CN110199961B - A multifunctional intelligent fishing boat with autonomous obstacle avoidance and tracking recognition - Google Patents

Abstract

The invention discloses a multifunctional intelligent fishing boat with autonomous obstacle avoidance and tracking recognition functions, and belongs to the technical field of intelligent fishing boats. The fishing vessel comprises a hull, the hull comprising: the device comprises a fishing device, a driving system, a positioning communication system, an image processing system, an automatic water obstacle avoidance system, an automatic water tracking system and a control system, wherein the control system receives signals and data sent by the fishing device, the positioning communication system, the automatic water obstacle avoidance system, the automatic water tracking system and the image processing system for processing and sends instructions to the fishing device and the driving system for controlling the operation of the fishing device. The system can automatically avoid barriers and seek to reach the position with the best water quality, identify fishes at the position with the best fish quality, and automatically catch the fishes, so that the food safety is ensured; the system does not need to be controlled manually, and the fishing boat can work in a water area by itself only by opening one key; the fishing range is large, the mobility is large, the fishing device is light and portable, time and effort are not wasted, and a large amount of fishes can be captured.

Description

A multifunctional intelligent fishing boat with autonomous obstacle avoidance and tracking recognition

Technical Field

The invention relates to the technical field of intelligent fishing boats, and in particular to a multifunctional intelligent fishing boat capable of autonomous obstacle avoidance, tracking and identification.

Background technique

The 21st century is the "ocean century". There are a large number of biological resources in the ocean. Human beings can transform the potential value of the ocean into actual value through the development of marine biological resources, thus creating conditions for human survival and development.

The commonly used fishing methods at present generally use fish hooks, fishing nets, electric fishing, fishing drugs and other fishing methods. Fishing is done by pulling the fishing net manually or by using new fishing equipment such as electric fishing devices and ultrasonic fishing equipment. These methods require subjective control and are not intelligent. In addition, the new fishing equipment uses the method of stunning to capture fish, which causes the meat quality of the fish to deteriorate.

With the continuous improvement of material life, people's requirements for quality of life are getting higher and higher, and seafood products are becoming more and more popular. At the same time, the country has paid special attention to food safety in recent years, so food safety has become an important indicator to measure people's current quality of life. However, water pollution and the use of oxytocin have led people to worry about the quality of fish on the market, but traditional fishing methods such as fishing rods or fishing nets cannot guarantee the quality of fish.

Existing automatic fishing rods cannot achieve mobile fishing, have high subjective dependence, cannot autonomously identify fish, cannot guarantee the quality of fish, cannot observe underwater movements, and have a limited fishing range, requiring operations on the shore. However, scientific research shows that a large number of fish gather and swim far away from land.

Existing automatic fishing boats cannot avoid obstacles, cannot track themselves, cannot find the waters with the best water quality, and need subjective control. They cannot identify fish autonomously, and cannot guarantee the quality of fish, and cannot observe underwater movements. Existing automatic fishing devices cannot generate electricity autonomously to power various systems, and cannot be completely self-sufficient.

In addition, the salvage of pollutants in the middle waters of oceans and rivers becomes a very difficult problem due to obstructed vision and limited range.

Therefore, developing an intelligent fishing boat capable of autonomous tracking and identification is a problem that needs to be solved by those skilled in the art.

Summary of the invention

The purpose of the present invention is to provide a multifunctional intelligent fishing boat with autonomous obstacle avoidance, tracking and identification, so as to achieve the comprehensive performance of autonomous obstacle avoidance, tracking and autonomous fishing identification.

To achieve the above object, the present invention adopts the following technical solution:

A multifunctional intelligent fishing boat capable of autonomous obstacle avoidance, tracking and identification, comprises a hull, wherein the hull comprises:

Fishing gear, including fishing systems and fish attracting systems;

A driving system, used to drive the boat to sail and control the horizontal movement and vertical deployment of the fishing device;

Positioning communication system, which locates the navigation position of the ship and sends or receives signals and data to the upper computer;

The image processing system includes an underwater camera and an image intelligent recognition module. The underwater camera transmits the underwater image to the image intelligent recognition module in real time through an optical fiber cable, and then transmits the real-time video data to the host computer through a positioning communication system;

The autonomous obstacle avoidance system on water includes a distance measuring sensor, wherein the distance measuring sensor includes a laser sensor and an ultrasonic sensor, and the distance measuring sensor measures the distance to the obstacle;

The autonomous tracking system on water includes underwater environment monitoring sensors, wherein the underwater environment monitoring sensors include temperature sensors, water quality sensors and sonar fish finders;

The control system receives signals and data sent by the fishing device, positioning communication system, autonomous obstacle avoidance system on water, autonomous tracking system on water, and image processing system, and autonomously responds and sends instructions to the fishing device and drive system to control their operation.

The fishing system comprises:

Fishing nets, including a frame made of carbon fiber tubes and a nylon fishing net;

The octopus hook comprises 8 hooks spaced 45 degrees apart from each other. A pressure sensor is arranged on the octopus hook. When a hook in the octopus hook is subjected to pressure, the corresponding hook is contracted.

fish boxes, used to hold caught fish;

The lower computer alarm is used to remind you of caught fish and insufficient power.

The fish attracting system comprises a fish attracting lamp, a sonic fish attracting device and bait.

Scientific research has shown that most fish tend to move towards light sources, sound sources and food, so the fish-attracting lamp can not only lure fish into the capture area, but also provide lighting for the underwater high-definition camera; the sonic fish attractant can emit sound waves that most fish like; the bait is made of food that most fish like, and it is adhered to the hook tip of the octopus hook.

The drive system comprises:

The DC propeller asynchronous motor based on PWM wave control is used to control the navigation trajectory of the ship;

The DC sliding rod synchronous motor and the DC wheel shaft synchronous motor are used to control the horizontal movement and vertical retraction and extension of the fishing device respectively.

The DC propeller asynchronous motor based on PWM wave control is installed on the hull, and the host computer or control system can control the speed of the asynchronous motor by changing the duty cycle of the PWM wave. Due to the linkage effect, the speed of the propeller is controlled, thereby controlling the navigation track of the fishing boat; the DC wheel shaft synchronous motor is connected to the fishing device, and the host computer or control system controls the forward and reverse rotation of the motor through high and low levels. Due to the linkage effect, the forward and reverse rotation of the wheel shaft is controlled, thereby controlling the retraction and extension of the fishing device.

The positioning communication system includes a navigation positioning module and a wireless communication module. The navigation positioning module includes DR navigation positioning and GPS navigation positioning. The wireless communication module includes a WBee module for controlling signal transmission between the system and the host computer.

The DR navigation positioning is an autonomous navigation through the dead reckoning method, which can provide high-precision navigation parameters in a short time; the GPS navigation positioning is a satellite navigation global positioning system, which can provide users with low-cost, high-precision navigation and positioning information over a long distance and for a long time, but the civilian GPS navigation positioning cannot provide users with high-precision navigation and positioning information over a short distance. Therefore, the two positioning and navigation methods are combined to provide a complementary and mutually supportive positioning and navigation method.

Wireless communication adopts WBee technology, which is mainly used for mutual communication, mutual transmission and remote control between the upper computer and the lower computer.

The host computer mainly includes a mobile phone and a PC. The mobile phone is based on the Android development environment, while the computer is based on the LabView development environment. The host computer operation software with a visual interface is designed respectively.

The image processing system includes an underwater high-definition camera and an image intelligent recognition module; the underwater high-definition camera transmits underwater high-definition real-time video images to the image intelligent recognition module via an optical fiber cable, and then transmits the video data to a host computer via a wireless image transmission module, and displays it in real time for users to observe.

The image intelligent recognition module contains a large number of databases about fish characteristics, which are mainly the outlines of fish in various dimensions. Therefore, the image intelligent recognition module can perform corresponding algorithm processing on the transmitted real-time images to achieve decontamination, binarization, outlining, and comparison of fish feature parts. If the threshold is within a certain range, that is, the similarity reaches more than 85%, it can be identified as a fish.

The autonomous obstacle avoidance system on water mainly includes distance measuring sensors; the distance measuring sensors are respectively arranged on the left and right sides of the hull and the front end of the hull. The distance measuring sensors include laser sensors and ultrasonic sensors; the laser sensors have the characteristics of realizing non-contact long-distance measurement, fast speed, high precision, large range, good light resistance, strong point interference ability, etc., so they can realize long-distance measurement of the distance between obstacles; the ultrasonic sensor adopts the principle of ultrasonic echo distance measurement, and has the advantages of accurate measurement, large short-distance measurement coverage, non-contact, waterproof and low cost in short-distance measurement; therefore, the present invention combines the above two sensors, and the distance measurement of the two complements each other, which can avoid the blind spot generated during distance measurement, resulting in the inability to measure the distance between obstacles, and improve the measurement accuracy.

Specifically, the distance measuring sensors are divided into three types, namely, the main sensor, the left auxiliary sensor and the right auxiliary sensor. The main sensor is arranged at the front end of the fishing boat, with a laser sensor in the middle and ultrasonic sensors on both sides; the left auxiliary sensor is arranged on the left side of the fishing boat, and is composed of a laser sensor and an ultrasonic sensor; the right auxiliary sensor is arranged on the right side of the fishing boat, and is composed of a laser sensor and an ultrasonic sensor; all laser sensors and ultrasonic sensors detect the distance to the obstacles in front of them, and the front refers to the front in the forward direction of the boat.

The autonomous water tracking system mainly includes a temperature sensor, a water quality sensor and a sonar fish finder; the temperature sensor measures the underwater temperature; the water quality sensor measures pH value, dissolved oxygen and turbidity; the sonar fish finder is used to monitor the total number of fish active underwater and output five results: a lot, many, medium, a few and very few, for a total of 5 parameters.

The control system includes a main controller; the main controller is a DSP processor based on TMS320F28335. The DSP processor receives signals from the fishing device, positioning communication system, image processing system, water autonomous obstacle avoidance system, and water autonomous tracking system through a serial communication protocol, and sends execution instructions to the fishing device and the driving system.

Specifically, the TMS320F28335-based DSP processor reaches a corresponding serial port communication protocol with each sensor (the connected sensors include laser sensors, ultrasonic sensors, temperature sensors, water quality sensors, sonar sensors and pressure sensors) and the corresponding systems (the connected systems include fishing systems, fish luring systems, image processing systems, positioning communication systems and drive systems) through the serial port, ensuring that the data on each sensor and each system is transmitted to the main controller through A/D conversion, and ensuring that the main controller sends corresponding execution instructions to each system.

The multifunctional intelligent fishing boat also includes a power supply system for providing electrical energy for the navigation of the boat and the operation of various components. The power supply system includes a solar power generation device, a wave power generation device and a battery.

The solar power generation device includes a solar power generation panel installed on the surface of the fishing boat. The wave power generation device is installed on both sides of the hull. The storage battery is installed inside the hull of the fishing boat, which can store the electricity generated by solar energy and wave energy, and can also provide power for the navigation of the hull and the operation of various components.

Another object of the present invention is to provide an operation method of the multifunctional intelligent fishing boat with autonomous obstacle avoidance, tracking and identification, wherein the operation method includes an autonomous mode and/or a human-controlled mode.

The autonomous mode includes:

The autonomous obstacle avoidance system on water is turned on to detect the distance to the obstacle and feed it back to the control system. When the distance sensor at the front end of the hull and/or the distance sensor at the left side of the hull detects an obstacle, the control system controls the drive system to drive the hull to move right; when the distance sensor at the front end of the hull and/or the distance sensor at the right side of the hull detects an obstacle, the control system controls the drive system to drive the hull to move left; when the distance sensors on both sides detect an obstacle, the control system controls the hull to turn 90°.

Autonomous tracking, start the autonomous tracking system on water, the temperature sensor measures the water temperature and transmits the signal to the control system; the water quality sensor measures the pH value, dissolved oxygen and turbidity of the water and transmits the signal to the control system; the sonar fish finder monitors the overall number of fish active underwater and outputs 5 result parameters: a lot, a lot, a medium, a little and a very little; the control system receives the information from each sensor and processes it according to the principle of high to low priority: pH value 6.8-9.0, water temperature 16℃-26℃, dissolved oxygen 5mg/L-8mg/L, turbidity 30%-70% and the number of fish>=a little. If all the above conditions are met, the control system drives the fishing device to work. If all the above conditions are not met, the control system drives the hull to sail, and tracks are performed in order according to the conditions from high to low priority until all the conditions are met;

The human control mode includes: turning on the image processing system, transmitting the underwater images to the host computer through the positioning communication system, the user watching the real-time underwater images through the host computer, and sending control instructions to the control system through the host computer to control the movement trajectory of the hull and the operation of the fishing device.

When the fishing boat is in autonomous mode, all systems are turned on and the boat can reach the area with the best water quality through autonomous obstacle avoidance, autonomous tracking and autonomous identification to automatically identify and capture fish.

In the human-controlled mode, only the driving system, fishing device, image processing system and control system are turned on. The user watches the real-time images transmitted by the underwater camera on the host computer and sends instructions to the control system to control the movement trajectory of the fishing boat, the retraction/release of the fishing device, and the opening and closing of the fishing net.

In the human-controlled mode, the fishing boat can fish and salvage floating objects in the middle waters, including garbage (garbage in the middle waters is difficult to salvage from the shore due to turbid water and limited distance), so the fishing device becomes a salvage device.

The operation method also includes an autonomous return mode, in which only the positioning communication system, the driving system and the control system are turned on, and the fishing boat returns to the starting position according to the original route of the driving track. The autonomous return mode includes one-key return, full-load return and insufficient energy return.

The one-key return is that the host computer sends a return command, the fishing boat puts away the fishing net and fish box, shuts down the remaining systems except the positioning communication system, the energy supply system and the drive system, and returns to the starting position according to the original route of the driving trajectory.

The fully loaded return means that when the fish box is fully loaded, the fishing boat puts away the fishing net and the fish box, shuts down the remaining systems except the positioning communication system, the energy supply system and the drive system, and returns to the starting position along the original route according to the driving trajectory.

The energy shortage return means that the fishing boat will record its own energy consumption when it arrives at the destination. At this time, when the remaining power is only 1.1 times the energy consumption of returning along the original route, the remaining systems except the positioning communication system, power supply system and drive system will be automatically shut down, and the boat will return to the starting position according to the original trajectory.

The present invention has the following beneficial effects:

(1) The present invention provides a multifunctional intelligent fishing system with autonomous obstacle avoidance and tracking, which is a comprehensive system capable of autonomous obstacle avoidance and tracking and autonomous identification and fishing. The system can autonomously identify fish and autonomously fish.

(2) The system of the present invention can autonomously avoid obstacles and track itself to the place with the best water quality and the best fish quality, so that food safety is guaranteed when the fish caught are eaten; this system will catch fish alive and ensure the quality of the fish meat.

(3) The system of the present invention does not require manual control. It can be turned on with one button and the fishing boat can work independently in the water area. It has a large fishing range, high mobility, is light, does not take time or effort, and can catch a large number of fish.

(4) Pollutants in the middle layer of waters. Due to the obstruction of vision and the limited salvage range, salvaging pollutants in the middle layer of waters has become a very difficult problem. The system of the present invention can easily salvage pollutants in the middle layer of waters.

(5) The system of the present invention can observe underwater movements in real time, and can observe underwater conditions while fishing, thereby improving the entertainment value of fishing.

(6) The energy supply system in the system of the present invention can independently generate electrical energy through a solar power generation device or a wave power generation device and store it in a battery to supply power to the system.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the overall system of a fishing boat according to the present invention.

FIG. 2 is a schematic diagram of a fishing boat in the embodiment.

FIG. 3 is a schematic diagram of a fishing device in an embodiment.

FIG. 4 is a schematic diagram of a process of navigation positioning in an embodiment.

FIG5 is a schematic diagram of a flow chart of wireless communication in an embodiment.

FIG. 6 is a schematic diagram of a host computer function module in an embodiment.

FIG. 7 shows the arrangement positions of sensors in the embodiment.

FIG8 is a schematic diagram of the yaw angle.

FIG. 9 is a diagram showing long-distance distance measurement by a sensor in an embodiment.

FIG. 10 is a diagram showing short-distance ranging by the sensor in an embodiment.

FIG. 11 is a schematic diagram of the process of autonomous tracking in the embodiment.

FIG. 12 is a schematic diagram of a process of automatic fishing in an embodiment.

FIG. 13 is a schematic diagram of the working process of the fishing device in the embodiment, wherein (A) is the state in which the fishing net is opened, (B) is the state in which the fishing net is closed, and (C) is the state in which the fishing net is moved to the fish box.

Detailed ways

The present invention will be further described below in conjunction with specific embodiments and accompanying drawings.

As shown in Figures 1-3, this embodiment provides a multifunctional intelligent fishing boat with autonomous obstacle avoidance and tracking, including a hull 1, on which are arranged a fishing device, a drive system, a positioning and communication system, an image processing system, an autonomous obstacle avoidance system on water, an autonomous tracking system on water, a control system, and a power supply system.

Specifically, the fishing device includes a fishing system and a fish luring system.

The fishing system includes a light fishing net 2, an octopus hook 3, a fish box 4, an alarm and a pressure sensor.

The frame of the light fishing net 2 is built with carbon fiber tubes, and the interior of the frame is made of nylon woven fishing nets. The carbon fiber tubes have the characteristics of light weight, strong tensile strength, low density and corrosion resistance. The nylon fishing net is tough, impact-resistant, corrosion-resistant, has good resilience and is easy to dry. It can be seen that the light fishing net made of these two materials can easily adapt to the complex environment in the water.

The octopus hook 3 is composed of 8 common fish hooks spaced 45 degrees apart from each other, and can catch multiple fishes at the same time; the pressure sensor is installed on the octopus hook. When a hook in the octopus hook is subjected to a certain pressure, the corresponding fish hook is contracted, so that the fish caught by the hook cannot get off the hook and escape.

The fish box 4 is used to load the captured fish and is arranged inside the fishing boat.

The alarm includes a host alarm and a slave alarm, which serve as warnings and notifications. The host alarm is a visualization module on the Labview platform, and the slave alarm is installed on the outside of the fishing boat. When the fishing boat catches fish or the fish box is full, the host and slave alarms are turned on synchronously for 1 minute.

The fish attracting system includes a fish attracting lamp 5, a sonic fish attractor 6 and bait. According to scientific research, most fish tend to move towards light sources, sound sources and food, so the fish attracting lamp can not only attract fish into the capture area, but also provide lighting for the underwater high-definition camera. The sonic fish attractor can emit sound waves that most fish like. The bait is the food that most fish like, which is attached to the hook tip of the octopus hook.

The driving system is used to drive the hull to sail and control the horizontal movement and vertical retraction and deployment of the fishing device, including a DC propeller asynchronous motor 7 based on PWM wave control, a DC sliding rod synchronous motor and a DC wheel shaft synchronous motor.

The DC propeller asynchronous motor 7 based on PWM wave control is used to drive the navigation of the fishing boat. The upper computer 8 or the main controller 14 can control the speed of the asynchronous motor by changing the duty cycle of the PWM wave. Due to the linkage effect, the speed of the propeller is controlled, thereby controlling the navigation trajectory of the fishing boat.

The DC sliding rod synchronous motor is used to control the horizontal movement of the fishing device. The upper computer 8 or the main controller 14 controls the forward and reverse rotation of the motor through high and low levels, so that the fishing device moves horizontally on the sliding rod 15.

The DC wheel-axle synchronous motor is used to control the operation of the fishing device. The upper computer 8 or the main controller 14 controls the forward and reverse rotation of the motor through high and low levels. Due to the linkage effect, the forward and reverse rotation of the wheel axle 16 is controlled, thereby controlling the retraction and extension of the fishing device.

The positioning and communication system includes navigation positioning, wireless communication 9 and a host computer 8.

Navigation positioning includes DR navigation positioning and GPS navigation positioning. DR navigation positioning is through the dead reckoning method. This is an autonomous navigation that can provide high-precision navigation parameters in a short time, and it has strong interference ability and good concealment. However, the error accumulates with the increase of navigation time. This is the fatal disadvantage of DR navigation positioning. Therefore, DR navigation positioning needs to be compensated and corrected in a short distance and for a long time, but it is not suitable for independent navigation over a long distance and for a long time. GPS navigation positioning is a satellite navigation global positioning system. It obtains corresponding three-dimensional position information, speed, motion trajectory and other navigation and positioning information through communication with satellites. This is a method of obtaining navigation and positioning information through satellites. It can provide users with low-cost, high-precision navigation and positioning information over a long distance and for a long time. However, civil GPS navigation positioning cannot provide users with high-precision navigation and positioning information over a short distance. Therefore, the above two positioning and navigation methods are combined to provide a complementary and mutual assistance positioning and navigation method.

As shown in FIG4 , the complementary and mutual assistance positioning and navigation method includes working mode I and working mode II; working mode I, namely GPS navigation and positioning, takes the starting point of the fishing boat as the center and draws a circle with a radius of 10m, and the area outside the circle with a radius of 10m is area A, and the fishing boat performs working mode I (i.e. GPS navigation and positioning) in area A; working mode II, namely DR navigation and positioning, takes the starting point of the fishing boat as the center and draws a circle with a radius of 10m, and the area inside the circle with a radius of 10m is area B, and the fishing boat performs working mode II (i.e. DR navigation and positioning) in area B. Since DR is not suitable for long-term independent navigation, it is compensated and corrected every 20 minutes to ensure the accuracy of DR navigation and positioning.

Wireless communication 9 mainly includes a WBee module, which adopts WBee technology, which is a low-frequency, low-complexity, long-wavelength, strong diffraction ability, less impact of obstacles, long transmission distance, high efficiency, and its maximum visible straight-line two-way communication distance is <= 4km. It is mainly used for mutual communication, mutual transmission and remote control between the upper computer and the lower computer, as shown in Figure 5.

The host computer 8 mainly includes a mobile phone/PC. The mobile phone is based on the Android development environment, while the computer is based on the LabView development environment. The host computer operation software with a visual interface is designed respectively. The functional modules of the host computer 8 are shown in FIG6 .

The image processing system includes an underwater high-definition camera 10 and an image intelligent recognition module.

The underwater high-definition camera 10 transmits the underwater high-definition real-time video images to the image intelligent recognition module through a cable, and then transmits the video data to the host computer 8 through the wireless image transmission module, and displays it in real time for the user to observe.

The image intelligent recognition module contains a large database of fish characteristics, which are mainly the outlines of fish in various dimensions. Therefore, the image intelligent recognition module can process the transmitted real-time images with corresponding algorithms to achieve decontamination, binarization, outlining, and comparison of fish feature parts. If the threshold is within a certain range, that is, the similarity reaches more than 85%, it can be identified as a fish.

The autonomous obstacle avoidance system on water mainly includes a distance measuring sensor; the distance measuring sensor includes a laser sensor a and an ultrasonic sensor b. The laser sensor has the characteristics of realizing non-contact long-distance measurement, fast speed, high precision, large range, good light resistance, and strong point interference ability, so it can realize long-distance measurement of the distance between obstacles, but for small obstacles at close range, due to the high transmission speed of light, it can be similar to linear propagation. Therefore, using laser ranging alone may not be able to determine the position and relative distance of the obstacle due to blind spots. Ultrasonic sensors use the principle of ultrasonic echo distance measurement. In short-distance ranging, they have the advantages of accurate measurement, large short-distance measurement coverage, non-contact, waterproof and low cost. Therefore, the combination of the above two sensors, the distance measurement of the two complements each other, can avoid the blind spot generated during ranging, which leads to the inability to measure the distance between obstacles and improve the measurement accuracy.

Specifically, as shown in Fig. 7, the distance measuring sensors are divided into three types, namely, the main sensor 11, the left auxiliary sensor 12 and the right auxiliary sensor 13. The main sensor is arranged at the front end of the fishing boat, with a laser sensor a in the middle and ultrasonic sensors b on both sides; the left auxiliary sensor is arranged on the left side of the fishing boat, and is composed of a laser sensor a and an ultrasonic sensor b; the right auxiliary sensor is arranged on the right side of the fishing boat, and is composed of a laser sensor a and an ultrasonic sensor b; all the laser sensors a and ultrasonic sensors b detect the distance to the obstacles in front of them, and the front refers to the front in the forward direction of the boat.

The autonomous water tracking system mainly includes a temperature sensor, a water quality sensor and a sonar fish finder; the temperature sensor measures the underwater temperature. According to scientific research, water temperature has a great influence on the survival of fish, and the most suitable water temperature for fish survival is 16°C to 26°C; the water quality sensor includes a sensor for measuring pH value, dissolved oxygen, and turbidity. According to scientific research, pH value, dissolved oxygen and turbidity have a great influence on the survival of fish. In waters with a pH value of 6.8 to 9.0, a water temperature of 16°C to 26°C, dissolved oxygen of 5mg/L to 8mg/L and a turbidity of 30% to 70%, the living environment of fish is the best, and the fish in this environment are not only abundant in resources, but also of the best quality; the sonar fish finder monitors the overall number of fish active underwater and outputs five results: a lot, a lot, a medium, a little, and very little; there are a total of 5 parameters.

The control system includes a main controller 14, which is a DSP processor based on TMS320F28335, which has a high-speed processing capability of 150MHZ, a 32-bit floating-point processing unit, 6 DMA channels supporting ADC, McBSP and EMIF, and up to 18 PWM outputs, of which 6 are TI's unique higher-precision PWM outputs (HRPWM), a 12-bit 16-channel ADC, and has strong computing power; the DSP processor based on TMS320F28335 reaches a corresponding serial port communication protocol with each sensor (the connected sensors include laser sensors, ultrasonic sensors, temperature sensors, water quality sensors, sonar sensors and pressure sensors) and the corresponding systems (the connected systems are fishing systems, fish luring systems, image processing systems, positioning communication systems and drive systems) through a serial port, ensuring that the data on each sensor and each system is transmitted to the main controller through A/D conversion, and ensuring that the main controller sends corresponding execution instructions to each system.

The power supply system includes a solar power generation device, a wave power generation device and a storage battery; the solar power generation device is a solar power generation panel installed on the surface of the fishing boat; the wave power generation device is a wave power generation device installed on both sides of the hull; the storage battery is installed inside the hull of the fishing boat, which can store the electricity generated by solar energy and wave energy, and can also be charged;

The multifunctional intelligent fishing boat with autonomous obstacle avoidance and tracking provided in this embodiment has three working modes: A. autonomous mode, B. human control mode (host computer control), and C. salvage mode.

A. Autonomous mode: The fishing boat turns on all systems and uses autonomous obstacle avoidance, autonomous tracking, and autonomous identification to reach the best water quality to automatically identify and capture fish.

Specifically, autonomous obstacle avoidance is performed by turning on the autonomous obstacle avoidance system on water, detecting the distance to the obstacle and feeding it back to the control system.

As shown in Figures 8-10, during long-distance ranging, laser sensor a is used dominantly. The ranging of the laser sensor a of the left auxiliary sensor 12 and the right auxiliary sensor 13 is 10m, and the laser sensor a of the main sensor 11 is 9.5m. When each sensor detects an obstacle, it outputs a value of 1 and feeds it back to the control center in turn. When the output value is 111, 110 or 100, the control system controls the drive system to drive the hull to move right; when the output value is 011 or 001, the control system controls the drive system to drive the hull to move left; when the output value is 000, the control system controls the drive system to drive the hull straight.

When measuring short distances, ultrasonic sensor b is used dominantly. The measuring distance of ultrasonic sensor b is 0.5m. When the output value is -0100 or -1000, the control system controls the drive system to drive the hull to move right; when the output value is -0010 or -0001, the control system controls the drive system to drive the hull to move left; when the output value is 0000, the control system controls the drive system to drive the hull to move straight;

Autonomous tracking, as shown in Figure 11, the temperature sensor measures the water temperature and transmits the signal to the control system; the water quality sensor measures the pH value, dissolved oxygen, and turbidity of the water, and transmits the signal to the control system; the sonar fish finder monitors the total number of fish active underwater and outputs 5 result parameters: a lot, a lot, a medium, a little, and a little; the control system receives the information from each sensor and processes it according to the principle of priority from high to low: pH value 6.8-9.0, water temperature 16℃-26℃, dissolved oxygen 5mg/L-8mg/L, turbidity 30%-70% and fish number>=small. If all the above conditions are met, the control system drives the fishing device to work, as shown in Figure 12. If all the above conditions are not met, the control system drives the hull to sail, and searches for fish in turn according to the conditions from high to low priority until all the conditions are met.

Autonomous fishing, as shown in Figure 13, 1. When the sonar fish finder feedback fish value is small, medium, then the image intelligent recognition module of the image processing system is turned off, only when the fish is hooked, the fish hook is subjected to a certain pressure, the pressure sensor feedback value, and shrink the corresponding fish hook (for a small number of fish hooked), when the eight fish hooks are shrunk, the fishing net 2 is closed, the alarm (the alarms of the upper and lower computers sound at the same time) sounds, the fishing device moves upward through the axle 16, and after moving to a certain height inside the fishing boat, the slide bar 15 starts to move, so that the fishing device moves to the fish box 4 on the left side of the fishing boat, and when it reaches the middle position of the fish box 4, the fishing net 2 is unfolded, the fish hook is loosened, and the fish falls freely, moves downward, and falls into the fish box. 2. When the sonar fish finder reports that the number of fish is large, the image intelligent recognition module of the image processing system is turned on. When the image intelligent recognition module identifies that a large number of fish gather near the fishing device, the fishing net 2 is closed, the alarm (the alarms of the host and the slave computers sound at the same time), and the fishing device moves upward through the axle 16. After moving to a certain height inside the fishing boat, the slide bar 15 starts to move, so that the fishing device moves to the fish box 4 on the left side of the fishing boat. When it reaches the middle position of the fish box, the fishing net 2 is unfolded, the fishhook is loosened, and the fish falls freely, moves downward, and falls into the fish box. When the fish box reaches a certain load, the alarm sounds (the host and the slave computers sound at the same time), and the fishing boat automatically finds the track and returns according to the original trajectory.

B. Human control mode (host computer control), the fishing boat only turns on the underwater high-definition camera in the drive system, fishing device, power system and image processing system; the user watches the real-time image transmitted by the underwater camera on the host computer, and freely controls the movement trajectory of the fishing boat, the retraction/release of the fishing device, and the opening and closing of the fishing net.

C. Salvage mode. The salvage mode refers to salvaging floating objects in the middle waters. The floating objects include garbage (garbage in the middle waters is difficult to salvage from the shore due to turbid water and limited distance). Therefore, the fishing device is replaced with a salvage device, and only the underwater high-definition cameras in the driving system, fish luring system, fishing system, power supply system and image processing system are turned on. The fishing boat is controlled by the host computer, and the location of the garbage is observed through the real-time underwater picture of the host computer, and the salvage device is controlled to salvage the floating objects. A trash bin is installed in the fishing boat, and the floating objects on the boat can be placed in the trash bin. When the trash bin is full, an alarm will sound a warning.

The multifunctional intelligent fishing boat with autonomous obstacle avoidance and tracking provided in this embodiment has an autonomous return function, specifically a) one-key return, b) full-load return, and c) insufficient energy return.

a) One-key return, which involves the work of the host computer, positioning communication system and drive system. When the host computer sends a return command, the fishing boat will put away the fishing nets and fish boxes, shut down the remaining systems except the positioning communication system, power system and drive system, and return to the starting position according to the original route of the driving trajectory.

b) Return with full load. When the fish box is fully loaded, the fishing boat will put away the fishing net and fish box, shut down all systems except the positioning communication system, power supply system and drive system, and return to the starting position along the original route according to the driving trajectory.

c) Insufficient energy to return. When the fishing boat reaches the destination, it will record the energy it has consumed. At this time, when the remaining power is only 1.1 times the energy consumption of returning along the original route, the remaining systems except the positioning communication system, power supply system and drive system will be automatically shut down, and the boat will return to the starting position according to the original trajectory.

Claims (9)

1. The utility model provides a multi-functional intelligent fishing vessel of independently keeping away barrier seek trace discernment, includes the hull, its characterized in that, the hull includes:

A fishing device comprising a fishing system and a fish attracting system;

The driving system is used for driving the ship body to navigate and controlling the horizontal movement and the vertical retraction of the fishing device;

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 recognition module, wherein the underwater camera transmits an underwater picture to the image intelligent recognition module in real time through an optical fiber cable, and then transmits real-time video data to the upper computer through the positioning communication system;

The autonomous obstacle avoidance system on water comprises ranging sensors which are respectively arranged at the left side and the right side of the ship body and the forefront end of the ship body; the ranging sensor comprises a laser sensor and an ultrasonic sensor, and all the laser sensor and the ultrasonic sensor detect the distance of a front obstacle in the forward direction of the ship body;

The underwater autonomous tracking 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; the water quality sensor is used for measuring the PH value, dissolved oxygen and turbidity of the water body; the sonar fish finder monitors the total number of fish moving underwater and outputs 5 result parameters: many, medium, few;

The control system receives signals and data sent by the fishing device, the positioning communication system, the autonomous water obstacle avoidance system, the autonomous water tracking system and the image processing system, and 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 control system follows the principle of priority 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 > =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 to sail, and the tracking is sequentially carried out according to the conditions from high priority to low priority until all the conditions are met.

2. The autonomous obstacle avoidance tracking recognition multifunctional intelligent fishing vessel as defined in claim 1 wherein the fishing system comprises:

the fishing net comprises a frame constructed by carbon fiber tubes and a nylon fishing net;

the eight-claw hook comprises 8 fishhooks which are separated by 45 degrees, a pressure sensor is arranged on the eight-claw hook, and when one hook in the eight-claw hook is pressed, the corresponding fishhook is contracted;

a fish tank for loading the caught fish;

The lower-level alarm is used for reminding the trapped fish and the lack of power supply.

3. The autonomous obstacle avoidance tracking recognition multifunctional intelligent fishing vessel of claim 1, wherein the fish attracting system comprises a fishing lamp, a sonic fish attracting device and bait.

4. The autonomous obstacle avoidance tracking recognition multifunctional intelligent fishing vessel as defined in claim 1 wherein the drive system comprises:

the direct current propeller asynchronous motor is controlled based on PWM waves and is used for controlling the sailing 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 autonomous obstacle avoidance tracking recognition multifunctional intelligent fishing vessel of 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 and a GPS navigation positioning, 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 recognition according to claim 1, wherein the control system comprises a main controller, the main controller is a DSP processor, receives signals and data of the fishing device, the positioning communication system, the image processing system, the autonomous obstacle avoidance system on water and the autonomous tracking system on water through a serial port communication protocol, and sends execution instructions to the fishing device and the driving system.

7. The autonomous obstacle avoidance tracking recognition multifunctional intelligent fishing vessel of claim 1, further comprising a power supply system providing electrical power for sailing of the hull and operation of the components, the power supply system comprising a solar power generation device, a wave power generation device, and a battery.

8. Method for operating a multifunctional intelligent fishing vessel with autonomous obstacle avoidance tracking recognition as claimed in any of the claims 1-7, characterized in that the method of operation comprises autonomous mode and/or man-controlled mode,

The autonomous mode includes:

The autonomous obstacle avoidance system is started, the distance between the autonomous obstacle avoidance system and the obstacle is detected, the distance is fed back to the control system, and when the ranging sensor positioned at the forefront end of the ship body and/or the ranging sensor positioned at the left side of the ship body detects the obstacle, the control system controls the driving system to drive the ship body to move rightwards; when the ranging sensor positioned at the forefront end of the ship body and/or the ranging sensor positioned at the right side of the ship body detects an 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 obstacles, the control system controls the ship body to rotate by 90 degrees;

The method comprises the steps of automatically tracking, starting an on-water automatic tracking system, measuring the temperature of a water body by using a temperature sensor, and transmitting a signal to a 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; the sonar fish finder monitors the total number of fish moving underwater and outputs 5 result parameters: many, medium, few; the control system receives and processes the information of each sensor, and the control system processes the information 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 small, 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 to sail, and the tracking is sequentially carried out according to the conditions from high priority to low priority until all the conditions are met;

The manual mode includes: the image processing system is started, the underwater picture is transmitted to the upper computer through the positioning communication system, a user views the underwater real-time picture through the upper computer, and a control instruction is sent to the control system through the upper computer to control the motion trail of the ship body and the fishing device to work.

9. The method of claim 8, further comprising an autonomous return mode, wherein the autonomous return mode is a mode in which only the positioning communication system, the driving system, and the control system are turned on, and the fishing vessel returns to the starting position according to the original path of the traveling track.