YOLO-PWSL-Enhanced Robotic Fish: An Integrated Object Detection System for Underwater Monitoring

Abstract

In recent years, China has been promoting aquaculture, but extensive water pollution caused by production activities and climate changes has resulted in losses exceeding 4.6 × 107 kg of aquatic products. Widespread water pollution from production activities is a key issue that needs to be addressed in the aquaculture industry. Therefore, dynamic monitoring of water quality and fish-specific solutions are critical to the growth of fry. Here, a low-cost, small, and real-time monitorable bionic robotic fish based on YOLO-PWSL (PConv, Wise-ShapeIoU, and LGFB) is proposed to achieve intelligent control of aquaculture. The bionic robotic fish incorporates a caudal fin for propulsion and adaptive buoyancy control for precise depth regulation. It is equipped with various types of sensors and wireless transmission equipment, which enables managers to monitor water parameters in real time. It is also equipped with YOLO-PWSL, an improved underwater fish identification model based on YOLOv5s. YOLO-PWSL integrates three key enhancements. In fact, we designed a multilevel attention fusion block (LGFB) that enhances perception in complex scenarios, to optimize the accuracy of the detected frames, the Wise-ShapeIoU loss function was used, and in order to reduce the parameters and FLOPs of the model, a lightweight convolution method called PConv was introduced. The experimental results show that it exhibits excellent performance compared with the original model: the mAP@0.5 (mean average precision at the 0.5 IoU threshold) of the improved model reached 96.1%, the number of parameters and the amount of calculation were reduced by 1.8 M and 3.1 G, respectively, and the detected leakage was effectively reduced. In the future, the system will facilitate the monitoring of water quality and fish species and their behavior, thereby improving the efficiency of aquaculture.