WO2020232600A1

WO2020232600A1 - Target following-type aquaculture monitoring apparatus and method

Info

Publication number: WO2020232600A1
Application number: PCT/CN2019/087619
Authority: WO
Inventors: 刘浩源; 郑玉军; 郑瑞云; 孙立晶; 田丙奇
Original assignee: 唐山哈船科技有限公司; 唐山圣因海洋科技有限公司
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2020-11-26

Abstract

A target following-type aquaculture monitoring apparatus and method. The apparatus comprises: a main body (1), an outer side of an upper part of the main body (1) being provided with a transparent horizontal annular sealed channel (4) and an annular sliding rod at a corresponding location of an inner part, the annular sliding rod being provided thereon with a moving magnet; an information collecting module (3), which comprises a detecting portion (31) at an outer side and a magnetic portion at an inner side, the magnetic portion at the inner side being paired with the moving magnet on the sliding rod; a solar power generating module (2), which comprises a light sensor used for detecting lighting information; a computation module (9); a steering module (11); a propulsion module (8); and a drive module (6) of the information collecting module, which pushes the moving magnet toward an aquaculture object. By means of keeping the solar power generating module (2) facing toward sunlight, and adjusting the moving direction of the apparatus and the direction in which the data collecting module is facing, information of an aquaculture object may be collected in real time.

Description

Target following type aquaculture monitoring device and method

Technical field

The invention relates to the field of aquaculture, in particular to a target-following aquaculture monitoring device and method.

Background technique

The oceans and lakes are rich in biological resources and contain a large number of fishes that can be used as human food. Research on aquaculture products can bring a lot of help to aquaculture. Therefore, it is very necessary to monitor aquaculture products. There has been an incident in which shells farmed by a listed company ran away, causing huge economic losses. However, if the aquaculture products are continuously tested, the power supply of the testing device is a problem.

Therefore, there is a need for an aquaculture monitoring device and method that continuously follows the target.

Summary of the invention

Aiming at the shortcomings of the prior art, the present invention proposes a target-following aquaculture monitoring device and method, which can continuously track aquaculture products, record the life process and growth process of aquaculture products, and effectively monitor the aquaculture products.

Therefore, in the first aspect of the present invention, a target-following aquaculture monitoring device is provided. The device includes a main body, a transparent horizontal annular closed channel is provided on the outer side of the upper part of the main body, and an annular slide is provided at the corresponding inner part. Rod, the sliding rod is provided with a moving magnet:

An information collection module, the information collection module is located in the horizontal annular closed channel, and is used to collect aquaculture information. The information collection module includes an outer detection part and an inner magnetic part, and the inner magnetic part is connected to the The pair of moving magnets on the slider;

A solar power generation module, the solar power generation module is fixed on the upper part of the main body, and is used to convert light energy into electric energy to supply power to the device, and the solar power generation module includes a light sensor for detecting light information;

A calculation module, which is located inside the main body, calculates the predicted motion trajectory of the device in real time based on the aquaculture product information to track the aquaculture product, and calculates the predicted steering of the device based on the illumination information Amplitude so that the solar power module faces the direction of sunlight;

A steering module, which is located in the middle of the main body and is used to drive the main body to turn based on the predicted steering amplitude of the device;

A propulsion module, the propulsion module is located on the main body, and is used to advance the main body to move based on the predicted movement trajectory of the device;

An information acquisition module drive module, the information acquisition module drive module is located inside the main body, and is used to push the magnet based on the predicted movement track of the device, and the magnet drives the information acquisition module toward the aquaculture .

Preferably, the device is waterproof.

Preferably, the magnet is driven to slide on the sliding rod by a motor.

Preferably, there are one or more information collection modules.

Preferably, the information collection module includes a camera device.

Preferably, the information collection module is configured to perform image recognition.

Preferably, the device further includes a rechargeable battery for storing the electrical energy of the solar power generation module, and when the solar power generation module is not generating power or generating power is insufficient, powering the device is provided.

Preferably, the propulsion module is rotatably arranged at the bottom of the main body, and the propulsion module is preferably steerable.

Preferably, there are two steering modules, which adjust the main body to turn clockwise and counterclockwise respectively.

Preferably, the device further includes a wireless communication module for transmitting the aquaculture product information to a data center, such as a cloud center.

Preferably, the wireless communication module includes a Wi-Fi module or a mobile network module.

Preferably, the illumination information includes the direction of sunlight.

Preferably, the aquaculture product information includes the angle, distance, movement direction, and movement speed of the aquaculture product and the device.

In the second aspect of the present invention, a method for tracking aquaculture products using the device of the first aspect of the present invention is provided. The device includes the information collection module, the solar power module, the calculation module, and the The steering module and the propulsion module, the solar power generation module supplies power to the device, and the method includes:

(1) Real-time collection and tracking of aquaculture product information through the information collection module;

(2) Through the calculation module, calculate the predicted motion trajectory of the device in real time based on the aquaculture product information to track the aquaculture product;

(3) Drive the propulsion module based on the predicted movement trajectory of the device to advance the movement of the device through the propulsion module and push the magnet, which drives the information collection module towards the aquaculture Thing

(4) The solar power generation module includes a light sensor, and light information is detected by the light sensor;

(5) Through the calculation module, calculate the predicted turning amplitude of the device based on the illumination information so that the solar power generation module faces the direction of sunlight;

(6) The steering module is driven based on the predicted steering amplitude of the device to realize the steering of the device through the steering module.

Preferably, in (3), driving the propulsion module includes turning the propulsion module and moving the propulsion module forward.

Preferably, in (1), the aquaculture product information is collected by a camera device.

Preferably, in (1), the tracked aquaculture product information is collected in real time through one or more of the information collection modules.

Preferably, in (1), the information collection module includes a camera device.

Preferably, in (1), the aquaculture product information includes an image of the aquaculture product, and further includes recognizing the image of the aquaculture product.

Preferably, in (3), the propulsion module is rotatably arranged at the bottom of the main body.

Preferably, in (5), there are two steering modules to adjust the main body to turn clockwise and counterclockwise respectively.

Preferably, the method further includes (7), transmitting the aquaculture product information to a data center, such as a cloud center, through wireless communication.

Preferably, the wireless communication includes via Wi-Fi or a mobile network.

Preferably, in (4), the illumination information includes the direction of sunlight.

Preferably, in (1), the aquaculture product information includes the angle, distance, movement direction, and movement speed of the aquaculture product and the device.

The target-following aquaculture monitoring device and method of the present invention adjust the movement direction of the device and the orientation of the information collection device while keeping the solar power generation module always facing the sun, so as to collect aquaculture product information in real time.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on the structures shown in these drawings.

Figure 1 is a schematic structural diagram of an embodiment of the target-following aquaculture monitoring device of the present invention;

2 is a schematic diagram of the horizontal annular closed channel and the annular sliding rod of an embodiment of the target following aquaculture monitoring device of the present invention;

Fig. 3 is a schematic flowchart of an embodiment of the target-following monitoring method of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain that it is in a specific posture (as shown in the drawings). If the specific posture changes, the relative positional relationship, movement, etc. of the components below will also change the directional indication accordingly.

In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that this combination of technical solutions does not exist. , Is not within the protection scope of the present invention.

Fig. 1 shows a schematic structural diagram of an embodiment of a target following type aquaculture monitoring device. Fig. 2 is a schematic diagram of an embodiment of the target-following aquaculture monitoring device of the present invention with a horizontal ring-shaped closed channel and a ring-shaped sliding rod (Fig. 2A and Fig. 2B). As shown in Figure 1, the device includes a main body 1, a solar power generation module 2, an information acquisition module 3, an information acquisition module driving module 6, a propulsion module 8, a calculation module 9 and a steering module 11.

In Figures 1 and 2, the main body 1 is a waterproof sealing body to prevent internal components from being damaged by water. The main body 1 has an upper part and a lower part, and the working state in the water is the upper part upward and the lower part downward. This can be conveniently achieved by properly arranging the components of the main body.

The upper outer part of the main body 1 is provided with a horizontal ring-shaped closed channel 4, the horizontal ring-shaped closed channel 4 is a transparent structure, the information collection module 3 can collect data, and the information collection module driving module 6 is provided at the corresponding internal position, including a ring slide The sliding rod is provided with a moving magnet (see Figure 2A).

In Figures 1 and 2, the information collection module 3 is located on the upper part of the main body 1, and the information collection module 3 is located in the horizontal annular closed channel 4 for collecting aquaculture information. The information collection module 3 includes an outer detection part 31 and an inner magnetic part, and the inner magnetic part is paired with the moving magnet on the sliding rod (see FIG. 2B). The information collection module 3 may be one or more. For example, the information collection module 3 includes a camera device, which is used to collect aquaculture product information. The information of the aquaculture product includes the angle, distance, movement direction, and movement speed of the device. In an example, the aquaculture product information includes an image of the aquaculture product, and further includes identifying the image of the aquaculture product. Therefore, the information collection module 3 can be configured to perform image recognition. Image recognition can be used to identify the characteristics of tracking aquaculture products, such as identifying the stripe characteristics or size and quantity characteristics of one or more fish in aquaculture products, thereby reducing the possibility of tracking wrong aquaculture products. In a preferred example, one or more fish in the aquaculture may have a mark on their bodies to facilitate identification. For example, for the research of specific aquaculture products, if conditions permit, one or more fish can be marked with special patterns, or the fish can be fluorescent. There may also be three or more camera devices, which are distributed on the upper part of the main body 1, so as to realize that the aquaculture product can be monitored by changing the various movement directions of the aquaculture product. For example, the position of aquaculture products facing or opposite to the sun.

In Figures 1 and 2, the solar power generation module 2 is located on the upper part of the main body 1, and is used to convert light energy into electrical energy to supply power to the device. Generally, in order to reduce costs and make room for the information collection module 3, the solar cell is only installed on the upper half or third of the main body 1. In an example, the solar power generation panels of the solar power generation module 2 are not continuous, and are divided into two or three parts. The solar power module 2 includes a light sensor for detecting light information; there may be three or more directional light sensors for detecting sunlight, which are distributed on the upper part of the main body 1, and the sun can be controlled by multiple light sensors. Positioning of the light direction.

In an example, the device further includes a rechargeable battery 7 for storing electric energy of the solar power generation module 2 and supplying power to the device when the solar power generation module 2 is not generating power or is not generating enough power.

In FIGS. 1 and 2, the calculation module 9 is located inside the main body 1, and calculates the predicted motion trajectory of the device in real time based on the aquaculture product information to track the aquaculture product, and based on the illumination information The predicted turning amplitude of the device is calculated so that the solar power generation module 2 faces the direction of sunlight. Aquaculture is moving. In order to track the aquaculture, the device needs to move with the movement of the aquaculture. The calculation module 9 is based on the information of the aquaculture, such as the angle and distance from the device. And movement direction, movement speed. Through these, the steering angle and moving speed of the main body 1 can be adjusted to maintain a proper distance from the aquaculture. The illumination information includes the direction of sunlight. The direction of sunlight can be acquired by a light sensor. The direction of sunlight can be determined more accurately by two or more light sensors, so as to generally adjust the orientation of the main body 1. Make the solar power generation module 2 face the direction of sunlight.

In FIG. 1 and FIG. 2, the steering module 11 is located in the middle of the main body 1 and is used to drive the main body 1 to turn based on the predicted steering amplitude of the device. In a preferred example, there are two steering modules 11, which adjust the main body 1 to turn clockwise and counterclockwise respectively. The steering module 11 may use a paddle, which generates power through the rotation of the paddle.

In FIG. 1 and FIG. 2, the propulsion module 8 is located on the main body 1 and is used for propelling the main body 1 to move based on the predicted movement trajectory of the device. The propulsion module 8 may be one or more, for example, two as shown in the figure. The propulsion module 8 may adopt a paddle, which generates power through the rotation of the paddle. The propulsion module 8 is rotatably arranged at the bottom of the main body 1. In an example, the propulsion module 8 can be steered, that is, it can rotate around the connecting rod 81 with the main body 1, so as to realize that the direction of movement is changed under the condition that the main body 1 faces the same, and the solar power generation is not changed. Module 2 receives sunlight and can adjust the direction of movement according to the changes of aquaculture products.

In Figures 1 and 2, the information acquisition module driving module 6 is located inside the main body, and is used to push the magnet based on the predicted motion trajectory of the device, and the magnet drives the information acquisition module toward the Aquaculture. 2A shows the information acquisition module 3 in the horizontal annular closed channel 4, and the annular slide bar and the information acquisition module driving module 6; FIG. 2B exemplarily shows the detection part 31 and the inner side of the information acquisition module 3 The magnetic part of the inner side is coupled with the moving magnet on the slide bar (the NS dual is shown as an example in the figure). In one example, the magnet is driven to slide on the sliding rod by a motor.

In a preferred example, the device further includes a wireless communication module 5 located inside the main body 1 for transmitting the aquaculture product information to a data center, such as a cloud center. In an example, the wireless communication module includes a Wi-Fi module or a mobile network module.

FIG. 3 is a schematic flowchart of an embodiment of the target-following monitoring method S100 of the present invention. The target-following monitoring method S100 can be implemented by the target-following aquaculture monitoring device shown in FIG. 1. The target-following monitoring method S100 includes: (S110) real-time collection and tracking of aquaculture product information through the information collection module 3; (S120) through the calculation module 9, real-time calculation of the aquaculture product information based on the aquaculture product information The predicted movement trajectory of the device to track the aquaculture; (S130) based on the predicted movement trajectory of the device, drive the propulsion module to advance the movement of the device through the propulsion module and push the magnet, so The magnet drives the information collection module toward the aquaculture; (S140) the solar power module 2 includes a light sensor, and the light sensor detects light information; (S150) the calculation module 9 is based on the The illumination information calculates the predicted turning amplitude of the device so that the solar power generation module 2 faces the direction of sunlight; (S160) driving the turning module based on the predicted turning amplitude of the device, so as to achieve all results through the turning module The steering of the device.

In S110, aquaculture product information can be collected through one or more of the information collection modules 3. For example, the information collection module 3 includes a camera device, which is used to collect aquaculture product information. There may be three or more light sensors, which are distributed on the upper part of the main body 1, and the positioning of the direction of sunlight can be achieved through multiple light sensors. The information of the aquaculture product includes the angle, distance, movement direction, and movement speed of the device. In an example, the aquaculture product information includes an image of the aquaculture product, and further includes identifying the image of the aquaculture product. Therefore, the information collection module 3 can be configured to perform image recognition. Image recognition can be used to identify the characteristics of tracking aquaculture products, such as identifying the stripe characteristics or size and quantity characteristics of one or more fish in aquaculture products, thereby reducing the possibility of tracking wrong aquaculture products. In a preferred example, one or more fish in the aquaculture may have a mark on their bodies to facilitate identification. For example, for the research of specific aquaculture products, if conditions permit, one or more fish can be marked with special patterns, or the fish can be fluorescent. There may also be three or more camera devices, which are distributed on the upper part of the main body 1, so as to realize that the aquaculture product can be monitored by changing the various movement directions of the aquaculture product. For example, the position of aquaculture products facing or facing the sun.

In S120, the calculation module 9 is located inside the main body 1, and calculates the predicted motion trajectory of the device in real time based on the aquaculture product information to track the aquaculture product. Aquaculture is moving. In order to track the aquaculture, the device needs to move with the movement of the aquaculture. The calculation module 9 is based on the information of the aquaculture, such as the angle and distance from the device. And movement direction, movement speed. Through these, the steering angle and moving speed of the main body 1 can be adjusted to maintain a proper distance from the aquaculture.

In S130, driving the propulsion module includes turning the propulsion module and making the propulsion module forward. The propulsion module 8 may be one or more, for example, two as shown in the figure. The propulsion module 8 may adopt a paddle, which generates power through the rotation of the paddle. The propulsion module 8 is rotatably arranged at the bottom of the main body 1. In an example, the propulsion module 8 can be steered, that is, it can rotate around the connecting rod 81 with the main body 1, so as to realize that the direction of movement is changed under the condition that the main body 1 faces the same, and the solar power generation is not changed. Module 2 receives sunlight and can adjust the direction of movement according to the changes of aquaculture products.

In S130, it further includes: pushing the magnet based on the predicted movement trajectory of the device, and the magnet drives the information collection module toward the aquaculture. 2A shows the information acquisition module 3 in the horizontal annular closed channel 4, and the annular slide bar and the information acquisition module driving module 6; FIG. 2B exemplarily shows the detection part 31 and the inner side of the information acquisition module 3 The magnetic part of the inner side is coupled with the moving magnet on the slide bar (the NS dual is shown as an example in the figure). In one example, the magnet is driven to slide on the sliding rod by a motor.

In S140, the solar power generation module 2 includes a light sensor, and light information is detected by the light sensor. The illumination information includes the direction of sunlight. The direction of sunlight can be acquired by a light sensor. The direction of sunlight can be determined more accurately by two or more light sensors, so as to generally adjust the orientation of the main body 1. Make the solar power generation module 2 face the direction of sunlight.

In S150, the calculation module 9 calculates the predicted turning amplitude of the device based on the illumination information so that the solar power generation module 2 faces the direction of sunlight.

In S160, the steering module is driven based on the predicted steering amplitude of the device to realize the steering of the device through the steering module. The steering module 11 is located in the middle of the main body 1 and is used to drive the main body 1 to steer based on the predicted steering amplitude of the device. In a preferred example, there are two steering modules 11, which adjust the main body 1 to turn clockwise and counterclockwise respectively. The steering module 11 may use a paddle, which generates power through the rotation of the paddle.

In a preferred example, the method further includes transmitting the aquaculture product information to a data center, such as a cloud center, through wireless communication. The wireless communication may include Wi-Fi or mobile network.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims

A target-following aquaculture monitoring device, which is characterized in that the device comprises a main body, a transparent horizontal annular closed channel is arranged on the outer side of the upper part of the main body, and an annular sliding rod is arranged at the corresponding inner part, and the sliding rod is arranged There are moving magnets:

An information collection module, the information collection module is located in the horizontal annular closed channel, and is used to collect aquaculture information. The information collection module includes an outer detection part and an inner magnetic part, and the inner magnetic part is connected to the The pair of moving magnets on the slider;

A solar power generation module, the solar power generation module is fixed on the upper part of the main body, and is used to convert light energy into electric energy to supply power to the device, and the solar power generation module includes a light sensor for detecting light information;

A calculation module, which is located inside the main body, calculates the predicted motion trajectory of the device in real time based on the aquaculture product information to track the aquaculture product, and calculates the predicted steering of the device based on the illumination information Amplitude so that the solar power module faces the direction of sunlight;

A steering module, which is located in the middle of the main body and is used to drive the main body to turn based on the predicted steering amplitude of the device;

A propulsion module, the propulsion module is located on the main body, and is used to advance the main body to move based on the predicted movement trajectory of the device;

An information acquisition module drive module, the information acquisition module drive module is located inside the main body, and is used to push the magnet based on the predicted movement track of the device, and the magnet drives the information acquisition module toward the aquaculture .
The device of claim 1, wherein the magnet is driven to slide on the sliding rod by a motor.
The device according to claim 1 or 2, wherein the information collection module comprises a camera device.
3. The device of claim 1 or 2, wherein the information collection module is further configured to perform image recognition.
The device according to claim 1 or 2, characterized in that: the device further comprises a rechargeable battery for storing the electric energy of the solar power module, and when the solar power module is not generating power or is not generating enough power, it is The device is powered.
The device according to claim 1 or 2, wherein the propulsion module is rotatably arranged at the bottom of the main body.
The device according to claim 1 or 2, characterized in that there are two steering modules, which adjust the main body to turn clockwise and counterclockwise respectively.
The device according to claim 1 or 2, characterized in that: the device further comprises a wireless communication module for transmitting the aquaculture information to a data center, such as a cloud center; the wireless communication module preferably includes Wi -Fi module or mobile network module.
The device according to claim 1 or 2, wherein the illumination information includes the direction of the illumination; the aquaculture product information includes the angle, distance, movement direction, and movement speed of the aquaculture product and the device .
A method for monitoring aquaculture products using the device according to any one of claims 1-9, characterized in that: the method comprises:

(1) Real-time collection and tracking of aquaculture product information through the information collection module;

(2) Through the calculation module, calculate the predicted movement track of the device in real time based on the aquaculture product information to track the aquaculture product;

(3) Drive the propulsion module based on the predicted movement trajectory of the device to advance the movement of the device through the propulsion module and push the magnet, which drives the information collection module towards the aquaculture Thing

(4) The solar power generation module includes a light sensor, and light information is detected by the light sensor;

(5) Through the calculation module, calculate the predicted turning amplitude of the device based on the illumination information so that the solar power generation module faces the direction of sunlight;

(6) Drive the steering module based on the predicted steering amplitude of the device to realize the steering of the device through the steering module.