CN108902064B - Shellfish fishing device based on machine vision technology - Google Patents
Shellfish fishing device based on machine vision technology Download PDFInfo
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- CN108902064B CN108902064B CN201810628474.9A CN201810628474A CN108902064B CN 108902064 B CN108902064 B CN 108902064B CN 201810628474 A CN201810628474 A CN 201810628474A CN 108902064 B CN108902064 B CN 108902064B
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- 235000015170 shellfish Nutrition 0.000 title claims abstract description 136
- 238000005516 engineering process Methods 0.000 title claims abstract description 22
- 239000002689 soil Substances 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 15
- 238000003860 storage Methods 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims description 6
- 229910052736 halogen Inorganic materials 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 4
- 150000002367 halogens Chemical class 0.000 claims description 4
- 238000010801 machine learning Methods 0.000 claims description 4
- 238000003909 pattern recognition Methods 0.000 claims description 4
- 230000000877 morphologic effect Effects 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000005286 illumination Methods 0.000 abstract description 4
- 239000000463 material Substances 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 239000013049 sediment Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
- A01K80/00—Harvesting oysters, mussels, sponges or the like
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- Life Sciences & Earth Sciences (AREA)
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- Biodiversity & Conservation Biology (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
The invention relates to a shellfish fishing device based on a machine vision technology, which comprises a running device, an excavating device, a power device, an image acquisition and processing device, an illumination device, a control device, a shellfish acquisition device and a shellfish collection device, wherein the running device is connected with the excavating device; the running gear is the crawler-type dolly that is equipped with the carriage, and excavating gear installs in the front end of crawler-type dolly, and power device installs on crawler-type dolly, and image acquisition processing device installs in the top of crawler-type dolly, and lighting device installs on image acquisition processing device, and controlling means installs inside crawler-type dolly, and shellfish collection device installs in the top of crawler-type dolly, and shellfish collection device installs in shellfish collection device's rear end. The invention applies the machine vision technology to the shellfish fishing device, combines the image processing technology, separates shellfish from soil, automatically identifies the capturable shellfish, can protect the sustainable development of shellfish resources, saves manpower and material resources, and can also improve the purity of shellfish fishing.
Description
Technical Field
The invention belongs to the technical field of fishery production equipment, and particularly relates to a shellfish fishing device based on a machine vision technology.
Background
The beach is an important land reserve resource in China and is also a good place for developing shellfish culture. The shellfish culture industry is greatly developed, national resources can be fully utilized, and considerable income is brought to fishermen.
In the production process of shellfish farming, the farming process is relatively easy, but the fishing of shellfish is a big problem. The method of combining the diving capturing, the fishing rod capturing and the high-pressure water pump with the screw ship is mainly adopted in the current stage, a great deal of manpower is required to be input in diving capturing, and a plurality of dangers are faced to divers; the fishing rod is used for fishing, the danger is reduced, but the underwater environment is complex, the damage rate of the caught shellfish is high, the variety is complex, and the fishing rate is low; the method of combining the high-pressure water pump with the screw ship saves manpower and material resources to a certain extent, but the high-pressure water pump has strong impact force, almost has extinctive effect on the damage of marine organisms and seriously damages the marine ecological balance.
Shellfish fishing is an important production activity, and in the presently disclosed invention patent, improvement measures are often proposed aiming at a net catching method and a fishing method, and labor force is saved to a certain extent, but in the shellfish fishing production process, an automatic device and technology are utilized to replace manual exploration is lacked. Patent document (CN 201710634513.1) proposes a boat push type fishing device which is an improvement on the conventional fishing rod picking and catching tool, but requires the fishing boat to drag, and has no problem of fundamentally reducing the labor amount.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a shellfish fishing device based on a machine vision technology, which utilizes automatic equipment to replace manual fishing, collects image data through a camera, and utilizes related technologies in the fields of pattern recognition and machine learning to recognize and classify the collected image data, so that the fishing efficiency is improved to the greatest extent, and the breakage rate is reduced.
The invention solves the technical problems by adopting the following technical scheme:
the shellfish catching device based on the machine vision technology comprises a running device, an excavating device, a power device, an image acquisition and processing device, a lighting device, a control device, a shellfish acquisition device and a shellfish collection device; the running gear is the crawler-type dolly that is equipped with the carriage, excavating gear installs at the front end of crawler-type dolly, power device installs on the crawler-type dolly, image acquisition processing device installs the top at crawler-type dolly, lighting device installs on image acquisition processing device, controlling means installs inside the crawler-type dolly, shellfish collection device installs the top at crawler-type dolly, shellfish collection device installs the rear end at shellfish collection device.
Further, running gear includes track, drive wheel, drags sprocket, leading wheel, thrust wheel, frame and carriage, the carriage is fixed and is used for bearing image acquisition processing apparatus and lighting device on the frame, shellfish collection device and shellfish collection device are connected to the link, installs the axletree on the frame, drive wheel, support sprocket, leading wheel and thrust wheel are installed on the axletree, the track is installed in the outside of drive wheel, support sprocket, leading wheel and thrust wheel.
Further, the excavating device comprises a traction plate, a central shaft, a baffle plate, rotary teeth, an excavating hood, a motor and a connecting beam; one end of the traction plate is fixed at the upper end of the carriage, the other end of the traction plate is fixedly connected with a connecting beam, the lower end of the connecting beam is fixedly provided with a central shaft, six groups of rotary teeth are fixed on the central shaft through bolts and nuts, each group of rotary teeth consists of two opposite-direction tooth sheets, a motor for providing power for rotation of the rotary teeth is fixed in the middle of the central shaft, the left end and the right end of the central shaft are fixedly provided with baffle plates, and the upper end of the central shaft is provided with a digging cover for preventing soil from splashing.
Further, the power unit includes a propeller installed above the rear end of the car and an elevator installed at the end of the car.
Further, the image acquisition and processing device comprises a base, a supporting rod, a camera supporting frame and a CCD camera, wherein the base is installed on a carriage, the supporting rod is fixed on the base, the camera supporting frame is connected with the supporting rod, the CCD camera is installed on the camera supporting frame, and the CCD camera acquires data and then transmits the data to the control device.
Further, the lighting device comprises a lamp holder, a lamp bracket and uniformly distributed halogen lamps.
Further, shellfish collection device includes lifter, lifter cover, movable lid, hinge, screen cloth, box body and link, the link is fixed at the carriage end, and link front end installation controlling means, the screen cloth is fixed in link rear end bottom position, the box body is fixed on the screen cloth, movable lid is three sets of and is fixed on the box body trilateral through the hinge, is provided with the lifter cover at movable lid back, the lifter is deposited in the lifter cover, and this lifter rises or descends the action under controlling means's control to traction movable lid switching.
Further, shellfish collection system includes connecting seat, arm, mechanical axis, singlechip, gripper, temporary storage department and signal transceiver, the connecting seat is fixed on shellfish collection system's link, arm one end links to each other with the connecting seat, and the arm other end links to each other with the mechanical axis, is provided with singlechip and hardware circuit on the mechanical axis, and signal transceiver sets up on the singlechip, is fixed with the gripper at the mechanical axis end, is provided with square temporary storage department in the middle of two sets of grippers.
The invention has the advantages and positive effects that:
1. the invention applies the machine vision technology to the shellfish fishing device, combines the image processing technology, collects the image data through a camera, applies the vision grading processing technology, denoises, enhances, recovers and compresses the image, separates shellfish and soil, automatically identifies the capturable shellfish, stores the shellfish position information by binocular vision positioning, has accurate positioning and definite fishing target, does not catch some small shellfish, protects the sustainable development of shellfish resources, saves manpower and material resources, and can also improve the purity of shellfish fishing.
2. The excavating device can excavate the shellfish in the deep-buried sediment, and the shellfish cannot be missed due to hidden positions, so that the net capturing rate of the mature shellfish can reach more than 90%, the capturing efficiency is improved, and the waste of resources is avoided.
3. The shellfish collecting device adopts the lifting rod to control the opening and closing of the box cover, so that on one hand, collected shellfish can not be lost due to buoyancy in water, and on the other hand, the box cover can be automatically opened and closed under the control of the singlechip, and when shellfish is put in, the box cover is automatically opened, so that the shellfish can be conveniently recovered and stored. Meanwhile, the bottom of the collecting box adopts a screen structure, and for shellfish stored in sediment, the collected shellfish with sediment attached to the surface can be automatically washed clean, and additional treatment is not needed by using devices such as a water pump, so that the device is simplified.
4. The crawler-type trolley is used as the walking device, and the propeller and the elevator are combined, so that the device can walk freely on the surface of a beach or on a shoal, the propeller and the elevator provide power for the lifting fluctuation of the device in water, the ground grabbing force of the crawler-type trolley is obviously stronger than that of a four-wheel trolley when the crawler-type trolley walks on a soft ground, the weight of the whole device can be shared, and the combined use of the power device and the walking device can exert the maximum advantage in a complex shellfish collecting environment, so that the normal operation of the whole working process is ensured.
5. The invention has reasonable design, automatic equipment is used for replacing manual fishing, the camera is used for collecting image data, the collected image data is identified and classified, the collecting device is guided to collect shellfish according to the information after the image processing, the soft seabed for shellfish culture is dealt with by the double power design of the crawler belt and the propeller, and meanwhile, the shellfish collecting device adopts a hollow manipulator combination, so that the fishing efficiency is improved to the greatest extent, and the breakage rate is reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the excavating device of the present invention;
FIG. 3 is a schematic diagram of a shellfish collection device according to the present invention;
FIG. 4 is a schematic view of the shellfish collection device of the present invention;
FIG. 5 is a flow chart of the operation of the present invention;
fig. 6 is a flow chart of an image processing procedure according to the present invention.
In the figure: 11-bearings, 12-propeller blades, 13-paddle wheels, 14-elevators; 21-guide wheels, 22-driving wheels, 23-thrust wheels, 24-tracks, 25-support chain wheels, 26-carriages and 27-frames; 31-excavating covers, 32-rotating teeth, 33-central shafts, 34-motors, 35-bolts and nuts, 36-baffle plates, 37-connecting beams and 38-traction plates; 41-base, 42-support bar, 43-camera support frame, 44-CCD camera; 51-lamp holder, 52-lamp holder, 53-halogen lamp; 61-connecting seats, 62-mechanical arms, 63-mechanical shafts, 64-single chip microcomputer, 65-mechanical claws, 66-temporary storage positions and 67-signal transceivers; 71-lifting rods, 72-lifting rod sleeves, 73-movable box covers, 74-hinges, 75-screens, 76-box bodies and 77-connecting frames; 8-control means.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A shellfish catching device based on machine vision technology, as shown in figure 1, comprises a power device, a walking device, an excavating device, an image acquisition and processing device, a lighting device, a shellfish acquisition device, a shellfish collection device and a control device. The walking device is a crawler-type trolley and serves as a main body of the whole device. The excavating device is arranged at the forefront end of the crawler-type trolley and used for excavating shellfish in shallow silt. The power device adopts two structures of a propeller and an elevator. The image acquisition and processing device is arranged above a carriage of the crawler-type trolley and is used for acquiring and processing image information so as to acquire accurate shellfish positions. The illumination device is arranged on the image acquisition processing device and is used for providing illumination for image acquisition. The control device is arranged in a control box at the rear end of a carriage of the crawler-type trolley and guides and controls the operation of the whole device. The shellfish collecting device is arranged above a carriage of the crawler-type trolley, a collecting box with a screen structure at the bottom is arranged on the shellfish collecting device and is used for filtering sediment attached to shellfish, and the collecting box is used for storing collected shellfish. The shellfish collection device is arranged at the rear end of the shellfish collection device, and the combination of the two manipulators improves the shellfish collection efficiency.
As shown in fig. 1, the power plant includes a propeller and an elevator. The screw is installed above the carriage 26 rear end of crawler-type dolly, and this screw comprises bearing 11, screw paddle 12 and paddle wheel 13, and bearing 11 is fixed on carriage 26, and screw paddle 12 nestification is on bearing 11, and paddle wheel 13 installs in screw paddle 12 outer end, and the built-in micro motor of bearing 11 makes the screw rotatory under controlling means's control, and micro motor provides power for this device can be in aquatic heave motion. The elevator is installed at the tail end of the carriage 26, is sold in the common market and is used for regulating the hiding depth and the angle of the device, and the screw and the elevator cooperate to ensure that the device can flexibly steer in water.
As shown in fig. 1, the running gear comprises a guide wheel 21, a driving wheel 22, a thrust wheel 23, a crawler 24, a supporting chain wheel 25, a carriage 26 and a frame 27, wherein the frame 27 is a main body of the running gear, the carriage 26 is arranged above the frame 27, the crawler 24 is arranged below the frame 27, shafts for mounting the wheels are respectively fixed at the left end and the right end of the frame 27, the front end is fixedly provided with the guide wheel 21, the driving wheel 22 is fixed at a rear point, the thrust wheel 23 is fixed at a middle position, the tail end is fixedly provided with the towing chain wheel 25, and the crawler 24 is arranged at the outermost ends of the wheels.
The frame 27 of the invention is I-shaped, the tracks 24 on two sides are designed, the upper end carries the lighting device and the image acquisition and processing device, the guide wheel 21 is arranged at the forefront end of the frame, as the key of direction control, the rear of the guide wheel 21 is provided with the driving wheel 22 for driving the running device to run, the middle is provided with the supporting wheel 23 for carrying the weight of the carriage and other devices above, the endmost supporting chain wheel 25 is used for carrying the tracks 24, the upper end of the frame 27 is provided with the cuboid carriage 26, the carriage 26 is used as an object stage, and a storage position is provided for the lighting device and the image acquisition and processing device.
As shown in fig. 2, the excavating device comprises an excavating hood 31, rotating teeth 32, a central shaft 33, a motor 34, a bolt nut 35, a baffle 36, a connecting beam 37 and a traction plate 38, wherein one end of the traction plate 38 is fixed on a carriage 26, the other end of the traction plate extends out to be connected with the connecting beam 37, the lower end of the connecting beam 37 is fixed with the excavating hood 31, the left end and the right end of the excavating hood 31 are provided with the baffle 36, the two baffles 36 are connected through the central shaft 33, the motor 34 is fixed in the middle position of the central shaft 33, the left end and the right end of the central shaft 33 are respectively fixed with three groups of spiral teeth 32, and each group of spiral teeth 32 are provided with tooth slices with different directions through the bolt nut 35.
The excavating device is arranged at the forefront end of the whole device, and is used for excavating shellfish in deep-buried sediment, a rectangular traction plate 38 is used for connecting a running device and the excavating device, six groups of rotating teeth 32 rotate around a central shaft 33 under the drive of a motor 34 to excavate the deep-buried shellfish, baffle plates 38 at the left end and the right end of the central shaft 33 are used for blocking splashing of the soil in the excavating process, and an excavating cover 31 is used for covering the whole excavating device.
As shown in fig. 1, the image acquisition and processing device comprises a base 41, a support rod 42, a camera support 43, a CCD camera 44 and an image processing module in the control device 8, wherein the base 41 is installed above the carriage 26, the support rod 42 is fixed on the base 41, the camera support 43 is arranged on the support rod 42, the CCD camera 44 is placed in the camera support 43, image information is acquired through the CCD, acquired data is transmitted to the processing module, and the processing module is arranged inside the control device 8.
The image acquisition and processing link adopts a machine vision technology, utilizes two groups of CCD cameras 44 to acquire image information, transmits the acquired image signals to a central processing unit through a signal transmitter, performs denoising and reconstruction on the acquired image signals according to the related technologies in the fields of pattern recognition and machine learning, converts the processed image into a gray image, acquires a binary image after preprocessing operations such as filtering, threshold segmentation and morphological closing operation, extracts shellfish contours from the binary image by adopting a parallel refinement algorithm, classifies shellfish according to the extracted contour information by adopting a neighbor method, stores shellfish position information of the mature type and immature type, transmits geographic position coordinate information of the shellfish position information to a control device 8, and further guides the shellfish acquisition device to acquire the shellfish under the control of a singlechip.
As shown in fig. 1, the lighting device comprises a lamp holder 51, a lamp holder 52 and halogen lamps 53, wherein the lamp holder 51 is fixed on the carriage 26 and is closely adjacent to the image acquisition and processing device, the lamp holder 52 is fixed on the lamp holder 51, and nine groups of uniformly distributed halogen lamps 53 provide sufficient light for acquiring images by the CCD camera 44. The shellfish fishing device has the advantages that the working environment is complex, the light rays in the sea are uneven, the too dim light rays can generate strong interference on image acquisition in the image acquisition process, the design of the lighting device is to provide a reliable light source for the image acquisition, and the interference caused by the environment is reduced.
As shown in fig. 3, the shellfish collecting device includes a connecting seat 61, a mechanical arm 62, a mechanical shaft 63, a single chip microcomputer 64, a mechanical claw 65, a temporary storage part 66 and a signal transceiver 67, wherein the connecting seat 61 is fixed on a connecting frame 77, one end of the mechanical arm 62 is connected with the connecting seat 61, the other end is connected with the mechanical shaft 63, the single chip microcomputer 64 and a related hardware circuit thereof are arranged at the upper end of the mechanical shaft 63, the signal transceiver 67 is arranged on the single chip microcomputer 64, the mechanical claw 65 is fixed at the tail end of the mechanical shaft 63, and a square temporary storage part 66 is arranged between the two groups of mechanical claws 65.
The shellfish collecting device of the invention takes the mechanical arm as a main part, the connecting seat 61 can rotate by 360 degrees, the angle of the mechanical arm can be ensured to rotate, the mechanical arm 62 and the mechanical shaft 63 can be folded at will, the design ensures that the length of the mechanical arm can be adjusted at will, the signal transceiver 67 is used for receiving and transmitting the command of the control device 8, the mechanical arm can reach the position of the mature shellfish under the control of the singlechip 64, the shellfish is collected by the mechanical claw 65, and the shellfish is put in a temporary storage place and then put in a screen of the shellfish collecting device.
As shown in fig. 4, the shellfish collecting device comprises a lifting rod 71, a lifting rod sleeve 72, a movable box cover 73, a hinge 74, a screen 75, a box body 76 and a connecting frame 77, wherein the connecting frame 77 is fixed at the tail end of a carriage 26, a cuboid-shaped control device 8 is arranged at the forefront end of the connecting frame 77, the screen 75 is fixed at the bottom position of the rear end of the connecting frame 77, the box body 76 is fixed on the screen 75, three groups of movable box covers 73 are fixed on three sides of the box body 76 through the hinge 74, the lifting rod sleeve 72 is arranged behind the movable box covers 73, the lifting rod 71 is stored in the lifting rod sleeve 72, and the lifting rod 71 performs lifting or descending actions under the control of the control device 8 to pull the movable box cover 73 to open and close.
The shellfish collecting device of the invention mainly uses the box body 76, the bottom adopts the screen 75 design, as the collected shellfish is generally sourced from sediment, sediment is adhered to the collected surface, the screen 75 design can enable the collected shellfish to be contacted with seawater, sediment adhered to the surface of the shellfish can be removed under continuous flushing of the seawater, the collected shellfish can be cleaned as much as possible, the movable box cover 73 can be opened and closed through lifting of the lifting rod 71, when the shellfish is put in, the lifting rod 71 descends, the movable box cover 73 is automatically opened, when the shellfish is not stored, the lifting rod 71 ascends, the movable box cover 73 is automatically closed, and the collected shellfish is ensured not to be lost.
The control device 8 of the present invention is used as a control core of the present device, and includes a control box and an internal control circuit thereof, wherein the control circuit includes a central processing unit, a signal transceiver, a single chip microcomputer and related circuits, and the control circuit can be implemented by using a well-known circuit, which is not described in detail herein.
The working flow of the invention is shown in figure 5:
(1) Opening the control device;
(2) Starting the power device, and operating the propeller and the elevator;
(3) The central processing unit judges whether the specified depth is reached;
(4) The running gear starts, the guide wheel controls the direction, the driving wheel controls the forward movement;
(5) Starting the excavating device, and excavating shellfish by using the rotary teeth;
(6) Starting the lighting device, collecting image information by the CCD camera, and transmitting the image information to the control device for processing;
(7) The central processing unit classifies the shellfish and stores the destination of the acquisition target;
(8) Starting a shellfish collecting device to collect target shellfish;
(9) Starting a shellfish recovery device to collect shellfish;
(10) Completing current collection, and adjusting to the step (4);
(11) The shellfish collection is thoroughly completed, the device returns to the original point, the collected shellfish is unloaded, and the capturing is finished.
The application method of the invention comprises the following steps: the position and water depth information needed for shellfish fishing are prestored in the central processing unit, the control device is started, the double functions of the propeller and the elevator are carried, the device is carried to submerge in a water area with a specified depth, the device safely lands after reaching a place, and the running device is started. Under the drive of crawler-type dolly, the device starts advancing, excavating device excavates shellfish out of earth, lighting device starts to provide illumination for image acquisition, CCD camera gathers the image, the image information who obtains by central processing unit processing, classify the shellfish in the image of gathering, divide into ripe and immature two kinds, mark ripe shellfish as the target object, the coordinate position of storage target object, shellfish collection device gathers the target object, send into shellfish collection device after gathering, accomplish a shellfish and catch work, running gear removes, carry out same operation to next position, until accomplishing predetermined target of catching, end this shellfish and catch the operation.
The image processing process of the invention is as shown in figure 6, an image is acquired by a CCD camera in an image acquisition processing device, the acquired image is transmitted to an image processing module in a central processing unit, according to the related technologies in the fields of pattern recognition and machine learning, firstly, the acquired image information is subjected to denoising processing, the processed image is converted into a gray image, the gray image is obtained after preprocessing operations such as filtering, threshold segmentation and morphological closing operation, the shellfish contour is extracted from the binary image by adopting a parallel thinning algorithm, the shellfish is classified into two types of mature and immature shellfish information according to the extracted contour information by adopting a neighbor method, the immature shellfish information is discarded, the shellfish position information of the mature type is stored in the central processing unit, and the information is transmitted to a shellfish acquisition device by a signal transmitter to guide the shellfish acquisition device to carry out target shellfish fishing operation.
It should be emphasized that the examples described herein are illustrative rather than limiting, and therefore the invention includes, but is not limited to, the examples described in the detailed description, as other embodiments derived from the technical solutions of the invention by a person skilled in the art are equally within the scope of the invention.
Claims (4)
1. Shellfish fishing device based on machine vision technique, its characterized in that: the device comprises a walking device, an excavating device, a power device, an image acquisition and processing device, a lighting device, a control device, a shellfish acquisition device and a shellfish collection device; the running gear is a crawler-type trolley with a carriage, the excavating device is arranged at the forefront end of the crawler-type trolley, the power device is arranged on the crawler-type trolley, the image acquisition and processing device is arranged above the crawler-type trolley, the lighting device is arranged on the image acquisition and processing device, the control device is arranged inside the crawler-type trolley, the shellfish collecting device is arranged above the crawler-type trolley, and the shellfish collecting device is arranged at the rear end of the shellfish collecting device;
the excavating device comprises a traction plate, a central shaft, a baffle plate, rotary teeth, an excavating cover, a motor and a connecting beam; one end of the traction plate is fixed at the upper end of the carriage, the other end of the traction plate is fixed with a connecting beam, the lower end of the connecting beam is fixed with a central shaft, six groups of rotating teeth are fixed on the central shaft through bolts and nuts, each group of rotating teeth consists of two opposite-direction tooth sheets, a motor for providing power for the rotation of the rotating teeth is fixed in the middle of the central shaft, the left end and the right end of the central shaft are fixed with baffles, and the upper end of the central shaft is provided with an excavating cover for preventing soil from splashing;
the shellfish collecting device comprises lifting rods, lifting rod sleeves, movable box covers, hinges, a screen, a box body and a connecting frame, wherein the connecting frame is fixed at the tail end of a carriage, a control device is arranged at the forefront end of the connecting frame, the screen is fixed at the bottom of the rear end of the connecting frame, the box body is fixed on the screen, the movable box covers are three groups and are fixed on three sides of the box body through the hinges, the lifting rod sleeves are arranged behind the movable box covers, the lifting rods are stored in the lifting rod sleeves, and the lifting rods ascend or descend under the control of the control device, so that the movable box covers are pulled to be opened and closed;
the shellfish collecting device comprises a connecting seat, a mechanical arm, a mechanical shaft, a single chip microcomputer, mechanical claws, temporary storage positions and a signal transceiver, wherein the connecting seat is fixed on a connecting frame of the shellfish collecting device;
the image acquisition processing device adopts a machine vision technology, utilizes two groups of CCD cameras to acquire image information, performs denoising and reconstruction on acquired image signals according to related technologies in the fields of pattern recognition and machine learning, converts the processed image into a gray image, acquires a binary image after filtering, threshold segmentation and morphological closing operation preprocessing operation, adopts a parallel refinement algorithm to extract shellfish contours from the binary image, classifies shellfish according to the extracted contour information by a neighbor method, classifies the shellfish into two types of mature and immature, stores shellfish position information of the mature type, sends geographic position coordinate information of the shellfish position information to the control device, and guides the shellfish acquisition device to acquire the shellfish position information by the control device;
the running gear includes track, drive wheel, drags sprocket, leading wheel, thrust wheel, frame and carriage, the carriage is fixed and is used for bearing image acquisition processing apparatus and lighting device on the frame, shellfish collection device and shellfish collection device are connected to the link, installs the axletree on the frame, drive wheel, support sprocket, leading wheel and thrust wheel are installed on the axletree, the track is installed in the outside of drive wheel, support sprocket, leading wheel and thrust wheel.
2. A machine vision technology based shellfish fishing device as in claim 1, wherein: the power device comprises a propeller arranged above the rear end of the carriage and an elevator arranged at the tail end of the carriage.
3. A machine vision technology based shellfish fishing device as in claim 1, wherein: the image acquisition and processing device comprises a base, a supporting rod, a camera supporting frame and a CCD camera, wherein the base is installed on a carriage, the supporting rod is fixed on the base, the camera supporting frame is connected with the supporting rod, the CCD camera is installed on the camera supporting frame, and the CCD camera acquires data and then transmits the data to the control device.
4. A machine vision technology based shellfish fishing device as in claim 1, wherein: the lighting device comprises a lamp holder, a lamp bracket and uniformly distributed halogen lamps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810628474.9A CN108902064B (en) | 2018-06-19 | 2018-06-19 | Shellfish fishing device based on machine vision technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810628474.9A CN108902064B (en) | 2018-06-19 | 2018-06-19 | Shellfish fishing device based on machine vision technology |
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| Publication Number | Publication Date |
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| CN108902064A CN108902064A (en) | 2018-11-30 |
| CN108902064B true CN108902064B (en) | 2023-12-01 |
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| CN201810628474.9A Active CN108902064B (en) | 2018-06-19 | 2018-06-19 | Shellfish fishing device based on machine vision technology |
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| CN109566549B (en) * | 2019-01-28 | 2020-07-10 | 西北工业大学 | Autonomous and agile underwater fishing device |
| CN112045657A (en) * | 2020-09-25 | 2020-12-08 | 中国计量大学 | A robot for wetland mud appearance is gathered |
| CN112535159A (en) * | 2020-12-03 | 2021-03-23 | 浙江海洋大学 | Automatic cleaning device that catches of clam |
| CN113100185B (en) * | 2021-04-28 | 2023-01-17 | 山东理工大学 | Sea cucumber fishing device |
| CN114946782A (en) * | 2022-07-11 | 2022-08-30 | 上海海洋大学 | Collecting and sorting device for mudflat cultured shellfish |
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