A smart fishpond inspection system based on industrial internet

Abstract

This invention provides a smart fishpond inspection system based on industrial internet, belonging to the field of fishpond monitoring technology. The system includes a fishpond inspection terminal and a fishpond inspection server. The fishpond inspection terminal has a rotatable body, a tracked chassis, a drive motor, a 360° intelligent high-definition camera, a detection telescopic component, a water quality testing device, a fishing telescopic component, a fish recognition camera, a fish bucket, and a control box. The control box contains a fishpond inspection controller, a storage device, and a communication module. The fishpond inspection controller acquires water quality indicators, environmental images, and fish information from the fishpond; sends these to the fishpond inspection server; and receives control commands from the fishpond inspection server to control the operation of the detection telescopic component, the fishing telescopic component, and the drive motor. This enables efficient monitoring and management of the fishpond, allowing for timely detection of problems and the implementation of appropriate solutions.

Description

Technical Field

[0001] This invention belongs to the field of fishpond monitoring technology, and in particular relates to a smart fishpond inspection system based on industrial internet. Background Technology

[0002] Fishponds are bodies of water, either excavated by humans or formed naturally, used for fish farming. They require human supervision during the farming process.

[0003] Existing fishpond inspection methods may rely on manual patrols, which not only consume a lot of manpower and time, but also require a high level of experience from managers. Furthermore, it is difficult to achieve real-time monitoring and accurate management around the clock, which can easily lead to missed inspections and potential risks.

[0004] Existing technologies sometimes use monitoring sensors to monitor fishponds. However, these sensors are frequently exposed to the aquatic environment, making them susceptible to damage such as fouling, which can lead to inaccurate data and monitoring failures. Furthermore, existing technologies can only obtain limited data about the fishpond, such as simple water quality sampling or visual observation of fish populations, making it difficult to acquire comprehensive and continuous information. Summary of the Invention

[0005] This invention provides a smart fishpond inspection system based on industrial internet, which enables efficient monitoring and management of fishponds by acquiring water quality indicators, environmental images, and fish information.

[0006] The system includes: a fishpond inspection terminal and a fishpond inspection server;

[0007] The fishpond inspection terminal is equipped with a rotatable body, and a tracked chassis is installed at the bottom of the rotatable body. The tracked chassis is connected to a drive motor.

[0008] A hollow column is set at one end of the rotatable body, and a gimbal is set on the hollow column. A 360° intelligent high-definition camera is installed on the gimbal. 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.

[0009] The other end of the rotatable body is equipped with a fishing telescopic component, and a fishing net is installed at the end of the fishing telescopic component; a fish recognition camera is installed on the fishing telescopic component;

[0010] The rotating body is equipped with a fish bucket and a control box;

[0011] The control box contains a fishpond inspection controller, a storage device, and a communication module.

[0012] The fishpond inspection controller communicates with the water quality testing device to obtain water quality index information of the fishpond;

[0013] The fishpond inspection controller communicates with a 360° intelligent high-definition camera to obtain image information of the fishpond environment around the inspection terminal;

[0014] The fishpond inspection controller communicates with a fish recognition camera to obtain information about the fish in the fishpond;

[0015] The fishpond inspection controller communicates with the fishpond inspection server via a communication module, sending water quality information, environmental information around the inspection terminal, and fish information in the fishpond to the fishpond inspection server; it also receives control commands from the fishpond inspection server to control the operation of the detection telescopic component, the fishing telescopic component, and the drive motor.

[0016] Preferably, the fishpond inspection controller receives a first fishpond inspection instruction set sent by the fishpond inspection server. The first fishpond inspection instruction set contains multiple first fishpond inspection control instructions, which are generated based on the first fishpond environmental image information obtained by the fishpond inspection terminal and are used to control the operation of the fishpond inspection terminal according to the first fishpond inspection control instructions.

[0017] 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 fishpond inspection terminal, controlling the extension and retraction 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 fishpond inspection server, controlling the fish body recognition camera to capture fish information, and controlling the fishing net to perform fishing operations.

[0018] Preferably, the fishpond inspection controller sends inspection execution information to the fishpond inspection server. The inspection execution information is used to indicate the number of first inspection control commands that the fishpond inspection terminal can receive. The inspection execution information is related to the amount of inspection data processed by the fishpond inspection terminal.

[0019] In the first patrol control command received by the fishpond patrol controller from the fishpond patrol server, it also indicates that the fishpond patrol server sends patrol execution information and patrol communication status information based on the patrol execution information and patrol communication status information. The patrol communication status information indicates the patrol data communication delay between the fishpond patrol terminal and the fishpond patrol server.

[0020] Preferably, the fishpond inspection server divides the environmental image information of the first fishpond in three-dimensional space to obtain multiple first fishpond inspection control commands. The fishpond inspection server uses a nine-grid division method to divide the environmental image information of the first fishpond.

[0021] After the fishpond inspection server first acquires the fishpond environmental image information, it divides the fishpond environmental image information in three-dimensional space to obtain multiple first patrol control commands corresponding to the subsequent acquisition of fishpond environmental image information. After successively acquiring the corresponding fishpond environmental image information, it generates the first patrol control command again. This process is repeated to realize the continuous acquisition of fishpond environmental image information and the operation process information. The corresponding patrol control commands are then sent to control the operation of the fishpond inspection terminal.

[0022] Preferably, after dividing the first fishpond environmental image information, the fishpond inspection server generates multiple first fishpond inspection control commands based on the characteristics of different areas in the first fishpond environmental image information, and determines the first fishpond inspection command set.

[0023] The first pond inspection command is used to control the pond inspection terminal, enabling the pond inspection location to move.

[0024] The fishpond inspection terminal receives and executes the next first inspection command at preset time intervals. Based on the location information and movement parameters in the first inspection command, it moves and inspects within the fishpond. After reaching the designated location at each time point, it activates the water quality detection device and the 360° intelligent high-definition camera to detect water quality and capture images, and then transmits the acquired information back to the fishpond inspection server.

[0025] Preferably, the second pond inspection control command in the first pond inspection command set is the mobile control command for the fishpond inspection terminal.

[0026] The second patrol control command is defined as the patrol movement position, including coordinate information and movement distance information;

[0027] Based on the pond patrol movement position between multiple second pond patrol control commands, the multiple second pond patrol control commands are combined to obtain the movement direction and distance of the fishpond inspection terminal.

[0028] The fishpond inspection server also encodes multiple second-level patrol control commands, that is, it determines the identifier of each second-level patrol control command and establishes the association between the identifier of each second-level patrol control command, the patrol movement position between multiple second-level patrol control commands, and the temporal position relationship between multiple second-level patrol control commands. In this way, the identifier of each second-level patrol control command is used to characterize the patrol movement position and temporal position relationship between multiple second-level patrol control commands.

[0029] Preferably, for each first pond inspection control command received, the fishpond inspection terminal feeds back the corresponding pond inspection communication status information to the fishpond inspection server.

[0030] The fishpond inspection server checks the reception delay of each first fishpond inspection control command in the current first fishpond environmental image information and calculates the cumulative reception delay.

[0031] The cumulative delay is compared with the preset cumulative delay; if the cumulative delay or the reception delay of any first pond patrol control command exceeds the preset delay threshold, the pond patrol server will determine that the current transmission does not meet the communication requirements.

[0032] The fishpond inspection server stops receiving the current first fishpond environmental image information sent by the fishpond inspection terminal; and sends the corresponding first fishpond inspection control command for the next fishpond environmental image information to the fishpond inspection terminal.

[0033] Preferably, the pond patrol communication status information is defined to include the packet loss rate of the corresponding first pond patrol control command; when the packet loss rate of the corresponding first pond patrol control command is greater than the preset packet loss rate, the pond patrol server repeatedly sends the corresponding first pond patrol control command to the pond patrol terminal.

[0034] Preferably, the detection telescopic assembly is provided with a first electrically telescopic crossbar, and a detection robot arm is connected to the end of the first electrically telescopic crossbar;

[0035] A water quality detection device is installed at the end of the inspection robot arm;

[0036] The fishing telescopic assembly is equipped with a third electrically operated telescopic crossbar, and a robotic arm is connected to the end of the third electrically operated telescopic crossbar; a fishing net is installed at the end of the robotic arm; and a fish recognition camera is installed on the robotic arm.

[0037] Obstacle avoidance sensors are installed at both ends of the rotatable body.

[0038] As can be seen from the above technical solutions, the present invention has the following advantages:

[0039] The smart fishpond inspection system based on industrial internet provided in this application involves a fishpond inspection controller receiving inspection control commands from a server and forwarding them to the fishpond inspection terminal to execute corresponding actions, thereby conducting fishpond inspections. This achieves effective inspection and monitoring of the fishpond.

[0040] This application enables precise control of fishpond inspection terminals through a first set of patrol instructions generated based on fishpond environmental image information. According to the actual situation, the movement of the terminal and the operation of various detection and imaging devices are controlled in a targeted manner to ensure accurate acquisition of various information about the fishpond, such as fish growth status and water quality changes. This improves the efficiency and quality of inspections, allows for timely detection of problems in the fishpond, and enables corresponding measures to be taken to resolve them.

[0041] This application allows the fishpond inspection server to continuously generate the first inspection control command after acquiring corresponding fishpond environmental image information. This process is cyclical; each time new image information is acquired, a command is generated, and the fishpond inspection terminal is controlled to operate, then the next round of image information is acquired, and so on, forming a complete and continuous chain, achieving uninterrupted monitoring and management of the fishpond environment. Furthermore, through this cyclical use, it can continuously acquire information on the fishpond environment's operation at different points in time, and then promptly send corresponding inspection control commands based on this information. This precisely controls the fishpond inspection terminal to perform various operational operations within the fishpond, such as movement, detection, and photography, ensuring the orderly progress of the entire fishpond inspection work. The mode of generating control commands based on image information and cyclical operation enables intelligent fishpond inspection, allowing users to grasp the real-time status of the fishpond and promptly identify and resolve various potential problems.

[0042] This application utilizes location-based precise control, enabling the inspection terminal to quickly and directly reach areas requiring close monitoring, saving time and energy. The time-sequential control method makes inspection work more organized and systematic, allowing monitoring of key areas and time periods according to the temporal changes in the fishpond environment and aquaculture activities.

[0043] This application's inspection terminal, under position control commands, can acquire detailed data and clear images of the target area, reducing data errors caused by positional deviations and thus improving data accuracy and reliability. The image data meets users' needs for assessing the environmental conditions of fishponds and the health status of fish. By improving inspection efficiency, optimizing resource allocation, and enhancing data accuracy and completeness, it provides strong support for the scientific aquaculture and refined management of fishponds. Attached Figure Description

[0044] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of a smart fishpond inspection system based on industrial internet.

[0046] Figure 2 This is a schematic diagram of a fishpond inspection terminal. Detailed Implementation

[0047] The following describes in detail the implementation of a smart fishpond inspection system based on industrial internet. Specific details, such as particular system structures and technologies, are presented for illustrative purposes rather than limiting, to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details.

[0048] The system involved in this application includes: interconnected fishpond inspection terminals and a fishpond inspection server. Of course, the system can involve multiple fishpond inspection terminals. The terminals mentioned below are fishpond inspection terminals. The servers mentioned below are fishpond inspection servers.

[0049] The fishpond inspection server in this embodiment serves as a data server, or is implemented in a computing system including middleware components, such as an application server, or in a computing system including front-end components, such as a user computer with a graphical user interface or a web browser, through which the user can interact with the system and technology embodiments 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 via 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.

[0050] It should be understood that "one or more" as mentioned in this application refers to one, two, or more, and "multiple" as mentioned in this application refers to two or more. In the description of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0051] To facilitate a clear description of the technical solutions of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0052] The terms "one embodiment" or "some embodiments" used in this application mean that one or more embodiments of this application include the specific features, structures, or characteristics described in that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this application do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Please see Figure 1 and Figure 2 The diagram shown is a schematic of a smart fishpond inspection system based on industrial internet in a specific embodiment.

[0055] The fishpond inspection terminal is equipped with a rotatable body 2, and a tracked chassis 1 is installed at the bottom of the rotatable body 2. The tracked chassis 1 is connected to a drive motor 6.

[0056] In some specific embodiments, the drive motor connected to the tracked chassis 1 is controlled by a controller. When the controller receives a movement command sent by the fishpond inspection server, it adjusts the speed and direction of the drive motor according to the command. By controlling the drive motors of the left and right tracks at different speeds, the chassis can move forward, backward, turn left, and turn right, thereby enabling the inspection terminal to move stably on the fishpond and reach the designated inspection position.

[0057] A hollow column 8 is provided at one end of the rotatable body 2, and a gimbal 9 is provided on the hollow column 8. A 360° intelligent high-definition camera 10 is installed on the gimbal 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. The control box contains a controller, a storage device, and a communication module 5.

[0058] The detection telescopic assembly is equipped with a first electric telescopic crossbar 12, and a detection manipulator 18 is connected to the end of the first electric telescopic crossbar 12; a water quality detection device 19 is installed at the end of the detection manipulator 18; the fishing telescopic assembly is equipped with a third electric telescopic crossbar 21, and a manipulator 29 is connected to the end of the third electric telescopic crossbar 21; a fishing net 32 ​​is installed at the end of the manipulator 29; a fish recognition camera 28 is installed on the manipulator; obstacle avoidance sensors 3 are respectively installed at both ends of the rotatable body 2.

[0059] In this embodiment, the gimbal 9 can be controlled by a controller to rotate its angle. The controller can send rotation commands to the gimbal 9 according to a preset inspection method, causing it to rotate the 360° intelligent high-definition camera 10 in both horizontal and vertical directions to acquire environmental image information from different angles. The 360° intelligent high-definition camera 10 transmits the acquired image data to the controller in real time, and the controller then sends this data to the fishpond inspection server for storage and analysis via a communication module.

[0060] The controller is connected to the water quality testing 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 fishpond inspection server through the communication module to send water quality index information, environmental information around the inspection terminal, and fish information in the fishpond to the fishpond inspection server. It also receives control commands sent by the fishpond inspection server to control the operation of the detection telescopic component, the fishing telescopic component, and the drive motor 6.

[0061] In this embodiment, the fish recognition camera 28 starts working when the fishing telescopic component extends. Using image recognition technology, it captures and identifies fish passing below. When a fish is detected entering the effective capture range of the fishing net 32, the fish recognition camera 28 sends a signal to the controller, triggering the fishing action. Simultaneously, the image information of the fish captured by the fish recognition camera 28 is also transmitted to the controller for subsequent statistical analysis of data such as the type, size, and quantity of the fish, and then uploaded to the server.

[0062] When water quality testing is required, the controller sends a command to the telescopic sensing component, causing it to extend and lower the water quality testing device 19 to a predetermined depth in the fishpond. The water quality testing device 19 is equipped with dissolved oxygen, pH, temperature, and ammonia nitrogen sensors. These sensors monitor various water quality indicators in real time and convert the detected data into electrical signals, which are then transmitted to the controller. After processing and analyzing this data, the controller sends the water quality information to the fishpond inspection server via a communication module. This allows fish farmers to understand the water quality status of the pond and take timely water quality adjustment measures, such as oxygenation, water exchange, and the addition of water quality regulators.

[0063] Once the fish recognition camera 28 detects the school of fish and identifies the target fish, it sends the information back to the controller. The controller then captures the fish according to preset fish size and species, specifically controlling the extension speed and direction of the fishing telescopic component to ensure the fishing net 32 ​​accurately extends towards the target school of fish.

[0064] The fishing net 32 ​​can be equipped with an electrically operated opening and closing device. When it approaches a school of fish, the controller sends a command to quickly close it, completing the fishing action. The caught fish are placed in the fish bucket 20 for subsequent sorting, weighing, and other operations. At the same time, data from the entire fishing process, such as the fishing time, location, number and type of fish, are recorded and uploaded to the fishpond inspection server via a communication module for the statistics and management of fishery resources.

[0065] The communication module in this embodiment employs wireless communication technology to establish a data transmission channel with the fishpond inspection server. The controller packages the collected water quality information, environmental information, and fish information according to a specific communication protocol and sends it to the fishpond inspection server. Simultaneously, the fishpond inspection server listens for control commands sent by the server in real time. Upon receiving a command, it quickly parses and executes the corresponding operation, such as adjusting the inspection path or controlling the actions of detection or fishing components, thereby achieving the goal of remote monitoring and intelligent management of the fishpond.

[0066] The storage device of the fishpond inspection server is used to store various types of data generated by the inspection terminal during operation, including images and video data captured by cameras, water quality test data, fish identification data, and equipment operating status data. This data can be categorized and stored according to time, location, type, etc., for subsequent querying and analysis.

[0067] In some embodiments, the fishpond inspection server can send a patrol control command after obtaining the first fishpond environmental image information sent by the fishpond inspection controller. Alternatively, it can send the patrol control command first and then obtain the first fishpond environmental image information.

[0068] In this embodiment, the fishpond inspection controller receives a first fishpond inspection instruction set sent by the fishpond inspection server. The first fishpond inspection instruction set contains multiple first fishpond inspection control instructions, which are generated based on the first fishpond environmental image information obtained by the fishpond inspection terminal and are used to control the operation of the fishpond inspection terminal according to the first fishpond inspection control instructions.

[0069] The first pond patrol instruction set includes multiple first pond patrol control instructions, which may include controlling the movement of the pond patrol terminal, controlling the extension and retraction 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 pond patrol server, controlling the fish body recognition camera to capture fish information, and controlling the fishing net to perform fishing operations.

[0070] In this embodiment, the fishpond inspection controller sends fishpond inspection execution information to the fishpond inspection server. The fishpond inspection execution information is used to indicate the number of first fishpond inspection control commands that the fishpond inspection terminal can receive. The fishpond inspection execution information is associated with the amount of fishpond inspection data processed by the fishpond inspection terminal.

[0071] In this embodiment, the first pond inspection control command received by the fishpond inspection controller from the fishpond inspection server also represents that the fishpond inspection server sent the command based on the pond inspection execution information and the pond inspection communication status information. The pond inspection communication status information represents the pond inspection data communication delay between the fishpond inspection terminal and the fishpond inspection server.

[0072] In some specific embodiments, the fishpond inspection server first acquires first fishpond environmental image information from the fishpond inspection terminal. This image information covers real-time footage of the fishpond, including key data such as fish distribution, water quality, and surrounding environment. Then, the server performs intelligent analysis and processing based on this image information to generate a first fishpond inspection command set containing multiple first fishpond inspection control commands. If the fishpond inspection server detects abnormal fish aggregation in a certain area through image recognition, it may generate commands to move the fishpond inspection terminal to that area. It may also generate commands to control the fish body recognition camera to capture information about the fish in that area, in order to further analyze the health status of the fish.

[0073] In this embodiment, the fishpond inspection controller receives the first set of inspection instructions from the fishpond inspection server. These instructions will serve as the basis for subsequent control of various actions of the fishpond inspection terminal.

[0074] The fishpond inspection controller assesses and statistically analyzes the data processing volume of itself and the connected fishpond inspection terminals. This includes factors such as the terminal's computing power, memory usage, and the number of tasks currently being executed. Based on this comprehensive assessment, it determines the number of first-stage fishpond inspection control commands that the fishpond inspection terminal can receive and effectively process, and sends this information to the fishpond inspection server in the form of fishpond inspection execution information.

[0075] After receiving the pond inspection execution information, the fishpond inspection server in this embodiment will combine the pond inspection communication status information to further optimize and determine the first pond inspection control command to be sent to the fishpond inspection controller. The pond inspection communication status information reflects the pond inspection data communication latency between the fishpond inspection terminal and the server. If the communication latency is high, the server may reduce the number of commands sent at once, or prioritize sending commands with lower real-time requirements but larger data volumes, such as commands to control the 360° intelligent high-definition camera to capture images and send them to the server, because the execution time of such commands is relatively long and less affected by short-term communication latency.

[0076] In this embodiment, the fishpond inspection controller receives the optimized first fishpond inspection control command sent by the server and forwards it to the fishpond inspection terminal to execute the corresponding action. For example, when it receives a command to control the extension and retraction of the fishing extension component, the controller will accurately convey the command to the terminal's actuator, causing it to perform the extension and retraction operation according to the command requirements, thereby achieving effective inspection and management of the fishpond.

[0077] As can be seen, this embodiment, through the first pond inspection command set generated based on pond environmental image information, can achieve precise control of the pond inspection terminal. Based on the actual situation, the movement of the terminal and the operation of various detection and imaging devices are controlled in a targeted manner to ensure comprehensive and accurate acquisition of various information about the pond, such as fish growth status and water quality changes. This improves the efficiency and quality of inspections, allows for timely detection of problems in the pond, and enables corresponding measures to be taken to resolve them.

[0078] The feedback and utilization of pond inspection execution information in this embodiment enables the server to allocate tasks based on the actual data processing capabilities of the fishpond inspection terminal. This avoids situations such as lag and crashes caused by the terminal being unable to handle too many commands, and also prevents waste of resources.

[0079] This embodiment considers the communication status information during pond inspections, allowing the server to flexibly adjust its command transmission strategy based on communication latency. When communication is good, the frequency and number of commands sent are increased to improve inspection speed; when communication latency is high, critical commands less affected by latency are prioritized to ensure the continuity and stability of the inspection work. This enables the entire fishpond inspection system to adapt to different network environments, improving system reliability and adaptability, and ensuring effective monitoring and management of fishponds under various conditions.

[0080] In this embodiment, the fishpond inspection server can segment the environmental image information of the first fishpond to obtain the plurality of first patrol control commands, that is, to obtain at least two first patrol control commands. It can be understood that the plurality of first patrol control commands can form complete environmental image information of the first fishpond.

[0081] In this embodiment, the fishpond inspection server can divide the first fishpond environmental image information in three-dimensional space to obtain the multiple first fishpond inspection control commands. At the same time, the fishpond inspection server can use a nine-square grid division method to divide the first fishpond environmental image information.

[0082] It should be noted that after the fishpond inspection server acquires the fishpond environmental image information for the first time, it can divide the fishpond environmental image information in three-dimensional space to obtain multiple first patrol control commands corresponding to subsequent fishpond environmental image information. Furthermore, it can continuously acquire corresponding fishpond environmental image information and then generate further first patrol control commands. This process is repeated cyclically to realize the continuous acquisition of fishpond environmental image information and the sending of corresponding patrol control commands to control the operation of the fishpond inspection terminal.

[0083] The first pond inspection control command includes, but is not limited to, controlling the movement of the pond inspection terminal, controlling the extension and retraction 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 pond inspection server, controlling the fish body recognition camera to capture fish information, and controlling the fishing net to perform fishing operations.

[0084] In one implementation of this embodiment, the fishpond inspection server generates corresponding first inspection control commands based on the acquired first fishpond environmental image information, thereby achieving effective control of the fishpond inspection terminal. Specifically, the first fishpond environmental image information is divided. Through this division, multiple (at least two) first inspection control commands can be extracted, and these commands, when combined, can completely restore or cover the content and related requirements contained in the initial first fishpond environmental image information.

[0085] In practice, the fishpond inspection server can utilize the three-dimensional space to segment the environmental image information of the first fishpond, thereby obtaining multiple first-stage inspection control commands. The reason for choosing three-dimensional space is that the fishpond itself is a three-dimensional spatial environment, and the distribution of fish in the water, the layout of various equipment in the fishpond, and water quality can be more comprehensively and accurately represented and analyzed from a three-dimensional perspective.

[0086] For example, in three-dimensional space, not only can the area division of the fishpond surface be considered, but also the spatial range of different water depths and surrounding banks can be taken into account. Control commands can be generated from different angles and depths, allowing the inspection terminal to carry out its work in a more targeted manner.

[0087] Meanwhile, the fishpond inspection server can also use methods such as a nine-square grid to divide the environmental image information of the first fishpond.

[0088] For example, the nine-grid division method cuts the entire fishpond environment image information into a nine-grid pattern, just like dividing a plane into nine equal small areas (in three-dimensional space, a similar division is performed at different depth levels). Based on the image characteristics presented by each small area, the server can generate corresponding first-level pond patrol control commands. For instance, if the image in a certain nine-grid area shows a relatively dense school of fish, a command can be generated to control the inspection terminal to move to the vicinity of that area and control the fish recognition camera to focus on that area to capture detailed information about the fish; if the water quality in another nine-grid area appears somewhat turbid, a command can be generated to control the water quality detection device to focus on checking the water quality in that area, and so on.

[0089] In this embodiment, the generation of pond patrol control commands is a cyclical and continuous process. Throughout the entire process, after the pond patrol server first acquires the pond environmental image information, it divides it into three-dimensional space. This initial division process establishes the basic pattern and rules for generating multiple first pond patrol control commands when subsequently acquiring new pond environmental image information. In other words, the initial division is equivalent to building a framework. Each time new pond environmental image information is acquired subsequently, this framework can be referenced, combined with the specific characteristics of the new image, to further generate the corresponding first pond patrol control command.

[0090] After acquiring relevant image information of the fishpond environment, the fishpond inspection server continuously generates the first inspection control command based on the aforementioned division method and established rules. This process is cyclical; each time new image information is acquired, a command is generated, and the fishpond inspection terminal is controlled to operate, then the next round of image information is acquired, and so on, forming a complete and continuous chain, achieving uninterrupted monitoring and management of the fishpond environment. Through this cyclical use, information on the fishpond environment's operation at different points in time can be continuously acquired. Then, the server sends corresponding inspection control commands in a timely manner based on this information, precisely controlling the fishpond inspection terminal to carry out various operational operations within the fishpond, such as movement, detection, and photography, ensuring that the entire fishpond inspection work proceeds in an orderly and efficient manner.

[0091] In this embodiment, after the fishpond inspection server divides the environmental image information of the first fishpond to obtain the plurality of first patrol control commands, it can generate relevant information of the plurality of first patrol control commands, thereby determining the first patrol command set.

[0092] Among them, the multiple first pond patrol control instructions in the first pond patrol instruction set control the movement position of the pond patrol terminal; or, the multiple first pond patrol control instructions control the movement position of the pond patrol terminal based on time order.

[0093] In this embodiment, after dividing the environmental image information of the first fishpond, the fishpond inspection server generates multiple first pond inspection control commands based on the characteristics of different areas in the image, such as areas with significant differences in fish density, water turbidity, and key parts of aquaculture facilities, and determines the first pond inspection command set.

[0094] When executed, the fishpond inspection terminal will move from its current location to a designated target location based on the direct control information for movement within the instruction set. For example, if image analysis shows abnormal fish aggregation in a corner of the fishpond, the server-generated instruction will guide the inspection terminal to move directly above that corner to obtain more detailed images and data, such as the fish's activity status and signs of disease.

[0095] Upon receiving a command, the inspection terminal adjusts its position and attitude using its positioning module, drive motor, and steering mechanism to move towards the target location. During movement, it can also utilize obstacle avoidance sensors, such as ultrasonic and infrared sensors, to monitor the surrounding environment in real time, preventing collisions with objects around the fishpond, such as aerators, feeders, and embankments.

[0096] Based on the analysis of the environmental images of the first fishpond, the server generates a series of first-stage patrol control commands in chronological order. These commands specify the locations the patrol terminal should reach at different times. For example, in the early morning, the commands might first guide the patrol terminal to perform a quick scan around the edge of the fishpond to obtain overall water quality and approximate fish distribution information; as time progresses, when the sun rises and light conditions change, the commands might instruct the patrol terminal to move above the deeper water areas in the fishpond where oxygen deficiency is likely to occur, to monitor water quality parameters such as dissolved oxygen levels; and around feeding time, the commands would control the patrol terminal to move to the vicinity of the feeding area to check the feeding activity of the fish and the operation of the feeding equipment.

[0097] The inspection terminal receives and executes the next instruction at preset time intervals (such as every half hour or every hour). Based on the location information and movement parameters in the instruction, it moves and inspects the fishpond in an orderly manner. After reaching the designated location at each time point, it activates the corresponding detection equipment (such as cameras, water quality sensors, fish detectors, etc.) to collect data and capture images, and transmits the acquired information back to the fishpond inspection server in real time for further analysis and processing. This also provides a basis for adjusting subsequent instructions.

[0098] In this embodiment, the second pond inspection control command in the first pond inspection command set is the mobile control command for the fishpond inspection terminal.

[0099] In this embodiment, the second pond patrol control command can be defined as the patrol movement position, which may include coordinate information and movement distance information. It can be understood that, based on the patrol movement positions among multiple second pond patrol control commands, the multiple second pond patrol control commands are combined to obtain the movement direction and distance of the fishpond inspection terminal.

[0100] In this embodiment, during the process of the fishpond inspection server determining the second patrol instruction set, the fishpond inspection server can encode the plurality of second patrol control instructions, that is, determine the identifier of each second patrol control instruction, and can establish the association relationship between the identifier of each second patrol control instruction, the patrol movement position among the plurality of second patrol control instructions, and the temporal position relationship among the plurality of second patrol control instructions. Thus, the identifier of each second patrol control instruction can be used to characterize the patrol movement position and temporal position relationship among the plurality of second patrol control instructions.

[0101] For example, the fishpond inspection server can determine the patrol movement position and time position relationship between the multiple second patrol control commands based on the arrangement order of the multiple second patrol control command identifiers.

[0102] For example, after the fishpond inspection server divides the first fishpond environmental image information to obtain the plurality of second fishpond inspection control commands, it can use zigzag scanning encoding or undirected graph encoding or other encoding methods to encode the plurality of second fishpond inspection control commands to obtain the identifier of each second fishpond inspection control command.

[0103] In this embodiment, the second pond patrol control command can also be called motor drive information. This application embodiment does not limit the specific name of the second pond patrol control command, as long as its function is implemented.

[0104] In this embodiment, the fishpond inspection server can send the first fishpond inspection command set in real time, that is, the fishpond inspection server can send the first fishpond inspection command set to the terminal individually. Alternatively, the fishpond inspection server can send the first fishpond inspection command set periodically, that is, the fishpond inspection server can send the first fishpond inspection command set within a preset time range to the fishpond inspection terminal at once.

[0105] In this embodiment, the pond patrol execution information is associated with the pond patrol data processing volume of the terminal. It determines the number of first pond patrol control commands the terminal can receive based on its own pond patrol data processing volume, i.e., the number of first pond patrol control commands supported by the fishpond patrol terminal. This is preset on the fishpond patrol terminal as needed. The pond patrol data processing volume of the fishpond patrol terminal may include calculated pond patrol data processing volume, stored pond patrol data processing volume, and communicated pond patrol data processing volume, etc.

[0106] 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 receiving one or more first pond patrol control instructions sent by the fishpond inspection server can be understood as the terminal receiving some or all of the multiple first pond patrol control instructions obtained by the fishpond inspection server from the segmentation of the first fishpond environmental image information. Specifically, when the terminal receives some first pond patrol control instructions, the terminal can achieve a partial representation of the first fishpond environmental image information based on these partial instructions, i.e., it can achieve a partial presentation of the fishpond inspection terminal; when the terminal receives all first pond patrol control instructions, the terminal can achieve a holistic representation of the first fishpond environmental image information based on all the first pond patrol control instructions, i.e., it can achieve a holistic presentation of the fishpond inspection terminal.

[0107] In this embodiment, the fishpond inspection server can send one or more first patrol control commands to the fishpond inspection terminal based on the patrol execution information and patrol communication status information. When sending each first patrol control command to the fishpond inspection terminal, the fishpond inspection server can also send a second patrol control command to the fishpond inspection terminal.

[0108] In this embodiment, the fishpond inspection server sends one or more first patrol control commands. This can be based on multiple first patrol control commands sent by the fishpond inspection server and a second patrol control command corresponding to each first patrol control command. The multiple first patrol control commands and the second patrol control commands are sent in descending order of their priority.

[0109] The process by which the fishpond inspection server determines whether the current fishpond inspection terminal transmission meets the first condition can also be understood as determining whether the current fishpond environment image information fishpond inspection terminal content transmission is completed based on the number of first fishpond inspection control commands that can be supported by the terminal feedback.

[0110] When the number of first patrol control commands issued by the fishpond patrol server equals the number of first patrol control commands indicated by the patrol execution information, the fishpond patrol server can determine that the transmission of the current fishpond environmental image information to the fishpond patrol terminal is complete, and can stop sending the first patrol control commands to the fishpond patrol terminal. After stopping sending the first patrol control commands to the terminal, the fishpond patrol server sends the next set of first patrol commands upon receiving the next fishpond environmental image information.

[0111] In this embodiment, for each received first patrol control command, the fishpond inspection terminal feeds back the corresponding patrol communication status information to the fishpond inspection server. During the patrol communication process, when the patrol communication status information includes reception delay data corresponding to the first patrol control command, the fishpond inspection server will use this information to evaluate whether the transmission performance of the fishpond inspection terminal exceeds the communication delay.

[0112] The evaluation process in this embodiment is based on the fishpond inspection server checking the reception latency of each first fishpond inspection control command in the current first fishpond environmental image information to understand the real-time performance of the command transmission. The fishpond inspection server calculates the cumulative value of the reception latency. The cumulative latency is compared with a preset cumulative latency; if the cumulative latency or the reception latency of any first fishpond inspection control command exceeds a preset latency threshold, the fishpond inspection server will determine that the current transmission does not meet the communication requirements.

[0113] The fishpond inspection server stops receiving the current first fishpond environmental image information sent by the fishpond inspection terminal; and sends the corresponding first fishpond inspection control command for the next fishpond environmental image information to the fishpond inspection terminal.

[0114] In other words, the fishpond inspection server compares the reception delay of each first fishpond inspection control command with the preset or calculated average transmission delay of the first fishpond inspection control commands to identify any abnormal transmission delays. If the cumulative delay or the reception delay of any first fishpond inspection control command exceeds a preset delay threshold, the fishpond inspection server will determine that the current transmission does not meet the communication requirements. The fishpond inspection server will stop receiving the current first fishpond environmental image information sent by the fishpond inspection terminal and send the corresponding first fishpond inspection control command for the next fishpond environmental image information to the fishpond inspection terminal.

[0115] The fishpond inspection server monitors and analyzes the reception latency of inspection control commands, and compares these latency times with preset standards to dynamically adjust the command transmission strategy, ensuring the efficiency and reliability of the fishpond inspection process. This ensures that fishpond inspection work can be carried out continuously and efficiently, and even in the event of communication delays or other problems, timely adjustments to the strategy can maintain the stable operation and effective monitoring of the entire system.

[0116] In this embodiment, considering that the number of first patrol control instructions indicated by the patrol execution information is greater than the preset number, in order to improve the transmission efficiency of the fishpond inspection terminal, the fishpond inspection server can, before receiving the patrol execution information, send the first patrol control instruction with the highest priority and the second patrol control instruction of the first patrol control instruction to the terminal at the same time, before, or after sending the first patrol instruction set to the terminal.

[0117] In this embodiment, when the pond patrol communication status information includes the packet loss rate of the corresponding first pond patrol control command, if the packet loss rate of the corresponding first pond patrol control command is greater than the preset packet loss rate, the pond patrol server can repeatedly send the corresponding first pond patrol control command to the terminal.

[0118] In this embodiment, if the pond patrol communication status information includes the packet loss rate of the corresponding first pond patrol control command, the method may further include:

[0119] When the packet loss rate of the corresponding first pond patrol control command is greater than the preset packet loss rate, the corresponding first pond patrol control command repeatedly sent by the fishpond inspection server is received.

[0120] In this embodiment, the specific value of the preset packet loss rate can be preset as needed, and this application embodiment does not limit it.

[0121] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0123] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, apparatuses, or units, or they may be electrical, mechanical, or other forms of connection.

[0124] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the invention.

[0125] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A smart fishpond inspection system based on industrial internet, characterized in that, include: Fishpond inspection terminal and fishpond inspection server; The fishpond inspection terminal is equipped with a rotatable body (2), and a tracked chassis (1) is installed at the bottom of the rotatable body (2). The tracked chassis (1) is connected to a drive motor. A hollow column (8) is provided at one end of the rotatable body (2), a gimbal (9) is provided on the hollow column (8), and a 360° intelligent high-definition camera (10) is installed on the gimbal (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. The other end of the rotatable body (2) is provided with a fishing telescopic component, 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. The rotatable body (2) is equipped with a fish bucket (20) and a control box; The control box contains a fishpond inspection controller, a storage device, and a communication module. The fishpond inspection controller communicates with the water quality testing device (19) to obtain water quality index information of the fishpond; The fishpond inspection controller communicates with a 360° intelligent high-definition camera (10) to obtain image information of the fishpond environment around the inspection terminal; The fishpond inspection controller communicates with the fish body recognition camera (28) to obtain fish information in the fishpond; The fishpond inspection controller communicates with the fishpond inspection server through a communication module, sending water quality information, environmental information around the inspection terminal, and fish information in the fishpond to the fishpond inspection server. It also receives control commands from the fishpond inspection server to control the operation of the detection telescopic component, the fishing telescopic component, and the drive motor, respectively. The fishpond inspection server divides the environmental image information of the first fishpond in three-dimensional space to obtain multiple first fishpond inspection control commands. The fishpond inspection server uses a nine-grid division method to divide the environmental image information of the first fishpond. After the fishpond inspection server first acquires the fishpond environmental image information, it divides the fishpond environmental image information in three-dimensional space to obtain multiple first patrol control commands corresponding to the subsequent acquisition of fishpond environmental image information. After successively acquiring the corresponding fishpond environmental image information, it generates the first patrol control command. This process is repeated to realize the continuous acquisition of fishpond environmental image information and the sending of corresponding patrol control commands to control the operation of the fishpond inspection terminal. After dividing the environmental image information of the first fishpond, the fishpond inspection server generates multiple first patrol control commands based on the characteristics of different areas in the first fishpond environmental image information, and determines the first patrol command set. The first pond inspection command is used to control the pond inspection terminal, enabling the pond inspection location to move. The fishpond inspection terminal receives and executes the next first inspection command at a preset time interval. Based on the location information and motion parameters in the first inspection command, it moves and inspects within the fishpond. After reaching the designated location at each time node, it activates the water quality detection device (19) and the 360° intelligent high-definition camera (10) to perform water quality detection and image capture, and transmits the acquired information back to the fishpond inspection server.

2. The intelligent fishpond inspection system based on industrial internet according to claim 1, characterized in that, The fishpond inspection controller receives the first fishpond inspection instruction set sent by the fishpond inspection server. The first fishpond inspection instruction set contains multiple first fishpond inspection control instructions, which are generated based on the first fishpond environmental image information obtained by the fishpond inspection terminal and are used to control the operation of the fishpond inspection terminal according to the first fishpond inspection control instructions.

3. The smart fishpond inspection system based on industrial internet according to claim 2, characterized in that, The first pond patrol instruction set includes multiple first pond patrol control instructions; these instructions include controlling the movement of the pond patrol terminal, controlling the extension and retraction 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 pond patrol server, controlling the fish body recognition camera to capture fish information, and controlling the fishing net to perform fishing operations.

4. The intelligent fishpond inspection system based on industrial internet according to claim 1, characterized in that, The fishpond inspection controller sends inspection execution information to the fishpond inspection server. The inspection execution information is used to indicate the number of first inspection control commands that the fishpond inspection terminal can receive. The inspection execution information is related to the amount of inspection data processed by the fishpond inspection terminal. In the first patrol control command received by the fishpond patrol controller from the fishpond patrol server, it also indicates that the fishpond patrol server sends patrol execution information and patrol communication status information based on the patrol execution information and patrol communication status information. The patrol communication status information indicates the patrol data communication delay between the fishpond patrol terminal and the fishpond patrol server.

5. The intelligent fishpond inspection system based on industrial internet according to claim 1, characterized in that, The first pond patrol instruction set includes the second pond patrol control instruction as the mobile control instruction for the fishpond inspection terminal. The second patrol control command is defined as the patrol movement position, including coordinate information and movement distance information; Based on the patrol movement position between multiple second patrol control commands, the multiple second patrol control commands are combined to obtain the movement direction and distance of the fishpond inspection terminal. The fishpond inspection server also encodes multiple second-level patrol control commands, that is, it determines the identifier of each second-level patrol control command and establishes the association between the identifier of each second-level patrol control command, the patrol movement position between multiple second-level patrol control commands, and the temporal position relationship between multiple second-level patrol control commands. In this way, the identifier of each second-level patrol control command is used to characterize the patrol movement position and temporal position relationship between multiple second-level patrol control commands.

6. The intelligent fishpond inspection system based on industrial internet according to claim 1, characterized in that, For each first patrol control command received, the fishpond inspection terminal sends the corresponding patrol communication status information back to the fishpond inspection server. The fishpond inspection server checks the reception delay of each first fishpond inspection control command in the current first fishpond environmental image information and calculates the cumulative reception delay. Compare the cumulative delay with the preset cumulative delay; If the cumulative delay or the reception delay of any first pond patrol control command exceeds the preset delay threshold, the pond patrol server will determine that the current transmission does not meet the communication requirements. The fishpond inspection server stops receiving the current first fishpond environmental image information sent by the fishpond inspection terminal; and sends the corresponding first fishpond inspection control command for the next fishpond environmental image information to the fishpond inspection terminal.

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

8. The intelligent fishpond inspection system based on industrial internet according to claim 1, characterized in that, The detection telescopic assembly is equipped with a first electric telescopic crossbar (12), and a detection robot arm is connected to the end of the first electric telescopic crossbar (12); A water quality detection device (19) is installed at the end of the detection robot. The fishing telescopic assembly is equipped with a third electric telescopic crossbar (21), and a robotic arm is connected to the end of the third electric telescopic crossbar (21); a fishing net (32) is installed at the end of the robotic arm; and a fish recognition camera (28) is installed on the robotic arm. Obstacle avoidance sensors are provided at both ends of the rotatable body (2).

Images