CN107018361A - The method and system of violated fishing gear are recognized based on unmanned plane and graphical analysis - Google Patents
The method and system of violated fishing gear are recognized based on unmanned plane and graphical analysis Download PDFInfo
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- CN107018361A CN107018361A CN201710187862.3A CN201710187862A CN107018361A CN 107018361 A CN107018361 A CN 107018361A CN 201710187862 A CN201710187862 A CN 201710187862A CN 107018361 A CN107018361 A CN 107018361A
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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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- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The present invention relates to a kind of method and system that violated fishing gear is recognized based on unmanned plane and graphical analysis.The problem of solving prior art violated fishing gear difficult regulatory, including S1：Data acquisition：It is logical that designated area is carried out to include the data acquisition of image information, and data are carried out to pass data in rear end monitoring system after data check；S2：Data analysis and management：Enhancing processing is carried out to the view data received, while the data collected are classified and are put in storage, and air route setting and remote management are carried out to the data acquisition in step S1 by data acquisition control module；S3：Intelligence aided decision：Intelligence aided decision：The contour feature for extracting fishing gear is identified to contour feature simultaneously, and judges whether the fishing gear is violated fishing gear according to the mass data of database by violated fishing gear judge module, if the fishing gear is violated fishing gear, rear end monitoring system carries out alarm.The present invention has the advantages that monitoring efficiency high scope is wide.
Description
Technical field
The invention belongs to unmanned plane field, more particularly to one kind are violated based on unmanned plane and graphical analysis identification
The method and system of fishing gear.
Background technology
This several years recently, due to a variety of causes, the sound development of fishery was by threatening, wherein topmost two reasons
Respectively a large amount of of the unqualified factor of water quality and violated fishing gear use, the number of times that especially violated fishing gear is used in recent years
More and more, this not only makes fishery resources well damage, and water environment can be allowed further to deteriorate, and upsets normal fishery life
Production rule, can more influence the coordination and development of fishery society.
In order to solve the above-mentioned technical problem, people have carried out long-term exploration, and Chinese patent discloses a kind of based on nobody
Water quality monitoring sampling apparatus [the application number of machine：CN201620481678.0], including water sample acquisition device and bindiny mechanism two
Point；Described bindiny mechanism includes end pole and connecting shaft；End pole is connected by universal joint with the connecting shaft of lower end；Institute
The connecting shaft lower end connection harvester stated, wherein water sample acquisition device mainly includes housing, steering wheel, small micro pump, sampling
Beaker, plastic clip；Described steering wheel is fixed on the inner side centre of the housing, and the axle of steering wheel is fixedly connected with a disk；
The fixed small micro pump of lower section bias of the disk；Four end symmetrics below housing fix four plastic clips, sampling
Beaker is fixed on plastic clip；Small micro pump draws two water pipes, and one extends downwardly, and another is folded upward at end after shaping
End is placed in above sampling beaker.
For another example, a kind of large-scale water area water-quality monitoring sampling integral system [application number based on unmanned plane：
CN204758583U], including unmanned plane, ground observing and controlling center and hand-held mobile terminal, UAV flight have aerial photographing unit,
Aerial image unit, flight control units, water quality monitoring unit, aerial measurement and control center and water sampling unit, list of taking pictures in the air
First, aerial image unit, flight control units, water quality monitoring unit and water sampling unit are connected with aerial measurement and control center, empty
Middle measurement and control center is connected with ground observing and controlling center to center communications, and ground observing and controlling center is communicated to connect with hand-held mobile terminal.
Above-mentioned two scheme all employs unmanned air vehicle technique and carries out sampling monitoring to water quality, greatly reduces human input,
Detection efficiency is also improved simultaneously, but so far, violated fishing gear monitoring method still needs a large amount of manpowers of input and gone actively
Monitoring, input cost is too high, and law enfrocement official's energy is limited, and there have a small number of fishermen to entertain some because of economic problems to be lucky
Psychology, is embodied in, and similar violated fishing gear can be reused after law enfrocement official is the cleaning of violated fishing gear, then again in law enforcement people
Proceed by and fish in violation of rules and regulations in the case of member is careless, be unfavorable for the thorough elimination of violated situation.Furthermore, in inter-provincial boundary waters
Place, easily to there is blind area in the processing of violated fishing gear and violation operating type, in waters intersection, most of waters is all each
From for political affairs, and coastal fisherman is just readily available this blind spot, and the operating type transboundary of violation is carried out using violated fishing gear.Institute
With in view of the above-mentioned problems, being badly in need of one kind efficiently, easily the recognition detection system of violated fishing gear is monitored to violated fishing gear.
The content of the invention
Regarding the issue above, the present invention provides a kind of recognize violated fishing based on unmanned plane and graphical analysis
The method of tool；
The another object of this programme is to provide a kind of system for recognizing violated fishing gear based on unmanned plane and graphical analysis.
To reach above-mentioned purpose, present invention employs following technical proposal：The voice messaging based on cloud platform of the present invention
Sharing method comprises the following steps：
S1：Data acquisition：Designated area is carried out by an image capture module being arranged on unmanned plane to include image
The data acquisition of information, and by correction module to being passed data in rear end by wireless module after data progress data check
Monitoring system；
S2：Data analysis and management：The image enhancement processing module of rear end monitoring system is arranged to receiving by one
View data carry out enhancing processing, while the data collected are classified and are put in storage by data management module, and
Air route setting and remote management are carried out to the data acquisition in step S1 by data acquisition control module；
S3：Intelligence aided decision：Intelligence aided decision：Carried by an image steganalysis module in image information data
The contour feature of fishing gear is taken while being identified to contour feature, and passes through magnanimity of the violated fishing gear judge module according to database
Data judge whether the fishing gear is violated fishing gear,
If the fishing gear is violated fishing gear, step S4 is performed；
S4：Rear end monitoring system carries out alarm.
In the above-mentioned method based on unmanned plane and the violated fishing gear of graphical analysis identification, also wrapped before step S1
Include：
Typing includes the data message of violated fishing gear type and its corresponding operating mode information in the monitoring system of rear end.
By above-mentioned technical proposal, the present invention is detected using UAS, puts into low, efficiency high, no longer moment
Need law enfrocement official in person to removing to see whether violated fishing net on the spot, and the height of unmanned plane during flying is high, the model of observation
Enclose very big, saved many time and efforts.
In the above-mentioned method based on unmanned plane and the violated fishing gear of graphical analysis identification, in step sl, control
The method that unmanned plane carries out data acquisition in designated area is as follows：
The waypoint navigation unmanned plane set by a GPS module being arranged on unmanned plane according to rear end monitoring system so as to
Unmanned plane is set to carry out data acquisition in the designated area set by monitoring system.
By above-mentioned technical proposal, unmanned plane flies automatically according to the instruction of rear end monitoring system, and staff is without control
Aircraft processed and only need to be concerned about data in itself, greatly reduce staff energy input.
It is in step sl, described in the above-mentioned method based on unmanned plane and the violated fishing gear of graphical analysis identification
Image capture module the data of image information are collected by optical image acquisition mode to designated area.
In the above-mentioned method based on unmanned plane and the violated fishing gear of graphical analysis identification, in step sl, pass through
The method that correction module carries out data check to data includes：
Take the difference of input picture and the image after LPF empty to image progress as the output of high-pass filtering
Between domain Edge contrast.
In the above-mentioned method based on unmanned plane and the violated fishing gear of graphical analysis identification, in step s 2, docking
The view data received carries out enhancing processing and comprised the following steps：
When finding apparent contour thing, outline and Internal periphery are extracted first, is further carried out by curve matching mode
The dimension-reduction treatment of general outline obtains strengthening profile.
In the above-mentioned method based on unmanned plane and the violated fishing gear of graphical analysis identification, in step s3, pass through
Judge whether enhancing profile meets violated fishing gear mode of operation to judge whether the fishing gear is violated fishing gear.
A kind of system that violated fishing gear is recognized based on unmanned plane and graphical analysis, including a unmanned plane and and unmanned plane
The rear end monitoring system connected by wireless module telecommunication, described unmanned plane includes optical information collecting unit, described
Optical information collecting unit include image capture module, correction module, described rear end monitoring system include database analysis
With administrative unit and intelligence aided decision unit, wherein, described database analysis includes image enhancement processing with administrative unit
Module, data acquisition control module and data management module, described intelligence aided decision unit are known including image model
Other module and violated fishing gear judge module, and, described rear end monitoring system also includes alarm unit.
In the above-mentioned system based on unmanned plane and the violated fishing gear of graphical analysis identification, on described unmanned plane also
It is provided with wireless module and is connected to rear end monitoring system and for the instruction navigation unmanned plane according to monitoring back-end system
GPS module.
In the above-mentioned system based on unmanned plane and the violated fishing gear of graphical analysis identification, described rear end monitoring system
System also includes a display screen for being connected with eyeball identification module.
By above-mentioned technical proposal, eyeball identification module can recognize whether user sees screen, and it is determined that user
Display screen is lighted when view screen, the automatic screen that goes out, greatlys save disappearing for display screen battery electric quantity when user does not need
Consumption, extends the service life of battery.
The present invention has input cost low, and monitoring means is flexible, the advantages of monitoring efficiency is high.
The present invention also has hardware architecture simple, the advantages of automaticity is high.
Brief description of the drawings
Fig. 1 is the flow chart for the embodiment one that the present invention is provided；
Fig. 2 is the schematic diagram of a scenario for the embodiment one that the present invention is provided；
Fig. 3 is the system architecture diagram for the embodiment two that the present invention is provided；
Fig. 4 is the architectural framework figure for the embodiment two that the present invention is provided；
Fig. 5 is the system architecture diagram for the embodiment three that the present invention is provided.
In figure, unmanned plane 1；Optical information collecting unit 11；Image capture module 111；Correction module 112；GPS module
12；Wireless module 2；Rear end monitoring system 3；Database analysis and administrative unit 31；Image enhancement processing module 311；Data are adopted
Collect process control module 312；Data management module 313；Intelligence aided decision unit 32；Image steganalysis module 321；It is violated
Fishing gear judge module 322；Alarm unit 33；Display screen 34；Eyeball identification module 35；Dotted portion 4；Two-dot chain line part 5；It is real
Line part 6.
Embodiment
The following is the preferred embodiments of the present invention and with reference to accompanying drawing, technical scheme is further described,
But the invention is not restricted to these embodiments.
Embodiment one
As shown in figure 1, the present invention's recognizes the method for violated fishing gear including following based on unmanned plane and graphical analysis
Step：
S1：Data acquisition：Designated area is included by an image capture module 111 being arranged on unmanned plane 1
The data acquisition of image information, and data are carried out data after data check by wireless module 2 by correction module 112
Pass in rear end monitoring system 3；
Also include before above-mentioned steps S1：
Typing includes the data letter of violated fishing gear type and its corresponding operating mode information in rear end monitoring system 3
Breath, so that system judges whether the fishing gear captured is violated fishing gear.
Wherein, in step sl, described image capture module 111 is adopted to designated area by optical image acquisition mode
Collect the data of image information, and the present embodiment uses and is based on CCD optical image acquisitions,
Further, in step sl, control unmanned plane 1 carried out in designated area data acquisition method it is as follows：
The waypoint navigation unmanned plane that the GPS module 12 being arranged at by one on unmanned plane 1 is set according to rear end monitoring system 3
1 so that unmanned plane 1 carries out data acquisition in the designated area set by monitoring system, so that unmanned plane 1 is supervised according to rear end
The instruction of control system 3 is flown automatically, monitoring system according to the flight path of each unmanned plane and the characteristic of each sea front,
Air route setting is carried out for the flight of unmanned plane subsequently, the fishing gear in marine site is monitored with making unmanned plane maximum magnitude, and for root
It is more frequent using more area monitorings toward the violated fishing gear of monitoring result according to this, make the monitoring of unmanned plane more targeted, when
So, because air route is controlled unmanned plane automatic remote by monitoring system, staff need not control aircraft and only need to be concerned about
Data in itself, greatly reduce the energy input of staff.
Yet further, in step sl, the method for carrying out data check to data by correction module 112 includes：
Take the difference of input picture and the image after LPF empty to image progress as the output of high-pass filtering
Between domain Edge contrast.
Data check is also referred to carry out integrity analysis to data, and Edge contrast refers specifically to compensate and increases the height of image
Frequency composition, becomes apparent from the atural object border in image, edges of regions, lines, textural characteristics and fine structure feature etc., fresh
It is bright.
S2：Data analysis and management：Docked by an image enhancement processing module 311 for being arranged at rear end monitoring system 3
The view data received carries out enhancing processing, while being classified and being entered by 313 pairs of data collected of data management module
Storehouse, and air route setting is carried out to the data acquisition in step S1 and long-range by data acquisition control module 312
Management；
Further, in step s 2, enhancing processing is carried out to the view data received to comprise the following steps：
When finding apparent contour thing, outline and Internal periphery are extracted first, is further carried out by curve matching mode
The dimension-reduction treatment of general outline obtains strengthening profile.
S3：Intelligence aided decision：Fishing gear is known in image information data by an image steganalysis module 321
Not, the contour feature for extracting fishing gear is embodied in while being identified to contour feature, and passes through violated fishing gear judge module
322 judge whether the fishing gear is violated fishing gear according to the mass data of database,
If the fishing gear is violated fishing gear, step S4 is performed；
In step s3, by judge enhancing profile whether meet violated fishing gear mode of operation judge the fishing gear whether be
Violated fishing gear.
S4：Rear end monitoring system 3 carries out alarm.
The content of alarm includes spot for photography, time and speculates the information such as violated fishing gear type according to big data.
Detected using the system of unmanned plane 1, put into low, efficiency high, the no longer moment needs law enfrocement official to arrive in person on the spot
Go to see whether violated fishing net, and the height that unmanned plane 1 flies is high, and the scope of observation is very big, has saved many times
And energy.
Below with concrete scene to intelligence aided decision during, violated fishing gear recognition methods is illustrated：
As shown in Fig. 2 when finding to have obvious profile thing, dotted portion 4 in outline, i.e. figure is extracted first, and carry
Two-dot chain line part 5 in Internal periphery, i.e. figure is taken, the dimension-reduction treatment that general outline is further carried out by curve matching mode is obtained
Bold portion 6 in figure, related data is passed in rear end monitoring system in the lump, is judged to draw bold portion 6 by monitoring system
When angle angle meets the mode of operation of typical violated fishing gear, monitoring system driving alarm unit carries out initiative alarming,
And the information such as shooting specified place, the violated fishing gear type of time supposition are provided by display screen, certain specified place information is by GPS
Module is provided.
Embodiment two
As shown in figure 3, the present embodiment is similar with embodiment one, difference is, the present embodiment is based on nobody to be a kind of
The system that machine is taken photo by plane and graphical analysis recognizes violated fishing gear, including a unmanned plane 1 and long-range by wireless module 2 with unmanned plane 1
The rear end monitoring system 3 of communication connection, described unmanned plane 1 includes optical information collecting unit 11, and described optical information is adopted
Collecting unit 11 includes image capture module 111, correction module 112, described rear end monitoring system 3 including database analysis with managing
Unit 31 and intelligence aided decision unit 32 are managed, wherein, described database analysis includes at image enhaucament with administrative unit 31
Module 311, data acquisition control module 312 and data management module 313 are managed, described intelligence aided decision unit 32 is wrapped
Image steganalysis module 321 and violated fishing gear judge module 322 are included, and, it is single that described rear end monitoring system 3 also includes alarm
Member 33.
Wherein, such as Fig. 4, optical information collecting unit 11 is the optical information acquisition layer of the system, for based on unmanned plane 1
Optical data acquisition is carried out to designated area, and data check, i.e. Data integrality analysis is carried out, after the completion of verification by based on
The data-interface of wireless module 2 transmits data to database analysis and administrative unit 31.
Specifically, the main acquiring way of video and image is various CCD/MOS cameras.Charge coupled device ccd
Outstanding feature be using electric charge as signal, and different from other most devices be electric current or voltage signal, CCD basic training
Can be storage and the electric charge transfer of electric charge, so, the system front end uses the image capture module 111 of Visible-light CCD camera
Obtain image.
Also, in view of hard-wired complexity, and the faint Small object of enhancing and block or Area Objects edge
Filtering and calibration purpose, the system is selected can carry out the correction module 112 of spatial domain Edge contrast to image.
Database analysis and database and analysis management layer of the administrative unit 31 for the system, for being gathered to optical information
The optical information data that layer is transmitted carry out image enhancement processing, and the process gathered to optical information is set and managed
Reason, i.e., set to the air route of unmanned plane 1, while carrying out data base administration to institute's gathered data, the data base administration includes
The data of data manipulation management and data in-out-storehouse management, wherein data place management are with the data of unmanned plane 1 or cruise navigation channel number
According to form be subject to tissue, and can be enterprising in GIS map being set to the air route of unmanned plane 1, under planning and the support of function of injecting
Row result is shown, so that end user need not control unmanned plane 1 and only need to major concern optical data in itself.
Intelligence aided decision unit 32 is the intelligence aided decision layer of the system, and this unit and database analysis connect with management
Connect, it is used for by image pattern recognition, with reference to the decision knowledge base including all kinds of violated fishing gear information that is stored with light
The contour feature and active identification that violated fishing gear is extracted in information data are learned, the judgement efficiency of optical identification is effectively improved, realized
The full-automatic process of supervision of violated fishing gear inspection process, it is found that timely rear end monitoring system 3 is alarmed during violated fishing gear, is actively pushed away
Abnormal data is sent, Report Server Management and INDEX MANAGEMENT are carried out based on abnormal data；Meanwhile, this unit can also logarithm by intelligent use
Retrieved according to storehouse according to different search conditions.
Further, it is additionally provided with described unmanned plane 1 and rear end monitoring system 3 and use is connected to by wireless module 2
In the GPS module 12 for the unmanned plane 1 that navigated according to the instruction of monitoring back-end system.
Embodiment three
The electricity that smart machine is restricted battery by volume all has significant limitation, it is necessary to continually be filled
Electricity, to facilitate the aging effects for battery very big, on the other hand, for user experience in terms of nor highly desirable, at this
In a little smart machines, the power consumption of screen is the most obvious, and the present embodiment can save screen in view of the above-mentioned problems, proposing one kind
Power consumption to increase the scheme that the single charge of equipment saves the energy using duration and further.As shown in figure 5, this implementation
Example employs the technical scheme similar with embodiment two, and difference is, the rear end monitoring system 3 of the present embodiment also includes one
The display screen 35 of eyeball identification module 34 is connected with, the eyeball identification module can intelligently recognize whether user is seeing screen
Curtain, and it is determined that light display screen when user's view screen, when user need not when the automatic screen that goes out, greatly save display
Shield the consumption of battery electric quantity, extend the service life of battery, save the consumption of the energy.
The present invention realizes the automatic monitoring management of violated fishing gear towards sea front, is gathered by arranging based on unmanned plane 1
All kinds of fishing gears that sea front occurs are carried out target identification by the optical imagery and video arrived automatically by rear end monitoring system 3
With judgement, and can to abnormal conditions therein carry out automatically monitoring and alert process, with save human and material resources, financial resources, and
Monitoring efficiency is high, the advantages of scope is wide.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used unmanned plane 1 herein；Optical information collecting unit 11；Image capture module 111；Straightening die
Block 112；GPS module 12；Wireless module 2；Rear end monitoring system 3；Database analysis and administrative unit 31；Image enhancement processing mould
Block 311；Data acquisition control module 312；Data management module 313；Intelligence aided decision unit 32；Image steganalysis
Module 321；Violated fishing gear judge module 322；Alarm unit 33；Display screen 34；Eyeball identification module 35；Dotted portion 4；Two point
Setting-out part 5；The grade term of bold portion 6, but it is not precluded from the possibility using other terms.The use of these terms is only to be
More easily describe and explain the essence of the present invention；Being construed as any additional limitation is all and present invention essence
What god disagreed.
Claims (10)
1. a kind of method that violated fishing gear is recognized based on unmanned plane and graphical analysis, it is characterised in that comprise the following steps：
S1：Data acquisition：Designated area is included by an image capture module (111) being arranged on unmanned plane (1)
The data acquisition of image information, and by correction module (112) to being incited somebody to action after data progress data check by wireless module (2)
Data are passed in rear end monitoring system (3)；
S2：Data analysis and management：Docked by an image enhancement processing module (311) for being arranged at rear end monitoring system (3)
The view data that receives carries out enhancing processing, at the same by data management module (313) data collected are carried out classification and
Storage, and by data acquisition control module (312) in step S1 data acquisition carry out air route setting with
Remote management；
S3：Intelligence aided decision：The profile of fishing gear is extracted in image information data by an image steganalysis module (321)
Feature is identified to contour feature simultaneously, and is sentenced by violated fishing gear judge module (322) according to the mass data of database
Whether the disconnected fishing gear is violated fishing gear,
If the fishing gear is violated fishing gear, step S4 is performed；
S4：Rear end monitoring system (3) carries out alarm.
2. the method according to claim 1 for recognizing violated fishing gear based on unmanned plane and graphical analysis, its feature exists
In also including before step S1：
In rear end, monitoring system (3) interior typing includes the data message of violated fishing gear type and its corresponding operating mode information.
3. the method according to claim 2 for recognizing violated fishing gear based on unmanned plane and graphical analysis, its feature exists
In in step sl, the method that control unmanned plane (1) carries out data acquisition in designated area is as follows：
The waypoint navigation unmanned plane that the GPS module being arranged at by one on unmanned plane (1) is set according to rear end monitoring system (3)
(1) so that unmanned plane (1) carries out data acquisition in the designated area set by monitoring system.
4. the method according to claim 1 for recognizing violated fishing gear based on unmanned plane and graphical analysis, its feature exists
In in step sl, described image capture module (111) collects image to designated area by optical image acquisition mode
The data of information.
5. the method according to claim 4 for recognizing violated fishing gear based on unmanned plane and graphical analysis, its feature exists
In in step sl, the method for carrying out data check to data by correction module (112) includes：
The difference of input picture and image after LPF is taken as the output of high-pass filtering spatial domain is carried out to image
Edge contrast.
6. the method according to claim 1 for recognizing violated fishing gear based on unmanned plane and graphical analysis, its feature exists
In in step s 2, enhancing processing being carried out to the view data that receives and is comprised the following steps：
When finding apparent contour thing, outline and Internal periphery are extracted first, totality is further carried out by curve matching mode
The dimension-reduction treatment of profile obtains strengthening profile.
7. the method according to claim 6 for recognizing violated fishing gear based on unmanned plane and graphical analysis, its feature exists
In in step s3, judging whether the fishing gear is violated by judging whether enhancing profile meets violated fishing gear mode of operation
Fishing gear.
8. a kind of system that violated fishing gear is recognized based on unmanned plane and graphical analysis, it is characterised in that including a unmanned plane
(1) the rear end monitoring system (3) and with unmanned plane (1) being connected by wireless module (2) telecommunication, described unmanned plane (1)
Including optical information collecting unit (11), described optical information collecting unit (11) includes image capture module (111), correction
Module (112), described rear end monitoring system (3) includes database analysis and administrative unit (31) and intelligence aided decision unit
(32), wherein, described database analysis includes image enhancement processing module (311), data acquisition with administrative unit (31)
Process control module (312) and data management module (313), described intelligence aided decision unit (32) include image steganalysis
Module (321) and violated fishing gear judge module (322), and, described rear end monitoring system (3) also includes alarm unit (33).
9. the system according to claim 8 for recognizing violated fishing gear based on unmanned plane and graphical analysis, its feature exists
In being additionally provided with described unmanned plane (1) and be connected to rear end monitoring system (3) and for according to prison by wireless module (2)
Control the GPS module (12) of the instruction navigation unmanned plane (1) of back-end system.
10. the system according to claim 9 for recognizing violated fishing gear based on unmanned plane and graphical analysis, its feature exists
In described rear end monitoring system (3) also includes a display screen (34) for being connected with eyeball identification module (35).
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| CN108776937A (en) * | 2018-04-16 | 2018-11-09 | 上海海事大学 | A kind of illegal fishing behavior method of discrimination of ship based on binocular monopod video camera and system |
| CN111667497A (en) * | 2019-04-18 | 2020-09-15 | 绿桥(泰州)生态修复有限公司 | Fishery monitoring management method |
| CN111738150A (en) * | 2020-06-22 | 2020-10-02 | 中国银行股份有限公司 | Automatic supervision method, device and system |
| CN114373165A (en) * | 2022-03-22 | 2022-04-19 | 江西省天轴通讯有限公司 | Law enforcement analysis method and device based on image recognition, storage medium and equipment |
| CN114993270A (en) * | 2022-05-26 | 2022-09-02 | 中国科学院西北生态环境资源研究院 | Unmanned aerial vehicle thermal melting lake and pond hydrological monitoring system |
| CN115979068A (en) * | 2023-01-17 | 2023-04-18 | 北京瑞达恩科技股份有限公司 | Land requiring unmanned countering system and method |
| CN118279773A (en) * | 2024-06-04 | 2024-07-02 | 中国水产科学研究院南海水产研究所 | Unmanned aerial vehicle-based forbidden fishing tackle monitoring method and system |
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