阅读说明：本技术 一种网箱死鱼收集机器人控制系统及方法 (Cage dead fish collecting robot control system and method ) 是由 俞国燕 梁贻察 侯明鑫 何泰华 李军 王林 罗樱桐 马敬东 于 2021-08-04 设计创作，主要内容包括：针对现有技术的局限性,本发明提出了一种网箱死鱼收集机器人控制系统,通过所述遥控模块遥控网箱死鱼收集机器人进行作业,以所述作业控制模块操纵网箱死鱼收集机器人的自主航行以及死鱼收集,以所述智能识别模块实时监测水面情况并识别、定位水面上的死鱼；其不仅可以智能自动地遥控收集机器人去收集清理死鱼,同时实现了机器人自动识别与水面情况实时监控,从而能够改善网箱养殖环境,提高养殖收益而且减少人工支出,降低生产成本,使用简单,实用性高。(Aiming at the limitation of the prior art, the invention provides a cage dead fish collecting robot control system, which is characterized in that a cage dead fish collecting robot is remotely controlled by a remote control module to operate, the operation control module is used for controlling the autonomous navigation and dead fish collection of the cage dead fish collecting robot, and an intelligent identification module is used for monitoring the water surface condition in real time and identifying and positioning dead fish on the water surface; it not only can remove to collect the dead fish of clearance by intelligent automatic remote control collection robot, has realized robot automatic identification and surface of water condition real time monitoring simultaneously to can improve box with a net aquaculture environment, improve and breed the income and reduce artifical expenditure, reduction in production cost, simple to use, the practicality is high.)

1. The utility model provides a cage of cages fish collection robot control system that dies, its characterized in that, includes remote control module, robot wireless transmission module, intelligent recognition module, operation control module and robot power module, wherein:

the remote control module is connected with the intelligent identification module and the operation control module through a wireless communication signal between the remote control module and the robot wireless transmission module;

the intelligent identification module is used for acquiring water surface information of the culture area, monitoring and identifying dead fish on the water surface of the culture area and determining the real-time position of the dead fish;

the operation control module is used for controlling power equipment on the cage dead fish collecting robot according to a control instruction of the remote control module;

the robot power supply module is used for supplying power to the robot wireless transmission module, the intelligent identification module, the operation control module and power equipment on the cage dead fish collecting robot.

2. The net cage dead fish collecting robot control system according to claim 1, wherein the intelligent recognition module comprises a camera and a raspberry pi controller; the camera is controlled by the raspberry controller and used for collecting images of the water surface of the culture area; the raspberry pi controller is connected with the robot wireless transmission module and used for identifying whether dead fish exists on the water surface of the culture area from the image collected by the camera and determining the real-time position of the dead fish.

3. The cage dead fish collection robot control system according to claim 2, wherein the smart identification module further comprises a lighting device controlled by the raspberry pi controller.

4. The cage dead fish collection robot control system according to claim 3, wherein the illumination device is an LED searchlight provided with an angle adjustment mechanism.

5. The cage dead fish collection robot control system according to claim 2, wherein the raspberry pi controller identifies whether dead fish exists on the water surface of the culture area from the images collected by the camera through a TensorFlow neural network library and a dead fish image identification model obtained through training on the TensorFlow neural network library.

6. The cage dead fish collecting robot control system as claimed in claim 1, wherein the operation control module comprises a remote control single chip microcomputer connected to the robot wireless transmission module, and a propulsion motor driver and a brush motor driver controlled by the remote control single chip microcomputer; the propelling motor driver is used for driving a propelling motor on the cage dead fish collecting robot to operate, and the brush motor driver is used for driving a brush motor on the cage dead fish collecting robot to operate.

7. The net cage dead fish collecting robot control system according to claim 1, wherein the robot power supply module includes a storage battery and a voltage stabilizing unit; the voltage stabilizing unit is respectively connected with the storage battery, the robot wireless transmission module, the intelligent identification module, the operation control module and power equipment on the cage dead fish collecting robot.

8. The net cage dead fish collecting robot control system according to claim 1, wherein the remote control module includes a display unit, a manipulation unit, and a transmission unit; the transmission unit is respectively connected with the display unit and the control unit and is used for receiving and transmitting wireless communication signals between the transmission unit and the robot wireless transmission module; the display unit is used for displaying the water surface information of the culture area transmitted by the intelligent identification module through a wireless communication signal; the control unit is used for generating a control instruction.

9. The utility model provides a dead fish of box with a net collects robot which characterized in that: which operates under the control of the cage dead fish collecting robot control system as claimed in any one of claims 1 to 8.

10. A cage dead fish collecting robot control method implemented based on the cage dead fish collecting robot control system according to any one of claims 1 to 8, characterized by comprising the steps of:

s1, starting the remote control module, and establishing a remote communication relationship between the remote control module and the robot wireless transmission module;

s2, the remote control module generates an intelligent cruise instruction and transmits the intelligent cruise instruction to the operation control module, and the operation control module controls power equipment on the cage dead fish collecting robot to enable the cage dead fish collecting robot to carry out intelligent cruise according to the intelligent cruise instruction;

s3, along with the intelligent cruising of the cage dead fish collecting robot, the intelligent recognition module system collects the water surface information of the culture area and monitors and recognizes the dead fish on the water surface of the culture area; if no dead fish is identified in the intelligent real-time navigation process, returning to the step S2, otherwise, executing the subsequent step S4;

s4: the intelligent identification module determines the real-time position of the dead fish and transmits the real-time position back to the remote control module; the remote control module generates a dead fish collecting instruction and transmits the dead fish collecting instruction to the operation control module, and the operation control module controls power equipment on the cage dead fish collecting robot according to the dead fish collecting instruction to enable the cage dead fish collecting robot to sail towards a dead fish collecting position and collect dead fish.

Technical Field

The invention relates to the technical field of robot control, in particular to a cage dead fish collecting robot control system and method.

Background

With the decline of fishery resources, the marine fishery is mainly changed from the fishing industry to the aquaculture industry, and aquaculture areas are gradually expanded from land to sea and from offshore estuaries to deep water and deep open sea. The deep open sea cage culture is a novel aquaculture mode, and has the advantages of advanced technology, environmental friendliness, high quality of adult fish and the like, so that the deep open sea cage culture is of great significance for promoting the green development strategy of aquaculture. Under the condition of large-scale cultivation in deep and open sea, due to the fact that wind power in the deep and open sea is large and weather is cloudy and not clear, dead fish in the net cage cannot be timely and comprehensively removed, the dead fish are prone to rotting in the cultivation box, water quality deterioration is caused, and the ecological environment of fish groups is polluted and damaged, and therefore research and development of related deep-water net cage cultivation floater collecting equipment, particularly water surface robots for collecting the dead fish, are very important.

The invention discloses a cage dead fish collecting robot which is 2021.01.29 published and is disclosed in Chinese patent with publication number CN112281790A, and the cage dead fish collecting robot comprises a hull, a propeller, a brush, a storage battery, a driving ball, a fixing rod, a storage ball and a blocking block, wherein the lower surface of the hull is rotatably connected with the propeller, a section bar framework is fixed on the upper surface of the hull through bolts, a deck is fixed on the upper surface of the hull through bolts, the storage battery is embedded and connected inside a rear box cover, the driving ball is arranged on the upper surface of the inner side of the hull, an accommodating groove is formed inside the hull, the fixing rod is arranged inside the accommodating groove, a reset spring is welded and fixed on the outer surface of the fixing rod, an electric motor is welded and fixed inside the hull, and a driving belt is arranged on the output end of the electric motor in a fit mode. This net cage dead fish collection robot is provided with places the frame, deposits balloon, gas outlet, gasbag, catch bar, axis of rotation, dwang, gag lever post and jam piece, can improve the buoyancy of whole device to make whole device can normally work. For the cage dead fish collecting robot, the prior art does not provide a reliable control scheme yet.

Disclosure of Invention

Aiming at the limitation of the prior art, the invention provides a control system of a cage dead fish collecting robot, which adopts the technical scheme that:

the utility model provides a cage of cages fish collection robot control system that dies, includes remote control module, robot wireless transmission module, intelligent recognition module, operation control module and robot power module, wherein:

the remote control module is connected with the intelligent identification module and the operation control module through a wireless communication signal between the remote control module and the robot wireless transmission module;

the intelligent identification module is used for acquiring water surface information of the culture area, monitoring and identifying dead fish on the water surface of the culture area and determining the real-time position of the dead fish;

the operation control module is used for controlling power equipment on the cage dead fish collecting robot according to a control instruction of the remote control module;

the robot power supply module is used for supplying power to the robot wireless transmission module, the intelligent identification module, the operation control module and power equipment on the cage dead fish collecting robot.

Compared with the prior art, the cage dead fish collecting robot control system has the advantages that the remote control module is used for remotely controlling the cage dead fish collecting robot to operate, the operation control module is used for controlling the autonomous navigation and dead fish collection of the cage dead fish collecting robot, and the intelligent identification module is used for monitoring the water surface condition in real time, identifying and positioning dead fish on the water surface; it not only can remove to collect the dead fish of clearance by intelligent automatic remote control collection robot, has realized robot automatic identification and surface of water condition real time monitoring simultaneously to can improve box with a net aquaculture environment, improve and breed the income and reduce artifical expenditure, reduction in production cost, simple to use, the practicality is high.

As a preferred scheme, the intelligent identification module comprises a camera and a raspberry pi controller; the camera is controlled by the raspberry controller and used for collecting images of the water surface of the culture area; the raspberry pi controller is connected with the robot wireless transmission module and used for identifying whether dead fish exists on the water surface of the culture area from the image collected by the camera and determining the real-time position of the dead fish.

Further, the intelligent identification module further comprises a lighting device controlled by the raspberry pi controller.

Furthermore, the lighting device is an LED searchlight provided with an angle adjusting mechanism.

Further, the raspberry pi controller identifies whether dead fish exists on the water surface of the culture area from images acquired by the camera through a TensorFlow neural network library and a dead fish image identification model obtained through training on the TensorFlow neural network library.

As a preferred scheme, the operation control module comprises a remote control singlechip connected with the robot wireless transmission module, and a propelling motor driver and a brush motor driver controlled by the remote control singlechip; the propelling motor driver is used for driving a propelling motor on the cage dead fish collecting robot to operate, and the brush motor driver is used for driving a brush motor on the cage dead fish collecting robot to operate.

As a preferable scheme, the robot power supply module comprises a storage battery and a voltage stabilizing unit; the voltage stabilizing unit is respectively connected with the storage battery, the robot wireless transmission module, the intelligent identification module, the operation control module and power equipment on the cage dead fish collecting robot.

As a preferred scheme, the remote control module comprises a display unit, a control unit and a transmission unit; the transmission unit is respectively connected with the display unit and the control unit and is used for receiving and transmitting wireless communication signals between the transmission unit and the robot wireless transmission module; the display unit is used for displaying the water surface information of the culture area transmitted by the intelligent identification module through a wireless communication signal; the control unit is used for generating a control instruction.

The invention also comprises the following:

a cage dead fish collecting robot runs under the control of the cage dead fish collecting robot control system.

A cage dead fish collecting robot control method based on the cage dead fish collecting robot control system comprises the following steps:

s1, starting the remote control module, and establishing a remote communication relationship between the remote control module and the robot wireless transmission module;

s2, the remote control module generates an intelligent cruise instruction and transmits the intelligent cruise instruction to the operation control module, and the operation control module controls power equipment on the cage dead fish collecting robot to enable the cage dead fish collecting robot to carry out intelligent cruise according to the intelligent cruise instruction;

s3, along with the intelligent cruising of the cage dead fish collecting robot, the intelligent recognition module system collects the water surface information of the culture area and monitors and recognizes the dead fish on the water surface of the culture area; if no dead fish is identified in the intelligent real-time navigation process, returning to the step S2, otherwise, executing the subsequent step S4;

s4: the intelligent identification module determines the real-time position of the dead fish and transmits the real-time position back to the remote control module; the remote control module generates a dead fish collecting instruction and transmits the dead fish collecting instruction to the operation control module, and the operation control module controls power equipment on the cage dead fish collecting robot according to the dead fish collecting instruction to enable the cage dead fish collecting robot to sail towards a dead fish collecting position and collect dead fish.

Drawings

Fig. 1 is a schematic view of a control system of a net cage dead fish collecting robot according to embodiment 1 of the present invention;

fig. 2 is a schematic view of a cage dead fish collecting robot control system provided in embodiment 2 of the present invention;

fig. 3 is a schematic flow chart of a method for controlling a cage dead fish collecting robot according to embodiment 4 of the present invention;

description of reference numerals: 1. a remote control module; 11. a display unit; 12. a manipulation unit; 13. a transmission unit; 2. a robot wireless transmission module; 3. an intelligent identification module; 31. a camera; 32. a raspberry pi controller; 33. an illumination device; 4. an operation control module; 41. the singlechip is remotely controlled; 42. a propulsion motor driver; 43. a brush motor driver; 5. a robot power supply module; 51. a storage battery; 52. and a voltage stabilizing unit.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent;

it should be understood that the embodiments described are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims. In the description of the present application, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The invention is further illustrated below with reference to the figures and examples.

In order to solve the limitation of the prior art, the present embodiment provides a technical solution, and the technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

Example 1

The Chinese patent invention with publication number CN112281790A, published as 2021.01.29, discloses a cage dead fish collecting robot, but the prior art does not provide a reliable control scheme.

To this end, please refer to fig. 1, a cage dead fish collecting robot control system includes a remote control module 1, a robot wireless transmission module 2, an intelligent identification module 3, an operation control module 4 and a robot power supply module 5, wherein:

the remote control module 1 is connected with the intelligent identification module 3 and the operation control module 4 through a wireless communication signal between the robot wireless transmission module 2 and the remote control module 1;

the intelligent identification module 3 is used for collecting water surface information of the culture area, monitoring and identifying dead fish on the water surface of the culture area and determining the real-time position of the dead fish;

the operation control module 4 is used for controlling power equipment on the cage dead fish collecting robot according to a control instruction of the remote control module 1;

and the robot power supply module 5 is used for supplying power to the robot wireless transmission module 2, the intelligent identification module 3, the operation control module 4 and power equipment on the cage dead fish collecting robot.

Compared with the prior art, the cage dead fish collecting robot control system has the advantages that the remote control module is used for remotely controlling the cage dead fish collecting robot to operate, the operation control module is used for controlling the autonomous navigation and dead fish collection of the cage dead fish collecting robot, and the intelligent identification module is used for monitoring the water surface condition in real time, identifying and positioning dead fish on the water surface; it not only can remove to collect the dead fish of clearance by intelligent automatic remote control collection robot, has realized robot automatic identification and surface of water condition real time monitoring simultaneously to can improve box with a net aquaculture environment, improve and breed the income and reduce artifical expenditure, reduction in production cost, simple to use, the practicality is high.

Specifically, under the control of the operation control module 4 on the power equipment of the cage dead fish collecting robot according to an actual control instruction, the cage dead fish collecting robot comprises an intelligent cruise mode and a dead fish collecting mode, and in the intelligent cruise mode, the cage dead fish collecting robot can automatically patrol the whole cage culture area; after the dead fish is identified, the dead fish collecting mode can be entered, and the fixed-point navigation is carried out according to the positioned dead fish position, so that the collection operation of the dead fish is completed.

Example 2

Referring to fig. 2, a control system of a collection robot for dead fish in a net cage includes a remote control module 1, a robot wireless transmission module 2, an intelligent identification module 3, an operation control module 4, and a robot power supply module 5, wherein:

the remote control module 1 is connected with the intelligent identification module 3 and the operation control module 4 through a wireless communication signal between the robot wireless transmission module 2 and the remote control module 1;

the intelligent identification module 3 is used for collecting water surface information of the culture area, monitoring and identifying dead fish on the water surface of the culture area and determining the real-time position of the dead fish;

the operation control module 4 is used for controlling power equipment on the cage dead fish collecting robot according to a control instruction of the remote control module 1;

the robot power supply module 5 is used for supplying power to the robot wireless transmission module 2, the intelligent identification module 3, the operation control module 4 and power equipment on the cage dead fish collecting robot;

the intelligent identification module 3 comprises a camera 31 and a raspberry pi controller 32; the camera 31 is controlled by the raspberry controller 32 and is used for collecting images of the water surface of the culture area; the raspberry pi controller 32 is connected with the robot wireless transmission module 2, and is used for identifying whether dead fish exists on the water surface of the culture area from the image collected by the camera, and determining the real-time position of the dead fish.

Specifically, as a preferred embodiment, the camera 31 may be a high-definition camera with high resolution and stable monitoring performance or a camera with night vision function.

Further, the smart identification module 3 further includes a lighting device 33 controlled by the raspberry controller 32.

By adding the lighting device 33, the smart identification module 3 can be illuminated under necessary environmental conditions, such as in a night environment.

Further, the lighting device 33 is an LED searchlight provided with an angle adjusting mechanism.

The LED searchlight has the performance advantages of more electricity saving and higher brightness, and is more suitable for sea surface net cage cruising operation; through adding and establishing angle adjustment mechanism, can do intelligent recognition module 3 brings better light supplementation effect.

Further, the raspberry pi controller 32 identifies whether a dead fish exists on the water surface of the culture area from the images acquired by the camera through a tensrflow neural network library and a dead fish image identification model obtained by training on the tensrflow neural network library.

Further, the operation control module 4 comprises a remote control single chip 41 connected with the robot wireless transmission module 2, and a propulsion motor driver 42 and a brush motor driver 43 controlled by the remote control single chip 41; the propelling motor driver is used for driving a propelling motor on the cage dead fish collecting robot to operate, and the brush motor driver is used for driving a brush motor on the cage dead fish collecting robot to operate.

Specifically, the cage dead fish collecting robot comprises a left propeller thruster and a right propeller thruster, and the propulsion motor driver can drive a propulsion motor of the propeller thrusters to operate so as to realize the forward and backward movement of the cage dead fish collecting robot; the steering of the net cage dead fish collecting robot is realized through differential control of the left and right propelling motors.

The net cage dead fish collecting robot comprises a left electric brush and a right electric brush, wherein a brush motor driver can drive the brush motor of the electric brushes to rotate reversely, and the dead fish collecting work is carried out on the water surface drainage.

Further, the robot power supply module 5 includes a battery 51 and a voltage stabilizing unit 52; the voltage stabilizing unit 52 is respectively connected with the storage battery 51, the robot wireless transmission module 2, the intelligent identification module 3, the operation control module 4 and power equipment on the cage dead fish collecting robot.

Specifically, the power equipment on the robot wireless transmission module 2, the intelligent identification module 3, the operation control module 4 and the cage dead fish collecting robot can be powered by stable voltage through the voltage stabilizing unit 52.

Further, the remote control module 1 includes a display unit 11, a manipulation unit 12, and a transmission unit 13; the transmission unit 13 is respectively connected with the display unit 11 and the control unit 12, and is used for receiving and transmitting wireless communication signals with the robot wireless transmission module 2; the display unit 11 is used for displaying the water surface information of the culture area transmitted by the intelligent identification module 3 through a wireless communication signal; the control unit 13 is configured to generate a control instruction.

Example 3

A cage dead fish collecting robot operating under the control of the cage dead fish collecting robot control system as described in example 1 or 2.

Example 4

A cage dead fish collecting robot control method implemented based on the cage dead fish collecting robot control system described in embodiment 1 or 2, please refer to fig. 3, including the following steps:

s1, starting the remote control module, and establishing a remote communication relationship between the remote control module and the robot wireless transmission module;

s2, the remote control module generates an intelligent cruise instruction and transmits the intelligent cruise instruction to the operation control module, and the operation control module controls power equipment on the cage dead fish collecting robot to enable the cage dead fish collecting robot to carry out intelligent cruise according to the intelligent cruise instruction;

s3, along with the intelligent cruising of the cage dead fish collecting robot, the intelligent recognition module system collects the water surface information of the culture area and monitors and recognizes the dead fish on the water surface of the culture area; if no dead fish is identified in the intelligent real-time navigation process, returning to the step S2, otherwise, executing the subsequent step S4;

s4: the intelligent identification module determines the real-time position of the dead fish and transmits the real-time position back to the remote control module; the remote control module generates a dead fish collecting instruction and transmits the dead fish collecting instruction to the operation control module, and the operation control module controls power equipment on the cage dead fish collecting robot according to the dead fish collecting instruction to enable the cage dead fish collecting robot to sail towards a dead fish collecting position and collect dead fish.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.