Intelligent monitoring device and method for fish video identification

Abstract

The embodiment of the present disclosure provides an intelligent monitoring device and method for fish video identification, the device comprising: a buoyancy tank, a buffer assembly, a support assembly, a monitoring unit group, a control unit and a drive assembly; the buffer assembly is provided on the surface of the buoyancy tank facing the water surface; one end of the support assembly is rotatably connected to the buffer assembly; the monitoring unit group is provided in the drive assembly, and the monitoring unit group is used to obtain the speed, direction and image information of fish in the water; the drive assembly is movably provided in the support assembly; the control unit is provided in the buoyancy tank, and the control unit is electrically connected to the monitoring unit group and the drive assembly, respectively, to respectively control the monitoring unit group to monitor the fish and control the drive assembly to move along the length direction of the support assembly and control the drive assembly to drive the device to move in the water. The device structure of the embodiment of the present disclosure is simple, which can ensure the stability of the device as a whole and the monitoring assembly.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of fish identification and supervision, and in particular to an intelligent supervision device and method for fish video identification. Background Art

[0002] In order to facilitate the monitoring and management of fish, it is often necessary to use fish identification and monitoring equipment to collect data statistics on the number and types of fish schools, and then combine the relevant identification methods to analyze the statistical data to obtain effective monitoring and identification of fish schools. Among them, an intelligent monitoring system for fish video recognition with the invention patent publication number CN112287913, based on the characteristics of color clustering and fish videos, uses the grayscale distribution statistics of fish schools and background targets to construct an independent fish clustering color library; reduces clustering time and improves efficiency; adaptively determines clustering values ​​through the valley value of the normalized histogram, avoiding inefficiency and invalid segmentation caused by manual experience; compared with other methods, the quality and accuracy are significantly improved; the algorithm retains the color information of fish schools to the maximum extent, A large amount of irrelevant noise has been eliminated. According to the disclosed technical solution, the existing camera for obtaining fish videos is installed on a movable device in the water. This makes it impossible for the existing fish identification and supervision equipment to ensure the stability of the equipment when in use. The equipment is easily shaken by water flow and shaking, which is not conducive to ensuring the clarity of the camera shooting picture. On the other hand, when encountering strong winds and waves, the equipment is easily washed away by the wind and waves into the working area of ​​the principle device and easily damaged, which is not conducive to ensuring the working safety of the equipment. On the other hand, when the equipment is fixed with an anchor to avoid the harm caused by wind and waves, the anchor is easily sunk into the mud and cannot be pulled up by the buoyancy of the equipment, which is not conducive to the identification and supervision work of the equipment and increases manpower consumption. Summary of the Invention

[0003] The purpose of the embodiments of the present disclosure is to provide an intelligent monitoring device and method for fish video identification, thereby solving the aforementioned problems existing in the prior art.

[0004] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present disclosure are as follows:

[0005] On the one hand, an embodiment of the present disclosure provides an intelligent monitoring device for fish video identification, the device comprising: a buoyancy tank, a buffer component, a support component, a monitoring unit group, a control unit, and a drive component;

[0006] The buffer assembly is provided on the surface of the buoyancy box facing the water surface; one end of the support assembly is rotatably connected to the buffer assembly;

[0007] The driving assembly is movably arranged on the supporting assembly; the monitoring unit group is arranged on the driving assembly, and the monitoring unit group is used to obtain the distance and image information of fish in the water;

[0008] The control unit is arranged in the buoyancy tank, and the control unit is electrically connected to the monitoring unit group and the driving component, respectively, to control the monitoring unit group to monitor the fish and control the driving component to move along the length direction of the supporting component, and control the driving component to drive the device to move horizontally in the water.

[0009] Optionally, a central area of ​​the surface of the buoyancy box facing the water surface is inwardly avoided to form a groove, and the buffer assembly is arranged in the groove;

[0010] The buffer assembly includes: a spherical universal joint and a plurality of first elastic members, the spherical universal joint includes an inner ball and an outer ball cage, the outer ball cage is rotatably sleeved on the outer side of the inner ball, the outer ball cage is provided with an opening, and the inner ball is connected to one end of the support assembly through the opening of the outer ball cage;

[0011] The plurality of first elastic members are evenly distributed between the outer surface of the outer ball cage and the groove of the buoyancy box.

[0012] Optionally, the device further comprises a counterweight, and the support assembly comprises: a support sleeve, a locking assembly, and an inner rod movable in the support sleeve;

[0013] One end of the support sleeve is connected to the buffer assembly, and the other end of the support sleeve is provided with an opening for the inner rod to pass through;

[0014] One end of the inner rod is disposed in the support sleeve, and the other end passes through the opening of the support sleeve and is connected to the counterweight;

[0015] The locking assembly is arranged on the supporting assembly and is used to lock or unlock the inner rod to the supporting sleeve.

[0016] Optionally, a first opening is provided on a side wall at one end of the support sleeve, and a first bayonet opposite to the first opening is provided on an outer side wall at one end of the inner rod; the locking assembly includes an electromagnet, a second elastic member, and a bayonet pin, the electromagnet being provided at the first opening on the outer side wall of the support sleeve, and the electromagnet being electrically connected to the control unit;

[0017] The second elastic member is arranged at the first opening, and its two ends are respectively connected to the bayonet and the electromagnet, and the other end of the bayonet can be engaged with or disengaged from the first bayonet of the inner rod to lock the inner rod to the support sleeve or disengage the inner rod from the support sleeve.

[0018] Optionally, the driving assembly includes a ferrule having an accommodating cavity and two pushing assemblies arranged in the accommodating cavity, the ferrule is slidably sleeved on the outside of the supporting assembly, and the monitoring unit group is arranged on the outside of the ferrule;

[0019] The two pushing components are symmetrically arranged on both sides of the supporting component. The control unit is electrically connected to the motors of the two pushing components respectively, and controls the pushing components to drive the sleeve to move along the length direction of the support sleeve and drive the device to move in the water.

[0020] Optionally, when the support assembly includes a support sleeve and an inner rod, a slide groove is provided on one side of the support sleeve, and the two pushing assemblies each include a motor, a card wheel and a propeller, one end of the card wheel is key-connected to the output shaft of the corresponding motor, and the other end of the card wheel is connected to the corresponding propeller;

[0021] One of the two clamping wheels abuts against the other side wall of the support sleeve, and the other clamping wheel abuts against the inner rod through the sliding groove, and both ends of the inner rod are provided with smooth surfaces;

[0022] The motor and the corresponding propeller are arranged on both sides of the support sleeve, the motor is arranged on one inner wall of the accommodation chamber, and the corresponding propeller is close to the other inner wall of the accommodation chamber;

[0023] The two motors or the two propellers are respectively arranged opposite to each other with the support sleeve as the center, and the two motors are respectively electrically connected to the control unit.

[0024] Optionally, the propeller blades are located in the central area of ​​the region, and the ferrule is provided with a first opening on the side wall of the corresponding propeller close to the buoyancy chamber, and the first opening is close to the support sleeve;

[0025] The ferrule is provided with a second opening on a side wall of the corresponding propeller away from the buoyancy chamber, and the second opening faces away from the support sleeve;

[0026] A third opening is provided on the side wall opposite to the motor, and the third opening is close to the buoyancy tank;

[0027] Electric valves are installed inside the second opening and the third opening, and the electric valves are electrically connected to the control unit.

[0028] Optionally, the device further includes: a stabilizing component, the stabilizing component is installed on the side of the ferrule facing away from the buoyancy box, the stabilizing component is connected to a support plate, and the support plate is provided with the monitoring unit group.

[0029] Optionally, the clamping sleeve and the support plate are both provided with a connecting portion, the stabilizing assembly includes a sliding sleeve, a sliding rod and a third elastic member, one end of the sliding sleeve is provided with a first rotating shaft, and the first rotating shaft is rotatably connected to the connecting portion of the support plate;

[0030] A second rotating shaft is provided at one end of the sliding rod, and the second rotating shaft is rotatably connected to the connecting part of the sleeve; the other end of the sliding rod is provided in the inner cavity of the other end of the sliding sleeve, and the other end of the sliding rod is connected to the bottom wall of the inner cavity at the other end of the sliding sleeve through a third elastic member.

[0031] Another aspect of the present disclosure provides a method for intelligently monitoring fish, using the monitoring device described above. The method includes:

[0032] Deploy multiple monitoring devices in predetermined areas of fish identification monitoring waters;

[0033] Each control unit turns on each monitoring device of the corresponding monitoring unit group to detect the corresponding area to obtain the location information of the fish school;

[0034] According to the position of the school of fish, the corresponding control unit controls the operation of the driving assembly to make the monitoring device approach the school of fish;

[0035] Using the corresponding monitoring equipment of the monitoring unit group to obtain the image information of the fish school, and transmit the image information of the fish school to the terminal;

[0036] When the fish school moves too fast for the monitoring device to approach in time, the speed and direction of the fish school calculated by the monitoring device are transmitted to the terminal;

[0037] The terminal controls other monitoring devices to move to the front of the fish school and stand by according to the movement speed and direction of the fish school.

[0038] The beneficial effects of the embodiments of the present disclosure are:

[0039] The intelligent monitoring device for fish video recognition in the disclosed embodiment has a simple structure and is combined with the intelligent monitoring method for fish video recognition of the present invention, which can ensure the stability of the monitoring device in water and overcome the impact of strong wind on the equipment on the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic structural diagram of an intelligent monitoring device for fish video recognition according to an embodiment of the present disclosure;

[0041] Figure 2 A cross-sectional view of an intelligent monitoring device for fish video recognition according to an embodiment of the present disclosure;

[0042] Figure 3A cross-sectional view of a card holder of an intelligent monitoring device for fish video identification according to an embodiment of the present disclosure;

[0043] Figure 4 A cross-sectional view of a buoyancy tank of an intelligent monitoring device for fish video identification according to an embodiment of the present disclosure;

[0044] Figure 5 A top-down cross-sectional view of a card holder of an intelligent monitoring device for fish video identification according to an embodiment of the present disclosure;

[0045] Figure 6 This is a flow chart of an intelligent monitoring method for fish video recognition according to an embodiment of the present disclosure;

[0046] In the figure: 1. buoyancy tank; 2. counterweight; 3. support sleeve; 4. inner rod; 5. photovoltaic cell; 6. antenna; 7. control unit; 8. positioner; 9. groove; 10. universal joint; 11. first elastic member; 12. second elastic member; 13. clamping sleeve; 14. support plate; 15. infrared camera; 16. ultrasonic radar; 17. sliding sleeve; 18. sliding rod; 19. third elastic member; 20. motor; 21. clamping wheel; 22. propeller; 23. first opening; 24. second opening; 25. third opening; 26. electric valve; 27. support block; 28. electromagnet; 29. ​​latch. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure more clear, the embodiments of the present disclosure are further described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation methods described herein are only used to explain the embodiments of the present disclosure and are not intended to limit the embodiments of the present disclosure.

[0048] See also Figures 1 to 5 On the one hand, an embodiment of the present disclosure provides an intelligent monitoring device for fish video identification, the device comprising a buoyancy tank 1, a buffer component, a support component, a monitoring unit group, a control unit 7 and a drive component; the buffer component is provided on the surface of the buoyancy tank 1 facing the water surface, and one end of the support component is rotatably connected to the buffer component; the drive component is movably provided on the support component; the monitoring unit group is provided on the drive component, and the monitoring unit group is used to obtain the distance and image information of fish in the water, etc.; the control unit is provided in the buoyancy tank, and the control unit is electrically connected to the monitoring unit group and the drive component, respectively, to respectively control the monitoring unit group to monitor the fish and control the drive component to move along the length direction of the support component, and control the drive component to drive the device to move horizontally in the water.

[0049] In the disclosed embodiment, the overall density of the buoyancy chamber is less than that of water. The buoyancy chamber can be a sealed box to prevent water from entering the chamber and causing a loss of buoyancy. Its interior can be empty or filled with foam or plastic so that it can float on the water surface. The monitoring unit assembly can include an infrared camera 15 and an ultrasonic radar 16, etc., and can be configured according to actual needs. The control unit can be a smart chip, etc. The infrared camera 15 and ultrasonic radar 16 of the monitoring unit assembly respectively capture the fish school image and distance (the distance between the fish school and the device) in real time. The control unit calculates and analyzes the information in the image to obtain information such as the fish species, direction, and swimming speed. The control unit can control the drive assembly to move along the length of the support assembly based on the swimming speed and direction of the fish school, and control the drive assembly to drive the device horizontally in the water to track the fish school. Specifically, the control unit can calculate the swimming image of the fish school captured by the infrared camera 15, such as calculating the swimming speed and direction of the fish school by the time and distance the fish school travels from one point to another in the image captured by the infrared camera. The distance can be detected by the ultrasonic radar 16 to improve the accuracy of the detection distance. The device of the embodiment of the present disclosure is used to track and monitor fish schools from the periphery of the school. If the fish school swims to the vicinity of the device, the tracking and monitoring work can also be carried out before or after the fish school swims to the device. When the monitoring device is used, it is placed in the water, the buoyancy box floats on the water surface, and the monitoring unit group and the drive component are placed in the water. Of course, the total gravity of the monitoring device as a whole is less than the maximum buoyancy of the device in the water, so that the monitoring device will not sink to the bottom of the water; when the buoyancy box shakes due to waves, the buffer component reduces the shaking of the buoyancy box, so that the shaking of the monitoring unit group along with the support component can be reduced.

[0050] The embodiment of the present disclosure can also add counterweights or adjust the size of the buoyancy tank according to actual conditions to ensure that the support assembly, monitoring unit group and drive assembly remain in a vertical state in the water under the action of gravity, so as to better monitor the fish school in the water. In the embodiment of the present disclosure, multiple intelligent fish monitoring devices can be set in the monitoring area, and multiple monitoring devices work together to comprehensively monitor the monitoring area. The control unit of each monitoring device can control the drive assembly to drive the monitoring device to move along the length direction of the support assembly and move horizontally in the water. According to the image and distance information of the fish obtained by the monitoring unit group, the control unit obtains the type, movement direction and speed of the fish school through analysis, so as to control the drive assembly to drive the device to approach the fish school and control the monitoring unit group to obtain the image information of the fish school, thereby increasing the flexible mobility of the monitoring device in the water and increasing the monitoring range and effect.

[0051] like Figure 2 and Figure 4As shown, as an example of a buffer component, the central area of ​​the surface of the buoyancy box 1 facing the water surface is inwardly avoided to form a groove 9, and the buffer component is arranged in the groove 9; the buffer component includes: a spherical universal joint 10 and a plurality of first elastic members 11, the spherical universal joint 10 includes an inner ball and an outer ball cage, the outer ball cage can be rotatably mounted on the outside of the inner ball, the outer ball cage is provided with an opening, and the inner ball is fixedly connected to one end of the support component through the opening of the outer ball cage; a plurality of the first elastic members 11 are evenly distributed between the outer surface of the outer ball cage and the side wall of the groove of the buoyancy box 1.

[0052] In the embodiment of the present disclosure, there are at least five first elastic members of the buffer assembly, and multiple first elastic members support the spherical universal joint 10 on the inner side of the inner groove. The groove is also a spherical groove, which matches the shape of the spherical universal joint 10. In this way, multiple identical first elastic members are evenly arranged between the spherical universal joint 10 and the inner wall of the groove, and the distance between the spherical universal joint 10 and the inner wall of the inner groove is kept consistent, so that the float box can maintain balance. The first elastic member can be a spring.

[0053] That is to say, the universal joint used in the embodiment of the present disclosure has a smooth sphere inside and a ball sleeve with a smooth inner wall on the outside, so that the sphere can rotate arbitrarily within a certain angle range inside the ball sleeve, thereby reducing the impact of the buoyancy of the buoyancy box on the monitoring mechanism at the bottom of the equipment due to the shaking of the waves; there is no need for a rotating bead structure between the sphere and the ball sleeve, and the rotation can be achieved using the smooth spherical surface, or it can be rotated with the help of a lubricant.

[0054] The buffer assembly of the disclosed embodiment has a simple structure. During use, when the float 1 is shaken by waves, the spherical universal joint 10 is buffered on the inner side of the groove 9 through the first elastic member 11, and the spherical universal joint 10 and the first elastic member 11 are used to keep the support assembly in a vertical state under gravity, thereby reducing the shaking of the monitoring unit group, ensuring the stability of the monitoring unit group, and improving the monitoring effect.

[0055] As an example of a support assembly, the device also includes a counterweight, and the support assembly includes: a support sleeve 3, a locking assembly, and a movable inner rod 4 arranged in the support sleeve; one end of the support sleeve 3 is connected to the buffer assembly, and the other end of the support sleeve 3 is provided with an opening for the inner rod 4 to pass through; one end of the inner rod 4 is provided in the support sleeve, and the other end is connected to the counterweight through the opening; the locking assembly is provided in the support assembly, and is used to lock or unlock the inner rod 4 to the support sleeve 3.

[0056] The support sleeve of the support assembly of the embodiment of the present disclosure has a cavity, and the inner rod is embedded in the cavity of the support sleeve and is movable. Specifically, the end of one end of the support sleeve and the inner ball of the buffer assembly can be connected by welding. One end of the inner rod is arranged in the support sleeve, and the end of the other end passes through the opening of the support sleeve and is welded with a counterweight. Part of the structure of the locking assembly is separately provided at one end of the support sleeve and the inner rod to lock or unlock the support sleeve and the inner rod. When the locking assembly is locked, the inner rod is fixed in the support sleeve; when the locking assembly is unlocked, the inner rod slides downward in the support sleeve under the action of the counterweight until the counterweight moves down to the bottom of the water, acting as an anchor to fix the monitoring device.

[0057] As an example of a locking assembly, a fourth opening is provided on a side wall of one end of the support sleeve, and a first bayonet is provided on an outer side wall of one end of the inner rod, which is opposite to the fourth opening; the locking assembly includes an electromagnet, a second elastic member, and a bayonet; the electromagnet is provided at the fourth opening of the outer side wall of the support sleeve, and the electromagnet is electrically connected to the control unit; the second elastic member is provided at the fourth opening, and the two ends of the second elastic member are respectively connected to the bayonet and the electromagnet; the other end of the bayonet can be engaged with or disengaged from the first bayonet of the inner rod to lock the inner rod to the support sleeve or to disengage the inner rod from the support sleeve. When the other end of the bayonet is engaged with the first bayonet, the inner rod is locked to the support sleeve; when the other end of the bayonet is disengaged from the first bayonet, the inner rod is in an unlocked state, and the inner rod can move within the support sleeve.

[0058] The locking assembly of the embodiment of the present disclosure can be respectively provided on both sides symmetrical to the support sleeve and the inner rod. Specifically, the fourth opening is a through hole, the first bayonet can be a blind hole, the bayonet is made of iron material, and the size of the electromagnet is larger than the fourth opening, so as to ensure that the electromagnet attracts the bayonet when it is energized. The electromagnet can be welded to the support sleeve, and one end of the bayonet is connected to the second elastic member, which can be a spring; when the inner rod and the support sleeve are in a locked state, the control unit controls the electromagnet to be energized, and the electromagnet attracts the bayonet and compresses the second elastic member so that the other end of the bayonet disengages from the bayonet of the inner rod. The inner rod moves in the direction away from the buoyancy box under the action of the counterweight until the counterweight falls into the underwater mud to anchor the equipment. The length of the inner rod and the support sleeve can be set according to the water depth of different regulatory areas. When the inner rod and the support sleeve are in an unlocked state, the control unit controls the electromagnet to cut off the power, the electromagnet is not energized, the second elastic member extends, and the inner rod moves upward under the action of the driving assembly until the first bayonet of the inner rod corresponds to the fourth opening of the support sleeve, so that the other end of the pin extends into the bayonet of the inner rod, and the inner rod is locked on the support sleeve again.

[0059] To prevent the inner rod from moving upward and getting stuck on the bottom surface of the other end of the bayonet, the other end of the bayonet can be provided with an inclined surface. When the second elastic member is in the extended state, the top end of one end of the inner rod contacts the inclined surface of the bayonet, so that the inner rod can continue to move upward under the guidance of the inclined surface until the other end of the bayonet engages with the first bayonet hole of the inner rod. To prevent the inner rod from falling out of the support sleeve, a blocking plate can be provided at the bottom of the other end of the support sleeve, the blocking plate having an opening for the movement of the inner rod, and one end of the inner rod is provided with an outward-turned limiting portion. When the one end of the inner rod moves to the blocking plate of the support sleeve, the limiting portion engages with the blocking plate to prevent the inner rod from falling out.

[0060] When encountering weather with strong winds and waves, the control unit turns on the electromagnet. Even if the electromagnet is energized, the electromagnet pulls the pin out from the inside of the inner rod through magnetic force, causing the support sleeve and the inner rod to lose the limit. Under the gravity of the counterweight, the inner rod is pulled downward on the inside of the support sleeve until the counterweight moves down to the bottom of the water. The counterweight is used for anchoring, and the float can rotate with the wind and waves on the top of the support sleeve through the universal joint. At the same time, the support sleeve can be extended and retracted at the top of the inner rod to reduce the impact force of the wind and waves on the float, thereby effectively preventing the equipment from being washed away by wind and waves, and preventing the equipment from colliding with other objects due to uncontrolled movement, thereby ensuring the safety of the equipment.

[0061] As an example of a driving assembly, the driving assembly includes a ferrule having an accommodating cavity and two pushing assemblies arranged in the accommodating cavity, the ferrule is slidably sleeved on the outside of the supporting assembly, and the monitoring unit group is arranged on the outside of the ferrule;

[0062] The two pushing components are symmetrically arranged on both sides of the supporting component. The control unit is electrically connected to the motors of the two pushing components respectively, and controls the pushing components to drive the sleeve to move along the length direction of the support sleeve and drive the device to move horizontally in the water.

[0063] The support assembly in the embodiment of the present disclosure includes: a support sleeve, a locking assembly, and a movable inner rod arranged in the support sleeve. The clamping sleeve can be slidably mounted on the outside of the support sleeve, and the two pushing assemblies are symmetrically arranged on both sides of the support sleeve. The driving assembly in the embodiment of the present disclosure can, on the one hand, drive the monitoring unit group to move on the support assembly, that is, the driving assembly can push the clamping sleeve to move on the support sleeve, adjust the position of the monitoring unit group on the support assembly, and increase the monitoring range. On the other hand, it can drive the device to move in the water. When the monitoring unit group includes an infrared camera and an ultrasonic radar, the ultrasonic radar detects the distance between the fish school and the device and sends it to the control unit. The control unit controls the driving assembly to drive the device to move to the corresponding position, so that the infrared camera can obtain more accurate information about the fish school and improve the monitoring effect of the device.

[0064] like Figure 5 As shown, as an example of a pushing component, when the supporting component includes a support sleeve and an inner rod, a slide groove is provided on one side of the support sleeve, and the two pushing components each include a motor, a card wheel and a propeller, one end of the card wheel is keyed to the output shaft of the corresponding motor, and the other end of the card wheel is connected to the corresponding propeller; one of the two card wheels abuts against the other side wall of the support sleeve, and the other card wheel abuts against the inner rod through the slide groove, and smooth surfaces are provided at both ends of the inner rod; the motor and the corresponding propeller are arranged on both sides of the support sleeve, the motor is arranged on an inner wall of the accommodating cavity, and the corresponding propeller is close to the other inner wall of the accommodating cavity; the two motors or the two propellers are respectively arranged relative to each other with the support sleeve as the center, and the two motors are respectively electrically connected to the control unit.

[0065] The motor of the disclosed embodiment is detachably mounted on the inner wall of the sleeve by bolts. A slide groove is provided on one side of the support sleeve. One end of the clamping wheel is keyed to the output shaft of the motor. The propeller is welded to the other end of the clamping wheel. One clamping wheel abuts against the other side of the support sleeve, and the other clamping wheel abuts against the inner rod through the slide groove. The propeller is arranged in the accommodating cavity and is close to the side wall opposite to the motor. Two sets of mounting plates can be provided in the accommodating cavity. The propeller of one propulsion assembly and the motor of the other propulsion assembly are located on the same side of the support sleeve. Each set of mounting plates separates adjacent propellers and motors respectively. The two propulsion assemblies are symmetrical with the support sleeve as the center.

[0066] Specifically, before the electromagnet is energized, one end of the inner rod is located at the top of the support sleeve, and the two are in a locked state. The driving assembly is moved to the top of the support assembly. The top of the inner rod also has a sliding surface, which makes it easier for the inner rod to fall. In other words, the two pulleys of the pushing assembly can rotate simultaneously, driving the clamping sleeve to move upward to the top of the support sleeve. When the pulley abutting the inner rod contacts the sliding surface at the top of the inner rod, the friction force will be reduced. At this time, the electromagnet is energized to release the counterweight. When pulling the counterweight out of the mud, one of the pulleys is clamped on the outer side of the support sleeve, so that the clamping sleeve and the support sleeve are relatively stationary. The other pulley pushes the inner rod to push the inner rod downward or upward, thereby moving the inner rod up and down. The size of the inner rod is adapted to the size of the cavity in the support sleeve, and a small gap can be set between the two. The clamping wheel is pressed against the outer side of the inner rod by pressure, so that there is a certain friction between the clamping wheel and the inner rod, and the friction is greater than the gravity of the inner rod in the water. The top and bottom ends of the inner rod are provided with smooth surfaces, so that the clamping wheel can rotate at the top and bottom ends of the inner rod without pushing the inner rod.

[0067] The side wall of the ferrule where the propeller is located in the embodiment of the present disclosure is provided with a plurality of drainage ports to discharge the water flow accumulated by the movement of the ferrule.

[0068] Specifically, when the inner rod is locked with the support sleeve, the two clamping wheels are driven by motors to rotate, and the friction between the clamping wheels and the support sleeve or the inner rod drives the clamping sleeve to move up and down on the outside of the support sleeve. When the inner rod descends to the bottom of the support sleeve under the action of the counterweight, the clamping wheels abutting the support sleeve rotate under the drive of the corresponding motors, which can also drive the clamping sleeve to move up and down on the outside of the support sleeve. Since the equipment is all underwater, it can be kept fixed without using a large fixing force after being affected by the buoyancy of the water. The two pulleys have a large friction with the support sleeve and the inner rod respectively. Only when the pulley rotates can the pulley and the inner rod be moved up and down respectively. Some grooves can be opened on the pulley, support sleeve and inner rod to increase the friction and avoid sliding between the pulley, support sleeve and inner rod. The friction between the pulley and the support sleeve is greater than the difference between the gravity and buoyancy of the drive component and the monitoring unit group. If there is a stabilizing component, then the friction between the pulley and the support sleeve is greater than the difference between the gravity and buoyancy of the drive component, the monitoring unit group and the stabilizing component. It is not repeated here.

[0069] As a specific example of a ferrule, the blades of the propeller are located in the central area of ​​the area, and the ferrule is provided with a first opening at the side wall of the corresponding propeller close to the buoyancy tank, and the first opening is close to the support sleeve; the ferrule is provided with a second opening at the side wall of the corresponding propeller away from the buoyancy tank, and the second opening is away from the support sleeve; the side wall opposite to the motor is provided with a third opening, and the third opening is close to the buoyancy tank; electric valves are installed on the inner sides of the second opening and the third opening, and the electric valves are electrically connected to the control unit.

[0070] It should be noted that the first opening is arranged in front of the propeller blade, that is, in the direction close to the opposite motor, and the second opening is arranged behind the propeller, that is, in the direction away from the opposite motor. Moreover, the first opening is located on the upper side wall of the ferrule, and the second opening is located on the lower side wall of the ferrule; the third opening is located on the side wall opposite to the motor of the ferrule, and is located above, so that the movement direction of the drive assembly is controlled by different drainage directions. After the strong wind and waves are over, the motor drives the card wheel that is in contact with the support sleeve to rotate, and the card wheel rotates downward on the other side of the support sleeve, thereby driving the card sleeve to move downward until the other card wheel is stuck on one side of the inner rod. The inner rod is long enough, so that the card wheel is stuck under the sliding surface of the inner rod. When the card sleeve moves to the bottom of the support sleeve, the card sleeve no longer moves downward, and the card wheel that is in contact with the support sleeve stops rotating. The other motor drives the card wheel to rotate, and the card wheel generates an upward thrust on the inner rod. At the same time, the corresponding motor drives the propeller to rotate through the card wheel in contact with the inner rod, sucking water from the first opening, i.e. the upper opening, and discharging it through the second opening, i.e. the lower opening, and then using the thrust of the water flow to provide an upward thrust for the inner rod, and with the help of the buoyancy of the float, ensuring that there is sufficient pulling force to pull the counterweight out of the mud, preventing the counterweight stuck in the mud from being unable to be pulled out by the buoyancy of the float due to excessive pressure, thereby ensuring the video recognition and intelligent supervision of the equipment, and eliminating the need for personnel to perform salvage operations, reducing manpower consumption.

[0071] When the counterweight is pulled out, the top of the inner rod moves to the top of the support sleeve under the push of the clamping wheel. Under the elastic force of the second elastic member, the support sleeve and the inner rod are fixed by the clamping pin, completing the re-locking of the inner rod and the support sleeve. The inner rod is locked to the support sleeve. The drive assembly is located at the bottom of the support sleeve. The bottom of the inner rod is provided with a smooth surface. At this time, the clamping wheel that can abut against the inner rod rotates under the drive of the motor. Because the clamping wheel abuts against the smooth surface of the inner rod, the friction is small and it can rotate quickly. The corresponding propeller operates, closing the electric valve in the lower port and opening the third port and the electric valve at the side port, pushing water out of the side port, thereby driving the device horizontally to move the device to the location of the detected fish school. The fish school is then monitored by infrared cameras, thereby achieving the positioning, tracking, identification, analysis and counting of the fish school. At the same time, multiple devices are interconnected to prevent repeated counting of the same fish school and analyze the changes of the same fish school, improving the intelligent monitoring of the fish school.

[0072] To prevent the pulley from detaching from the other end of the support sleeve, a stopper is integrally formed at the bottom of the other end of the support sleeve 3. This stopper is located at the bottom of the pulley 21. The support sleeve 3 and the top of the inner rod 4 are both integrally formed with a slippery surface, which allows the pulley to slip when it moves onto the slippery surface, thereby ensuring that the impeller can rotate continuously. A support block 27 is welded to the top of the sleeve 13. This support block 27 prevents the sleeve from colliding with the bottom of the buoyancy chamber and prevents the buoyancy chamber and the sleeve from being tightly attached and adsorbed together.

[0073] The intelligent fish monitoring device of the disclosed embodiment can ensure that the infrared camera takes clear pictures when shooting nearby fish schools, avoids blurred pictures due to shaking, facilitates fish identification and data analysis, prevents the equipment from being washed away by wind and waves, ensures the working safety of the equipment, and ensures that there is sufficient pulling force to pull the counterweight upward from the mud, prevents the situation where the counterweight cannot be pulled out by relying on the buoyancy of the float box, ensures the video recognition and intelligent monitoring of the equipment, and does not require personnel to perform salvage operations, reducing manpower consumption. The fish videos collected by the intelligent fish monitoring device are suitable for existing fish video identification and monitoring uses.

[0074] As a specific example of the device, the device further includes: a stabilizing component, the stabilizing component is installed on the side of the sleeve 13 facing away from the buoyancy box 1, the stabilizing component is connected to a support plate 14, and the support plate 14 is provided with the monitoring unit group.

[0075] The stabilizing component in the embodiment of the present disclosure is used to stabilize the monitoring unit group, and the stabilizing component can reduce the shaking of the monitoring unit group.

[0076] like Figure 3 As shown, preferably, the sleeve 13 and the support plate 14 are both provided with a connecting portion, and the stabilizing assembly includes a sliding sleeve 17, a sliding rod 18 and a third elastic member 19, and one end of the sliding sleeve 17 is provided with a first rotating shaft, and the first rotating shaft is rotatably connected to the connecting portion of the support plate 14; one end of the sliding rod 18 is provided with a second rotating shaft, and the second rotating shaft is rotatably connected to the connecting portion of the sleeve 13; the other end of the sliding rod 18 is provided in the inner cavity of the other end of the sliding sleeve 17, and the other end of the sliding rod 18 is connected to the bottom wall of the inner cavity at the other end of the sliding sleeve 17 through the third elastic member 19.

[0077] In the disclosed embodiment, the first rotating shaft at one end of the sleeve 17 and the second rotating shaft at one end of the slide rod 18 are both spherical structures. The connection between the sleeve 13 and the support plate 14 includes a slot that wraps around the second rotating shaft and the first rotating shaft, respectively. The portion of the slot that wraps around the second rotating shaft or the first rotating shaft is greater than half of the corresponding rotating shaft, so that the second rotating shaft and the first rotating shaft can be rotatably arranged on the corresponding connection portion and will not fall. The stabilizing component can rotate in any direction within a certain angle in the horizontal direction. This can reduce the shaking of the support plate when the sleeve is subjected to horizontal shaking, thereby maintaining the stability of the monitoring equipment. The bottom of the sleeve 13 is equipped with a support plate 14, the bottom end of the sliding sleeve 17 is installed on the top of the support plate 14 through the first rotating shaft, and the top of the sliding rod 18 is installed at the bottom of the sleeve 13 through the second rotating shaft, and the bottom end of the sliding rod 18 is stuck on the inner wall of the sliding sleeve 17, and the bottom end of the sliding rod 18 is connected to the inner wall of the sliding sleeve 17 through the third elastic member 19. The infrared camera 15 and the ultrasonic radar 16 are both installed at the bottom of the support plate 14 by bolts. When in use, when the buoyancy box 1 is shaken by waves, the universal joint 10 is buffered on the inner side of the inner groove 9 by the first elastic member 11, and the universal joint 10 is used to keep the support sleeve 3 and the inner rod 4 in a vertical state under the gravity of the counterweight 2. The sleeve 13 vibrates slightly with the support sleeve 3 on the outside of the support sleeve 3. At the same time, the sliding rod 18 at the bottom of the sleeve 13 compresses or stretches the third elastic member 19 on the inner side of the sliding sleeve 17 to move, and The horizontal shaking is offset by the rotating shaft to ensure the stability of the support plate 14, and then the stability of the infrared camera 15 and the ultrasonic radar 16, so as to ensure that the infrared camera 15 can take clear pictures when shooting nearby fish schools, avoid blurring of the pictures due to shaking, and facilitate the identification and data analysis of fish. At the same time, it ensures that the ultrasonic radar 16 can stably detect distant fish schools. The motor 20 drives the card wheel 21 to rotate, and then drives the card sleeve 13 to move up and down, so as to adjust the height of the infrared camera 15 and the ultrasonic radar 16, so as to facilitate the identification and detection of fish schools at different depths. At the same time, the propeller 22 sucks water from the upper port 23 and discharges it through the lower port 24, or sucks water from the lower port 24 and discharges it through the upper port 23, so as to offset the shaking caused by the up and down movement of the card sleeve 13, and further ensure the stability of the infrared camera 15 and the ultrasonic radar 16.

[0078] As a specific example of the device, the device also includes a photovoltaic cell, an antenna and a locator; the photovoltaic cell is arranged on a surface of the buoyancy box away from the support assembly, the antenna is arranged on a side edge of the buoyancy box away from the support assembly, and the locator is arranged inside the buoyancy box; the control unit is electrically connected to the photovoltaic cell, the antenna and the locator respectively to control the operation of each component.

[0079] In the disclosed embodiment, the photovoltaic cell is disposed on a surface of the pontoon facing away from the support assembly, i.e., the upper surface. A photovoltaic cell 5 is bolted to the upper surface of the pontoon 1. Antennas 6 are bolted to the four corners of the upper surface of the pontoon 1, wirelessly connected to the ground intelligent system. A control unit 7 and a positioner 8 are bolted to the inner side of the pontoon 1. The control unit 7 is a smart chip. The photovoltaic cell 5 is connected to the smart chip and positioner 8 via wires. The photovoltaic cell 5 also provides power for the motor and electric valve. The smart chip is connected to the motor 20, electric valve 26, electromagnet 28, and antenna 6 via wires.

[0080] The device of the disclosed embodiment can use ultrasonic radar 16 to detect fish schools in the distance, and drive the propeller 22 through the motor 20 to close the electric valve 26 in the lower port 24 and open the electric valve 26 at the side port 25 to push water out of the side port 25, thereby driving the device to move, so as to move the device to the position of the detected fish school, and then monitor the fish school through the infrared camera 15, so as to achieve the positioning, tracking, identification, analysis and statistics of the fish school. At the same time, multiple devices are linked to each other to prevent omissions in repeated quantitative statistics of the same fish school, and can analyze changes in the same fish school, thereby improving the intelligent supervision of the fish school.

[0081] The intelligent fish monitoring device of the disclosed embodiment provides power to all electrical devices through an external power supply or photovoltaic cells. During use, when the buoyancy tank 1 is shaken by waves, the universal joint 10 is buffered on the inner side of the inner groove 9 through the first elastic member 11, and the universal joint 10 is used to keep the support sleeve 3 and the inner rod 4 in a vertical state under the gravity of the counterweight 2. The sleeve 13 vibrates slightly with the support sleeve 3 on the outside of the support sleeve 3. At the same time, the sliding rod 18 at the bottom of the sleeve 13 compresses or stretches the third elastic member 19 on the inner side of the sliding sleeve 17, and offsets the horizontal shaking through the rotating shaft, thereby ensuring the stability of the support plate 14, and then ensuring the stability of the infrared camera 15 and the ultrasonic radar 16, ensuring that the infrared camera 15 has a clear picture when shooting nearby fish schools, and avoiding The shaking causes the picture to be blurred, which is convenient for fish identification and data analysis, and at the same time ensures that the ultrasonic radar 16 can stably detect fish schools in the distance. The motor 20 drives the card wheel 21 to rotate, and then drives the card sleeve 13 to move up and down, so as to adjust the height of the infrared camera 15 and the ultrasonic radar 16, which is convenient for identifying and detecting fish schools at different depths. At the same time, the propeller 22 sucks water from the upper mouth 23 and discharges it through the lower mouth 24, or sucks water from the lower mouth 24 and discharges it through the upper mouth 23 to offset the shaking caused by the up and down movement of the card sleeve 13, further ensuring the stability of the infrared camera 15 and the ultrasonic radar 16. When encountering windy and choppy weather, the electromagnet 28 is turned on by the smart chip 7, and the electromagnet 28 is turned on. The magnetic force pulls the latch pin 29 out from the inner side of the inner rod 4, causing the support sleeve 3 and the inner rod 4 to lose their limit. Under the gravity of the counterweight 2, the inner rod 4 is pulled downward on the inner side of the support sleeve 3 until the counterweight 2 moves down to the bottom of the water. The counterweight 2 is used for anchoring, and the buoyancy box 1 can rotate with the wind and waves on the top of the support sleeve 3 through the universal joint 10. At the same time, the support sleeve 3 can be telescopic at the top of the inner rod 4, reducing the impact of the wind and waves on the buoyancy box 1, thereby effectively preventing the equipment from being washed away by the wind and waves, and preventing the equipment from colliding with other objects due to uncontrolled movement, thereby ensuring the working safety of the equipment. After the strong wind and waves are over, the motor 20 drives the card wheel 21 to rotate, and the card wheel 21 rotates downward on the other side of the support sleeve 3, thereby driving the card sleeve 13 to move downward until the other card wheel 2 1 is stuck on one side of the inner rod 4. When the sleeve 13 moves to the bottom of the support sleeve 3, the sleeve 13 no longer moves downward, and the motor 20 generates an upward thrust on the inner rod 4 through the card wheel 21. At the same time, the motor 20 drives the propeller 22 to rotate through the card wheel 21, sucking water from the upper port 23 and discharging it through the lower port 24, and then using the thrust of the water flow to provide an upward thrust for the sleeve 13, and with the help of the buoyancy of the float 11, it is ensured that there is sufficient pulling force to pull the counterweight 2 out of the mud upward, preventing the counterweight 2 stuck in the mud from being unable to be pulled out by the buoyancy of the float 1 due to excessive pressure, thereby ensuring the video recognition and intelligent supervision of the equipment, and no personnel are required to perform salvage operations, reducing manpower consumption. When the counterweight 2 is pulled out, under the push of the card wheel 21,The top of the inner rod 4 moves to the top of the support sleeve 3, and under the elastic force of the spring 2 12, the support sleeve 3 and the inner rod are fixed by the latch 29. The ultrasonic radar 16 can be used to detect fish schools in the distance. The propeller 22 is driven by the motor 20 to close the electric valve 26 in the lower port 24 and open the electric valve 26 at the side port 25, pushing water out of the side port 25, thereby driving the device to move to the location of the detected fish school. The fish school is then monitored by the infrared camera 15, thereby achieving the positioning, tracking, identification, analysis and statistics of the fish school. At the same time, multiple devices are linked to each other to prevent omissions in repeated counting of the same fish school, and can analyze changes in the same fish school, improving the intelligent supervision of fish schools.

[0082] like Figure 6 As shown, another embodiment of the present disclosure provides an intelligent supervision method for fish video identification, using the supervision device as described above, the method comprising:

[0083] Step S1: Place multiple monitoring devices in predetermined areas of fish identification and monitoring waters.

[0084] Step S2: Each control unit turns on each monitoring device of the corresponding monitoring unit group to detect the corresponding area, and the ultrasonic radar obtains the location information of the fish school; the monitoring unit group includes an infrared camera and an ultrasonic radar.

[0085] Step S3: Based on the position of the school of fish, the corresponding control unit controls the motor and the electric valve of the driving assembly to operate so that the monitoring device approaches the school of fish.

[0086] Step S4: using corresponding monitoring devices of the monitoring unit group to obtain image information of the fish school, and transmitting the image information of the fish school to the intelligent system;

[0087] Step S5: Send the captured image to the intelligent system via the antenna.

[0088] Step S6: The intelligent system processes and calculates the captured image to obtain the number and type of fish in the school.

[0089] Step S7: When the fish school moves too fast to be approached in time by the monitoring device, the moving speed and direction of the fish school calculated by the monitoring device are transmitted to the terminal;

[0090] Step S8: The terminal controls other monitoring devices to move to the front of the fish school and wait for orders according to the moving speed and direction of the fish school.

[0091] By adopting the above technical solution disclosed in the embodiment of the present disclosure, the following beneficial effects are achieved:

[0092] When the intelligent monitoring device for fish video identification of the disclosed embodiment is in use, when the float tank is shaken by waves, the universal joint is buffered on the inner side of the inner groove through spring 1, and the universal joint is used to keep the support sleeve and the inner rod in a vertical state under the gravity of the counterweight, and the clamping sleeve vibrates slightly with the support sleeve on the outside of the support sleeve. At the same time, the sliding rod at the bottom of the clamping sleeve is compressed or stretched on the inside of the sliding sleeve to move the spring 3, and the horizontal shaking is offset by the rotating shaft, thereby ensuring the stability of the support plate, and then ensuring the stability of the infrared camera and the ultrasonic radar, and ensuring that the infrared camera can take clear pictures when shooting nearby fish schools. , to avoid blurred images due to shaking, facilitate fish identification and data analysis, and at the same time ensure that the ultrasonic radar can stably detect fish schools in the distance. The motor drives the card wheel to rotate, and then drives the card sleeve to move up and down, so as to adjust the height of the infrared camera and ultrasonic radar, which is convenient for identifying and detecting fish schools at different depths. At the same time, the propeller sucks water from the upper mouth and discharges it through the lower mouth, or sucks water from the lower mouth and discharges it through the upper mouth, to offset the shaking caused by the up and down movement of the card sleeve, and further ensure the stability of the infrared camera and ultrasonic radar.

[0093] The above is only a preferred implementation of the embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the embodiment of the present disclosure. These improvements and modifications should also be considered within the scope of protection of the embodiment of the present disclosure.

Claims

1. An intelligent monitoring device for fish video identification, characterized in that: The equipment includes: a buoyancy tank, a buffer assembly, a support assembly, a monitoring unit group, a control unit and a drive assembly; The buffer assembly is provided on the surface of the buoyancy box facing the water surface; one end of the support assembly is rotatably connected to the buffer assembly; The driving assembly is movably arranged on the supporting assembly; the monitoring unit group is arranged on the driving assembly, and the monitoring unit group is used to obtain the distance and image information of fish in the water; The control unit is disposed in the buoyancy tank, and is electrically connected to the monitoring unit group and the driving assembly, respectively, to control the monitoring unit group to monitor the fish and control the driving assembly to move along the length direction of the support assembly, and control the driving assembly to drive the device to move horizontally in the water; The central area of ​​the surface of the buoyancy box facing the water surface is inwardly avoided to form a groove, and the buffer assembly is arranged in the groove; the buffer assembly includes: a spherical universal joint and a plurality of first elastic members, the spherical universal joint includes an inner ball and an outer ball cage, the outer ball cage is rotatably mounted on the outer side of the inner ball, the outer ball cage is provided with an opening, and the inner ball is connected to one end of the support assembly through the opening of the outer ball cage; the plurality of first elastic members are evenly distributed between the outer surface of the outer ball cage and the groove of the buoyancy box; The device further includes a counterweight, and the support assembly includes: a support sleeve, a locking assembly, and an inner rod movable in the support sleeve; one end of the support sleeve is connected to the buffer assembly, and the other end of the support sleeve is provided with an opening for the inner rod to pass through; one end of the inner rod is provided in the support sleeve, and the other end passes through the opening of the support sleeve and is connected to the counterweight; the locking assembly is provided in the support assembly, and is used to lock or unlock the inner rod in the support sleeve; A first opening is provided on a side wall of one end of the support sleeve, and a first bayonet is provided on an outer side wall of one end of the inner rod, which is opposite to the first opening; the locking assembly includes an electromagnet, a second elastic member and a bayonet, the electromagnet being provided at the first opening of the outer side wall of the support sleeve, and the electromagnet being electrically connected to the control unit; the second elastic member being provided at the first opening, and two ends of which are respectively connected to the bayonet and the electromagnet, and the other end of the bayonet can be engaged with or disengaged from the first bayonet of the inner rod, so as to lock the inner rod to the support sleeve or disengage the inner rod from the support sleeve; The driving assembly includes a ferrule with an accommodating cavity and two pushing assemblies arranged in the accommodating cavity, the ferrule can be slidably sleeved on the outside of the supporting assembly, and the monitoring unit group is arranged on the outside of the ferrule; the two pushing assemblies are symmetrically arranged on both sides of the supporting assembly, and the control unit is electrically connected to the motors of the two pushing assemblies, respectively controlling the pushing assemblies to drive the ferrule to move along the length direction of the support sleeve and drive the device to move horizontally in the water; When the support assembly includes a support sleeve and an inner rod, a slide groove is provided on one side of the support sleeve, and the two pushing assemblies each include a motor, a card wheel and a propeller, one end of the card wheel is keyed to the output shaft of the corresponding motor, and the other end of the card wheel is connected to the corresponding propeller; one of the two card wheels abuts against the other side wall of the support sleeve, and the other card wheel abuts against the inner rod through the slide groove, and smooth surfaces are provided at both ends of the inner rod; the motor and the corresponding propeller are arranged on both sides of the support sleeve, the motor is arranged on an inner side wall of the accommodating cavity, and the corresponding propeller is close to the other inner side wall of the accommodating cavity; the two motors or the two propellers are respectively arranged relative to each other with the support sleeve as the center, and the two motors are respectively electrically connected to the control unit.

2. The device according to claim 1, characterized in that The propeller blades are located in the central area of ​​the area, and the ferrule is provided with a first opening at the side wall of the corresponding propeller close to the buoyancy chamber, and the first opening is close to the support sleeve; The ferrule is provided with a second opening on a side wall of the corresponding propeller away from the buoyancy chamber, and the second opening faces away from the support sleeve; A third opening is provided on the side wall opposite to the motor, and the third opening is close to the buoyancy tank; Electric valves are installed inside the second opening and the third opening, and the electric valves are electrically connected to the control unit.

3. The device according to any one of claims 1 to 2, characterized in that: The device further includes: a stabilizing component, the stabilizing component is installed on the side of the ferrule facing away from the buoyancy box, the stabilizing component is connected to a support plate, and the support plate is provided with the monitoring unit group.

4. The device according to claim 3, characterized in that The clamping sleeve and the support plate are both provided with a connecting portion, the stabilizing assembly includes a sliding sleeve, a sliding rod and a third elastic member, one end of the sliding sleeve is provided with a first rotating shaft, and the first rotating shaft is rotatably connected to the connecting portion of the support plate; A second rotating shaft is provided at one end of the sliding rod, and the second rotating shaft is rotatably connected to the connecting part of the sleeve; the other end of the sliding rod is provided in the inner cavity of the other end of the sliding sleeve, and the other end of the sliding rod is connected to the bottom wall of the inner cavity at the other end of the sliding sleeve through a third elastic member.

5. An intelligent monitoring method for fish video identification, characterized in that: Using the monitoring device according to any one of claims 1 to 4, the method comprises: Deploy multiple monitoring devices in predetermined areas of fish identification monitoring waters; Each control unit turns on each monitoring device of the corresponding monitoring unit group to detect the corresponding area to obtain the location information of the fish school; According to the position of the school of fish, the corresponding control unit controls the operation of the driving assembly to make the monitoring device approach the school of fish; Using the corresponding monitoring equipment of the monitoring unit group to obtain the image information of the fish school, and transmit the image information of the fish school to the terminal; When the fish school moves too fast for the monitoring device to approach in time, the speed and direction of the fish school calculated by the monitoring device are transmitted to the terminal; The terminal controls other monitoring devices to move to the front of the fish school and stand by according to the movement speed and direction of the fish school.

Images