A fish pond harmful fish egg sonic removal robot and control method

Abstract

The present invention relates to the field of robotics technology, specifically providing a robot and control method for ultrasonically removing harmful fish eggs from fish ponds to address the current problem of being unable to effectively remove harmful fish eggs from fish ponds. The robot is primarily composed of a hull, a propulsion and direction control device, an underwater acoustic transducer, a solar panel, a battery with a power controller, a Beidou / GPS dual-mode antenna, a main controller, and an ultrasonic ranging module. The present invention can resolve the problem of being unable to eradicate harmful fish eggs from fish ponds, while effectively removing the threat posed by harmful fish eggs to other farmed fish after hatching, significantly increasing the yield of farmed fish. Furthermore, the robot can improve the aquatic environment of the pond over the long term, is suitable for most aquatic breeding bases, and has good application prospects in the fish breeding industry.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a robot for removing harmful fish eggs from fish ponds using acoustic waves. Background Art

[0002] Fish farms often harbor predatory pests such as mullet and gar, posing a significant threat to other farmed fish and resulting in significant economic losses. The typical solution to this problem is to drain the ponds and remove the harmful fish. This is not only time-consuming, labor-intensive, and expensive, but also fails to address the issue of eggs remaining in the pond, which can continue to harm the fish after hatching.

[0003] Methods like administering drugs cannot distinguish between farmed fish and harmful fish, and instead indiscriminately kill all fish. This can cause long-term water and environmental pollution, harming the ecological environment, and other issues. The recent emergence of acoustic wave pest control technology offers a green, physical means of removing fish eggs. Its basic principle is to generate sound waves with a resonant frequency equal to or similar to that of harmful fish eggs. The sound waves' vibrations and cavitation damage the eggs' tissue structure, rendering them incapable of hatching and ultimately killing them.

[0004] At present, the ultrasonic fish egg killing device is still in the single-machine experimental research stage. There is no report on the device that can kill harmful fish eggs in large areas of fish ponds. There is currently no effective solution to the problem of killing harmful fish eggs in fish ponds. Summary of the Invention

[0005] The purpose of the present invention is to provide a fish pond harmful fish eggs removal robot with acoustic waves to solve the problem that the harmful fish eggs in the fish pond cannot be removed at present.

[0006] The purpose of this invention is achieved through the following technical solutions: a robot for removing harmful fish eggs from fish ponds using acoustic waves, comprising:

[0007] The hull adopts a thin shell design and floats on the water surface through buoyancy. It is used to install various components of the fish pond harmful fish egg ultrasonic removal robot. After all the components are installed on the hull, the underwater acoustic transducer installed on its lower part must be completely immersed in water;

[0008] The power propulsion and direction control device is installed below the stern of the hull and is completely immersed in water. It is mainly composed of a propeller and a rudder, or a pod-type propulsion device that combines power propulsion and direction control, and is used to realize the motion control of the ultrasonic wave removal robot for harmful fish eggs in fish ponds;

[0009] The underwater acoustic transducer is installed on the bottom of the hull and is located in front of the propulsion and directional control device. It is composed of a transducer array with a frequency range of 20 to 55 kHz. The transducer array is sealed with acoustically transparent rubber, and its leading edge adopts an arc design to reduce water resistance during forward movement.

[0010] Solar panels, installed on the platform above the hull, are used to convert solar energy into electricity, thereby providing the power required for the ultrasonic wave removal robot for harmful fish eggs in the fish pond;

[0011] A battery with a power controller is installed on the upper platform of the hull near the solar panel. The power controller controls the electric energy converted by the solar panel to charge the battery, and provides electric energy to various components of the robot for removing harmful fish eggs in the fish pond through the battery or the solar panel.

[0012] Beidou / GPS dual-mode antenna, used to receive Beidou and GPS positioning signals and transmit them to the main controller, which enables the robot to locate harmful fish and eggs in the pond on the water surface;

[0013] The main controller, installed on a platform inside the hull, is mainly composed of a main control module, a Beidou / GPS receiver module, an inertial navigation unit (IMU), a DA converter, a power amplifier, and a hull controller. It is the system controller of the fish pond harmful fish egg removal robot, and is responsible for completing tasks such as robot positioning, mission planning, motion control, and ultrasonic emission control.

[0014] The ultrasonic ranging module, consisting of an integrated ultrasonic transducer and receiver and a ranging circuit, is distributed on all surfaces outside the water of the hull, forming a 360° no-dead-angle detection effective area around the hull, enabling the detection of obstacles around the ultrasonic wave removal robot for harmful fish eggs in the fish pond.

[0015] Furthermore, the main controller, its main control module receives the positioning signal from the Beidou / GPS dual-mode antenna through the Beidou / GPS receiving module to realize real-time positioning of the robot; the main control module is connected to the ultrasonic ranging module to determine its distance from the shore or obstacles; the inertial navigation unit (IMU) is connected to the main control module through interfaces such as SPI and I2C, and provides inertial navigation data; the main control module controls the hull controller and controls the power propulsion and direction control device, thereby realizing motion control of the hull; the main control module is connected to the DA converter through peripheral interfaces such as serial port and parallel port, and outputs digital signals in the ultrasonic frequency band, which are then converted into analog electrical signals by the DA converter. After amplification by the power amplifier, the underwater acoustic transducer is driven to emit single-frequency or swept-frequency sine waves, sawtooth waves, triangle waves and other ultrasonic signals in the range of 20 to 55 kHz.

[0016] Furthermore, the effective range of the transducer of the fish pond harmful fish and fish egg ultrasonic removal robot is roughly an L×W area, where L is the length of the effective area and W is the width of the effective area. Through the transducer sound field design, the effective area can be made larger than the projection area of ​​the hull on the water surface; when the action time is T, all harmful fish and fish eggs can be killed, thereby determining the travel speed of the fish pond harmful fish and fish egg ultrasonic removal robot on the water surface V≤L / T; when the robot works in a serpentine cruise mode, the distance d between its adjacent tracks is ≤W.

[0017] Furthermore, the working procedure of the main controller of the fish pond harmful fish eggs acoustic wave removal robot is:

[0018] The first step is to turn on the robot and start the system working;

[0019] The second step is for the operator to set the robot's cruise mode through the main controller. If the operator does not set the cruise mode, it will run in the default cruise mode;

[0020] In the third step, the main controller sends a digital signal in the ultrasonic frequency band to the DA converter, which then converts it into an analog electrical signal. After being amplified by the power amplifier, it drives the underwater acoustic transducer to emit ultrasonic waves toward the area below the hull. The ultrasonic waves are continuously emitted during the cruise.

[0021] The fourth step is to start patrolling and carry out corresponding patrolling and killing of harmful fish eggs on the water surface according to the patrol mode;

[0022] The fifth step is to determine whether it has reached the boundary of the fish pond or encountered an obstacle. If not, continue to cruise along the original route. If so, first determine whether the killing task has been completed. If not, modify the cruise route and cruise along the new route. If the task is completed, end the system work.

[0023] Throughout the patrol process, the main controller constantly determines whether it has reached the pond boundary or encountered an obstacle. Each patrol mode also features a function for mapping the current pond. This map identifies areas where harmful fish and eggs have not yet been eliminated, and then plans and executes the elimination mission in these areas.

[0024] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0025] The present invention provides a robot and control method for ultrasonically removing harmful fish eggs from fish ponds. The robot, powered by solar energy and batteries, can cruise around fish ponds and other waters for extended periods of time. The robot emits a strong ultrasonic field that continuously generates localized high temperatures, high pressures, and microjets through the cavitation effect. This field also resonates with harmful fish eggs, destroying their tissue structures and thereby killing all harmful fish eggs within the strong ultrasonic field. Because the water in fish ponds and other waters is essentially stagnant, the present invention employs a cruising strategy similar to that of a sweeping robot. Combined with the unique characteristics of the robot, the robot employs differential positioning to achieve underwater positioning accuracy of 10 cm. This ensures that the robot can fully and comprehensively eliminate harmful fish eggs from fish ponds and other waters, without blind spots, and fully automatically. This represents a novel device and control method for ultrasonically removing fish eggs. Compared with the traditional method of killing harmful fish eggs by pumping water and injecting poisons, the present invention has the obvious advantages of: solving the problem that the pumping method is difficult to completely remove harmful fish eggs, and at the same time solving the problem that injecting poisons pollutes the environment, affects the health of farmed fish, and further threatens human health through the food chain. It also opens up a new application field for acoustic pest control technology in fish farming, forming a fully automatic, highly efficient, comprehensive and thorough, no-toxic side effects, easy-to-use green and environmentally friendly fish pond acoustic wave removal technology for harmful fish eggs, providing an effective means to completely solve the harm of harmful fish to fish farming. At the same time, this technology will kill harmful bacteria and viruses in the fish pond while removing harmful fish eggs, thereby achieving a green and environmentally friendly comprehensive removal of harmful organisms in the fish pond.

[0026] The expected benefits and commercial value of this invention after implementation are as follows: It can resolve the problem of being unable to eradicate harmful fish eggs, effectively eliminate the threat posed by harmful fish eggs to other farmed fish after hatching, and significantly increase farmed fish yields. It can also provide long-term improvements to the aquatic environment in ponds, making it suitable for most aquatic breeding bases and promising application prospects in the fish farming industry.

[0027] The technical solution of the present invention solves a long-cherished but unsuccessful technical problem: conventional removal methods such as pumping, fishing, and administering pesticides are difficult to fully eliminate harmful fish eggs from ponds. They are also time-consuming, labor-intensive, and costly. Furthermore, administering pesticides pollutes the environment and fails to effectively eliminate harmful fish, while posing a health threat to other beneficial fish. Faced with this situation, people have long been at a loss. The present invention provides an effective technical solution to this long-cherished problem. It also serves as a green and environmentally friendly comprehensive method for eliminating harmful organisms in stagnant waters such as fish ponds. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a system structure diagram of a robot for removing harmful fish eggs from fish ponds using acoustic waves, provided by an embodiment of the present invention.

[0029] Figure 2 This is a diagram of the main controller system architecture provided by an embodiment of the present invention.

[0030] Figure 3 This is a serpentine patrol image of a robot for removing harmful fish eggs from a fish pond using sonic waves, as provided by an embodiment of the present invention.

[0031] Figure 4 This is a flowchart of the main controller program provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] In order to enable those skilled in the art to fully understand how to implement the present invention, this section provides an explanatory embodiment that expands on the technical solutions of the claims.

[0034] Figure 1 The system architecture of the present invention's ultrasonic robot for removing harmful fish eggs from fish ponds is shown. The robot primarily comprises a hull 1, a propulsion and directional control device 2, an underwater acoustic transducer 3, a solar panel 4, a battery with a power controller 5, a Beidou / GPS dual-mode antenna 6, a main controller 7, and an ultrasonic ranging module 8.

[0035] The working principle of the ultrasonic wave robot for removing harmful fish eggs from fish ponds of the present invention is as follows: the user places the robot near the bank of the fish pond, the robot will measure external obstacles through the ultrasonic ranging module 8, and the main controller 7 controls the power propulsion and direction control device 2 to move the robot to a suitable starting point; at this time, the main controller 7 controls the underwater acoustic transducer 3 to emit ultrasonic waves into the water according to the system parameter settings and forms a modern square strong ultrasonic field under the hull 1; the strong ultrasonic field will cause it to continuously generate a large number of cavitation nuclei in the water body where it acts. These cavitation nuclei with a lifespan of microseconds will continuously explode and form a local high temperature of about 4000°C, a high pressure of about 100MPa, and a high-speed micro-jets of about 110m / s, thereby killing harmful fish eggs, bacteria, viruses and other microorganisms in the strong ultrasonic field, as long as the action time is long enough, generally a few minutes to twenty minutes. The ultrasonic wave can kill harmful fish eggs in about 1 minute, and basically 100% lethality can be achieved; for slightly larger organisms such as fish eggs and larvae, ultrasonic waves with the same or similar resonance frequency can also destroy their body tissues, thereby achieving the purpose of killing them; at the same time, the fish pond harmful fish egg acoustic wave removal robot can only effectively kill the square area below the underwater acoustic transducer. To achieve comprehensive and automatic killing of harmful fish eggs in the entire fish pond, the present invention adopts differential satellite positioning to achieve 10cm level precision hull accurate positioning, then controls the power propulsion and direction control device 2 through the main controller 7 to make the hull 1 fully automatically and fully covered in the entire fish pond. By controlling the travel speed of the hull and fully automatic path planning, it is ensured that all areas in the fish pond are cruised to by the robot and obtain sufficient time for the ultrasonic killing effect, thereby achieving effective killing of harmful fish eggs in the entire fish pond water area.

[0036] Hull 1, a thin-shell structure made of materials such as fiberglass, aluminum alloy, carbon steel, or low-alloy high-strength steel, houses the other components of the fish pond harmful fish and egg removal robot. By balancing the robot's weight with the weight of the water displaced by hull 1, hull 1 is designed so that the underwater acoustic transducer 3, mounted on its bottom, is fully submerged in the water.

[0037] The propulsion and direction control device 2 is mounted at the rear bottom of the hull 1 and is primarily used to control the speed, direction, attitude, and trajectory of the hull 1. Typically, a propeller provides propulsion, and its direction is controlled by the rudder. In this embodiment, a podded propulsion system integrates these two functions. This system is suspended from the stern engine base, controlling the propeller's 360-degree rotation and generating thrust in any horizontal direction. This thrust, similar to rudder pressure, is used to control the robot's forward, backward, and steering movements.

[0038] The underwater acoustic transducer 3 is mounted on the bottom of the hull 1, in front of the propulsion and directional control device 2. It is primarily constructed using an array of piezoelectric ceramic transducers or magnetostrictive transducers, sealed with acoustically transparent rubber for waterproofing and acoustic impedance matching with water. The frequency range of the underwater acoustic transducer 3 is 20 to 55 kHz. The underwater acoustic transducer 3 is generally planar, with an arc-shaped design at the junction of the lower surface of the hull 1, facing the bow, and the vertical surface to reduce water resistance during forward motion.

[0039] The solar panel 4 is installed on the platform on the upper part of the hull 1 and is fixed to the upper platform of the hull 1 by bolts, screws, etc., and is used to convert solar energy into electrical energy, thereby providing the electrical energy required for the fish pond harmful fish egg acoustic wave removal robot to work.

[0040] A battery 5 with a power controller is mounted on the upper platform of the hull 1 near the solar panels 4. The power controller controls the charging of the battery with the electricity converted by the solar panels 4. The battery or solar panels 4 then provide power to the various components of the robot for removing harmful fish eggs from fish ponds using acoustic waves. The battery can be a lead-acid or lithium battery.

[0041] Beidou / GPS dual-mode antenna 6 is used to receive Beidou and GPS positioning signals and transmit them to main controller 7, which uses this to accurately locate the fish pond harmful fish egg removal robot on the water surface. Due to the time-accumulated error of the inertial navigation unit (IMU), the positioning information obtained by Beidou / GPS dual-mode antenna 6 is also used for regular calibration of the IMU's positioning information.

[0042] The main controller 7, mounted on a platform within the hull, primarily consists of a main control module, a Beidou / GPS receiver module, an inertial navigation unit (IMU), a D / A converter, a power amplifier, and a hull controller. It serves as the system controller for the fish pond harmful fish egg acoustic removal robot, primarily performing tasks such as positioning, mission planning, motion control, and ultrasonic emission control. The main control module utilizes a combination of one or more microcontrollers, digital signal processors (DSPs), programmable gate arrays (FPGAs), and embedded systems (ARMs) as signal processing chips, and is configured with non-volatile memory such as RAM and flash memory, a reset circuit, a watchdog timer, and interface circuits. It primarily functions for mission planning and execution control. The Beidou / GPS receiver module utilizes a high-precision positioning and timing system, such as Jinnuoxin's XPTM-M610 component, achieving single-station positioning accuracy within 3 meters and achieving positioning accuracy within 10 cm through differential positioning. In this embodiment, the inertial navigation unit (IMU) is an off-the-shelf product and is primarily used for the robot's posture measurement and inertial navigation. Its accumulated error is corrected using positioning information from the Beidou / GPS receiver module. Beidou / GPS and IMU information are fed into the signal processing chip of the main controller 7. After processing through the extended Kalman filter, it is fed back to the IMU for feedback correction. The D / A converter uses a 24-bit device to ensure conversion accuracy. The power amplifier uses Class D, T, and E amplifiers to ensure high amplification efficiency. The hull controller uses a mature off-the-shelf product.

[0043] The ultrasonic ranging module 8 is composed of an integrated ultrasonic transducer and a ranging circuit. It is distributed on all surfaces of the water surface outside the hull 1 and forms a 360° no-dead-angle detection effective area around the hull, thereby realizing the detection of obstacles around the hull 1.

[0044] Figure 2 The main control system architecture is shown. The main control module receives positioning signals from the Beidou / GPS dual-mode antenna via the Beidou / GPS receiver module, enabling real-time positioning of the robot. The main control module connects to the ultrasonic ranging module to determine its distance from the shore or obstacles. The inertial navigation unit (IMU) connects to the main control module via interfaces such as SPI and I2C and provides inertial navigation data. The main control module controls the hull controller and the propulsion and directional control devices, thereby achieving motion control of the hull. The main control module connects to the D / A converter via peripheral interfaces such as serial and parallel ports, and outputs digital signals in the ultrasonic frequency band. The D / A converter then converts these signals into analog electrical signals. After amplification by the power amplifier, the signals drive the underwater acoustic transducer to emit ultrasonic signals such as single-frequency or swept-frequency sine waves, sawtooth waves, and triangle waves in the 20-55kHz range.

[0045] The main controller of the embodiment of the present invention includes:

[0046] The main control module is used to fully control the robot's work, including working mode setting, mission planning, cruise path planning, ultrasonic emission, ultrasonic obstacle avoidance, etc.

[0047] Beidou / GPS receiving module, mainly used to receive satellite positioning information obtained by Beidou / GPS antenna to achieve surface positioning of the hull;

[0048] The IMU, an inertial navigation unit, provides positioning and attitude information for the ship, facilitating control of the ship's forward movement along the planned path. Because the IMU has cumulative errors, a differential Beidou / GPS receiver module can achieve 10cm positioning accuracy, which is then used to calibrate the IMU's positioning information. Furthermore, an extended Kalman filter is used to achieve even more accurate positioning.

[0049] The hull controller controls the hull to move along the planned path according to the current mission plan of the main controller.

[0050] The basic working principle of the main controller of the embodiment of the present invention is as follows: the main control module first obtains the satellite positioning information obtained by the Beidou / GPS receiving module to achieve 10cm-level accurate positioning of the hull; then obtains the state information of the hull through the IMU; the main control module measures the surrounding obstacles through the ultrasonic ranging module, and if it finds that the obstacle is less than the safe distance L from the hull, it will stop and return to the ship. s When the boat is within a certain distance (usually a few centimeters), the obstacle avoidance algorithm is called to avoid the boat. When no obstacle is encountered, the main control module sends a signal to the underwater acoustic transducer through the DA converter and the power amplifier to generate a strong ultrasonic field to effectively kill harmful fish eggs in the lower part of the boat. At the same time, the main control module controls the boat to move along the planned path in the current working mode through the boat controller, and automatically and completely removes harmful fish eggs from all areas of the fish pond.

[0051] Figure 3 This is a diagram of a serpentine patrol of a robot capable of removing harmful fish eggs from fish ponds using sonic waves. The robot can complete its killing mission using random search, predetermined routes, and other modes. In this embodiment, a serpentine patrol method is used to kill harmful fish eggs. During the execution of its mission, the main parameters are determined as follows: the effective range of transducer 3 is approximately an L×W area, where L is the length of the active area and W is the width of the active area. The acoustic field design of transducer 3 allows this active area to be larger than the projection of hull 1 on the water surface. When the active time is T, all harmful fish eggs can be killed. Therefore, the speed of the robot capable of removing harmful fish eggs from fish ponds on the water surface can be determined as V≤L / T. When the robot operates in a serpentine patrol mode, the distance d between adjacent tracks is d≤W.

[0052] Figure 4This is the main controller program flow chart. In the serpentine cruise mode, the specific steps are:

[0053] The first step is to turn on the robot and start the system working;

[0054] In the second step, the operator sets the robot's cruise mode to the serpentine cruise mode through the main controller 7;

[0055] In the third step, the main controller 7 sends a digital signal in the ultrasonic frequency band to the DA converter inside the main controller 7, which then converts it into an analog electrical signal. After being amplified by the power amplifier, it drives the underwater acoustic transducer 3 to transmit ultrasonic waves to the area below the hull 1. The ultrasonic waves are continuously emitted during the cruise.

[0056] The fourth step is to start cruising, and set the serpentine cruising mode on the water surface to perform the corresponding cruising and killing of harmful fish eggs;

[0057] The fifth step is to determine whether it has reached the boundary of the fish pond or encountered an obstacle. If not, continue to cruise along the original route. If so, first determine whether the killing task has been completed. If not, modify the cruise route and cruise along the new route. If the task is completed, end the system work.

[0058] Throughout the serpentine cruise process, the main controller 7 will always determine whether it has reached the fish pond boundary or encountered an obstacle. At the same time, in the serpentine cruise mode, a current fish pond map is constructed. The constructed map determines which areas have not yet been subjected to the harmful fish and egg extermination, and plans and executes the extermination task in these areas.

[0059] It should be noted that the method portion of the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, such code is provided on a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or can be implemented by software executed by various types of processors, or can be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0060] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with this technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A robot for removing harmful fish eggs from fish ponds using sonic waves, characterized in that: include: The hull adopts a thin shell design and floats on the water surface through buoyancy. It is used to install various components of the fish pond harmful fish egg ultrasonic removal robot. After all the components are installed on the hull, the underwater acoustic transducer installed on its lower part must be completely immersed in water; The power propulsion and direction control device is installed below the stern of the hull and is completely immersed in water. It consists of a propeller and a rudder, or a pod-type propulsion device that combines power propulsion and direction control, and is used to realize the motion control of the ultrasonic wave removal robot for harmful fish eggs in fish ponds; The underwater acoustic transducer is installed on the bottom of the hull and is located in front of the power propulsion and direction control device. It is composed of an underwater acoustic transducer array with a frequency band of 20 to 55 kHz. The underwater acoustic transducer array is sealed with sound-transmitting rubber, and its leading edge adopts an arc design to reduce water resistance during forward movement. Solar panels, installed on the platform above the hull, are used to convert solar energy into electricity, thereby providing the power required for the ultrasonic wave removal robot for harmful fish eggs in the fish pond; A battery with a power controller is installed on the upper platform of the hull near the solar panel. The power controller controls the electric energy converted by the solar panel to charge the battery, and provides electric energy to various components of the robot for removing harmful fish eggs in the fish pond through the battery or the solar panel. Beidou / GPS dual-mode antenna, used to receive Beidou and GPS positioning signals and transmit them to the main controller, which enables the robot to locate harmful fish and eggs in the pond on the water surface; The main controller, installed on a platform inside the hull, consists of a main control module, Beidou / GPS receiver module, inertial navigation unit, DA converter, power amplifier, and hull controller. It is the system controller of the fish pond harmful fish egg ultrasonic removal robot, and completes the robot's positioning, mission planning, motion control, and ultrasonic emission control tasks; The ultrasonic ranging module, consisting of an integrated ultrasonic transducer and receiver and a ranging circuit, is distributed on all surfaces outside the water of the hull, forming a 360° no-dead-angle detection effective area around the hull, enabling the detection of obstacles around the ultrasonic wave removal robot for harmful fish eggs in the fish pond.

2. The fish pond harmful fish egg sonic removal robot according to claim 1, characterized in that: The main control module of the main controller receives the positioning signal from the Beidou / GPS dual-mode antenna through the Beidou / GPS receiving module to achieve real-time positioning of the robot; The main control module is connected to the ultrasonic ranging module to determine the distance between the robot and the shore or obstacles; The inertial navigation unit is connected to the main control module through the SPI and I2C interfaces and provides inertial navigation data; The main control module controls the hull controller, and controls the power propulsion and direction control devices, thereby realizing the motion control of the hull; The main control module is connected to the DA converter through the serial port and parallel port peripheral interface, and outputs the digital signal of the ultrasonic frequency band, which is then converted into an analog electrical signal by the DA converter. After amplification by the power amplifier, it drives the underwater acoustic transducer to emit single-frequency or swept-frequency sine wave, sawtooth wave, or triangle wave ultrasonic signals in the range of 20 to 55 kHz.

3. The fish pond harmful fish egg sonic removal robot according to claim 1, characterized in that: The main controller also includes: Beidou / GPS receiving module is used to receive satellite positioning information obtained by Beidou / GPS antenna to achieve surface positioning of the ship.

4. The fish pond harmful fish egg sonic removal robot according to claim 2, characterized in that: The inertial navigation unit provides positioning and attitude information for the hull, making it easier to control the hull to move forward along the planned path. Since the inertial navigation unit has cumulative errors, the use of a differential Beidou / GPS receiver module can achieve 10cm positioning accuracy, and use it to calibrate the positioning information of the inertial navigation unit, and achieve more accurate positioning through extended Kalman filtering.

5. The fish pond harmful fish egg sonic removal robot according to claim 1, characterized in that: The effective range of the underwater acoustic transducer is an L×W area, where L is the length of the effective area and W is the width of the effective area. Through the sound field design of the underwater acoustic transducer, the effective area can be made larger than the projection area of ​​the hull on the water surface. When the effective time is T, all harmful fish eggs can be killed, thereby determining the travel speed of the fish pond harmful fish egg acoustic wave removal robot on the water surface V≤L / T; when the robot operates in a serpentine cruising mode, the distance d between its adjacent tracks is ≤W.

6. The fish pond harmful fish egg sonic removal robot according to claim 1, characterized in that: The power propulsion and direction control device may adopt a propeller to provide power and a rudder to control direction, or may adopt a power and direction integrated control device.

7. The fish pond harmful fish egg sonic removal robot according to claim 1, characterized in that: The accumulated error of the inertial navigation unit is regularly calibrated by the positioning information obtained by the Beidou / GPS dual-mode antenna; the Beidou / GPS information and the inertial navigation unit information are input into the signal processing chip of the main controller, processed by the extended Kalman filter, and fed back to the inertial navigation unit end to realize feedback correction.

8. A control method for the robot for removing harmful fish eggs from fish ponds using acoustic waves according to claim 1, characterized in that: include: The first step is to turn on the robot and start the system working; The second step is for the operator to set the robot's cruise mode through the main controller. If the operator does not set the cruise mode, it will run in the default cruise mode; In the third step, the main controller sends a digital signal in the ultrasonic frequency band to the DA converter, which then converts it into an analog electrical signal. After being amplified by the power amplifier, it drives the underwater acoustic transducer to emit ultrasonic waves toward the area below the hull. The ultrasonic waves are continuously emitted during the cruise. The fourth step is to start patrolling and carry out corresponding patrolling and killing of harmful fish eggs on the water surface according to the patrol mode; The fifth step is to determine whether it has reached the boundary of the fish pond or encountered an obstacle. If not, continue to cruise along the original route. If so, first determine whether the killing task has been completed. If not, modify the cruise route and cruise along the new route. If the task is completed, end the system work.

9. The control method of the robot for removing harmful fish eggs from fish ponds by acoustic waves according to claim 8, characterized in that: During the entire cruise process, the main controller will always determine whether it has reached the fish pond boundary or encountered an obstacle; at the same time, each cruise mode is equipped with a current fish pond map construction function, and through the constructed map it determines which areas have not yet been killed for harmful fish eggs, and plans tasks for these areas and executes the killing tasks.

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