A farming work boat

Abstract

The application discloses a kind of breeding operation work ship, it is related to ship technology field, the breeding operation work ship includes hull, propelling device, shipborne cruise control module, at least two feed cabin, feeding device and net cage identification module;Propelling device is set on hull;Shipborne cruise control module is used to obtain the net cage coordinate sent by shore-based monitoring system and is converted into cruise path, and control propelling device drive hull and travel to each breeding net cage according to cruise path;Feed cabin is set on hull and respectively stores different kinds of fish feed;The feeding end of feeding device is connected with feed cabin;Net cage identification module is used to identify the type of breeding net cage and control feeding device and fish feed in corresponding feed cabin are sent to corresponding breeding net cage.The breeding operation work ship can solve the current mode of feeding fish feed to breeding net cage by artificial way, and the technical problem that relatively low efficiency is relatively consumed manpower cost, and the degree of automation and intelligentization is not high.

Description

Technical Field

[0001] This application relates to the field of ship technology, specifically to an aquaculture operation vessel. Background Technology

[0002] With the rapid development of my country's aquaculture industry, the scale of fish farming is gradually increasing, and it is gradually expanding from nearshore to deep-sea areas. Aquaculture cages can construct enclosed aquaculture spaces in aquaculture waters and have been widely used in the aquaculture field, demonstrating good economic and social benefits.

[0003] However, in the traditional cage aquaculture model, when it is necessary to feed the fish in the cages, the aquaculture personnel often need to drive boats into the aquaculture area and go to each cage one by one to manually feed them. The feeding efficiency is relatively low and the labor cost is relatively high, with a low degree of automation and intelligence. Summary of the Invention

[0004] The purpose of this application is to provide an aquaculture operation vessel, which aims to solve the technical problems of the current method of feeding aquaculture cages manually, which is inefficient, labor-intensive, and lacks automation and intelligence.

[0005] To achieve its purpose, the technical solution adopted in this application is as follows:

[0006] An aquaculture operation vessel, the aquaculture operation vessel comprising:

[0007] hull;

[0008] A propulsion device is mounted on the hull.

[0009] The shipborne cruise control module is electrically connected to the propulsion device. The shipborne cruise control module is used to acquire the coordinates of the net cages sent by the shore-based monitoring system and convert the net cage coordinates into a cruise path based on a path planning algorithm. The shipborne cruise control module is also used to convert the angle parameters corresponding to the cruise path into power parameters and send them to the propulsion device to control the propulsion device to drive the ship to travel along the cruise path to each aquaculture net cage.

[0010] At least two feed tanks are provided on the hull; the at least two feed tanks are used to store different types of fish feed respectively;

[0011] A feeding device, wherein the feed inlet of the feeding device is connected to the at least two feed bins;

[0012] A cage identification module is electrically connected to the feeding device. The cage identification module is used to identify the type of the aquaculture cage based on an image recognition algorithm and send a corresponding feeding signal to the feeding device to control the feeding device to absorb the fish feed in the corresponding feed bin and deliver it to the corresponding aquaculture cage through the feeding end of the feeding device.

[0013] Furthermore, the aquaculture operation vessel includes an underwater inspection device and a warning device; the underwater inspection device is installed on the hull, the underwater inspection device has a pre-stored image of the target net, and the underwater inspection device is electrically connected to the warning device;

[0014] The underwater inspection device is used to move around the aquaculture cage as the hull moves; the underwater inspection device has a camera end, which is used to acquire the current netting image of the aquaculture cage; the underwater inspection device is used to compare the acquired current netting image with the target netting image to obtain a comparison result; and the underwater inspection device is used to send a first alarm signal to the prompting device when the comparison result meets a first preset alarm condition, so as to trigger the prompting device to perform an alarm operation.

[0015] Furthermore, the aquaculture operation vessel includes an underwater inspection device and a warning device; the underwater inspection device is installed on the hull, and the underwater inspection device is electrically connected to the warning device;

[0016] The underwater inspection device is used to move around the aquaculture cage as the hull moves; the underwater inspection device has a laser emitting end and a shooting end, the laser emitting end is used to emit a line laser beam to the aquaculture cage, and the shooting end is used to acquire discrete light spot images formed by the line laser beam hitting the netting part of the aquaculture cage; the underwater inspection device is used to send a second alarm signal to the prompting device when the light spot gaps in the discrete light spot image meet the second preset alarm conditions, so as to trigger the prompting device to perform an alarm operation.

[0017] Furthermore, the aquaculture operation vessel includes a fish photography device, a fish image analysis module, a counting module, and a prompting device; the fish image analysis module has a Gaussian mixture model (GMM) and a YOLO neural network model, the fish image analysis module is electrically connected to the fish photography device and the counting module, and the counting module is electrically connected to the prompting device;

[0018] The fish imaging device is used to acquire a set of keyframe images of fish on the water surface of the aquaculture cage, and inputs the acquired keyframe images of fish into the GMM Gaussian mixture model and the YOLO neural network model respectively to perform moving target detection operations, so as to obtain the GMM fish target bounding box and the YOLO fish target bounding box respectively.

[0019] The fish image analysis module is used to select the GMM fish target border or the YOLO fish target border as the dead fish target border; the counting module is used to count the number of dead fish target borders, and the counting module is used to send a third alarm signal to the prompting device when the number of dead fish target borders reaches a preset number threshold, so as to trigger the prompting device to perform an alarm operation.

[0020] Furthermore, the hull is equipped with an aquaculture compartment, and the aquaculture operation vessel includes a suction device; one end of the suction device is connected to the aquaculture compartment, and the suction device is used to suction live fish from the aquaculture cage into the aquaculture compartment.

[0021] Furthermore, the aquaculture chamber is equipped with at least two pumping pipes with a height difference; the pumping pipes are used to supply water or drain water from the aquaculture chamber to form a simulated flow field within the aquaculture chamber.

[0022] Furthermore, the aquaculture operation vessel includes a satellite positioning module and a warning device; the satellite positioning module is electrically connected to the shipborne cruise control module, and the shipborne cruise control module is electrically connected to the warning device;

[0023] The satellite positioning module is used to acquire the current location information of each aquaculture cage when the hull travels to each of the aquaculture cages and send it to the shipborne cruise control module; the shipborne cruise control module is used to correct the coordinates of the cages according to the current location information, and the shipborne cruise control module is used to send a fourth alarm signal to the prompting device when the difference between the current location information and the coordinates of the cages reaches a preset distance threshold, so as to trigger the prompting device to perform an alarm operation.

[0024] Furthermore, the aquaculture operation vessel includes a flow direction detection device and a flow velocity detection device; the flow direction detection device and the flow velocity detection device are electrically connected to the shipborne cruise control module;

[0025] The flow direction detection device is used to acquire flow direction information within a preset area centered on the aquaculture cage and send it to the shipborne cruise control module. The flow velocity detection device is used to acquire flow velocity information within a preset area centered on the aquaculture cage and send it to the shipborne cruise control module.

[0026] The shipborne cruise control module is used to designate the path of the water flow direction pointing to the aquaculture cage as the feeding path, and the shipborne cruise control module is used to designate the area on the feeding path where the flow velocity reaches a preset flow velocity threshold as the feeding area; the shipborne cruise control module is used to convert the position parameters corresponding to the feeding area into power parameters and send them to the propulsion device, so as to control the propulsion device to drive the hull to the feeding area and perform the feeding operation.

[0027] Furthermore, the aquaculture vessel includes a marine communication module; the marine communication module is electrically connected to the propulsion device and the feeding device;

[0028] The marine communication module is used to receive real-time remote control commands sent by the shore-based monitoring system; the marine communication module is used to convert the real-time remote control commands into power parameters and send them to the propulsion device to control the propulsion device to drive the hull forward; and the marine communication module is used to convert the real-time remote control commands into drive parameters and send them to the feeding device to control the feeding device to perform feeding operations.

[0029] Furthermore, the hull is equipped with a radar monitoring device and a visual monitoring device, and the aquaculture operation vessel includes a warning device; the radar monitoring device, the visual monitoring device and the warning device are electrically connected; the radar monitoring device and the visual monitoring device are used to send a fifth alarm signal to the warning device when an unidentified target is detected, so as to trigger the warning device to perform an alarm operation.

[0030] Compared with the prior art, the beneficial effects of this application are:

[0031] The aquaculture vessel proposed in this application acquires the coordinates of the net cages sent by the shore-based monitoring system through an onboard cruise control module. Based on a path planning algorithm, the coordinates are converted into a cruise path, and the angle parameters corresponding to the cruise path are converted into power parameters and sent to the propulsion device. This allows the propulsion device to drive the vessel along the cruise path to each aquaculture net cage. When the vessel reaches any net cage, the net cage identification module identifies the type of net cage and sends a corresponding feeding signal to the feeding device. This controls the feeding device to draw fish feed from the corresponding feed bin and deliver it to the net cage through the feeding end of the device. This achieves the function of automatically and selectively feeding based on the aquaculture species in different net cages. Based on the above settings, automated feeding of aquaculture net cages is achieved, improving feeding efficiency, saving labor costs, and enhancing the intelligence level of the aquaculture vessel's feeding operations. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the modular connection structure of an embodiment of an aquaculture operation vessel according to this application;

[0034] Figure 2 This is a schematic diagram of the overall structure of an embodiment of an aquaculture operation vessel according to this application.

[0035] Explanation of icon numbers:

[0036] label name label name 1 Hull 12 Aquaculture cabin 2 Propulsion device 13 suction device 3 Shipborne cruise control module 14 Satellite positioning module 4 Feed bin 15 Flow direction detection device 5 Feeding device 16 Flow rate detection device 6 Net cage identification module 17 Marine communication module 7 Underwater inspection device 18 Radar monitoring device 8 Prompt device 19 Visual monitoring device 9 Fish photography device 20 shore-based monitoring system 10 Fish image analysis module 1201 Drainage pipes 11 Counting module

[0037] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0039] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0040] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0041] This application provides an aquaculture operation vessel; please refer to [link / reference]. Figure 1 and Figure 2 The aquaculture vessel includes a hull (1), a propulsion system (2), an onboard cruise control module (3), at least two feed hoppers (4), a feeding device (5), and a net cage identification module (6); wherein:

[0042] The propulsion device 2 is mounted on the hull 1;

[0043] The shipborne cruise control module 3 is electrically connected to the propulsion device 2; the shipborne cruise control module 3 is used to acquire the coordinates of the net cages sent by the shore-based monitoring system 20 and convert the net cage coordinates into a cruise path based on the path planning algorithm; and the shipborne cruise control module 3 is used to convert the angle parameters corresponding to the cruise path into power parameters and send them to the propulsion device 2 to control the propulsion device 2 to drive the hull 1 to travel along the cruise path to each aquaculture net cage.

[0044] At least two feed tanks 4 are provided on the hull 1; the at least two feed tanks 4 are used to store different types of fish feed respectively;

[0045] The feed end of the feeding device 5 is connected to at least two feed bins 4;

[0046] The cage identification module 6 is electrically connected to the feeding device 5. The cage identification module 6 is used to identify the type of aquaculture cage based on the image recognition algorithm and send the corresponding feeding signal to the feeding device 5 to control the feeding device 5 to pick up the fish feed in the corresponding feed bin 4 and deliver it to the corresponding aquaculture cage through the feeding end of the feeding device 5.

[0047] In this embodiment, the propulsion device 2 may include multiple propellers for omnidirectional and / or lateral propulsion. Specifically, for omnidirectional propulsion, two 360° azimuth thrusters may be installed in the propeller compartment at the stern of the hull 1, driven by a marine propulsion motor and controlled by a variable frequency drive. The marine propulsion motor and the variable frequency drive are cooled by seawater to ensure that the propellers can operate normally under both the highest and lowest draft conditions of the hull 1. For lateral propulsion, two propellers may be installed in the propeller compartment at the bow of the hull 1, driven by a marine propulsion motor and controlled by a variable frequency drive to ensure that the propellers can operate normally under both the highest and lowest draft conditions of the hull 1.

[0048] The aquaculture cages are distributed in the target aquaculture area, and the coordinates of each cage can be pre-acquired and stored in the shore-based monitoring system 20. When the shipborne cruise control module 3 obtains the coordinates of each cage from the shore-based monitoring system 20 via wireless communication, the shipborne cruise control module 3 can use path planning algorithms such as A* search algorithm and D*Lite pathfinding algorithm to obtain the optimal cruise path that can connect the coordinates of multiple cages. This cruise path includes angle parameters, which are the orientation angles of the ship 1 at each moment during its journey along the cruise path. The shipborne cruise control module 3 can convert these angle parameters into power parameters, which are the operating parameters of the propulsion device 2 at each moment. Specifically, these parameters can include the start / stop status, gear, and propulsion speed of each propeller. Through the coordination between the propellers, the ship 1 can achieve straight-line movement and turning, allowing the ship 1 to autonomously travel along the cruise path and reach each aquaculture cage in sequence.

[0049] The feeding device 5 may include a power unit and corresponding pipelines. One end of the pipeline is connected to the feed bin 4 and forms the feeding end, while the other end of the pipeline forms the feeding end and faces the aquaculture cage. The power unit can use mechanical pushing, negative pressure suction, or other methods to transport fish feed from the feeding end to the feeding end and feed the fish feed from the feeding end to the aquaculture cage to feed the fish in the aquaculture cage.

[0050] In practical applications, the types, quantities, and growth cycles of fish in different aquaculture cages vary, resulting in different feeding requirements. Therefore, this embodiment sets up multiple feed bins 4, each used to store different types of fish feed to meet the diverse needs of fish in different aquaculture cages. Simultaneously, each aquaculture cage is designed to be distinct to correspond to different fish conditions. Specifically, the cage identification module 6 can acquire images of the aquaculture cages using a camera device and extract and identify the cage's shape or local features through image recognition algorithms. For example, it can extract and identify the overall outline, local structural borders, codes, and colors of the aquaculture cages, and compare them with preset cage images stored in the system to determine the type of aquaculture cage and the condition of the fish within it. A corresponding feeding signal is then sent to the feeding device 5 to trigger it to adjust feeding parameters according to the system's preset program and to control the feeding device 5 to draw fish feed from the corresponding feed bin 4 and deliver it to the aquaculture cage. Each pipe of the feeding device 5 can be equipped with an electrically controlled valve, and each electrically controlled valve is electrically connected to the cage identification module 6. Different feeding signals sent by the cage identification module 6 can trigger the opening or closing of different electrically controlled valves, thereby realizing the connection or blockage of different pipes. This allows the power unit to draw fish feed from the corresponding feed bin 4 through the connected pipe and deliver it to the corresponding aquaculture cage, realizing the function of automatically selectively feeding according to the aquaculture species of different aquaculture cages.

[0051] It is understood that the shipborne cruise control module 3 and the cage identification module 6 in this embodiment can be corresponding functional modules in a controller with functions such as data storage, reading and writing, program execution, and signal input and output; the functional modules mentioned in subsequent embodiments can be understood in the same way, and will not be described again.

[0052] Therefore, the aquaculture vessel provided in this embodiment obtains the coordinates of the net cages sent by the shore-based monitoring system 20 through the shipboard cruise control module 3, converts the net cage coordinates into a cruise path based on the path planning algorithm, and then converts the angle parameters corresponding to the cruise path into power parameters and sends them to the propulsion device 2. In this way, the propulsion device 2 can be controlled to drive the hull 1 to travel along the cruise path to each aquaculture net cage. When the hull 1 reaches any aquaculture net cage, the net cage identification module 6 identifies the type of aquaculture net cage and sends the corresponding feeding signal to the feeding device 5, so as to control the feeding device 5 to absorb the fish feed in the corresponding feed bin 4 and deliver it to the aquaculture net cage through the feeding end of the feeding device 5. This realizes the function of automatically selectively feeding according to the aquaculture species of different aquaculture net cages. Based on the above settings, the automated feeding of aquaculture net cages is realized, the feeding efficiency is improved, the labor cost is saved, and the intelligence level of the aquaculture vessel in feeding operations is enhanced.

[0053] Furthermore, referring to Figure 1 and Figure 2 In one embodiment, the aquaculture operation vessel includes an underwater inspection device 7 and a prompting device 8; the underwater inspection device 7 is installed on the hull 1, the underwater inspection device 7 has a pre-stored image of the target net, and the underwater inspection device 7 is electrically connected to the prompting device 8.

[0054] The underwater inspection device 7 is used to move around the aquaculture cage as the hull 1 moves; the underwater inspection device 7 has a camera end, which is used to acquire the current netting image of the aquaculture cage; the underwater inspection device 7 is used to compare the acquired current netting image with the target netting image to obtain the comparison result; and the underwater inspection device 7 is used to send a first alarm signal to the prompting device 8 when the comparison result meets the first preset alarm condition, so as to trigger the prompting device 8 to perform an alarm operation.

[0055] In this embodiment, the underwater inspection device 7 can be a detection end connected to the hull 1 and extending underwater. The detection end has a certain degree of freedom of movement relative to the hull 1. While moving around the aquaculture cage with the movement of the hull 1, it can also move autonomously in the height direction and adjust the angle in real time to ensure that the detection end is always facing the netting of the aquaculture cage and to obtain the current netting image at different depths of the aquaculture cage. In addition, the underwater inspection device 7 can also directly employ an underwater robot. This underwater robot is towed to the hull 1 by a cable and communicates with the corresponding functional modules on the hull 1 through the cable. The underwater robot has an autonomous navigation function and can move autonomously around the aquaculture net cage. It can also achieve underwater positioning by means of the cooperation between the laser sensor and the netting of the aquaculture net cage, thereby correcting the direction of movement of the underwater robot and ensuring the accuracy of the underwater robot's movement path. Regarding the working principle and specific implementation of the underwater robot, please refer to the relevant content recorded in the invention patent with application number 202111298517.X entitled "Positioning method, system and storage medium of underwater net inspection robot", which will not be repeated here.

[0056] As the underwater inspection device 7 moves around the netting of the aquaculture cage, the camera continuously acquires images of the current netting. It can also continuously extract relevant features from the current netting image using image recognition algorithms and compare them with pre-stored target netting images. For example, the current netting image can be denoised first, and then the Canny edge detection algorithm can be used to identify the coverage area of ​​each net wire in the current netting image, thus forming the outline of the net wire. This outline is then compared with the outline of the net wire in the target netting image. If the deviation is large, it can be considered that the net wire is broken, indicating that the aquaculture cage has a damaged netting. When the first preset alarm condition is met, a first alarm signal can be sent to the prompting device 8 to trigger the prompting device 8 to perform an alarm operation, informing the operator to handle the aquaculture cage and eliminate potential hazards in a timely manner. The first preset alarm condition can be set to the deviation between the current netting image and the target netting image exceeding a preset threshold. The alarm operation of the prompting device 8 can be achieved through an audible and visual alarm (such as an alarm light, buzzer, etc.), or it can output prompt information. The prompt information can be presented to the operator in the form of voice, text, images, etc., to inform them of the abnormality. If there is any subsequent discussion of the prompting device 8 and alarm operation, please refer to this explanation, and it will not be repeated here.

[0057] Furthermore, referring to Figure 1 and Figure 2 In another embodiment, the aquaculture operation vessel includes an underwater inspection device 7 and a warning device 8; the underwater inspection device 7 is installed on the hull 1 and is electrically connected to the warning device 8.

[0058] The underwater inspection device 7 is used to move around the aquaculture cage as the hull 1 moves; the underwater inspection device 7 has a laser emitting end and a shooting end. The laser emitting end is used to emit a linear laser beam to the aquaculture cage, and the shooting end is used to acquire discrete light spot images formed by the linear laser beam hitting the netting part of the aquaculture cage; the underwater inspection device 7 is used to send a second alarm signal to the prompting device 8 when the light spot gaps in the discrete light spot image meet the second preset alarm conditions, so as to trigger the prompting device 8 to perform an alarm operation.

[0059] This embodiment provides another method for determining the damage status of the netting. Specifically, the specific configuration of the underwater inspection device 7 can be referred to the previous embodiment, and will not be repeated here. The netting of the aquaculture cage is a flexible part woven from netting and has multiple mesh openings. The line laser beam can be regarded as a continuous line segment composed of several laser points. No matter how the netting of the aquaculture cage moves in the water, there will always be laser points on the continuous line laser beam that can hit the netting and be collected by the imaging end. After capturing the several laser points that hit the netting, the imaging end will display them on the imaging surface in the form of discrete spot images. The discrete spots in the discrete spot image are the collection of laser points hitting the netting on the image.

[0060] After acquiring the discrete spot image, it can be extracted and identified based on image recognition algorithms. Since the size of each mesh hole in the netting is basically the same, the discrete spots in the discrete spot image should be roughly continuous straight lines if there is no breakage or damage to the netting. If the light spots in the discrete spot have obvious gaps, that is, when there are gaps in the discrete spot image, it can be determined that there is a problem with the netting wire breaking in the gap, which causes the line laser beam to fail to hit the part and form a light spot. When the gap in the spot meets the second preset alarm condition, such as when the size and / or number of the gap in the spot reaches the preset threshold condition, it can be considered that the breakage of the netting wire has reached a level that is sufficient to affect the overall performance of the aquaculture net cage, which may lead to the escape of fish. At this time, it is necessary to send a second alarm signal to the prompting device 8 to trigger the prompting device 8 to perform an alarm operation, informing the operator to deal with the aquaculture net cage in time to eliminate the hidden danger.

[0061] Optionally, refer to Figure 1 and Figure 2 The aquaculture operation vessel includes a fish photography device 9, a fish image analysis module 10, a counting module 11, and a prompting device 8; the fish image analysis module 10 has a Gaussian mixture model (GMM) and a YOLO neural network model, and the fish image analysis module 10 is electrically connected to the fish photography device 9 and the counting module 11, and the counting module 11 is electrically connected to the prompting device 8.

[0062] The fish imaging device 9 is used to acquire a set of keyframe images of fish on the water surface of the aquaculture cage, and inputs the acquired keyframe images of fish into the Gaussian mixture model (GMM) and the YOLO neural network model respectively to perform moving target detection operations, so as to obtain the GMM fish target bounding box and the YOLO fish target bounding box respectively.

[0063] The fish image analysis module 10 is used to select the GMM fish target border or the YOLO fish target border as the dead fish target border; the counting module 11 is used to count the number of dead fish target borders, and the counting module 11 is used to send a third alarm signal to the prompting device 8 when the number of dead fish target borders reaches a preset number threshold, so as to trigger the prompting device 8 to perform an alarm operation.

[0064] When fish die in the aquaculture cages, the dead fish will float on the surface. Video images of the surface area are captured by the fish imaging device 9, forming a fish keyframe image set. This keyframe image set is extracted from the video captured by the fish imaging device 9 using keyframe technology and after noise reduction. It includes multiple frames that represent the distribution of fish on the surface. This keyframe image set is then input into the fish image analysis module 10 for image analysis. The target borders of the dead fish floating on the surface can be extracted from the keyframe image set. The counting module 11 counts the number of dead fish target borders to determine the number of dead fish in the aquaculture cage. When the number reaches a preset threshold, a third alarm signal is sent to the prompting device 8 to trigger the prompting device 8 to perform an alarm operation, informing the operator to clean up the dead fish to prevent excessive dead fish from polluting the aquaculture water and affecting the normal activities of live fish.

[0065] Regarding the process of image analysis of the fish keyframe image set by the fish image analysis module 10, specifically, the YOLO neural network model based on deep learning can annotate the color, shape, contour, and other image texture features of fish targets in the video sequence images and train it to form a feature extraction convolutional network, thereby realizing the detection of fish targets and outputting the distribution of fish targets. However, the YOLO neural network model usually sets a detection threshold to avoid false detections of stationary objects resembling fish targets, but if the threshold is set too high, false detections will occur. In other words, the detection algorithm of a single YOLO neural network model cannot effectively mine the motion information of fish targets to avoid false detections due to fish transients and fish occlusion, nor can it adapt to target feature extraction to avoid false detections due to changes in fish orientation. Therefore, this embodiment also introduces a Gaussian Mixture Model (GMM). The GMM can more fully mine the characteristics of fish target motion information and necessaryly replace the detection threshold set by the YOLO neural network model, thereby effectively avoiding false detections and false detections. In the specific implementation process, after the fish keyframe image set is input into the YOLO neural network model, each frame image is divided into S×S grids. The YOLO detection algorithm performs fish target bounding box detection on each grid. The RGB frame spots in the grid are extracted and passed to the fish YOLO classifier, thereby detecting the fish target bounding boxes in each grid. Here, the fish target bounding box refers to the outline of the fish identified by the corresponding detection algorithm. Based on the identified fish target bounding boxes, the number and distribution of fish targets in any grid can be determined. Combining the fish target bounding boxes of all grids in a frame yields all the fish target bounding boxes in that frame. Finally, combining the fish target bounding boxes of each frame gives the distribution of fish targets on the water surface over a certain time period. It can be understood that the YOLO fish target bounding box can refer to a single fish target bounding box or a set of fish target bounding boxes detected by the YOLO neural network model within any grid, within all grids of any frame, or across multiple frames. Its definition can be flexibly adjusted according to the application scenario, and is not limited here. Similarly, after the fish keyframe image set is input into the Gaussian Mixture Model (GMM), each frame image is divided into S×S grids. The GMM detection algorithm will detect fish target bounding boxes for each grid. The RGB frame spots in the grid are extracted and passed to the fish ResNet-50 classifier, thereby detecting the fish target bounding boxes in each grid. Based on the identified fish target bounding boxes, the number and distribution of fish targets in any grid can be determined. By combining the fish target bounding boxes of all grids in a frame, the total fish target bounding boxes in that frame can be obtained. By combining the fish target bounding boxes of each frame, the distribution of fish targets on the water surface over a certain period of time can be obtained.It is understandable that the GMM fish bounding box can refer to a single fish bounding box or a set of fish bounding boxes within any grid, all grids in any frame, or multiple frames detected by the GMM Gaussian Mixture Model. Its definition can be flexibly adjusted according to the application scenario, and is not limited here. For any one fish bounding box, it may fall into at least the following categories: 1. Detected by the GMM Gaussian Mixture Model but not by the YOLO Neural Network Model; 2. Detected by the YOLO Neural Network Model but not by the GMM Gaussian Mixture Model; or 3. Detected by both the GMM Gaussian Mixture Model and the YOLO Neural Network Model. To address the aforementioned scenarios, a pre-defined judgment logic can be used for judgment and selection. Specifically, this judgment and selection operation can be automatically executed by the judge. For the same fish target bounding box, the judge analyzes various detection parameters of the GMM and YOLO fish target bounding boxes and compares each detection parameter with a preset threshold to ultimately determine whether the accuracy of the detected GMM and / or YOLO fish target bounding boxes meets the preset requirements. The judge then selects the GMM or YOLO fish target bounding box whose accuracy meets the preset requirements as the dead fish target bounding box output. The same operation applies to other fish target bounding boxes, thereby obtaining a more accurate dead fish target bounding box compared to a single data source.

[0066] Optionally, refer to Figure 1 and Figure 2 The hull 1 is equipped with an aquaculture compartment 12, and the aquaculture operation vessel includes a suction device 13; one end of the suction device 13 is connected to the aquaculture compartment 12, and the suction device 13 is used to suction live fish from the aquaculture cages into the aquaculture compartment 12.

[0067] Specifically, the suction device 13 may include a power unit and corresponding pipes. One end of the pipe is connected to the aquaculture chamber 12, and the other end of the pipe is used to connect to the aquaculture net cage. The power unit can transfer live fish in the aquaculture net cage to the aquaculture chamber 12 by means of mechanical pushing, negative pressure suction, etc. For example, the live fish in the aquaculture net cage can be sucked into the aquaculture chamber 12 through the pipe by a fish suction pump to realize the harvesting of live fish, which eliminates the need for manual harvesting operations, thereby saving labor costs and improving harvesting efficiency.

[0068] Preferably, the aquaculture tank 12 is equipped with various auxiliary devices that allow live fish to survive for a short period of time, such as water quality monitoring equipment and oxygen cones, in order to prevent the live fish in the aquaculture tank 12 from dying.

[0069] Optionally, refer to Figure 1 and Figure 2The aquaculture chamber 12 is equipped with at least two drainage pipes 1201 with a height difference; the drainage pipes 1201 are used to supply water or drain water in the aquaculture chamber 12 to form a simulated flow field in the aquaculture chamber 12.

[0070] Specifically, the outlets of the extraction pipes 1201 can be installed on the bottom and side walls of the aquaculture tank 12. Each extraction pipe 1201 can supply external water into the aquaculture tank 12 and pump water from the aquaculture tank 12 to the outside, thus forming a circulating water system. The opening and closing status, flow rate, and other parameters of each extraction pipe 1201 can be controlled by valves installed in the extraction pipes 1201. By setting different extraction pipes 1201 to different opening and closing states, a variety of different water exchange combinations can be formed. This allows the flow pattern in the aquaculture tank 12 to be adjusted according to different situations, simulating the real aquaculture environment in the deep sea with a high degree of fidelity. This creates a flow field environment with better aquaculture suitability in the aquaculture tank 12, which is more conducive to the growth and activity of live fish in the aquaculture tank 12.

[0071] Optionally, refer to Figure 1 and Figure 2 The aquaculture operation vessel includes a satellite positioning module 14 and a prompting device 8; the satellite positioning module 14 is electrically connected to the shipborne cruise control module 3, and the shipborne cruise control module 3 is electrically connected to the prompting device 8.

[0072] The satellite positioning module 14 is used to obtain the current location information of each aquaculture cage when the hull 1 travels to each aquaculture cage and send it to the shipborne cruise control module 3; the shipborne cruise control module 3 is used to correct the cage coordinates according to the current location information, and the shipborne cruise control module 3 is used to send a fourth alarm signal to the prompting device 8 when the difference between the current location information and the cage coordinates reaches a preset distance threshold, so as to trigger the prompting device 8 to perform an alarm operation.

[0073] Specifically, by installing a satellite positioning module 14 (Global Positioning System, GPS) on the hull 1, when the hull 1 travels to any aquaculture cage, it can obtain the real current location information of the aquaculture cage. In this way, the current location information can be used to correct the historical cage coordinate information obtained by the shipborne cruise control module 3, thereby continuously improving the accuracy of the cruise path. This allows the hull 1 to travel to the preset position more accurately in the future and to better carry out corresponding operations such as feeding, net inspection, and live fish harvesting.

[0074] When the difference between the current location information of the aquaculture cage and the cage coordinates is large and reaches the preset distance threshold, it can be considered that there is a problem with the anchoring system of the aquaculture cage, which has caused the aquaculture cage to drift to a large extent. At this time, a fourth alarm signal needs to be sent to the prompting device 8 to trigger the prompting device 8 to perform an alarm operation and inform the operator to intervene in time.

[0075] Optionally, refer to Figure 1 and Figure 2 The aquaculture operation vessel includes a flow direction detection device 15 and a flow velocity detection device 16; the flow direction detection device 15 and the flow velocity detection device 16 are electrically connected to the shipborne cruise control module 3.

[0076] The flow direction detection device 15 is used to acquire flow direction information within a preset area centered on the aquaculture cage and send it to the shipborne cruise control module 3. The flow velocity detection device 16 is used to acquire flow velocity information within a preset area centered on the aquaculture cage and send it to the shipborne cruise control module 3.

[0077] The shipborne cruise control module 3 is used to use the path of water flow pointing towards the aquaculture cage as the feeding path, and the shipborne cruise control module 3 is used to use the area where the flow velocity on the feeding path reaches the preset flow velocity threshold as the feeding area; the shipborne cruise control module 3 is used to convert the position parameters corresponding to the feeding area into power parameters and send them to the propulsion device 2, so as to control the propulsion device 2 to drive the hull 1 to the feeding area and perform the feeding operation.

[0078] Specifically, when the hull 1 travels to any aquaculture cage, the direction of the water flow near the aquaculture cage can be detected by the flow direction detection device 15, thereby determining the upstream and downstream of the aquaculture area. The downstream water flow route passing through the aquaculture cage is used as the feeding path. In this way, the shipboard cruise control module 3 can control the propulsion device 2 to drive the hull 1 to move to the feeding path, so that the hull 1 can perform the feeding operation at the upstream position. At this time, the fish feed delivered by the feeding device 5 can be accurately transported to the aquaculture cage along the feeding path under the action of the water flow, thereby improving the accuracy of feed feeding and avoiding excessive feed being washed away by the water flow and causing waste.

[0079] In the specific implementation process, there may be multiple feeding paths. At this time, the feeding path can be further screened by the flow velocity detection device 16, and the area with a faster flow velocity in the feeding path can be selected as the feeding area. In this way, the shipborne cruise control module 3 can control the propulsion device 2 to drive the hull 1 to move to the feeding area for feeding operation. This allows the fish feed to reach the aquaculture cage quickly at a higher flow velocity, thereby improving the feeding efficiency and minimizing the impact of tributaries on feed feeding.

[0080] Preferably, after determining the feeding area, the shipborne cruise control module 3 can send a corresponding adjustment signal to the feeding device 5 to control the feeding device 5 to adjust the feeding angle, height, force, feeding amount and other parameters of the feeding end according to a preset program, so that the rated amount of fish feed can be accurately delivered to the aquaculture cage.

[0081] Optionally, refer to Figure 1 and Figure 2 The aquaculture operation vessel includes a marine communication module 17; the marine communication module 17 is electrically connected to the propulsion device 2 and the feeding device 5.

[0082] The marine communication module 17 is used to receive real-time remote control commands sent by the shore-based monitoring system 20; the marine communication module 17 is used to convert the real-time remote control commands into power parameters and send them to the propulsion device 2 to control the propulsion device 2 to drive the hull 1 forward; and the marine communication module 17 is used to convert the real-time remote control commands into drive parameters and send them to the feeding device 5 to control the feeding device 5 to perform feeding operations.

[0083] In this embodiment, by setting up a marine communication module 17, shore-based remote control can be realized. Specifically, the shore-based monitoring system 20 can adopt high-bandwidth and high-speed marine 5G communication technology, and transmit operation information and control commands to the aquaculture operation vessel in real time through the marine communication module 17, so as to control the aquaculture operation vessel to move according to the instructions and perform corresponding operations such as feeding, net inspection, and dead fish detection.

[0084] Preferably, a switching switch can be provided between the shipborne cruise control module 3 and the marine communication module 17 to freely switch between the two operation modes of autonomous cruise feeding and shore-based remote control navigation feeding as needed.

[0085] Optionally, refer to Figure 1 and Figure 2 The hull 1 is equipped with a radar monitoring device 18 and a visual monitoring device 19. The aquaculture operation vessel includes a warning device 8. The radar monitoring device 18, the visual monitoring device 19 and the warning device 8 are electrically connected. The radar monitoring device 18 and the visual monitoring device 19 are used to send a fifth alarm signal to the warning device 8 when an unidentified target is detected, so as to trigger the warning device 8 to perform an alarm operation.

[0086] Specifically, radar monitoring device 18 and visual monitoring device 19 can be installed at multiple locations such as the top of the hull 1, the port side, and the starboard side to realize real-time monitoring and patrol of the aquaculture sea area around the hull 1. When suspicious personnel, vessels, or other unidentified targets are found approaching the hull 1 or aquaculture cages, the fifth alarm signal can be sent to trigger the prompting device 8 to perform an alarm operation, so as to notify the shore personnel to intervene and handle the situation in a timely manner, thereby eliminating potential safety hazards.

[0087] It should be noted that other details regarding the aquaculture operation vessel disclosed in this application can be found in the prior art, and will not be repeated here.

[0088] The above are merely optional embodiments of this application and do not limit the patent scope of this application. All equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A type of aquaculture operation vessel, characterized in that, The aquaculture operation vessels include: hull; A propulsion device is mounted on the hull. The shipborne cruise control module is electrically connected to the propulsion device. The shipborne cruise control module is used to acquire the coordinates of the net cages sent by the shore-based monitoring system and convert the net cage coordinates into a cruise path based on a path planning algorithm. The shipborne cruise control module is also used to convert the angle parameters corresponding to the cruise path into power parameters and send them to the propulsion device to control the propulsion device to drive the ship to travel along the cruise path to each aquaculture net cage. At least two feed tanks are provided on the hull; the at least two feed tanks are used to store different types of fish feed respectively; A feeding device, wherein the feed inlet of the feeding device is connected to the at least two feed bins; A cage identification module is electrically connected to the feeding device. The cage identification module is used to identify the type of the aquaculture cage based on an image recognition algorithm and send a corresponding feeding signal to the feeding device to control the feeding device to absorb the fish feed in the corresponding feed bin and deliver it to the corresponding aquaculture cage through the feeding end of the feeding device. An underwater inspection device is installed on the hull. The prompting device is electrically connected to the underwater inspection device; The underwater inspection device is used to move around the aquaculture cage as the hull moves; the underwater inspection device has a laser emitting end and a shooting end, the laser emitting end is used to emit a line laser beam to the aquaculture cage, and the shooting end is used to acquire discrete light spot images formed by the line laser beam hitting the netting part of the aquaculture cage; the underwater inspection device is used to send a second alarm signal to the prompting device when the light spot gaps in the discrete light spot image meet the second preset alarm conditions, so as to trigger the prompting device to perform an alarm operation.

2. The aquaculture operation vessel according to claim 1, characterized in that, The underwater inspection device has pre-stored images of the target netting; The camera is used to acquire the current image of the netting of the aquaculture cage; The underwater inspection device is used to compare the acquired current net image with the target net image to obtain a comparison result; and the underwater inspection device is used to send a first alarm signal to the prompting device when the comparison result meets a first preset alarm condition to trigger the prompting device to perform an alarm operation.

3. The aquaculture operation vessel according to claim 1, characterized in that, The aquaculture operation vessel includes a fish photography device, a fish image analysis module, a counting module, and a prompting device; the fish image analysis module has a Gaussian mixture model (GMM) and a YOLO neural network model, and the fish image analysis module is electrically connected to the fish photography device and the counting module, and the counting module is electrically connected to the prompting device; The fish imaging device is used to acquire a set of keyframe images of fish on the water surface of the aquaculture cage, and inputs the acquired keyframe images of fish into the GMM Gaussian mixture model and the YOLO neural network model respectively to perform moving target detection operations, so as to obtain the GMM fish target bounding box and the YOLO fish target bounding box respectively. The fish image analysis module is used to select the GMM fish target border or the YOLO fish target border as the dead fish target border; the counting module is used to count the number of dead fish target borders, and the counting module is used to send a third alarm signal to the prompting device when the number of dead fish target borders reaches a preset number threshold, so as to trigger the prompting device to perform an alarm operation.

4. The aquaculture operation vessel according to claim 1, characterized in that, The hull is equipped with an aquaculture compartment, and the aquaculture operation vessel includes a suction device; one end of the suction device is connected to the aquaculture compartment, and the suction device is used to suction live fish from the aquaculture cages into the aquaculture compartment.

5. The aquaculture operation vessel according to claim 4, characterized in that, The aquaculture chamber is equipped with at least two pumping pipes with a height difference; the pumping pipes are used to supply water or drain water from the aquaculture chamber to form a simulated flow field within the aquaculture chamber.

6. The aquaculture operation vessel according to claim 1, characterized in that, The aquaculture operation vessel includes a satellite positioning module and a prompting device; the satellite positioning module is electrically connected to the shipborne cruise control module, and the shipborne cruise control module is electrically connected to the prompting device. The satellite positioning module is used to acquire the current location information of each aquaculture cage when the hull travels to each of the aquaculture cages and send it to the shipborne cruise control module; the shipborne cruise control module is used to correct the coordinates of the cages according to the current location information, and the shipborne cruise control module is used to send a fourth alarm signal to the prompting device when the difference between the current location information and the coordinates of the cages reaches a preset distance threshold, so as to trigger the prompting device to perform an alarm operation.

7. The aquaculture operation vessel according to claim 1, characterized in that, The aquaculture vessel includes a flow direction detection device and a flow velocity detection device; the flow direction detection device and the flow velocity detection device are electrically connected to the shipborne cruise control module. The flow direction detection device is used to acquire flow direction information within a preset area centered on the aquaculture cage and send it to the shipborne cruise control module. The flow velocity detection device is used to acquire flow velocity information within a preset area centered on the aquaculture cage and send it to the shipborne cruise control module. The shipborne cruise control module is used to designate the path of the water flow direction pointing to the aquaculture cage as the feeding path, and the shipborne cruise control module is used to designate the area on the feeding path where the flow velocity reaches a preset flow velocity threshold as the feeding area; the shipborne cruise control module is used to convert the position parameters corresponding to the feeding area into power parameters and send them to the propulsion device, so as to control the propulsion device to drive the hull to the feeding area and perform the feeding operation.

8. The aquaculture operation vessel according to claim 1, characterized in that, The aquaculture vessel includes a marine communication module; the marine communication module is electrically connected to the propulsion device and the feeding device. The marine communication module is used to receive real-time remote control commands sent by the shore-based monitoring system; the marine communication module is used to convert the real-time remote control commands into power parameters and send them to the propulsion device to control the propulsion device to drive the hull forward; and the marine communication module is used to convert the real-time remote control commands into drive parameters and send them to the feeding device to control the feeding device to perform feeding operations.

9. The aquaculture operation vessel according to claim 1, characterized in that, The hull is equipped with a radar monitoring device and a visual monitoring device, and the aquaculture operation vessel includes a warning device; the radar monitoring device, the visual monitoring device and the warning device are electrically connected; the radar monitoring device and the visual monitoring device are used to send a fifth alarm signal to the warning device when an unidentified target is detected, so as to trigger the warning device to perform an alarm operation.

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