Automatic cleaning method of automatic cleaning system for aquatic plants in fishery
An automatic cleaning and aquatic weed technology, which is applied to equipment for eliminating weeds, agricultural machinery and tools, agriculture, etc., can solve the problems of consuming a lot of manpower and material resources, poor water ecological environment, water quality damage, etc., achieve good cleaning effect and improve cleaning High efficiency and high adaptability
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Embodiment 1
[0027] See figure 1 and Figure 5 As shown, the present invention discloses an automatic cleaning system 100 for aquatic plants in fishing grounds, which mainly guides and automatically cleans aquatic plants based on machine vision. Fishing ground aquatic weed automatic cleaning system 100 includes a mobile body 1 that can move freely above or underwater, a drive device 2 for driving the mobile body 1 to move, a cutting device 3 for cutting aquatic plants, and a device for capturing fishery videos or images. The collection device 4, the collection device 5 arranged on the mobile body 1, the auxiliary collection device for auxiliary collection, and the control device electrically connected with the driving device 2, the cutting device 3 and the collection device 4 respectively. The control device includes a processor and a GPS navigation module, and the control device is set on the mobile body 1, or is set independently in the control room. The mobile body 1 is in wired or wi...
Embodiment approach
[0044] Such as Figure 2 to Figure 4 and Figure 7 As shown, as another embodiment of the method, the method includes the following steps:
[0045] S1: The processor processes the image collected by the acquisition device, including denoising and sharpening, and calculates the NDWT value of each pixel in the image, and compares the NDWT value of each pixel with the preset water body Threshold, to identify the area of pixel points that meet the water body threshold condition as a water area, and generate a two-dimensional coordinate system to determine the coordinate position of the recycling point.
[0046] S2: Determine whether the area A of the water area is greater than the set threshold, if so, divide the water area into several rectangular sub-areas, and mark the area of the sub-area as A1, where the area of each sub-area is 0.06A≤A1≤0.1A, if not, Go to the next step. The threshold set here is a specific value set by experience.
[0047] The area of each sub-a...
Embodiment 2
[0051] This embodiment provides an automatic cleaning system 100 for fishery aquatic plants based on machine vision guidance, including a mobile body 1, a driving device 2, an aquatic plant cutting device 3, an image acquisition device 4, an aquatic plant collecting device 5, and an electronic module control device; The control device includes an image processor, and the image processor is connected with the image acquisition device 4; the image acquisition device 4 collects the distribution image of aquatic plants above the fishery waters, and transmits the distribution images of the aquatic plants to the The image processor; the image processor is used to process the image acquired by the image acquisition device 4 to obtain the boundary image of the aquatic plants area.
[0052] Further, the image processor preprocesses the acquired image of the whole water area, and the specific process includes: S1. Image denoising and grayscale processing; S2. Performing uneven illuminati...
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