A Yangtze River porpoise acoustic signal monitoring and acoustic protection system

Abstract

The present invention provides a Yangtze River finless porpoise sound signal monitoring and sound-driven protection system, comprising: at least one bionic terminal, cruising in the Yangtze River waters; at least one fixed-point monitoring terminal, set at a preset position in the Yangtze River waters; a server, respectively connected to the fixed-point monitoring terminal and the bionic terminal for communication; the server performs the following operations: obtaining the sound signals of the Yangtze River finless porpoise monitored by the bionic terminal during cruising and the fixed-point monitoring terminal for fixed-point monitoring; locating the Yangtze River finless porpoise based on the sound signals; when the Yangtze River finless porpoise enters or is about to enter a dangerous area, performing sound-driven or sound-induced operations through the bionic terminal. The Yangtze River finless porpoise sound signal monitoring and sound-driven protection system of the present invention realizes the positioning of the Yangtze River finless porpoise, and realizes the expulsion and induction of the Yangtze River finless porpoise through the cruising bionic terminal, so that the Yangtze River finless porpoise is kept away from the dangerous area. It is more flexible than the fixed-point placement method, and can realize the response to sudden changes.

Description

Technical Field

[0001] The present invention relates to the technical field of wildlife protection, and in particular to a Yangtze River finless porpoise acoustic signal monitoring and acoustic drive protection system. Background Art

[0002] The Yangtze River porpoise (Neophocaena asiaeorientalis) is a national first-class protected wild animal. It is only distributed in the middle and lower reaches of the Yangtze River, Dongting Lake and Poyang Lake and some tributaries. It has unique adaptability to the natural hydrological environment and its changes, the distribution and changes of small fish resources, the spatial characteristics of the waters and the underwater acoustic environment.

[0003] As people's awareness of environmental protection gradually increases, research on the protection of Yangtze River porpoises has received more and more attention; the existing patent CN201811167307.5, a sound-induced protection device and method for Yangtze River porpoises in construction waters, discloses that the sound-induced protection device for Yangtze River porpoises in construction waters includes an acoustic instrument, and the acoustic instrument includes an underwater sound-generating device, a signal amplifying device connected to the underwater sound-generating device in sequence, a signal conditioning device, a signal generating device, a signal control device, a clock and a random number generator, and a power supply. The specific protection method is: fix the acoustic instrument in a specific safe water area outside the construction site, and the deployment depth is half the water depth; send a sound signal through the acoustic instrument to induce the Yangtze River porpoise to stay away from the construction water area and enter the safe water area where the acoustic instrument is located. However, it adopts a fixed-point placement method for protection, which needs to be placed in advance and cannot cope with sudden changes. Summary of the invention

[0004] One of the purposes of the present invention is to provide a Yangtze River porpoise sound signal monitoring and sound-driven protection system. The Yangtze River porpoise's sound signal detection is carried out by a bionic terminal cruising in the Yangtze River waters and a fixed-point monitoring terminal, so as to locate the Yangtze River porpoise. The Yangtze River porpoise can be driven away and induced by the cruising bionic terminal to stay away from dangerous areas. Compared with the fixed-point placement method, it is more flexible and can respond to sudden changes.

[0005] An embodiment of the present invention provides a Yangtze River finless porpoise acoustic signal monitoring and acoustic drive protection system, comprising:

[0006] At least one bionic terminal, cruising in the waters of the Yangtze River;

[0007] At least one fixed-point monitoring terminal is set at a preset location in the Yangtze River waters;

[0008] The server is respectively connected to the fixed-point monitoring terminal and the bionic terminal for communication;

[0009] The server performs the following operations:

[0010] Acquire the acoustic signals of Yangtze River finless porpoises monitored by the bionic terminal during cruising and by the fixed-point monitoring terminal;

[0011] Locating Yangtze River porpoises based on acoustic signals;

[0012] When the Yangtze River porpoise enters or is about to enter a dangerous area, sound-driven or sound-luring operations are performed through the bionic terminal.

[0013] Preferably, the bionic terminal comprises:

[0014] The shell is a bionic Yangtze River porpoise model, and a fish tail fin swinging bionic mechanism is provided at the tail;

[0015] A positioning module is arranged in the housing;

[0016] An acoustic signal collection module is arranged on the outer periphery of the shell;

[0017] An acoustic signal sending module is arranged on the outer periphery of the shell;

[0018] A first power module is arranged in the housing;

[0019] A first controller is disposed in the housing and is electrically connected to the fish tail fin swinging bionic mechanism, the positioning module, the acoustic signal acquisition module, the acoustic signal sending module and the first power supply module respectively;

[0020] The wireless communication module is arranged in the housing, electrically connected to the first controller, and used for communication connection with the server.

[0021] Preferably, the bionic terminal further includes:

[0022] Two emergency airbag compartments are symmetrically arranged on both sides of the shell;

[0023] A compressed gas storage tank is disposed in the shell;

[0024] Two airbags are arranged in the emergency airbag compartment one by one;

[0025] The air inlet of the electric control valve group is connected to the compressed gas storage tank.

[0026] A second controller is disposed in the housing, electrically connected to the electric control valve group, and communicatively connected to the first controller;

[0027] The second power supply module is arranged in the shell and is electrically connected to the second controller.

[0028] Preferably, the second controller performs the following operations:

[0029] When the emergency command sent by the first controller is obtained through the first controller, the electric control valve group is controlled to work, the gas in the compressed gas storage tank is filled into the airbag, and the airbag pushes open the sealed compartment cover of the emergency airbag compartment;

[0030] and / or,

[0031] Acquire power information of the first power module through the first controller;

[0032] Analyze power information and determine remaining power;

[0033] When the remaining power is less than or equal to the preset power threshold, the electronically controlled valve group is controlled to work;

[0034] and / or,

[0035] Acquiring positioning information of the positioning module through the first controller;

[0036] Determine the movement trajectory based on the positioning information;

[0037] When the moving track meets the preset first rule, the electric control valve group is controlled to work;

[0038] and / or,

[0039] When the communication connection with the first controller is disconnected and is not reconnected within a preset first time period, the electronically controlled valve group is controlled to operate.

[0040] Preferably, the bionic terminal further includes:

[0041] At least one indicator light, arranged on the outer periphery of the housing and electrically connected to the second controller;

[0042] When the second controller controls the electric control valve group to work, the control indicator light works.

[0043] Preferably, the bionic terminal further includes:

[0044] A main body, arranged on the lower end surface of the shell;

[0045] An air outlet is arranged on one side of the fish tail fin swinging bionic mechanism of the main body close to the shell;

[0046] The air inlet is arranged at the junction of the shell and the main body and is located in the reserved arc-shaped groove of the shell; the air inlet is connected to the air outlet through a pipeline; the air inlet is connected to the compressed gas storage tank through an electric control valve group;

[0047] The motor is fixed to the shell, and the main body is arranged on the rotating shaft of the motor; the motor is electrically connected to the second controller.

[0048] Preferably, when the Yangtze River porpoise enters or is about to enter a dangerous area, the server performs a sound-driven or sound-induced operation through the bionic terminal, and performs the following operations:

[0049] Obtain a preset orientation map with dangerous areas marked;

[0050] Map the Yangtze River finless porpoise to the position map to obtain the first position;

[0051] Determine the center point of the dangerous area that the Yangtze River porpoise has entered or is about to enter as the second position;

[0052] Determine a third position of the bionic terminal in the azimuth map whose distance from the Yangtze River porpoise is within a preset distance threshold;

[0053] Calculate the angle between the line connecting the third position and the second position and the line connecting the second position and the first position;

[0054] When the angle is greater than or equal to a preset angle threshold, the bionic terminal is controlled to perform a sound-driven operation;

[0055] When the angle is less than a preset angle threshold, determining a relationship between a distance from the first position to the second position and a distance from the third position to the second position;

[0056] When the distance between the first position and the second position is less than or equal to the distance between the third position and the second position, controlling the bionic terminal to perform a sound induction operation;

[0057] When the distance between the first position and the second position is greater than the distance between the third position and the second position, the bionic terminal is controlled to perform a sound-driven operation.

[0058] Preferably, when the Yangtze River porpoise enters or is about to enter the dangerous area, the server performs the sound-driven or sound-induced operation through the bionic terminal, and also performs the following operations:

[0059] After the bionic terminal is controlled to perform the sound-induced operation, the moving direction and speed of the Yangtze River porpoise are obtained;

[0060] When the moving direction is away from the dangerous area and facing the bionic terminal, the bionic terminal is controlled to move in the same direction as the moving direction of the Yangtze River porpoise, and the moving speed of the bionic terminal is the speed of the Yangtze River porpoise multiplied by a preset first coefficient; the first coefficient is less than 1;

[0061] When the moving direction is approaching the dangerous area, the bionic terminal is controlled to move in the direction of the Yangtze River porpoise's position, and the moving speed of the bionic terminal is the speed of the Yangtze River porpoise multiplied by a preset second coefficient; the second coefficient is greater than 1;

[0062] After the bionic terminal is controlled to perform the sound-driven operation, the moving direction and speed of the Yangtze River porpoise are obtained;

[0063] When the moving direction is away from the dangerous area and facing away from the bionic terminal, the bionic terminal is controlled to move in the same direction as the moving direction of the Yangtze River porpoise, and the moving speed of the bionic terminal is the speed of the Yangtze River porpoise multiplied by a preset third coefficient; the third coefficient is less than 1;

[0064] When the moving direction is approaching the dangerous area, determining a line connecting the first position and the second position and determining a mapping point of the third position on the determined line;

[0065] When the mapping point and the first position are located on both sides of the second position, the bionic terminal is controlled to move from the third position to the first position, and the moving speed of the bionic terminal is the speed of the Yangtze River porpoise multiplied by a preset fourth coefficient; the fourth coefficient is greater than 1;

[0066] When the mapping point and the first position are on the same side of the second position, the bionic terminal is controlled to move from the third position toward the center point of the first position and the mapping point. The moving speed of the bionic terminal is the speed of the Yangtze River dolphin multiplied by a preset fourth coefficient; the fourth coefficient is greater than 1.

[0067] Preferably, at least one bionic terminal is deployed in each dangerous area in the waters of the Yangtze River, and each bionic terminal deployed in the dangerous area cruises in the dangerous area.

[0068] Preferably, the Yangtze River finless porpoise sound signal monitoring and sound-driven protection system further comprises:

[0069] At least one fixed-point sound-driven terminal is arranged in the peripheral area of ​​the dangerous area and is communicatively connected with the server;

[0070] The server also performs the following operations:

[0071] Based on the environmental sound signal detected by the sound-driven terminal,

[0072] Determine the changes in the dangerous area based on the environmental sound signals and the preset dangerous area change library;

[0073] Analyze changes to determine whether the danger zone is expanding;

[0074] When the danger zone expands, the bionic terminal placed in the danger zone is controlled to cruise between the sound-driven terminal set at a fixed point and the boundary of the expanded danger zone;

[0075] When the danger zone is reduced, the bionic terminal placed in the danger zone is controlled to standby.

[0076] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0077] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0079] Figure 1 Schematic diagram of a Yangtze River finless porpoise acoustic signal monitoring and acoustic drive protection system according to an embodiment of the present invention;

[0080] Figure 2 A schematic diagram of execution steps of a server in an embodiment of the present invention;

[0081] Figure 3 is a schematic diagram of a bionic terminal according to an embodiment of the present invention;

[0082] Figure 4 It is a schematic diagram of the auxiliary power of a bionic terminal in an embodiment of the present invention. DETAILED DESCRIPTION

[0083] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0084] The embodiment of the present invention provides a Yangtze River finless porpoise acoustic signal monitoring and acoustic drive protection system, such as Figure 1 As shown, including:

[0085] At least one bionic terminal 1, cruising in the waters of the Yangtze River;

[0086] At least one fixed-point monitoring terminal 2 is set at a preset position in the waters of the Yangtze River; for example, a fixed-point monitoring terminal 2 is set every 200 meters in the waters near the water bank;

[0087] The server 3 is connected to the fixed-point monitoring terminal 2 and the bionic terminal 1 for communication;

[0088] like Figure 2 As shown, server 3 performs the following operations:

[0089] Step S1: Acquire the acoustic signals of Yangtze River finless porpoises monitored by the bionic terminal 1 during cruising and by the fixed-point monitoring terminal 2;

[0090] Step S2: locating the Yangtze River finless porpoise based on the acoustic signal;

[0091] Step S3: When the Yangtze River porpoise enters or is about to enter a dangerous area, a sound-driven or sound-luring operation is performed through the bionic terminal 1.

[0092] The working principle and beneficial effects of the above technical solution are:

[0093] In the early stage of the protection system, a bionic terminal 1 is deployed in the waters of the Yangtze River; the bionic terminal 1 cruises along a predetermined route and is monitored in combination with a fixed-point monitoring terminal 2; the position of the Yangtze River porpoise in the waters of the Yangtze River is located; when the Yangtze River porpoise is found to have entered or is about to enter a dangerous area, the bionic terminal 1 is used to perform sound drive or sound inducement operations to induce the Yangtze River porpoise out of the dangerous area or drive it away from the dangerous area; in the later stage of the establishment of the protection system, the bionic terminal 1 is inserted into the Yangtze River porpoise group to achieve the existence of at least one bionic terminal 1 in each group; the activity location and area of ​​the Yangtze River porpoise are determined through the bionic terminal 1 in the group; and timely tracking, induction and expulsion are achieved. When the power of the bionic terminal 1 working in the Yangtze River porpoise group drops to a preset power value, it is promptly replaced by another bionic terminal 1, and the replaced bionic terminal 1 is charged, maintained and other operations. Among them, the dangerous area includes: the staff actually inspected the surrounding environment of the Yangtze River waters and marked in the Yangtze River waters environment map in the server 3. In addition, it may also include: the acoustic signals collected by the bionic terminal 1, the dangerous areas analyzed by a preset neural network model and the areas marked in the Yangtze River water environment map.

[0094] In one embodiment, Figure 3 As shown, the bionic terminal 1 includes:

[0095] The shell 11 is a bionic Yangtze River porpoise model, and a fish tail fin swinging bionic mechanism 12 is provided at the tail;

[0096] The positioning module 13 is disposed in the housing 11; it realizes the positioning of the bionic terminal 1, and the positioning of the Yangtze River porpoise according to the positioning of the bionic terminal 1. In addition, it also facilitates the rapid recovery of the bionic terminal 1 when it fails;

[0097] The acoustic signal acquisition module 14 is arranged on the outer periphery of the housing 11;

[0098] The acoustic signal sending module 15 is arranged on the outer periphery of the housing 11;

[0099] A first power module 16 is disposed in the housing 11;

[0100] The first controller 17 is disposed in the housing 11 and is electrically connected to the fish tail fin swinging bionic mechanism 12, the positioning module 13, the acoustic signal acquisition module 14, the acoustic signal sending module 15 and the first power supply module 16 respectively;

[0101] The wireless communication module 18 is disposed in the housing 11 and is electrically connected to the first controller 17 for communication with the server 3 .

[0102] The working principle and beneficial effects of the above technical solution are:

[0103] The tail swing is achieved by swinging the bionic mechanism 12 of the tail fin, providing the bionic terminal 1 with the power to move in the water; the acoustic signal acquisition module 14 collects the acoustic signal in the water body; the acoustic signal sending module 15 is used to play the acoustic lure signal or the acoustic drive signal; the first power supply module 16 provides power for the bionic terminal 1; the first controller 17 controls the action of the bionic mechanism 12 of the tail fin, obtains the positioning information through the positioning module 13, and sends it to the server 3 through the wireless communication module 18.

[0104] In one embodiment, the bionic terminal 1 further includes:

[0105] Two emergency airbag compartments 21 are symmetrically arranged on both sides of the housing 11;

[0106] A compressed gas storage tank 22 is disposed in the housing 11;

[0107] Two airbags 23 are arranged in the emergency airbag compartment 21 in a one-to-one correspondence;

[0108] The electric control valve group 24, the air inlet end is connected to the compressed gas storage tank 22,

[0109] The second controller 25 is disposed in the housing 11, electrically connected to the electric control valve group 24, and communicatively connected to the first controller 17;

[0110] The second power module 26 is disposed in the housing 11 and is electrically connected to the second controller 25 .

[0111] The working principle and beneficial effects of the above technical solution are:

[0112] In an emergency, the second controller 25 controls the operation of the electric control valve group 24 to fill the compressed gas in the compressed gas storage tank 22 into the airbag 23, the airbag 23 expands, and the sealed compartment cover of the emergency airbag compartment 21 is pushed open. The buoyancy of the airbag 23 makes the bionic terminal 1 float on the water surface, which is convenient for the recovery of the bionic terminal 1. The second power supply module 26 is used to independently power the second controller 25 to ensure that the second controller 25 can work normally when the first power supply module 16 fails. The symmetrically arranged airbags 23 are used to reduce the deflection force that may occur when the single-sided airbag 23 is opened, causing the bionic terminal 1 to accidentally collide when it turns over, thereby improving safety. In addition, the airbag 23 is usually folded and located in the emergency airbag compartment 21. The electric control valve group 24 is composed of multiple electric control valve groups 24, and one airbag 23 corresponds to one electric control valve.

[0113] In one embodiment, the second controller 25 performs the following operations:

[0114] When the emergency instruction sent by the first controller 17 is obtained through the first controller 17, the electric control valve group 24 is controlled to work, the gas in the compressed gas storage tank 22 is filled into the airbag 23, and the airbag 23 pushes open the sealed compartment cover of the emergency airbag compartment 21; the emergency instruction can be an instruction sent by the server 3 received by the first controller 17; in addition, when the first controller 17 self-checks the status of each component in the simulation terminal, an emergency instruction is generated after an abnormality is found;

[0115] and / or,

[0116] Acquiring power information of the first power module 16 through the first controller 17;

[0117] Analyze power information and determine remaining power;

[0118] When the remaining power is less than or equal to a preset power threshold (for example, 1% of the total power), the electric control valve group 24 is controlled to work;

[0119] and / or,

[0120] Acquiring positioning information of the positioning module 13 through the first controller 17;

[0121] Determine the movement trajectory based on the positioning information;

[0122] When the moving trajectory meets the preset first rule, the electronically controlled valve group 24 is controlled to work; the first rule is a manually set rule, for example: the first rule includes: the simulated terminal is fixed in one position for 30 minutes; the moving direction and moving speed of the terminal determined by the moving trajectory are respectively the same or similar to the moving direction and moving speed of the water flow in the water area (that is, the difference is within the preset threshold range), that is, it can be judged that the mobile terminal is stalled;

[0123] and / or,

[0124] When the communication connection with the first controller 17 is disconnected and is not reconnected within a preset first time period, the electronically controlled valve group 24 is controlled to operate.

[0125] The electric control valve group 24 works, that is, the gas in the compressed gas storage tank 22 is filled into the airbag 23, and the airbag 23 pushes open the sealed compartment cover of the emergency airbag compartment 21, so that the bionic terminal 1 floats to the water surface.

[0126] In order to facilitate the recovery of the bionic terminal 1 by the staff after it floats to the surface of the water; in one embodiment, the bionic terminal 1 further includes:

[0127] At least one indicator light, disposed on the outer periphery of the housing 11 and electrically connected to the second controller 25;

[0128] When the second controller 25 controls the electric control valve group 24 to work, the control indicator light works.

[0129] In one embodiment, Figure 4 As shown, the bionic terminal 1 also includes:

[0130] The main body 31 is arranged on the lower end surface of the housing 11;

[0131] The air outlet is arranged on one side of the main body 31 close to the fish tail fin swinging bionic mechanism 12 of the shell 11;

[0132] The air inlet 32 ​​is arranged at the junction of the shell 11 and the main body 31 and is located in the reserved arc-shaped groove 19 of the shell 11; the air inlet 32 ​​is connected to the air outlet through a pipeline; the air inlet 32 ​​is connected to the compressed gas storage tank 22 through the electric control valve group 24;

[0133] The motor 33 is fixed to the housing 11 , and the main body 31 is disposed on the rotating shaft of the motor 33 ; the motor 33 is electrically connected to the second controller 25 .

[0134] The working principle and beneficial effects of the above technical solution are:

[0135] The motor 33 rotates to realize the rotation of the position of the air outlet of the main body 31, and the compressed air is ejected from the air outlet to push the bionic terminal 1. In an emergency, power is provided and the action of the motor 33 is controlled according to the positioning to realize the movement of the simulation terminal as far as possible to the shore of the Yangtze River waters to facilitate the recovery by the staff.

[0136] In one embodiment, when the Yangtze River porpoise enters or is about to enter a dangerous area, the server 3 performs a sound-driven or sound-induced operation through the bionic terminal 1, and performs the following operations:

[0137] Obtain a preset orientation map with dangerous areas marked;

[0138] Map the Yangtze River finless porpoise to the position map to obtain the first position;

[0139] Determine the center point of the dangerous area that the Yangtze River porpoise has entered or is about to enter as the second position;

[0140] Determine a third position of the bionic terminal 1 in the orientation map whose distance from the Yangtze River porpoise is within a preset distance threshold;

[0141] Calculate the angle between the line connecting the third position and the second position and the line connecting the second position and the first position;

[0142] When the angle is greater than or equal to a preset angle threshold (for example, 90 degrees), the bionic terminal 1 is controlled to perform a sound-driven operation;

[0143] When the angle is less than a preset angle threshold, determining a relationship between a distance from the first position to the second position and a distance from the third position to the second position;

[0144] When the distance between the first position and the second position is less than or equal to the distance between the third position and the second position, the bionic terminal 1 is controlled to perform the sound induction operation;

[0145] When the distance between the first position and the second position is greater than the distance between the third position and the second position, the bionic terminal 1 is controlled to perform the sound-driven operation.

[0146] When the Yangtze River porpoise enters or is about to enter the dangerous area, the server 3 performs the sound-driven or sound-induced operation through the bionic terminal 1, and also performs the following operations:

[0147] After the bionic terminal 1 is controlled to perform the sound-luring operation, the moving direction and speed of the Yangtze River porpoise are obtained;

[0148] When the moving direction is away from the dangerous area and facing the bionic terminal 1, the bionic terminal 1 is controlled to move in the same direction as the moving direction of the Yangtze River porpoise, and the moving speed of the bionic terminal 1 is the speed of the Yangtze River porpoise multiplied by a preset first coefficient; the first coefficient is less than 1;

[0149] When the moving direction is approaching the dangerous area, the bionic terminal 1 is controlled to move in the direction of the Yangtze River porpoise's position, and the moving speed of the bionic terminal 1 is the speed of the Yangtze River porpoise multiplied by a preset second coefficient; the second coefficient is greater than 1;

[0150] After the bionic terminal 1 is controlled to perform the sound-driven operation, the moving direction and speed of the Yangtze River porpoise are obtained;

[0151] When the moving direction is away from the dangerous area and facing away from the bionic terminal 1, the bionic terminal 1 is controlled to move in the same direction as the moving direction of the Yangtze River porpoise, and the moving speed of the bionic terminal 1 is the speed of the Yangtze River porpoise multiplied by a preset third coefficient; the third coefficient is less than 1;

[0152] When the moving direction is approaching the dangerous area, a line connecting the first position and the second position is determined and a mapping point of the third position is determined on the determined line; the mapping point is the point where the foot of the perpendicular of the third position on the line is located;

[0153] When the mapping point and the first position are located on both sides of the second position, the bionic terminal 1 is controlled to move from the third position to the first position, and the moving speed of the bionic terminal 1 is the speed of the Yangtze River porpoise multiplied by a preset fourth coefficient; the fourth coefficient is greater than 1;

[0154] When the mapping point and the first position are on the same side of the second position, the bionic terminal 1 is controlled to move from the third position toward the center point of the first position and the mapping point. The moving speed of the bionic terminal 1 is the speed of the Yangtze River dolphin multiplied by a preset fourth coefficient; the fourth coefficient is greater than 1.

[0155] The working principle and beneficial effects of the above technical solution are:

[0156] Through a comprehensive analysis of the second position of the center point of the dangerous area, the first position of the Yangtze River porpoise and the third position of the bionic terminal 1, it is determined whether to use sound drive or sound inducement operation, and based on the reaction after the operation is performed, a response is taken to ensure the effective expulsion of the Yangtze River porpoise.

[0157] In one embodiment, at least one bionic terminal 1 is deployed in each dangerous area in the Yangtze River waters, and each bionic terminal 1 deployed in the dangerous area cruises in the dangerous area.

[0158] The Yangtze River porpoise acoustic signal monitoring and acoustic protection system also includes:

[0159] At least one fixed-point sound-driven terminal is arranged in the peripheral area of ​​the dangerous area and is in communication connection with the server 3;

[0160] Server 3 also performs the following operations:

[0161] Based on the environmental sound signal detected by the sound-driven terminal,

[0162] Based on the environmental sound signal and the preset dangerous area change library, the change of the dangerous area is determined; the dangerous area change library is pre-established, and represents the relationship between the intensity change amount corresponding to the signal of the danger to the Yangtze River finless porpoise in the environmental sound signal and the change amount of the dangerous area; firstly, the environmental sound signal is processed to extract the signal of the danger to the Yangtze River finless porpoise, and according to the change characteristics of the signal of the danger, the dangerous area change library is queried to determine the change of the dangerous area corresponding to the change characteristics; the change of the dangerous area includes expansion or contraction, and the corresponding amount of expansion or contraction;

[0163] Analyze changes to determine whether the danger zone is expanding;

[0164] When the danger zone expands, the bionic terminal 1 placed in the danger zone is controlled to cruise between the fixed-point sound-driven terminal and the boundary of the expanded danger zone; the fixed-point sound-driven terminal is set on the boundary of the initial danger zone; therefore, the bionic terminal 1 actually cruises between the boundary of the expanded danger zone and the boundary of the initial danger zone;

[0165] When the danger zone is reduced, the bionic terminal 1 placed in the danger zone is controlled to standby.

[0166] The working principle and beneficial effects of the above technical solution are:

[0167] Through the sound monitoring module on the fixed sound-driven terminal, based on the dangerous area change library, it is determined in real time whether the dangerous area has changed, and the amount of change; when it expands, the bionic terminal 1 is used to cruise in the expanded area to further ensure the safety of the Yangtze River dolphins in the Yangtze River waters.

[0168] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A Yangtze River porpoise acoustic signal monitoring and acoustic drive protection system, characterized in that: include: At least one bionic terminal, cruising in the waters of the Yangtze River; At least one fixed-point monitoring terminal is set at a preset location in the Yangtze River waters; A server is respectively connected to the fixed-point monitoring terminal and the bionic terminal for communication; The server performs the following operations: Acquiring the acoustic signals of the Yangtze River finless porpoise monitored by the bionic terminal during cruising and the fixed-point monitoring terminal; Locating the Yangtze River finless porpoise based on the acoustic signal; When the Yangtze River porpoise enters or is about to enter a dangerous area, the bionic terminal performs a sound-driven or sound-luring operation; When the Yangtze River porpoise enters or is about to enter the dangerous area, the server performs the following operations by performing the sound-driven or sound-induced operation through the bionic terminal: Obtain a preset orientation map with dangerous areas marked; Mapping the Yangtze River finless porpoise into the position map to obtain a first position; Determine the center point of the dangerous area that the Yangtze River porpoise has entered or is about to enter as the second position; Determine a third position of the bionic terminal in the orientation map whose distance from the Yangtze River porpoise is within a preset distance threshold; Calculating an angle between a line connecting the third position and the second position and a line connecting the second position and the first position; When the angle is greater than or equal to a preset angle threshold, controlling the bionic terminal to perform a sound-driven operation; When the angle is less than a preset angle threshold, determining a relationship between a distance from the first position to the second position and a distance from the third position to the second position; When the distance between the first position and the second position is less than or equal to the distance between the third position and the second position, controlling the bionic terminal to perform a sound inducement operation; When the distance between the first position and the second position is greater than the distance between the third position and the second position, controlling the bionic terminal to perform a sound-driven operation; When the Yangtze River porpoise enters or is about to enter the dangerous area, the server performs the sound-driven or sound-induced operation through the bionic terminal, and also performs the following operations: After controlling the bionic terminal to perform the sound-luring operation, the moving direction and moving speed of the Yangtze River porpoise are obtained; When the moving direction is away from the dangerous area and facing the bionic terminal, the bionic terminal is controlled to move in the same direction as the moving direction of the Yangtze River porpoise, and the moving speed of the bionic terminal is the speed of the Yangtze River porpoise multiplied by a preset first coefficient; The first coefficient is less than 1; When the moving direction is approaching the dangerous area, the bionic terminal is controlled to move in the direction of the position of the Yangtze River porpoise, and the moving speed of the bionic terminal is the speed of the Yangtze River porpoise multiplied by a preset second coefficient; the second coefficient is greater than 1; After controlling the bionic terminal to perform the sound-driven operation, the moving direction and speed of the Yangtze River porpoise are obtained; When the moving direction is away from the dangerous area and facing away from the bionic terminal, the bionic terminal is controlled to move in the same direction as the moving direction of the Yangtze River porpoise, and the moving speed of the bionic terminal is the speed of the Yangtze River porpoise multiplied by a preset third coefficient; The third coefficient is less than 1; When the moving direction is approaching the dangerous area, determining a line connecting the first position and the second position and determining a mapping point of the third position on the determined line; When the mapping point and the first position are located on both sides of the second position respectively, the bionic terminal is controlled to move from the third position to the first position, and the moving speed of the bionic terminal is the speed of the Yangtze River porpoise multiplied by a preset fourth coefficient; the fourth coefficient is greater than 1; When the mapping point and the first position are located on the same side of the second position, the bionic terminal is controlled to move from the third position toward the center point of the first position and the mapping point, and the moving speed of the bionic terminal is the speed of the Yangtze River dolphin multiplied by a preset fourth coefficient; the fourth coefficient is greater than 1.

2. The Yangtze River porpoise acoustic signal monitoring and acoustic drive protection system according to claim 1, characterized in that: The bionic terminal comprises: The shell is a bionic Yangtze River porpoise model, and a fish tail fin swinging bionic mechanism is provided at the tail; A positioning module, disposed in the housing; An acoustic signal collection module is arranged on the outer periphery of the shell; An acoustic signal sending module, arranged on the outer periphery of the shell; A first power module is arranged in the housing; a first controller, disposed in the housing, and electrically connected to the fish tail fin swinging bionic mechanism, the positioning module, the acoustic signal acquisition module, the acoustic signal sending module and the first power supply module respectively; The wireless communication module is arranged in the housing, electrically connected to the first controller, and used for communication connection with the server.

3. The Yangtze River porpoise acoustic signal monitoring and acoustic drive protection system according to claim 2, characterized in that: The bionic terminal also includes: Two emergency airbag compartments are symmetrically arranged on both sides of the shell; A compressed gas storage tank is disposed in the housing; Two airbags are arranged in the emergency airbag compartment in a one-to-one correspondence; The electric control valve group, the air inlet end is connected to the compressed gas storage tank, A second controller is disposed in the housing, electrically connected to the electric control valve group, and communicatively connected to the first controller; The second power supply module is arranged in the housing and is electrically connected to the second controller.

4. The Yangtze River porpoise acoustic signal monitoring and acoustic drive protection system according to claim 3, characterized in that: The second controller performs the following operations: When the emergency instruction sent by the first controller is obtained through the first controller, the electric control valve group is controlled to work, the gas in the compressed gas storage tank is filled into the airbag, and the airbag pushes open the sealed compartment cover of the emergency airbag compartment; and / or, Acquire power information of the first power module through the first controller; Analyzing the power information to determine the remaining power; When the remaining power is less than or equal to a preset power threshold, controlling the electric control valve group to operate; and / or, Acquiring positioning information of the positioning module through the first controller; Determine a movement trajectory based on the positioning information; When the movement trajectory meets a preset first rule, controlling the electric control valve group to operate; and / or, When the communication connection with the first controller is disconnected and is not reconnected within a preset first time period, the electronically controlled valve group is controlled to operate.

5. The Yangtze River porpoise acoustic signal monitoring and acoustic drive protection system according to claim 3, characterized in that: The bionic terminal also includes: At least one indicator light, disposed on the outer periphery of the housing and electrically connected to the second controller; When the second controller controls the electric-controlled valve group to work, it controls the indicator light to work.

6. The Yangtze River porpoise acoustic signal monitoring and acoustic drive protection system according to claim 3, characterized in that: The bionic terminal also includes: A main body, arranged on the lower end surface of the shell; An air outlet is arranged on one side of the fishtail fin swinging bionic mechanism of the main body close to the shell; An air inlet is arranged at the junction of the shell and the main body and is located in a reserved arc-shaped groove of the shell; the air inlet is connected to the air outlet through a pipeline; the air inlet is connected to the compressed gas storage tank through an electric control valve group; The motor is fixed to the shell, and the main body is arranged on the rotating shaft of the motor; the motor is electrically connected to the second controller.

7. The Yangtze River finless porpoise acoustic signal monitoring and acoustic drive protection system according to claim 1, characterized in that: At least one bionic terminal is deployed in each dangerous area in the Yangtze River waters, and each bionic terminal deployed in the dangerous area cruises in the dangerous area.

8. The Yangtze River porpoise acoustic signal monitoring and acoustic drive protection system according to claim 7, characterized in that: Also includes: At least one fixed-point sound-driven terminal is arranged in a peripheral area of ​​the dangerous area and is communicatively connected with the server; The server also performs the following operations: Based on the environmental sound signal detected by the sound driver terminal, Determining changes in the dangerous area based on the environmental sound signal and a preset dangerous area change library; Analyze the changes to determine whether the danger zone is expanding; When the dangerous area expands, the bionic terminal placed in the dangerous area is controlled to cruise between the sound-driven terminal set at a fixed point and the boundary of the expanded dangerous area; When the dangerous area is reduced, the bionic terminal placed in the dangerous area is controlled to standby.

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