KR101204419B1 - Submarine robot control system and method for controlling the same - Google Patents

Abstract

An underwater robot control system and control method for fish management are provided. Underwater robot control system for fish management according to the present invention is a underwater robot, which can swim underwater, comprising a remote communication module for remote communication with the outside and an image acquisition module for acquiring underwater image information, and the underwater robot A remote control unit for remotely controlling the movement of the robot, an information analysis unit for analyzing the underwater image information acquired from the underwater robot, setting a moving target of the underwater robot, and an information storage unit for storing the obtained underwater image information Include.

Description

Submarine robot control system and control method for fish management {SUBMARINE ROBOT CONTROL SYSTEM AND METHOD FOR CONTROLLING THE SAME}

The present invention relates to an underwater robot control system and control method for fish management.

The economic value of marine robots that can freely move in and out of the sea to collect information on the seabed or to obtain information on the seabed that is difficult to check with the naked eye is emerging. In particular, efforts are being made to preoccupy the seabed resources buried in the seabed in a situation where land and offshore oil resources are gradually exhausted. Due to lack of resources, the importance of marine exploration is increasingly being emphasized, and there is also a growing interest in active intelligent robots that can collect a variety of information.

The fish robot, developed in a more human-friendly form by emphasizing driving, intelligence and intimacy, has been developed for a long time in various countries around the world. It is showing. Through the form of entertainment and exhibitions, it not only shows interest and the possibility of replacing pets, but also has many forms of fish-like appearance through continuous research and shows similar movements with real fish with minimum driving force. Fish robots have been proposed.

On the other hand, in the coastal fish industry, efforts are made to improve the ecological adaptation ability of the stocked fish, ie, the larvae, and to activate the fish industry. . Therefore, it is necessary to enhance the adaptation capacity of the ecosystem before it is discharged from the farm, so that it can be successfully adapted to the ecosystem even after being released.

In particular, the fry are different from farmed larvae, so predators prey on ecological adaptation training because predators live in many common environments and are at greater risk. In the case of farmed fry, the adult fish, which is fed and fed without any external stimulus, does not have enough exercise, and thus has poor physical ability and poor quality of meat compared to natural fish. Therefore, there is a limit to increase in profits of fishermen.

As such, in the case of fry farmed in artificial farms, it is necessary to improve the ecological adaptability in preparation for discharge, and in the case of cultivated farmed fry, it is necessary to increase the amount of exercise by applying a certain external stimulus. As such, the necessity of managing fish by increasing the amount of exercise is not limited to pom-poms. For example, in the case of fish growing in an aquarium, a fish dealer, a home aquarium, and the like, a constant external stimulus is required. In particular, learning about escape and stealth behavior for predators is the most efficient part of ecological adaptation learning and exercise gains. Thus, there is a need for a simulated predator model that behaves similar to real predators but does not harm fish.

The present invention has been conceived based on these points, and the problem to be solved by the present invention is to increase the momentum by applying external stimulation to fish, including fish and sperm growing in an artificial environment, such as aquaculture farms, aquariums, etc. The present invention aims to provide an underwater robot control system and control method for fish management.

Another problem to be solved by the present invention is to provide an underwater robot control system and control method for fish management that can increase the amount of exercise of fish to improve the health of fish and improve meat quality.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

In order to solve this problem, the underwater robot control system for fish management according to the present invention can swim underwater, and includes an underwater robot including a remote communication module for remote communication with the outside and an image acquisition module for acquiring underwater image information. A remote controller configured to remotely control the movement of the underwater robot, an information analyzer configured to analyze the underwater image information acquired from the underwater robot, and set a moving target of the underwater robot; and store the obtained underwater image information. It includes an information storage unit.

According to the present invention, there is provided a method for controlling an underwater robot for fish management, the method including acquiring underwater image information, analyzing a distribution state of underwater fish based on the acquired underwater image information, and a dense area of the underwater fish. Determining a density, setting a moving target of the underwater robot to the dense area, moving the underwater robot, and dispersing fish concentrated in the dense area by the underwater robot to improve the density of the dense area. Lowering.

A more detailed example of the underwater robot control system and control method for fish management according to the present invention will be described later in the embodiments with reference to the drawings.

Underwater robot control system and control method for fish management according to embodiments of the present invention can improve the ecological adaptability while increasing the amount of exercise by applying an external stimulus to fish growing in an artificial environment, such as aquaculture farms, aquariums. In addition, by increasing the amount of exercise of the fish can improve the health of the fish and improve the meat quality.

The effects according to the present invention are not limited by the contents exemplified above, and more various effects are included in the present specification.

1 is a view showing the configuration of an underwater robot control system for fish management according to an embodiment of the present invention.
2 is a view showing the configuration of an underwater robot in the fish control underwater robot control system according to an embodiment of the present invention.
3 is a flowchart illustrating a method for controlling the underwater robot for fish management according to an embodiment of the present invention.
4 and 5 are views showing the distribution of the fish by the underwater robot control system for fish management in accordance with an embodiment of the present invention.
6 and 7 are views showing a change in the number of swimming of the fish by the underwater robot control system for fish management according to an embodiment of the present invention.

Advantages and features of the present invention, and methods of achieving the same will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. &Quot; and / or "include each and every combination of one or more of the mentioned items. ≪ RTI ID = 0.0 >

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms " comprises "and / or" comprising "used in the specification do not exclude the presence or addition of one or more other elements in addition to the stated element.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used in a sense that can be commonly understood by those skilled in the art. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

Hereinafter, with reference to the accompanying drawings will be described embodiments of the present invention.

1 is a view showing the configuration of an underwater robot control system for fish management according to an embodiment of the present invention, Figure 2 is a view showing the configuration of an underwater robot in an underwater robot control system for fish management according to an embodiment of the present invention. Drawing.

Underwater robot control system for fish management according to an embodiment of the present invention can swim underwater, and includes an underwater robot including a remote communication module for remote communication with the outside and an image acquisition module for acquiring underwater image information ( 100), the remote control unit 200 for remotely controlling the movement of the underwater robot 100, and the underwater image information obtained from the underwater robot 100 are analyzed to determine a moving target of the underwater robot 100. It includes an information analysis unit 300 to set, and an information storage unit 400 for storing the obtained underwater image information.

The underwater robot 100 is a robot that can swim underwater. The appearance is not limited, but it is preferable that the fish is a streamlined fish that can be recognized as a predator so that the training can be conducted in an environment similar to the actual situation, so that the training can be effectively ecologically adapted. It can also be shaped like a shark.

Conventional underwater robot has a configuration that generates a propulsion force by the propeller structure, when the propeller configuration has a form that does not generate noise because the noise caused by the rotation of the propeller may adversely affect fish, that is streamlined As a structure, it is preferable that the driving force and the direction can be changed by using a plurality of joints and tail fins. In the case of fish-type robots, the propulsion force and the mobility have the structure of the body that can achieve the maximum efficiency in the water, and the momentary rapid propulsion force can be produced. In addition, it can have a structure that can effectively control its position by changing the direction up and down, left and right or fins.

The underwater robot 100 according to the present embodiment may have a plurality of joints and tails in a streamlined body, and each joint and tail may be driven by an independent power device, for example, a servo motor, to drive propulsion in a form in which actual fish swim. It can have a structure that produces it.

Referring to FIG. 2, the underwater robot 100 is connected to the power supply unit 10 for supplying independent power, the control unit 20 for controlling the driving of the underwater robot connected to the power supply unit 10, and the control unit 20. Drive unit 50 for driving a part and the whole of the body up and down and / or left and right according to the control signal, the sensor unit 20 is connected to the control unit 20 to detect the presence of obstacles or fish in front, a remote to be described later And a communication unit 40 having a communication module for remotely transmitting and receiving a signal with the control unit 200 and an image acquisition unit 60 for acquiring underwater image information in front and transmitting image information to the outside through the communication unit 40. can do. In addition, the underwater robot 100 may include a lighting module to adjust the brightness of the underwater image information so as to obtain underwater image information having appropriate brightness that can be recognized by the image acquisition unit 60.

The power supply unit 10 supplies power for the underwater robot 100 to operate, and the driving unit 50 operates according to the signal of the control unit 20 due to the power supplied by the power supply unit 10 to operate each joint. By moving up and down and / or left and right to move the fish-shaped underwater robot 100 having a streamlined body. When the underwater robot 100 moves, the sensor unit 20 detects an obstacle in front of the front, and the controller 20 may change the driving direction of the driving unit 50 to change the direction of the underwater robot 100. .

The image acquisition unit 60 has an image acquisition module such as a camera, and thus may acquire image information within a predetermined range in front of the swimming direction. The obtained image information may be transmitted to the communication unit 40 for transmission to the outside through the control unit 20, and may be transmitted to the remote control unit 200 by a communication module provided in the communication unit 40.

The remote controller 200 remotely controls the movement of the underwater robot 100. The underwater robot 100 may communicate with the remote control unit 200 using a signal in a radio frequency area band or a short range wireless communication protocol (for example, WiFi). The remote controller 200 may control the movement of the underwater robot 100 from the outside. Therefore, the remote controller 200 may send a signal to the communication unit 40 of the underwater robot 100 to indicate the moving speed and direction of the underwater robot 100, and the signal received by the communication unit 40 may be The control unit 20 is transmitted to the driving unit 50 to control the movement of the underwater robot 100. The remote controller 200 may directly control the movement of the underwater robot 100 based on the underwater image information provided by the underwater robot 100 through a display device (not shown). The moving direction is automatically determined by the unit 300 and transmitted to the underwater robot 100 to automatically control the movement of the underwater robot 100. In particular, in the case of a large farm, it is difficult for a user to directly control all the underwater robots 100, so the latter control process may be more preferable.

Underwater image information received by the remote control unit 200 is transmitted to the information analysis unit 300, and determines the dense area of the fish based on the underwater image information. Underwater robot control system for fish management according to the present embodiment is to improve the clustering and non-moving characteristics when there is no external stimulus of aquaculture fish, by analyzing the underwater image information transmitted from the information analysis unit 300 After determining the concentrated area, the moving target of the underwater robot 100 is determined to determine the dense area, and the remote control unit 200 transmits a moving command to the underwater robot 100. The underwater robot 100 receiving the movement command drives the driving unit 50 by the controller 30 so that the underwater robot 100 can move to the movement target point. The movement command transmitted through the remote control unit 200 may include the location information of the community of the fish and the movement speed of the underwater robot. As such, when the underwater robot 100 moves to an area where fish are concentrated, the fish swarm recognizes the underwater robot 100 as a predator and moves to another area to avoid danger. Such simulations can improve the momentum and ecological adaptation of fish.

The remote control unit 200 transmits a movement command to the underwater robot 100, but after transmitting the movement command, may set an idle time for a predetermined time. During the idle time, the movement command is not sent to the underwater robot 100 and the displacement of the underwater robot 100 does not occur. This is because there is a risk of deterioration of health status due to increased stress when continuous external stimulation is applied to the fish population, and the frequency and duration of idle time may be set differently depending on the type of fish and the environment of the farm.

In addition, the information analyzer 300 may designate an appropriate area when the concentrated area of the fish is not determined based on the received underwater image information, for example, when the number of fish is small or the fish are properly dispersed and swimming. The move command can be determined to circulate it. That is, when the fish are evenly distributed in the circular farm, the underwater robot 100 may be circulated in a clockwise or counterclockwise direction. The underwater robot 100 that circulates in a clockwise or counterclockwise direction for a predetermined time may receive a movement command from the information analyzer 300 again after a predetermined time elapses.

In addition, the circulation mode may be set in the remote control unit 200 according to the user's setting. When the circulation mode is set, the underwater robot 100 is reflected without any external collision by reflecting the shape and obstacle information of the farm based on the underwater image information. It may be set to circulate in a predetermined direction at predetermined time intervals. This circulation mode can be used in a large farm, such as a large area, it is set to pass through approximately the entire space in the farm water can increase the momentum of the fish at predetermined intervals.

The information storage unit 400 may store the underwater image information received by the remote control unit 200, and may store the moving path of the underwater robot 100 determined by the information analyzer 300 to data it. Since the movement path of the underwater robot 100 is substantially the same as the dense area of the fish, it can be used as a characteristic research data of the fish.

Due to the fish control underwater robot control system according to the present embodiment, the underwater robot 100, which is a simulated predator that does not substantially harm fish while showing similar behavior to actual predators at regular intervals, is concentrated in a fish dense area. By moving to the location where it is judged, external stimulation can be applied to fish growing in artificial environments such as aquaculture farms, fish markets, and aquariums, thereby increasing the exercise capacity and improving ecological adaptation ability. In addition, by increasing the amount of exercise of the fish can improve the health of the fish and improve the meat quality.

Hereinafter, an underwater robot control method for fish management according to an embodiment of the present invention will be described with reference to FIG. 3. 3 is a flowchart illustrating a method for controlling the underwater robot for fish management according to an embodiment of the present invention.

Underwater robot control method for fish management according to the present embodiment comprises the steps of acquiring the underwater image information, analyzing the distribution state of the underwater fish based on the acquired underwater image information, and determining the dense area of the underwater fish Setting a moving target of the underwater robot to the dense area, moving the underwater robot, and dispersing fish concentrated in the dense area by the underwater robot to lower the density of the dense area. Include.

First, underwater image information is acquired (S110). The underwater image information includes underwater topographic information, obstacle location, fish distribution location, and fish dense area information.

Next, a device in which the module for analyzing the acquired underwater image information is spaced apart from the underwater robot 100, that is, the apparatus including the remote controller 200 and / or the information analyzer 300 described above is the underwater robot 100. If the location is separately located outside the transmission of the underwater image information (S120). On the other hand, when the module for analyzing the acquired underwater image information is included in the underwater robot 100, the step of transmitting the underwater image information to the outside may be omitted.

Subsequently, the distribution state of the underwater fish is analyzed based on the obtained underwater image information (S130). Based on the underwater image information, the position and density of the fish are calculated to calculate the distribution of the fish. Based on the analyzed distribution state of the fish, a dense area of the fish in the water is determined (S140). This is because, as described above, the fish lacking momentum mainly located in a certain area is concentrated, so that the concentration of the fish to increase the movement of the fish and improve the ecological adaptability.

When the dense area of the fish is determined, such movement target information is sent to the underwater robot 100. On the other hand, as described above, when the number of fish is less than the reference or even distribution of the fish, or when the user sets the circulation mode, the moving target information is not determined based on the density information of the fish, and in a certain direction A circulation command for circulating a predetermined area may be sent to the underwater robot 100. In addition to the information on the movement coordinates, the movement speed of the underwater robot 100 may be controlled by sending a command for the movement speed of the underwater robot 100.

Subsequently, the underwater robot 100 is moved based on the movement target information and / or the movement speed information transmitted to the underwater robot 100 (S160). The fish swarm that is not dense and moving in water recognizes the approaching underwater robot 100 as a predator and is distributed to other areas. Therefore, it is possible to increase the momentum of the fish, and to improve the ability to adapt to the ecological adaptation ability, in particular in the case of the stockfish, especially the threat to predators.

As described above, when the dense area of the fish is not determined, the underwater robot 100 may cycle through a predetermined range. It can be set up to evenly circulate the aquatic farms, which forces all fish to exercise due to simulated predators.

On the other hand, the underwater robot 100 may be set a predetermined idle time. This is because, as described above, if the fish is stimulated continuously for a long time, the health of the fish may be worsened due to stress. Therefore, the underwater robot may stop for a predetermined time after the underwater robot moves to lower the density of the fish concentration area.

Next, a change in the activity of the fish according to the embodiments will be described with reference to FIGS. 4 to 7. 4 and 5 are views showing the distribution of fish by the fish control underwater robot control system according to an embodiment of the present invention, Figures 6 and 7 are fish management underwater according to an embodiment of the present invention It is a figure which shows the change of the swimming frequency of the fish by a robot control system.

Figure 4 shows the distribution of fish over time before the underwater robot control system for fish management in accordance with embodiments of the present invention. Generally, the fish does not move most of the time within a predetermined range without an external stimulus, and keeps the fish in a stopped state in only a portion of the regions A1 to A3 shown. Therefore, the larvae or sperm grown in such an environment are not in good health and the ability to cope with external threats does not improve. Therefore, the meat quality of the edible fish is lower than that of the natural fish, and in particular, even if the stockfish is discharged after being discharged from the larvae, it may not be able to adapt and disappear in a short time.

Figure 5 shows the distribution of fish over time in the state that the stimulus is applied by the fish control underwater robot control system according to embodiments of the present invention. Since the underwater robot 100 is repeated at a predetermined interval to move to the dense area of the fish, the fish periodically repeats the process of avoiding the underwater robot 100 which is a mock predator. Therefore, the external stimulus is increased compared to the state without the external stimulus, so that the exercise amount is increased, and as shown in FIG. This external stimulus not only improves the ability to adapt to the ecology, but also improves the health of the fish, and the fish may exhibit meat similar to natural fish. In addition, even in the case of fish in the aquarium for non-cultivation, the health can be improved due to the periodic exercise effect to increase the life, and the activity of the fish can be increased because the activity is increased, the coronary coronary effect can be increased.

6 shows information about the number of swimming of fish before the underwater robot control system for fish management according to embodiments of the present invention operates. Since there is no external stimulus, as the number of swimming per unit time increases, the percentage of the corresponding fish decreases rapidly. That is, the amount of fish with high swimming frequency per unit time is small. Most of them record less than 10 streams per unit time, so the movement distance is short, the amount of exercise is small, and they are concentrated in a certain area.

On the other hand, Figure 7 shows the information on the number of times of swimming of the fish after the operation of the underwater robot control system for fish management in accordance with embodiments of the present invention. Since the external stimulus is periodically applied by the underwater robot 100, the amount of fish with a high swimming frequency per unit time is rapidly increased compared to FIG. This increases the amount of momentum and increases the ability to avoid predator threats in an ecosystem-like environment, which allows the fish to maintain good health, and adapts to the ecosystem for a certain period of time even when the meat is improved and released. The odds of surviving will increase.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, the present invention is not limited to the above embodiments, and may be manufactured in various forms within the scope of the present invention, and the present invention Those skilled in the art will understand that it can be implemented in other specific forms without changing the technical spirit or essential features of the present invention, the embodiments described above are exemplary in all respects and limited It is not limited to form.

100: underwater robot
200: remote control unit
300: Information Analysis Department
400: information storage unit

Claims (12)

An underwater robot capable of swimming underwater and configured to include a remote communication module for remote communication with the outside and an image acquisition module for acquiring underwater image information;
A remote control unit for remotely controlling the movement of the underwater robot;
An information analyzer configured to analyze the underwater image information acquired from the underwater robot and to set a moving target of the underwater robot; And
An information storage unit for storing the acquired underwater image information,
The information analysis unit sets a dense area of the fish based on the distribution state of the fish in the underwater image information, the underwater robot control system for fish management. The method of claim 1,
The underwater robot is a fish control robot for fish management communication with the remote control via a signal in the radio frequency range. The method of claim 1,
The underwater robot control system for fish management underwater fish communicates with the remote control unit using a short range wireless communication protocol. The method of claim 1,
The underwater robot includes a lighting module, the underwater robot control system for fish management to adjust the brightness of the underwater image information. The method of claim 1,
The underwater robot control system for a fish management including a plurality of joints. delete Obtaining underwater image information;
Analyzing a distribution state of underwater fish based on the obtained underwater image information;
Determining a dense area of fish underwater;
Setting a moving target of the underwater robot to the dense area;
Moving the underwater robot;
Dispersing the fish concentrated in the dense area by the underwater robot lowering the density of the dense area, fish control underwater robot control method. The method of claim 7, wherein
The analyzing of the distribution state is a fish management method for controlling the underwater robot made remotely from the remote control unit of the position separated from the underwater robot. 9. The method of claim 8,
Prior to analyzing the distribution, the underwater image information further comprises the step of transmitting to the remote control fish management underwater robot control method. 9. The method of claim 8,
And transmitting the set movement target from the remote control unit to the underwater robot before the moving of the underwater robot. The method of claim 7, wherein
Prior to moving the underwater robot, fish control method for a fish management further comprising the step of determining the moving speed of the underwater robot. The method of claim 7, wherein
After the step of lowering the density, the underwater robot for the fish management method further comprising the step of stopping the underwater robot for a predetermined time.

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