Camera control system for aquaculture

Abstract

A camera control system for camera in an aquaculture pen substantially submerged in a body of water, the system has a camera position controller which positions the camera within the pen at a predetermined position with an associated field of view and a camera image controller which identifies objects of interest in the aquaculture pen which are viewable by the camera from the predetermined position.

Description

[0001] Camera Control System for Aquaculture

[0002] Field of Invention

[0003] The present invention relates to camera control system(s) and method(s) for use in aquaculture and in particular to system(s) and method(s) for positioning a camera in a pen, cage or pond used to enclose or contain aquatic animals such as fish.

[0004] Background of the Invention

[0005] Fish farming is a type of aquaculture, which is the controlled cultivation and harvesting of aquatic animals such as fish, crustaceans, molluscs and so on, in natural or pseudonatural environments.

[0006] Global demand for dietary fish protein has increased, which has resulted in widespread overfishing in wild fisheries, resulting in significant decrease in fish stocks and even complete depletion in some regions. Fish farming allows establishment of artificial fish colonies that are provided with sufficient feeding, protection from natural predators and competitive threats, access to veterinarian service, and easier harvesting.

[0007] In many cases, pens, cages or ponds are used. These are placed in lakes, ponds, rivers, or oceans to contain and protect fish until they can be harvested. They can be constructed of a wide variety of components. Fish are stocked in cages, artificially fed, and harvested when they reach market size.

[0008] In the present application the term “pen” has its ordinary meaning which is an area of confinement typically for an animal. Accordingly an aquaculture pen is an area of confinement for an aquatic animal for the purpose of aquaculture, research or the like. Included in the definition of pen is cage or pond and it means any volume within which an aquatic animal such as a fish is enclosed for the purpose of aquaculture, research or the like. It includes open net pens which are positioned in natural waters, such as rivers, lakes, near the coast or offshore. Open net pens allow the water to flow from the surrounding through the fish farms.

[0009] In intensive fish farming, the reliable estimation of fish biomass is very important to monitor yields, feed requirements and the health of the fish. Fish biomass may be defined as a measure of the total number of fish counted in a specific area of water multiplied by the average weight of fish sampled. The average weight of fish in ponds or cages can be obtained by measuring the difference between the number of fish initially sown and countable dead fish. However, this requires manual sampling which can cause physical damage or great stress to fish, affecting its welfare and growth.

[0010] Welfare issues and the fact that sampling is very time consuming and inaccurate have led to the creation of a number of non-invasive techniques.

[0011] Various methods for the quantification of fish biomass in cages or ponds have been developed and include:

[0012] Machine vision based on visible light or infra-red;

[0013] Fish mass measurement;

[0014] Fish counting;

[0015] Direct fish biomass estimation;

[0016] Active and passive acoustics-based methods; and Environmental DNA (eDNA)-based methods.

[0017] Of these, machine vision methods are of particular interest because of the many image processing and machine learning techniques which exist can be applied to improve the accuracy and efficiency of the methods.

[0018] Machine vision includes technology and methods which provide imaging-based automatic inspection and analysis of a subject. In the case of measurement of fish biomass, one or more camera is used to capture images of the fish in the cage or pen and to use process these images to determine fish biomass.

[0019] SHORTIS et al in 2013 in ‘A review of techniques for the identification and measurement of fish in underwater stereo-video image sequences’ SPIE 8791, Videometrics, Range Imaging, anFlengthd Applications XII; and Automated Visual Inspection, 87910G (23 May 2013); doi: 10.1117 / 12.2020941 describe a wide review of the technology and techniques including stereo vision using two cameras. This included establishing a training set of images and capturing background, validating candidate regions as fish, and updating the background using the non-fish areas, and repeating,

[0020] WO2019232247 SHANG AQUABYTE describes biomass estimation in an aquaculture environment using an immersed stereo camera system that captures stereo images of freely moving fish and automatically identifies and estimates specific combinations of fin to fin, body depth, and length dimensions, that are learned from the stereo images to predict weight with a high degree of accuracy.

[0021] WO2019232247 SHANG describes a first process called ‘object detection and image segmentation’ uses machine learning to identify boundary boxes and / or segmentation masks of fish based on a two-dimensional (2D) input image (x, y co-ordinates). The second process is the ‘stereo matching and occlusion handling’ process in which a stereo pair of images are matched pixel by pixel to develop a disparity map, again pixel by pixel, from which x, y, z coordinates of each pixel can be developed (e.g. using well-known geometric constructions).

[0022] Other issues may arise which also result in discarding of data e.g. changing light, turbidity and / or speckle, water temperature and so on, resulting in contamination of, or incomplete, images over time

[0023] As well as the issues which arise from the environmental and data processing factors which may influence the quality of the measurements, there is a need to ensure that the physical hardware, typically one or more camera, is deployed in a manner which improves (and in some embodiments optimises) the chances of obtaining more accurate biomass measurements.

[0024] Summary of the Invention

[0025] In accordance with a first aspect of the invention there is provided a camera control system for camera in an aquaculture pen substantially submerged in a body of water, the system comprising: a camera position controller which is configured to position a camera within the pen at at least one (preferably two or more) predetermined position(s) with at least one (preferably two or more) associated field(s) of view; a camera image controller which identifies objects of interest in the aquaculture pen which are viewable by a camera from the at least one predetermined position.

[0026] The camera position controller position may be configured to position a camera within the pen at first and second predetermined positions, each with one or more, preferably two or more, associated fields of view.

[0027] Preferably, the camera control system may comprise a camera. Preferably, the camera position controller is configured to control the position of a camera in a z-direction (e.g. in a vertical direction, e.g. within expected tolerances) which is the depth to which a or the camera is submerged in the body of water.

[0028] Preferably, the camera position controller is configured to control the position of a or the camera in an xy plane, e.g. parallel to the top of the aquaculture pen (e.g. to its upper frame). This xy plane is typically horizontal e.g. within expected tolerances.

[0029] Preferably, the camera position controller is programmable.

[0030] Preferably, the camera position controller is programmed to move a or the camera in the z direction (e.g. vertically) to a plurality of positions separated by one or more predetermined distance intervals.

[0031] Preferably, the camera position controller is configured to control (e.g. set, or to determine and set) the time interval for which a or the camera is located at at least one predetermined position.

[0032] Preferably, the camera position controller is configured to control the direction in a or the xy plane in which a or the camera is pointing to control a or the camera’s field of view.

[0033] More preferably, a or the camera may be rotated up to 180° in either direction (e.g. about an axis in the z direction (e.g. about a vertical axis) and / or about an axis lying in an xy plane (e.g. about a horizontal axis).

[0034] Rotation (e.g. about a vertical axis in the z direction and / or a horizontal axis in the xy plane) can give a field of view which is 360° around the one or more predetermined positions of a or the camera.

[0035] Preferably, the camera position controller is configured to control the direction in a or the z plane (e.g. in a vertical (up and down) direction, for example about an axis lying in the (typically horizontal) xy plane)) in which a or the camera is pointing to control the camera’s field of view (e.g. up and down).

[0036] Preferably, the camera image controller is programmable to recognise an object of interest. Preferably, the camera image controller, once an object of interest has been recognised, is configured to track movement of the object of interest.

[0037] Preferably, the camera image controller is configured to create an instruction to the camera position controller to change the position of a or the camera to alter one or more of i) the field of view ii) position along (e.g. along the height of a z axis) iii) direction pointing around a vertical axis (e.g. z direction) and / or horizontal axis (e.g. about an axis lying in an xy plane) (e.g. from one predetermined field of view to another predetermined field of view, for example about a horizontal axis and / or about a vertical axis) in response to the tracked movement of the object of interest and / or in response to environmental conditions.

[0038] Preferably, the camera image controller is programmable to recognise the absence and / or presence of an object of interest and can create an instruction to a or the camera position controller to change the position of a or the camera to look for a or the object of interest.

[0039] Preferably, the system comprises a movable camera mount.

[0040] Preferably, a or the camera is provided, connected to a or the movable camera mount.

[0041] Preferably, the system comprises a winch. Preferably, the winch comprises a winch cable, motor, and associated spool.

[0042] Preferably, a or the camera and / or camera mount is connected to a or the winch cable of a or the winch, wherein the winch cable is mounted on a spool and wherein rotation of the spool is actuated by a winch motor which is controlled by the camera position controller.

[0043] Preferably, the position of the camera in the z direction (e.g. typically a vertical direction) is set (e.g. determined) by the length of one or more winch cable(s).

[0044] Preferably, the position of the camera in the xy direction (e.g. typically a horizontal direction) is set (e.g. determined) by the position of the winch (e.g. on the cable).

[0045] Optionally, the camera is connected to a cable system which comprises (e.g. at least) a first and a second cable support, the cable supports being mountable on or near an aquaculture pen above a top surface of the aquaculture pen, each cable support is coupled to the camera by means of a cable (e.g. a respective cable, or respective cable portion) such that the supports and camera are mutually coupled and the camera is positioned below the top surface of the aquaculture pen wherein the distance between the camera and first and second cable supports is determined by adjusting the length of the cable between the camera and respective first and second supports, wherein the cable system allows the camera to be positioned (e.g. in a line) between the cable supports and at a depth below the supports.

[0046] In one or more embodiments, the system comprises a cable system, and / or the cable system comprising first, or first and second, or first, second and third cable supports for one or more cables (or cable portions) of the cable system.

[0047] Optionally, the camera is connected to a cable system which comprises at least one additional cable support wherein the cable system allows the camera to be positioned between the three or more cable supports and at a depth below the cable supports. Where two or three or more cable supports are provided, these may be mutually separated, preferably mutually equi-spaced about a periphery (e.g. a circumference) of an upper (e.g. top) of a pen, (e.g. about a rigid upper frame of a pen)).

[0048] In accordance with a second aspect of the invention there is provided a method for controlling a camera in an aquaculture pen which is substantially submerged in a body of water, the method comprising: positioning the camera within the pen at a predetermined position with at least one associated field of view using a camera positioning module (such as the camera position controller) which controls a movable camera mount (e.g. to position the camera pointing at one or more field(s) of view); identifying on camera, objects of interest in the aquaculture pen which are viewable by the camera from the predetermined position using a camera control module (such as the camera image controller).

[0049] Preferably, the position of a or the camera in an xy plane substantially parallel (e.g. horizontal) to the top of the aquaculture pen is controlled.

[0050] Preferably, the position of a or the camera in a z-direction which is the depth to which the camera is submerged in the body of water is controlled. Preferably, a or the camera is movable in the z direction to a plurality of positions separated by predetermined distance intervals.

[0051] Preferably, the time interval for which the camera is located at one or more predetermined position(s) is controllable.

[0052] Preferably, the direction in the xy plane in which a or the camera is pointing to control the camera’s field of view is controllable.

[0053] More preferably, a or the camera may be rotated up to 180° in either direction (e.g. about a vertical and / or a horizontal axis).

[0054] Rotation can give a field of view which is 360° around the position of the camera.

[0055] Preferably, the direction in the z plane in which a or the camera is pointing to control the camera’s field of view is controllable.

[0056] Preferably, once an object of interest has been recognised, movement of the object of interest is trackable.

[0057] Preferably, the camera image controller can create an instruction to the camera position controller to change the position of a or the camera to alter the field of view in response to the tracked movement of the object of interest or in response to environmental conditions.

[0058] Preferably, an absence and presence of an object of interest may be determined and can create an instruction to a or the camera and / or to the camera position controller to change the position of the camera and / or camera mount to look for the object of interest.

[0059] In one or more embodiments, the present invention can controllably vary the time interval spent by the camera at one or more particular location(s) and / or can controllably vary the time interval spent looking at one or more particular field(s) of view at each location.

[0060] A computer program with program instructions for implementing the method of the second aspect of the invention may be provided.

[0061] Brief Description of the Drawings Example embodiments of the present invention will now be described, by way of example only, with reference to the drawings, in which:

[0062] Figure 1 is a schematic perspective view of an aquaculture pen;

[0063] Figure 2 is a block diagram of a first embodiment of the system in accordance with the present invention;

[0064] Figure 3 is a block diagram of a second embodiment of the system in accordance with the present invention;

[0065] Figure 4 is a flow diagram of an further example embodiment, here of a method, in accordance with the present invention;

[0066] Figure 5 is a schematic plan view of a pen in an example embodiment of the present invention, in use;

[0067] Figure 6 is a schematic side view of a pen (e.g. the pen of Figure 6) in an example of the present invention, in use;

[0068] Figure 7 is a schematic diagram of a winch for use in one or more embodiment(s) of the system(s) and / or method(s) of the present invention;

[0069] Figure 8 is schematic side view of a cable system for two-dimensional movement of a camera, for use in one or more embodiment(s) of the system(s) and / or method(s) of the present invention; and

[0070] Figure 9 is schematic perspective view of a cable system for three-dimensional movement of a camera for use in one or more embodiment(s) of the system(s) and / or method(s) of the present invention.

[0071] Detailed Description of the Drawings

[0072] In at least one embodiment, the present invention provides system(s) and / or method(s) for positioning a camera in an aquaculture pen. It provides a control system which sets the position and / or the field of view, optionally the duration(s) (e.g. time interval) spent in one or more position(s) and / or looking in one or more field(s) of view, and may also recognise and monitor objects of interest, such as fish by recognising and tracking them in the aquaculture pen.

[0073] Figure 1 is a schematic, perspective view of an aquaculture pen of a type typically used in fish farming or other types of aquaculture and in which the present invention may be used. It will be appreciated that other shapes and configurations exist and that the present invention is suitable for use in a range of aquaculture pens.

[0074] Figure 1 shows a pen 1 with a top (or upper) section 3 (optionally just proud of a water level). In some examples, a central cage 5 is provided. The outer top circumference of the pen is defined by a rigid, here circular, frame 7 which is supported by buoyancy members 9 about its circumference. The side wall 11 of the pen 1 comprises an enclosing barrier 13, most usually netting, which functions to keep the fish inside the pen. A bottom frame 15 comprises a rigid, here circular, frame and the bottom of the pen also comprises an enclosing barrier (not shown) which is also typically netting, similar to the side wall 11. Mooring ropes / tethers (not shown) retain the pen in position in a body of water 17.

[0075] Figure 2 is a block diagram of first embodiment of the system in accordance with the present invention.

[0076] The camera control system 21 comprises a camera position controller 23, which controls the position of a camera 33 in a pen e.g. pen 1 of Figure 1. The position controller 23 can set the overall position of the camera 33 in the pen 1 and the orientation of the camera 33 to determine the field of view of the camera 33. To achieve this, the camera position controller 23 is connected to a movable camera mount 31 which controls the overall position of the moveable camera 33 in the pen.

[0077] As will be appreciated below with reference to Figures 7 to 9, the position of the camera 33 and the extent to which it may be moved in the x, y and z directions within the pen is dependent upon the type of cable suspension system being used.

[0078] The camera 33 may be rotated about one or more axes (e.g. perpendicular axes, such as vertical and horizontal) so as to view the inside of the pen at 360° around the position of the camera e.g. when fixed in any predetermined position. In this example, the field of view is controlled by rotation of the movable camera mount 31. Data links 35 and 37 communicate control signals and / or data to and from the movable camera mount. Camera image controller 25 controls various aspects of the image which is received from the camera 33 and the processing of the image. This is facilitated by the transmission of data and / or control signals between the camera image controller 25 and the camera 33 via links 39, 41.

[0079] Figure 3 is a block diagram of second embodiment of the system in accordance with the present invention. In this example, the camera position controller 23 is also connected via a link 42 to the camera 33 so that the orientation of the camera and its field of view are controlled directly by the camera position controller 23 (e.g. when mounted on and with respect to the movable camera mount 31 and / or independently of movement of the movable camera mount). This allows the camera 33 to be rotated so as to view the inside of the pen at 360° around the position of the camera. Thus, in some embodiments, movable camera mount 31 may provide translational movement of the camera (e.g. in x, y and z directions), and the camera may rotate with respect to the movable camera mount 31 , so e.g. so as to alter its field of view.

[0080] Figure 4 is a flow diagram of an embodiment of a method 51 in accordance with the present invention. The method 51 comprises 1) positioning the camera within the pen at a predetermined position with an associated field of view using a camera positioning module which controls a moveable camera mount 53 and 2) identifying on camera, objects of interest in the aquaculture pen which are viewable by the camera from the predetermined position using a camera control module 55.

[0081] The controller programme can be either within a computer located at or near the pen (for example within a local housing 142, seen in Figure 9, on the pen frame), or programmed in a portal which may be a user interface on a software application, and the functions of the controller sent as commands over a network for example a broadband cellular network such as 3G / 4G, a modem, a wired computer network such as ethernet or a wireless network wi-fi or Bluetooth. In this example, commands are fully remote and feedback about camera position is sent to the portal.

[0082] Figures 5 and 6 are schematic plan and side views respectively of an example of the present invention, in use. The figures show an aquaculture pen 63 and define an x axis 65, y axis 67 (both typically substantially horizontal) and z axis 78 (typically substantially vertical). The figures show a camera at a first predetermined position 69, that is, the position to which the camera has been moved using the camera position controller which controls the position of the moveable camera typically by means of one or more cables connected to a camera mount (not shown). The associated (first) field of view 71 is the field of view which is (e.g. initially) selected at the first predetermined position 69. At the first predetermined position 69, two objects of interest 73 and 75 are shown. Only object 75 is within the field of view 71.

[0083] Figure 6 shows a second field of view 76 for the first predetermined position 69. In this case, object 73 is within the field of view 76. The camera has been rotated under control of the camera position controller 23, when at first predetermined position 69 about an axis in the xy plane so that the camera now looks down at second field of view 76 (instead of sideways as in first field of view 71).

[0084] Figures 5 and 6 also show the camera at a second predetermined position 80. In accordance with the present invention, the camera position controller 23 controls the moveable camera mount 31 to move the camera to the second position 80.

[0085] Second predetermined position 80 is shown in figures 5 and 6 with one object of interest 77 shown in figure 5 and a second 79 is shown in figure 6.

[0086] The camera shown at the second predetermined position 80 has been moved using the camera position controller 23 which controls the position of the moveable camera typically by means of one or more cable connected to a camera mount. The associated field of view 82 is the field of view, here in the xy plane, which is selected at the second predetermined position. At the second predetermined position, one object of interest 77 is shown. Objects 77 is within the field of view 82.

[0087] Figure 6 shows a second field of view 84, here for example perpendicular to the first field of view 82, in the xz plane, for the second predetermined position 80. In this case, object 79 is now within the field of view.

[0088] The camera image controller 25 is used to detect and recognise objects of interest and can distinguish between the movement of a detected object and / or the presence of a different object particularly of different types. Recognition of an object and that in some embodiments the camera orientation may be changed, allows the system and method of the preset invention to track objects of interest in these embodiments. Figures 7 to 9 show examples of mechanisms which may be used to position the camera at a predetermined position.

[0089] Figure 7 is a schematic diagram of a winch 91 for use in at least one embodiment of the system and method of the present invention. The winch 91 comprises a motor 93 a winch drum / spooling drum 95, gear train 97, cable 99 and camera 101. A winch of this, or similar, design functions to move a cable 99 to and fro in a single direction. With reference to figures 1, 5 and 6 this would usually be the one z (e.g. vertical) direction which is the depth below the surface. Of course, one or more similar winches 91 may be used, with suitable adaptation, with two or more cable supports as will be described below.

[0090] Figure 8 is schematic side view of a cable system for two-dimensional movement of camera for use in at least one embodiment of the system(s) and method(s) of the present invention. Figure 8 shows a cross-sectional view of pen 111, with water 112 also shown. The pen has a top first side 113 and a top second side 115. A cable system comprises a first cable support post 117 and a second cable support post 119 from which cables 125, 127 extend and are coupled to a camera 123. An umbilical cable 121 provides power and communications to the camera. Alteration of the length of the cables (e.g. by suitable winch mechanisms 91) controls the linear (right and left) position and depth position of the camera.

[0091] Figure 9 is schematic perspective view of a cable system for three-dimensional movement of a camera for use in at least one embodiment of the system(s) and method(s) of the present invention.

[0092] Figure 9 is a perspective view of pen top 131 which has a top ring 132 (here a rigid circular frame), a first cable support post 133, a second cable support post 135 and a third cable support post 137, all of which are coupled to a camera 141 via first, second and third cables (or cable portions) 143, 145 and 147 respectively. Umbilical cable 139 provides power and communications to the camera 141. Alteration of the length of the cables controls one or more of the x, y and z positions (e.g. see Figure 6) of the camera 41.

[0093] Further, providing three or more cable supports 133, 135, 137 for a camera (in some embodiments above an upper frame 132) and associated cables or cable portions 143, 145, 147, facilitates more varied and / or accurate positioning, both in a vertical (z) direction and in various horizontal (xy) planes along the vertical (z) axis.

[0094] Housing 142 on upper frame 132 of the pen may house one or more of the camera position controller and camera image controller.

[0095] The present invention provides an improvement over and above a standard manually controlled winch of the type used on fish farms.

[0096] The use of a camera in examples of a system and method of the present invention is briefly described herein.

[0097] The camera unit may comprise three cameras, e.g. a three-dimensional camera comprising a pair of stereo (2x2D) cameras, and a colour or monochrome high resolution camera.

[0098] Typically, the cameras in each respective camera unit (e.g. see camera 141 in Figure 9) are provided vertically in line with one another along a vertical axis so that each camera within a given camera module faces outwardly in the same lateral direction. Typically, the two cameras within a pair of stereo cameras have the same field of view.

[0099] Indeed, the fields of view of the 2x2D (pair) of stereo cameras, and the high-definition camera also typically overlap. As these cameras all face in the same lateral direction and are closely spaced one above the other in a line, this means that (e.g. when pointing horizontally for example) they view more or less the same vertical height range.

[0100] In use, the cameras and associated processing in the image controller detect and segment the objects, track the detected objects in more than one frame within a camera module and estimate the dimensions of the object.

[0101] Object detection and segmentation may be achieved as follows. Firstly, in a 2D image, boundary boxes for fish and / or for key points are determined e.g. using machine learning tools, for example neural networks e.g. a region proposal network (RPN), faster R-CNN, mast RCNN etc. A segmentation mask of the fish on a 2D image may be determined, again using a suitable machine learning tool such as neural networks etc. A depth camera, e.g. a stereo (2x2D), and / or a time-of-flight (ToF) camera, may then be used to measure a depth map. Optionally, machine learning tools e.g. neural networks may be used to determine boundary boxes of fish and / or of key points of fish and / or to segment a depth map. Once boundary boxes of fish and / or of key points and / or segmentation of fish have been carried out on a 2D image, the corresponding 3D image (from the corresponding 3D camera in the same camera module) may be used to map onto the corresponding pixels in a 3D camera, e.g. on a pixel by pixel (pixel wise) basis, to determine the depth of the boundary boxes of the fish and / or the boundary boxes of the key points of the fish and / or of other elements of the fish and / or to determine a segmentation mask in the 3D image e.g. based on boundary boxes of fish and / or boundary boxes of key points of fish and / or more preferably the segmentation mask from the 2D image.

[0102] In one or more preferred embodiments, clustering tools such as unsupervised clustering tools, for example DBSCAN, may be used to segment the depth map. Where segmentation masks and / or boundary boxes have been determined in a 2D image these may be compared to corresponding segmentation masks and / or boundary boxes in the 3D image to determine if these are the comparable e.g. a probability of quality and / or quality factor can be determined, thus, a quality check on the images can be carried out. This may involve comparison of the shapes and / or sizes of the boundary boxes and / or segmentation masks e.g. using least square fit and / or other regression analysis e.g. between a frame in the 2D image and the corresponding frame in the 3D image and / or across multiple frames to assess probability of the object being a fish and / or of sufficient quality. Objects may be tracked across frames, typically within the camera module.

[0103] Therefore, a fish may be tracked about a significant proportion of its journey. This means that images of fish at different locations with respect to the camera under the ambient light can be seen. In at least one embodiment, the machine learning algorithm for tracking fish is trained and loaded onto the camera. The controller on a portal or other remote location can instruct the camera to go hunting for a “fish” or other object which the camera and associated machine learning algorithms have been trained to recognise.

[0104] In one or more embodiment, the camera may be programmed to move in a preordained fashion which can be commanded from the controller on the portal or other remote location. In at least one embodiment, the camera can receive instructions to “roam” and seek fish that it hasn’t already been trained to recognise, but within certain parameters (e.g. search and find but don’t go lower than 8m, don’t spend more than 1 hour looking in the same place, don’t go across the pen more than 5m).

[0105] The camera could be set up to seek fish and / or to move up and down and / or around the pen (e.g. in one or more xy planes) on a timer, so for one or more predetermined periods of time, at one or more time intervals. It may also be configured to move to an optimal location of light conditions and to change position where turbidity in the water is making the camera conditions too difficult for the capture of fish in the machine learning model.

[0106] The present invention may also respond to changes in environmental conditions, for example water turbidity. If the positive detections of fish have started to reduce, the brightness of the images may be checked and the machine learning (ML) model can elect to raise the camera level until lighting conditions (brightness) improve and more fish start to be detected again. For turbidity, if detections go down due to lots of bubbles in the water, the camera can elect to move position until picture clarity is improved and detections go up. Thus, camera motion and / or position and / or orientation may be controlled by the camera position controller in response to one or more environmental conditions.

[0107] In one or more embodiments the invention provides a controllable camera system comprising:

[0108] - a camera;

[0109] - a controllable winch system;

[0110] - a camera position controller for controlling the position of the camera (e.g. for controlling the camera winch system to move the camera about the pen in preferably in x, y and z directions, and / or for controlling a movable (e.g. rotatable) camera mount configured to rotate the camera to face in two or more directions, e.g. in a discretely, or in a continuously, variable manner); and

[0111] - a camera image controller configured to identify objects of interest (e.g. to use Al such as machine learning) to identify objects of interest; whereby the camera may be moved both horizontally and vertically about the pen, and / or can be orientated to face one of more fields of view, to view multiple regions of the pens (and so view objects of interest in varying locations about the pen).

[0112] In one or more embodiments described herein way a camera system can be configured to operate essentially autonomously, throughout a pen, without requiring human intervention e.g. with intelligence to decide if the entire pen has been viewed, or if a particular region deserves further attention.

[0113] By varying the camera position (in other words its location) and / or orientation at one or more positions, preferably autonomously, particularly in response to external factors (e.g. presence or absence of objects of interest, light, turbidity, crowding of objects, motion of objects etc), a ‘self-driving’ camera system is provided. Such a self-driving system can be configured to search out particular objects within a pen, such as particular fish with particular markings, or even outside a pen such as a predator approaching the pen (causing crowding of objects such as fish in an opposite direction) and so on.

[0114] Further the number of observations in varying positions can be much increased with reduced on-site human presence required, e.g. typically only at site set up.

[0115] Further the observations can be concentrated in in time at particular locations, and / or with particular orientations, by providing for the camera position controller to set the time interval for the camera to spend time in one or more locations (in x, y and z coordinates) about the pen and / or in one or more orientations about the pen. Thus an entire pen can be observed (patrolled) by the camera with certain locations within the pen being subject to more or fewer observations, as deemed required by the camera position controller, and in particular by the camera position controller and the camera image controller working in concert.

[0116] Some of the embodiments of the invention described with reference to the drawings comprise a method implemented on computer apparatus and / or processes performed in a computer apparatus. However, the invention also extends to computer programs, particularly computer programs stored on or in a carrier adapted to bring the invention into practice. The program may be in the form of source code, object code, or a code intermediate source and object code, such as in partially compiled form or in any other form suitable for use in the implementation of the method according to the invention. The carrier may comprise a storage medium such as ROM, e.g. CD ROM, or magnetic recording medium, e.g. a memory stick or hard disk. The carrier may be an electrical or optical signal which may be transmitted via an electrical or an optical cable or by radio or other means.

[0117] The foregoing description details presently preferred embodiments of the present invention. Numerous modifications and variations in practice thereof are expected to occur to those skilled in the art upon consideration of these descriptions. Those modifications and variations are intended to be encompassed within the claims appended hereto.

[0118] List of Reference Numerals

[0119] I pen

[0120] 3 top section (of pen), e.g. above water level

[0121] 5 central cage

[0122] 7 a top or upper frame, typically rigid (and circular) defining uppermost outer circumference of the pen

[0123] 9 buoyancy members

[0124] I I side of pen

[0125] 13 enclosing barrier (e.g. net)

[0126] 15 a bottom or lower frame, typically rigid (and circular) defining a lowermost outer circumference of the pen.

[0127] 17 body of water

[0128] 21 camera control system

[0129] 23 camera position controller

[0130] 25 camera image controller

[0131] 27, 29 control and / or data links between camera position controller 23 and camera image controller 25

[0132] 31 moveable camera mount

[0133] 33 camera

[0134] 35,37 control and / or data link between camera position controller and movable camera mount

[0135] 39, 40 control and / or data link between camera image controller 25 and camera 33

[0136] 42 control and / or data link between camera position controller 23 and camera 33

[0137] 51 method of positioning a camera

[0138] 53 step of controlling movable camera mount

[0139] 55 step of identifying one or more object(s) of interest (e.g. using a camera image controller and / or a separate camera control module).

[0140] 63 aquaculture pen

[0141] 65 x axis

[0142] 67 y axis

[0143] 69 first predetermined position

[0144] 71 first field of view at (e.g. selected at) first predetermined position 69

[0145] 73, 75 objects of interest

[0146] 76 second field of view at (e.g. selected at) first predetermined position 69

[0147] 78 z axis

[0148] 77, 79 objects of interest

[0149] 80 second predetermined position

[0150] 82 first field of view at (e.g. selected at) second predetermined position 80

[0151] 84 second field of view at (e.g. selected at) second predetermined position 80

[0152] 91 winch

[0153] 93 motor

[0154] 95 drum

[0155] 97 gear train

[0156] 99 cable

[0157] 101 camera

[0158] I I I pen

[0159] 112 water

[0160] 113 top first side 115 top second side

[0161] 117 first post of cable system

[0162] 119 second post of cable system

[0163] 121 umbilical cable 123 camera

[0164] 125, 127 first and second cables

[0165] 131 pen top

[0166] 132 top ring or upper frame of pen (e.g. like upper frame 7 of Fig. 1)

[0167] 133 first post 135 second post

[0168] 137 third post

[0169] 139 umbilical cable

[0170] 141 camera

[0171] 143 first cable 145 second cable

[0172] 147 third cable

Claims

Claims1. A camera control system for a camera in an aquaculture pen which is substantially submerged in a body of water, the system comprising:- a camera position controller which is configured to position a camera within the pen at at least one predetermined position with at least one associated field of view; and- a camera image controller which identifies objects of interest in the aquaculture pen which are viewable by a camera from the at least one predetermined position.

2. The camera control system as claimed in claim 1 wherein, the camera position controller is configured to control the position of a camera in a z-direction which is the depth to which a camera is submersible in a body of water.

3. The camera control system as claimed in claim 1 or claim 2 wherein, the camera position controller is configured to control the position of a camera in an xy plane parallel to the top of an aquaculture pen.

4. The camera control system as claimed in any preceding claim wherein, the camera position controller is programmable.

5. The camera control system as claimed in any preceding claim wherein, the camera position controller is programmed to move a camera in the z direction to a plurality of positions separated by one or more predetermined distance intervals.

6. The camera control system as claimed in any preceding claim wherein, the camera position controller is configured to control the time interval for which a camera is located at at least one predetermined position and / or in at least one orientation.

7. The camera control system as claimed in any preceding claim wherein, the camera position controller is configured to control the direction in an xy plane in which a camera is pointing to control the camera’s field of view.

8. The camera control system as claimed in any preceding claim wherein, a camera may be rotated up to 180° in either direction.

9. The camera control system as claimed in any preceding claim wherein, the camera position controller is configured to control the direction in a vertical direction (e.g.in the z plane) in which the camera is pointing to control the camera’s field of view.

10. The camera control system as claimed in any preceding claim wherein, the camera image controller is programmable to recognise an object of interest.

11. The camera control system as claimed in claim 10 wherein, the camera image controller, once the object of interest has been recognised, is configured to track movement of the object of interest.

12. The camera control system as claimed in any preceding claim wherein, the camera image controller is configured to create an instruction to the camera position controller to change the position of a or the camera to alter the field of view in response to the tracked movement of the object of interest and / or in response to environmental conditions and / or in response to one or more other conditions.

13. The camera control system as claimed in any preceding claim wherein, the camera image controller is programmable to recognise the absence and / or presence of an object of interest and can create an instruction to a or the camera position controller to change the position of a or the camera to look for a or the object of interest.

14. The camera control system as claimed in any preceding claim wherein, the camera is connected to a or the movable camera mount.

15. The camera control system as claimed in any preceding claim wherein, a camera and / or camera mount, a winch, a winch cable, a winch motor, and a spool are provided and the camera and / or camera mount is or are connected to a winch cable of the winch, wherein the winch cable is mounted on the spool and wherein rotation of the spool is actuated by the winch motor which is controlled by the camera position controller.

16. The camera control system as claimed in claim 15 wherein, the predetermined position of the camera in the z direction is determined by the length of the winch cable.

17. The camera control system as claimed in claim 15 or claim 16 wherein, the position of the camera in the xy direction is determined by the position of the winch.

18. The camera control system as claimed in any preceding claim wherein, the camera is connected to a cable system which comprises a first and second cable support, the cable supports being mountable on or near an aquaculture pen above a top surface of the aquaculture pen, each cable support is coupled to a or the camera by means of a cable such that the cable supports and camera are mutually coupled and the camera is positioned below the top surface of the aquaculture pen wherein the distance between the camera and first and second cable support is determined by adjusting the length of the cable between the camera and respective first and second cable supports, wherein the cable system allows the camera to be positioned (e.g. in a line) between the cable supports and at a depth below the supports.

19. The camera control system as claimed in any claim 18 wherein, the camera is connected to a cable system which comprises at least one additional cable support wherein the cable system allows the camera to be positioned between three or more cable supports and at a depth below the supports.

20. A method for controlling a camera in an aquaculture pen which is substantially submerged in a body of water, the method comprising: positioning a or the camera within the pen at a predetermined position with at least one associated field of view using a camera positioning module which controls a moveable camera mount; and identifying on camera, objects of interest in the aquaculture pen which are viewable by the camera from the predetermined position using a camera control module.

21. The method as claimed in claim 20 wherein, the position of the camera in an xy plane parallel to the top of the aquaculture pen is controlled.

22. The method as claimed in claim 20 or claim 21 wherein, the position of the camera in a z-direction which is the depth to which the camera is submerged in the body of water is controlled.

23. The method as claimed in any of claims 20 to 22 wherein, a or the camera is movable in the z direction to a plurality of positions separated by predetermined distance intervals.

24. The method as claimed in any of claims 20 to 23 wherein, the time interval for which a or the camera is located at a predetermined position is controllable.

25. The method as claimed in any of claims 20 to 24 wherein, a direction in the xy plane in which a or the camera is pointing to control the camera’s field of view is controllable.

26. The method as claimed in any of claims 20 to 25 wherein, the camera may be rotated up to 180°.

27. The method as claimed in any of claims 20 to 26 wherein, the direction in the z plane in which a or the camera is pointing to control the camera’s field of view is controllable.

28. The method as claimed in any of claims 20 to 27 wherein, once an object of interest has been recognised, movement of the object of interest is trackable.

29. The method as claimed in any of claims 28 wherein, the camera image controller can create an instruction to the camera position controller to change the position of a or the camera to alter the field of view in response to the tracked movement of the object of interest or in response to environmental conditions.

30. The method as claimed in any of claims 20 to 29 wherein, an absence and presence of an object of interest may be determined and can create an instruction to a or the camera to change the position of the camera to look for the object of interest.

31. A computer program with program instructions for implementing the method of any of claims 20 to 30.

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