A fish school sensing device and its sensing system based on marine fishery

Abstract

The invention discloses a fish school sensing device based on marine fishery and a sensing system thereof, which relate to the field of marine fishery, and include a sensing device body, a sonar component and a posture control device. The sensing device body adopts a spherical structure; the sonar component is detachably mounted on the surface of the sensing device body; the posture control device is mounted on the sensing device body, an inner shell is mounted at the center position inside the sensing device body, the inner shell is fixed to the inner wall of the sensing device body through a first support rod, and a posture sensing device is fixedly mounted at the center position inside the inner shell through a second support rod. The sensing device body adopts a spherical structure as a whole, and has strong overall pressure resistance. After sensing the fish school, the device can adjust its own posture through the posture control device combined with the posture sensing device, adjust the angle of the sonar component relative to the fish school, so that the sonar component can detect the full picture of the fish school as much as possible, thereby facilitating and accurately grasping the movement trend of the fish school.

Description

Technical Field

[0001] The present invention relates to the field of marine fishery, and in particular to a fish school sensing device and its sensing system based on marine fishery. Background Art

[0002] As is well known, marine fishery refers to the economic activities of fishing and cultivating various aquatic animals and plants in the ocean. This includes fishing for fish, crustaceans, shellfish, seaweeds, etc. from the ocean, as well as aquaculture in the ocean. Marine fishery is not only an important food source, but also plays an important role in the economic and social development of many countries. And the fish school sensing device and its sensing system based on marine fishery are devices used to sense fish schools in the ocean and provide data support for fishermen;

[0003] In existing sensing devices, most of them adopt structures similar to buoys or sonar structures installed on fishing boats to detect and find the positions of fish schools through sonar detection. These sensing devices generally have the problems of being unable to move or only being able to move following fishing boats, and being unable to dive independently to track fish schools, which affects the fishing efficiency of fishermen. And these sensing devices are in contact with seawater for a long time during use, and the detection structures on the devices are easily corroded and damaged. In existing devices, the maintenance of the detection structures is also relatively difficult. Summary of the Invention

[0004] (1) Invention Objectives

[0005] In view of this, the objective of the present invention is to provide a fish school sensing device and its sensing system based on marine fishery. The overall compressive strength of the device is strong, and the sonar component in the device can be quickly disassembled, and when damaged, it is extremely convenient and fast to maintain.

[0006] (2) Technical Solutions

[0007] To achieve the above technical objective, the present invention provides a fish school sensing device based on marine fishery, which includes a sensing device main body, which adopts a spherical structure;

[0008] A sonar component, which is detachably installed on the surface of the sensing device main body and is used to sense fish schools;

[0009] An attitude control device, which is installed on the sensing device main body and is used to regulate the attitude of the sensing device main body;

[0010] Among them, an inner housing is installed at the central position inside the main body of the induction device. At the central position inside the inner housing, an attitude sensing device is fixedly installed through a second support rod. Specifically, the attitude sensing device uses an inertial measurement unit as the attitude sensor. The inertial measurement unit includes a three-axis accelerometer and a three-axis gyroscope, which are used to measure the acceleration and angular velocity of the main body of the induction device. By processing and fusing these data, the attitude information of the main body of the induction device can be obtained, thereby realizing the attitude control of the main body of the induction device.

[0011] As a further description of the above technical solution, a fitting kit is provided at the position on the inner surface of the main body of the induction device where the sonar assembly is installed. The surface of the fitting kit is provided with an assembly slot, and the sonar assembly is detachably clamped in the assembly slot.

[0012] As a further description of the above technical solution, a middle plate is provided at the central position inside the sonar assembly. A toothed ring is rotatably installed at the outer edge of the middle plate. An installation cavity is provided outside the middle plate inside the sonar assembly. An active disassembly and assembly control shaft and a passive shaft are installed in the installation cavity. Among them, an active gear is sleeved outside the active disassembly and assembly control shaft, and a partial gear is sleeved outside the passive shaft. Both the active gear and the partial gear are meshed with the toothed ring, so that when the active disassembly and assembly control shaft rotates, the partial gear can be driven to rotate synchronously through the active gear and the toothed ring. An active clamping ear is welded on the partial gear. A clamping opening that can be engaged with the active clamping ear is provided on the inner wall of the assembly slot, so that the partial gear can adjust the state of the active clamping ear by rotating. When the active clamping ear rotates and retracts into the installation cavity, the sonar assembly can be removed from the assembly slot. On the contrary, when the active clamping ear rotates and engages with the clamping opening in the assembly slot, the sonar assembly is locked and fixed in the assembly slot. Such a structural setting enables the sonar assembly to be quickly disassembled, and it is extremely convenient and fast to maintain when it is damaged. Further, a hole is provided on the surface of the sonar assembly at the position of the active disassembly and assembly control shaft, and the end of the active disassembly and assembly control shaft adopts a regular hexagonal prism structure. When disassembling the sonar assembly, a tool is directly inserted from the position of the hole, and then the top of the active disassembly and assembly control shaft is rotated.

[0013] Specifically, a transmitter and a receiver are integrated in the sonar assembly. Further, the transmitter and the receiver are installed in the middle plate. Among them, the transmitter emits acoustic pulses, and the receiver receives the reflected acoustic waves to detect the position of the fish school through the reflected acoustic waves.

[0014] As a further description of the above technical solution, at least two groups of active clamping ears are provided. When two groups of active clamping ears are provided, the two groups of active clamping ears are symmetrical with respect to the sonar assembly. When multiple groups of active clamping ears are provided, the multiple groups of active clamping ears are distributed in an annular array.

[0015] As a further description of the above technical solution, a reset mechanism is also installed in the installation cavity. The reset mechanism is used to control the tendency of the toothed ring to rotate to a specific position, at which position, the movable lug is engaged in the bayonet. The reset mechanism includes a fixed column and a tension spring. Among them, the fixed column is fixed in the installation cavity, one end of the tension spring is connected to the fixed column, and the other end is fixed to the outer edge of the toothed ring. Specifically, multiple groups of the reset mechanism are provided, and the multiple groups of the reset mechanism are distributed in a circular array in the installation cavity.

[0016] As a further description of the above technical solution, the attitude control device includes an X-axis attitude adjustment device and a Y-axis attitude adjustment device. Among them, two sets of the X-axis attitude adjustment device and the Y-axis attitude adjustment device are provided. Among them, the plane formed by the axes of the two sets of the X-axis attitude adjustment devices is perpendicular to the plane formed by the axes of the two sets of the Y-axis attitude adjustment devices.

[0017] As a further description of the above technical solution: both the X-axis attitude adjustment device and the Y-axis attitude adjustment device include:

[0018] An outer sleeve pipe, which adopts a tubular structure with both ends penetrating, and is inserted and installed in the main body of the induction device by welding or integral molding;

[0019] An inner assembly pipe, which is inserted into the outer sleeve pipe and fixed by bolts or spot welding;

[0020] Among them, a propeller is fixedly installed in the inner assembly pipe through a mounting bracket, and a servo motor for controlling the rotation of the propeller is fixedly installed on the mounting bracket.

[0021] The present invention also discloses a fish school induction system based on marine fishery, which includes a fish school induction device based on marine fishery and a fish school tracking control unit. The fish school tracking control unit is electrically connected to the servo motor, and controls the moving direction and speed of the main body of the induction device by controlling the steering and speed of the servo motor.

[0022] As a further description of the above technical solution, the fish school tracking control unit includes: a data acquisition module, a data analysis module and a control module. Among them, the data acquisition module acquires underwater fish school data information, the data analysis module judges the moving trend of the fish school according to the acquired underwater fish school data information, and the control module controls the movement of the main body of the induction device according to the judged moving trend of the fish school.

[0023] As a further description of the above technical solution, the underwater fish school data information includes the central position information of the fish school, and the central position information of the fish school is obtained by detecting and sensing with the sonar component. The movement trend of the fish school includes the movement speed and movement direction of the fish school;

[0024] The method for the data analysis module to judge the movement trend of the fish school according to the collected underwater fish school data information is as follows:

[0025] Compare the central position information data before and after the movement of the fish school within a unit time to obtain the movement speed and movement direction of the fish school;

[0026] The method for the control module to control the movement of the main body of the induction device according to the judged movement trend of the fish school is as follows:

[0027] Deduce the movement position of the fish school after a fixed time according to the obtained movement speed and movement direction of the fish school;

[0028] Based on the movement position of the fish school after a fixed time, the control module controls the movement direction and movement speed of the main body of the induction device by controlling the steering and rotation speed of each servo motor, so that the main body of the induction device moves to a preset distance position on the movement path of the fish school in advance.

[0029] In the above technical solution, a fish school induction device based on marine fishery provided by the present invention adopts a spherical structure as a whole. Therefore, when underwater, the stress at each position is balanced, which improves the overall compressive capacity of the device. Moreover, the sonar component in the device can be quickly disassembled, and when it is damaged, the maintenance is extremely convenient and fast;

[0030] The fish school induction system provided by the present invention can collect relevant data of the fish school when it senses the fish school, obtain the movement path and movement speed of the fish school, thereby predicting the position where the fish school will move within a corresponding time, and then controlling the main body 1 of the induction device to move to a preset distance position on the movement path of the fish school in advance, which is convenient for real-time monitoring of the movement trend of the fish school and provides strong data support for fishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0032] Figure 1 It is a schematic diagram of the overall structure of a fish school induction device based on marine fishery provided by the present invention;

[0033] Figure 2 Schematic diagram of the internal structure of a fish school sensing device based on marine fishery provided by the present invention;

[0034] Figure 3 Schematic diagram of the installation structure of the inner shell in a fish school sensing device based on marine fishery provided by the present invention;

[0035] Figure 4 Schematic diagram of the internal structure of the inner shell in a fish school sensing device based on marine fishery provided by the present invention;

[0036] Figure 5 Schematic diagram of the attitude control device structure in a fish school sensing device based on marine fishery provided by the present invention;

[0037] Figure 6 Partial cross-sectional view of the attitude control device in a fish school sensing device based on marine fishery provided by the present invention;

[0038] Figure 7 Schematic diagram of the installation structure of the sonar component in a fish school sensing device based on marine fishery provided by the present invention;

[0039] Figure 8 Schematic diagram of the internal structure of the sonar component in a fish school sensing device based on marine fishery provided by the present invention;

[0040] Figure 9 Schematic diagram of the clamping mechanism of the sonar component in a fish school sensing device based on marine fishery provided by the present invention;

[0041] Figure 10 Flow chart in a fish school sensing system based on marine fishery provided by the present invention.

[0042] Description of the drawings: 1. Main body of the sensing device; 100. Fitting kit; 101. Floating and sinking control chamber; 102. Assembly card slot; 2. Sonar component; 200. Installation cavity; 201. Bayonet; 202. Middle plate; 203. Passive shaft; 204. Partial gear; 205. Movable ear; 206. Tooth ring; 207. Tension spring; 208. Fixed column; 209. Driving gear; 210. Driving disassembly and assembly control shaft; 3. Attitude control device; 300. X-axis attitude adjustment device; 301. Y-axis attitude adjustment device; 31. Propeller; 32. Outer sleeve pipe; 33. Inner assembly pipe; 34. Installation bracket; 35. Servo motor; 4. Inner shell; 400. First support rod; 5. Attitude sensing device; 500. Second support rod. Detailed implementation manners

[0043] The following description is merely exemplary in nature and is not intended to limit the present disclosure, its applications, and uses. It should be understood that in all these drawings, the same or similar reference numerals indicate the same or similar parts and features. Each drawing only schematically shows the concept and principle of the embodiments of the present disclosure, and does not necessarily show the specific dimensions and their ratios of each embodiment of the present disclosure. Specific parts in a specific drawing may be exaggerated to illustrate relevant details or structures of the embodiments of the present disclosure.

[0044] Embodiment 1

[0045] Refer to Figure 1-9 : This embodiment provides a technical solution: a fish school sensing device based on marine fishery, including a sensing device main body 1, a sonar component 2, and an attitude control device 3. Among them, the sensing device main body 1 adopts a spherical structure; the sonar component 2 is detachably installed on the surface of the sensing device main body 1 for sensing fish schools; the attitude control device 3 is installed on the sensing device main body 1 for regulating the attitude of the sensing device main body 1. An inner housing 4 is installed at the central position inside the sensing device main body 1. The inner housing 4 is fixed to the inner wall of the sensing device main body 1 through a first support rod 400. An attitude sensing device 5 is fixedly installed at the central position inside the inner housing 4 through a second support rod 500. The sensing device main body 1 as a whole adopts a spherical structure. Therefore, when underwater, the stress at each position is balanced, improving the overall compressive capacity of the device. When the device is in use, first, the sonar component 2 senses the fish school. When a fish school is sensed, the attitude of itself can be regulated through the attitude control device 3 in combination with the attitude sensing device 5, adjusting the angle of the sonar component 2 relative to the fish school, so that the sonar component 2 can detect the whole picture of the fish school as much as possible, thus facilitating and accurately grasping the movement trend of the fish school and providing necessary data support for the subsequent movement of the device to track the fish school;

[0046] It should be noted that the attitude sensing device 5 uses an inertial measurement unit as the attitude sensor. The inertial measurement unit includes a three-axis accelerometer and a three-axis gyroscope, which are used to measure the acceleration and angular velocity of the sensing device main body 1. By processing and fusing these data, the attitude information of the sensing device main body 1, such as pitch, roll, and yaw angles, can be obtained, so as to realize the attitude control of the sensing device main body 1.

[0047] This embodiment provides a fish school sensing device based on marine fishery and its sensing system. Specifically, at the position on the inner surface of the sensing device main body 1 where the sonar component 2 is installed, there is a fitting kit 100. The surface of the fitting kit 100 is provided with an assembly slot 102, and the sonar component 2 is detachably clamped in the assembly slot 102.

[0048] Further, a middle disk 202 is provided at the center inside the sonar assembly 2. A toothed ring 206 is rotatably installed on the outer edge of the middle disk 202. An installation cavity 200 is provided outside the middle disk 202 inside the sonar assembly 2. An active disassembly control shaft 210 and a passive shaft 203 are installed in the installation cavity 200. Among them, an active gear 209 is sleeved outside the active disassembly control shaft 210, and a partial gear 204 is sleeved outside the passive shaft 203. Both the active gear 209 and the partial gear 204 are meshed with the toothed ring 206, so that when the active disassembly control shaft 210 rotates, it can drive the partial gear 204 to rotate synchronously through the active gear 209 and the toothed ring 206. An active clamping ear 205 is welded on the partial gear 204, and a clamping notch 201 capable of being engaged with the active clamping ear 205 is formed on the inner wall of the assembly clamping groove 102, so that the partial gear 204 can adjust the state of the active clamping ear 205 by rotating;

[0049] It should be noted that when the active clamping ear 205 rotates and retracts into the installation cavity 200, the sonar assembly 2 can be detached from the assembly clamping groove 102. On the contrary, when the active clamping ear 205 rotates and engages with the clamping notch 201 in the assembly clamping groove 102, the sonar assembly 2 is locked and fixed in the assembly clamping groove 102. Such a structural setting enables the sonar assembly 2 to be quickly disassembled, and when it is damaged, it is extremely convenient and fast to maintain. Further, a hole is provided on the surface of the sonar assembly 2 at the position of the active disassembly control shaft 210, and the end of the active disassembly control shaft 210 adopts a regular hexagonal prism structure. When disassembling the sonar assembly 2, a tool is directly inserted from the position of the hole, and then the top of the active disassembly control shaft 210 is rotated.

[0050] Specifically, a transmitter and a receiver are integrated in the sonar assembly 2. Further, the transmitter and the receiver are installed in the middle disk 202. Among them, the transmitter emits acoustic pulses, and the receiver receives the reflected acoustic waves to detect the position of the fish school through the reflected acoustic waves.

[0051] Specifically, at least two groups of active clamping ears 205 are provided. When two groups of active clamping ears 205 are provided, the two groups of active clamping ears 205 are symmetric with respect to the sonar assembly 2. When multiple groups of active clamping ears 205 are provided, the multiple groups of active clamping ears 205 are distributed in a circular array.

[0052] Specifically, a reset mechanism is further installed in the installation cavity 200. The reset mechanism is used to control the toothed ring 206 to have a tendency to rotate to a specific position, at which position the active clamping ear 205 is engaged in the clamping notch 201. The reset mechanism includes a fixed column 208 and a tension spring 207. Among them, the fixed column 208 is fixed in the installation cavity 200, one end of the tension spring 207 is connected to the fixed column 208, and the other end is fixed to the outer edge of the toothed ring 206. Specifically, multiple groups of reset mechanisms are provided, and the multiple groups of reset mechanisms are distributed in a circular array in the installation cavity 200.

[0053] Specifically, the attitude control device 3 includes an X-axis attitude adjustment device 300 and a Y-axis attitude adjustment device 301. Among them, there are two sets of X-axis attitude adjustment devices 300 and two sets of Y-axis attitude adjustment devices 301. The plane formed by the axes of the two sets of X-axis attitude adjustment devices 300 is perpendicular to the plane formed by the axes of the two sets of Y-axis attitude adjustment devices 301;

[0054] It should be noted that: the two sets of X-axis attitude adjustment devices 300 and the two sets of Y-axis attitude adjustment devices 301 cooperate to form the attitude control device 3. When the two sets of X-axis attitude adjustment devices 300 and the two sets of Y-axis attitude adjustment devices 301 are turned on in different ways, the change of the attitude of the sensing device main body 1 can be controlled. For example, when the two sets of X-axis attitude adjustment devices 300 push in opposite directions, the whole sensing device main body 1 will rotate counterclockwise or clockwise. When the two sets of X-axis attitude adjustment devices 300 push in the same direction, the whole sensing device main body 1 will move left and right horizontally. Similarly, when the two sets of Y-axis attitude adjustment devices 301 push in opposite directions, the whole sensing device main body 1 will rotate in the horizontal direction. When the two sets of Y-axis attitude adjustment devices 301 push in the same direction, the whole sensing device main body 1 will move back and forth horizontally, so as to realize the control of the attitude and movement of the sensing device main body 1.

[0055] Specifically, both the X-axis attitude adjustment device 300 and the Y-axis attitude adjustment device 301 include an outer sleeve pipe 32 and an inner assembly pipe 33. Among them, the outer sleeve pipe 32 adopts a tubular structure with both ends penetrating, and is inserted and installed in the sensing device main body 1 by welding or integrally forming. The inner assembly pipe 33 is inserted into the outer sleeve pipe 32 and fixed by bolts or spot welding. A propeller 31 is fixedly installed in the inner assembly pipe 33 through a mounting bracket 34. A servo motor 35 for controlling the rotation of the propeller 31 is fixedly installed on the mounting bracket 34. When the servo motor 35 operates, it drives the propeller 31 to rotate. By the forward and reverse rotation of the servo motor 35, the change of the thrust direction of the propeller 31 is realized. The inner assembly pipe 33 in this device is fixed in the outer sleeve pipe 32 by bolts or spot welding. Therefore, when the propeller 31 or the servo motor 35 is abnormally damaged, the inner assembly pipe 33 can be removed and replaced, which improves the replacement efficiency and ensures the maintenance speed of the device.

[0056] Specifically, there is a space between the main body 1 of the induction device and the inner housing 4 inside it. This space serves as the floating and sinking control chamber 101, which is used to control the diving and surfacing of the main body 1 of the induction device. It should be noted that: the floating and sinking principle of the main body 1 of the induction device is similar to that of a submarine. The floating and sinking control chamber 101 serves as a ballast tank. A compressed air system is installed inside the inner housing 4. When the main body 1 of the induction device needs to dive, it will inject water into the floating and sinking control chamber 101 through a pump to increase the weight, so that the main body 1 of the induction device sinks to the required depth. When the main body 1 of the induction device needs to surface, the main body 1 of the induction device will discharge the water in the floating and sinking control chamber 101, and at the same time use the compressed air system to inject air into the floating and sinking control chamber 101 to reduce the density of the main body 1 of the induction device and make the main body 1 of the induction device surface. This floating and sinking control system allows the main body 1 of the induction device to move freely between different depths while maintaining the pressure inside the main body 1 of the induction device and the stability of the main body 1 of the induction device.

[0057] Embodiment 2

[0058] Refer to Figure 10 : This embodiment provides a technical solution: a fish school induction system based on marine fishery, which includes a fish school induction device and a fish school tracking and control unit. The fish school tracking and control unit is electrically connected to the servo motor 35, and controls the moving direction and speed of the main body 1 of the induction device by controlling the steering and speed of the servo motor 35.

[0059] Specifically, the fish school tracking and control unit includes: a data acquisition module, a data analysis module, and a control module. Among them, the data acquisition module acquires underwater fish school data information, the data analysis module judges the moving trend of the fish school according to the acquired underwater fish school data information, and the control module controls the movement of the main body 1 of the induction device according to the judged moving trend of the fish school.

[0060] Specifically, the underwater fish school data information includes the central position information of the fish school, and the central position information of the fish school is detected and obtained by the sonar component 2. The moving trend of the fish school includes the moving speed and moving direction of the fish school;

[0061] The method for the data analysis module to judge the moving trend of the fish school according to the acquired underwater fish school data information is as follows:

[0062] Compare the central position information data before and after the movement of the fish school within a unit time to obtain the moving speed and moving direction of the fish school;

[0063] The method for the control module to control the movement of the main body 1 of the induction device according to the judged moving trend of the fish school is as follows:

[0064] Deduce the moving position of the fish school after a fixed time according to the obtained moving speed and moving direction of the fish school;

[0065] Based on the moving positions of the fish school after a fixed time, the control module controls the moving direction and speed of the sensing device main body 1 by controlling the steering and speed of each servo motor 35, so that the sensing device main body 1 moves to a preset distance position on the moving path of the fish school in advance.

[0066] It should be noted that when the fish school sensing system senses the fish school, it can collect relevant data of the fish school, obtain the moving path and moving speed of the fish school, so as to predict the position where the fish school will move within a corresponding time, and then control the sensing device main body 1 to move to a preset distance position on the moving path of the fish school in advance, which is convenient for real-time monitoring of the fish school's movement trend and provides strong data support for fishing.

[0067] In the foregoing, the exemplary embodiments of the solution proposed by the present disclosure have been described in detail with reference to the preferred embodiments. However, those skilled in the art can understand that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above specific embodiments, and various combinations of the technical features and structures proposed by the present disclosure can be made, without exceeding the protection scope of the present disclosure. The protection scope of the present disclosure is determined by the appended claims.

Claims

1. A fish school sensing device based on marine fisheries, characterized in that: It includes: A sensing device body (1) adopts a spherical structure, wherein an assembly kit (100) is provided at a position on the inner surface of the sensing device body (1) where the sonar component (2) is installed, an assembly slot (102) is provided on the surface of the assembly kit (100), and a bayonet (201) is provided on the inner wall of the assembly slot (102); A sonar assembly (2) which is detachably mounted in the assembly slot (102) via a gear transmission locking mechanism, wherein the gear transmission locking mechanism comprises a driving gear (209), a gear ring (206), a partial gear (204) and a tension spring (207); A posture control device (3), comprising two groups of X-axis posture adjustment devices (300) and two groups of Y-axis posture adjustment devices (301), wherein the plane formed by the axes of the X-axis posture adjustment devices (300) and the plane formed by the axes of the Y-axis posture adjustment devices (301) are perpendicular to each other; An inner shell (4) is fixed at the inner center of the sensing device body (1), and a posture sensing device (5) is fixedly mounted at the inner center of the inner shell (4) via a second support rod (500); A reset mechanism is provided in the installation cavity (200) of the sonar assembly (2), the reset mechanism comprising a fixing column (208), the fixing column (208) being fixed in the installation cavity (200), one end of the tension spring (207) being connected to the fixing column (208), and the other end being fixed to the outer edge of the toothed ring (206); the reset mechanism can pull the toothed ring (206) to rotate through the tension spring (207), so that the movable latch (205) welded on the local gear (204) is engaged in the latch port (201), thereby realizing mechanical locking and quick disassembly of the sonar assembly (2).

2. A fish school sensing device based on marine fisheries according to claim 1, characterized in that: A middle disk (202) is provided at the center of the sonar assembly (2), and the gear ring (206) is rotatably mounted on the outer edge of the middle disk (202). A mounting cavity (200) is provided inside the sonar assembly (2) at an outer position of the middle disk (202), and an active disassembly control shaft (210) and a passive shaft (203) are mounted in the mounting cavity (200), wherein the active gear (209) is sleeved on the outside of the active disassembly control shaft (210), and the local gear (204) is sleeved on the outside of the passive shaft (203), and the active gear (209) and the local gear (204) are both meshedly connected with the gear ring (206), so that when the active disassembly control shaft (210) rotates, the local gear (204) can be driven to rotate synchronously through the active gear (209) and the gear ring (206).

3. A fish school sensing device based on marine fisheries according to claim 2, characterized in that: The movable ears (205) are provided with at least two groups. When the movable ears (205) are provided as two groups, the two groups of the movable ears (205) are symmetrical with respect to the sonar assembly (2). When the movable ears (205) are provided as multiple groups, the multiple groups of the movable ears (205) are distributed in a ring array.

4. The fish school sensing device based on marine fishery according to claim 1 is characterized in that: The X-axis posture adjustment device (300) and the Y-axis posture adjustment device (301) both include: The outer sleeve (32) is a tubular structure with two ends connected, and is welded or integrally formed and inserted and installed in the induction device body (1); An inner fitting pipe (33) is inserted into the outer casing pipe (32) and fixed by bolts or spot welding; A propeller (31) is fixedly mounted in the inner assembly pipe (33) via a mounting bracket (34), and a servo motor (35) for controlling the rotation of the propeller (31) is fixedly mounted on the mounting bracket (34).

5. A fish school sensing system based on marine fisheries, characterized in that: It includes: A fish school sensing device and fish school tracking control unit based on marine fisheries as described in any one of claims 1 to 4, wherein the fish school tracking control unit is electrically connected to a servo motor (35), and controls the direction and speed of movement of the sensing device body (1) by controlling the direction and speed of the servo motor (35).

6. A fish school sensing system based on marine fisheries according to claim 5, characterized in that: The fish school tracking control unit comprises: a data acquisition module, a data analysis module and a control module, wherein the data acquisition module collects underwater fish school data information, the data analysis module determines the movement trend of the fish school based on the collected underwater fish school data information, and the control module controls the movement of the sensing device body (1) based on the determined movement trend of the fish school.

7. A fish school sensing system based on marine fisheries according to claim 6, characterized in that: The underwater fish school data information includes the center position information of the fish school, the center position information of the fish school is obtained by detection and sensing of the sonar component (2), and the movement trend of the fish school includes the movement speed and movement direction of the fish school; The method for the data analysis module to judge the movement trend of the fish school based on the collected underwater fish school data information is as follows: Compare the center position information of the school of fish before and after the movement within a unit time to obtain the moving speed and direction of the school of fish; The method in which the control module controls the movement of the sensing device body (1) according to the determined movement trend of the school of fish is as follows: The moving position of the fish school after a fixed time is deduced based on the moving speed and moving direction of the fish school; Based on the moving position of the school of fish after a fixed time, the control module controls the direction and speed of movement of the sensing device body (1) by controlling the direction and speed of each servo motor (35), so that the sensing device body (1) moves in advance to a preset distance position of the moving path of the school of fish.

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