Research On Fishing Prohibition And Inspection System Based On The Collaboration Of UAV And USV

Fishery patrol is an important means of protecting fishery resources,which can effectively combat illegal fishing activities.Fishery patrol is beneficial to the stability of aquatic ecology and the sustainable development of fishery resources.To address the research status quo of fishery patrol,a solution for collaborative inspection using unmanned aerial vehicles(UAVs)and unmanned boats is proposed based on their characteristics.UAVs are suitable for full-coverage patrol path planning of target waters due to their large coverage area,flexibility,and long-distance communication.They can also identify and collect evidence of prohibited fishing targets using high-definition cameras.This thesis adopts a collaborative patrol approach using UAVs and unmanned boats,with the UAVs patrolling the prohibited fishing waters and the unmanned boats carrying charging equipment to provide charging support for the UAVs,enabling large-scale water area inspections.The main research content and conclusions of this thesis are as follows:(1)Research on information acquisition of patrol waters based on UAVs.The UAVs use high-definition cameras to take pictures of the target patrol waters from the air,and the ground control center processes and merges the images taken by the UAVs to generate a global inspection map,providing static map input for subsequent patrol path planning.(2)Research on patrol path planning of waters.Based on the optimization algorithm of BA*,this thesis analyzes and evaluates the improved BA* algorithm.Several coverage path planning algorithms are compared and simulated,and the optimized algorithm proposed in this thesis has a coverage efficiency of 96.9% with fewer turns and path lengths,which can effectively improve the patrol efficiency.(3)Research on collaborative work of UAVs and unmanned boats.Based on the communication range between UAVs and unmanned boats,the unmanned boats plan charging points for the UAVs with a remaining battery capacity of less than or equal to 5% based on the UAVs’ travel paths,and wait for the UAVs to land.Virtual collaboration between UAVs and unmanned boats in Unity can effectively ensure their collaborative work.(4)Research on the identification of prohibited fishing targets based on YOLOv 3.This thesis constructs a dataset related to prohibited fishing scenarios and uses the YOLOv 3 algorithm to identify prohibited fishing targets and evaluate the accuracy and recall rate of target detection.The experimental results show that the proposed target identification algorithm has an accuracy of 81.83% and a recall rate of 79.22% in the prohibited fishing scenario,which can accurately identify prohibited fishing targets.The UAV and unmanned boat fishery patrol system provides a long-endurance method for large-scale fishery patrol waters,and offers useful theoretical guidance and technical support for the protection of river,lake,and sea fisheries.