Automatic Inspection of Cage Integrity with Underwater Vehicle

• Main Author: Jakobsen, Rolf Arne Hult
• Format: Others
• Language: English
• Published: Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk 2011
• Subjects: ntnudaim:5945; MTTK teknisk kybernetikk; Reguleringsteknikk
• Online Access: http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-14765

This thesis is a preliminary study for the initiative to develop an autonomous AUV foruse in aquaculture. A micro-ROV is used to test the concept of inspecting net integrityin sh cages by analyzing video feed from a video camera. Software is developed, including an interactive GUI, thruster control, and the analysis algorithms. A lasermodule is also developed to measure the distance between the ROV and sh cage usingtwo laser line generators. The conclusion is that checking for net integrity with a camera and computer vision software is a viable option in a future AUV. The laser module works well, providing reliable distance measurements for the ROV.