Fishpond intelligent inspection system based on industrial interconnection

Abstract

The invention provides a fishpond intelligent inspection system based on industrial interconnection, and belongs to the technical field of fishpond monitoring. The system comprises a fishpond inspection terminal and a fishpond inspection server; the fishpond inspection terminal is provided with a rotatable machine body, a crawler-type chassis, a driving motor, a 360-degree intelligent high-definition camera, a detection telescopic assembly, a water quality detection device, a fishing telescopic assembly, a fish body recognition camera, a fish barrel and a control box; a fishpond inspection controller, a memory and a communication module are arranged in the control box; the fishpond inspection controller obtains water quality index information of a fishpond, fishpond environment image information and fish information in the fishpond; sending to a fishpond inspection server; and a control instruction sent by the fishpond inspection server is also received, and the detection telescopic assembly, the fishing telescopic assembly and the driving motor are controlled to operate. And efficient monitoring and management of the fishpond are realized. Problems in the fishpond can be found in time, and corresponding measures are taken to solve the problems.

Description

Technical Field

[0001] The present invention belongs to the technical field of fish pond monitoring, and in particular relates to an intelligent fish pond inspection system based on industrial interconnection. Background Art

[0002] Fish ponds are artificially dug or naturally formed water bodies that can be used to raise fish. They need to be manually cared for during the breeding process.

[0003] The existing fish pond inspection method may rely on manual patrols, which not only consumes a lot of manpower and time, but also is time-consuming and labor-intensive, requires a high level of management experience, and is difficult to achieve real-time monitoring and precise management around the clock. It is very easy to miss inspections and omissions, which can easily lead to risks.

[0004] Some existing technologies use monitoring sensors to monitor fish ponds. The monitoring sensors are often in the water environment, which may cause incorrect monitoring data and monitoring failure due to contamination and other reasons. In addition, the existing technology can only obtain limited fish pond data, such as simple water quality sampling or manual observation of fish conditions, and it is difficult to obtain comprehensive and continuous information. Summary of the invention

[0005] The present invention provides a smart fish pond inspection system based on industrial interconnection, which realizes efficient monitoring and management of fish ponds by acquiring water quality index information, fish pond environment image information, and fish information in fish ponds.

[0006] The system includes: a fish pond inspection terminal and a fish pond inspection server; The fish pond inspection terminal is provided with a rotatable body, a crawler chassis is provided at the bottom of the rotatable body, and a drive motor is connected to the crawler chassis; A hollow column is provided at one end of the rotatable fuselage, a pan / tilt is provided on the hollow column, and a 360° intelligent high-definition camera is installed on the pan / tilt; a detection telescopic component is installed on the hollow column, and a water quality detection device is installed at the end of the detection telescopic component; The other end of the rotatable fuselage is provided with a fishing telescopic assembly, and a fishing net is installed at the end of the fishing telescopic assembly; a fish body recognition camera is provided on the fishing telescopic assembly; A fish bucket and a control box are arranged on the rotatable body; The control box is equipped with a fish pond inspection controller, storage and communication module; The fish pond inspection controller obtains the water quality index information of the fish pond by communicating with the water quality detection device; The fish pond inspection controller communicates with the 360° intelligent high-definition camera to obtain image information of the fish pond environment around the inspection terminal; The fish pond inspection controller obtains the fish information in the fish pond by communicating with the fish body recognition camera; The fish pond inspection controller is connected to the fish pond inspection server through the communication module, and sends water quality index information, environmental information around the inspection terminal and fish information in the fish pond to the fish pond inspection server; it also receives control instructions sent by the fish pond inspection server to control the detection telescopic component, the fishing telescopic component and the drive motor operation respectively.

[0007] Preferably, the fish pond inspection controller receives a first pond inspection instruction set sent by a fish pond inspection server, the first pond inspection instruction set comprising a plurality of first pond inspection control instructions, the plurality of first pond inspection control instructions being generated based on the first fish pond environment image information acquired by the fish pond inspection terminal, and being used to control the operation of the fish pond inspection terminal according to the first pond inspection control instructions.

[0008] Preferably, the first pond patrol instruction set includes multiple first pond patrol control instructions; the multiple first pond patrol control instructions include controlling the movement of the fish pond inspection terminal, controlling the telescopic action of the fishing telescopic component, controlling the fish body recognition camera to capture images, controlling the water quality detection device to check the water quality, controlling the 360° intelligent high-definition camera to capture images and send them to the fish pond inspection server, controlling the fish body recognition camera to capture fish body information, and controlling the fishing net to perform fishing operations.

[0009] Preferably, the fish pond inspection controller sends pond inspection execution information to the fish pond inspection server, the pond inspection execution information is used to indicate the number of first pond inspection control instructions that the fish pond inspection terminal can receive, and the pond inspection execution information is associated with the pond inspection data processing volume of the fish pond inspection terminal; The fish pond inspection controller receives the first pond inspection control instruction sent by the fish pond inspection server, which also indicates that the fish pond inspection server sends it based on the pond inspection execution information and the pond inspection communication status information, and the pond inspection communication status information indicates the pond inspection data communication delay between the fish pond inspection terminal and the fish pond inspection server.

[0010] Preferably, the fish pond inspection server divides the first fish pond environment image information in three-dimensional space to obtain a plurality of first pond inspection control instructions, and the fish pond inspection server divides the first fish pond environment image information in a nine-square grid division manner; After the fish pond inspection server obtains the fish pond environment image information for the first time, it divides the fish pond environment image information in three-dimensional space to obtain multiple first pond inspection control instructions corresponding to the subsequent acquisition of the fish pond environment image information, and after successively obtaining the corresponding fish pond environment image information, it generates the first pond inspection control instruction, and uses it in a circular manner to realize the continuous acquisition of the operation process information after the fish pond environment image information is obtained, and send the corresponding pond inspection control instruction to control the operation of the fish pond inspection terminal.

[0011] Preferably, after dividing the first fish pond environment image information, the fish pond inspection server generates a plurality of first pond inspection control instructions according to the features of different areas in the first fish pond environment image information, and determines a first pond inspection instruction set; Centrally control the fish pond inspection terminal according to the first pond inspection instruction to realize the movement of the pond inspection position; The fish pond inspection terminal receives and executes the next first inspection instruction at preset time intervals, and moves and inspects in the fish pond according to the location information and motion parameters in the first inspection instruction. After arriving at the designated location at each time node, the water quality detection device and the 360° intelligent high-definition camera are started to perform water quality detection and image capture, and the acquired information is transmitted back to the fish pond inspection server.

[0012] Preferably, the second pond patrol control instruction in the first pond patrol instruction set is a movement control instruction of the fish pond patrol terminal; The second pond patrol control instruction is defined as the pond patrol moving position, including coordinate information and moving distance information; According to the patrol movement positions between the plurality of second patrol control instructions, the plurality of second patrol control instructions are combined to obtain the movement direction and distance of the fish pond patrol terminal; The fish pond inspection server also encodes multiple second pond patrol control instructions, that is, determines the identifier of each second pond patrol control instruction, and establishes an association between the identifier of each second pond patrol control instruction, the patrol movement position between multiple second pond patrol control instructions, and the time position relationship between multiple second pond patrol control instructions, thereby using the identifier of each second pond patrol control instruction to characterize the patrol movement position and time position relationship between multiple second pond patrol control instructions.

[0013] Preferably, the fish pond inspection terminal feeds back corresponding pond inspection communication status information to the fish pond inspection server for each first pond inspection control instruction received; The fish pond inspection server checks the reception delay of each first pond inspection control instruction in the current first fish pond environment image information, and calculates the cumulative delay of the reception delay; The accumulated delay is compared with the preset accumulated delay; if the accumulated delay or the reception delay of any first pond inspection control instruction exceeds the preset delay threshold, the fish pond inspection server determines that the current transmission does not meet the communication requirements; The fish pond inspection server stops receiving the current first fish pond environment image information sent by the fish pond inspection terminal; and sends the first pond inspection control instruction corresponding to the next fish pond environment image information to the fish pond inspection terminal.

[0014] Preferably, the pond patrol communication status information is defined to include a packet loss rate of a corresponding first pond patrol control instruction; when the packet loss rate of the corresponding first pond patrol control instruction is greater than a preset packet loss rate, the fish pond patrol server repeatedly sends the corresponding first pond patrol control instruction to the fish pond patrol terminal.

[0015] Preferably, the detection telescopic assembly is provided with a first electric telescopic cross bar, and the end of the first electric telescopic cross bar is connected to a detection manipulator; A water quality detection device is provided at the end of the detection manipulator; The fishing telescopic assembly is provided with a third electric telescopic crossbar, the end of which is connected to a manipulator; a fishing net is installed at the end of the manipulator; a fish body recognition camera is provided on the manipulator; Obstacle avoidance sensors are provided at both ends of the rotatable body.

[0016] It can be seen from the above technical solutions that the present invention has the following advantages: In the fish pond intelligent inspection system based on industrial interconnection provided by the present application, the fish pond inspection controller receives the inspection control instruction sent by the server, and forwards it to the fish pond inspection terminal to execute corresponding actions and inspect the fish pond, thereby realizing effective inspection and monitoring of the fish pond.

[0017] This application can realize precise control of the fish pond inspection terminal through the first patrol instruction set generated based on the fish pond environment image information. According to the actual situation, the movement of the terminal and the operation of various detection and shooting equipment are controlled in a targeted manner to ensure that various information of the fish pond can be accurately obtained, such as the growth status of fish, water quality changes, etc., thereby improving the efficiency and quality of the inspection, timely discovering problems in the fish pond, and taking corresponding measures to solve them.

[0018] This application can continuously generate the first pond inspection control instruction after the corresponding fish pond environment image information is obtained successively. This process is cyclical, and each time new image information is obtained, instructions are generated, and the operation of the fish pond inspection terminal is controlled, and then the next round of image information is obtained, and this is repeated continuously, forming a complete and continuous chain, realizing uninterrupted monitoring and management of the fish pond environment. Moreover, through such circular use, it is possible to continuously obtain the operation process information of the fish pond environment at different time points, and then send the corresponding pond inspection control instructions in time according to this information, accurately control the fish pond inspection terminal to carry out various operation operations such as movement, detection, and shooting in the fish pond, and ensure that the entire fish pond inspection work is carried out in an orderly manner. The mode of generating control instructions based on image information division and cyclic operation is an intelligent inspection of fish ponds, which enables users to grasp the real-time status of fish ponds, and promptly discover and solve various problems that may arise.

[0019] This application uses precise location-based control to enable the inspection terminal to directly and quickly reach areas that require focus, saving time and energy consumption. The time-based control method makes the inspection work more organized and regular, and can monitor each key area and time period according to the time-varying laws of the fish pond environment and aquaculture activities.

[0020] The inspection terminal of this application can obtain detailed data and clear images of the target area under the position control command, reducing the data error problem caused by position deviation, thereby improving the accuracy and reliability of the data. The image data satisfies the user's judgment on the environmental conditions of the fish pond and the health status of the fish school. By improving inspection efficiency, optimizing resource allocation, and improving data accuracy and completeness, it provides a strong guarantee for the scientific breeding and refined management of fish ponds. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0022] Figure 1 This is a schematic diagram of the fish pond smart inspection system based on industrial Internet; Figure 2 This is a schematic diagram of the fish pond inspection terminal. DETAILED DESCRIPTION

[0023] The following will describe in detail the implementation of the fish pond smart inspection system based on industrial interconnection. For the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are proposed to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details.

[0024] The system involved in this application includes: a fish pond inspection terminal and a fish pond inspection server that are connected to each other in communication. Of course, the system may involve multiple fish pond inspection terminals. The terminal involved below is the fish pond inspection terminal. The server involved below is the fish pond inspection server.

[0025] The fish pond inspection server of this embodiment is used as a data server, or is implemented in a computing system including a middleware component, such as an application server, or is implemented in a computing system including a front-end component, such as a user computer with a graphical user interface or a web browser, through which a user can interact with the implementation of the systems and techniques described herein, or is implemented in a computing system including any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by digital data communication of any form or medium, such as a communication network. Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN), and the Internet.

[0026] It should be understood that the "one or more" mentioned in this application refers to one, two or more than two, and the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B. The "and / or" in this article is just a way to describe the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0027] In order to clearly describe the technical solution of the present application, the words "first", "second" and the like are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the difference.

[0028] The phrases such as "one embodiment" or "some embodiments" described in the present application mean that the specific features, structures or characteristics described in the embodiment are included in one or more embodiments of the present application. Therefore, the phrases such as "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments" etc. that appear in different places in the present application do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1 and Figure 2 Shown is a schematic diagram of a smart fish pond inspection system based on industrial interconnection in a specific embodiment.

[0031] The fish pond inspection terminal is provided with a rotatable body 2 , a crawler chassis 1 is provided at the bottom of the rotatable body 2 , and a driving motor 6 is connected to the crawler chassis 1 .

[0032] In some specific embodiments, the drive motor connected to the crawler chassis 1 is controlled by a controller. When the controller receives a movement instruction sent by the fish pond inspection server, the speed and direction of the drive motor are adjusted according to the instruction. By controlling the drive motors of the left and right tracks at different speeds, the chassis can move forward, backward, turn left, turn right, etc., so that the inspection terminal can move stably on the fish pond and reach the designated inspection position.

[0033] A hollow column 8 is provided at one end of the rotatable body 2, a pan head 9 is provided on the hollow column 8, and a 360° intelligent high-definition camera 10 is installed on the pan head 9; a detection telescopic component is installed on the hollow column 8, and a water quality detection device 19 is installed at the end of the detection telescopic component; a fishing telescopic component is provided at the other end of the rotatable body 2, and a fishing net 32 ​​is installed at the end of the fishing telescopic component; a fish body recognition camera 28 is provided on the fishing telescopic component; a fish bucket 20 and a control box are provided on the rotatable body 2; a controller, a storage and a communication module 5 are provided inside the control box.

[0034] The detection telescopic component is provided with a first electric telescopic cross bar 12, and the end of the first electric telescopic cross bar 12 is connected to a detection manipulator 18; a water quality detection device 19 is provided at the end of the detection manipulator 18; the fishing telescopic component is provided with a third electric telescopic cross bar 21, and the end of the third electric telescopic cross bar 21 is connected to a manipulator 29; a fishing net 32 ​​is installed at the end of the manipulator 29; a fish body recognition camera 28 is provided on the manipulator; obstacle avoidance sensors 3 are respectively provided at both ends of the rotatable fuselage 2.

[0035] The pan / tilt 9 of this embodiment can be controlled by the controller to rotate at an angle. The controller can send a rotation instruction to the pan / tilt 9 according to a preset inspection mode, so that it drives the 360° intelligent high-definition camera 10 to rotate in the horizontal and vertical directions to obtain environmental image information at different angles. The 360° intelligent high-definition camera 10 transmits the collected image data to the controller in real time, and the controller then sends the data to the fish pond inspection server through the communication module for storage and analysis.

[0036] The controller is respectively connected to the water quality detection device 19, the 360° intelligent high-definition camera 10, and the fish body recognition camera 28 to obtain relevant information; the controller is connected to the fish pond inspection server through the communication module to send the water quality index information, the environmental information around the inspection terminal and the fish information in the fish pond to the fish pond inspection server; the controller also receives the control instructions sent by the fish pond inspection server to control the operation of the detection telescopic component, the fishing telescopic component and the drive motor 6 respectively.

[0037] In this embodiment, when the fishing telescopic assembly is extended, the fish body recognition camera 28 starts to work. The fish passing below is photographed and recognized by using image recognition technology. When it is detected that the fish enters the effective capture range of the fishing net 32, the fish body recognition camera 28 will send a signal to the controller to trigger the fishing action. At the same time, the image information of the fish captured by the fish body recognition camera 28 will also be transmitted to the controller so that the data such as the type, size, and quantity of the fish can be subsequently counted and analyzed and uploaded to the server.

[0038] When it is necessary to detect the water quality, the controller sends a command to the detection telescopic component to extend it and place the water quality detection device 19 into the predetermined depth position in the fish pond water. The water quality detection device 19 is equipped with a dissolved oxygen sensor, a pH sensor, a temperature sensor, an ammonia nitrogen sensor, etc. These sensors detect various indicators of water quality in real time and convert the detected data into electrical signals and transmit them to the controller. After the controller processes and analyzes these data, it sends the water quality index information to the fish pond inspection server through the communication module, so that the breeding staff can understand the water quality of the fish pond and take corresponding water quality adjustment measures in time, such as oxygenation, water change, and water quality regulator.

[0039] When the fish recognition camera 28 detects the school of fish and identifies the target fish, it feeds back the information to the controller. The controller captures fish according to the preset fish size and different types, and specifically controls the extension speed and direction of the fishing telescopic component, so that the fishing net 32 ​​accurately extends to the target school of fish.

[0040] The fishing net 32 ​​can be electrically opened and closed. When approaching a school of fish, the controller sends a command to quickly close the net to complete the fishing action. The captured fish will be placed in the fish bucket 20 for subsequent sorting, weighing, and other operations. At the same time, data of the entire fishing process, such as the fishing time, location, number and type of fish, will also be recorded and uploaded to the fish pond inspection server through the communication module for statistics and management of fishery resources.

[0041] The communication module of this embodiment uses wireless communication technology to establish a data transmission channel with the fish pond inspection server. The controller packages the collected water quality index information, environmental information, fish information, etc. according to a certain communication protocol and sends it to the fish pond inspection server. At the same time, the fish pond inspection server monitors the control instructions sent by the server in real time. Once the instructions are received, they will quickly parse and execute the corresponding operations, such as adjusting the inspection path, controlling the actions of the detection or fishing components, etc., so as to achieve the purpose of remote monitoring and intelligent management of the fish pond.

[0042] The storage of the fish pond inspection server is used to store various data generated by the inspection terminal during operation, including images and video data captured by the camera, water quality test data, fish body identification data, and equipment operation status data. The above data can be classified and stored according to time, location, type, etc. for subsequent query and analysis.

[0043] In some embodiments, the fish pond inspection server may send a pond inspection control instruction after acquiring the first fish pond environment image information sent by the fish pond inspection controller, or may first send a pond inspection control instruction and then acquire the first fish pond environment image information.

[0044] In this embodiment, the fish pond inspection controller receives a first pond inspection instruction set sent by a fish pond inspection server, wherein the first pond inspection instruction set includes multiple first pond inspection control instructions, and the multiple first pond inspection control instructions are generated based on the first fish pond environment image information obtained by the fish pond inspection terminal, and are used to control the operation of the fish pond inspection terminal according to the first pond inspection control instructions.

[0045] The multiple first pond patrol control instructions involved in the first pond patrol instruction set may include controlling the movement of the fish pond inspection terminal, controlling the telescopic action of the fishing telescopic component, controlling the fish body recognition camera to capture images, controlling the water quality detection device to check the water quality, controlling the 360° intelligent high-definition camera to capture images and send them to the fish pond inspection server, controlling the fish body recognition camera to capture fish body information, and controlling the fishing net to perform fishing operations.

[0046] In this embodiment, the fish pond inspection controller sends pond inspection execution information to the fish pond inspection server, and the pond inspection execution information is used to indicate the number of first pond inspection control instructions that the fish pond inspection terminal can receive, and the pond inspection execution information is associated with the pond inspection data processing volume of the fish pond inspection terminal.

[0047] In this embodiment, the fish pond inspection controller receives the first pond patrol control instruction sent by the fish pond inspection server, which also represents the pond patrol execution information and the pond patrol communication status information sent by the fish pond inspection server, and the pond patrol communication status information represents the pond patrol data communication delay between the fish pond inspection terminal and the fish pond inspection server.

[0048] In some specific embodiments, the fish pond inspection server first obtains the first fish pond environment image information transmitted by the fish pond inspection terminal. The image information covers the real-time picture of the fish pond, including key data such as the distribution of fish, water quality, and surrounding environment. Then, the server performs intelligent analysis and processing based on the image information to generate a first pond inspection instruction set containing multiple first pond inspection control instructions. The fish pond inspection server finds that fish schools gather abnormally in a certain area through image recognition, and may generate instructions to control the fish pond inspection terminal to move to the area. At the same time, it may also generate instructions to control the fish body recognition camera to capture fish body information in the area, so as to further analyze the health status of the fish school.

[0049] The fish pond inspection controller of this embodiment receives a first pond inspection instruction set from the fish pond inspection server, and these instructions will serve as a basis for subsequently controlling various actions of the fish pond inspection terminal.

[0050] The fish pond inspection controller will evaluate and count the amount of patrol data processed by itself and the connected fish pond inspection terminal, including factors such as the terminal's computing power, memory usage, and the number of tasks currently being executed. Based on these comprehensive evaluations, the number of first patrol control instructions that the fish pond inspection terminal can receive and effectively process is determined, and this information is sent to the fish pond inspection server in the form of patrol execution information.

[0051] After receiving the pond inspection execution information, the fish pond inspection server of this embodiment will further optimize and determine the first pond inspection control instruction to be sent to the fish pond inspection controller in combination with the pond inspection communication status information. The pond inspection communication status information reflects the delay in the pond inspection data communication between the fish pond inspection terminal and the server. If the communication delay is high, the server may reduce the number of instructions sent at one time, or give priority to sending some instructions with lower real-time requirements but larger data volume, such as the instruction to control the 360° intelligent high-definition camera to capture images and send them to the server, because the execution time of such instructions is relatively long and is less affected by short communication delays.

[0052] In this embodiment, the fish pond inspection controller receives the optimized first pond inspection control instruction sent by the server, and forwards it to the fish pond inspection terminal to perform the corresponding action. For example, when receiving an instruction to control the telescopic action of the fishing telescopic component, the controller will accurately convey the instruction to the terminal's actuator, so that it can perform the telescopic operation according to the instruction requirements, thereby realizing effective inspection and management of the fish pond.

[0053] It can be seen that this embodiment can realize accurate control of the fish pond inspection terminal by generating the first pond inspection instruction set based on the fish pond environment image information. According to the actual situation, the movement of the terminal and the operation of various detection and shooting devices are controlled in a targeted manner to ensure that various information of the fish pond, such as the growth status of fish and water quality changes, can be fully and accurately obtained, thereby improving the efficiency and quality of inspection, timely discovering problems in the fish pond, and taking corresponding measures to solve them.

[0054] The feedback and utilization of the pond inspection execution information of this embodiment enables the server to allocate tasks according to the actual data processing capacity of the fish pond inspection terminal, thereby avoiding the occurrence of freezes and crashes due to the terminal being unable to process too many instructions, and also preventing the waste of resources.

[0055] This embodiment takes into account the communication status information of the pond patrol, and the server can flexibly adjust the instruction sending strategy according to the communication delay. When the communication condition is good, the frequency and number of instructions sent are accelerated to improve the speed of inspection; when the communication delay is large, the key instructions that are less affected by the delay are sent first to ensure the continuity and stability of the inspection work. This enables the entire fish pond inspection system to adapt to different network environments, improves the reliability and adaptability of the system, and ensures that the fish pond can be effectively monitored and managed under various conditions.

[0056] In this embodiment, the fish pond inspection server can divide the first fish pond environment image information to obtain the multiple first pond inspection control instructions, that is, to obtain at least two first pond inspection control instructions. It can be understood that the multiple first pond inspection control instructions can form a complete first fish pond environment image information.

[0057] In this embodiment, the fish pond inspection server can divide the first fish pond environment image information in three-dimensional space to obtain the multiple first pond inspection control instructions. At the same time, the fish pond inspection server can divide the first fish pond environment image information using a nine-square grid division method.

[0058] It should be noted that after the fish pond inspection server obtains the fish pond environment image information for the first time, it can divide the fish pond environment image information in three-dimensional space to obtain multiple first pond inspection control instructions corresponding to the subsequent acquisition of fish pond environment image information. And after the corresponding fish pond environment image information is successively obtained, the first pond inspection control instruction can be further generated. In this way, the operation process information after the fish pond environment image information is continuously obtained can be realized, and the corresponding pond inspection control instruction can be sent to control the operation of the fish pond inspection terminal.

[0059] Among them, the first pond patrol control instruction includes but is not limited to controlling the movement of the fish pond inspection terminal, controlling the telescopic action of the fishing telescopic component, controlling the fish body recognition camera to capture images, controlling the water quality detection device to check the water quality, controlling the 360° intelligent high-definition camera to capture images and send them to the fish pond inspection server, controlling the fish body recognition camera to capture fish body information, and controlling the fishing net to perform fishing operations.

[0060] In one implementation of this embodiment, the fish pond inspection server generates a corresponding first pond inspection control instruction based on the first fish pond environment image information obtained, so as to realize effective control of the fish pond inspection terminal. The specific method is to divide the first fish pond environment image information, and through such a division operation, multiple (at least two) first pond inspection control instructions can be extracted therefrom, and these instructions can be combined to completely restore or cover the content and related requirements contained in the original first fish pond environment image information.

[0061] In actual operation, the fish pond inspection server can use the three-dimensional space dimension to divide the first fish pond environment image information to obtain multiple first pond inspection control instructions. The reason for choosing three-dimensional space is that the fish pond itself is a three-dimensional space environment. The distribution of fish in the water, the layout of various equipment in the fish pond, and the water quality can be more comprehensively and accurately reflected and analyzed in a three-dimensional perspective.

[0062] For example, in three-dimensional space, not only can the regional division of the fish pond water surface be considered, but also the spatial range of different water layer depths and surrounding embankments can be taken into account, and corresponding control instructions can be generated from different angles and depth levels, allowing the inspection terminal to carry out its work more targetedly.

[0063] At the same time, the fish pond inspection server may also divide the first fish pond environment image information by using a nine-square grid division method.

[0064] For example, the nine-square grid division method is to cut the entire fish pond environment image information in the form of a nine-square grid, just like dividing a plane into nine equal small areas (if it is in three-dimensional space, similar divisions are performed at different depth levels). For the image features presented in each small area, the server can generate a corresponding first pond patrol control instruction. For example, if the image in a certain nine-square grid area shows that the fish school is relatively dense, then an instruction can be generated to control the inspection terminal to move to the vicinity of the area and control the fish body recognition camera to focus on the area to capture detailed information about the fish; if the water quality in another nine-square grid area looks a bit turbid, an instruction can be generated to control the water quality detection device to focus on the water quality in that area, etc.

[0065] The generation of the pond patrol control instructions in this embodiment is a cyclic and continuous operation process. In the entire operation process, after the fish pond inspection server obtains the fish pond environment image information for the first time, it will divide it in three-dimensional space. Through this initial division process, the basic pattern and rules for generating multiple first pond patrol control instructions when the fish pond environment image information is subsequently obtained are established. In other words, the initial division is equivalent to building a framework. Each time new fish pond environment image information is obtained, this framework can be referred to and combined with the specific characteristics presented by the new image to further generate the corresponding first pond patrol control instructions.

[0066] After obtaining the corresponding fish pond environment image information in succession, the fish pond inspection server will continuously generate the first pond inspection control instruction according to the above-mentioned division method and established rules. This process is cyclical, and each time new image information is obtained, instructions are generated, and the operation of the fish pond inspection terminal is controlled, and then the next round of image information is obtained. This is repeated continuously, forming a complete and continuous chain, realizing uninterrupted monitoring and management of the fish pond environment. Through such a circular use, the operation process information of the fish pond environment at different time points can be continuously obtained, and then the server sends the corresponding pond inspection control instructions in time according to this information, and accurately controls the fish pond inspection terminal to carry out various operation operations such as movement, detection, and shooting in the fish pond, so as to ensure that the entire fish pond inspection work is carried out in an orderly and efficient manner.

[0067] In this embodiment, after dividing the first fish pond environment image information to obtain the plurality of first pond patrol control instructions, the fish pond patrol server may generate relevant information of the plurality of first pond patrol control instructions, that is, may determine the first pond patrol instruction set.

[0068] Among them, the multiple first pond patrol control instructions in the first pond patrol instruction set control the movement position of the fish pond patrol terminal; or, the multiple first pond patrol control instructions control the movement position of the fish pond patrol terminal based on time sorting.

[0069] In this embodiment, after dividing the first fish pond environment image information, the fish pond inspection server generates a plurality of first pond inspection control instructions according to the characteristics of different areas in the image, such as fish distribution density, areas with obvious differences in water turbidity, key parts of aquaculture facilities, etc., and determines the first pond inspection instruction set.

[0070] When executed, the fish pond inspection terminal will move from the current position to the specified target position according to the direct control information of the inspection position in the instruction set. For example, if the image analysis shows that there is an abnormal gathering of fish in a corner of the fish pond, the instructions generated by the server will guide the inspection terminal to move directly above the corner to obtain more detailed images and data information at close range, such as the activity status of the fish and whether there are signs of disease.

[0071] After receiving the command, the inspection terminal adjusts its position and posture through the positioning module, drive motor, steering mechanism, etc., so that it moves toward the target position. During the movement, obstacle avoidance sensors such as ultrasonic sensors and infrared sensors can be used to detect the surrounding environment in real time to avoid collisions with aerators, feeders, embankments, etc. around the fish pond.

[0072] The server also generates a series of first pond patrol control instructions in chronological order based on the analysis results of the first fish pond environment image information. These instructions specify the locations that the inspection terminal should reach at different time points. For example, in the early morning, the instructions may first guide the inspection terminal to conduct a quick scan along the edge of the fish pond to obtain the overall water quality and the general distribution information of the fish school; as time goes by, when the sun rises and the light conditions change, the inspection terminal may be instructed to move to the top of the deep water area in the fish pond where hypoxia is prone to occur, to monitor water quality parameters such as dissolved oxygen; and around feeding time, the inspection terminal will be controlled to go to the vicinity of the feeding area to check the feeding activity of the fish school and the operation of the feeding equipment.

[0073] The inspection terminal receives and executes the next instruction at preset time intervals (such as every half an hour, one hour, etc.), and moves and inspects in the fish pond in an orderly manner according to the location information and motion parameters in the instruction. After arriving at the designated location at each time node, the corresponding detection equipment (such as cameras, water quality sensors, fish detectors, etc.) is started for data collection and image capture, and the acquired information is transmitted back to the fish pond inspection server in real time for further analysis and processing by the server, which also provides a basis for the adjustment of subsequent instructions.

[0074] In this embodiment, the second pond patrol control instruction in the first pond patrol instruction set is a movement control instruction of the fish pond patrol terminal.

[0075] In this embodiment, the second pond patrol control instruction can be defined as the patrol movement position, which can include coordinate information and movement distance information. It can be understood that according to the patrol movement positions between multiple second pond patrol control instructions, the multiple second pond patrol control instructions are combined to obtain the movement direction and distance of the fish pond inspection terminal.

[0076] In this embodiment, during the process of the fish pond patrol server determining the second pond patrol instruction set, the fish pond patrol server can encode the multiple second pond patrol control instructions, that is, determine the identifier of each second pond patrol control instruction, and establish an association relationship between the identifier of each second pond patrol control instruction, the patrol movement position between the multiple second pond patrol control instructions, and the time position relationship between the multiple second pond patrol control instructions, so that the identifier of each second pond patrol control instruction can be used to characterize the patrol movement position and time position relationship between the multiple second pond patrol control instructions.

[0077] For example, the fish pond inspection server may determine the relationship between the pond patrol movement positions and the time positions between the plurality of second pond patrol control instructions according to the arrangement order of the plurality of second pond patrol control instruction identifiers.

[0078] Exemplarily, after the fish pond inspection server divides the first fish pond environment image information to obtain the multiple second pond patrol control instructions, it can encode the multiple second pond patrol control instructions using zigzag scanning coding, undirected graph coding or other coding methods to obtain the identifier of each second pond patrol control instruction.

[0079] In this embodiment, the second pond patrol control instruction may also be referred to as motor drive information. The embodiment of the present application does not limit the specific name of the second pond patrol control instruction as long as its function is achieved.

[0080] In this embodiment, the fish pond inspection server can send the first pond inspection instruction set in real time, that is, the fish pond inspection server can send the first pond inspection instruction set to the terminal alone. Alternatively, the fish pond inspection server can send the first pond inspection instruction set periodically), that is, the fish pond inspection server can send the first pond inspection instruction set within a preset time range to the fish pond inspection terminal at one time.

[0081] In this embodiment, the pond patrol execution information is associated with the pond patrol data processing capacity of the terminal, and the number of first pond patrol control instructions that the terminal can receive is determined based on its own pond patrol data processing capacity, that is, the number of first pond patrol control instructions supported by the fish pond patrol terminal is determined, and is pre-set on the fish pond patrol terminal as needed. The pond patrol data processing capacity of the fish pond patrol terminal may include calculation pond patrol data processing capacity, storage pond patrol data processing capacity, communication pond patrol data processing capacity, etc.

[0082] In this embodiment, the one or more first pond patrol control instructions refer to at least one first pond patrol control instruction, and the multiple first pond patrol control instructions refer to at least two first pond patrol control instructions. The terminal receives the one or more first pond patrol control instructions sent by the fish pond patrol inspection server, which can be understood as the terminal receiving part or all of the first pond patrol control instructions among the multiple first pond patrol control instructions obtained by the fish pond patrol inspection server by dividing the first fish pond environment image information. Among them, when the terminal receives part of the first pond patrol control instructions, the terminal can realize the local representation of the first fish pond environment image information based on the part of the first pond patrol control instructions, that is, it can realize the local presentation of the fish pond patrol terminal; when the terminal receives all the first pond patrol control instructions, the terminal can realize the overall representation of the first fish pond environment image information based on all the first pond patrol control instructions, that is, it can realize the overall presentation of the fish pond patrol terminal.

[0083] In this embodiment, the fish pond inspection server can send the one or more first pond patrol control instructions to the fish pond inspection terminal based on the pond patrol execution information and the pond patrol communication status information. When sending each first pond patrol control instruction to the fish pond inspection terminal, the fish pond inspection server can also send a second pond patrol control instruction to the fish pond inspection terminal.

[0084] In this embodiment, the fish pond inspection server sends one or more first pond inspection control instructions. Based on the multiple first pond inspection control instructions sent by the fish pond inspection server and the second pond inspection control instructions corresponding to each first pond inspection control instruction, the multiple first pond inspection control instructions and the second pond inspection control instructions are sent based on the priority order of the multiple first pond inspection control instructions from high to low.

[0085] Among them, the process of the fish pond inspection server judging whether the current fish pond inspection terminal transmission meets the first condition can also be understood as the process of judging whether the current fish pond environment image information fish pond inspection terminal content sending is completed based on the number of supportable first pond inspection control instructions fed back by the terminal.

[0086] When the number of first pond patrol control instructions issued by the fish pond patrol server is equal to the number of first pond patrol control instructions indicated by the pond patrol execution information, the fish pond patrol server can determine that the content sending of the current fish pond environment image information to the fish pond patrol terminal has been completed, and can stop sending the first pond patrol control instructions to the fish pond patrol terminal. After the fish pond patrol server stops sending the first pond patrol control instructions to the terminal, it sends the next first pond patrol instruction set after receiving the next fish pond environment image information.

[0087] In this embodiment, the fish pond inspection terminal feeds back corresponding pond inspection communication status information to the fish pond inspection server for each first pond inspection control instruction received. During the pond inspection communication process, when the pond inspection communication status information includes the reception delay data corresponding to the first pond inspection control instruction, the fish pond inspection server will evaluate whether the transmission performance of the fish pond inspection terminal exceeds the communication delay based on this information.

[0088] The evaluation process of this embodiment is based on the fish pond inspection server checking the reception delay of each first pond inspection control instruction in the current first pond environment image information. Understand the real-time nature of instruction transmission. The fish pond inspection server calculates the cumulative value of the reception delay. Compare the cumulative delay with the preset cumulative delay; if the cumulative delay or the reception delay of any first pond inspection control instruction exceeds the preset delay threshold, the fish pond inspection server will determine that the current transmission does not meet the communication requirements; The fish pond inspection server stops receiving the current first fish pond environment image information sent by the fish pond inspection terminal; and sends the first pond inspection control instruction corresponding to the next fish pond environment image information to the fish pond inspection terminal.

[0089] That is to say, the fish pond inspection server compares the reception delay of each first pond inspection control instruction with the preset or calculated average transmission delay of the first pond inspection control instruction. Identify whether there is an abnormal transmission delay. If the cumulative delay or the reception delay of any first pond inspection control instruction exceeds the preset delay threshold, the fish pond inspection server will determine that the current transmission does not meet the communication requirements. The fish pond inspection server will stop receiving the current first fish pond environment image information sent by the fish pond inspection terminal. Send the first pond inspection control instruction corresponding to the next fish pond environment image information to the fish pond inspection terminal.

[0090] The fish pond inspection server monitors and analyzes the reception delay of the pond inspection control command, and compares these delays with the preset standards to dynamically adjust the command sending strategy to ensure the efficiency and reliability of the fish pond inspection process. This ensures that the fish pond inspection work can be carried out continuously and efficiently. Even when problems such as communication delays occur, the entire system can be maintained stable operation and effective monitoring through timely adjustment of strategies.

[0091] In this embodiment, considering that the number of first pond patrol control instructions indicated by the pond patrol execution information is greater than a preset number, in order to improve the transmission efficiency of the fish pond inspection terminal, the fish pond inspection server can, before receiving the pond patrol execution information, directly start sending the first pond patrol control instruction with the highest priority and the second pond patrol control instruction of the first pond patrol control instruction to the terminal at the same time, before or after sending the first pond patrol instruction set to the terminal.

[0092] In this embodiment, when the pond patrol communication status information includes the packet loss rate of the corresponding first pond patrol control instruction, when the packet loss rate of the corresponding first pond patrol control instruction is greater than the preset packet loss rate, the fish pond patrol server can repeatedly send the corresponding first pond patrol control instruction to the terminal.

[0093] In this embodiment, when the patrol communication status information includes the packet loss rate of the corresponding first patrol control instruction, the method may further include: When the packet loss rate of the corresponding first pond patrol control instruction is greater than the preset packet loss rate, the corresponding first pond patrol control instruction repeatedly sent by the fish pond patrol server is received.

[0094] In this embodiment, the specific size of the preset packet loss rate can be preset as needed, and this embodiment of the present application does not limit this.

[0095] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0096] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the equipment, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. Exemplarily, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0097] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or can be electrical, mechanical or other forms of connection.

[0098] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring various aspects of the present invention.

[0099] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fish pond intelligent inspection system based on industrial interconnection, characterized in that: include: Fish pond inspection terminal and fish pond inspection server; The fish pond inspection terminal is provided with a rotatable body (2), a crawler chassis (1) is provided at the bottom of the rotatable body (2), and the crawler chassis (1) is connected to a drive motor; A hollow column (8) is disposed at one end of the rotatable body (2); a pan / tilt platform (9) is disposed on the hollow column (8); and a 360° intelligent high-definition camera (10) is mounted on the pan / tilt platform (9); a detection telescopic component is mounted on the hollow column (8); and a water quality detection device (19) is mounted at the end of the detection telescopic component; The other end of the rotatable body (2) is provided with a fishing telescopic assembly, and a fishing net (32) is installed at the end of the fishing telescopic assembly; a fish body recognition camera (28) is provided on the fishing telescopic assembly; A fish bucket (20) and a control box are arranged on the rotatable body (2); The control box is equipped with a fish pond inspection controller, storage and communication module; The fish pond inspection controller obtains water quality index information of the fish pond by communicating with the water quality detection device (19); The fish pond inspection controller obtains image information of the fish pond environment around the inspection terminal by communicating with the 360° intelligent high-definition camera (10); The fish pond inspection controller obtains information about the fish in the fish pond by communicating with the fish body recognition camera (28); The fish pond inspection controller is connected to the fish pond inspection server through the communication module, and sends water quality index information, environmental information around the inspection terminal and fish information in the fish pond to the fish pond inspection server; It also receives control instructions sent by the fish pond inspection server to control the operation of the detection telescopic component, the fishing telescopic component and the driving motor respectively.

2. The fish pond intelligent inspection system based on industrial interconnection according to claim 1 is characterized in that: The fish pond inspection controller receives a first pond inspection instruction set sent by a fish pond inspection server. The first pond inspection instruction set includes multiple first pond inspection control instructions. The multiple first pond inspection control instructions are generated based on the first fish pond environment image information obtained by the fish pond inspection terminal, and are used to control the operation of the fish pond inspection terminal according to the first pond inspection control instructions.

3. The fish pond intelligent inspection system based on industrial interconnection according to claim 2 is characterized in that: The first pond patrol instruction set includes multiple first pond patrol control instructions; the multiple first pond patrol control instructions include controlling the movement of the fish pond inspection terminal, controlling the telescopic action of the fishing telescopic component, controlling the fish body recognition camera to capture images, controlling the water quality detection device to check the water quality, controlling the 360° intelligent high-definition camera to capture images and send them to the fish pond inspection server, controlling the fish body recognition camera to capture fish body information, and controlling the fishing net to perform fishing operations.

4. The fish pond intelligent inspection system based on industrial interconnection according to claim 1 is characterized in that: The fish pond inspection controller sends pond inspection execution information to the fish pond inspection server, where the pond inspection execution information is used to indicate the number of first pond inspection control instructions that the fish pond inspection terminal can receive, and the pond inspection execution information is associated with the pond inspection data processing volume of the fish pond inspection terminal; The fish pond inspection controller receives the first pond inspection control instruction sent by the fish pond inspection server, which also indicates that the fish pond inspection server sends it based on the pond inspection execution information and the pond inspection communication status information, and the pond inspection communication status information indicates the pond inspection data communication delay between the fish pond inspection terminal and the fish pond inspection server.

5. The fish pond intelligent inspection system based on industrial interconnection according to claim 1 is characterized in that: The fish pond inspection server divides the first fish pond environment image information in three-dimensional space to obtain a plurality of first pond inspection control instructions, and the fish pond inspection server divides the first fish pond environment image information in a nine-square grid division manner; After the fish pond inspection server obtains the fish pond environment image information for the first time, it divides the fish pond environment image information in three-dimensional space to obtain multiple first pond inspection control instructions corresponding to the subsequent acquisition of the fish pond environment image information, and after successively obtaining the corresponding fish pond environment image information, it generates the first pond inspection control instruction, and uses it in a circular manner to realize the continuous acquisition of the operation process information after the fish pond environment image information is obtained, and send the corresponding pond inspection control instruction to control the operation of the fish pond inspection terminal.

6. The fish pond intelligent inspection system based on industrial interconnection according to claim 5 is characterized in that: After dividing the first fish pond environment image information, the fish pond inspection server generates a plurality of first pond inspection control instructions according to the features of different areas in the first fish pond environment image information, and determines a first pond inspection instruction set; Centrally control the fish pond inspection terminal according to the first pond inspection instruction to realize the movement of the pond inspection position; The fish pond inspection terminal receives and executes the next first pond inspection instruction at a preset time interval, and moves and inspects in the fish pond according to the position information and motion parameters in the first pond inspection instruction; after arriving at the designated position at each time node, the water quality detection device (19) and the 360° intelligent high-definition camera (10) are started to perform water quality detection and image capture, and the acquired information is transmitted back to the fish pond inspection server.

7. The fish pond intelligent inspection system based on industrial interconnection according to claim 1 is characterized in that: The second pond patrol control instruction in the first pond patrol instruction set is a mobile control instruction of the fish pond patrol terminal; The second pond patrol control instruction is defined as the pond patrol moving position, including coordinate information and moving distance information; According to the patrol movement positions between the plurality of second patrol control instructions, the plurality of second patrol control instructions are combined to obtain the movement direction and distance of the fish pond patrol terminal; The fish pond inspection server also encodes multiple second pond patrol control instructions, that is, determines the identifier of each second pond patrol control instruction, and establishes an association between the identifier of each second pond patrol control instruction, the patrol movement position between multiple second pond patrol control instructions, and the time position relationship between multiple second pond patrol control instructions, thereby using the identifier of each second pond patrol control instruction to characterize the patrol movement position and time position relationship between multiple second pond patrol control instructions.

8. The fish pond intelligent inspection system based on industrial interconnection according to claim 1 is characterized in that: The fish pond inspection terminal feeds back corresponding pond inspection communication status information to the fish pond inspection server for each first pond inspection control instruction received; The fish pond inspection server checks the reception delay of each first pond inspection control instruction in the current first fish pond environment image information, and calculates the cumulative delay of the reception delay; Comparing the accumulated delay with a preset accumulated delay; If the accumulated delay or the reception delay of any first pond inspection control instruction exceeds the preset delay threshold, the fish pond inspection server determines that the current transmission does not meet the communication requirements; The fish pond inspection server stops receiving the current first fish pond environment image information sent by the fish pond inspection terminal; and sends the first pond inspection control instruction corresponding to the next fish pond environment image information to the fish pond inspection terminal.

9. The fish pond intelligent inspection system based on industrial interconnection according to claim 1 is characterized in that: The pond patrol communication status information is defined to include a packet loss rate of a corresponding first pond patrol control instruction; when the packet loss rate of the corresponding first pond patrol control instruction is greater than a preset packet loss rate, the fish pond patrol server repeatedly sends the corresponding first pond patrol control instruction to the fish pond patrol terminal.

10. The fish pond intelligent inspection system based on industrial interconnection according to claim 1 is characterized in that: The detection telescopic assembly is provided with a first electric telescopic cross bar (12), and the end of the first electric telescopic cross bar (12) is connected to a detection manipulator; A water quality detection device (19) is provided at the end of the detection manipulator; The fishing telescopic assembly is provided with a third electric telescopic cross bar (21), the end of the third electric telescopic cross bar (21) is connected to a manipulator; a fishing net (32) is installed on the end of the manipulator; and a fish body recognition camera (28) is provided on the manipulator; Obstacle avoidance sensors are respectively arranged at both ends of the rotatable fuselage (2).

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