Pozicioniranje bespilotne ronilice u odnosu na mrežu kaveza u ribogojilištu

undergraduate thesis

• Title (english): Visual servoing of an ROV relative to the fish cage net
• Author: Matej Fabijanić
• Mentor: Nikola Mišković (mentor)
• Committee member: Nikola Mišković (predsjednik povjerenstva)
• Committee member: Nadir Kapetanović (član povjerenstva)
• Committee member: Ivan Lončar (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Ovaj rad se bavi automatiziranjem inspekcije kaveza za ugoj ribe. Bitan podzadatak automatizirane inspekcije je održavanje optimalne udaljenosti od kaveza do ronilice. Koristeći se OpenCV Python bibliotekom kreirano je programsko rješene koje detektira ključne dijelove na strukturi kaveza. Nadalje, kreiran je i ROS čvor koji koristi poznate parametre poput širine sekcija mreže, u kombinaciji sa širinom sekcije u pikselima dobivenoj od Python skripte za procesuiranje slike kako bismo estimirali udaljenost do kaveza. Konačno, još jedan ROS čvor je kreiran koji se povezuje nazad sa Blueye ROVijem i šalje mu Twist poruke koje se koriste za kontrolu kretanja ROVa. Te poruke se temelje na estimiranoj i optimalnoj udaljenosti.

Abstract (english)

A Blueye PRO Remotely Operated Vehicle (ROV) is being adapted to perform automated inspection of marine fish farm cages as a part of the HEKTOR project. An important subtask of automated inspection is keeping an optimal distance from the ROV to the fish cage. Using OpenCV Python library for image processing a script was created that detects key points on the structure of the fish cages. Furthermore, a ROS node was created which uses known length parameters such as width of a subsection of the cage netting, in combination with found width in pixels from the image processing script, to estimate distance to the cage. Finally, a second ROS node was created which links back to the Blueye and sends Twist messages to control its movement based on the estimated and optimal distances.

• Keywords: računalni vid; ROV; Blueye; detekcija linija; estimiranje udaljenosti; ROS2; obrada slike; automatizacija; OpenCV
• Keywords (english): computer vision; ROV; Blueye; line detection; distance estimation; ROS2; image processing; automation; OpenCV
• Language: croatian
• URN:NBN: urn:nbn:hr:168:542814
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-14 20:24:43