Semi-submersible type multifunctional unmanned flying fish dam-passing device for comprehensive trapping and transportation and use method of semi-submersible type multifunctional unmanned flying fish dam-passing device

Abstract

The invention provides a semi-submersible type comprehensive trapping and transporting multifunctional unmanned flying fish dam-passing device and a use method. The device comprises a submersible hull used for submerging to a designated position underwater; a fish box structure used for collecting fish is detachably mounted in the submersible ship body through a T-shaped clamping column; the fish box structure comprises a bait box located on the top layer, a middle fish collecting box is arranged on the lower layer of the bait box, a bait rope box is arranged at the bottom of the middle fish collecting box, and T-shaped grooves used for being connected with the T-shaped clamping columns in a matched mode are formed in the outer wall of the bait rope box. The top of the bait box is provided with a hook ring, and the hook ring is connected with an aircraft used for hoisting the whole fish box structure. According to the device, the mode of combining the unmanned aerial vehicle and the submersible is used for replacing a traditional fixed dam fish passing structure, the device is not affected by the terrain, the dam type and the like, fish luring, fish storage and fish transportation in the whole watershed are achieved, and the fish passing efficiency is improved.

Description

Technical Field

[0001] This invention patent relates to a fish passing dam device, and particularly to a multi-functional unmanned flying fish passing dam device with semi-submersible comprehensive trapping and transportation and its usage method. Background Art

[0002] The construction of water conservancy and hydropower projects has brought great economic and social value while also destroying the connectivity of rivers and blocking the migration channels of fish. To alleviate the negative effects of sluice dams, fish passage facilities are built to help fish bypass the dams and complete their migration life history. However, traditional fish passage facilities such as fishways and fish elevators have the following problems: 1) They can only operate at fixed positions, lack flexibility, and cannot attract fish outside the inlet; 2) The fish attracting method is single, relying only on water flow attraction, with limited effects; 3) Relying on fish to naturally ascend, the fish passing speed is slow. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above deficiencies and provide a multi-functional unmanned flying fish passing dam device with semi-submersible comprehensive trapping and transportation. This device replaces the traditional fixed dam fish passing structure by combining an unmanned aerial vehicle and a submersible, and can be unaffected by terrain, dam type, etc., achieving fish attracting, storing, and transporting throughout the whole basin, and improving the efficiency of fish passing.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is: A multi-functional unmanned flying fish passing dam device with semi-submersible comprehensive trapping and transportation, including a submersible hull for diving to a specified underwater position; Inside the submersible hull, a fish box structure for collecting fish is detachably installed through T-shaped clamping columns; The fish box structure includes a bait box at the top layer, a middle fish collecting box is arranged below the bait box, a bait rope box is arranged at the bottom of the middle fish collecting box, and a T-shaped groove for cooperating with the T-shaped clamping column is arranged on the outer wall of the bait rope box; A hook ring is arranged at the top of the bait box, and the hook ring is connected to an aircraft for hoisting the entire fish box structure.

[0005] The submersible hull includes a hull, the hull adopts a streamlined structure, a control main board is arranged inside the hull, thrusters are arranged on both outer sides of the hull, a horn-shaped fish collecting port is arranged at one end of the tail of the hull, an installation cavity for placing the fish box structure is arranged on one side inside the hull close to the horn-shaped fish collecting port, an inlet for connecting the horn-shaped fish collecting port is processed on the side of the installation cavity, and T-shaped clamping columns are symmetrically fixed on the left and right inner side walls of the installation cavity.

[0006] A water spraying fish attracting system is provided on the hull. The water spraying fish attracting system includes a water pipe penetrating between the head and tail of the hull. A water pump for water intake is provided at the head end of the water pipe, and the tail of the water pipe is arranged inside a horn-shaped fish collecting port.

[0007] Machine fish attracting structures are provided on the left and right sides of the hull. The machine fish attracting structures include machine fish storage tanks fixed on the outer side walls of the hull. The machine fish storage tanks are communicated with an installation cavity, and machine fish are arranged inside the machine fish storage tanks.

[0008] The aircraft includes an aircraft body. Aircraft wings are provided on the aircraft body. A monitoring camera is installed on the aircraft body. A transport hook is installed at the bottom end of the aircraft body, and the transport hook is used for hooking and cooperating with a hook ring.

[0009] Granular or powdery bait for attracting target fish schools is stored inside the bait box. A centralized pipe is fixed at the bottom end of the bait box, and a bait pipe, a monitoring rope, and a bait rope are arranged at the bottom end of the centralized pipe.

[0010] A first middle fish inlet is provided at the center of the front surface of the middle fish collecting box. The first middle fish inlet corresponds to the position of the fish inlet. Side fish inlets are symmetrically arranged at the center of the two side surfaces of the middle fish collecting box. The side fish inlets correspond to the positions of the machine fish attracting structures.

[0011] A first round door is arranged inside the middle fish collecting box at the position where the first middle fish inlet is located. A second round door and a third round door are arranged inside the middle fish collecting box at the positions where the two side fish inlets are located.

[0012] An upper communication port is provided at the center of the top of the bait rope box. The bottom plate of the bait rope box is provided with a plurality of frustum-shaped fish inlets. An activity cover plate is rotatably installed on one side of the bottom end of the bottom plate through a rotating shaft.

[0013] A usage method of a semi-submersible integrated attracting, transporting and multifunctional unmanned flying fish over-dam device includes the following steps: Step 1, hoisting of the fish box structure: First, hook the hook ring with the transport hook of the aircraft, then transport the submersible hull to the designated water area. Through the control main board, remotely turn on the thrusters of the submersible hull, dive downward, descend to the position of the fish school, and start the fish attracting work; Step 2, fish attracting with bait: After the submersible hull is stable, start the fish box structure, rotate the rotating shaft, open the activity cover plate of the bait rope box, release the bait rope and the monitoring rope from the centralized pipe, observe on the connected control panel. After reaching the upstream of the designated fish school, press down the bait in the bait box, and start to release the bait through the bait pipe to attract the fish body to enter the inside of the bait rope box through the frustum-shaped fish inlets at the bottom; Step 3, Luring fish with water flow: While luring fish with bait, turn on the water pump. The water flow passing through the front end of the water pipe will be pumped and flow from the water pipe to the end. According to the characteristic of fish swimming upstream, the fish will be attracted by the water flow, gathered through the trumpet-shaped fish collecting port, first enter the fish inlet, and then enter the middle fish collecting tank from the first middle fish inlet; Step 4, Luring fish with robotic fish: Open the robotic fish storage tank on the side of the robotic fish luring structure, release the robotic fish. The robotic fish swims towards the observed fish body, attracts fish of the same body type or lures large fish, and enters the middle fish collecting tank from the robotic fish storage tank through the side fish inlet; Step 5, Transferring fish: After the fish luring work has been carried out for a period of time, close the movable cover plate at the bottom, the first circular door, the second circular door, and the third circular door inside the middle fish collecting tank. Float to the water surface through the submersible hull, adjust the aircraft to the upper part of the submersible hull, slowly decelerate and descend, then hook the transport hook to the hook ring on the upper part of the box body, pull out the T-shaped clamping column, go to the upstream of the dam, determine the direction by the monitoring camera on the top of the aircraft, and then open the movable cover plate to release the fish into the water from the bottom; Step 6, Releasing the fish tank structure: Cover the movable cover plate, and use the aircraft to bring the fish tank structure back to the position of the submersible, slowly descend, align the T-shaped clamping column with the T-shaped groove and lower it. After everything is completed, repeat the processes of luring fish, storing fish, and transporting fish.

[0014] The present invention has the following beneficial effects: 1. The present invention can be not affected by terrain, dam type, etc., and can achieve luring fish, storing fish, and transporting fish throughout the whole basin, improving the efficiency of fish passage.

[0015] 2. The present invention can make the data of the fish body, quantity, and species during fish transportation visible. Through the monitoring inside the device connected to the cloud, the collation and classification of these data are realized. In this way, not only can the transportation data processing within a time period be carried out, but also the fish situation in this basin can be surveyed based on this.

[0016] 3. The present invention can achieve unmanned transportation and management, save more human resources, and can also achieve intelligent transportation.

[0017] 4. The submersible hull is mainly used to send the whole fish tank structure to the position of the fish school during the process of fish luring and collection, so as to achieve the purpose of luring fish and collecting fish subsequently, and facilitate the subsequent holding and transfer of fish.

[0018] 5. Through the above-mentioned water spraying fish luring system, it is convenient to realize water flow fish luring during the fish luring process subsequently, so as to ensure the fish luring and collection effects and improve the fish collection and luring efficiency.

[0019] 6. The above-mentioned fish attracting structure of the robotic fish facilitates subsequent use of the robotic fish to achieve the effect of attracting fish.

[0020] 7. The above-mentioned aircraft can be used for subsequent long-distance transportation of the collected fish, thereby realizing the fish over-dam operation.

[0021] 8. The above-mentioned middle fish collecting box can subsequently collect the attracted fish.

[0022] 9. Through the above-mentioned circular doors at multiple different positions, it is convenient to control the entry of fish and prevent the attracted fish from escaping. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the drawings and embodiments.

[0024] Figure 1 It is a schematic diagram of the overall submersible.

[0025] Figure 2 It is a schematic diagram of the overall submersible without the top plate.

[0026] Figure 3 It is a schematic diagram of the overall aircraft.

[0027] Figure 4 It is a schematic diagram of the bait box, bait rope, and monitoring rope.

[0028] Figure 5 It is a schematic diagram of the three-layer fish collecting box.

[0029] Figure 6 It is a schematic diagram of the bait box.

[0030] Figure 7 It is a top view of the bottom of the bait box.

[0031] Figure 8 It is a schematic diagram of the middle fish inlet hole of the three-layer fish collecting box.

[0032] Figure 9 It is a schematic diagram of the inside of the middle fish storage box.

[0033] In the figure: submersible hull 1, fish box structure 2, robotic fish attracting structure 3, aircraft wing 4, monitoring camera 5, transport hook 6; Water pump 11, thruster 12, control main board 13, robotic fish storage box 14, fish inlet 15, T-shaped clamping post 16, water pipe 17, flared fish collecting port 18, robotic fish 19; Bait box 21, hook ring 22, middle fish collecting box 23, bait rope box 24; Centralized pipeline 211, bait pipeline 212, monitoring rope 213, bait rope 214; The first front fish gate 231, the first side fish gate 232, the second side fish gate 233, the side inlet fish opening 234, and the first middle inlet fish opening 235; The frustum-shaped inlet fish opening 241, the rotating shaft 242, the movable cover plate 243, and the upper connecting opening 244. Specific embodiments

[0034] The present invention will be further described in detail below in conjunction with the embodiments of the accompanying drawings. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0035] Embodiment 1: Refer to Figures 1-9 , a multifunctional unmanned flying fish over-dam device for semi-submersible integrated trapping and transportation, including a submersible hull 1 for diving to a specified underwater position; a fish tank structure 2 for collecting fish is detachably installed inside the submersible hull 1 through a T-shaped clamping post 16; the fish tank structure 2 includes a bait box 21 located at the top layer, a middle fish collection box 23 is arranged below the bait box 21, a bait rope box 24 is arranged at the bottom of the middle fish collection box 23, and a T-shaped groove for cooperating with the T-shaped clamping post 16 is arranged on the outer wall of the bait rope box 24; a hook ring 22 is arranged at the top of the bait box 21, and the hook ring 22 is connected to an aircraft for hoisting the entire fish tank structure 2. This device combines an unmanned aerial vehicle and a submersible to replace the traditional fixed fish-passing structure of the dam, and can be used for fish attracting, storing, and transporting in the whole basin without being affected by terrain, dam type, etc., improving the efficiency of fish passing.

[0036] Furthermore, the submersible hull 1 includes a hull, the hull adopts a streamlined structure, a control main board 13 is arranged inside the hull, thrusters 12 are arranged on both outer sides of the hull, a horn-shaped fish collection opening 18 is arranged at one end of the tail of the hull, an installation cavity for placing the fish tank structure 2 is arranged inside the hull and close to one side of the horn-shaped fish collection opening 18, an inlet fish opening 15 for communicating with the horn-shaped fish collection opening 18 is processed on the side of the installation cavity, and the T-shaped clamping posts 16 are symmetrically fixed on the left and right inner side walls of the installation cavity. The hull is designed to be streamlined for breaking through the water when ascending or descending, facilitating movement, and the hull is mainly driven by electricity or diesel. The submersible hull 1 is mainly used to send the fish tank structure 2 as a whole to the position of the fish school during the fish attracting and collecting process, so as to achieve the purpose of attracting and collecting fish subsequently, and facilitate the subsequent storage and transfer of fish. During the specific operation process, the thrusters 12 provide the power for movement or diving, and the horn-shaped fish collection opening 18 facilitates the fish attracting effect.

[0037] Furthermore, a water-jet fish attracting system is provided on the hull. The water-jet fish attracting system includes a water pipe 17 running through between the head and tail of the hull. At the head end of the water pipe 17, a water pump 11 for water intake is provided, and the tail of the water pipe 17 is arranged inside a horn-shaped fish collecting port 18. Through the above water-jet fish attracting system, it is convenient to achieve water-flow fish attraction during the subsequent fish attracting process, so as to ensure the fish attracting and collecting effects and improve the efficiency of fish collecting and attracting. During the specific fish attracting process, water is pumped by the water pump 11 and sprayed out from the inside of the water pipe 17. Then, by generating a flowing water current, fish bodies will be attracted by the water current according to their own characteristics of swimming upstream and gathered through the horn-shaped inlet 18 to achieve the fish attracting effect. Moreover, the fish attracting effect can be controlled by adjusting the flow rate of the water pump 11.

[0038] Furthermore, machine fish attracting structures 3 are provided on the left and right sides of the hull. The machine fish attracting structures 3 include machine fish storage tanks 14 fixed on the outer side walls of the hull. The machine fish storage tanks 14 are communicated with the installation cavities, and machine fish 19 are arranged inside the machine fish storage tanks 14. Through the above machine fish attracting structures 3, it is convenient to achieve the fish attracting effect by means of the machine fish 19 subsequently.

[0039] Furthermore, the aircraft includes an aircraft body. An aircraft wing 4 is provided on the aircraft body, a monitoring camera 5 is installed on the aircraft body, and a transport hook 6 is installed at the bottom end of the aircraft body. The transport hook 6 is used for hooking and mating with a hook ring 22. Through the above aircraft, it can be used for the subsequent long-distance transfer of the collected fish, thereby realizing the fish over-dam operation. During the specific working process, flight power is provided by the aircraft wing 4, and the monitoring camera 5 can be used to realize position recognition by means of image recognition during the transportation process.

[0040] Furthermore, granular or powdery bait for attracting target fish groups is stored inside the bait box 21. A centralized pipe 211 is fixed at the bottom end of the bait box 21, and a bait pipe 212, a monitoring rope 213 and a bait rope 214 are arranged at the bottom end of the centralized pipe 211. Through the above bait box 21, it is convenient to store the bait during the subsequent fish attracting process, and then achieve the purpose of bait fish attracting subsequently.

[0041] Furthermore, a first middle fish inlet 235 is provided at the center of the front surface of the middle fish collecting box 23. The first middle fish inlet 235 corresponds to the position of the fish inlet 15. Side fish inlets 234 are symmetrically arranged at the center of the two side surfaces of the middle fish collecting box 23. The side fish inlets 234 correspond to the positions of the machine fish attracting structures 3. Through the above middle fish collecting box 23, the subsequently attracted fish can be collected.

[0042] Furthermore, a first circular door 231 is provided inside the middle fish collecting box 23 and at the position where the first middle fish inlet 235 is located, and a second circular door 232 and a third circular door 233 are provided inside the middle fish collecting box 23 and at the positions where the two side fish inlets 234 are located. Through the above-mentioned circular doors at multiple different positions, it is convenient to control the entry of fish and prevent the trapped fish from escaping.

[0043] Furthermore, an upper communication port 244 is provided at the center of the top of the bait rope box 24, and a plurality of frustum-shaped fish inlets 241 are provided on the bottom plate of the bait rope box 24. One side of the bottom end of the bottom plate is rotatably installed with a movable cover plate 243 through a rotating shaft 242. Through the above-mentioned bait rope box 24, fish can be attracted from the bottom.

[0044] Embodiment 2: A method for using a semi-submersible integrated fish attracting, transporting and multi-functional unmanned flying fish over-dam device includes the following steps: Step 1, hoisting of the fish box structure 2: First, the submersible hull 1 is transported to the designated water area by hanging the hook ring 22 with the transport hook 6 of the aircraft. Through the control main board 13, the thruster 12 of the submersible hull 1 is remotely opened and it dives downward to the position of the fish school to start the fish attracting work; Step 2, attracting fish with bait: After the submersible hull 1 is stable, start the fish box structure 2, rotate the rotating shaft 242, open the movable cover plate 243 of the bait rope box 24, release the bait rope 214 and the monitoring rope 213 from the centralized pipeline 211, and observe on the connected control panel. After reaching the upstream of the designated fish school, the bait in the bait box 21 is pressed down, and the bait is started to be released through the bait pipeline 212 to attract the fish body to enter the inside of the bait rope box 24 from the frustum-shaped fish inlet 241 at the bottom; Step 3, attracting fish with water flow: While attracting fish with bait, water flow is used to attract fish. Open the water pump 11, and the water flow flowing through the front end of the water pipe 17 will be pumped and flow from the water pipe to the end. According to the characteristic of the fish swimming upstream by itself, the fish body will be attracted by the water flow, gathered through the trumpet-shaped fish collecting port 18, first enter the fish inlet 15, and then enter the middle fish collecting box 23 from the first middle fish inlet 235; Step 4, attracting fish with the robotic fish 19: Open the robotic fish storage box 14 on the side of the robotic fish attracting structure 3, release the robotic fish 19, and the robotic fish 19 swims towards the observed fish body, attracting fish of the same size or attracting large fish, entering from the robotic fish storage box 14 and entering the inside of the middle fish collecting box 23 through the side fish inlet 234; Step 5, transporting fish: After the fish attracting operation has been carried out for a period of time, close the movable cover plate 243 at the bottom, the first circular door 231, the second circular door 232 and the third circular door 233 inside the middle fish collecting box 23, float towards the water surface through the submersible hull 1, transfer the aircraft to the upper part of the submersible hull 1, slowly decelerate and descend, then hook the transport hook 6 to the hook ring 22 on the upper part of the box body, pull out the T-shaped clamping post 16, go to the upstream of the dam, determine the direction by the monitoring camera 5 at the top of the aircraft, and then open the movable cover plate 243 to release the fish into the water from the bottom; Step 6, playback of the fish box structure 2: Cover the movable cover plate 243, return the fish box structure 2 to the position of the submersible by the aircraft, slowly descend, align the T-shaped clamping post 16 with the T-shaped groove and lower it. After everything is completed, repeat the processes of fish attracting, fish storing and fish transporting.

[0045] Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A semi-submersible multifunctional unmanned flying fish crossing dam device for comprehensive luring and transportation, characterized in that: A submersible hull (1) is provided for diving to a designated location underwater; A fish box structure (2) for collecting fish is detachably mounted inside the submersible hull (1) via a T-shaped clamping column (16); The fish box structure (2) comprises a bait box (21) located at the top layer, a middle fish collecting box (23) is arranged at the lower layer of the bait box (21), a bait rope box (24) is arranged at the bottom of the middle fish collecting box (23), and a T-shaped groove for matching and connecting with the T-shaped clamping column (16) is arranged on the outer wall of the bait rope box (24); A hook ring (22) is provided on the top of the bait box (21), and the hook ring (22) is connected to an aircraft used to lift the entire fish box structure (2).

2. According to claim 1, a multifunctional unmanned flying fish crossing dam device for comprehensive trapping and transportation is characterized in that: The submersible hull (1) comprises a hull, which adopts a streamlined structure, a control mainboard (13) is arranged inside the hull, thrusters (12) are arranged on both outer sides of the hull, a trumpet-shaped fish collecting mouth (18) is arranged at one end of the tail of the hull, a mounting cavity for placing a fish box structure (2) is arranged inside the hull and close to the trumpet-shaped fish collecting mouth (18), a fish inlet (15) for connecting to the trumpet-shaped fish collecting mouth (18) is processed on the side of the mounting cavity, and T-shaped clamping columns (16) are symmetrically fixed on the left and right inner walls of the mounting cavity.

3. According to claim 2, a semi-submersible integrated trapping and transporting multifunctional unmanned flying fish crossing dam device is characterized in that: The hull is provided with a water spraying fish attracting system, the water spraying fish attracting system comprising a water pipe (17) penetrating between the head and tail of the hull, a water pump (11) for water intake being provided at the head end of the water pipe (17), and the tail end of the water pipe (17) being provided inside a trumpet-shaped fish collecting opening (18).

4. According to claim 2, a semi-submersible integrated trapping and transporting multifunctional unmanned flying fish crossing dam device is characterized in that: A robot fish attracting structure (3) is arranged on the left and right sides of the hull. The robot fish attracting structure (3) comprises a robot fish storage box (14) fixed on the outer side wall of the hull. The robot fish storage box (14) is connected to the installation cavity. A robot fish (19) is arranged inside the robot fish storage box (14).

5. According to claim 1, a semi-submersible integrated trapping and transporting multifunctional unmanned flying fish crossing dam device is characterized in that: The aircraft comprises an aircraft body, on which are arranged aircraft wings (4), on which are mounted a monitoring camera (5), and on which are mounted a transport hook (6) at the bottom end of the aircraft body, the transport hook (6) being used to be hooked and matched with a hook ring (22).

6. According to claim 1, a semi-submersible integrated trapping and transporting multifunctional unmanned flying fish crossing dam device is characterized in that: The bait box (21) stores granular or dusty bait for attracting target fish schools. A centralizing pipe (211) is fixed at the bottom of the bait box (21). A bait pipe (212), a monitoring rope (213) and a bait rope (214) are arranged at the bottom of the centralizing pipe (211).

7. According to claim 4, a semi-submersible integrated trapping and transporting multifunctional unmanned flying fish crossing dam device is characterized in that: The central front portion of the central fish collecting box (23) is provided with a first central fish inlet (235), the first central fish inlet (235) corresponding to the position of the fish inlet (15), and the central portions of the two side surfaces of the central fish collecting box (23) are symmetrically provided with side fish inlets (234), the side fish inlets (234) corresponding to the position of the mechanical fish attracting structure (3).

8. A semi-submersible integrated trapping and transporting multifunctional unmanned flying fish crossing dam device according to claim 7, characterized in that: A first round door (231) is provided inside the middle fish collecting box (23) and at the location of the first middle fish inlet (235), and a second round door (232) and a third round door (233) are provided inside the middle fish collecting box (23) and at the locations of the two side fish inlets (234).

9. The semi-submersible integrated trapping and transporting multifunctional unmanned flying fish crossing dam device according to claim 7, characterized in that: The center of the top of the bait rope box (24) is provided with an upper communication port (244), the bottom plate of the bait rope box (24) is provided with a plurality of truncated cone-shaped fish inlets (241), and a movable cover plate (243) is rotatably mounted on one side of the bottom end of the bottom plate via a rotating shaft (242).

10. A method for using a semi-submersible integrated trapping and transporting multifunctional unmanned flying fish crossing dam device as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1, lifting of the fish box structure (2): First, the transport hook (6) of the aircraft is hooked on the hook ring (22) to transport the submersible hull (1) to the designated waters, and the propeller (12) of the submersible hull (1) is remotely turned on by controlling the main board (13), and the submersible hull (1) dives down to the position of the fish school to start the fish luring work; Step 2, bait to attract fish: After the submersible hull (1) is stabilized, the fish box structure (2) is started, the rotating shaft (242) is rotated, the movable cover (243) of the bait rope box (24) is opened, the bait rope (214) and the monitoring rope (213) are released from the centralized pipe (211), and observation is performed on the control panel connected thereto. After reaching the upstream of the designated fish school, the bait in the bait box (21) is pressed downward, and the bait is released through the bait pipe (212) to attract the fish to enter the bait rope box (24) from the truncated cone-shaped fish inlet (241) at the bottom; Step 3, water flow to attract fish: While feeding the bait, the water flow is used to lure the fish. The water pump (11) is turned on, and the water flowing through the front end of the water pipe (17) is extracted and flows from the water pipe to the end. The fish bodies are attracted by the water flow according to their own upstream characteristics, and are gathered through the trumpet-shaped fish collection port (18), first entering the fish inlet (15), and then entering the middle fish collection box (23) from the first middle fish inlet (235); Step 4, Fish Attraction by Robot Fish (19): Open the robot fish storage box (14) on the side of the robot fish attracting structure (3), release the robot fish (19), and the robot fish (19) swims towards the observed fish body, attracts fish of the same size or lures large fish, and enters the robot fish storage box (14) through the side fish inlet (234) into the middle fish collecting box (23); Step 5, fish transportation: After the fish luring work has been carried out for a period of time, the movable cover plate (243) at the bottom and the first circular door (231), the second circular door (232) and the third circular door (233) inside the middle fish collecting box (23) are closed, and the submersible hull (1) is floated to the surface of the water, and the aircraft is moved to the upper part of the submersible hull (1), and slowly decelerated and descended, and then the transport hook (6) is hooked on the hook ring (22) on the upper part of the box, and the T-shaped clamping column (16) is pulled out to go to the upstream of the dam, and the direction is determined by the monitoring camera (5) on the top of the aircraft, and then the movable cover plate (243) is opened to put the fish into the water from the bottom; Step 6, playback of fish box structure (2): The movable cover plate (243) is covered, and the fish box structure (2) is brought back to the position of the submersible by the aircraft, and the aircraft is slowly lowered, and the T-shaped clamping column (16) is aligned with the T-shaped slot and lowered. After everything is completed, the process of attracting fish, storing fish and transporting fish is repeated.

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