A device that cooperates with intelligent electric fence and underwater robot to intercept fish

Abstract

The present invention relates to a device for intercepting fish by cooperating with an intelligent electric fence and an underwater robot, belonging to the technical field of electric fence fish interception. The device comprises an intelligent electric fence system, an underwater robot cooperative identification and interception system, and a central processing system. The intelligent electric fence system is used to automatically switch the output power of the electric fence according to whether a school of fish is detected near the electric fence, thereby blocking the school of fish within a specific area. The underwater robot cooperative identification and interception system is used to collect the activity status of the school of fish by multiple underwater robots distributed in the water. Once an underwater robot recognizes that a school of fish is approaching the electric fence, the other underwater robots near the underwater robot are controlled to move toward the school of fish and perform high-voltage pulse discharge to intercept the fish. The central processing system is used to run a deep learning image detection algorithm, analyze images collected by the underwater robot cooperative identification and interception system, determine whether there are fish approaching the electric fence, and output control signals to the intelligent electric fence system and the underwater robot cooperative identification and interception system.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric fence fish interception, and relates to a device for intercepting fish by cooperating with an intelligent electric fence and an underwater robot. Background Art

[0002] Intelligent and technologically advanced fishery production methods are an inevitable trend in the development of modern fisheries. They are of great significance in improving fishery production efficiency, energy conservation and environmental protection, improving safety, and promoting industrial upgrading. As a key fishery facility, the intelligent development of electric fence fish interceptors is particularly important.

[0003] Electric fish-blocking devices use positive and negative electric grids spaced vertically in the water at regular intervals to create an underwater electric field, controlling the movement of fish. Existing electric fish-blocking devices operate at high power levels around the clock, resulting in high power consumption and operating costs. Furthermore, abnormal conditions such as water flow or foreign matter, particularly large waves in coastal rivers, can cause the ends of the electric grid to tilt. If the spacing between the positive and negative grids is too small, there's a risk of short circuits, while too large a spacing can lead to fish escape. Manually resetting a tilted electric grid is cumbersome, unsafe, and costly. Summary of the Invention

[0004] In view of this, the object of the present invention is to provide a device for intercepting fish by cooperating with an intelligent electric fence and an underwater robot.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A device for intercepting fish by cooperating with an intelligent electric fence and an underwater robot, comprising an intelligent electric fence system, an underwater robot cooperative identification and interception system, and a central processing system;

[0007] The intelligent electric fence system is used to automatically switch the output power of the electric fence according to whether a school of fish is detected near the electric fence, thereby blocking the fish in a specific area;

[0008] The underwater robot collaborative identification and interception system is used to collect information about the movement of fish schools through multiple underwater robots distributed in the water. Once an underwater robot identifies a school of fish approaching an electric fence, it controls other underwater robots in the vicinity to move toward the school of fish and perform high-voltage pulse discharge to intercept the fish.

[0009] The central processing system is used to run a deep learning image detection algorithm, analyze the images collected by the underwater robot collaborative identification and interception system, determine whether there are fish approaching the electric fence, and output control signals to the intelligent electric fence system and the underwater robot collaborative identification and interception system.

[0010] Furthermore, the intelligent electric grid system includes an electric grid, a high-voltage pulse generating device, a positioning mechanism and a steel wire rope; the steel wire rope is fixed at both ends of the intercepted river surface; there are two electric grids, which are divided into positive and negative poles and are installed on the steel wire rope through insulating rings; the positioning mechanism is arranged at the lower ends of the two electric grids, for detecting and adjusting the position and posture of the two electric grids; the high-voltage pulse generating device is used to receive commands from the central processing system and generate high-voltage pulses.

[0011] Furthermore, the positioning mechanism includes a positioning mechanism controller, a three-dimensional position sensor, a motor drive, and motors and propellers arranged in four directions; the position and posture of the electric grid are automatically detected by the three-dimensional position sensor, and the data is transmitted back to the positioning mechanism controller in real time. The positioning mechanism controller sends a control signal to the motor in the corresponding direction according to the predetermined electric grid position, drives the propeller in the corresponding direction to rotate, and adjusts the electric grid position.

[0012] Furthermore, the three-dimensional position sensor is a three-axis tilt sensor, which is equipped with a three-axis gyroscope and a three-axis accelerometer, and has a three-level Kalman filter, which outputs the tilt information of the X-axis, Y-axis, and Z-axis; if the electric grid is in a vertical position, the tilt angles of the X-axis, Y-axis, and Z-axis are 0 degrees. If the electric grid moves in a certain direction, the tilt angles of the corresponding coordinate axes will change, and the position of the electric grid is determined by the tilt angle values ​​of the X-axis, Y-axis, and Z-axis.

[0013] Furthermore, when the central processing system does not identify the presence of fish near the electric fence, the high-voltage pulse generating device of the intelligent electric fence system is operated at a pulse frequency of 4Hz and a pulse voltage of 500V. When the central processing system identifies the presence of fish near the electric fence, the high-voltage pulse generating device of the intelligent electric fence system is operated at a pulse frequency of 12Hz and a pulse voltage of 500V.

[0014] Furthermore, the underwater robot collaborative identification and interception system includes multiple underwater robots, each of which is composed of an underwater robot body, a depth sensor, left and right cameras, a binocular infrared camera, a three-dimensional position sensor, electrodes, and a connecting cable; the underwater robot body is connected to a steel wire rope via the connecting cable;

[0015] The upper and lower position coordinates of the underwater robot body on the electric fence are determined by the depth sensor; the left and right position coordinates and the front and back position coordinates are determined by the electric fence images in the left and right images detected by the robot's left and right cameras. The electric fence image is recognized by sending the left and right camera data to the central processing system for electric fence image recognition. If the electric fence on the left is thick and the electric fence on the right is thin, the underwater robot body is determined to be close to the left, and vice versa. If the electric fence image is close to the front of the image screen, the underwater robot body is determined to be in the front position, otherwise it is in the back position. The approximate position coordinates of the underwater robot body relative to the electric fence are thus obtained.

[0016] The state of the underwater robot is calculated by the three-dimensional position sensor, ensuring that the left and right cameras correspond exactly to the left and right electric grids, and the binocular infrared camera faces forward;

[0017] The movement range of each underwater robot body is between the two electric fences, within a certain range in front and behind, to ensure that the underwater robot body does not move away from the electric fence and that adjacent underwater robot bodies do not collide;

[0018] The underwater robot body periodically captures the image in front of the electric fence through a binocular infrared camera, and transmits the images collected by the binocular infrared camera and the left and right cameras back to the central processing system in real time. The central processing system uses binocular three-dimensional reconstruction technology and image pattern recognition technology to identify the position coordinates of the underwater robot body and whether there are fish schools in front of it. When the presence of fish schools is identified in front of it, a control command is issued to multiple underwater robot bodies adjacent to the underwater robot body based on the fish school's position coordinate information, so that the adjacent underwater robot bodies move to the same upper and lower positions of the underwater robot body, and discharge electricity through electrodes together to achieve collaborative fish interception.

[0019] The beneficial effects of the present invention are: the intelligent electric fence and underwater robot collaborative fish intercepting device of the present invention has a high degree of intelligence, good interception effect, good safety performance, low operating cost, and easy maintenance. It uses deep learning, image recognition, serial communication, PID control and other technologies to solve the problems of electric fence power consumption, ineffective interception, and troublesome maintenance. It can promote the scientific and technological development and industrialization of fisheries, and has high practicality and promotion value.

[0020] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0022] Figure 1 This is a schematic diagram of the structure of a device that uses an intelligent electric fence and an underwater robot to collaboratively intercept fish.

[0023] Figure 2 It is a working schematic diagram of the device of the present invention;

[0024] Figure 3 It is the functional module diagram of the positioning mechanism;

[0025] Figure numerals: central processing system 1, high-voltage pulse generating device 2, connecting cable 3, wire rope 4, insulating lifting ring 5, electric grid 6, positioning mechanism 7, underwater robot body 8, electrode 9, binocular infrared camera 10, underwater robot connecting cable 11. DETAILED DESCRIPTION

[0026] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0027] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0028] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0029] The present invention provides a device for intercepting fish by cooperating with an intelligent electric fence and an underwater robot. The device consists of three parts: an intelligent electric fence system, an underwater robot cooperative identification and interception system, and a central processing system. The intelligent electric fence system can intelligently adjust the output power of the electric fence in the area according to whether there are schools of fish near the electric fence, thereby blocking the fish in a specific area. At the same time, the electric fence will automatically adjust back to an upright state through the positioning mechanism at its end to prevent the positive and negative electric fences from short-circuiting or the fish from escaping due to excessive distance between the electric fences. The underwater robot can move freely within a certain range in the water, and collect information about the activities of the fish school through an infrared camera vision system. Once it recognizes that a school of fish is approaching the electric fence, it will automatically form a team to perform high-voltage pulse discharge to intercept the fish school. The central processing system performs data analysis on the returned signals and transmits control signals to the electric fence and the underwater robot.

[0030] The underwater robots are controlled by image recognition to detect the presence of approaching schools of fish and communicate via serial port modules. If no fish are approaching, the robots disperse and do not release voltage. If a school of fish approaches, the robots team up and release voltage to repel the fish. When no fish are detected, the corresponding electric barriers operate at low power. When fish are detected, the corresponding electric barriers return to normal power. Furthermore, to prevent short circuits caused by small electric barrier spacing, a three-dimensional position sensor senses the position of the electric barriers. A PID control algorithm is used to servo-control the left and right front and rear motors, driving the propellers of the electric barrier's positioning system to ensure the barrier's position remains within its normal operating range. This principle enables the following: low-power operation → detection and identification of fish → generation of high-voltage pulses → repelling the fish → resumption of low-power operation. This fully intelligent process reduces energy consumption and operating costs. The dual interception of underwater robots by teaming up with the intelligent electric barriers improves interception reliability.

[0031] In this embodiment, if Figure 1 As shown, the device specifically includes:

[0032] Central processing system 1: uses an embedded system, JETSON NANO 4GB, which can run deep learning image detection, conduct comprehensive analysis of input signals, and output control signals.

[0033] High-voltage pulse generator 2: input 220V mains electricity and generate 300V-500V high-voltage pulses

[0034] Connection cable 3: transmits high voltage pulses to electrodes, control signals, image acquisition signals, etc.

[0035] Wire rope 4: The wire rope is hung at both ends of the intercepted river surface.

[0036] Insulation ring 5: to achieve insulation between electric grid and wire rope

[0037] Electric grid 6: divided into positive and negative electric grids, high voltage pulse discharge, forming an underwater electric field

[0038] Positioning mechanism 7: When the grid spacing becomes smaller, the grid position can be automatically adjusted to prevent short circuits

[0039] Underwater robot body 8: The underwater robot can move up, down, left, and right within a certain range.

[0040] Electrode 9: Releases high-voltage pulses to intercept fish

[0041] Binocular infrared camera 10: uses infrared sensors to capture images of fish schools

[0042] Underwater robot connection cable 11: Power the underwater robot, transmit control signals, image acquisition signals, etc.

[0043] Before specific implementation, the following technical preparations are required: collecting image data of fish schools, establishing a corresponding database, and using models for training to ensure that the underwater robot has the ability to recognize objects and form a team for collaborative interception; the central processing system conducts deep learning and has the ability to intelligently control the electric grid spacing and voltage.

[0044] like Figure 2 As shown in the figure, the device mainly consists of three parts: intelligent electric fence system, underwater robot collaborative identification and interception system and central processing system.

[0045] The intelligent electric barrier system consists of four main components: an electric barrier, a high-voltage pulse generator, a positioning mechanism, and a wire rope. The high-voltage pulse generator receives signals from the central processing unit and adjusts the barrier power to effectively intercept fish. The wire rope secures the electric barrier to the fish through an insulated eyelet.

[0046] Positioning mechanism such as Figure 3 The device consists of a controller, a 3D position sensor, a motor drive, four front, rear, left, and right motors, and four propellers. The 3D position sensor automatically detects the position and posture of the electric barrier and transmits this data in real time to the positioning mechanism controller. The controller then sends signals to the motors, driving the propellers in the corresponding directions, pushing the electric barrier left, right, and forward, thereby regulating the barrier spacing. The controller, comprised of a low-cost AT89C51 microcontroller, uses the position parameters detected by the 3D position sensor to run a PID control algorithm to control the left, right, and front, rear motors.

[0047] The underwater robot collaborative identification and interception system consists of multiple underwater robots, each consisting of a main unit, binocular infrared cameras, electrodes, and connecting cables. The robots periodically capture images of the area in front of the electric fence using their binocular infrared cameras, transmitting this data in real time to a central processing system. The robots then receive signals from the central processing system to form teams and control electrode discharges, effectively intercepting fish. The robots are connected to the central processing system and a high-voltage pulse generator via connecting cables.

[0048] The central processing system analyzes the signals input by the underwater robot and outputs control signals to the underwater robot and the intelligent electric grid system.

[0049] Because the underwater robot is connected to the electric fence via a cable, it can only move within the cable's length. If the fence spans a large distance, multiple robots are required. When one robot transmits information indicating the presence of fish in its area, robots in nearby areas receive the signal and work together with the sending robot to drive the fish away. Specifically, the robot is connected to the cross-river wire rope by a flexible cable and positioned between the two electric fences. The robot body includes a depth sensor, left and right cameras, and a three-dimensional position sensor. The robot's vertical position within the electric fence is determined by the depth sensor, while its left and right position and front and back position are determined by the left and right cameras detecting images from the left and right cameras. If the left electric fence image is thicker and the right one is thinner, it indicates that the robot is moving away from the left. If the electric fence image is closer to the front of the image, it indicates that the robot is in the front. The robot's position within the electric fence is determined by the depth sensor and the left and right cameras. The robot's own state is provided by the three-dimensional position sensor in the robot body, ensuring that the left and right cameras are aligned with the left and right electric fences and the binocular camera faces forward. Each robot's range of movement is within a certain range between the two electric fences, ensuring that the robot does not stray too far from the fence and that adjacent robots do not collide. The data sent back by the robot includes: image data from the binocular camera, and the robot's up and down, left and right position data.

[0050] The collaborative fish interception process is as follows: After receiving image data from each robot's binocular camera, the embedded system performs recognition. If a robot's image data is detected to contain a fish, the embedded system sends control commands to the four robots adjacent to the fish-detecting robot, based on the robot's vertical and horizontal position information. These robots move to the same vertical position as the fish-detecting robot. If a fish is to the left, the adjacent robots all move to their maximum left position, achieving collaborative fish interception. Robots farther from the fish-detecting robot remain stationary and in their original motion state. Actual control is more complex. Adjacent robots may all detect fish in the same school of fish. The size and position of the fish detected determine the appropriate interception position. Simultaneously, both the fish and the robots are in motion, requiring dynamic adjustments based on their positions.

[0051] Specifically, a three-dimensional position sensor is integrated into a positioning mechanism at the end of the electric grid. The three-dimensional position sensor determines the posture of the electric grid by detecting changes in the position parameters of the electric grid. Optionally, a three-axis tilt sensor is used. It contains a three-axis gyroscope + a three-axis accelerometer, and has a three-stage Kalman filter. It can output high-precision tilt information on the X-axis, Y-axis, and Z-axis. If the electric grid is in a vertical position, the tilt angles of the X-axis, Y-axis, and Z-axis are 0 degrees. If the electric grid moves horizontally, the tilt angle of the X-axis will change. The position of the electric grid can be determined by the tilt angle values ​​of the X-axis, Y-axis, and Z-axis. It is connected to the controller via a wired serial port and does not require a wireless transmitter and receiver.

[0052] In this embodiment, the central processing system uses YOLOv8 deep learning image recognition technology to identify whether there is a school of fish and the size of the underwater robot approaching the electric fence. The specific steps for identifying the school of fish are as follows:

[0053] 1. Data preparation: save the collected fish images to the "images" folder of the image, and create labels and save them in the "labels" folder;

[0054] 2. Download the yolo v8 code, call the train.py training model of yolo v8, and set the parameters (weight, configuration file, training image resolution, dataset configuration file, number of training times, etc.). Run "train.py", the training results will be saved under the relative directory "runs", and the fish school training results will be generated.

[0055] 3. Set relevant parameters in "detect.py" (image size, resolution used during training, location of trained weights, absolute path, etc.) and modify the input and output methods. The input is an image, and the output is whether there is a fish. When the embedded system receives the image data from the robot's binocular camera below, it runs "detect.py" and can identify whether there is a fish in the image based on the output results.

[0056] Alternatively, the length of the underwater robot's connecting cable determines its range. This cable length is determined by the river width. For a 600-watt electric fish interceptor, the cable length is approximately 60 meters, the water depth is 5 meters, and the grid spacing is 2 meters. As the water depth increases, the interception width needs to be reduced accordingly. As the river width increases, the number of electric fish interceptors needs to be increased.

[0057] In this embodiment, binocular 3D reconstruction technology and image pattern recognition technology can optionally be used to identify the presence of fish schools. The electric fence has only two states: low power and operating power. Low power when there are no fish, and operating power when there are fish. If the pulse frequency of the electric fence fish interceptor is too high, the fish will be stunned and fail to intercept the fish during their migration. The normal pulse frequency is 12Hz. When fish are detected, the electric fence fish interceptor pulses at 12Hz, a pulse voltage of 500V, and a power of approximately 600 watts, which is normal power. If no fish are detected, the pulse frequency is reduced to 4Hz, and the pulse voltage is also 500V. At this time, the power is approximately 200 watts, which is the low power state, saving 2 / 3 of the electricity.

[0058] In this embodiment, the working process of the device is as follows:

[0059] Fish-free state: The underwater robot patrols in front of the electric fence, periodically capturing images in front of the fence and transmitting the data in real time to the central processing system. The central processing system analyzes the images, determines that no fish are approaching, and sends a signal to all underwater robots and the high-voltage pulse generator. Upon receiving the signal, all underwater robots are instructed not to take action and continue patrolling without releasing voltage. The high-voltage pulse generator receives the signal and maintains low-power operation of the intelligent electric fence system.

[0060] Fish-present state: The central processing system analyzes the image information and determines that a school of fish is approaching the electric fence. It then sends a signal to all underwater robots and high-voltage pulse generators. Underwater robots in the fish-present area receive the signal and are instructed to form a team and discharge voltage. They immediately form a team and release voltage, coordinating to intercept the fish in the first stage. Underwater robots in the fish-free area receive the signal but are not instructed to take action, maintaining their patrol status without releasing voltage. The high-voltage pulse generator receives the signal and outputs operating voltage to the intelligent electric fence in the fish-present area, initiating the second stage of interception. The intelligent electric fence in the fish-free area maintains low power operation. Once the fish are driven away, meaning the central processing system no longer recognizes the school of fish, it sends a signal to all underwater robots and high-voltage pulse generators, causing them to return to the fish-free state.

[0061] Adjustment of electric grid spacing: The three-dimensional position sensor of the automatic positioning mechanism automatically detects the angle between the electric grid and the vertical direction, and transmits the data back to the positioning mechanism controller in real time. If it finds that the electric grid spacing is too small, it sends a signal to the motor drive, which drives the propeller to rotate, pushing the electric grid to move in the direction of increasing the spacing, and automatically adjusting the electric grid spacing.

[0062] Device power outage: The central processing system of this device is equipped with an emergency generator. In the event of a power outage, the emergency generator can keep the entire system working.

[0063] The river water is too turbid: The underwater robot's binocular infrared camera produces clear and bright images, which can effectively deal with situations such as turbid river water. When the river water is too turbid and the collected video signal is blurred, the underwater robot stops working and the electric fence works at high power.

[0064] An experimental example is provided to illustrate the minimum target distance collaborative fish interception algorithm of this device, as follows:

[0065] 1. If the embedded system does not detect any fish, the electric fence enters a low-power state and each robot patrols from top to bottom and then from bottom to top.

[0066] 2. The patrolling embedded system detects a school of fish. Using the fish as the center point, the robot's position determines the fish's depth and the location of the electric fence. The electric fence segment at that location then returns to normal power. When the fish-detecting robot's distance from the school falls within a certain threshold, the robot's electrodes emit a pulse voltage to repel the fish. With the fish-detecting robot at the center, a total of five robots, including those on the left and right, move toward the center of the school. These five robots move to minimize the distance to the school. If the robot is below the school, it moves upward; if there's a school to the right, it moves leftward; and if there's a school to the left, it moves rightward. After a period of time, the system proceeds to step 3.

[0067] 3. Detect the center point of the fish school again, recalculate the depth of the fish school and the location of the fence, restore the normal power state of the electric fence segment at that location, find the five robots centered on the fish school again, control them to move closer to the center of the fish school with the goal of reducing the distance to the fish school, and detect that the distance to the robot closest to the fish school is less than the set value. The electrodes on the robot emit a pulse voltage to drive away the fish school.

[0068] 4. After a period of time, if fish are detected again, go to step 3. If the fish are driven out of the detection range, go to step 1.

[0069] 5. If multiple fish schools are detected, the system will coordinate and intercept them at the minimum target distance, centering on the largest school. All electric fences in the entire network will be switched to normal power, while other schools will be intercepted by electric fences in normal power. If the image is not clear, all electric fences in the entire network will be switched to normal power, and any fish present will be intercepted by electric fences in normal power.

[0070] The advantage of the minimum target distance collaborative fish interception algorithm is that once a fish school is detected, it's in motion. Regardless of where the school moves, five robots aim to close the minimum distance to the school, intimidating the approaching robots and causing them to migrate away. The fish sense the approaching robots and are intimidated, prompting them to migrate back. The robots don't need to physically contact the school. While the fish are moving, the robots aim to close the distance to the school, not necessarily to surround it. Therefore, periodic movements to close the distance make control simple and reliable.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A device for intercepting fish by combining an intelligent electric fence with an underwater robot, characterized by: It includes intelligent electric fence system, underwater robot collaborative identification and interception system and central processing system; The intelligent electric fence system is used to automatically switch the output power of the electric fence according to whether a school of fish is detected near the electric fence, thereby blocking the school of fish in a specific area; The underwater robot collaborative identification and interception system is used to collect information about the movement of fish schools through multiple underwater robots distributed in the water. Once an underwater robot identifies a school of fish approaching an electric fence, it controls other underwater robots in the vicinity to move toward the school of fish and perform high-voltage pulse discharge to intercept the fish. The central processing system is used to run a deep learning image detection algorithm to analyze images collected by the underwater robot collaborative identification and interception system, determine whether there are fish approaching the electric fence, and output control signals to the intelligent electric fence system and the underwater robot collaborative identification and interception system; The intelligent electric grid system includes an electric grid, a high-voltage pulse generator, a positioning mechanism, and a steel wire rope; the steel wire rope is fixed to both ends of the intercepted river surface; the electric grid has two positive and negative poles, which are mounted on the steel wire rope via insulating rings; the positioning mechanism is located at the lower ends of the two electric grids and is used to detect and adjust the position and posture of the two electric grids; the high-voltage pulse generator is used to receive commands from the central processing system and generate high-voltage pulses; The positioning mechanism includes a positioning mechanism controller, a three-dimensional position sensor, a motor drive, and motors and propellers arranged in four directions; the three-dimensional position sensor automatically detects the position and posture of the electric grid and transmits the data back to the positioning mechanism controller in real time. The positioning mechanism controller sends a control signal to the motor in the corresponding direction according to the predetermined electric grid position, driving the propeller in the corresponding direction to rotate and adjust the electric grid position; The three-dimensional position sensor is a three-axis tilt sensor, which is equipped with a three-axis gyroscope and a three-axis accelerometer, and has a three-level Kalman filter, which outputs the tilt information of the X-axis, Y-axis, and Z-axis; if the electric grid is in a vertical position, the tilt angles of the X-axis, Y-axis, and Z-axis are 0 degrees; if the electric grid moves in a certain direction, the tilt angles of the corresponding coordinate axes will change, and the position of the electric grid is determined by the tilt angle values ​​of the X-axis, Y-axis, and Z-axis.

2. The device for intercepting fish by cooperating with an intelligent electric fence and an underwater robot according to claim 1, characterized in that: When the central processing system does not identify the presence of fish near the electric fence, the high-voltage pulse generating device of the intelligent electric fence system operates at a pulse frequency of 4Hz and a pulse voltage of 500V. When the central processing system identifies the presence of fish near the electric fence, the high-voltage pulse generating device of the intelligent electric fence system operates at a pulse frequency of 12Hz and a pulse voltage of 500V.

3. The device for intercepting fish by combining an intelligent electric fence and an underwater robot according to claim 1, characterized in that: The underwater robot collaborative identification and interception system includes multiple underwater robots, each of which is composed of an underwater robot body, a depth sensor, left and right cameras, a binocular infrared camera, a three-dimensional position sensor, electrodes, and a connecting cable; the underwater robot body is connected to a steel wire rope via the connecting cable; The up-and-down position coordinates of the underwater robot body on the electric fence are determined by the depth sensor; the left-right and front-back position coordinates are determined by the robot's left and right cameras detecting the electric fence images in the left and right images. The left and right camera data are sent to the central processing system for electric fence image recognition. If the electric fence on the left is thicker and the right is thinner, the underwater robot body is judged to be closer to the left, and vice versa. If the electric grid image is close to the front of the image screen, it is determined that the underwater robot body is in the front position, otherwise it is in the rear position; thereby obtaining the approximate position coordinates of the underwater robot body relative to the electric grid; The state of the underwater robot is calculated by the three-dimensional position sensor, ensuring that the left and right cameras correspond exactly to the left and right electric grids, and the binocular infrared camera faces forward; The movement range of each underwater robot body is between the two electric fences, within a certain range in front and behind, to ensure that the underwater robot body does not move away from the electric fence and that adjacent underwater robot bodies do not collide; The underwater robot body periodically captures the image in front of the electric fence through a binocular infrared camera, and transmits the images collected by the binocular infrared camera and the left and right cameras back to the central processing system in real time. The central processing system uses binocular three-dimensional reconstruction technology and image pattern recognition technology to identify the position coordinates of the underwater robot body and whether there are fish schools in front of it. When the presence of fish schools is identified in front of it, a control command is issued to multiple underwater robot bodies adjacent to the underwater robot body based on the fish school's position coordinate information, so that the adjacent underwater robot bodies move to the same upper and lower positions of the underwater robot body, and discharge electricity through electrodes together to achieve collaborative fish interception.

Images