31 and 32, only the seaweed 11 in the range of the horizontal frame member 15 is displayed. It is also possible to display 15 shapes.

For example, in the image 31 displayed by clicking the dot marked with a circle, it can be confirmed that the seaweed 11 covers a low degree, and the sea area marked with a circle has less seaweed 11 . In addition, it can be confirmed that the image 32 displayed by clicking the dots marked with ● has a high degree of coverage of the seaweed 11, and that there are many seaweeds 11 in the sea areas marked with dots marked with ●.

Incidentally, when a plurality of images 31 and 32 exist for one dot, the images 31 and 32 can be intermittently displayed in chronological order. As information of the images 31 and 32, as shown in FIG. 5, it is preferable to simultaneously display data 33 such as date, time and latitude/longitude.

In the system for grasping underwater organisms with the above configuration, images of the seabed are continuously photographed by the camera 4 while recording the water depth and horizontal position, and the recorded water depth and horizontal position are matched with the photographed images. Multiple images of the seafloor can be stored with associated locations. Therefore, it is possible to obtain a necessary image that allows confirmation of the degree of coverage of the seaweed 11 on the seabed in association with the position without using large-scale equipment.

An image of water depth from the height of the seaweed 11 to the bottom of the sea is selected from the obtained images as a necessary image, and the selected necessary image is displayed on the map with different kinds of dots, so that the map can be confirmed. Accordingly, the degree of coverage of the seaweed 11 can be easily confirmed. In addition, by clicking a dot or the like, it becomes possible to check the photograph of the required image on the spot, and the actual covering degree of the seaweed 11 can be visually checked.

As described above, images of the seabed are continuously photographed by the camera 4, and the depth of water and the horizontal position are matched to obtain the necessary images. It is possible to observe the information (covered place, degree of coverage) of seaweeds, seaweeds (seaweeds), sea urchins, shellfish, and other aquatic organisms growing on the seafloor without requiring labor such as image association. can be confirmed.

INDUSTRIAL APPLICABILITY The present invention can be used in the industrial field of systems for grasping bottom-of-water organisms and methods for grasping bottom-of-water organisms.

1 Seaweed bed 2 Vessel 3 Input device 4 Camera 5 GPS device 6 Water depth gauge 7 Control means 11 Seaweed 12 Cord body 15 Horizontal frame material 16 Support frame 17 Receiver 21 Storage means 22 Selection storage means 23 Selection means 24 Data arrangement means 25 Map recording means 26 display means 31, 32 image 33 data

Claims (4)

frame body means for specifying a frame portion that is moved up and down in water and surrounds a range for photographing underwater organisms;
a photographing means for continuously photographing images of the range of the frame portion in the direction of the bottom of the water at predetermined intervals;
position recording means for recording the water depth position and horizontal position of the frame means together with time;
matching means for matching the water depth position and the horizontal position recorded by the position recording means with the image captured by the imaging means;
Selecting means for selecting a necessary image in which desired information on a bottom-of-water organism is photographed from the images for which the water depth position and the horizontal position are matched by the matching means,
The selection means is
The frame means selects the image at the time from a predetermined water depth before reaching the bottom of the water to the time of reaching the bottom of the water as the required image;
A predetermined water depth before reaching the bottom of the water is defined as the maximum height of the bottom organism.
A system for grasping bottom-of-water organisms characterized by: Claim 1 In the bottom-water organism grasping system described in
display means for displaying the status of the necessary image on a map based on the recorded horizontal position information for the necessary image selected by the selecting means;
A bottom-water organism grasping system characterized by: Claim 1 or Claim 2 In the bottom-water organism grasping system described in
The water is in the sea, and the bottom organism is seaweed or seaweed.
A bottom-water organism grasping system characterized by: Continuously shoot images of the bottom of the water while recording the water depth and horizontal position,
Matching the recorded water depth and horizontal position with the captured image,
selecting a necessary image in which information of the bottom living organism is captured from the water depth at which the bottom living organism is the maximum height to the bottom of the water, from the images obtained by matching the water depth and the horizontal position;
A method for grasping underwater organisms, characterized in that the conditions of the selected necessary images are displayed on a map.

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