CN104967833B - A kind of fishing method based on data communication - Google Patents
A kind of fishing method based on data communication Download PDFInfo
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- CN104967833B CN104967833B CN201510445866.8A CN201510445866A CN104967833B CN 104967833 B CN104967833 B CN 104967833B CN 201510445866 A CN201510445866 A CN 201510445866A CN 104967833 B CN104967833 B CN 104967833B
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Abstract
The present invention relates to a kind of fishing method based on data communication, the method includes: 1) provide a kind of body of fish under water based on data communication to orient capture systems, described capture systems includes submersible main body, sharpening identification equipment and digital signal processing appts, described sharpening identification equipment and described digital signal processing appts are all located in described submersible main body, described sharpening identification equipment processes for underwater picture is performed sharpening, and detect the most whether there is fish body, described digital signal processing appts is connected with described sharpening identification equipment, for fish body relevant information being processed when determining and there is fish body, and result is sent to waterborne；2) described capture systems is used to fish.By means of the invention it is possible to accurately, directionally carrying out fish body capture under water, improve fishing efficiency.
Description
Technical field
The present invention relates to data communication field, particularly relate to a kind of fishing method based on data communication.
Background technology
In prior art, fishing practices excessively relies on manually, it is impossible to carries out shoal of fish self adaptation under water and catches
Drag for, cause fishing inefficiency.
To this end, the present invention proposes a kind of body of fish under water based on data communication orientation capture systems, energy
The most any deep enough position, carries out fish body self-adapting estimation for underwater environment and fishes for, thus carrying
High fishing efficiency.
Summary of the invention
In order to solve the technical problem that prior art exists, the invention provides a kind of based on data communication
The body of fish under water orientation capture systems, with submersible for underwater fishing platform, utilize special submersible
Structure, Underwater Navigation equipment, self adaptation fish body identification equipment and self adaptation are fished mechanism and are completed fish under water
Body quick, accurately fish for.
According to an aspect of the present invention, it is provided that a kind of fishing method based on data communication, the method
Including: 1) provide a kind of body of fish under water based on data communication to orient capture systems, described capture system
System includes submersible main body, sharpening identification equipment and digital signal processing appts, and described sharpening is known
Other equipment and described digital signal processing appts are all located in described submersible main body, and described sharpening is known
Other equipment processes for underwater picture is performed sharpening, and detects the most whether there is fish body, described
Digital signal processing appts is connected with described sharpening identification equipment, for determine there is fish body time pair
Fish body relevant information processes, and result is sent to waterborne；2) described capture system is used
System is fished.
More specifically, in the described body of fish under water based on data communication orientation capture systems, also include:
Fishing net container, is arranged in described submersible main body, for accommodating fishing net, institute under non-fishing state
State fishing net container to include that electronic snap close, relay and opening, described electric lock are buckled in and receive fishing and open
During dynamic signal, opening described opening, described electric lock is buckled in when receiving the complete signal of recovery, closes
Described opening, described relay is connected respectively with electronic snap close and power supply unit, for for described electronic
Snap close is powered and controls opening operation and the shutoff operation of described electronic snap close；Fishing net release actuator,
It is arranged in described submersible main body, is connected with described fishing net, for discharging dynamics according to described fishing net
With the release that described fishing net release angle controls described fishing net；Fishing net reclaims driver, is arranged on described
In submersible main body, it is connected with described fishing net, for when receiving fishing end signal, controlling institute
State fishing net to be recovered in described fishing net container by described fishing net；Release motor, is arranged on described diving
In device main body, it is connected with described fishing net release actuator, for described fishing net release actuator, fishing net is released
The control put provides power；Reclaim motor, be arranged in described submersible main body, return with described fishing net
Receipts driver connects, and reclaims, for described fishing net, the control offer power that fishing net is discharged by driver；Waterborne
Signal receiver, is arranged in described submersible main body, reclaims with described electronic snap close and described fishing net
Driver connects respectively, is connected with bank base processing equipment by cable, for returning completely at described fishing net
Receive to provide under the operation of personnel on the water after in described fishing net container and reclaim complete signal, be additionally operable to
Fishing end signal is provided under the operation of personnel waterborne；Underwater Camera, including hemispherical watertight transparent
Cover, floor light subset, CCD vision sensor and ultrasonic ranging subset, described hemispherical
Watertight transparent cover is used for accommodating described floor light subset and described CCD vision sensor, described
Ultrasonic ranging subset is for measuring the distance of described submersible main body distance front fish body, and conduct
First relative distance output, described floor light subset be described CCD vision sensor under water
Shooting provides floor light, before objects ahead shooting is comprised by described CCD vision sensor with acquisition
Square mesh target underwater picture；Described submersible main body includes support, left pressure gram transparent tube, right pressure
Gram transparent tube, connecting hoop, storage platform, mechanical arm, mechanical hand, water proof sealing drum, transverse propeller,
Vertical propeller, longitudinal spiral oar and three direct current generators, described support is for by described submersible master
Body is fixed under water, and described connecting hoop is fixing with described support to be connected, described storage platform and described machinery
Arm is connected respectively with described connecting hoop, and described mechanical hand is connected with described mechanical arm, described mechanical arm bag
Including large arm and the forearm being connected with large arm, described three direct current generators drive described horizontal spiral respectively
Oar, described vertical propeller and described longitudinal spiral oar, with by the rotating of propeller, for diving
Device main body provides the thrust power of 6 degree of freedom；Portable hard drive, has prestored gray processing fish shape mould
Version, described gray processing fish shape masterplate is benchmark fish body to shoot obtained fish body image perform ash
Degreeization processes and obtains；Buoy waterborne, is arranged on the top water surface of described submersible main body；Power supply
Equipment, is arranged on described buoy waterborne, including waterproof sealing cover, solar powered device, electric power storage
Pond, switching switch and electric pressure converter, described waterproof sealing cover is used for accommodating described solar energy electric supplier
Part, described accumulator, described switching switch and described electric pressure converter, described switching switchs with described
Solar powered device and described accumulator connect respectively, decide whether according to the dump energy of accumulator
Being switched to described solar powered device to be powered by described solar powered device, described voltage is changed
Device is connected with described switching switch, will be converted to 3.3V electricity by the 5V voltage of switching switch input
Pressure；The Big Dipper location equipment, is arranged on described buoy waterborne, described power supply unit provides electric power
Supply, for receiving the Big Dipper location data that the Big Dipper satellite sends；Sonar detection equipment, is arranged
On described buoy waterborne, described power supply unit provide supply of electric power, be used for detecting described submersible
Main body is to the relative distance of described buoy waterborne, and exports as the second relative distance；Described sharpening
Identification equipment includes that gray processing processes subset, image segmentation subset, background estimating subset, the back of the body
Scape elevator equipment, scattered light filter subset and target recognition subset；Described gray processing processes son
Equipment is connected with described CCD vision sensor, processes for described underwater picture is performed gray processing
To obtain gray processing underwater picture；Described image segmentation subset processes subset even with described gray processing
Connecing, described gray processing underwater picture is entered by based on described gray processing underwater picture resolution adaptively
Row piecemeal, to obtain each block image；Described background estimating subset sets with described image segmentation
Standby connection, performs background estimating to each block image and processes: be based on each block image each
The gray value of individual pixel calculates the average gray of each block image, the average gray that will obtain
Background gray levels as calculated block image；Described background elevator equipment is estimated with described background
Meter subset connects, and the gray value of each pixel of each block image is deducted this block image pair
The background gray levels answered goes background grayscale sub-image with obtain each block image, and by all points
The background grayscale sub-image of going of block image merges with composition background stripping image；Described scattered light filters son
Equipment sets with described background elevator equipment, described ultrasonic ranging subset and described floor light
Back-up does not connect, to obtain described second relative distance and described floor light brightness, and based on described
Second relative distance and described floor light brightness are removed described background and are peeled off in image because auxiliary is shone
The scattered light composition that pine torch equipment irradiates and formed on objects ahead, to obtain the stripping of sharpening background
Image；Described target recognition subset and described scattered light filter subset and described portable hard drive connects
Connecing, described sharpening background is peeled off image and gray processing fish shape stencil matching, the match is successful, then send out
Fish body obtains signal, and described scattered light filters the fish body subimage segmentation being matched out in subset
And export, always according to the described fish body subimage relative position calculation fish under water in described underwater picture
Body deviation angle, it fails to match, then send without fish body signal；Described digital signal processing appts and institute
State Underwater Camera, described the Big Dipper location equipment, described sonar detection equipment, described ultrasound
Connect respectively away from subset, described sharpening identification equipment and described three direct current generators, be used for monitoring
The duty of described three direct current generators, is additionally operable to, when receiving described fish body and obtaining signal, open
Dynamic described the Big Dipper positions equipment, described sonar detection equipment, described ultrasonic ranging subset to connect
Receive described the Big Dipper location data, described second relative distance and described first relative distance, based on institute
State the Big Dipper location data, described second relative distance and described first relative distance calculate and export fish
Body location data, and by cable, described underwater picture, described sharpening background are peeled off image and institute
State fish body location data and be transferred to bank base processing equipment；Described digital signal processing appts is receiving
When stating without fish body signal, close described the Big Dipper location equipment, described sonar detection equipment, described super
Sound ranging subset；Wherein, described bank base processing equipment is positioned at water craft or position, bank, logical
Cross cable to be connected with described digital signal processing appts；Described digital signal processing appts also with described electricity
Dynamic snap close, described fishing net release actuator and described fishing net reclaim driver and connect respectively, are receiving
When described fish body obtains signal, determine that fishing net discharges power according to the first relative distance and default fishing net weight
Degree；Determine fishing net release angle according to fish body deviation angle under water, and send institute to described electric lock garnishment
State fishing enabling signal.
More specifically, in the described body of fish under water based on data communication orientation capture systems: described water
Upper signal receiver is RS232 serial communication interface.
More specifically, in the described body of fish under water based on data communication orientation capture systems: described ash
Degreeization processes subset, described image segmentation subset, described background estimating subset, described background
Elevator equipment, described scattered light filter subset and described target recognition subset is integrated in one piece of collection
Become on circuit board.
More specifically, in the described body of fish under water based on data communication orientation capture systems: described number
Word signal handling equipment monitors the resource occupation percentage ratio of self the most in real time.
More specifically, in the described body of fish under water based on data communication orientation capture systems: described number
Word signal handling equipment, when the resource occupation percentage ratio of self is less than predetermined percentage threshold, replaces institute
Stating all operations of background estimating subset, the resource occupation percentage ratio at self is more than or equal to predetermined hundred
During proportion by subtraction threshold value, exit the replacement of all operations to described background estimating subset.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is to orient capture according to the body of fish under water based on data communication shown in embodiment of the present invention
The block diagram of system.
Reference: 1 submersible main body；2 sharpening identification equipment；3 digital signal processing appts
Detailed description of the invention
Below with reference to accompanying drawings the body of fish under water based on data communication of the present invention is oriented capture systems
Embodiment be described in detail.
In prior art, fish body is salvaged and is excessively laid particular stress on manually, it is impossible to underwater is according to the actual feelings of the shoal of fish
Condition formulates concrete salvaging strategy.
In order to overcome above-mentioned deficiency, the present invention has built a kind of body of fish under water based on data communication orientation
Capture systems, with submersible as fishing platform, uses underwater environment self adaptation marine salvage equipment, under water
Fish body carries out self adaptation and fishes for.
Fig. 1 is to orient capture according to the body of fish under water based on data communication shown in embodiment of the present invention
The block diagram of system, described capture systems includes submersible main body, sharpening identification equipment sum
Word signal handling equipment, described sharpening identification equipment and described digital signal processing appts are all located at institute
Stating in submersible main body, described sharpening identification equipment processes for underwater picture is performed sharpening,
And detect the most whether there is fish body, described digital signal processing appts and described sharpening identification equipment
Connect, for fish body relevant information being processed when determining and there is fish body, and result is passed
Deliver to waterborne.
Then, continue the body of fish under water based on data communication to the present invention and orient the concrete of capture systems
Structure is further detailed.
Described capture systems also includes: fishing net container, is arranged in described submersible main body, is used for
Accommodating fishing net under non-fishing state, described fishing net container includes electronic snap close, relay and opening, institute
State electric lock be buckled in receive fishing enabling signal time, open described opening, described electric lock is buckled in and connects
When receiving the complete signal of recovery, close described opening, described relay and electronic snap close and power supply unit
Connect respectively, be used for powering for described electronic snap close and controlling opening operation and the pass of described electronic snap close
Closed operation.
Described capture systems also includes: fishing net release actuator, is arranged in described submersible main body,
It is connected with described fishing net, for controlling institute according to described fishing net release dynamics and described fishing net release angle
State the release of fishing net.
Described capture systems also includes: fishing net reclaims driver, is arranged in described submersible main body,
It is connected with described fishing net, for when receiving fishing end signal, controlling described fishing net with by described
Fishing net is recovered in described fishing net container.
Described capture systems also includes: release motor, is arranged in described submersible main body, with described
Fishing net release actuator connects, and the control discharged fishing net for described fishing net release actuator provides dynamic
Power；Reclaim motor, be arranged in described submersible main body, reclaim driver with described fishing net and be connected,
The control offer power that fishing net is discharged by driver is reclaimed for described fishing net.
Described capture systems also includes: signal receiver waterborne, is arranged in described submersible main body,
Reclaim driver with described electronic snap close and described fishing net to be connected respectively, set with the process of bank base by cable
Standby connection, is used for the operation of personnel on the water after described fishing net is fully retrieved in described fishing net container
Lower offer reclaims complete signal, is additionally operable under the operation of personnel on the water provide fishing end signal.
Described capture systems also includes: Underwater Camera, shines including hemispherical watertight transparent cover, auxiliary
Pine torch equipment, CCD vision sensor and ultrasonic ranging subset, described hemispherical watertight transparent cover
For accommodating described floor light subset and described CCD vision sensor, described ultrasonic ranging
Subset for measuring the distance of described submersible main body distance front fish body, and as first relatively away from
From output, the underwater photograph technical that described floor light subset is described CCD vision sensor provides auxiliary
Helping illumination, described CCD vision sensor comprises the water of objects ahead to objects ahead shooting with acquisition
Hypograph.
Described submersible main body includes support, left pressure gram transparent tube, right pressure gram transparent tube, connection
Hoop, storage platform, mechanical arm, mechanical hand, water proof sealing drum, transverse propeller, vertical propeller,
Longitudinal spiral oar and three direct current generators, described support is for being fixed on water by described submersible main body
Under, described connecting hoop is fixing with described support to be connected, described storage platform and described mechanical arm and described company
Box cupling connects respectively, and described mechanical hand is connected with described mechanical arm, described mechanical arm include large arm and with
Large arm connect forearm, described three direct current generators drive respectively described transverse propeller, described vertically
Propeller and described longitudinal spiral oar, by the rotating of propeller, to provide 6 for submersible main body
The thrust power of individual degree of freedom.
Described capture systems also includes: portable hard drive, has prestored gray processing fish shape masterplate, described
Gray processing fish shape masterplate is benchmark fish body to shoot obtained fish body image perform at gray processing
Manage and obtain；Buoy waterborne, is arranged on the top water surface of described submersible main body.
Described capture systems also includes: power supply unit, is arranged on described buoy waterborne, including waterproof
Seal closure, solar powered device, accumulator, switching switch and electric pressure converter, described anti-watertight
Sealing cover is used for accommodating described solar powered device, described accumulator, described switching switch and described electricity
Pressure converter, described switching switch is connected respectively with described solar powered device and described accumulator,
Dump energy according to accumulator decide whether to be switched to described solar powered device with by described too
Sun can power supply device power, described electric pressure converter with described switching switch be connected, with will by switch
The 5V voltage of switch input is converted to 3.3V voltage.
Described capture systems also includes: the Big Dipper location equipment, is arranged on described buoy waterborne, by
Described power supply unit provides supply of electric power, for receiving the Big Dipper location number that the Big Dipper satellite sends
According to.
Described capture systems also includes: sonar detection equipment, is arranged on described buoy waterborne, by institute
State power supply unit and supply of electric power is provided, for detecting the described submersible main body phase to described buoy waterborne
Adjust the distance, and as the second relative distance output.
Described sharpening identification equipment includes that gray processing processes subset, image segmentation subset, background
Estimate that subset, background elevator equipment, scattered light filter subset and target recognition subset；Institute
State gray processing process subset to be connected with described CCD vision sensor, for described underwater picture
Perform gray processing to process to obtain gray processing underwater picture；Described image segmentation subset and described gray scale
Change processes subset and connects, and resolution based on described gray processing underwater picture is adaptively to described ash
Degreeization underwater picture carries out piecemeal, to obtain each block image；Described background estimating subset and institute
State image segmentation subset to connect, each block image is performed background estimating and processes: based on each
The gray value of each pixel of individual block image calculates the average gray of each block image, will obtain
The average gray obtained is as the background gray levels of calculated block image；Described background elevator sets
For being connected with described background estimating subset, the gray value of each pixel of each block image is subtracted
Background gray levels that this block image is corresponding is gone to remove background gray scale with obtain each block image
Image, and the background grayscale sub-image of going of all block images is merged with composition background stripping image；
Described scattered light filter subset and described background elevator equipment, described ultrasonic ranging subset and
Described floor light subset connects respectively, to obtain described second relative distance and described floor light
Brightness, and remove described background stripping figure based on described second relative distance and described floor light brightness
The scattered light composition formed on objects ahead because floor light subset irradiates in Xiang, to obtain
Sharpening background peels off image；Described target recognition subset and described scattered light filter subset and institute
State portable hard drive to connect, described sharpening background is peeled off image and gray processing fish shape stencil matching,
It is made into merit, then sends fish body and obtain signal, described scattered light is filtered the fish being matched out in subset
Body subimage is split and exports, always according to the phase para-position in described underwater picture of the described fish body subimage
Putting and calculate fish body deviation angle under water, it fails to match, then send without fish body signal.
Described digital signal processing appts and described Underwater Camera, described the Big Dipper location equipment, institute
State sonar detection equipment, described ultrasonic ranging subset, described sharpening identification equipment and described three
Individual direct current generator connects respectively, for monitoring the duty of described three direct current generators, is additionally operable to
When receiving described fish body acquisition signal, start described the Big Dipper location equipment, described sonar detection sets
Ultrasonic ranging subset standby, described with receive described the Big Dipper location data, described second relatively away from
From with described first relative distance, based on described the Big Dipper location data, described second relative distance and
Described first relative distance calculates and exports fish body location data, and is schemed described under water by cable
Picture, described sharpening background peel off image and described fish body location data are transferred to bank base processing equipment；
Described digital signal processing appts, when receiving the described signal of body without fish, closes described the Big Dipper location
Equipment, described sonar detection equipment, described ultrasonic ranging subset.
Described bank base processing equipment is positioned at water craft or position, bank, by cable and described numeral letter
Number processing equipment connects.
Described digital signal processing appts also with described electronic snap close, described fishing net release actuator and institute
State fishing net recovery driver to connect respectively, when receiving described fish body and obtaining signal, according to the first phase
Adjust the distance and preset fishing net weight and determine that fishing net discharges dynamics；Fishing is determined according to fish body deviation angle under water
Net release angle, and send described fishing enabling signal to described electric lock garnishment.
Alternatively, in the described body of fish under water based on data communication orientation capture systems: described waterborne
Signal receiver is RS232 serial communication interface；Described gray processing processes subset, described image divides
Cut subset, described background estimating subset, described background elevator equipment, described scattered light filter
Subset and described target recognition subset are integrated on one piece of surface-mounted integrated circuit；At described digital signal
Reason equipment monitors the resource occupation percentage ratio of self the most in real time；Described digital signal processing appts is at self
Resource occupation percentage ratio less than predetermined percentage threshold time, replace the complete of described background estimating subset
Portion operates, and when the resource occupation percentage ratio of self is more than or equal to predetermined percentage threshold, exits institute
State the replacement of all operations of background estimating subset.
Alternatively, gray processing processes subset, image segmentation subset, background estimating subset, the back of the body
Scape elevator equipment, scattered light filter subset and use different FPGA cores with target recognition subset
Sheet realizes.
It addition, FPGA (Field-Programmable Gate Array), i.e. field-programmable gate array
Row, he is the product of development further on the basis of the programming devices such as PAL, GAL, CPLD.
He is to occur as a kind of semi-custom circuit in special IC (ASIC) field, both solves
Determine the deficiency of custom circuit, overcome again the shortcoming that original programming device gate circuit number is limited.
The circuit design completed with hardware description language (Verilog or VHDL), can be through letter
Single comprehensive and layout, is quickly burned onto on FPGA and tests, and is modern IC designs checking
Technology main flow.These can be edited element and can be used to realize some basic logic gates (ratio
Such as AND, OR, XOR, NOT) or more more complicated combination function such as decoder or number
Learn equation.Inside most FPGA, in these editable elements, also comprise memory cell
Such as trigger (Flip-flop) or other more complete block of memory.System designer can root
By editable connection, the logical block within FPGA is coupled together according to needing, just look like an electricity
Road bread board has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA and connection
Can change according to designer, so FPGA can complete required logic function.
Use the body of fish under water based on the data communication orientation capture systems of the present invention, for prior art
In artificial salvage pattern backward technology problem, using submersible is device for use in fishing trawl carrier, introduce from
Adapt to fishing operation, underwater position fixing technique, sharpening image processing techniques and high-precision image recognition
Technology realizes the self adaptation to the shoal of fish under water and salvages.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. a fishing method based on data communication, the method includes:
1) a kind of body of fish under water based on data communication is provided to orient capture systems, described capture systems
Including submersible main body, sharpening identification equipment and digital signal processing appts, described sharpening identification
Equipment and described digital signal processing appts are all located in described submersible main body, described sharpening identification
Equipment processes for underwater picture is performed sharpening, and detects the most whether there is fish body, described number
Word signal handling equipment is connected with described sharpening identification equipment, for determine there is fish body time to fish
Body relevant information processes, and result is sent to waterborne；
2) described capture systems is used to fish；
It is characterized in that, described capture systems also includes:
Fishing net container, is arranged in described submersible main body, for accommodating fishing net under non-fishing state,
Described fishing net container includes that electronic snap close, relay and opening, described electric lock are buckled in and receive fishing
During enabling signal, opening described opening, described electric lock is buckled in when receiving the complete signal of recovery, closes
Closing described opening, described relay is connected respectively with electronic snap close and power supply unit, is used for as described electricity
Dynamic snap close is powered and controls opening operation and the shutoff operation of described electronic snap close；
Fishing net release actuator, is arranged in described submersible main body, is connected with described fishing net, is used for
The release of described fishing net is controlled according to described fishing net release dynamics and described fishing net release angle；
Fishing net reclaims driver, is arranged in described submersible main body, is connected with described fishing net, is used for
When receiving fishing end signal, control described fishing net and hold described fishing net to be recovered to described fishing net
In device；
Release motor, is arranged in described submersible main body, is connected with described fishing net release actuator,
The control discharged fishing net for described fishing net release actuator provides power；
Reclaim motor, be arranged in described submersible main body, reclaim driver with described fishing net and be connected,
The control offer power that fishing net is discharged by driver is reclaimed for described fishing net；
Signal receiver waterborne, is arranged in described submersible main body, with described electronic snap close and described
Fishing net reclaims driver and connects respectively, is connected with bank base processing equipment by cable, in described fishing
Net be fully retrieved in described fishing net container after personnel on the water operation under provide and reclaim complete signal,
It is additionally operable under the operation of personnel on the water provide fishing end signal；
Underwater Camera, passes including hemispherical watertight transparent cover, floor light subset, CCD vision
Sensor and ultrasonic ranging subset, described hemispherical watertight transparent cover is used for accommodating described floor light
Subset and described CCD vision sensor, described ultrasonic ranging subset is used for measuring described diving
The distance of water machine body distance front fish body, and as the first relative distance output, described floor light
The underwater photograph technical that subset is described CCD vision sensor provides floor light, described CCD vision
Sensor comprises the underwater picture of objects ahead to objects ahead shooting with acquisition；
Described submersible main body includes support, left pressure gram transparent tube, right pressure gram transparent tube, connection
Hoop, storage platform, mechanical arm, mechanical hand, water proof sealing drum, transverse propeller, vertical propeller,
Longitudinal spiral oar and three direct current generators, described support is for being fixed on water by described submersible main body
Under, described connecting hoop is fixing with described support to be connected, described storage platform and described mechanical arm and described company
Box cupling connects respectively, and described mechanical hand is connected with described mechanical arm, described mechanical arm include large arm and with
Large arm connect forearm, described three direct current generators drive respectively described transverse propeller, described vertically
Propeller and described longitudinal spiral oar, by the rotating of propeller, to provide 6 for submersible main body
The thrust power of individual degree of freedom；
Portable hard drive, has prestored gray processing fish shape masterplate, and described gray processing fish shape masterplate is to base
Quasi-fish body carries out shooting obtained fish body image and performs gray processing process and obtain；
Buoy waterborne, is arranged on the top water surface of described submersible main body；
Power supply unit, is arranged on described buoy waterborne, including waterproof sealing cover, solar energy electric supplier
Part, accumulator, switching switch and electric pressure converter, described waterproof sealing cover is used for accommodating the described sun
Energy power supply device, described accumulator, described switching switch and described electric pressure converter, described switching is opened
Close and be connected respectively with described solar powered device and described accumulator, according to the dump energy of accumulator
Decide whether to be switched to described solar powered device to be powered by described solar powered device, described
Electric pressure converter is connected with described switching switch, will be changed by the 5V voltage of switching switch input
For 3.3V voltage；
The Big Dipper location equipment, is arranged on described buoy waterborne, described power supply unit provides electric power
Supply, for receiving the Big Dipper location data that the Big Dipper satellite sends；
Sonar detection equipment, is arranged on described buoy waterborne, described power supply unit provide electric power to supply
Should, for detecting the described submersible main body relative distance to described buoy waterborne, and as the second phase
Adjust the distance output；
Described sharpening identification equipment includes that gray processing processes subset, image segmentation subset, background
Estimate that subset, background elevator equipment, scattered light filter subset and target recognition subset；Institute
State gray processing process subset to be connected with described CCD vision sensor, for described underwater picture
Perform gray processing to process to obtain gray processing underwater picture；Described image segmentation subset and described gray scale
Change processes subset and connects, and resolution based on described gray processing underwater picture is adaptively to described ash
Degreeization underwater picture carries out piecemeal, to obtain each block image；Described background estimating subset and institute
State image segmentation subset to connect, each block image is performed background estimating and processes: based on each
The gray value of each pixel of individual block image calculates the average gray of each block image, will obtain
The average gray obtained is as the background gray levels of calculated block image；Described background elevator sets
For being connected with described background estimating subset, the gray value of each pixel of each block image is subtracted
Background gray levels that this block image is corresponding is gone to remove background gray scale with obtain each block image
Image, and the background grayscale sub-image of going of all block images is merged with composition background stripping image；
Described scattered light filter subset and described background elevator equipment, described ultrasonic ranging subset and
Described floor light subset connects respectively, bright to obtain described second relative distance and floor light
Degree, and remove described background stripping image based on described second relative distance and described floor light brightness
In the scattered light composition that formed on objects ahead because floor light subset irradiates, clear to obtain
Clearization background peels off image；Described target recognition subset and described scattered light filter subset and described
Portable hard drive connects, and described sharpening background is peeled off image and gray processing fish shape stencil matching, coupling
Success, then send fish body and obtain signal, described scattered light filters the fish body being matched out in subset
Subimage is split and exports, always according to the described fish body subimage relative position in described underwater picture
Calculating fish body deviation angle under water, it fails to match, then send without fish body signal；
Described digital signal processing appts and described Underwater Camera, described the Big Dipper location equipment, institute
State sonar detection equipment, described ultrasonic ranging subset, described sharpening identification equipment and described three
Individual direct current generator connects respectively, for monitoring the duty of described three direct current generators, is additionally operable to
When receiving described fish body acquisition signal, start described the Big Dipper location equipment, described sonar detection sets
Ultrasonic ranging subset standby, described with receive described the Big Dipper location data, described second relatively away from
From with described first relative distance, based on described the Big Dipper location data, described second relative distance and
Described first relative distance calculates and exports fish body location data, and is schemed described under water by cable
Picture, described sharpening background peel off image and described fish body location data are transferred to bank base processing equipment；
Described digital signal processing appts, when receiving the described signal of body without fish, closes described the Big Dipper location
Equipment, described sonar detection equipment, described ultrasonic ranging subset；
Wherein, described bank base processing equipment is positioned at water craft or position, bank, by cable with described
Digital signal processing appts connects；
Wherein, described digital signal processing appts also drives with described electronic snap close, the release of described fishing net
Device and described fishing net reclaim driver and connect respectively, when receiving described fish body and obtaining signal, according to
First relative distance and default fishing net weight determine that fishing net discharges dynamics；According to fish body deviation angle under water
Determine fishing net release angle, and send described fishing enabling signal to described electric lock garnishment.
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| CN105724324A (en) * | 2016-04-13 | 2016-07-06 | 朱德进 | Intelligent fishing device |
| CN106646492B (en) * | 2016-09-27 | 2021-07-20 | 深圳市众凌汇科技有限公司 | Fish finding method for analyzing sonar signals through image recognition |
| CN106814735B (en) * | 2016-12-06 | 2020-08-14 | 北京臻迪科技股份有限公司 | Control system of unmanned ship |
| CN106786951B (en) * | 2017-01-04 | 2020-11-17 | 北京臻迪科技股份有限公司 | Unmanned ship system |
| CN108459607A (en) * | 2018-04-02 | 2018-08-28 | 深圳众厉电力科技有限公司 | A kind of safe ship automatic steering system |
| CN109587443A (en) * | 2018-10-18 | 2019-04-05 | 杭州瑞利科技有限公司 | A kind of optics fish finding and image delivering system and method |
| WO2021130950A1 (en) * | 2019-12-26 | 2021-07-01 | 日本電気株式会社 | Device for aiding image capture of underwater organisms, method for aiding image capture of underwater organisms, and storage medium |
| CN113763362B (en) * | 2021-09-09 | 2022-05-31 | 无锡联友塑业有限公司 | Intelligent underwater image detection processing system |
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| CN103444646A (en) * | 2012-06-04 | 2013-12-18 | 徐州一统渔具有限公司 | Visual catching net |
| CN102986604B (en) * | 2012-12-12 | 2014-08-20 | 浙江海洋学院 | Intelligent octopus catching device and use method thereof |
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