Deep sea fishing ground net cage inspection method, device and system and storage medium

Abstract

The invention provides a deep sea fishing ground net cage inspection method, device and system and a storage medium, and the method comprises the steps: obtaining camera shooting parameters of a camera shooting module, so as to determine a visual range; constructing a three-dimensional model of the deep sea fishing ground net cage according to preset measurement parameters; according to the three-dimensional model and the visual range, a target inspection route corresponding to each underwater robot is determined, and the distance between the track of the target inspection route and the deep sea fishing ground net cage is within a preset visual range; sending the target inspection route to each underwater robot to enable the underwater robot to inspect according to the corresponding target inspection route; receiving image information and position information from the underwater robot; and performing crevasse positioning processing on the deep sea fishing ground net cage, determining a crevasse position, and updating the three-dimensional model to obtain a real-time model of the deep sea fishing ground net cage. According to the scheme provided by the embodiment of the invention, the inspection effect can be ensured, the inspection efficiency can be improved, and the crevasse position can be accurately positioned.

Description

technical field [0001] The present invention relates to, but is not limited to, the technical field of underwater robots, and in particular, relates to a method, device, system and storage medium for inspecting cages in deep-sea fisheries. Background technique [0002] In deep-sea fish farms, cage aquaculture has the advantages of less investment, high output, maneuverability, and quick results. The improvement of large-scale deep-sea fish farm cages and their supporting facilities can effectively promote the development of marine aquaculture. [0003] During the breeding process, after the deep-sea fishery cage breaks, if the location of the break cannot be found in time, it will cause more serious damage to the cage, increase maintenance costs, and reduce the number of farmed fish in the cage. , causing economic losses, so it is necessary to inspect the cages of deep-sea fisheries. [0004] At present, the inspection method is that the maintenance personnel control the un...

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Problems solved by technology

[0003] During the breeding process, if a breach occurs in the deep-sea fishery net cage, if the position of the breach cannot be found in time, it will cause more serious damage to the net cage, increase maintenance costs, and reduce the number of farmed fish in the net cage , causing economic losses, so it is necessary to inspect the cages of deep-sea fishing grounds

[0004] At present, the inspection method is that the maintenance personnel control the underwater robot to move along the inner wall of the deep-sea fishery cage, inspect the deep-sea fishery cage, and repair the breach. However, manual control of the underwater robot will cause missing inspections , the inspection effect is poor, and there will be repeated inspections, and the inspection efficiency is low; in addition, the positioning effect of the breach position is poor, and the maintenance personnel cannot accurately locate the breach position, which increases the difficulty of work

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