Carp attracting method based on analog wake path biomimetic robotic fish

Abstract

The application discloses a carp attracting method based on an analog wake path bionic robot fish, and provides a complete scheme for precisely attracting carps. The robot fish is 40 cm in full length, is divided into four parts such as a fish head and a fish body, is internally provided with three rudders as movable joints, is externally covered with soft rubber waterproof fish skin, has motor noise controlled in 60-80 dB, and supports remote control through Bluetooth. The working process of the robot fish is as follows: first, light and water flow speed information is collected; then, four behavior parameters such as carp swimming speed and speed synchronism are obtained through a quantitative formula; subsequently, the swimming speed, tail swing frequency and trajectory are adjusted according to the environment and parameters; the light environment adopts a circular trajectory, and the dark environment adopts a close-range circling trajectory; finally, the wake path of the carp is simulated to induce the carps to form leading and following behaviors. The scheme realizes dynamic adaptation of fish attracting strategies, greatly improves the success rate of fishway fish attracting, and is suitable for carp migration guiding and breeding management.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robotic fish, and particularly relates to a method for attracting carp based on a bionic robotic fish that simulates the wake path. Background Art

[0002] A bionic robotic fish is an underwater robot designed by imitating the shape, structure and swimming mode of real carp. By fitting the fish body wave equation and controlling the symmetric swing of the caudal fin, the bionic robotic fish can form similar induced vortices behind it. When carp perceive this water flow clue through the lateral line system, they will recognize it as a "companion" to follow, and then form a following behavior, providing a more natural, efficient and low-interference behavior guidance strategy for attracting fish at the entrance of fishways and aquaculture management.

[0003] In the prior art, the patent document with the authorization announcement number CN110710478B discloses "a light stimulation carrying device and method for the motion control of a carp robot", including a carrying board, a light shielding strip, a fin fixing band, a jumper board, different wavelength LED lights and wires. The carrying board is in the shape of a "king" cut from a universal board; the light shielding strip is sewn on the carrying board to form an arch shape to be suitable for the head part of the fish; both ends of the fin fixing band are connected to the same side corners of the carrying board, and the fixing band forms a double cross on the same side; the jumper boards are inserted in pairs on each branch of the carrying board and are symmetrically distributed inside and outside the light shielding strip; different wavelength LED lights can be inserted on the jumper board as needed, divided into inner row LED lights and outer row LED lights. The inner row LED lights and the outer row LED lights on the same branch are in series, and the LED lights of each branch are in parallel structure. The inner row LED lights stimulate the eyes of the carp inside, and the outer row LED lights play a prompting role outside.

[0004] Although the prior art covers the bright light in the front vision of the carp's eyeball through the light shielding strip, making the head of the carp in a dark light environment without external light source interference, and relying on the double cross fixing method on the same side to enhance the carrying stability, solving the problem that the light stimulation experiment can only be carried out in the dark or no light conditions, and realizing the control of the underwater movement of the carp robot under any light source conditions. However, the prior art only relies on the single means of light stimulation to achieve passive control of carp, without combining the synergistic effects of multi-sensory cues such as wake simulation and noise control, and cannot induce carp to form a natural following behavior of "leader-follower", and is not suitable for active attraction scenarios such as attracting fish in fishways. It also does not consider the influence of environmental and biological factors such as water flow speed and fish population size, lacks dynamic adaptation ability, and cannot adjust the control strategy according to the actual scenario. In addition, it does not establish a quantization and closed-loop control mechanism based on carp behavior parameters, and cannot perceive the swimming speed, synchronization, nearest neighbor distance and alignment polarity of carp in real time, resulting in low control accuracy and attraction efficiency. At the same time, it does not conduct targeted control on the noise generated by itself, which may cause negative tropism of carp, and does not simulate the wake path of real carp, making it difficult for carp to have a continuous following willingness. Summary of the Invention

[0005] This invention proposes a method for attracting carp based on a biomimetic robotic fish that simulates a wake path. The method includes the following steps:

[0006] S1. Configure a biomimetic robotic fish with a preset structure and noise control range;

[0007] S2. Collect information on the ambient light conditions and water flow velocity;

[0008] S3. By using a preset quantization formula, the swimming speed, speed synchronization, nearest neighbor distance, and arrangement polarity parameters of the target carp are obtained in real time;

[0009] S4. Based on environmental information and quantitative parameters, adjust the swimming speed, tail wagging frequency, and movement trajectory of the bionic robotic fish;

[0010] S5. Maintain the target wake path of the bionic robotic fish to induce the target carp to follow.

[0011] Furthermore, in S1, the bionic robotic fish is 40cm long, 30cm in body length, 8cm in body height, and 6cm in body width, and is divided into four parts: head, body, tail, and skin. The body is equipped with three servo motors as movable joints, and the crescent-shaped tail fin is connected to the third joint. The outer layer is covered with soft rubber waterproof fish skin. The appearance is painted, and the front half of the body is wrapped with light-blocking tape in dark environments. The motor noise sound pressure level is controlled at 60-80dB, and remote control is achieved using a Bluetooth controller.

[0012] Furthermore, in S2, a photosensitive sensor collects the illumination status to distinguish between light and dark environments; a water velocity sensor collects the water flow velocity to identify three flow velocity ranges of 0.4 m / s, 0.5 m / s, and 0.6 m / s.

[0013] Furthermore, in S3, the preset quantification formulas include a swimming speed calculation formula, a speed synchronization calculation formula, a nearest neighbor distance calculation formula, and an arrangement polarity calculation formula; images are acquired by a high-definition camera, coordinate data is extracted by idTracker software, and the formulas are substituted to calculate the swimming speed, speed synchronization, nearest neighbor distance, and arrangement polarity parameters of the target carp in real time.

[0014] Furthermore, in S4, the environmental information is as follows: in a light environment, the swimming speed is adapted to the size of the target carp group; in a dark environment, a medium-to-high speed is preferred; in flowing water conditions, the tail wagging frequency is matched according to the collected water flow speed; in a light environment, the robot fish swims in a circular trajectory; in a dark environment, it swims in a close-range circling trajectory.

[0015] Furthermore, in S5, the target wake path is a simulated wake path of a carp, which is formed by driving the robot fish to move through the fish body wave equation; while maintaining the symmetry of the robot fish's tail swing is achieved by coordinating the control of the tail fin deflection angle through servo motors.

[0016] Furthermore, the bionic robotic fish has three servo motors fixed to its head via a joint bracket, and its tail fin is connected to the third joint of the fish skeleton via a tail connector.

[0017] Compared with the prior art, the beneficial effects of the present invention include:

[0018] By simulating the wake path with a biomimetic robotic fish design and adapting to multiple environments, the core needs of carp attraction can be covered. It not only focuses on the biomimetic adaptability of the robotic fish's morphology and swimming patterns but also incorporates key elements such as noise control and response to light and dark environments. Furthermore, it achieves dynamic matching with carp behavior, making the attraction process more precisely aligned with the carp's sensory and behavioral preferences, providing more efficient technical support for fishway attraction. In addition, through the quantification of behavioral parameters and closed-loop adjustment of movement strategies, effective linkage between the robotic fish's movement state and carp behavioral feedback is achieved, breaking the limitations of traditional fixed-mode robotic fish attraction. This allows the attraction process to adapt to the environment and carp status in real time, improving the success rate and stability of fishway attraction. Simultaneously, through a multi-module collaborative system architecture, it provides a fish attraction solution more suited to actual fishway scenarios, clearly connecting the entire process of robotic fish design, environmental perception, and attraction strategies. Based on a real-time dynamic adjustment mechanism, it can quickly form effective fish attraction guidance in different fishway environments, greatly enhancing the practical value of fishways in guiding carp migration and their ability to cope with diverse working conditions. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 This is a schematic diagram of the process of a carp attraction method based on a biomimetic robotic fish with simulated wake path according to the present invention.

[0021] Figure 2 This is a schematic diagram of the technical route of the carp attraction method based on the simulated wake path bionic robotic fish of the present invention.

[0022] Figure 3 This is a schematic diagram of the internal structure of the robotic fish in the carp attraction method based on the simulated wake path of the present invention. a is a side view and b is a top view.

[0023] Figure 4 This is a schematic diagram of the experimental robotic fish for a carp attraction method based on a simulated wake path bionic robotic fish according to the present invention.

[0024] Figure 5This is a schematic diagram of a noise experimental device for a carp attraction method based on a biomimetic robotic fish simulating a wake path, according to the present invention.

[0025] Figure 6 This is a schematic diagram of a dynamic water experimental device for a carp attraction method based on a biomimetic robotic fish simulating a wake path, according to the present invention.

[0026] Figure 7 This is a top view schematic diagram of the experimental device for a carp attraction method based on a biomimetic robotic fish simulating a wake path, according to the present invention.

[0027] Figure 8 This is a schematic diagram of a still water experimental device for a carp attraction method based on a biomimetic robotic fish simulating a wake path, according to the present invention.

[0028] Figure 9 This diagram illustrates the regional time proportions of a single carp under different operating conditions in a carp attraction method based on a biomimetic robotic fish simulating a wake path, as described in this invention. Figure 1 ;

[0029] Figure 10 This diagram illustrates the regional time proportions of a carp attraction method based on a biomimetic robotic fish simulating a wake path, as described in this invention. Figure 1 ;

[0030] Figure 11 This diagram illustrates the regional time proportions of a single carp under different operating conditions in a carp attraction method based on a biomimetic robotic fish simulating a wake path, as described in this invention. Figure 2 ;

[0031] Figure 12 This diagram illustrates the regional time proportions of a carp attraction method based on a biomimetic robotic fish simulating a wake path, as described in this invention. Figure 2 ;

[0032] In the diagram, 1 is the communication module, 2 is the control module, 3 is the battery, 4 is the crescent-shaped tail fin, 5 is joint 1, 6 is joint 2, 7 is joint 3, 8 is the signal antenna, 9 is the charging interface, 10 is the soft rubber waterproof fish skin, 11 is the aluminum frame, 12 is the dynamic water experimental device, 13 is the bionic robotic fish, 14 is the carp, 15 is the high-definition camera, 16 is the center point, 17 is the still water experimental device, 18 is the movement trajectory, Rf is the front half of the experimental area, Rb is the rear half of the experimental area, and R1, R2, R3, and R4 are the experimental area partitions. Detailed Implementation

[0033] The overall flowchart of the carp attraction method based on a biomimetic robotic fish simulating a wake path described in this invention is as follows: Figure 1 As shown, its technology roadmap is as follows: Figure 3 As shown, the specific steps are as follows:

[0034] S1. Equipment Configuration and Parameter Preset

[0035] Configured with a biomimetic robotic fish featuring a preset structure and noise control range;

[0036] Specifically, the biomimetic robotic fish is 40cm long, 30cm in body length, 8cm in height, and 6cm in width, and is divided into four parts: head, body, tail, and skin. The body has three servo motors as movable joints, and the crescent-shaped tail fin is connected to the third joint. The outer layer is covered with soft rubber waterproof fish skin. The appearance is painted, and the front half of the body is wrapped with light-blocking tape in dark environments. The motor noise sound pressure level is controlled at 60-80dB, and remote control is achieved using a Bluetooth controller.

[0037] The fish body uses S3003 and S3102 servo motors from Futaba Electronics Industry Co., Ltd. as movable joints. Three servo motors are fixed to the fish head via joint brackets. The crescent-shaped tail fin is rigidly connected to the third joint of the fish skeleton via a tail connector. The front end of the soft rubber waterproof fish skin is glued to the head shell with waterproof adhesive, and the rear end is also sealed with waterproof adhesive at the tail connection, ensuring no water leakage risk during underwater operations. Furthermore, the soft rubber material simulates the flexible characteristics of real carp skin, reducing water flow disturbance and deviation. The specific structure of the robotic fish is as follows: Figure 3 As shown:

[0038] In the diagram, a is a side view, b is a top view, 1 is a communication module, 2 is a control module, 3 is a battery, 4 is a crescent-shaped tail fin, 5 is joint 1, 6 is joint 2, 7 is joint 3, 8 is a signal antenna, 9 is a charging interface, 10 is soft rubber waterproof fish skin, and 11 is an aluminum frame.

[0039] The mechanical fish looks like Figure 4 As shown.

[0040] The exterior paint uses a color scheme similar to that of an adult carp to improve the carp's visual acceptance of the robotic fish and avoid rejection due to color differences. Since the robotic fish has a built-in red indicator light, it will emit a bright red light in the dark. Carp have a positive tendency to red light, which will interfere with the water flow cues-driven guidance logic. Therefore, in the dark, the front half of the robotic fish needs to be completely wrapped with light-blocking tape to shield the red light interference and ensure that the guidance process is centered on the water flow cues.

[0041] In addition, motor noise control involves pre-recording the motor noise generated by the tail swing at speeds of the robotic fish at speeds of 4, 8, and 12 using a hydrophone. After noise reduction processing using Adobe Audition software, the sound pressure level is strictly limited to the range of 60-80 dB using a power amplifier. The noise experimental setup includes... Figure 5As shown in the figure, the sound pressure range was experimentally verified. Behavioral indicators such as the number of times the carp crossed the midline (-1.4±0.7 times, -1.85±0.6 times), the number of reactions (-0.42±0.4 times, -0.71±0.5 times), and the average swimming speed were not significantly different from the control group without motor noise interference. This can avoid inducing negative tropism in carp. Furthermore, it clearly avoids noise levels above 100dB (level 12) and above 120dB (level 8). These types of noise significantly increase the number of times the carp cross the midline (reaching 3.71±0.9 times at level 12, 100dB), producing a clear avoidance response, as shown in Table 1 below.

[0042] Table 1. Description of various parameters of the experimental fish

[0043]

[0044] Finally, the WAP200B communication module was used as a Bluetooth controller to achieve remote and precise control of the robotic fish. The effective underwater transmission distance of the control signal met the actual application requirements of the fishway. By optimizing the battery capacity and power management scheme, the standby time of the robotic fish was extended to ensure that it could cover long-term fish-attracting operations during the peak carp migration period, avoiding interruptions in the induction process due to insufficient battery life. The different experimental groups and fish sizes are shown in Table 2 below:

[0045] Table 2. Different experimental groups and fish sizes

[0046]

[0047] S2. Environmental Perception and Information Acquisition

[0048] Collect information on the ambient light conditions and water flow velocity;

[0049] Specifically, it uses a photosensitive sensor to collect light conditions and distinguish between light and dark environments; and a water velocity sensor to collect water flow velocity and identify three flow velocity ranges of 0.4 m / s, 0.5 m / s, and 0.6 m / s.

[0050] A waterproof photosensitive sensor is installed at the front of the robotic fish's head. The sensor sampling frequency is set to 1Hz. It distinguishes between light and dark environments by detecting the ambient light intensity threshold: when the light intensity is ≥500 lux, it is determined to be a light environment, and when the light intensity is <500 lux, it is determined to be a dark environment. The sensor shell adopts a sealed waterproof design and fits seamlessly with the waterproof fish skin of the robotic fish's head to avoid water seepage affecting the detection accuracy. At the same time, its detection angle covers a 180° range in front of the robotic fish to ensure that there are no blind spots in the acquisition of light conditions.

[0051] Simultaneously, a water velocity sensor, installed along the central axis of the robotic fish's abdomen, measures 0.1-1.0 m / s with an accuracy of ±0.01 m / s. The sampling frequency is set to 2 Hz. By continuously collecting multiple sets of water velocity data and averaging them, interference from water flow fluctuations is eliminated. When the average value falls within the 0.38-0.42 m / s range, it is determined to be a flow velocity of 0.4 m / s; within the 0.48-0.52 m / s range, it is determined to be a flow velocity of 0.5 m / s; and within the 0.58-0.62 m / s range, it is determined to be a flow velocity of 0.6 m / s. This precisely matches the flow velocity conditions preferred by the carp in the dynamic water experiment. The dynamic water experiment device is as follows: Figure 6 As shown:

[0052] Among them, 12 is a dynamic water experimental device, 13 is a bionic robotic fish, 14 is a carp, and 15 is a high-definition camera;

[0053] Experimental area division as follows Figure 7 As shown:

[0054] Among them, 13 is a biomimetic robotic fish, 14 is a carp, 16 is the center point, Rf is the first half of the experimental area, Rb is the second half of the experimental area, and R1, R2, R3, and R4 are the experimental area partitions.

[0055] In addition, the light intensity and water flow speed data collected by the sensors are transmitted to the control terminal in real time through the built-in Bluetooth communication module of the robotic fish to ensure synchronous feedback of environmental information. At the same time, a data anomaly judgment mechanism is set in the control terminal. When multiple sets of data exceed the normal range, such as light intensity >10000 lux or <0 lux, water flow speed <0.1m / s or >1.0m / s, it is judged as a sensor malfunction, and the robotic fish switches to the preset default operating condition to avoid interruption of the induction process.

[0056] Finally, the collected illumination and water flow velocity data are combined to form various environmental condition labels, such as light environment -0.4 m / s, light environment -0.5 m / s, light environment -0.6 m / s, dark environment -0.4 m / s, dark environment -0.5 m / s, dark environment -0.6 m / s, light environment - abnormal flow velocity, and dark environment - abnormal flow velocity. This provides clear environmental input for the dynamic adjustment of the robotic fish's swimming speed, tail wagging frequency, and movement trajectory in step 4, ensuring that the adjustment strategy accurately matches the actual working conditions. The parameters such as water flow velocity and tail wagging frequency corresponding to different experimental groups are shown in Table 3 below.

[0057] Table 3 Parameter Table for Different Experimental Groups

[0058]

[0059] S3. Behavioral Quantification and Real-time Analysis

[0060] By using a preset quantization formula, the swimming speed, speed synchronization, nearest neighbor distance, and arrangement polarity parameters of the target carp can be obtained in real time.

[0061] Specifically, the preset quantification formulas include formulas for calculating swimming speed, speed synchronization, nearest neighbor distance, and arrangement polarity. Images are captured by a high-definition camera, and coordinate data is extracted by idTracker software. These coordinates are then substituted into the formulas to calculate the swimming speed, speed synchronization, nearest neighbor distance, and arrangement polarity parameters of the target carp in real time.

[0062] The formula for calculating swimming speed is:

[0063] ;

[0064] In the formula, and These are the x-coordinates of the focal fish at times t and t-1, respectively. and Let be the ordinates of the focal fish at times t and t-1, respectively. The time interval for each frame of the image is calculated in cm / s, which accurately reflects the instantaneous swimming state of the carp.

[0065] The formula for calculating speed synchronization is:

[0066] ;

[0067] In the formula, The swimming speed of the focus fish The average swimming speed of all fish in the group;

[0068] Furthermore, the formula for calculating the nearest neighbor distance is:

[0069] ;

[0070] In the formula, and Let x and y be the x-coordinates of the focal fish and the other fish used for distance calculation at time t, respectively. and Let y be the ordinate of the focus fish and the other fish whose distance is being calculated at time t. After calculating the distance between the focus fish and the other experimental fish, take the smallest value as the nearest neighbor distance of the focus fish in this group. In addition, we define the nearest neighbor distance between the robot fish and the experimental fish as the nearest neighbor distance.

[0071] Simultaneously, the polarity calculation formula is used:

[0072] ;

[0073] The method of frame-by-frame analysis is adopted. The movement direction vector of each carp is identified by idTracker software, and the angle between the vector and the movement direction vector of the focal fish is calculated. If the angle is ≤90°, it is determined that the direction is consistent. When calculating the polarity of the carp-robot fish arrangement, the movement direction of the robot fish is used as the reference, and the same rule is applied to determine the consistency of the movement direction.

[0074] S4. Dynamic Strategies and Optimization Adjustments

[0075] Based on environmental information and quantitative parameters, the swimming speed, tail swing frequency and movement trajectory of the bionic robotic fish are adjusted.

[0076] Specifically, the environmental information is as follows: in a light environment, the swimming speed is adapted to the size of the target carp group; in a dark environment, a medium-to-high speed is preferred; in flowing water conditions, the tail wagging frequency is matched according to the collected water flow speed; in a light environment, the robot fish swims in a circular trajectory; in a dark environment, it swims in a short-distance circling trajectory.

[0077] The swimming speed adjustment under different lighting conditions strictly followed the rule of matching the fish school size: single carp were initially swum at low (0.02 m / s, level 4) or medium (0.06 m / s, level 8) speeds; schools of three fish were initially swum at medium speed (0.06 m / s, level 8); and schools of five or more fish were initially swum at high speed (0.12 m / s, level 12). The still water experimental setup was as follows: Figure 8 As shown:

[0078] Among them, 13 is a biomimetic robotic fish, 14 is a carp, 15 is a high-definition camera, 17 is a still water experimental device (circular water tank), and 18 is a motion trajectory.

[0079] Simultaneously, the quantitative indicators output by the parameter calculation module are dynamically corrected: if the nearest neighbor distance is detected... If the length is >49.29cm, speed synchronization S < 60%, and arrangement polarity P < 60%, then increase the swimming speed by one level. If the length is less than 38cm, the speed of swimming is greater than 80%, and the percentage of swimming distance is greater than 65%, then maintain the current swimming speed to enhance the "leader-follower" interaction.

[0080] Then, in the dark environment, the swimming speed was adjusted, discarding the low speed (0.02m / s, level 4). For single fish and schools of various sizes, the initial speed was set to medium (0.06m / s, level 8) or high (0.12m / s, level 12), and optimization was performed based on quantitative parameter feedback: when When the velocity is >49.29cm, S < 60%, and P < 60%, maintain medium speed or increase to high speed. If the carp is in a stable following state with a length of <38cm, S>80% and P>65%, then maintain the current medium-high speed to avoid the wake from failing to trigger the carp's lateral line sensing due to low speed.

[0081] Under dynamic water conditions, the tail swing frequency adjustment is based primarily on the water flow velocity detection results: when a flow velocity range of 0.4 m / s or 0.5 m / s is detected, a 2 Hz (8 levels) tail swing frequency is matched; when a flow velocity range of 0.6 m / s is detected, a 2 Hz (8 levels) or 3 Hz (12 levels) tail swing frequency can be selected, while simultaneously optimizing dynamically based on quantitative parameters: if If the tail wagging frequency is >49.29cm, S<60% and P<60%, then increase the tail wagging frequency to 3Hz (level 12). If the stable following index is reached, maintain the current frequency to ensure that the Kalman vortex street formed at the tail is consistent with the tail flow of a real carp, so that the carp can gain a hydrodynamic advantage.

[0082] Finally, the robot fish adapts to differences in light and dark environments by dynamically switching its movement trajectory: in bright environments, it swims in a circular trajectory with a radius of 40-50cm to expand the induction coverage area; in dark environments, it uses a close-range detour trajectory to compensate for the reduced induction range by shortening the distance to the carp. Simultaneously, the trajectory adjustment is linked to the optimization of swimming speed and tail wagging frequency. All parameter adjustments are based on the S, ... (the value of the robot fish in the dark) output by the parameter calculation module. The P-value serves as a closed-loop criterion, ensuring real-time matching between the robotic fish's movement and the carp's behavioral feedback, thus achieving precise and efficient dynamic guidance. Figure 9 , Figure 10 As shown, “Vx-Fy” is the working condition combination identifier, where Vx represents the water flow speed level (V1=0.4m / s, V2=0.5m / s, V3=0.6m / s) and Fy represents the bionic robot fish tail swing frequency level (F0=0Hz, F1=1Hz, F2=2Hz, F3=3Hz).

[0083] S5. Wake Simulation and Continuous Induction

[0084] Maintain the target wake path of the biomimetic robotic fish to induce the target carp to follow it;

[0085] Specifically, the target wake path is a simulated wake path of a carp, which is formed by driving the robot fish's movement through the fish body wave equation; while maintaining the symmetry of the robot fish's tail swing is achieved by coordinating the control of the tail fin deflection angle through servo motors.

[0086] The fish body wave equation adopts a sine wave equation that fits the swimming motion of a real carp. The three servos of the robotic fish move in coordination according to the phase difference preset by the equation. The swing angle ranges of joint 1, joint 2 and joint 3 are ±15°, ±20° and ±25° respectively. The tail fin moves in conjunction with the joints to achieve a swimming speed of 0.02-0.12m / s. The tail swing frequency is synchronously matched to 1Hz (4th level), 2Hz (8th level) and 3Hz (12th level), accurately reproducing the tail flow characteristics of a carp.

[0087] The symmetry of the tail swish is achieved through closed-loop synchronous control of the servo motor: with the swing of joint 3 as the reference, the swing delay time of joint 1 and joint 2 is controlled within 5ms, the left and right deflection angle error of the tail fin is ≤±1°, and the motor noise is synchronously controlled at 60-80dB through Adobe Audition software calibration to avoid noise interference with tail current perception and ensure that the carp lateral line system can stably capture water flow clues.

[0088] In addition, the tail current intensity is dynamically optimized by combining the environmental information from step 2: the upper limit of the tail fin deflection angle is taken in the light environment, such as 3±25° at the joint, to enhance the synergy between visual cues and water flow cues; in the dark environment, a medium to high deflection angle is maintained, such as 3±20°-±25° at the joint, to compensate for insufficient vision by strengthening water flow cues; under dynamic water conditions, the tail swing amplitude is adjusted according to the flow velocity of 0.4-0.6 m / s, with the deflection angle taken as the median value at 0.4 m / s, such as 3±20° at the joint, and the upper limit is taken at 0.6 m / s, such as 3±25° at the joint, to match the hydrodynamic advantage area preferred by carp;

[0089] Simultaneously, the stability of the wake is monitored in real time: The robotic fish has a built-in attitude sensor that collects tail fin movement attitude data 10 times per second and feeds it back to the control terminal via Bluetooth communication module. If the tail swing frequency fluctuates more than ±0.1Hz or the deflection angle error exceeds the threshold, the servo drive current is immediately adjusted to compensate for the interference of water flow resistance on the wake and ensure that the wake path deviation is ≤5cm.

[0090] Finally, the induction effect is continuously optimized based on the quantitative parameter feedback from step 3: when the detected carp swimming speed is 0.035-0.071 m / s, the nearest neighbor distance is 38-49.29 cm, and the arrangement polarity is ≥60%, the current tail flow parameters are maintained; if the parameters deviate from the threshold, the tail swing frequency or deflection angle is finely adjusted through the fish body wave equation to strengthen the "leader-follower" mode, so that the carp's residence time in the tail flow jet area (B1 / B2 area) of the robotic fish is maintained at 30%-50%, achieving continuous and stable induction. Figure 11 and Figure 12 As shown.

[0091] Figure 11 and Figure 12 The experimental observation area shown is used to statistically analyze the percentage of time the target fish spends in each area. The observation area is divided into a front area F and a rear area B according to the direction of water flow: Area F is the area in the observation area excluding the wake influence area (including the non-wake areas in front of and to the side of the robotic fish); Area B is the main area affected by the wake of the robotic fish's tail, and is further divided into four sub-areas B1, B2, B3, and B4 along the direction of water flow. Among them, B1 is the area with the strongest wake jet influence near the tail, while B2, B3, and B4 are areas where the wake gradually decreases along the downstream direction.

[0092] The embodiments described above are merely illustrative of implementation methods of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A method for attracting carp based on a biomimetic robotic fish simulating a wake path, characterized in that, Includes the following steps: S1. Configure a biomimetic robotic fish with a preset structure and noise control range; S2. Collect information on the ambient light conditions and water flow velocity; S3. By using a preset quantization formula, the swimming speed, speed synchronization, nearest neighbor distance, and arrangement polarity parameters of the target carp are obtained in real time; S4. Based on environmental information and quantitative parameters, adjust the swimming speed, tail wagging frequency, and movement trajectory of the bionic robotic fish; The environmental information is as follows: in a light environment, the swimming speed is adapted to the size of the target carp group; in a dark environment, the swimming speed is medium to high speed; in flowing water conditions, the tail wagging frequency is matched with the collected water flow speed; in a light environment, the robot fish swims in a circular trajectory; in a dark environment, it swims in a close-range circling trajectory. S5. Maintain the target wake path of the bionic robotic fish to induce the target carp to follow.

2. The method for attracting carp based on a biomimetic robotic fish simulating a wake path, as described in claim 1, is characterized in that: In step S2, a photosensitive sensor collects the illumination status to distinguish between light and dark environments; a water velocity sensor collects the water flow velocity to identify three flow velocity ranges: 0.4 m / s, 0.5 m / s, and 0.6 m / s.

3. The method for attracting carp based on a biomimetic robotic fish simulating a wake path, as described in claim 1, is characterized in that: In S3, the preset quantification formulas include a swimming speed calculation formula, a speed synchronization calculation formula, a nearest neighbor distance calculation formula, and an arrangement polarity calculation formula. Images are acquired by a high-definition camera, coordinate data is extracted by idTracker software, and the formulas are used to calculate the swimming speed, speed synchronization, nearest neighbor distance, and arrangement polarity parameters of the target carp in real time.

4. The method for attracting carp based on a biomimetic robotic fish simulating a wake path, as described in claim 1, is characterized in that: In S5, the target wake path is a simulated carp wake path, which is formed by driving the robot fish to move through the fish body wave equation. The fish body wave equation adopts a sine wave equation that fits the swimming motion of a real carp.

5. The method for attracting carp based on a biomimetic robotic fish simulating a wake path, as described in claim 4, is characterized in that: In the sinusoidal equation that fits the real carp swimming motion, three servo motors move in coordination according to a preset phase difference Δφ to form a traveling wave tail swing that propagates from head to tail, thereby generating a target tail current path consistent with that of a carp. The swing angle ranges of joint 1, joint 2, and joint 3 are ±15°, ±20°, and ±25°, respectively. The tail fin moves in conjunction with the joints to achieve a swimming speed adaptation of 0.02-0.12 m / s, and the tail swing frequency is synchronously matched to 1Hz, 2Hz, and 3Hz, accurately reproducing the tail current characteristics of a carp.

6. The method for attracting carp based on a biomimetic robotic fish simulating a wake path, as described in claim 3, is characterized in that: When extracting coordinate data using idTracker software, the unit for calculating swimming speed is uniformly cm / s. The polarity of the arrangement is determined by the standard that the angle between the motion direction vectors is ≤90°. The polarity calculation of the carp-robot fish arrangement is based on the direction of the robot fish's motion.

7. The method for attracting carp based on a biomimetic robotic fish simulating a wake path, as described in claim 1, is characterized in that: Under the specified light environment, the swimming speed is adapted according to the size of the target carp group. Specifically, a single carp is initially used at a low speed, a group of 3 fish is initially used at a medium speed, and a group of at least 5 fish is initially used at a high speed. The speed range is 0.02 m / s for low speed, 0.06 m / s for medium speed, and 0.12 m / s for high speed. The swimming speed increases progressively from low speed to medium speed to high speed. Simultaneously, the swimming speed is dynamically corrected based on the quantitative indicators output by the parameter calculation module. If the nearest neighbor distance is detected to be >49.29cm, the speed synchronization S is <60%, and the arrangement polarity P is <60%, the swimming speed will be increased by one level. If the nearest neighbor distance is detected to be <38cm, S>80%, and P>65%, then maintain the current swimming speed to enhance the leader-follower interaction.

8. A biomimetic robotic fish that implements the carp attraction method based on simulated wake path as described in any one of claims 1-7, characterized in that: The bionic robotic fish consists of four parts: head, body, tail, and skin. The biomimetic robotic fish has a painted exterior, and its front half is wrapped with light-blocking tape in dark environments. The motor noise sound pressure level is controlled at 60-80dB, and it is remotely controlled using a Bluetooth controller.

9. The biomimetic robotic fish according to claim 8, characterized in that: The fish head contains a communication module, a control module, a battery, a signal antenna, and a charging interface. The fish body has three servo motors as movable joints connected by an aluminum frame. The third joint is connected to the fish tail with a crescent-shaped tail fin.

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