CN210470722U - Multifunctional intelligent fishing boat capable of automatically avoiding obstacles and tracking identification - Google Patents
Multifunctional intelligent fishing boat capable of automatically avoiding obstacles and tracking identification Download PDFInfo
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- CN210470722U CN210470722U CN201920886058.9U CN201920886058U CN210470722U CN 210470722 U CN210470722 U CN 210470722U CN 201920886058 U CN201920886058 U CN 201920886058U CN 210470722 U CN210470722 U CN 210470722U
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Abstract
The utility model discloses a independently keep away multi-functional intelligent fishing ship of barrier seeking mark discernment belongs to intelligent fishing ship technical field. The fishing boat includes a hull, and the hull includes: the system comprises a fishing device, a driving system, a positioning communication system, an image processing system, an overwater autonomous obstacle avoidance system, an overwater autonomous tracking system and a control system, wherein the control system receives signals and data sent by the fishing device, the positioning communication system, the overwater autonomous obstacle avoidance system, the overwater autonomous tracking system and the image processing system for processing, and sends instructions to the fishing device and the driving system to control the operation of the fishing device and the driving system. The system of the utility model can automatically avoid obstacles, trace and reach the position with the best water quality and the position with the best fish quality, identify fishes and automatically catch fishes, thus ensuring food safety; the system does not need manual control, and the fishing boat can work in the water area by itself only by starting one key; the fishing device has the advantages of large fishing range, large mobility, portability, no time and labor consumption, and capability of capturing a large amount of fishes.
Description
Technical Field
The utility model relates to an intelligence fishing ship technical field, concretely relates to independently keep away multi-functional intelligent fishing ship of barrier seeking mark discernment.
Background
The 21 st century is the "ocean century" where a large number of biological resources exist in the ocean. Human beings can develop through marine biological resources, the potential value of the sea is converted into the actual value, and conditions are created for the survival and development of the human beings.
The current commonly used fishing methods generally use fishing hooks, fishing nets, electric fishing, fishing medicines and the like. The fishing net is pulled by manpower or the novel fishing equipment such as an electric fishing device and an ultrasonic fishing device is used for fishing, the methods are subjectively controlled and cannot achieve intellectualization, and the novel fishing equipment is caught by a stunning method, so that the meat quality of the fish is reduced.
With the continuous improvement of the living life of the materials, the requirements of people on the living quality are higher and higher, and the seafood products are more and more popular; meanwhile, in recent years, food safety is also paid particular attention to by the nation, so that the food safety becomes an important index for measuring the quality of life of people at present. However, the water pollution and the release of the oxytocin cause people to worry about the quality of fishes on the market, but the traditional fishing modes such as a fishing rod or a fishing net cannot ensure the quality of the fishes.
The existing automatic fishing rod cannot realize mobile fishing, has large subjective dependence, cannot identify fishes independently, cannot ensure the quality of the fishes, cannot observe underwater movement and inertia, has limited fishing range, needs to operate on the shore, and scientifically researches show that a large amount of fishes gather and swim in places far away from the land.
The existing automatic fishing boat can not avoid obstacles independently, can not trace automatically, can not find a water area with the best water quality, needs subjective control, can not identify fishes independently, can not ensure the quality of the fishes, and can not observe underwater movement. The existing automatic fishing device can not generate electric energy to supply power to each system independently and can not do complete self-sufficiency.
In addition, the pollutants in the middle water area of the ocean and the river become a very troublesome problem for fishing the pollutants in the middle water area due to the vision obstruction and the limited range restriction.
Therefore, the development of an intelligent fishing vessel capable of autonomous tracing identification is a problem to be solved by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a independently keep away barrier and seek multi-functional intelligent fishing ship of mark discernment to realize independently keeping away the barrier and seek the comprehensive properties of mark and independently discerning the fishing.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a multi-functional intelligent fishing ship of discernment is sought to autonomic obstacle avoidance, includes the hull, the hull includes:
the fishing device comprises a fishing system and a fish luring system;
the driving system is used for driving the ship body to sail and controlling the fishing device to horizontally move and vertically retract;
the positioning communication system is used for positioning the navigation position of the ship body and sending signals and data to the upper computer or receiving signals and data;
the image processing system comprises an underwater camera and an image intelligent identification module, wherein the underwater camera transmits underwater pictures to the image intelligent identification module in real time through an optical fiber cable, and then transmits real-time video data to an upper computer through a positioning communication system;
the overwater autonomous obstacle avoidance system comprises a distance measurement sensor, wherein the distance measurement sensor comprises a laser sensor and an ultrasonic sensor, and measures the distance between the distance measurement sensor and an obstacle;
the overwater autonomous tracing system comprises an underwater environment monitoring sensor, wherein the underwater environment monitoring sensor comprises a temperature sensor, a water quality sensor and a sonar fish finder;
and the control system receives signals and data sent by the fishing device, the positioning communication system, the overwater autonomous obstacle avoidance system, the overwater autonomous tracking system and the image processing system, autonomously responds and sends instructions to the fishing device and the driving system to control the operation of the fishing device and the driving system.
The fishing system comprises:
the fishing net comprises a frame built by carbon fiber pipes and a nylon fishing net;
the eight-claw hook comprises 8 fishhooks which are mutually separated by 45 degrees, a pressure sensor is arranged on the eight-claw hook, and when one of the eight-claw hooks is pressed, the corresponding fishhook is contracted;
a fish tank for loading the captured fish;
and the lower computer alarm is used for reminding the caught fishes and the shortage of the power supply.
The fish attracting system comprises a fish gathering lamp, a sound wave fish attracting device and bait.
Through scientific research, most fishes tend to move towards a light source, a sound source and food, so that the fish gathering lamp can attract the fishes to enter a capturing area and can provide illumination for an underwater high-definition camera; the sound wave fish luring device can emit sound waves which are favored by most fishes; the bait is made of food which most fishes like and is adhered to the hook tip of the eight-claw hook.
The drive system comprises:
the direct-current propeller asynchronous motor is controlled based on PWM waves and is used for controlling the navigation track of the ship body;
the direct current slide bar synchronous motor and the direct current wheel shaft synchronous motor are respectively used for controlling the horizontal movement and the vertical retraction of the fishing device.
The direct current propeller asynchronous motor based on PWM wave control is arranged on the ship body, the upper computer or the control system can control the rotating speed of the asynchronous motor by changing the duty ratio of the PWM wave, and the rotating speed of the propeller is controlled due to the linkage effect, so that the navigation track of the fishing ship is controlled; the direct current wheel shaft synchronous motor is connected with the fishing device, the upper computer or the control system controls the positive and negative rotation of the motor through high and low electric levels, and controls the positive and negative rotation of the wheel shaft due to the linkage effect, so that the retraction and release of the fishing device are controlled.
The positioning communication system comprises a navigation positioning module and a wireless communication module, wherein the navigation positioning module comprises DR navigation positioning and GPS navigation positioning, and the wireless communication module comprises a WBee module and is used for controlling signal transmission between the system and an upper computer.
The DR navigation positioning is autonomous navigation through a dead reckoning method, and can provide high-precision navigation parameters in a short time; the GPS navigation positioning is a satellite navigation global positioning system, can provide low-cost and high-precision navigation positioning information for users in a long distance and a long time, but the civil GPS navigation positioning cannot provide high-precision navigation positioning information for users in a short distance, so that a complementary mutual-assistance type positioning navigation method is provided by combining the two positioning navigation methods.
The wireless communication adopts WBee technology, and is mainly used for intercommunication, mutual transmission and remote control between an upper computer and a lower computer.
The upper computer mainly comprises a mobile phone and a PC, wherein the mobile phone is based on an android development environment, and the computer is based on a LabView development environment, and upper computer operation software of a visual interface is respectively designed.
The image processing system comprises an underwater high-definition camera and an image intelligent identification module; the underwater high-definition camera transmits underwater high-definition real-time video pictures to the image intelligent identification module through the optical fiber cable, and transmits video data to the upper computer through the wireless image transmission module and displays the video data in real time for a user to observe.
The intelligent image identification module is internally provided with a large number of databases about fish characteristics, which are mainly profiles of all dimensions of fishes, so that the intelligent image identification module can perform corresponding algorithm processing on a transmitted real-time picture to achieve decontamination, binaryzation, edge tracing and comparison of fish characteristic parts, and can be identified as fishes if the threshold value is within a certain range, namely the similarity reaches more than 85%.
The above-water autonomous obstacle avoidance system mainly comprises a distance measuring sensor; the distance measuring sensors are respectively arranged on the left side and the right side of the ship body and at the foremost end of the ship body. The distance measuring sensor comprises a laser sensor and an ultrasonic sensor; the laser sensor has the characteristics of non-contact remote measurement, high speed, high precision, wide range, good light resistance, strong point interference capability and the like, so that the distance between the laser sensor and an obstacle can be measured remotely; the ultrasonic sensor adopts the principle of measuring the distance by ultrasonic echo, and has the advantages of accurate measurement, large coverage range of short-distance measurement, no contact, water resistance, low cost and the like in the short-distance measurement; the event the utility model discloses combine above-mentioned two kinds of sensors, both range finding are spread mutually and are become, produce the blind area when can avoiding the range finding and lead to the distance between unable survey and the barrier, improve measurement accuracy.
Specifically, the distance measuring sensors are divided into three types, namely a main sensor, a left side auxiliary sensor and a right side auxiliary sensor. The main sensor is arranged at the front tip of the fishing boat body, the middle of the main sensor is provided with a laser sensor, and the two sides of the main sensor are provided with ultrasonic sensors; the left side auxiliary sensor is arranged on the left side of the fishing boat body and consists of a laser sensor and an ultrasonic sensor; the right side auxiliary sensor is arranged on the right side of the fishing boat body and consists of a laser sensor and an ultrasonic sensor; all the laser sensors and the ultrasonic sensors detect the distance from an obstacle in front of the laser sensors and the ultrasonic sensors, wherein the front is the front in the advancing direction of the ship body.
The overwater autonomous tracing system mainly comprises a temperature sensor, a water quality sensor and a sonar fish finder; the temperature sensor is used for measuring the underwater temperature; the water quality sensor comprises a pH value, dissolved oxygen and turbidity measuring device; sonar fish finder for monitor the whole quantity of the fish of activity under water, output five results: many, medium, few, for a total of 5 parameters.
The control system comprises a master controller; the master is a DSP processor based on TMS320F 28335. And the DSP receives signals of the fishing device, the positioning communication system, the image processing system, the overwater autonomous obstacle avoidance system and the overwater autonomous tracking system through a serial port communication protocol, and sends execution instructions to the fishing device and the driving system.
Specifically, the TMS320F 28335-based DSP processor achieves a corresponding serial port communication protocol with each sensor (the connected sensors comprise a laser sensor, an ultrasonic sensor, a temperature sensor, a water quality sensor, a sonar sensor and a pressure sensor) and a corresponding system (the connected system comprises a fishing system, a fish luring system, an image processing system, a positioning communication system and a driving system) through a serial port, ensures that data on each sensor and each system are transmitted to a master controller through A/D conversion, and ensures that the master controller sends a corresponding execution instruction to each system.
The multifunctional intelligent fishing boat further comprises an energy supply system which supplies electric energy for navigation and operation of each component of the boat body, wherein the energy supply system comprises a solar power generation device, a wave energy power generation device and a storage battery.
The solar power generation device comprises a solar power generation plate arranged on the surface of the fishing boat. The wave energy power generation devices are arranged on two sides of the ship body. The storage battery is arranged inside the ship body of the fishing ship, can store electric quantity generated by solar energy and wave energy, and can also supply power for navigation and operation of all parts of the ship body.
The utility model provides an operation method of the multifunctional intelligent fishing vessel with the functions of autonomous obstacle avoidance and tracking identification, which comprises an autonomous mode and/or a human-controlled mode,
the autonomous mode includes:
starting the overwater autonomous obstacle avoidance system, detecting the distance between the overwater autonomous obstacle avoidance system and an obstacle, and feeding back the distance to the control system, wherein when the distance measuring sensor positioned at the foremost end of the ship body and/or the distance measuring sensor positioned on the left side of the ship body detect the obstacle, the control system controls the driving system to drive the ship body to move rightwards; when the distance measuring sensor positioned at the foremost end of the ship body and/or the distance measuring sensor positioned on the right side of the ship body detect the obstacle, the control system controls the driving system to drive the ship body to move left; when the distance measuring sensors on the left side and the right side detect the obstacles, the control system controls the ship body to rotate 90 degrees;
the automatic tracing is carried out, an overwater automatic tracing system is started, the temperature sensor measures the temperature of the water body and transmits a signal to the control system; the water quality sensor is used for measuring the PH value, dissolved oxygen and turbidity of the water body and transmitting signals to the control system; sonar fish finder monitors the total quantity of the fish of activity under water to output 5 result parameters: many, medium, few; the control system receives and processes the information of each sensor, and according to the principle that the priority is from high to low: the pH value is 6.8-9.0, the water temperature is 16-26 ℃, the dissolved oxygen is 5-8 mg/L, the turbidity is 30-70% and the fish number > is less, if all the conditions are met, the control system drives the fishing device to work, if all the conditions are not met, the control system drives the ship body to sail, and tracking is sequentially carried out according to the conditions that the priority is from high to low until all the conditions are met;
the human control mode comprises: and starting the image processing system, transmitting the underwater picture to the upper computer through the positioning communication system, watching the underwater real-time picture by the user through the upper computer, and sending a control instruction to the control system through the upper computer to control the motion track of the ship body and the work of the fishing device.
In an autonomous mode, all systems are started, and the fishing boat reaches the position with the best water quality to automatically recognize and capture fishes through autonomous obstacle avoidance, autonomous tracing and autonomous recognition.
In the manual control mode, the fishing boat only starts the driving system, the fishing device, the image processing system and the control system, and a user watches the real-time picture transmitted by the underwater camera on the upper computer and sends an instruction to the control system to control the motion track of the fishing boat, the fishing device and the opening and closing of the fishing net.
In the manual control mode, the fishing boat can realize fishing, and can also salvage the drift thing in middle level waters, the drift thing includes rubbish (the rubbish in middle level waters, because of the muddy of water, the reason that the distance is limited, is difficult to salvage from the bank), so fishing device becomes fishing device promptly.
The operation method further comprises an autonomous return mode, only the positioning communication system, the driving system and the control system are started, and the fishing boat returns to the initial position according to the running track. The autonomous return mode includes one-key return, full-load return and energy-insufficient return.
The one-key return navigation system sends a return instruction to the upper computer, the fishing net and the fishing box are retracted by the fishing boat, other systems except the positioning communication system, the energy supply system and the driving system are closed, and the fishing boat returns to the initial position according to the running track.
When the full-load return sails that the fish box is full-load, the fishing boat packs up the fishing net and the fish box, closes other systems except the positioning communication system, the energy supply system and the driving system, and returns to the initial position according to the running track.
The energy shortage return is energy consumed by the fishing boat when the fishing boat arrives at a destination, and when the residual electric quantity is only 1.1 times of the energy consumption of the return of the original path, other systems except the positioning communication system, the power supply system and the driving system are automatically closed, and the fishing boat returns to the initial position on the original path according to the running track.
The utility model discloses the beneficial effect who possesses:
(1) the utility model provides a independently keep away multi-functional intelligent fishing system that barrier was sought mark can reach the comprehensive system that independently keeps away the barrier and seeks mark and independently discern the fishing, and this system can independently discern fish to independently fish.
(2) The system of the utility model can avoid obstacles and seek trace to the place with the best water quality and the place with the best fish quality, so that the food safety is ensured when the fishing fish eats; the system can catch fish alive and ensure the meat quality of the fish.
(3) The system of the utility model does not need to be manually controlled, and the fishing boat can work in the water area by itself as long as one key is opened; the fishing device has the advantages of large fishing range, large mobility, portability, no time and labor consumption, and capability of capturing a large amount of fishes.
(4) The pollutant in middle level waters is because the sight is obstructed, salvages the restricted restraint of scope for salvage the pollutant in middle level waters and become a very tricky problem, the utility model discloses the system can easily salvage the middle level pollutant in waters.
(5) The utility model discloses the system can survey the sound under water in real time, can survey the condition under water again when fishing, improves the recreational of fishing.
(6) The utility model discloses energy supply system accessible solar power system, wave energy power generation facility in the system independently produce the electric energy and store in the battery to supply power for the system.
Drawings
Fig. 1 is a schematic view of the whole system of the fishing boat of the present invention.
Fig. 2 is a schematic view of the fishing vessel in the example.
Fig. 3 is a schematic view of the fishing apparatus in an embodiment.
FIG. 4 is a flowchart illustrating navigation positioning according to an embodiment.
Fig. 5 is a flowchart of wireless communication according to an embodiment.
Fig. 6 is a schematic diagram of a host computer functional module in an embodiment.
Fig. 7 shows the arrangement positions of the sensors in the embodiment.
Fig. 8 is a schematic view of a yaw angle.
FIG. 9 shows the distance measurement of the sensor in the embodiment.
FIG. 10 shows the short range measurement of the sensor in the embodiment.
FIG. 11 is a flowchart illustrating autonomous seeking according to an embodiment.
Fig. 12 is a schematic flow chart of automatic fishing in the embodiment.
FIG. 13 is a schematic view showing the operation of the fishing apparatus in the embodiment in which (A) the fishing net is opened, (B) the fishing net is closed, and (C) the fishing net is moved to the fish box.
Detailed Description
The invention will be further described with reference to the following specific embodiments and the accompanying drawings.
As shown in fig. 1-3, the present embodiment provides an autonomous obstacle-avoiding and tracking multifunctional intelligent fishing vessel, which includes a vessel body 1, wherein a fishing device, a driving system, a positioning communication system, an image processing system, an above-water autonomous obstacle-avoiding system, an above-water autonomous tracking system, a control system, and a power supply system are disposed on the vessel body 1.
In particular, the fishing apparatus includes a fishing system and a fish attracting system.
The fishing system comprises a light fishing net 2, an eight-claw hook 3, a fish box 4, an alarm and a pressure sensor.
The light fishing net 2 frame is built by the carbon fiber pipe, and the frame is inside to constitute by the fishing net that nylon was made into, and the carbon fiber pipe has light in weight, and the tensile strength is strong, characteristics such as density is little and corrosion-resistant, and nylon fishing net is tough, shock-resistant, corrosion-resistant, characteristics such as rebound resilience is good and easily dry, and it is visible to be made by these two kinds of materials light-duty fishing net, the complex environment of easy adaptation aquatic.
The eight-claw hook 3 is composed of 8 common fishhooks which are mutually spaced by 45 degrees and can capture a plurality of fishes simultaneously; the pressure sensor is arranged on the eight-claw hook, when a certain hook of the eight-claw hook is subjected to certain pressure, the corresponding fishhook is contracted, and the fish caught by the fishhook cannot escape from the fishhook.
The fish tank 4 is used for loading the caught fish and is arranged inside the fishing vessel.
The alarm comprises an upper computer alarm and a lower computer alarm, and plays roles in warning and informing. The upper computer alarm is a visual module on the Labview platform, and the lower computer alarm is arranged outside the fishing boat. When the fishing boat catches fishes or the fish box is fully loaded, the upper computer and the lower computer alarm are synchronously started, and the time duration is 1 minute.
The fish luring system comprises a fish gathering lamp 5, a sound wave fish luring device 6 and bait. Through scientific research, most fishes tend to move towards a light source, a sound source and food, so the fish gathering lamp can attract the fishes to enter a capturing area and can provide illumination for an underwater high-definition camera. The sound wave fish luring device can emit sound waves which are favored by most fishes. The bait is a favorite food for a great number of fishes and is adhered to the hook tip of the eight-claw hook.
The driving system is used for driving the ship body to sail and controlling the fishing device to horizontally move and vertically retract and release and comprises a direct current propeller asynchronous motor 7, a direct current slide bar synchronous motor and a direct current wheel shaft synchronous motor which are controlled based on PWM waves.
The direct current propeller asynchronous motor 7 based on PWM wave control is used for driving the navigation of the fishing boat, and the upper computer 8 or the main controller 14 can control the rotating speed of the asynchronous motor by changing the duty ratio of the PWM wave, thereby controlling the rotating speed of the propeller and controlling the navigation track of the fishing boat due to the linkage action.
The direct current slide bar synchronous motor is used for controlling the fishing device to move horizontally, and the positive and negative rotation of the motor is controlled through the high and low electrical levels through the upper computer 8 or the main controller 14, so that the fishing device moves horizontally on the slide bar 15.
The direct current wheel axle synchronous motor is used for controlling the fishing device to work, the positive and negative rotation of the motor is controlled through the high and low electric levels through the upper computer 8 or the main controller 14, and the positive and negative rotation of the wheel axle 16 is controlled due to the linkage effect, so that the retraction and release of the fishing device are controlled.
The positioning communication system comprises navigation positioning, wireless communication 9 and an upper computer 8.
The DR navigation positioning is an autonomous navigation method, which can provide high-precision navigation parameters in a short time, has strong interference capability and good concealment, but the error is accumulated along with the increase of navigation time, which is a fatal defect of the DR navigation positioning, so that the DR navigation positioning needs to be compensated and corrected in a short distance and a long time, but the DR navigation positioning is not suitable for independent navigation in a long distance and a long time. The GPS navigation positioning is a satellite navigation global positioning system, obtains corresponding three-dimensional position information, speed, motion trail and other navigation positioning information through communication with a satellite, obtains the navigation positioning information through the satellite, can provide low-cost and high-precision navigation positioning information for a user in a long distance and a long time, but cannot provide high-precision navigation positioning information for the user in a short distance by civil GPS navigation positioning, and provides a complementary mutual-assistance type positioning and navigation method by combining the two positioning and navigation methods.
As shown in fig. 4, the complementary mutual-aid positioning navigation method includes a working mode i and a working mode ii; the working mode I, namely GPS navigation positioning, is characterized in that the beginning of the fishing boat is used as the center of a circle, 10m is used as the radius to draw the circle, the outside of the circle with the radius of 10m is an area A, and the fishing boat carries out the working mode I (namely GPS navigation positioning) in the area A; the working mode II, namely DR navigation positioning, is to draw a circle by taking the initial position of the fishing boat as the center of the circle and taking 10m as the radius, the circle with the radius of 10m is a B area, and the fishing boat carries out the working mode II (namely DR navigation positioning) in the B area, and the DR is not suitable for long-time independent navigation, so that the DR is compensated and corrected every 20 minutes, and the accuracy of DR navigation positioning is ensured.
The wireless communication 9 mainly includes a WBee module, which uses WBee technology, which is a low frequency, low complexity, long wavelength, strong diffraction capability, less influence of obstacles on it, long transmission distance, high efficiency, and its maximum visible straight line bidirectional communication distance of ═ 4km, and is mainly used for intercommunication, mutual transmission and remote control between the upper computer and the lower computer, as shown in fig. 5.
The upper computer 8 mainly comprises a mobile phone/PC, the mobile phone is based on an android development environment, the computer is based on a LabView development environment, upper computer operation software of a visual interface is respectively designed, and functional modules of the upper computer 8 are shown in figure 6.
The image processing system comprises an underwater high-definition camera 10 and an image intelligent identification module.
The underwater high-definition camera 10 transmits underwater high-definition real-time video pictures to the image intelligent identification module through a cable, and transmits video data to the upper computer 8 through the wireless image transmission module, and the video data are displayed in real time for a user to observe.
The intelligent image identification module is internally provided with a large number of databases about fish characteristics, which are mainly profiles of all dimensions of fishes, so that the intelligent image identification module can perform corresponding algorithm processing on a transmitted real-time picture to achieve decontamination, binaryzation, edge tracing and comparison of fish characteristic parts, and can be identified as fishes if the threshold value is within a certain range, namely the similarity reaches more than 85%.
The overwater autonomous obstacle avoidance system mainly comprises a distance measurement sensor; the distance measuring sensor comprises a laser sensor a and an ultrasonic sensor b. The laser sensor has the characteristics of non-contact remote measurement, high speed, high precision, large measuring range, good light resistance, strong point interference capability and the like, so that the distance between the laser sensor and an obstacle can be measured remotely, but the distance between the laser sensor and the obstacle can be measured closely and slightly, the distance between the laser sensor and the obstacle can be measured similarly to linear propagation due to the large light transmission speed, so that the laser sensor is used for measuring the distance independently, and the position and the relative distance of the obstacle can not be measured possibly due to dead angles. The ultrasonic sensor adopts the principle of measuring the distance by ultrasonic echo, and has the advantages of accurate measurement, large coverage range of short-distance measurement, no contact, water proofing, low cost and the like in the short-distance measurement. Therefore, the two sensors are combined, the distance measurement is carried out by the two sensors mutually, the blind zone generated in the distance measurement process can be avoided, the distance between the sensor and the obstacle cannot be measured, and the measurement precision is improved.
Specifically, as shown in fig. 7, the distance measuring sensors are divided into three types, i.e., a main sensor 11, a left sub-sensor 12, and a right sub-sensor 13. The main sensor is arranged at the front tip of the fishing boat body, the middle of the main sensor is provided with a laser sensor a, and the two sides of the main sensor are provided with ultrasonic sensors b; the left side auxiliary sensor is arranged on the left side of the fishing boat body and consists of a laser sensor a and an ultrasonic sensor b; the right side auxiliary sensor is arranged on the right side of the fishing boat body and consists of a laser sensor a and an ultrasonic sensor b; all the laser sensors a and the ultrasonic sensors b detect the distance from an obstacle in front of the laser sensors a and the ultrasonic sensors b, wherein the front is the front in the advancing direction of the ship body.
The overwater autonomous tracing system mainly comprises a temperature sensor, a water quality sensor and a sonar fish finder; the temperature sensor is used for measuring the underwater temperature, and scientific research shows that the water temperature has great influence on the living of the fishes, and the water temperature which is most suitable for the living of the fishes is 16-26 ℃; the water quality sensor comprises a pH value measuring device, a dissolved oxygen sensor and a turbidity measuring device, scientific researches show that the pH value, the dissolved oxygen sensor and the turbidity have great influence on the survival of fishes, and the living environment of the fishes is optimal in a water area with the pH value of 6.8-9.0, the water temperature of 16-26 ℃, the dissolved oxygen of 5-8 mg/L and the turbidity of 30-70%, and the fishes in the environment are rich in resources and optimal in quality; the sonar fish finder monitors the total number of fish moving underwater, and outputs five results: many, medium, few; there are 5 parameters in total.
The control system comprises a main controller 14, wherein the main controller 14 is a TMS320F 28335-based DSP processor which has the high-speed processing capacity of 150MHZ, has 32 floating point processing units, 6 DMA channels support ADC, McBSP and EMIF, and has up to 18 paths of PWM output, wherein 6 paths of PWM output (HRPWM) with higher precision unique to TI are 6 paths, and 12-bit 16-channel ADC has stronger operational capacity; TMS320F28335 based DSP treater pass through the serial ports, reach corresponding serial ports communication protocol with each sensor (the sensor that links to each other includes laser sensor, ultrasonic sensor, temperature sensor, water quality sensor, sonar transducer and pressure sensor) and with corresponding system (the system fishing system that links to each other, lures the fish system, image processing system, location communication system and actuating system), ensure that data on each sensor and each system pass through AD conversion transmission to master controller, ensure that the master controller sends corresponding execution instruction for each system.
The power supply system comprises a solar power generation device, a wave power generation device and a storage battery; the solar power generation device is characterized in that a solar power generation plate is arranged on the surface of the fishing boat; the wave energy power generation device is arranged on two sides of the ship body; the storage battery is arranged in the body of the fishing boat, can store electric quantity generated by solar energy and wave energy, and can also charge;
the multi-functional intelligent fishing ship of independently keeping away barrier and seeking that this embodiment provided has three kinds of working methods: A. an autonomous mode, a B man-control mode (upper computer control), and a C fishing mode.
A. In the autonomous mode, the fishing boat starts all systems, and automatically avoids obstacles, automatically seeks and identifies, so that the fishing boat reaches the position with the best water quality to automatically identify and capture fishes.
Specifically, the method comprises the steps of automatically avoiding obstacles, starting an overwater automatic obstacle avoiding system, detecting the distance between the overwater automatic obstacle avoiding system and the obstacles, and feeding back the distance to a control system.
As shown in fig. 8-10, during long-distance ranging, the laser sensor a is mainly used, the ranging of the laser sensors a of the left side secondary sensor 12 and the right side secondary sensor 13 is 10m, the ranging of the laser sensor a of the main sensor 11 is 9.5m, when each sensor detects an obstacle, a value 1 is output and sequentially fed back to the control center, and when the output value is 111, 110 or 100, the control system controls the driving system to drive the ship body to move right; when the output value is 011 or 001, the control system controls the driving system to drive the ship body to move left; when the output value is 000, the control system controls the driving system to drive the ship body to move straight.
When the distance is measured in a short distance, the ultrasonic sensor b is mainly used, the distance measurement of the ultrasonic sensor b is 0.5m, and when the output value is-0100 or-1000, the control system controls the driving system to drive the ship body to move rightwards; when the output value is-0010 or-0001, the control system controls the driving system to drive the ship body to move left; when the output value is 0000, the control system controls the driving system to drive the ship body to move straight;
autonomous tracking, as shown in fig. 11, the temperature sensor measures the temperature of the water body and transmits a signal to the control system; the water quality sensor is used for measuring the PH value, dissolved oxygen and turbidity of the water body and transmitting signals to the control system; sonar fish finder monitors the total quantity of the fish of activity under water to output 5 result parameters: many, medium, few; the control system receives and processes the information of each sensor, and according to the principle that the priority is from high to low: the pH value is 6.8-9.0, the water temperature is 16-26 ℃, the dissolved oxygen is 5-8 mg/L, the turbidity is 30-70% and the fish quantity is less, and if all the conditions are met, the control system drives the fishing device to work, as shown in figure 12. If the above all conditions are not met, the control system drives the ship body to sail, and the tracking is sequentially carried out according to the conditions that the priority is from high to low until all the conditions are met.
Autonomous fishing, as shown in fig. 13, 1. when the sonar fish finder feeds back a small number of fish, in the middle, the image intelligent recognition module of the image processing system is closed, only when the fish catches on the hook, the hook is under a certain pressure, the pressure sensor feeds back the value, and contracts the corresponding hook (aiming at a small number of fish catching on the hook), when the eight hooks are all contracted, the fishing net 2 is closed, the alarm (the alarms of the upper computer and the lower computer are simultaneously sounded), the fishing device moves upwards through the wheel shaft 16, after moving to a certain height in the fishing boat, the sliding rod 15 starts to move, so that the fishing device moves to the fish box 4 at the left part of the fishing boat, and when the middle position of the fish box 4 is reached, the fishing net 2 is expanded, the hooks are loosened, the fish falls freely, and moves downwards, and falls into the fish box. 2. When sonar fish finder, the feedback fish numerical value is many, more time, then open image processing system's image intelligent recognition module, when image intelligent recognition module, discern near a large amount of shoal gathering fishing device, then closed fishing net 2, the siren (the siren of host computer and lower computer is sounded simultaneously), fishing device passes through 16 upward movements of shaft, move to the inside take the altitude of fishing boat after, slide bar 15 begins to move, make fishing device move to fish box 4 of fishing boat left part, when reaching the intermediate position of fish box, expand fishing net 2 again, lax fishhook, fish freely falls the body, the downstream, fall into the fish box. When the fish box reaches a certain load, the alarm sounds (the upper computer and the lower computer sound simultaneously), and the fishing boat automatically seeks and navigates back according to the original track.
B. In a manual control mode (upper computer control), the fishing boat only starts a driving system, a fishing device, a power supply system and an underwater high-definition camera in an image processing system; the user watches the real-time picture transmitted by the underwater camera on the upper computer, and freely controls the motion track of the fishing boat, the fishing device and the opening and closing of the fishing net.
C. Salvage the mode, indicate to salvage the drift thing in middle level waters, the drift thing include rubbish (the rubbish in middle level waters, because the muddy of water, the limited reason of distance, it is difficult to salvage from the bank), so change fishing device into fishing device, and only open actuating system, the system of luring fish, fishing system, the high definition digtal camera under water among electrical power generating system and the image processing system, and through host computer control fishing ship, the real-time underwater picture through the host computer is observed rubbish place position, and control fishing device and carry out the salvage of drift thing, the inboard dustbin that establishes of fishing, can place the dustbin with the drift thing on disturbing, when the dustbin is full-load, the siren sends out the warning.
The multifunctional intelligent fishing boat capable of avoiding obstacles and seeking tracks independently provided by the embodiment has an independent return function, specifically, a), one-key return, b), full-load return, c) and energy shortage return.
a) And one-key returning, which relates to the work of the upper computer, the positioning communication system and the driving system, when the upper computer sends a return instruction, the fishing boat collects the fishing net and the fishing box, closes other systems except the positioning communication system, the power supply system and the driving system, and returns to the initial position according to the running track.
b) And when the fish box is fully loaded, the fishing net and the fish box are collected by the fishing boat, other systems except the positioning communication system, the power supply system and the driving system are closed, and the fishing boat returns to the initial position according to the running track.
c) And when the residual electric quantity is only 1.1 times of the energy consumption of the original return path, other systems except the positioning communication system, the power supply system and the driving system are automatically closed, and the original path is returned to the initial position according to the running track.
Claims (8)
1. The utility model provides a multi-functional intelligent fishing ship of discernment is sought to autonomic obstacle avoidance, includes the hull, its characterized in that, the hull includes:
the fishing device comprises a fishing system and a fish luring system;
the driving system is used for driving the ship body to sail and controlling the fishing device to be retracted;
the positioning communication system is used for positioning the navigation position of the ship body and sending signals and data to the upper computer or receiving signals and data;
the image processing system comprises an underwater camera and an image intelligent identification module, wherein the underwater camera transmits underwater pictures to the image intelligent identification module in real time through an optical fiber cable, and then transmits real-time video data to an upper computer through a positioning communication system;
the overwater autonomous obstacle avoidance system comprises a distance measurement sensor, wherein the distance measurement sensor comprises a laser sensor and an ultrasonic sensor, and measures the distance between the distance measurement sensor and an obstacle;
the overwater autonomous tracing system comprises an underwater environment monitoring sensor, wherein the underwater environment monitoring sensor comprises a temperature sensor, a water quality sensor and a sonar fish finder;
and the control system receives signals and data sent by the fishing device, the positioning communication system, the overwater autonomous obstacle avoidance system, the overwater autonomous tracking system and the image processing system, autonomously responds and sends instructions to the fishing device and the driving system to control the operation of the fishing device and the driving system.
2. The multifunctional intelligent fishing vessel with autonomous obstacle avoidance and tracking identification functions as claimed in claim 1, wherein the fishing system comprises:
the fishing net comprises a frame built by carbon fiber pipes and a nylon fishing net;
the eight-claw hook comprises 8 fishhooks which are mutually separated by 45 degrees, a pressure sensor is arranged on the eight-claw hook, and when one of the eight-claw hooks is pressed, the corresponding fishhook is contracted;
a fish tank for loading the captured fish;
and the lower computer alarm is used for reminding the caught fishes and the shortage of the power supply.
3. The multifunctional intelligent fishing vessel with automatic obstacle avoidance and tracking identification functions as claimed in claim 1, wherein the fish attracting system comprises a fish gathering lamp, a sound wave fish attracting device and bait.
4. The multifunctional intelligent fishing vessel with autonomous obstacle avoidance and tracking identification functions as claimed in claim 1, wherein the driving system comprises:
the direct-current propeller asynchronous motor is controlled based on PWM waves and is used for controlling the navigation track of the ship body;
the direct current slide bar synchronous motor and the direct current wheel shaft synchronous motor are respectively used for controlling the horizontal movement and the vertical retraction of the fishing device.
5. The multifunctional intelligent fishing vessel with autonomous obstacle avoidance and tracking identification functions as claimed in claim 1, wherein the positioning communication system comprises a navigation positioning module and a wireless communication module, the navigation positioning module comprises a DR navigation positioning module and a GPS navigation positioning module, and the wireless communication module comprises a WBee module for transmitting signals and data with an upper computer.
6. The multifunctional intelligent fishing vessel with autonomous obstacle avoidance and tracking identification functions as claimed in claim 1, wherein the distance measuring sensors are respectively arranged at the left and right sides of the hull and at the foremost end of the hull.
7. The multifunctional intelligent fishing vessel with autonomous obstacle avoidance and tracking identification functions as claimed in claim 1, wherein the control system comprises a main controller, the main controller is a DSP processor, and receives signals and data of the fishing device, the positioning communication system, the image processing system, the above-water autonomous obstacle avoidance system and the above-water autonomous tracking system through a serial port communication protocol, and sends execution instructions to the fishing device and the driving system.
8. The multifunctional intelligent fishing vessel with automatic obstacle avoidance and tracking identification functions as claimed in claim 1, further comprising an energy supply system for supplying electric energy for navigation and operation of each component of the vessel body, wherein the energy supply system comprises a solar power generation device, a wave power generation device and a storage battery.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110199961A (en) * | 2019-06-13 | 2019-09-06 | 浙江大学 | A kind of automatic obstacle avoiding tracks the multifunctional intellectual fisherman of identification |
| CN111616114A (en) * | 2020-05-13 | 2020-09-04 | 五邑大学 | Fishing device, fishing method and computer readable storage medium |
| CN112586464A (en) * | 2020-12-15 | 2021-04-02 | 浙江科技学院 | Remote intelligent fishing device based on underwater vision |
| CN112918624A (en) * | 2021-03-25 | 2021-06-08 | 安徽科微智能科技有限公司 | High-stability portable unmanned ship device for shallow water operation and control method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110199961A (en) * | 2019-06-13 | 2019-09-06 | 浙江大学 | A kind of automatic obstacle avoiding tracks the multifunctional intellectual fisherman of identification |
| CN110199961B (en) * | 2019-06-13 | 2024-05-28 | 浙江大学 | Multifunctional intelligent fishing boat capable of automatically avoiding obstacle and seeking trace for identification |
| CN111616114A (en) * | 2020-05-13 | 2020-09-04 | 五邑大学 | Fishing device, fishing method and computer readable storage medium |
| CN111616114B (en) * | 2020-05-13 | 2022-03-08 | 五邑大学 | Fishing device, fishing method and computer readable storage medium |
| CN112586464A (en) * | 2020-12-15 | 2021-04-02 | 浙江科技学院 | Remote intelligent fishing device based on underwater vision |
| CN112918624A (en) * | 2021-03-25 | 2021-06-08 | 安徽科微智能科技有限公司 | High-stability portable unmanned ship device for shallow water operation and control method thereof |
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