CN107846580B - A kind of Quan Haishen multi-purpose intelligent fish-catching apparatus and its control method - Google Patents
A kind of Quan Haishen multi-purpose intelligent fish-catching apparatus and its control method Download PDFInfo
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- 238000012545 processing Methods 0.000 claims description 39
- 239000013535 sea water Substances 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 12
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- 230000003111 delayed effect Effects 0.000 claims description 3
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K69/00—Stationary catching devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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Abstract
The invention discloses a kind of Quan Haishen multi-purpose intelligent fish-catching apparatus and its control methods, the intelligence fish-catching apparatus, including cellular-type fish pot, buoyancy block assembly, load rejection mechanism and Beidou position indicator, Beidou position indicator is fixed on the top of buoyancy block assembly, the top of cellular-type fish pot is arranged in buoyancy block assembly, the bottom of cellular-type fish pot is arranged in load rejection mechanism, the cellular-type fish pot is made of two mutually independent areas of fishing, each area of fishing is respectively and fixedly provided with a fish pot door, and glass control cabinet can control corresponding fish pot door according to the fishing situation in each area of fishing.The present invention carries out the deep intelligence in full sea using image recognition and automatic control technology control fish-catching apparatus and fishes, it clearly located the activity in depth of fish, have recorded deep-sea fishing process, suitable for the untethered connection with fishing operations of Quan Haishen operating feature, traditional fishing's mode is overcome the shortcomings that Quan Haishen range almost cannot achieve.
Description
Technical field
The present invention relates to deep-sea fishing equipment technology fields, more particularly to a kind of Quan Haishen multi-purpose intelligent fish-catching apparatus
And its control method.
Background technique
21 century is " numerical ocean model ".Be richly stored with living resources, chemical resource, mineral resources, power in ocean
Resource and water resource are the strategic spaces of current most development potentiality.International ocean scientific circles pass through preliminary investigation, discovery
Biology in 6500-11000 meters of abyss area has apparent difference with 6500 meters with shallow biology, therefore handle is specialized in
It is scientific (Hadal Science) that Marine Sciences in the region of abyss are known as abyss.Quan Haishen marine engineering equipment is able to carry out entirely
The submarine observation of Hai Shen is the sharp weapon for exploring earth secret, biogenesis, marine resources development, by attracting attention both at home and abroad.
Quan Haishen multi-purpose intelligent fish-catching apparatus mainly provides technical support for abyssopelagic organism, ecological science research, fits
The scientific research analysis of abyssal fishes is carried out for the complete capture of fish.Widely applied deep-sea fishing in world wide at present
There are two types of technologies: bottom trawlnet and trapper.Due to the limitation of technology and equipment, there are all for seabed trawlnet and traditional trapper
It such as destroys benthic ecosystems and fishing efficiency is low insufficient, destroy the integrality of fish, the work of captured fish can not be defined
Dynamic depth.And Quan Haishen organism trapping technology, fish-catching apparatus are difficult to carry out the real-time of signal with fishing boat and (or) bank base control room
Transmission also can not carry out power supply to fish-catching apparatus, the deep-sea fishing that can not be suitable in Quan Haishen job area.
Summary of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, design a kind of Quan Haishen multi-purpose intelligent fish-catching apparatus and
Its control method.
In order to achieve the above objectives, the technical scheme adopted by the invention is that:
A kind of Quan Haishen multi-purpose intelligent fish-catching apparatus, including cellular-type fish pot, buoyancy block assembly and load rejection mechanism, it is described
The top of cellular-type fish pot is arranged in buoyancy block assembly, and it further includes by showing that the bottom of cellular-type fish pot, which is arranged in, in load rejection mechanism
Position device metallic support is fixed on the Beidou position indicator at the top of the buoyancy block assembly, the cellular-type fish pot include fish pot frame,
Two fish pot doors, sea sampler, glass control cabinet and CTD sensor, the cellular-type fish pot is by two mutually independent fishings
Area is constituted, and is provided with one group of sliding rail on the fish pot frame of each area of fishing, is movably set in every group of sliding rail
One fish pot door is provided with the bullet that fish pot door can be made to slide in respective sliding rail at the top and bottom of fish pot frame
Spring hinge is respectively and fixedly provided with mesh grid, the volume of fish pot frame bottom surface on the fish pot door, the upper bottom surface of fish pot frame and side
It is covered with one layer of black fine pore network film on the upper surface of knitmesh, is fixed with a machinery on longitudinal door frame of the fish pot door
It locks, is respectively arranged with fish pot electromagnetic switch and button box, the button on the frame frame of the fish pot frame adjacent with the two sidewalls of fish pot door
Box is oppositely arranged with mechanical lock, and the upper and lower of button box is provided with permanent magnet；The sea sampler is fixed on fish pot frame
Outside, glass control cabinet and CTD sensor are arranged at the top of fish pot lower portion, are provided on the outside of glass control cabinet pair
Its control cabinet metallic support being supported is provided with video input module, video processing in the cavity of the glass control cabinet
Module, wireless transport module, single-chip microcontroller, watertight card i/f, LED illumination lamp, power module, watertight plug-in unit charging interface and control
Cabin magnetic switch processed, the image signal output end of the video input module and the picture signal input terminal of video processing module connect
It connects, video processing module and wireless transport module are communicatively coupled with single-chip microcontroller, the control signal input of the single-chip microcontroller
Connect by watertight card i/f with CTD sensor, the control signal output of single-chip microcontroller pass through respectively watertight card i/f with
LED illumination lamp, load rejection mechanism are connected with fish pot electromagnetic switch, and the supply port of the power module is passed with single-chip microcontroller, CTD respectively
Sensor, load rejection mechanism are connected with the power port of fish pot electromagnetic switch, the charging port of power module and the charging of watertight plug-in unit
Mouth connection.
Preferably, the load rejection mechanism includes support leg, the throwing load electromagnetic switch being arranged in below cellular-type fish pot
And kentledge, the support leg are fixed on the bottom surface of cellular-type fish pot, throwing, which carries electromagnetic switch and is fixed by the connecting rod, to be separated
The center of formula fish pot bottom surface, kentledge are fixed on the lower end thrown and carry electromagnetic switch, throwings carry electromagnetic switch by rope and
Sea sampler forms opening and closing interlocking, throws load electromagnetic switch and is connected by the control signal output of watertight card i/f and single-chip microcontroller
It connects.
Preferably, red flag is additionally provided on the buoyancy block assembly, the red flag is fixed by rope
At the top of buoyancy block assembly.
Preferably, the buoyancy block assembly include fixed frame, the buoyant mass that is filled in fixed frame, it is described floating
The outer diameter of power block and the internal diameter of fixed frame are identical.
Preferably, the spring hinge includes fixing piece and two page boards, and the fixing piece is fixed on fish pot frame
The one end in the center at top, page board is fixed on fixing piece, and the other end is fixed on the door frame of corresponding fish pot door upper end.
Preferably, the cross section of the fixing piece is in gear-like.
Preferably, the video processing module includes two respectively to catching in left half area of fishing and right half area of fishing
The circuit board that fish quantity is independently analyzed, respectively left half-court circuit board and right half-court circuit board；Collect on each circuit board
At having fpga chip, dsp chip and DDR3 memory.
Preferably, the fish pot frame is cylinder, and there are two sea samplers.
A kind of control method of Quan Haishen multi-purpose intelligent fish-catching apparatus, specifically includes the following steps:
Step 1: system electrification starting and self-test；
Step 2: parameter configuration being carried out to single-chip microcontroller by wireless transport module, the intelligent fish-catching apparatus is made to restore initial
Change state；
Step 3: the intelligent fish-catching apparatus being hung onto seawater by overhang-door system, makes it in unpowered dive；
Temperature, salinity and the submerged depth of seawater in step 4:CTD sensor real-time detection ambient enviroment, and will test
Data information transfer to single-chip microcontroller, single-chip microcontroller judges whether submerged depth is more than given threshold, whether in setting time range
It is inside no longer changed, if being more than given threshold and no longer changing, single-chip microcontroller is controlled at LED light, video input module and video
Module electrifying startup is managed, step 5 is executed；
Step 5: video input module acquires the video image information of two areas of fishing and is transferred to video processing module；Depending on
The video image information received is stored in the DDR3 memory of corresponding circuits plate by frequency processing module, and its left half-court circuit board
With on the circuit board of right half-court fpga chip and dsp chip be respectively adopted median filtering algorithm simultaneously to the video image received
Information is filtered and image denoising, then carries out image enhancement and image binaryzation using frequency domain method, then use edge detection
Algorithm carries out image characteristics extraction, finally will treated that image send to classifier compares, to judge that left half fishes
Fishing quantity in area and right half area of fishing, left half-court circuit board and right half-court circuit board are processed to result respectively and are transferred to list
Piece machine；
Step 6: single-chip microcontroller carries out processing judgement to the processing result of left half-court circuit board and right half-court circuit board, if left half
It is more than setting value that quantity is fished in area of fishing, then the fish pot electromagnetic switch for controlling left half area of fishing is opened, the fish pot of left half area of fishing
Door is closed under the action of spring hinge, and the mechanical lock on longitudinal door frame is buckled in corresponding button box, so that a left side partly be caught
The fish pot door locked and fixed in fish area；Similarly, if right half area of fishing fishing quantity is more than setting value, the fish of right half area of fishing is controlled
Cage electromagnetic switch is opened, and the fish pot door locked and fixed of right half area of fishing is made；If the fishing number of left half area of fishing and right half area of fishing
Amount is more than setting value, then the fish pot electromagnetic switch of two areas of fishing of control is opened simultaneously, thus by the fish pot of two areas of fishing
Door lock is dead；
Step 7: single-chip microcontroller judges whether the fish pot door of two areas of fishing is turned off, if being turned off, controls and closes LED
Lamp, video input module and video processing module, while being delayed ten minutes, control starting throwing load electromagnetic switch, which starts to throw, to be carried, and is thrown
It carries electromagnetic switch and seawater sampler is closed by rope linkage, the intelligence fish-catching apparatus starts unpowered floating；
Step 8: Beidou position indicator judges whether the intelligent fish-catching apparatus emerges, if emersion, Beidou position indicator with
Lash ship establishes communication connection, and scientific investigation personnel pass through positioning signal and the red flag recycling fishing intelligent fish-catching apparatus.
Preferably, in the step 5, during carrying out image binaryzation, left half-court circuit board will according to coordinate
The gray value of image left half-court pixel is set as 255, then uses OTSU algorithm by entire left half-court image binaryzation；Right half
Area's circuit board sets 255 for the gray value of image right half-court pixel according to coordinate, then will be entire right using OTSU algorithm
Half area's image binaryzation；
In the step 6, during single-chip microcontroller carries out processing judgement to the fishing quantity of two areas of fishing, power module
In power management chip its electricity can be detected, when electricity is lower than 10%, carry out low battery alarm, while single-chip microcontroller
End is fished quantity judgement and is operated, and controls starting throwing load electromagnetic switch and start to throw load.
Positive beneficial effect of the invention:
1, Quan Haishen multi-purpose intelligent fish-catching apparatus of the invention is fished using image recognition and automatic control technology control
Device carries out the deep intelligence fishing in full sea, clearly positions the activity in depth of fish, and record deep-sea fishing process, is suitable for full sea
The untethered connection with fishing operations of deep operating feature, overcome tradition with hawser discharge fishing practices Quan Haishen range almost can not be real
Existing disadvantage avoids seabed dragging from damaging fish-catching apparatus bring.Water sample, the seabed of fish living environment can also be obtained simultaneously
Temperature, salinity equal samples and information.
2, cellular-type fish pot includes two mutually independent areas of fishing, increases fishing success rate, video input module acquisition
The digital image information of two areas of fishing is transmitted to video processing module, and video processing module stores image information and utilizes figure simultaneously
As identification technology analyzes whether two areas of fishing have the quantity of fish and fish, and single-chip microcontroller is sent result to, single-chip microcontroller is according to knot
Fruit carries out corresponding control to the fish pot door of two areas of fishing of fish pot respectively, without artificially being controlled by optical fiber transmission signal.
After operation terminates fish-catching apparatus recycling, scientific investigation personnel can be obtained by fishing operations image of the wireless transport module to storage
It takes and does correlative study.
3, electromagnetic releasing, which is thrown, carries save the cost and is very suitable for this operating mode of fish-catching apparatus, easy to operate, than adopting
It is more convenient with acoustic releaser mode, it throws and carries electromagnetic switch by rope and sea sampler formation opening and closing interlocking, without additional
Triggering reduces design complexity, reduces failure rate.
4, Beidou position indicator and glass control cabinet are communicated using watertight card i/f with the external world, respective single battery
Be powered, avoid with interfering with each other between other devices, increase the reliability and safety of system, meanwhile, without using
Optical fiber can be communicated between lash ship or artificially be controlled, after fish-catching apparatus recycling, the view of storage in glass control cabinet
Frequency image document carries out correlative study for scientific research personnel.
Detailed description of the invention
Fig. 1 is the flow diagram of control method of the present invention.
Fig. 2 is the overall structure diagram of Quan Haishen multi-purpose intelligent fish-catching apparatus of the present invention.
Fig. 3 is one of the circuit theory schematic diagram of cellular-type fish pot.
Fig. 4 is one of the overall structure diagram of cellular-type fish pot.
Fig. 5 is the two of the circuit theory schematic diagram of cellular-type fish pot.
Fig. 6 is the two of the overall structure diagram of cellular-type fish pot.
Fig. 7 is the schematic block circuit diagram of glass control cabinet.
Fig. 8 is the schematic diagram of glass control cabinet.
Fig. 9 is the schematic diagram of Beidou position indicator.
The concrete meaning of figure label are as follows: 1 is fish pot frame, and 2 be fish pot door, and 3 be sea sampler, and 4 control for glass
Cabin, 5 be CTD sensor, and 6 be sliding rail, and 7 be spring hinge, and 8 be fixing piece, and 9 be page board, and 10 be mechanical lock, and 11 be fish pot
Electromagnetic switch, 12 be button box, and 13 be permanent magnet, and 14 be glass control cabinet, and 15 be rope, and 16 carry electromagnetic switch to throw, and 17 be control
Cabin metallic support processed, 18 be video input module, and 19 be video processing module, and 20 be wireless transport module, and 21 be single-chip microcontroller, 22
It is LED illumination lamp for watertight card i/f, 23,24 be power module, and 25 be watertight plug-in unit charging interface, and 26 be control cabinet magnetic force
Switch, 27 be Beidou position indicator, and 28 be position indicator metallic support, and 29 be fixed frame, and 30 be buoyant mass, and 31 be red flag,
32 be support leg, and 33 be kentledge, and 34 be connecting rod, and 35 be cellular-type fish pot, and 36 be power module, and 37 be glittering LED lamp, 38
It is rechargeable lithium battery for Beidou positioning and communication unit, 39,40 be black fine pore network film, and 41 be mesh grid.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings specific
Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit model of the invention
It encloses.In addition, in the following description, descriptions of well-known structures and technologies are omitted, it is of the invention to avoid unnecessarily obscuring
Concept.
Illustrate present embodiment in conjunction with Fig. 1-9, Quan Haishen multi-purpose intelligent fish-catching apparatus of the invention utilizes image recognition
It carries out the deep intelligence in full sea with automatic control technology control fish-catching apparatus to fish, the untethered fishing suitable for Quan Haishen operating feature is grasped
Make, overcomes traditional fishing practices discharged with hawser the shortcomings that Quan Haishen range almost cannot achieve.The intelligence fishing
Device includes cellular-type fish pot 35, buoyancy block assembly, Beidou position indicator 27 and load rejection mechanism.
The cellular-type fish pot 35 includes 1, two fish pot door 2 of fish pot frame, sea sampler 3,4 and of glass control cabinet
CTD sensor 5.The cellular-type fish pot is made of two mutually independent areas of fishing, and respectively left half area of fishing and right half is fished
Area, to increase the success rate of fishing.It is provided with one group of sliding rail 6 on the fish pot frame of each area of fishing, that is, includes setting
Sliding rail on the sliding rail and undercarriage frame on fish pot frame restocking frame.One is movably set in every group of sliding rail
There are a fish pot door in a fish pot door, i.e., left half area of fishing and right half area of fishing.The upper bottom of the fish pot door 2, fish pot frame 1
It is respectively and fixedly provided with mesh grid 41 on face and side, one layer of black pore is covered on the upper surface of the mesh grid of fish pot frame bottom surface
Reticulated film 40, black fine pore network film is used to provide a simple background for image recognition, while can reduce device
The seawater resistance encountered in dive and floating-upward process.
The fish pot frame 1 is cylinder, and the top and bottom of fish pot frame 1, which are provided with one, can make fish pot door each
The spring hinge 7 slided from sliding rail.The spring hinge 7 includes fixing piece 8 and two page boards 9, and the fixing piece 8 is solid
It is scheduled on the center at 1 top of fish pot frame, one end of this two panels page board 9 is each attached on fixing piece 8, and the other end is fixed on corresponding fish
On the door frame of cage door upper end.The cross section of the fixing piece 8 is in gear-like.One is fixed on longitudinal door frame of the fish pot door 2
A mechanical lock 10 is respectively arranged with fish pot electromagnetic switch 11 on the frame frame of the fish pot frame adjacent with the two sidewalls of fish pot door and buckles
Box 12, the button box 12 are oppositely arranged with mechanical lock 10, and the upper and lower of button box 12 is provided with permanent magnet 13.Whole fish pot frame
Frame is all made of alloy material with mechanical lock and is made.Under job state, the fish pot door of left half area of fishing and right half area of fishing is located
It is fixed in open state and respectively by its respective fish pot electromagnetic switch, is set when the fishing quantity in some area of fishing reaches
After determining threshold value, the single-chip microcontroller in glass control cabinet 14 can send instruction and open corresponding fish pot electromagnetic switch, make its corresponding fish
Cage door is closed under the action of spring hinge 7 along sliding rail 6.After fish pot door is closed, the permanent magnet on cellular-type fish pot doorframe
13 are fixed fish pot door 2, while the lock tongue compression of mechanical lock 10 pushes dynamic stick into and is fixed on buckleing on doorframe on fish pot door 2
In box 12, fish pot door 2 is locked, prevents fish from escaping.
There are two the settings of sea sampler 3, and sea sampler 3 is for obtaining fish living environment Seawater Samples.Institute
State temperature, salinity and submerged depth of the CTD sensor 5 for seawater in real-time detection ambient enviroment, and the data that will test
Information is transferred to glass control cabinet 14.The sea sampler 3 is fixed on the outside of fish pot frame 1, positioned at the outer of sliding rail 6
Side, switch carry electromagnetic switch 16 by the throwing of rope 15 and load rejection mechanism and form opening and closing interlocking.Glass control cabinet 14 and CTD are passed
Sensor 5 is arranged at the top inside fish pot frame 1, and the outside of glass control cabinet 14 is provided with the control cabinet supported
Metallic support 17.
Video input module 18, video processing module 19, wireless transmission are provided in the cavity of the glass control cabinet 14
Module 20, single-chip microcontroller 21, watertight card i/f 22, LED illumination lamp 23, power module 24, watertight plug-in unit charging interface 25 and control
Cabin magnetic switch 26 processed.Wherein, 23 lamp of illumination LED and video input module 18 are fixed on 14 lowest part of glass control cabinet, to
Illuminate and obtain the image in entire fish pot.Single-chip microcontroller 21, power module 24, video processing module 19, wireless transport module 20,
Control cabinet magnetic switch 26 is located at 14 middle part of glass control cabinet, and watertight card i/f 22 is fixed on watertight plug-in unit charging interface 25
14 surface of glass control cabinet.The image signal output end of the video input module and the picture signal of video processing module input
End connection, video processing module and wireless transport module are communicatively coupled with single-chip microcontroller, and the control signal of the single-chip microcontroller is defeated
Enter end to connect by watertight card i/f with CTD sensor, the control signal output of single-chip microcontroller passes through watertight plug-in unit respectively and connects
Mouthful connect with LED illumination lamp, load rejection mechanism and fish pot electromagnetic switch, the supply port of the power module respectively with single-chip microcontroller,
CTD sensor, load rejection mechanism are connected with the power port of fish pot electromagnetic switch, and charging port and the watertight plug-in unit of power module fill
Electrical interface connection.
The video input module includes the CCD camera and interlock circuit of included decoding chip, for acquiring two left sides
The video image information of half area of fishing and right half area of fishing is simultaneously transferred to video processing module.
The video processing module, which includes two, respectively carries out the fishing quantity in left half area of fishing and right half area of fishing
The circuit board independently analyzed, respectively left half-court circuit board and right half-court circuit board are integrated with FPGA core on each circuit board
Piece, dsp chip, DDR3 memory, I2C bus and interlock circuit, the video image letter received for storing and analyzing processing
Breath identifies the fishing quantity in left half area of fishing and right half area of fishing respectively.The I2C bus is for configuring CCD camera.
Image information in the CCD camera cellular-type fish pot of the video input module and by analog image be converted to digital picture into
Row output, is then transferred to video processing module.When left half-court circuit board and right half-court board receiver to video image information
Afterwards, image information can be stored in its respective DDR3 memory by each circuit board, with after fish-catching apparatus recycles for scientific investigation personnel
It is studied.Meanwhile median filtering is respectively adopted in left half-court circuit board and fpga chip on the circuit board of right half-court and dsp chip
Algorithm is filtered simultaneously to the video image information received and image denoising, then using frequency domain method carry out image enhancement and
Image binaryzation, during carrying out image binaryzation, left half-court circuit board is according to coordinate by the ash of image left half-court pixel
Angle value is set as 255, then uses OTSU algorithm by entire left half-court image binaryzation；Right half-court circuit board will scheme according to coordinate
As the gray value of right half-court pixel is set as 255, then using OTSU algorithm by entire right half-court image binaryzation.It uses again
Edge detection algorithm carries out image characteristics extraction, finally will treated that image send to classifier compares, to judge
Fishing quantity in left half area of fishing and right half area of fishing, and respective processing result is transferred to single-chip microcontroller respectively.
Positioning signal is transferred to lash ship for positioning to whole device by the Beidou position indicator 27, so as to section
It examines personnel and recycles fish-catching apparatus, Beidou position indicator 27 is fixed on the top of the buoyancy block assembly by position indicator metallic support 28
Portion.During unpowered floating after fish-catching apparatus is thrown and carried, the Beidou positioning of Beidou position indicator 27 passes through it with communication unit
Sensor detects fish-catching apparatus, and whether emersion sea sends positioning signal while starting in Beidou position indicator if emersion sea
Glittering LED lamp 37.Beidou positioning is placed in Beidou position indicator with communication unit 38 and glittering LED lamp 37, and is installed on complete
Extra large depth multi-purpose intelligent fish-catching apparatus topmost, so that satellite communication, while side are established in Beidou positioning and communication unit and lash ship
Just night searches.Independent rechargeable lithium battery 39 is provided in Beidou position indicator.
The top of cellular-type fish pot is arranged in the buoyancy block assembly, and buoyancy block assembly includes fixed frame 29, is filled in
The outer diameter of buoyant mass 30 in fixed frame 29, the buoyant mass 30 is identical as the internal diameter of fixed frame 29.By using buoyancy
The mode of block provides buoyancy for fish-catching apparatus, makes the structural module of whole device, can increase and decrease buoyant material according to demand, be not necessarily to
Redesign processing.Red flag 31 is additionally provided on the buoyancy block assembly, the red flag 31 is fixed on by rope
The top of buoyancy block assembly.Red flag 31 as display mark, convenient for make behind fish-catching apparatus emersion sea scientific investigation personnel and
Shi Faxian, thus quickly it is close with recycling fish-catching apparatus.
The bottom of cellular-type fish pot is arranged in the load rejection mechanism, and load rejection mechanism includes being arranged in below cellular-type fish pot
Support leg 32 throws load electromagnetic switch 16 and kentledge 33, and the support leg 33 is fixed on the bottom surface of cellular-type fish pot, throws and carries electricity
Magnetic switch 16 is fixed on the center of cellular-type fish pot bottom surface by connecting rod 34, and kentledge 33 is fixed on throwing and carries electromagnetic switch 16
Lower end, the throwing carries electromagnetic switch 16 and forms opening and closing interlocking by rope 15 and sea sampler 3, throws that carry electromagnetic switch 16 logical
Watertight card i/f 22 is crossed to connect with the control signal output of single-chip microcontroller 21.When the fish pot door in two areas of fishing is turned off
Afterwards, the delay of single-chip microcontroller 21 transmission instruction unlatching throwing carries electromagnetic switch 16 and carries out throwing load, while throwing load electromagnetic switch 16 and utilizing rope
Sea sampler 3 is closed in 15 linkages.Electromagnetism throwing load mode is at low cost and is very suitable for the operating mode of fish-catching apparatus, is convenient for monolithic
Machine is controlled, than being more suitable for this fish-catching apparatus using acoustic releaser.It is linked using rope and closes seawater sampler, be not necessarily to
Additional triggers reduce design complexity, reduce failure rate.Sea sampler acquires deep-sea water sample for deep-sea scientific research,
It is accurate to obtain fish living environment information and sample information, improve the service efficiency of device.
When carrying out deep-sea fishing using Quan Haishen multi-purpose intelligent fish-catching apparatus of the invention, control method is specifically included
Following steps:
Step 1: system electrification starting and self-test.
Firstly, opening in Beidou position indicator 27, the magnetic switch of Beidou positioning and communication unit is to open its power supply, starting
Beidou positioning and communication unit, verify information；Secondly, opening the control cabinet magnetic switch in glass control cabinet 14 to open
Its power supply is opened, starting single-chip microcontroller, CTD sensor, wireless transport module work join single-chip microcontroller by wireless transport module
Number configuration, simulator land in seabed；Finally, enter fish-catching apparatus using fish modeling fish, test video input module,
Whether the work that video processing module, fish pot electromagnetic switch and throwing carry electromagnetic switch is smooth, if self-detection result meets prescribed requirement,
Then follow the steps 2.
Step 2: parameter configuration being carried out to single-chip microcontroller by wireless transport module, the intelligent fish-catching apparatus is made to restore initial
Change state, Beidou position indicator open low-power consumption mode.
Step 3: the intelligent fish-catching apparatus being hung onto seawater by overhang-door system, makes it in unpowered dive.
Temperature, salinity and the submerged depth of seawater in step 4:CTD sensor real-time detection ambient enviroment, and will test
Data information transfer to single-chip microcontroller.Single-chip microcontroller judges whether submerged depth is more than given threshold, while judging the submerged depth
Whether it is no longer changed within the scope of setting time, if being more than given threshold and no longer changing, it is defeated controls LED light, video
Enter module and video processing module electrifying startup, executes step 5.
Step 5: the CCD camera of video input module starts to acquire the video image information of two areas of fishing and will simulate
Image is converted to digital picture and is exported, and is transferred to video processing module.The video image that video processing module will receive
Information is stored in the DDR3 memory of corresponding circuits plate, and the fpga chip on its left half-court circuit board and right half-court circuit board and
Dsp chip is respectively adopted median filtering algorithm while being filtered to the video image information received and image denoising, then
Image enhancement and image binaryzation are carried out using frequency domain method.During carrying out image binaryzation, left half-court circuit board according to
Coordinate sets 255 for the gray value of image left half-court pixel, then uses OTSU algorithm by entire left half-court image two-value
Change；Right half-court circuit board sets 255 for the gray value of image right half-court pixel according to coordinate, then uses OTSU algorithm will
Entire right half-court image binaryzation.Image characteristics extraction is carried out using edge detection algorithm again, finally image is sent by treated
It is compared to classifier, to judge the fishing quantity in left half area of fishing and right half area of fishing, then by its respective place
Reason result is transferred to single-chip microcontroller respectively.
Step 6: single-chip microcontroller carries out processing judgement to the processing result of left half-court circuit board and right half-court circuit board.If left half
It is more than setting value that quantity is fished in area of fishing, then the fish pot electromagnetic switch for controlling left half area of fishing is opened, the fish pot of left half area of fishing
Door is closed under the action of spring hinge, and the mechanical lock on longitudinal door frame is buckled in corresponding button box, so that a left side partly be caught
The fish pot door locked and fixed in fish area；Similarly, if right half area of fishing fishing quantity is more than setting value, the fish of right half area of fishing is controlled
Cage electromagnetic switch is opened, and the fish pot door locked and fixed of right half area of fishing is made；If the fishing number of left half area of fishing and right half area of fishing
Amount is more than setting value, then the fish pot electromagnetic switch of two areas of fishing of control is opened simultaneously, thus by the fish pot of two areas of fishing
Door lock is dead.During this period, the power management chip in power module can detect its electricity, when electricity is lower than 10%, into
Row low battery is alarmed, while single-chip microcontroller terminates fishing quantity identification and operates, and is controlled starting throwing load electromagnetic switch and started to throw load,
It prevents that battery from exhausting and does not carry out throwing carrying and float, lose the present apparatus.
Step 7: single-chip microcontroller judges whether the fish pot door of two areas of fishing is turned off, if being turned off, controls and closes LED
Lamp, video input module and video processing module, while being delayed ten minutes, control starting throwing load electromagnetic switch, which starts to throw, to be carried, and is thrown
It carries electromagnetic switch and seawater sampler is closed by rope linkage, the intelligence fish-catching apparatus starts unpowered floating；
Step 8: the Beidou positioning of Beidou position indicator is detected with communication unit using photosensitive switch circuit and obliquity sensor
Whether the intelligence fish-catching apparatus emerges, if emersion, Beidou positioning and communication unit are converted to normally by low-power consumption mode
Operating mode carries out big-dipper satellite and positions and communicate, establish and communicate to connect with lash ship, sends positioning signal to lash ship.Simultaneously
The glittering LED lamp in Beidou position indicator can be opened, is searched for convenient for lash ship.Scientific investigation personnel are quick by positioning signal and red flag
The intelligent fish-catching apparatus is fished in recycling, and deep-sea fish and Seawater Samples in acquisition device are deposited by wireless transport module collection
The CTD data and fishing operations image document of storage.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that；Still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of Quan Haishen multi-purpose intelligent fish-catching apparatus, including cellular-type fish pot, buoyancy block assembly and load rejection mechanism, described floating
The top of cellular-type fish pot is arranged in power block assembly, and the bottom of cellular-type fish pot is arranged in load rejection mechanism, which is characterized in that also wraps
It includes and Beidou position indicator at the top of the buoyancy block assembly is fixed on by position indicator metallic support, the cellular-type fish pot includes fish
Cage frame frame, two fish pot doors, sea sampler, glass control cabinet and CTD sensor,
The cellular-type fish pot is made of two mutually independent areas of fishing, is provided with one group on the fish pot frame of each area of fishing
Sliding rail is movably set with a fish pot door in every group of sliding rail, is provided with one at the top and bottom of fish pot frame
A spring hinge for sliding fish pot door in respective sliding rail, the fish pot door, the upper bottom surface of fish pot frame and side
It is respectively and fixedly provided with mesh grid on face, it is thin that one layer of black fine pore network is covered on the upper surface of the mesh grid of fish pot frame bottom surface
Film is fixed with a mechanical lock, the frame of the fish pot frame adjacent with the two sidewalls of fish pot door on longitudinal door frame of the fish pot door
Fish pot electromagnetic switch and button box are respectively arranged on frame, the button box is oppositely arranged with mechanical lock, and the upper and lower of button box is respectively provided with
There is permanent magnet；
The sea sampler is fixed on the outside of fish pot frame, and glass control cabinet and CTD sensor are arranged at fish pot frame
Internal top is provided with the control cabinet metallic support supported, the glass control cabinet on the outside of glass control cabinet
Cavity in be provided with video input module, video processing module, wireless transport module, single-chip microcontroller, watertight card i/f, LED
Headlamp, power module, watertight plug-in unit charging interface and control cabinet magnetic switch, the picture signal of the video input module are defeated
The connection of the picture signal input terminal of outlet and video processing module, video processing module and wireless transport module and single-chip microcontroller carry out
The control signal input of communication connection, the single-chip microcontroller is connect by watertight card i/f with CTD sensor, the control of single-chip microcontroller
Signal output end processed passes through watertight card i/f respectively and connect with LED illumination lamp, load rejection mechanism and fish pot electromagnetic switch, the electricity
The supply port of source module is connect with the power port of single-chip microcontroller, CTD sensor, load rejection mechanism and fish pot electromagnetic switch respectively,
The charging port of power module is connect with watertight plug-in unit charging interface.
2. Quan Haishen multi-purpose intelligent fish-catching apparatus according to claim 1, which is characterized in that the load rejection mechanism includes
Support leg below cellular-type fish pot is set, throwing carries electromagnetic switch and kentledge, the support leg are fixed on cellular-type fish pot
Bottom surface, throw carry electromagnetic switch be fixed by the connecting rod in the center of cellular-type fish pot bottom surface, kentledge be fixed on throwing carry
The lower end of electromagnetic switch, the throwing carry electromagnetic switch and form opening and closing interlocking by rope and sea sampler, throw and carry electromagnetic switch
It is connected by the control signal output of watertight card i/f and single-chip microcontroller.
3. Quan Haishen multi-purpose intelligent fish-catching apparatus according to claim 1, which is characterized in that on the buoyancy block assembly
It is additionally provided with red flag, the red flag is fixed on the top of buoyancy block assembly by rope.
4. Quan Haishen multi-purpose intelligent fish-catching apparatus according to claim 3, which is characterized in that the buoyancy block assembly packet
The buoyant mass for including fixed frame, being filled in fixed frame, the outer diameter of the buoyant mass and the internal diameter of fixed frame are identical.
5. Quan Haishen multi-purpose intelligent fish-catching apparatus according to claim 1, which is characterized in that the spring hinge includes
Fixing piece and two page boards, the fixing piece are fixed on the center of fish pot frame roof, and one end of page board is fixed on fixing piece,
The other end is fixed on the door frame of corresponding fish pot door upper end.
6. Quan Haishen multi-purpose intelligent fish-catching apparatus according to claim 5, which is characterized in that the fixing piece it is transversal
Face is in gear-like.
7. Quan Haishen multi-purpose intelligent fish-catching apparatus according to claim 1, which is characterized in that the video processing module
The circuit board that the fishing quantity in left half area of fishing and right half area of fishing is independently analyzed respectively including two, it is respectively left
Half area's circuit board and right half-court circuit board；Fpga chip, dsp chip and DDR3 memory are integrated on each circuit board.
8. Quan Haishen multi-purpose intelligent fish-catching apparatus according to claim 1, which is characterized in that the fish pot frame is circle
Cylindricality, there are two sea samplers.
9. a kind of control method of Quan Haishen multi-purpose intelligent fish-catching apparatus of any of claims 1-8, feature
It is, specifically includes the following steps:
Step 1: system electrification starting and self-test；
Step 2: parameter configuration being carried out to single-chip microcontroller by wireless transport module, the intelligent fish-catching apparatus is made to restore initialization shape
State；
Step 3: the intelligent fish-catching apparatus being hung onto seawater by overhang-door system, makes its unpowered dive；
Temperature, salinity and the submerged depth of seawater in step 4:CTD sensor real-time detection ambient enviroment, and the number that will test
It is believed that breath is transferred to single-chip microcontroller, single-chip microcontroller judge submerged depth whether be more than given threshold, whether within the scope of setting time not
It changes again, if being more than given threshold and no longer changing, single-chip microcontroller controls LED light, video input module and video and handles mould
Block electrifying startup executes step 5；
Step 5: video input module acquires the video image information of two areas of fishing and is transferred to video processing module；At video
The video image information received is stored in the DDR3 memory of corresponding circuits plate by reason module, and its left half-court circuit board and the right side
Median filtering algorithm is respectively adopted simultaneously to the video image information received in fpga chip and dsp chip on half area's circuit board
It is filtered and image denoising, image enhancement and image binaryzation is then carried out using frequency domain method, then use edge detection algorithm
Carry out image characteristics extraction, finally will treated that image send to classifier compares, thus judge left half area of fishing and
Fishing quantity in right half area of fishing, left half-court circuit board and right half-court circuit board are processed to result respectively and are transferred to monolithic
Machine；
Step 6: single-chip microcontroller carries out processing judgement to the processing result of left half-court circuit board and right half-court circuit board, if left half fishes
It is more than setting value that quantity is fished in area, then the fish pot electromagnetic switch for controlling left half area of fishing is opened, and the fish pot door of left half area of fishing exists
It is closed under the action of spring hinge, the mechanical lock on longitudinal door frame is buckled in corresponding button box, thus by left half area of fishing
Fish pot door locked and fixed；
Similarly, if right half area of fishing fishing quantity is more than setting value, the fish pot electromagnetic switch for controlling right half area of fishing is opened, and is made
The fish pot door locked and fixed of right half area of fishing；
If the fishing quantity of left half area of fishing and right half area of fishing is more than setting value, the fish pot of two areas of fishing is controlled simultaneously
Electromagnetic switch is opened, so that the fish pot door lock of two areas of fishing is dead；
Step 7: single-chip microcontroller judges whether the fish pot door of two areas of fishing is turned off, if being turned off, control close LED light,
Video input module and video processing module, while being delayed ten minutes, control starting throwing load electromagnetic switch, which starts to throw, to be carried, and it is electric to throw load
Magnetic switch is linked by rope closes sea sampler, and the intelligence fish-catching apparatus starts unpowered floating；
Step 8: Beidou position indicator judges whether the intelligent fish-catching apparatus emerges, if emersion, Beidou position indicator and lash ship
Communication connection is established, scientific investigation personnel recycle the intelligent fish-catching apparatus by positioning signal and red flag.
10. the control method of Quan Haishen multi-purpose intelligent fish-catching apparatus according to claim 9, which is characterized in that described
In step 5, during carrying out image binaryzation, left half-court circuit board is according to coordinate by the gray value of image left half-court pixel
255 are set as, then uses OTSU algorithm by entire left half-court image binaryzation；Right half-court circuit board is right by image according to coordinate
The gray value of half area's pixel is set as 255, then uses OTSU algorithm by entire right half-court image binaryzation；
In the step 6, during single-chip microcontroller carries out processing judgement to the fishing quantity of two areas of fishing, in power module
Power management chip can detect its electricity, when electricity is lower than 10%, carry out low battery alarm, while single-chip microcontroller terminates
Fishing quantity judgement operates, and controls starting throwing load electromagnetic switch and start to throw load.
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| CN201711208131.9A CN107846580B (en) | 2017-11-27 | 2017-11-27 | A kind of Quan Haishen multi-purpose intelligent fish-catching apparatus and its control method |
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| CN108616725B (en) * | 2018-05-21 | 2020-06-23 | 佛山科学技术学院 | Artificial intelligent accurate fishing device and working system and method thereof |
| CN108594291B (en) * | 2018-06-22 | 2023-08-22 | 南方科技大学 | Submarine seismograph |
| CN109006720B (en) * | 2018-09-07 | 2024-07-23 | 百度在线网络技术（北京）有限公司 | Fishing device |
| CN109769173B (en) * | 2018-12-29 | 2020-02-04 | 厦门大学 | Large yellow croaker sound induction underwater sound signal design and feedback regulation method |
| CN110122435B (en) * | 2019-05-30 | 2024-02-13 | 唐山多玛乐园旅游文化有限公司 | Fish catching tool and fishing device using same |
| CN112616783A (en) * | 2020-12-18 | 2021-04-09 | 浙江大学 | Full-sea-depth multipurpose fishing device and using method thereof |
| CN113001561B (en) * | 2021-03-02 | 2022-04-01 | 浙江大学 | Robot for capturing and biopsy of deep-sea organisms |
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| JP2005073637A (en) * | 2003-09-02 | 2005-03-24 | Kazutoshi Ozaki | Undersea net basket device for fishing and undersea net basket fishing method using the same |
| CN201252776Y (en) * | 2008-09-02 | 2009-06-10 | 湛江胜浪海洋捕捞研究所 | Submarine automatic cage fishing device gate control device |
| CN101341864B (en) * | 2008-09-02 | 2010-09-29 | 湛江胜浪海洋捕捞研究所 | Automatic cage catching (fishing) machine at ocean floor |
| US8919034B2 (en) * | 2012-01-03 | 2014-12-30 | Fahad M. F. S. Alhuwaishel | Fish trap system |
| CN105046232A (en) * | 2015-07-25 | 2015-11-11 | 宗秋升 | Image processing based system for searching fish body at bottom of ship |
| CN105807298B (en) * | 2016-04-27 | 2018-08-17 | 上海海洋大学 | The positioning of the complete deep marine settings in sea and communication device and method |
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