A ship-machine coordinated seagrass planting equipment and planting method

Abstract

The application discloses a kind of ship machine cooperation's sea grass planting equipment and planting method, utilize the characteristics that blue-green laser is small in underwater attenuation, blue-green laser emission source is installed in the four corners above underwater planter, a super wide-angle camera is installed below water surface seed storage ship, laser emission source is identified using target detection algorithm, to track the movement of underwater planter, realize the positioning problem of long distance in vertical direction of ship machine;Through the attitude sensor on water surface seed storage ship and underwater planter, realize the attitude matching in horizontal direction;At the same time, in order to avoid the problem that the view angle of camera is limited due to too close distance when ship machine is in shallow water terrain, part of laser emission source is not identified, resulting in the decrease of machine positioning accuracy, a special-shaped reflective sticker is installed in the center of machine, a lamp strip is installed below water surface seed storage ship, the position of underwater planter is accurately positioned by identifying and tracking reflective sticker, improve the accuracy of tracking and electromagnetic matching.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of seaweed transplanting, in particular to a seaweed planting device and method based on cooperation between a ship and a machine. BACKGROUND

[0002] Seagrass is the only higher plant that can live in seawater, which is composed of leaves, rhizomes and root systems, and lives in tropical and temperate coastal waters or estuarine waters, and grows on silt or sandy sediments. Seagrass is an important marine ecosystem in addition to mangroves and coral reefs, and large-area continuous seagrass is called seagrass bed, which is the habitat for many large marine organisms and even mammals, and has important ecological significance.

[0003] Seagrass bed is easily damaged by human activities, such as eutrophication and suspended solids caused by random discharge, which greatly reduces the light penetration of seagrass bed and reduces the photosynthetic capacity of seagrass, seriously hinders the growth of seagrass and even leads to the decline of the entire seagrass population. In addition, human activities such as shrimp farming, dredging, trawling and excavation of harbor channels also cause different degrees of damage to seagrass leaves, rhizomes and root systems, resulting in the shrinkage and destruction of the entire seagrass bed.

[0004] Seagrass bed restoration is the fastest by planting seagrass seedlings artificially. In the prior art, a single intelligent seaweed transplanting method is usually used for planting. This method has the problems of small storage capacity and small single planting amount. In addition, the underwater planting machine is connected to the mother ship by a traditional ROV umbilical cable, which has a small working range and a limited working radius. If a method of providing a seed rope on the sea surface is used, it is also difficult to achieve high coordination between the base station and the underwater planting machine, and mechanical failure is prone to occur. SUMMARY

[0005] In order to overcome the above problems in the prior art, the present application provides a seaweed planting device and method based on cooperation between a ship and a machine.

[0006] The technical scheme adopted by the present application to solve its technical problems is as follows: A seaweed planting method based on cooperation between a ship and a machine, specifically comprising the following steps:

[0007] Step 1: The water surface seed storage ship moves to the planting target position together with the underwater planting machine by means of electromagnetic attraction. After reaching the planting target position, the electromagnetic attraction is lost, and the water surface seed storage ship and the underwater planting machine are separated.

[0008] Step 2: The underwater planting machine works to plant seaweed. The attitude sensor on the water surface seed storage ship ensures that the underwater planting machine and the water surface seed storage ship are matched in attitude in the horizontal direction. The depth sensor carried on the underwater planting machine detects the depth of the underwater planting machine and feeds back the data to the control module of the water surface seed storage ship.

[0009] Step 3: The control module controls the length of the cable released by the cable reel based on the data fed back by the depth sensor. At the same time, it controls the target recognition algorithm to identify the underwater planter's logo based on the depth information and adjusts the speed and direction of the surface seed storage vessel based on the recognition results to achieve coordination between the surface seed storage vessel and the underwater planter.

[0010] Step 4: After planting is completed, the underwater planter floats to the surface. The target recognition algorithm aligns the surface seedling storage boat with the underwater planter. The electromagnet on the surface seedling storage boat has magnetic force, which attracts the underwater planter and allows it to be recovered as a whole.

[0011] In the above-mentioned method for seagrass cultivation using a ship-machine collaboration, the target recognition algorithm in step 3 is the YOLOv5n model, which can identify the laser emission source and reflective sticker on the top of the underwater cultivation machine.

[0012] In the aforementioned method for seagrass cultivation using a ship-machine collaboration, step 3 specifically involves: determining the distance between the surface seed storage vessel and the underwater planter based on depth data fed back by the depth sensor; if the distance is long, the target recognition algorithm prioritizes identifying the laser emission sources at the four corners above the underwater planter to obtain the relative position information between the underwater planter and the surface seed storage vessel; if the distance is short, the target recognition algorithm prioritizes identifying the reflective marker in the middle position above the underwater planter to locate its position.

[0013] The aforementioned ship-machine collaborative seagrass planting equipment and method, specifically the process of obtaining relative position information over long distances, is as follows: the surface seed storage vessel prioritizes obtaining the relative position information between the underwater planting machine and the surface seed storage vessel by identifying the four laser emission sources above the underwater planting machine. The coordinates of the four laser emission sources are (X... i Y i ), i=1,2,3,4; the coordinates of the reflective patch are (X5, Y5), the coordinates of the feedback position are (X', Y'), and the coordinates of the destination position are (X', Y'). ^ ,Y ^ The number of laser recognitions is N.

[0014] When N = 0, the feedback position coordinates are (X... ^ ,Y ^ That is, the ship will not move;

[0015] When N = 1, 2, the feedback position coordinates are the average of the identified laser coordinates;

[0016] When N = 3, the feedback coordinates are the midpoint of the longest side (hypotenuse) of the identified triangle.

[0017] When N = 4, the feedback coordinates are the center point of the identified quadrilateral;

[0018] Because the number of laser-identified objects jumps drastically from N greater than or equal to 3 to N less than or equal to 2, the transmitted position coordinates undergo significant changes, increasing the amplitude of the ship's motion control. Therefore, an exponential smoothing method is employed, namely:

[0019] When N=1, 2, the final feedback position coordinates = α*loc1 + (1-α)*loc2;

[0020] When N>=3 or 0, the final feedback position coordinates = loc1;

[0021] Where α is a parameter, loc1 is the current calculated feedback position coordinate, and loc2 is the previous feedback position coordinate.

[0022] The specific process of obtaining relative position information at close range for the above-mentioned ship-machine collaborative seagrass planting equipment and planting method is as follows: the light strip at the bottom of the surface seed storage ship is turned on to illuminate the reflective mark above the underwater planting machine. The camera at the bottom of the surface seed storage ship captures the reflective mark, identifies the reflective mark through a target recognition algorithm, and feeds back the coordinates of the reflective mark to the control module, thus obtaining the coordinates of the underwater planting machine.

[0023] A ship-machine collaborative seagrass planting device, employing the aforementioned ship-machine collaborative seagrass planting method, includes a surface seed storage vessel and an underwater planting machine. The surface seed storage vessel and the underwater planting machine are connected by a cable. The surface seed storage vessel tracks the movement and position of the underwater planting machine. The surface seed storage vessel communicates wirelessly with a land base station. A control module is installed on the surface seed storage vessel.

[0024] The aforementioned ship-machine coordinated seagrass planting equipment includes two sets of seed delivery wheels at the front of the surface seed storage vessel, an electric shearing device at the rear of the seed delivery wheels, a seed storage tray above the surface seed storage vessel, a cable reel at the rear of the surface seed storage vessel for adjusting cable length, and a light strip, a camera for position tracking, an electromagnet for attracting the underwater planting machine, and a propeller for adjusting the relative position of the surface seed storage vessel and the underwater planting machine below the surface seed storage vessel.

[0025] The aforementioned ship-machine collaborative seaweed planting equipment has blue-green laser emission sources installed at the four corners of the top of the underwater planting machine, and a reflective sticker and depth sensor set in the middle position.

[0026] The aforementioned ship-machine collaborative seagrass planting equipment is equipped with attitude sensors that are connected to the control module on both the underwater planting machine and the surface seed storage vessel, so that the underwater planting machine and the surface seed storage vessel always maintain the same direction of movement.

[0027] The beneficial effects of this invention are as follows: This invention utilizes the characteristic of low attenuation of blue-green lasers underwater. Blue-green laser emission sources are installed at the four corners above the underwater planting machine, and an ultra-wide-angle camera is installed below the surface seedling storage vessel. A target detection algorithm is used to identify the laser emission sources, thereby tracking the movement of the underwater planting machine and solving the problem of long-distance vertical positioning of the vessel. Simultaneously, to avoid the problem of limited camera angles in shallow water, which could lead to the laser emission sources being undetectable and reducing machine positioning accuracy, a specially shaped reflective sticker is installed in the center of the machine, and a light strip is installed below the surface seedling storage vessel. The position of the underwater planting machine is accurately located by identifying and tracking the reflective sticker, improving the accuracy of tracking and electromagnetic matching. Attached Figure Description

[0028] Figure 1 This is a flowchart of the invention.

[0029] Figure 2 This is a schematic diagram of the seedling storage vessel on the water surface of the present invention;

[0030] Figure 3 This is a schematic diagram of the bottom of the seedling storage vessel on the water surface of the present invention.

[0031] 1. Seedling storage tray, 2. Seedling conveyor wheel, 3. Electric shears, 4. Electromagnet, 5. Camera, 6. Scissors box, 7. Electric push rod. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 1 As shown in the figure, this embodiment discloses a method for seagrass cultivation using a ship-machine collaboration, which specifically includes the following steps:

[0034] Step 1: The surface seedling storage boat moves together with the underwater planting machine to the planting target location by using an electromagnet. After reaching the planting target location, the electromagnet loses its magnetic force, and the surface seedling storage boat separates from the underwater planting machine.

[0035] Step 2: The underwater planter works to plant seaweed. At the same time, the depth sensor on the underwater planter detects the depth of the underwater planter and feeds the data back to the control module of the surface seed storage vessel.

[0036] Step 3: The control module controls the length of the cable released by the cable reel based on the data fed back by the depth sensor. At the same time, it controls the target recognition algorithm to identify the underwater planter's logo based on the depth information and adjusts the speed and direction of the surface seed storage vessel based on the recognition results to achieve coordination between the surface seed storage vessel and the underwater planter.

[0037] Step 4: After planting is completed, the underwater planter floats to the surface. The target recognition algorithm aligns the surface seedling storage boat with the underwater planter. The electromagnet on the surface seedling storage boat has magnetic force, which attracts the underwater planter and allows it to be recovered as a whole.

[0038] In one specific embodiment, the surface seed storage vessel is equipped with a Jetson Nano minicomputer for image inference. The target recognition algorithm in step 3 is a YOLOv5n model. By using TensorRT technology, the inference of YOLOv5n on the Jetson Nano is accelerated, enabling the algorithm to run in real time on the Jetson Nano.

[0039] The Yolov5n model is trained on a specific dataset collected during the operation of the ship's machinery. It can identify blue-green laser emission sources and reflective stickers of specific shapes in images. The Jetson Nano processes the target pixel coordinates identified by the Yolov5n model and sends them to the control module of the seed storage vessel on the water for feedback control of the vessel's movement, thereby achieving the tracking function.

[0040] Step 3 specifically involves determining the distance between the surface seedling storage vessel and the underwater planting machine based on the depth data fed back by the depth sensor. If the distance is far, the target recognition algorithm prioritizes obtaining the relative position information between the underwater planting machine and the surface seedling storage vessel by identifying the laser emission sources at the four corners above the underwater planting machine. If the distance is close, the target recognition algorithm prioritizes locating the position of the underwater planting machine by identifying the reflective mark in the middle position above the underwater planting machine.

[0041] The specific process for obtaining relative position information at long distances is as follows: The surface seedling storage vessel first obtains the relative position information between the underwater planter and the surface seedling storage vessel by using the four laser emission sources located above the underwater planter. The coordinates of the four laser emission sources are (X... i Y i ), i=1,2,3,4; the coordinates of the reflective patch are (X5, Y5), the coordinates of the feedback position are (X', Y'), and the coordinates of the destination position are (X', Y'). ^ ,Y ^ The ship's motion aims to make the feedback position coordinates as close as possible to the target position coordinates. Considering the possibility of recognition failure due to partial occlusion of markers by objects, the number of laser recognition attempts is N:

[0042] When N = 0, the feedback position coordinates are (X... ^ ,Y ^ That is, the ship will not move;

[0043] When N = 1, 2, the feedback position coordinates are the average of the identified laser coordinates;

[0044] When N = 3, the feedback coordinates are the midpoint of the longest side (hypotenuse) of the identified triangle.

[0045] When N = 4, the feedback coordinates are the center point of the identified quadrilateral;

[0046] Because the number of laser-identified objects jumps drastically from N greater than or equal to 3 to N less than or equal to 2, the transmitted position coordinates undergo significant changes, increasing the amplitude of the ship's motion control. Therefore, an exponential smoothing method is employed, namely:

[0047] When N=1, 2, the final feedback position coordinates = α*loc1 + (1-α)*loc2;

[0048] When N>=3 or 0, the final feedback position coordinates = loc1;

[0049] Where α is a parameter, loc1 is the current calculated feedback position coordinate, and loc2 is the previous feedback position coordinate.

[0050] The specific process of obtaining relative position information at close range is as follows: the light strip at the bottom of the seedling storage boat is turned on to illuminate the reflective mark above the underwater planter. The camera at the bottom of the seedling storage boat captures the reflective mark, identifies the reflective mark through a target recognition algorithm, and feeds back the coordinates of the reflective mark to the control module, thus obtaining the coordinates of the underwater planter.

[0051] In one specific embodiment, the above-mentioned seaweed planting method is applied to seaweed planting equipment, which includes a surface seed storage vessel and an underwater planting machine. The surface seed storage vessel and the underwater planting machine are connected by a cable. The surface seed storage vessel tracks the movement and position of the underwater planting machine. The surface seed storage vessel communicates wirelessly with a land base station. A control module is installed on the surface seed storage vessel.

[0052] like Figures 2-3 As shown, the front of the surface seedling storage vessel is equipped with two sets of seedling conveying wheels 2. These wheels pull the seedling ropes from the seedling storage tray and transport them to the underwater planting machine. An electric shears 3 is installed below the seedling conveying wheels 2. A seedling storage tray 1 is installed above the surface seedling storage vessel. A cable reel (not shown in the figure) for adjusting the cable length is installed at the rear of the surface seedling storage vessel. At the bottom of the surface seedling storage vessel are a camera 5 for position tracking, an electromagnet 4 for attracting the underwater planting machine, and a propeller (not shown in the figure) for adjusting the relative position of the surface seedling storage vessel and the underwater planting machine.

[0053] The electric shears are installed in the shear box 6, with two shear blades extending out of the shear box 6. Under normal conditions, the two shear blades of the electric shears 3 are open and located behind the seedling rope. When the underwater planter malfunctions, it sends a signal to the control module of the seedling storage vessel on the surface. The control module then controls the electric push rods 7 on both sides of the shear box to extend, pushing the shear box out. At this point, the seedling rope is caught between the two shear blades. A servo motor is installed inside the shear box, with a magnet above it. The control module controls the servo motor to rotate, and the magnet above the servo motor triggers a Hall element. The Hall element sends a signal to the brushless motor, which, through a gear set, drives the two shear blades to close, cutting the seedling rope. The retractable shears design prevents damage to the seedling rope during normal machine operation. Furthermore, by controlling the servo motor to drive the magnet, the electric shears can cut the seedling rope in a short time of less than 5 seconds.

[0054] The cable reel is controlled by a central motor to rotate, enabling the retrieval and deployment of the cable. The cable length is precisely controlled based on data from depth sensors on the underwater planting machine. The seedling storage vessel on the surface is equipped with a cable reel for both cable deployment and retrieval, allowing for adjustments to the cable length based on depth sensor data. This prevents the cable from being too long or too short in the water, which could negatively impact the transplanting process.

[0055] In one specific embodiment, the seedling tray 1 is installed in the middle of the seedling storage vessel on the water surface via a fixed support. A rotating shaft is provided above the fixed support, and the seedling tray is fitted onto the rotating shaft. A thrust ball bearing is provided between the seedling tray and the rotating shaft. Replacing the seedling tray only requires lifting it upwards to remove it. The design of the seedling tray, which facilitates replacement and disassembly, provides a foundation for the large-scale and industrialized transplantation of seagrass. Workers can complete the fabrication of the seedling trays in advance, and the trays can be easily replaced during working hours, improving work efficiency.

[0056] In one specific embodiment, the underwater planting machine can be any planting robot in the prior art that can realize underwater planting of seaweed. It only requires that blue-green laser emission sources be installed at the four corners of the top of the existing underwater planting robot, and reflective stickers and depth sensors be set in the middle position. Both the underwater planting machine and the surface seed storage boat are equipped with attitude sensors that are connected to the control module, so that the underwater planting machine and the surface seed storage boat always maintain the same direction of movement.

[0057] This embodiment utilizes a ship-machine collaborative method to complete seagrass transplantation. The four main processes of seedling storage, seedling transport, seeding, and seedling cutting are evenly distributed among the two main working entities: the surface seedling storage vessel and the underwater planting machine. Each entity specializes in its own area, achieving complex tasks while reducing the complexity of each subsystem and improving the overall system stability.

[0058] In each control mode (integrated placement, collaborative following, and integrated recovery), only one person on shore is needed to achieve collaborative seagrass planting between the ship and the machine, which greatly reduces the complexity of shore operators controlling two machines at the same time and improves the operability of the system.

[0059] The system integrates ship and motor power supply, with the seedling storage vessel on the water providing power to the machine. The power source is above the water, reducing the risk of water leakage and damage to the electrical system. At the same time, since the battery is transported by boat, it can carry a larger capacity battery, increasing the system's working time per cycle and making battery replacement easier.

[0060] By using wireless communication between the shore and the seedling storage vessel on the water, and wired communication between the seedling storage vessel and the underwater planting machine, remote communication and control can be achieved wirelessly from the shore, reducing the complexity of system communication and expanding the working range of seagrass transplantation.

[0061] The seedling ropes are stored on the seedling storage boat on the water surface, which reduces the weight of the underwater planting machine, increases the system's seedling storage capacity, and allows for the transplantation of more seaweed in a single planting.

[0062] The ship-machine cooperative following system disclosed in this embodiment is based on two-level recognition using blue-green lasers and reflective material markings. The two-level recognition provides a more detailed technical solution for both long-distance and short-distance ship-machine working conditions, improving the accuracy of ship-machine cooperation and reducing misidentification.

[0063] An electromagnet-based adsorption control method for ship engines. The electromagnet's power switch is controlled via a relay, a simple and easy-to-implement method. Furthermore, the electromagnet's attraction is minimally affected by seawater, and combined with a designed electromagnetic attraction structure and optical recognition control, precise engagement can be achieved.

[0064] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its scope and spirit, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A method of seagrass planting in cooperation with a ship, characterized by, Specifically comprising the following steps: Step 1, the water surface seed storage ship moves to the planting target position together with the underwater planter through the electromagnetic attraction, and after reaching the planting target position, the electromagnetic attraction loses the magnetic force, and the water surface seed storage ship is separated from the underwater planter; Step 2, the underwater planter works to plant seaweed, and the underwater planter and the attitude sensor on the water surface seed storage ship ensure that the underwater planter and the water surface seed storage ship are matched in the horizontal direction; the depth sensor carried on the underwater planter detects the depth of the underwater planter and feeds back the data to the control module of the water surface seed storage ship; Step 3, the control module controls the length of the cable released by the cable reel according to the data fed back by the depth sensor, and at the same time controls the target recognition algorithm to recognize the identification of the underwater planter according to the depth information, and adjusts the movement speed and direction of the water surface seed storage ship according to the recognition result, so as to realize the cooperation of the water surface seed storage ship and the underwater planter; Step 4, after the planting is completed, the underwater planter floats up, the water surface seed storage ship and the underwater planter are aligned in the direction through the attitude sensor, the water surface seed storage ship and the underwater planter are aligned in the position through the target recognition algorithm, and the electromagnetic attraction on the water surface seed storage ship has the magnetic force, so as to attract the underwater planter through the electromagnetic attraction and recycle integrally; The target recognition algorithm in step 3 is a Yolov5n model, and the Yolov5n model can recognize the laser emission source and the reflective sticker on the top of the underwater planter; The target recognition algorithm in step 3 according to the depth information to identify the identification of the underwater planter is specifically: judging the distance between the water surface seed storage ship and the underwater planter according to the depth data fed back by the depth sensor, if it is a long distance, the target recognition algorithm obtains the relative position information of the underwater planter and the water surface seed storage ship by recognizing the laser emission source on the four corners above the underwater planter; if it is a short distance, the target recognition algorithm locates the position of the underwater planter by recognizing the reflective identification in the middle position above the underwater planter.

2. A ship-machine cooperative seagrass planting method according to claim 1, characterized in that, The specific process of obtaining relative position information at a long distance is that the water surface seed storage ship obtains the relative position information of the underwater planter and the water surface seed storage ship by recognizing the four laser emitting sources above the underwater planter, the coordinates of the four laser emitting sources are (X i , Y i ), i=1, 2, 3, 4; the feedback position coordinates are (X’, Y’), the target position coordinates are (X ^ , Y ^ ); the number of laser recognition is N: When N = 0, the feedback position coordinates are (X ^ , Y ^ ), i.e. the boat is not moving; When N = 1, 2, the feedback position coordinates are the average of the recognized laser coordinates; When N = 3, the feedback coordinates are the midpoint of the longest side (oblique side) of the recognized triangle; When N = 4, the feedback coordinates are the center point of the recognized quadrilateral; Because the position coordinates transmitted greatly change when the number of laser recognition N jumps from greater than or equal to 3 to less than or equal to 2, the motion control range of the ship increases, and the exponential smoothing method is adopted, that is: When N = 1, 2, the final feedback position coordinates = a * loc1 + (1-a) * loc2; When N >= 3 or 0, the final feedback position coordinates = loc1; Wherein, a is a parameter, loc1 is the current calculated feedback position coordinates, and loc2 is the last feedback position coordinates.

3. A method of seagrass planting in coordination with a ship according to claim 1, characterized in that, The specific process of obtaining relative position information in a short distance is that the light belt at the bottom of the water surface seed storage ship is turned on to illuminate the reflective identification above the underwater planter, the camera at the bottom of the water surface seed storage ship captures the reflective identification, the reflective identification is recognized through the target recognition algorithm, and the coordinates of the reflective identification are fed back to the control module, that is, the coordinates of the underwater planter are obtained.

4. A ship-machine cooperative seagrass planting apparatus, characterized by, The method comprises a water surface seed storage ship and an underwater planting machine, the water surface seed storage ship is connected with the underwater planting machine through a cable, the water surface seed storage ship tracks the movement and position of the underwater planting machine, the water surface seed storage ship communicates with a land base station wirelessly, and the water surface seed storage ship is provided with a control module.

5. A ship-machine cooperative seaweed planting device according to claim 4, characterized in that, The water surface seed storage ship is provided with two groups of seed conveying wheels at the front end, an electric scissors is arranged below the seed conveying wheels, a seed storage disc is arranged above the water surface seed storage ship, a cable disc for adjusting the length of the cable is arranged at the rear end of the water surface seed storage ship, and the bottom of the water surface seed storage ship is provided with a lamp strip, a camera for position tracking, an electromagnet for adsorbing the underwater planting machine and a propeller for adjusting the relative position of the water surface seed storage ship and the underwater planting machine.

6. The ship-machine cooperative seaweed planting device according to claim 4, characterized in that, Blue-green laser emitting sources are installed at the top four corners of the underwater planting machine, and a reflective sticker and a depth sensor are arranged at the middle position.

7. The ship-machine cooperative seaweed planting device according to claim 4, characterized in that, The underwater planting machine and the water surface seed storage ship are both provided with an attitude sensor in communication connection with the control module, so that the underwater planting machine and the water surface seed storage ship always keep the same direction movement.

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