Full-autonomous underwater fish quality detection device and detection method thereof

Abstract

The invention discloses a full-autonomous underwater fish quality detection device and a detection method thereof.The device comprises a floating rack, the floating rack is provided with a power supply component, a main control computer, a fish school luring assembly and a water surface condition monitoring assembly, and the bottom of the floating rack is provided with a data acquisition assembly and a driving component; the power supply component is used for supplying power to all the components, the main control computer is electrically connected with the water surface condition monitoring component to obtain water surface advancing information, the main control computer is electrically connected with the data acquisition component to obtain quality information of underwater fishes, and the main control computer is electrically connected with the driving component to drive the device to move in a water body. And the main control computer performs real-time data transmission and monitoring with a remote terminal through the communication module. The method has the advantages that automatic identification and quality analysis of the full view of the fish can be efficiently and accurately realized, the labor force is liberated, and the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aquaculture, and in particular to a fully autonomous underwater fish quality detection device and a detection method thereof. Background Art

[0002] With the rapid development of aquaculture, the scale of fish farming continues to expand, and the demand for quality monitoring and management in the farming process is gradually increasing. Traditional underwater fish quality detection methods usually rely on manual operations, such as measuring weight, body length and other indicators after fishing. However, this method has problems such as low efficiency, cumbersome operation, and easy damage to fish, which not only affects the survival rate of fish, but also may lead to inaccurate test results. In addition, in the breeding environment, such as water pollution, dead fish and external obstacles, it may have a significant impact on the health and growth of fish. Timely discovery and handling of these problems is of great significance to improving fish breeding efficiency. Therefore, the development of a fully autonomous underwater fish quality detection method and device that can realize automatic identification and quality analysis of the entire picture of fish, and has both high efficiency and accuracy, will greatly liberate labor and improve work efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a fully autonomous underwater fish quality detection device and a detection method thereof that can efficiently and accurately realize automatic identification and quality analysis of the overall appearance of fish, liberate labor, and improve work efficiency.

[0004] In order to solve the above technical problems, the present invention discloses the following technical solutions: A fully autonomous underwater fish quality detection device comprises a floating frame, on which a power supply component, a main control computer, a fish attracting component and a water surface condition monitoring component are provided above the water surface, a data acquisition component and a driving component are provided underwater at the bottom of the floating frame, the power supply component is used to supply power to all components, the main control computer is electrically connected to the water surface condition monitoring component to obtain water surface travel information, the main control computer is electrically connected to the data acquisition component to obtain underwater fish quality information, the main control computer is electrically connected to the driving component to drive the device to move in the water body, and the main control computer performs real-time data transmission and monitoring with a remote terminal via a communication module.

[0005] As a further improvement to the above technical solution: The data acquisition component includes an image acquisition component and an adjustment bracket. The adjustment bracket includes two groups of parallel and vertically arranged rectangular frames. The tops of the two groups of rectangular frames are connected to the bottom of the floating frame. The image acquisition component includes two groups of recognition cameras and a background board. The background board is vertically installed on one side of the two groups of rectangular frames. The first group of recognition cameras is installed on the other side of the two groups of rectangular frames and the shooting direction is vertically toward the background board. The second group of recognition cameras is installed at the bottom of the two groups of rectangular frames and the shooting direction is upward and perpendicular to the shooting direction of the first group of recognition cameras.

[0006] The vertically arranged rectangular frame includes a slide groove connecting piece at the top, a long groove guide bar at the bottom and two 304 stainless steel single-head circular studs arranged on both sides, the head end of the 304 stainless steel single-head circular stud is supported on the bottom of the long groove guide bar, the threaded end passes through the slide groove connecting piece and is fastened by a nut. The background plate is located between the two slide groove connecting pieces and the two long groove guide bars, and is fixed to the two 304 stainless steel single-head circular studs on the same side through two L-shaped connecting plates, and a horizontal L-shaped adjustment bracket plate is respectively installed in the middle of the other two 304 stainless steel single-head circular studs, and the two groups of recognition cameras are respectively installed on a fixed mounting plate through a SHF25 horizontal fixed support seat, the first group of recognition cameras is connected to the vertical short plates of the two L-shaped adjustment bracket plates through its fixed mounting plate, and the second group of recognition cameras is installed on the two long groove guide bars through its fixed mounting plate, and symmetrically arranged foot brackets are also installed at the bottom of both ends of the long groove guide bar.

[0007] The floating frame includes an inflatable float, and a horizontally arranged upper fixing plate and a lower fixing plate are respectively arranged on the top and bottom of the float, and the upper fixing plate and the lower fixing plate are supported and fixed by four 304 stainless steel single-head circular studs symmetrically located in the inner hole of the float, the power supply component and the fish attracting component are located in the inner hole of the float and installed on the lower fixing plate, a horizontally arranged top fixing plate is provided above the upper fixing plate and is supported and fixed by four symmetrically arranged 100mm long 304 stainless steel single-head circular studs, the main control computer is arranged between the upper fixing plate and the top fixing plate and is surrounded by a waterproof five-face mask; the water surface condition monitoring component is installed above the top fixing plate; the slide connector and the driving component are installed below the bottom of the lower fixing plate.

[0008] The water surface condition monitoring component includes a waterproof cover and a monitoring camera and an adjusting pan-tilt head located inside the waterproof cover. The adjusting pan-tilt head is installed above the top fixed plate, and the monitoring camera is installed on the top of the adjusting pan-tilt head through an L-shaped connector. The adjusting pan-tilt head and the monitoring camera are both electrically connected to the main control computer.

[0009] The driving component includes two underwater thrusters located in the same plane. The two underwater thrusters are symmetrically installed below the bottom of the lower fixed plate and between two slideway connectors. The underwater thrusters are electrically connected to the main control computer.

[0010] The fish attracting assembly includes a feeding mechanism, which includes a box body, a silo is provided on the upper part of the box body, a sliding cover is provided on the top of the silo, and a power supply, an adjustment panel and a spiral feeding assembly are provided at the lower part of the box body. The spiral feeding assembly includes a motor, a feeding pipe and a feeding screw connected to the output end of the motor. The feeding pipe is in a horizontal L-shape, one end of the horizontal section of which is located in the box body and connected to the bottom outlet of the silo, and the other end passes through the box body and is connected to the vertical section. The end of the vertical section forms a trumpet-shaped discharge port and passes through the lower fixed plate to be connected to the water surface. The feeding screw is arranged in the horizontal section of the L-shaped feeding pipe, and the adjustment panel is electrically connected to the motor to control the rotation of the feeding screw to transport the bait from the silo to the discharge port through the feeding pipe.

[0011] The fish attracting component also includes two LED light strips, which are installed at the bottom of the lower fixing plate and are located parallel to the outside of the two slide groove connecting pieces.

[0012] Based on the same inventive concept, the present invention also provides a detection method of the fully autonomous underwater fish quality detection device as described above, comprising the following steps: S1. Before testing, fill the feeding mechanism with bait according to the species and growth stage of the fish in the water; and accurately control the distance between the recognition camera and the background plate to ensure that the complete image of the target fish can be captured; S2. After the detection device is put into the water, the monitoring camera performs a 360° panoramic real-time scan by adjusting the pan / tilt and obtains the water surface image; when the system detects an obstacle in the water surface image, the main control computer will perform image matching and determine the type of obstacle; if the obstacle is identified as a dead fish, the system will send an early warning message to the remote terminal, automatically check whether there is disease or epidemic, and drive the underwater propeller to bypass the obstacle to avoid collision; S3. After the detection device reaches the target waters, if the number of fish in the field of view of the recognition camera is insufficient, the system will activate the fish attracting component to attract the fish to gather according to the behavioral characteristics of different fish; S4. When the recognition camera captures a stable school of fish, the system will collect images in two different directions, horizontally and vertically, through two groups of recognition cameras respectively, and use the length of the background board as a reference to perform image comparison and analysis, so as to accurately determine the volume, size and other growth parameters of the target fish.

[0013] As a further improvement of the above technical solution: In S1, the distance between the recognition camera and the background plate is adjusted by adjusting the position of the 304 stainless steel single-head round stud in the slideway connector and the long groove guide rail, or by adjusting the orientation of the L-shaped adjustment bracket plate, so as to adapt to fish of different sizes; In S3, the method of inducing fish to gather includes placing bait to induce fish that like to eat floating food to gather, or by adjusting the intensity of the light source of the LED light strip to induce phototactic fish to gather; the method of placing bait is: controlling the rotation of the motor through the control panel to drive the feeding screw to rotate, and the bait is transported from the silo to the discharge port through the feeding pipe and placed on the water surface.

[0014] Compared with the prior art, the advantages of the present invention are: 1. The fully autonomous underwater fish quality detection device of the present invention is equipped with a main control computer, a fish attracting component, a water surface condition monitoring component and a data acquisition component on a floating frame, which can realize automatic identification, monitoring and data acquisition of underwater fish. The main control computer can provide a communication module and a remote terminal for real-time data transmission and monitoring, and supports medium and long-distance operations, which is convenient for aquaculture management personnel to grasp the fish quality and water conditions in time, improve the intelligent level of aquaculture management, and do not require manual intervention, which can greatly improve the detection efficiency and reduce the errors and risks of manual operations.

[0015] 2. The fully autonomous underwater fish quality detection device of the present invention has two sets of cameras in the data acquisition component that can collect fish images from the horizontal and vertical directions. Combined with the background plate as a comparison reference, it can accurately measure the volume, size and growth status of the fish, provide comprehensive quality analysis data, and significantly improve the accuracy and scientificity of the detection results.

[0016] 3. The fully autonomous underwater fish quality detection device of the present invention can target the behavioral characteristics of different fish species by using a feeding mechanism to attract fish to eat, LED light strips to adjust the light source, and underwater propellers to create water flow and static electricity, thereby luring fish to gather and providing a stable and reliable data source for quality detection, thereby solving the problem of insufficient fish gathering ability of traditional equipment.

[0017] 4. The fully autonomous underwater fish quality detection device of the present invention has a water surface monitoring component that can identify obstacles in the water (such as dead fish, garbage or boulders) in real time, achieve obstacle avoidance and water situation feedback without human intervention, greatly improving the convenience and safety of operation.

[0018] 5. The fully autonomous underwater fish quality detection device of the present invention adopts bolts and studs, which is very easy to assemble and disassemble, with low maintenance cost, which can greatly improve the convenience and efficiency of daily use of the equipment. The efficient power system and optimized energy distribution method of the underwater propeller can reduce operating energy consumption, meet modern environmental protection needs, and reduce breeding costs.

[0019] 6. The detection method of the present invention also has the above advantages because it includes the structure of the detection device of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a three-dimensional structural schematic diagram of the fully autonomous underwater fish quality detection device of the present invention.

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the fully autonomous underwater fish quality detection device of the present invention after removing the waterproof cover, the five waterproof masks and the floating ring.

[0022] Figure 3 It is a schematic diagram of the upward structure in which the slideway connector, the LED light strip and the underwater thruster are connected to the bottom of the lower fixed plate in the present invention.

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the data acquisition component connected to the lower fixing plate in the present invention.

[0024] Figure 5 It is a main structural schematic diagram of the feeding mechanism in the present invention.

[0025] Figure 6 yes Figure 5 Schematic diagram of the AA section structure.

[0026] Figure 7 It is a side structural schematic diagram of the feeding mechanism in the present invention.

[0027] Figure 8 It is a schematic diagram of the connection structure between the background plate and the adjustment bracket in the present invention.

[0028] Fig. 9 It is a schematic diagram of the connection structure between the L-shaped adjustment bracket plate and the fixed installation plate in the present invention.

[0029] Legend: 1. Waterproof cover; 2. Monitoring camera; 3. L-shaped connector; 4. Adjustment pan / tilt; 5. Top fixing plate; 6. Waterproof five-face mask; 7. Main control computer; 8. 100mm rod length 304 stainless steel single-head round stud; 9. Upper fixing plate; 10. Floating ring; 11. 304 stainless steel single-head round stud; 12. Lower fixing plate; 13. Feeding mechanism; 14. Slide connector; 15. L-shaped adjustment bracket plate; 16. Fixing Mounting plate; 17. Identification camera; 18. SHF25 horizontal fixed support seat; 19. Long groove guide rail; 20. Foot bracket; 21. Background board; 22. L-shaped connecting plate; 23. Underwater thruster; 24. Power supply component; 25. LED light strip; 26. Slide cover; 27. Silo; 28. Power supply; 29. ​​Adjustment panel; 30. Motor; 31. Discharge port; 32. Feed pipe; 33. Feed screw; 34. Box body. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and meticulously below in conjunction with the accompanying drawings and preferred embodiments of the present invention, but the protection scope of the present invention is not limited to the following specific embodiments.

[0031] Device Example: like Figure 1-Figure 9 As shown, an embodiment of a fully autonomous underwater fish quality detection device of the present invention includes a floating frame, on which a power supply component 24, a main control computer 7, a fish attracting component and a water surface condition monitoring component are provided above the water surface, and a data acquisition component and a driving component are provided underwater at the bottom of the floating frame. The power supply component 24 is used to power all components, the main control computer 7 is electrically connected to the water surface condition monitoring component to obtain water surface travel information, the main control computer 7 is electrically connected to the data acquisition component to obtain underwater fish quality information, the main control computer 7 is electrically connected to the driving component to drive the device to move in the water body, and the main control computer 7 performs real-time data transmission and monitoring with a remote terminal through a communication module. Provide users with real-time and transparent operation feedback to achieve timely adjustment of operation strategies.

[0032] In this embodiment, the floating frame includes an annular floating ring 10, which is preferably an inflatable rubber ring and can float on the water surface. A horizontally arranged upper fixing plate 9 and a lower fixing plate 12 are respectively arranged on the top and bottom of the floating ring 10, and the upper fixing plate 9 and the lower fixing plate 12 are supported and connected by four 304 stainless steel single-head round studs 11 symmetrically located in the inner hole of the floating ring 10 and fixed by nuts, that is, the floating ring 10 is nested on the outside of the four 304 stainless steel single-head round studs 11. The power supply component 24 and the fish attracting assembly are located in the inner hole of the floating ring 10 and installed on the lower fixing plate 12. A horizontally arranged top fixing plate 5 is arranged above the upper fixing plate 9, and the top fixing plate 5 and the upper fixing plate 9 are supported and connected by four symmetrically arranged 100mm rod length 304 stainless steel single-head round studs 8 (the length is shorter than the length of the 304 stainless steel single-head round studs 11) and fixed by nuts. The structure with nuts and studs makes assembly and disassembly very simple, with low maintenance costs, which can greatly improve the convenience and efficiency of daily use of the equipment. The main control computer 7 is arranged between the upper fixing plate 9 and the top fixing plate 5. The outer cover of the main control computer 7 is provided with a waterproof five-face mask 6 (preferably made of transparent material). The bottom end of the waterproof five-face mask 6 is installed on the upper fixing plate 9 by screws to prevent water from entering the main control computer 7 and causing damage. The water surface condition monitoring component is installed above the top fixing plate 5; the data acquisition component and the drive component are installed below the bottom of the lower fixing plate 12. The top fixing plate 5, the upper fixing plate 9 and the lower fixing plate 12 are all circular plates, and a plurality of waterproof connector holes for wiring are provided on the circular plates.

[0033] In the present embodiment, the data acquisition assembly includes an image acquisition component and an adjustment bracket, the adjustment bracket includes two groups of parallel and vertically arranged rectangular frames, the tops of the two groups of rectangular frames are installed below the bottom of the lower fixed plate 12, the image acquisition component includes a background plate 21 and two groups of identification cameras 17, the background plate 21 is vertically installed on one side of the two groups of rectangular frames, the first group of identification cameras 17 is installed on the other side of the two groups of rectangular frames, and its shooting direction is horizontal and vertical to the center of the background plate 21, and the second group of identification cameras 17 is installed at the bottom of the two groups of rectangular frames, and its shooting direction is upward and perpendicular to the shooting direction of the first group of identification cameras 17. A space for fish to gather and shoot is formed between the background plate 21 and the two groups of identification cameras 17, and the size of the space is adjustable. The background plate is a rectangular structure, and its length and width can be set in a variety of ways to be replaced according to specific circumstances. The color of the background plate can be kept pure color for easy reference. By collecting images of the target fish in the horizontal and vertical directions through two sets of recognition cameras and using the background plate as a comparison reference, the volume, size and growth status of the fish can be accurately measured, providing comprehensive quality analysis data and significantly improving the accuracy and scientificity of the test results.

[0034] In this embodiment, the vertically arranged rectangular frame includes a slide groove connector 14 located at the top and connected to the lower fixed plate 12, a long groove guide bar 19 located at the bottom, and two 304 stainless steel single-head circular studs 11 arranged on both sides. The head end of the 304 stainless steel single-head circular stud 11 is supported on the bottom of the long groove guide bar 19, and the threaded end passes through the slide groove connector 14 and is fastened by a nut. The rectangular background plate 21 is located between the two slide groove connectors 14 and the two long groove guide bars 19, that is, the bottom edge of the background plate 21 is placed on the two long groove guide bars 19, and the top edge is located at the bottom of the two slide groove connectors 14, and is fixed to the two 304 stainless steel single-head circular studs 11 on the same side through two L-shaped connecting plates 22. The specific connection structure is: a through hole is respectively provided in the middle of the horizontal plate and the vertical plate of the L-shaped connecting plate 22, and the through hole on the horizontal plate is sleeved on the 304 stainless steel single-head circular stud 11. A connecting hole is opened on both sides of the background plate corresponding to the middle position of the 304 stainless steel single-head circular stud 11, and bolts are inserted through the through hole on the vertical plate of the L-shaped connecting plate 22 and the connecting hole on the background plate for fastening connection. A horizontally arranged and mutually parallel L-shaped adjustment bracket plate 15 is installed in the middle of the other two 304 stainless steel single-end round studs 11 away from the background plate. The horizontal long plate and the vertical short plate of the L-shaped adjustment bracket plate 15 are both provided with grooves. The L-shaped adjustment bracket plate 15 is installed on the 304 stainless steel single-end round stud 11 through the grooves on its horizontal long plate. Two groups of identification cameras 17 are respectively installed on a fixed mounting plate 16 through a SHF25 horizontal fixed support seat 18. The first group of identification cameras 17 is installed on the vertical short plates of the two L-shaped adjustment bracket plates 15 through its fixed mounting plate 16, and the second group of identification cameras 17 is installed on two long groove guide bars 19 through its fixed mounting plate 16. The bottom of the two ends of the long groove guide bar 19 is also equipped with symmetrically arranged foot brackets 20. Since long grooves are provided at both ends of the slide groove connector 14 and the long groove guide bar 19, and a groove is also provided on the L-shaped adjustment bracket plate 15, the distance between the first group of recognition cameras 17 and the background plate 21 can be accurately adjusted by adjusting the installation position of the 304 stainless steel single-head round stud 11 in the long groove of the slide groove connector 14 and the long groove guide bar 19, or adjusting the orientation of the L-shaped adjustment bracket plate 15 to adapt to the gathering of fish of different sizes, thereby ensuring that the complete image of the target fish can be captured, and further improving the shooting quality.

[0035] In this embodiment, the water surface condition monitoring assembly includes a transparent waterproof cover 1, a monitoring camera 2 and an adjustment platform 4. The lower end of the waterproof cover 1 is installed on the top of the top fixing plate 5 by screws. The monitoring camera 2 and the adjustment platform 4 are located in the waterproof cover 1, and the adjustment platform 4 is installed on the top of the top fixing plate 5. The monitoring camera 2 is installed on the top of the adjustment platform 4 through an L-shaped connector 3. The adjustment platform 4 and the monitoring camera 2 are electrically connected to the main control computer 7. The monitoring camera 2 can perform a 360° panoramic scan through the adjustment platform 4, and can identify obstacles in the water (such as dead fish, garbage or boulders) in real time, realize obstacle avoidance and water situation feedback, without manual intervention, which can greatly improve the convenience and safety of operation.

[0036] In this embodiment, the fish attracting assembly includes a feeding mechanism 13, the feeding mechanism 13 includes a box body 34, a silo 27 is provided on the upper part of the box body 34, a slide cover 26 is provided on the top of the silo 27, a power supply 28, an adjustment panel 29 and a spiral feeding assembly are provided at the lower part of the box body 34, and the spiral feeding assembly includes a motor 30, a feeding pipe 32 and a feeding screw 33 connected to the output end of the motor 30, and the feeding pipe 32 is in a horizontal L-shape, one end of the horizontal section of which is located in the box body 34 and connected to the bottom outlet of the silo 27, and the other end passes through the box body 34. It is connected to the vertical section, and a trumpet-shaped discharge port 31 is formed at the end of the vertical section and is connected to the water surface through a through hole set on the lower fixed plate 12. The feeding screw 33 is set in the horizontal section of the L-shaped feeding pipe 32. The adjustment panel 29 is electrically connected to the motor 30 to control the rotation of the feeding screw 33, and the bait is transported from the silo 27 through the feeding pipe 32 to the discharge port 31 and put into the water, so as to lure fish that like to eat floating food to gather, which is convenient for shooting, providing a stable and reliable data source for quality inspection, and solving the problem of insufficient fish gathering ability of traditional equipment.

[0037] In this embodiment, the fish attracting assembly further includes two LED light strips 25, which are installed at the bottom of the lower fixing plate 12 and are parallelly located outside the two slide connectors 14. The light intensity of the LED light strips can be adjusted to attract light-loving fish to gather.

[0038] In this embodiment, the driving component includes two underwater thrusters 23 located in the same horizontal plane, and other embodiments may also have multiple underwater thrusters. The two underwater thrusters 23 are symmetrically installed below the bottom of the lower fixed plate 12 and between the two chute connectors 14. The underwater thrusters 23 are electrically connected to the main control computer 7. The underwater thrusters 23 can push the device to move in the water body. Its efficient power system and optimized energy distribution method can reduce operating energy consumption, meet modern environmental protection requirements, and reduce breeding costs.

[0039] In this embodiment, the underwater propeller 23 is not only a driving component of the device, but also, for fish species that like water disturbance, the power of the underwater propeller 23 is adjusted to create appropriate water flow and static to attract such fish to gather. One thing has multiple uses, which can save device costs.

[0040] Method Example: The present invention also provides a method for detecting the quality of underwater fish using the above device, comprising the following steps: S1. Before the detection, the feeding mechanism 13 is pre-filled with bait according to the species and growth stage of the fish in the water, and the data acquisition component is adjusted; for fish of different sizes, by adjusting the position of the 304 stainless steel single-head round stud 11 in the slide connector 14 and the long groove guide bar 19, or by adjusting the orientation of the L-shaped adjustment bracket plate 15, the distance between the recognition camera 17 and the background plate 21 can be accurately controlled to ensure that the complete image of the target fish can be captured.

[0041] S2. After the detection device is put into the water, the water surface monitoring component will scan and obtain the water surface image in real time. The monitoring camera 2 performs a 360° panoramic real-time scan by adjusting the pan / tilt 4. When the system detects obstacles such as dead fish, garbage or boulders in the water surface image, the main control computer 7 will perform image matching and determine the type of obstacle. If the obstacle is identified as a dead fish, the system will send an early warning message to the remote terminal, automatically check whether there is disease, and drive the underwater propeller 23 to bypass the obstacle to avoid collision.

[0042] S3. After the detection device reaches the target waters, if the number of fish in the field of view of the recognition camera 17 is insufficient, the system will activate the fish attracting component to attract the fish to gather according to the behavioral characteristics of different fish. For example, the system can control the rotation of the feeding screw 33 by adjusting the feeding mechanism 13, and transport the bait from the silo 27 to the discharge port 31 through the feeding pipe 32 and put it on the water surface, so as to attract the fish that like to eat floating food to gather. It can also attract phototactic fish to gather by adjusting the brightness of the LED light strip 25. It can also create appropriate water flow and stillness by adjusting the power of the underwater propeller 23 to attract fish that like water disturbance to gather.

[0043] S4. When the recognition camera 17 captures a stable school of fish, the system will collect images in two different directions, horizontally and vertically, through two groups of recognition cameras 17 respectively, and use the length of the background board 21 as a reference to perform image comparison and analysis, so as to accurately obtain the volume, size and other growth parameters of the target fish.

[0044] Calculation method: 1. The actual size of the background plate is known to be width W b , high H b The width of the background in the image is wb (width in pixels), height in h b The width of an object (e.g., a fish) in an image is w. (width in pixels) and the height is h. (height in pixels).

[0045] 2. Calculate the similarity ratio: Since the size of the background plate and the size of the object (such as fish) are inferred by the similarity ratio, the ratios in the horizontal and vertical directions need to be calculated.

[0046] Horizontal scale:

[0047] Among them, W o is the actual width of the object, w o is the width of the object in the image, W b is the actual width of the background, w b is the width of the background plate in the image.

[0048] The actual width W of the object (fish) can be obtained by this formula o : .

[0049] The vertical ratio can also be calculated using this method to obtain the actual height of the object.

[0050] The electrical connection methods between the components in the above embodiments are all prior art and will not be described in detail here.

[0051] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A fully autonomous underwater fish quality detection device, comprising a floating frame, characterized in that: The floating frame is provided with a power supply component (24) located above the water surface, a main control computer (7), a fish attracting component and a water surface condition monitoring component. The bottom of the floating frame is provided with a data acquisition component and a driving component located underwater. The power supply component (24) is used to supply power to all components. The main control computer (7) is electrically connected to the water surface condition monitoring component to obtain water surface movement information. The main control computer (7) is electrically connected to the data acquisition component to obtain underwater fish quality information. The main control computer (7) is electrically connected to the driving component to drive the device to move in the water body. The main control computer (7) performs real-time data transmission and monitoring with a remote terminal via a communication module.

2. A fully autonomous underwater fish quality detection device according to claim 1, characterized in that: The data acquisition component comprises an image acquisition component and an adjustment bracket, wherein the adjustment bracket comprises two sets of parallel and vertically arranged rectangular frames, the tops of the two sets of rectangular frames are connected to the bottom of the floating frame, the image acquisition component comprises two sets of recognition cameras (17) and a background plate (21), the background plate (21) is vertically installed on one side of the two sets of rectangular frames, the first set of recognition cameras (17) is installed on the other side of the two sets of rectangular frames and the shooting direction is perpendicular to the background plate (21), and the second set of recognition cameras (17) is installed at the bottom of the two sets of rectangular frames and the shooting direction is upward and perpendicular to the shooting direction of the first set of recognition cameras (17).

3. A fully autonomous underwater fish quality detection device according to claim 2, characterized in that: The vertically arranged rectangular frame comprises a slide groove connector (14) at the top, a long groove guide rail (19) at the bottom, and two 304 stainless steel single-head round studs (11) arranged on both sides, the head end of the 304 stainless steel single-head round stud (11) is supported on the bottom of the long groove guide rail (19), and the threaded end passes through the slide groove connector (14) and is fastened by a nut. The background plate (21) is located between the two slide groove connectors (14) and the two long groove guide rails (19), and is fixed to the two 304 stainless steel single-head round studs (11) on the same side by two L-shaped connecting plates (22). A horizontal L-shaped adjustment bracket plate (15) is respectively installed in the middle of the two outer 304 stainless steel single-head circular studs (11), and two groups of identification cameras (17) are respectively installed on a fixed mounting plate (16) through an SHF25 horizontal fixed support seat (18). The first group of identification cameras (17) is connected to the vertical short plates of the two L-shaped adjustment bracket plates (15) through its fixed mounting plate (16), and the second group of identification cameras (17) is installed on two long groove guide rails (19) through its fixed mounting plate (16). The bottoms of both ends of the long groove guide rails (19) are also equipped with symmetrically arranged foot brackets (20).

4. A fully autonomous underwater fish quality detection device according to claim 3, characterized in that: The floating frame comprises an inflatable floating ring (10), wherein a horizontally arranged upper fixing plate (9) and a lower fixing plate (12) are respectively arranged on the top and bottom of the floating ring (10), wherein the upper fixing plate (9) and the lower fixing plate (12) are supported and fixed by four 304 stainless steel single-head circular studs (11) symmetrically located in the inner hole of the floating ring (10), wherein the power supply component (24) and the fish attracting component are located in the inner hole of the floating ring (10) and are installed on the lower fixing plate (12), and the upper fixing plate (9) and the lower fixing plate (12) are supported and fixed by four 304 stainless steel single-head circular studs (11) symmetrically located in the inner hole of the floating ring (10). A horizontally arranged top-level fixing plate (5) is provided above the fixing plate (9) and is supported and fixed by four symmetrically arranged 100 mm long 304 stainless steel single-head round studs (8); the main control computer (7) is arranged between the upper fixing plate (9) and the top-level fixing plate (5) and is surrounded by a waterproof five-face mask (6); the water surface condition monitoring component is installed above the top-level fixing plate (5); the slideway connector (14) and the driving component are installed below the bottom of the lower fixing plate (12).

5. A fully autonomous underwater fish quality detection device according to claim 4, characterized in that: The water surface condition monitoring component comprises a waterproof cover (1), a monitoring camera (2) and an adjustment pan-tilt platform (4) located inside the waterproof cover (1); the adjustment pan-tilt platform (4) is installed above a top fixed plate (5); the monitoring camera (2) is installed on the top of the adjustment pan-tilt platform (4) via an L-shaped connector (3); and the adjustment pan-tilt platform (4) and the monitoring camera (2) are both electrically connected to the main control computer (7).

6. The fully autonomous underwater fish quality detection device according to claim 4, characterized in that: The driving component comprises two underwater thrusters (23) located in the same plane. The two underwater thrusters (23) are symmetrically installed below the bottom of the lower fixed plate (12) and between two slideway connectors (14). The underwater thrusters (23) are electrically connected to the main control computer (7).

7. The fully autonomous underwater fish quality detection device according to claim 4, characterized in that: The fish attracting assembly comprises a feeding mechanism (13), the feeding mechanism (13) comprises a box (34), a silo (27) is provided at the top of the box (34), a sliding cover (26) is provided at the top of the silo (27), a power supply (28), an adjustment panel (29) and a spiral feeding assembly are provided at the bottom of the box (34), the spiral feeding assembly comprises a motor (30), a feeding pipe (32) and a feeding screw (33) connected to the output end of the motor (30), the feeding pipe (32) is in a horizontal L-shape, and its horizontal One end of the segment is located in the box body (34) and is connected to the bottom outlet of the silo (27), and the other end passes through the box body (34) and is connected to the vertical segment. The end of the vertical segment forms a trumpet-shaped discharge port (31) and passes through the lower fixed plate (12) to be connected to the water surface. The feeding screw (33) is arranged in the horizontal section of the L-shaped feeding pipe (32). The adjustment panel (29) is electrically connected to the motor (30) to control the rotation of the feeding screw (33) to transport the bait from the silo (27) to the discharge port (31) through the feeding pipe (32).

8. The fully autonomous underwater fish quality detection device according to claim 7, characterized in that: The fish attracting assembly further comprises two LED light strips (25), which are mounted on the bottom of the lower fixing plate (12) and are located parallel to the outside of the two slideway connecting members (14).

9. A detection method of the fully autonomous underwater fish quality detection device as claimed in claim 8, characterized in that: The steps include: S1. Before detection, the feeding mechanism (13) is pre-filled with bait according to the species and growth stage of the fish in the water; and the distance between the recognition camera (17) and the background plate (21) is accurately controlled to ensure that a complete image of the target fish can be captured; S2. After the detection device is put into the water, the monitoring camera (2) performs a 360° panoramic real-time scan and obtains a water surface image by adjusting the pan / tilt (4); when the system detects an obstacle in the water surface image, the main control computer (7) performs image matching and determines the type of obstacle; if the obstacle is identified as a dead fish, the system sends an early warning message to the remote terminal, automatically checks whether there is disease, and drives the underwater propeller (23) to bypass the obstacle to avoid collision; S3, after the detection device reaches the target waters, if the number of fish schools in the field of view of the recognition camera (17) is insufficient, the system will activate the fish school attracting component to attract the fish schools to gather according to the behavioral characteristics of different fish; S4. When the recognition camera (17) captures a stable school of fish, the system will collect images in two different directions, horizontally and vertically, through two sets of recognition cameras (17), and use the length of the background plate (21) as a reference to perform image comparison and analysis, so as to accurately obtain the volume, size and other growth parameters of the target fish.

10. The detection method according to claim 9, characterized in that: In the S1, the distance between the recognition camera (17) and the background plate (21) is adjusted by adjusting the position of the 304 stainless steel single-head round stud (11) in the slideway connector (14) and the long groove guide rail (19), or by adjusting the orientation of the L-shaped adjustment bracket plate (15) to adapt to fish of different sizes; In S3, the method of inducing fish to gather includes placing bait to induce fish that like to eat floating food to gather, or by adjusting the intensity of the light source of the LED light strip (25) to induce phototactic fish to gather; the method of placing bait is: controlling the motor (30) to rotate through the control panel (29) to drive the feeding screw (33) to rotate, and the bait is transported from the silo (27) to the discharge port (31) through the feeding pipe (32) and placed on the water surface.

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