A method, equipment and storage medium for krill harvesting

Abstract

This invention discloses a krill harvesting method, equipment, and storage medium. The method includes: when a krill harvesting vessel is sailing in the sea, controlling a vertical sonar system to search for information on a first group of krill swarms in both the horizontal and vertical directions, matching the first group information with preset harvesting conditions; if the first group information matches the harvesting conditions successfully, then when the krill harvesting vessel sails above the krill swarms in the sea, controlling a fish finder system to detect information on a second group of krill swarms in the vertical direction, matching the second group information with the harvesting conditions; if the second group information matches the harvesting conditions successfully, controlling a net positioning system to generate attitude data of a net that matches the second group information, controlling a deck winch system to lower the net that matches the attitude data into the sea area based on the second group information; and when the net is lowered, controlling the main propulsion system and the side thruster system to align the net opening with the krill swarms for harvesting, thereby improving the efficiency of krill harvesting.

Description

Technical Field

[0001] The present invention relates to the field of fishing vessel fishing technology, and in particular to a method, equipment and storage medium for krill fishing. Background Technology

[0002] Antarctic krill have a lifespan of 5 to 7 years and grow slowly, taking about 2 years to grow into an adult krill that is 6 to 6.5 centimeters long. As one of the world's largest single biological resources in terms of biomass, Antarctic krill has huge reserves, with an estimated total biomass of about 650 to 1 billion tons.

[0003] In modern krill fishing, the search for Antarctic krill swarms relies on experienced professionals who use equipment such as radar and fish finders, combined with changes in weather and airflow, to make manual judgments. Krill are caught using trawling.

[0004] Traditional krill harvesting methods often rely on experience and manual operation. Searching for krill is time-consuming, and the krill harvesting process is complex, involves many steps, and is inefficient and costly. Summary of the Invention

[0005] This invention provides a krill harvesting method, equipment, and storage medium to improve krill harvesting efficiency and reduce costs.

[0006] In a first aspect, embodiments of the present invention provide a krill harvesting method, applied to a krill harvesting vessel, wherein the krill harvesting vessel integrates a vertical sonar system, a fish finder system, a net positioning system, a deck winch system, a main propulsion system, and a side thruster system, and the method includes:

[0007] When the krill fishing vessel is sailing in the sea, the vertical sonar system is controlled to search for the first group of krill swarms in both the horizontal and vertical directions.

[0008] The information from the first group is matched with preset fishing conditions;

[0009] If the first group of information matches the fishing conditions, then when the krill fishing vessel sails over the krill swarm in the sea area, the fish finder system is controlled to detect the second group of information of the krill swarm in the vertical direction.

[0010] Match the second group of information with the fishing conditions;

[0011] If the second group of information successfully matches the fishing conditions, the system controls the net positioning device to generate attitude data of the net that matches the second group of information;

[0012] The deck winch system is controlled to lower the net, which conforms to the attitude data, into the sea area based on the second group of information;

[0013] Once the net is lowered, the main propulsion system and the side propulsion system are controlled to align the net opening with the krill swarm in order to catch the krill.

[0014] Secondly, embodiments of the present invention also provide a krill harvesting device, applied in a krill harvesting vessel, wherein the krill harvesting vessel integrates a vertical sonar system, a fish finder system, a net positioning system, a deck winch system, a main propulsion system, and a side thruster system, and the device includes:

[0015] The first group information acquisition module is used to control the vertical sonar system to search for the first group information of the krill swarm in the horizontal and vertical directions when the krill fishing vessel is sailing in the sea area.

[0016] The first group information matching module is used to match the first group information with preset fishing conditions;

[0017] The second group information acquisition module is used to control the fish finder system to detect the second group information of the krill swarm in the vertical direction when the krill fishing vessel sails over the krill swarm in the sea area if the first group information matches the fishing conditions.

[0018] The second group information matching module is used to match the second group information with the fishing conditions;

[0019] The attitude data generation module is used to control the net positioning system to generate attitude data of the net that matches the second group information if the second group information successfully matches the fishing conditions.

[0020] The net lowering module is used to control the deck winch system to lower the net that conforms to the attitude data to the sea area based on the second group of information;

[0021] The krill harvesting module is used to control the main propulsion system and the side thrust system to align the net opening with the krill swarm when the net is lowered, so as to harvest the krill swarm.

[0022] Thirdly, embodiments of the present invention also provide a computer device, comprising:

[0023] One or more processors;

[0024] Storage device for storing one or more programs;

[0025] When the one or more programs are executed by the one or more processors, the one or more processors implement the krill harvesting method as provided in the first aspect of the present invention.

[0026] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the krill harvesting method as provided in the first aspect of the present invention.

[0027] Fifthly, embodiments of the present invention also provide a computer program product, the computer program product comprising a computer program, which, when executed by a processor, implements the krill harvesting method provided in the first aspect of the present invention.

[0028] In this embodiment, the system is applied to a krill fishing vessel. The krill fishing vessel integrates a vertical sonar system, a fish finder system, a net positioning system, a deck winch system, a main propulsion system, and a side thruster system. When the krill fishing vessel is sailing in the sea area, the vertical sonar system is controlled to search for the first group of krill swarms in both horizontal and vertical directions. This first group information is matched with preset fishing conditions. If the first group information matches the fishing conditions successfully, then when the krill fishing vessel sails above the krill swarm, the fish finder system is controlled to detect the second group of krill swarms in the vertical direction. The system matches the second set of information with the fishing conditions. If the match is successful, the net positioning system generates attitude data for the net that matches the second set of information. The deck winch system then lowers the net to the sea area based on the attitude data. Once the net is lowered, the main propulsion system and side thrusters align the net opening with the krill swarm for harvesting. The coordinated operation of the vertical sonar, fish finder, and net positioning system ensures accurate identification and analysis of the krill swarm's location and quantity, thus optimizing the net deployment and harvesting process. Precise positioning and automated control reduce reliance on professional fishing personnel and the influence of human experience, enabling stable fishing operations. This reduces unnecessary trawling time, minimizes disturbance to the marine ecosystem, lowers fishing costs, and increases fishing efficiency. Attached Figure Description

[0029] Figure 1 This is a flowchart of a krill harvesting method provided in Embodiment 1 of the present invention;

[0030] Figure 2 This is a block diagram of a krill harvesting control system provided in Embodiment 1 of the present invention;

[0031] Figure 3 This is a top view of a krill fishing vessel provided in Embodiment 1 of the present invention;

[0032] Figure 4 This is a block diagram of a krill harvesting shore-side management system provided in Embodiment 1 of the present invention;

[0033] Figure 5 This is a structural block diagram of a krill harvesting device provided in Embodiment 2 of the present invention;

[0034] Figure 6 This is a schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate so that the embodiments of the invention described herein can cover implementations in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] Example 1

[0038] See Figure 1 The diagram illustrates a flowchart of a krill harvesting method according to Embodiment 1 of the present invention. This method can be executed by a krill harvesting device, which can be implemented in hardware and / or software and can be configured in a computer device. Figure 1 As shown, the method includes:

[0039] Step 101: When the krill fishing vessel is sailing in the sea area, control the vertical sonar system to search for the first group of krill swarms in both the horizontal and vertical directions.

[0040] In this embodiment, as Figure 2 As shown, it is applied to krill fishing vessels, which integrate a vertical sonar system 201, a fish finder system 202, a net positioner system 203, a deck winch system 204, a main propulsion system 205, a side thruster system 206, and a differential global positioning system (DGPS) 207.

[0041] Vertical sonar system 201 is used to detect multiple krill swarms in the sea area.

[0042] The fish finder system 202 selects a krill swarm that meets the preset fishing conditions from the multiple krill swarms detected by the vertical sonar system 201, and further uses the fish finder system 202 to detect detailed information about the krill swarm, including the width, thickness, density, and depth of the krill swarm in the sea area.

[0043] The net positioning system 203 is used to monitor the status of nets.

[0044] Deck winch system 204 is used to lower fishing nets into the sea.

[0045] The main propulsion system 205 and the side thrust system 206 are used to adjust whether the openings of the nets that have been lowered into the sea are aligned with the krill swarms.

[0046] The Differential Global Positioning System (DGPS) 207 is used to locate the krill fishing vessel's position in the sea area in real time.

[0047] Antarctic krill like to congregate, especially in low-pressure passages and areas where low pressure lingers for extended periods. The krill populations are particularly dense. They exhibit vertical movement, staying at the surface of the water at night and diving to depths of 50-60 meters during the day.

[0048] In this embodiment, as Figure 3 As shown, the krill fishing vessel includes: net 301, shrimp suction hose 302, trawl crossbar 303, trawl tow bar 304, trawl winch 305, cable winch 306 and net reel winch 307.

[0049] Net 301 is used to catch krill; suction hose 302 is used to continuously transport the krill in net 301 to the temporary seawater storage tank on the deck; trawl crossbar 303 is used to measure the width of the krill swarm to be caught; trawl tow line 304, trawl winch 305, cable winch 306 and net reel winch 307 work together to realize the operation of hauling in and releasing the cable so that net 301 is aligned with the krill swarm to be caught.

[0050] In this embodiment, when the krill fishing vessel is sailing in the sea, the computer on the krill fishing vessel controls the vertical sonar system through the programmable logic controller (PLC) control system to search for the first group of krill swarms in the horizontal direction and the vertical direction downward from the sea. There are multiple krill swarms in the sea. The vertical sonar control system searches for multiple krill swarms and extracts the specific information of these krill swarms, including the distance of the krill swarms from the krill fishing vessel, the depth of the krill swarms under the sea, and the size of the krill swarms.

[0051] Vertical sonar systems detect underwater objects by emitting sound waves and receiving their echoes. When an object is encountered, the sound waves are reflected back, and the system determines the object's distance and location by analyzing the timing and intensity of the echoes. This technology is commonly used for underwater detection, depth sounding, and navigation.

[0052] A Programmable Logic Controller (PLC) control system is an electronic control system specifically designed for industrial automation. It enables automated management and monitoring of production processes through programming. It features high reliability, strong stability, and wide adaptability, and can precisely control various equipment such as motors, valves, and sensors to improve production efficiency, reduce costs, and minimize human error.

[0053] Step 102: Match the information of the first group with the preset fishing conditions.

[0054] In this embodiment, the information of the first group of multiple krill groups is matched with preset fishing conditions to find krill groups that meet the preset conditions for fishing.

[0055] In one embodiment of the present invention, step 102 may include the following steps:

[0056] Step 1021: Read the first activity depth and first group size information of the krill group from the first group information.

[0057] In this embodiment, the first activity depth and first group size information of the krill group are read from the first group information. The first activity depth of the krill group refers to the depth of these krill groups in the sea area. If the depth is too deep, it is necessary to abandon these krill groups that are too deep for cost considerations. Reading the first activity depth of the krill group is from a cost perspective. The first group size information of the krill group refers to the width, thickness and density of these krill groups. These three parameters are used to determine whether the size of the krill group meets the preset fishing conditions.

[0058] Step 1022: Query the preset fishing conditions.

[0059] In this embodiment, the computer on the krill fishing vessel queries preset krill swarm fishing conditions, including depth range and swarm size conditions.

[0060] Step 1023: Match the first group size information with the group size conditions.

[0061] In this embodiment, the first group size information of these krill groups is matched with the group size conditions to find krill groups that meet the preset size for harvesting.

[0062] In practice, the width, thickness and density of the first group are read from the first group size information of these krill groups, and the width, thickness threshold and density threshold of the crossbar of the nets in the krill fishing boat are read from the group size conditions.

[0063] If the width of the first swarm is greater than the width of the crossbar of the krill fishing net (typically 18 meters long), then the first threshold requirement is met. If the thickness of the first swarm is greater than the thickness threshold (typically around 5 meters), then the second threshold requirement is met. If the density of the first swarm is greater than the density threshold (typically around 10 kg / m³), then the third threshold requirement is met. When all three threshold requirements are met, the first swarm size information is considered a successful match with the swarm size condition.

[0064] Step 1024: If the first activity depth is within the depth range and the first group size information matches the group size condition successfully, then measure the distance between the krill fishing vessel and the krill group.

[0065] In this embodiment, when the first group size information is successfully matched with the group size condition, it is determined whether the first activity depth of these successfully matched krill groups is within the depth range, which is 50-150 meters below sea level. If the first activity depth is within the depth range, the distance between the krill fishing vessel and the krill group is measured.

[0066] Step 1025: The information of the first group of the nearest krill group has been successfully matched with the fishing conditions.

[0067] In this embodiment, under the condition that the first group size information and the first activity depth both meet the preset conditions, and considering the cost issue, the information of the first group of the nearest krill group is determined to be successfully matched with the fishing conditions.

[0068] Step 103: If the information of the first group matches the fishing conditions, when the krill fishing vessel sails over the krill swarm in the sea area, it controls the fish finder system to detect the information of the second group of krill swarm in the vertical direction.

[0069] In this embodiment, if the first group of information successfully matches the fishing conditions, the krill fishing vessel sails to the vicinity above the krill swarm in the sea area. The computer on the krill fishing vessel controls the fish finder system through the programmable logic controller (PLC) control system to detect the second group of information of the krill swarm in the vertical direction. Since the krill swarm is a living organism and is not prohibited in the sea area, the depth and size of the krill swarm in the sea area may change. At this time, it is necessary to use the fish finder system to obtain more accurate information about the krill swarm.

[0070] Fish finder systems detect the underwater environment by emitting ultrasonic signals and receiving echoes reflected from underwater objects such as schools of fish or terrain features. The system analyzes the intensity and arrival time of the echoes to determine the location, size, and depth of objects, providing users with real-time images and data of the underwater environment. This detection technology allows fishermen or underwater surveyors to accurately locate schools of fish and understand underwater topography.

[0071] Step 104: Match the information of the second group with the fishing conditions.

[0072] In this embodiment, the second group information of the krill swarm is matched with preset fishing conditions to determine the final size of the krill swarm to be caught.

[0073] In practice, the second activity depth and the second group size information of the krill group are read from the second group information. The second group size information is matched with the group size conditions. If the second activity depth is within the depth range and the second group size information matches the group size conditions successfully, then the second group information is determined to be a successful match with the fishing conditions.

[0074] The process of matching the second group size information with the group size conditions includes: reading the second group width, second group thickness, and second group density from the second group size information; if the second group width is greater than the width of the crossbar of the net in the krill fishing vessel, the second group thickness is greater than the thickness threshold, and the second group density is greater than the density threshold, then the second group size information is determined to be successfully matched with the group size conditions when all three thresholds are met.

[0075] Step 105: If the information of the second group successfully matches the fishing conditions, control the net positioning system to generate the attitude data of the net that matches the information of the second group.

[0076] In this embodiment, if the second group information of the krill swarm successfully matches the fishing conditions, the computer on the krill fishing vessel controls the net positioning system through the programmable logic controller (PLC) control system to generate the attitude data of the net that matches the second group information, so as to maximize the harvesting efficiency of the krill swarm, while improving the safety of the net harvesting effect and avoiding damage to the net during trawling operations.

[0077] In one embodiment of the present invention, step 105 includes:

[0078] Step 1051: Calculate the catch of the krill group according to the second group size information.

[0079] In this embodiment, the catch of the krill swarm is calculated based on the collected second swarm size information.

[0080] Step 1052: Collect at least the gate width of the net, the gate depth of the net, the balance condition of the net, the shape of the net, and the temperature of the seawater in the area.

[0081] In this embodiment, at least the gate width, gate depth, balance conditions, and shape of the nets are collected. By collecting these specific data on the nets, the nets can be pre-positioned based on the second group information before being deployed to the sea area, thereby improving fishing efficiency. The temperature of the seawater in the sea area is also collected, because the temperature of the seawater may affect the movement speed and direction of the krill swarm. Understanding the seawater temperature determines the speed and direction at which the krill fishing vessel should travel.

[0082] Step 1053: Use the second group density to determine the center point of the krill group.

[0083] In this embodiment, based on the second group density in the second group information, a general center point of the krill group can be determined.

[0084] Step 1054: The control net positioning system generates net attitude data aligned with the center point based at least on the net's gate width, net gate depth, net balance conditions, net shape, krill catch quantity, and seawater temperature.

[0085] In this embodiment, the computer on the krill fishing vessel controls the net positioning system through a programmable logic controller (PLC) to generate net attitude data aligned with the center point based on at least the net's gate width, net gate depth, net balance conditions, net shape, krill catch quantity, and seawater temperature in the area, thereby improving krill fishing efficiency.

[0086] Step 106: Control the deck winch system to lower the net that matches the attitude data to the sea area based on the second group of information.

[0087] In this embodiment, the computer on the krill fishing vessel controls the deck winch system through a programmable logic controller (PLC) to lower nets that meet the attitude data into the sea area based on the second group information, so as to catch the krill group and improve the efficiency of the catch.

[0088] In its implementation, the deck winch system includes a cable winch, a trawl winch, and a net reel winch. The krill fishing vessel collects at least the hydraulic pressure of the cable winch, the trawl net towing length of the trawl winch, the dynamic tension of the trawl winch, and the pulling force of the net reel winch. If the hydraulic pressure of the cable winch, the trawl net towing length of the trawl winch, the dynamic tension of the trawl winch, and the pulling force of the net reel winch are all within preset rated parameters, the deck winch system generates first control parameters that match the attitude data based on the hydraulic pressure of the cable winch, the trawl net towing length of the trawl winch, the dynamic tension of the trawl winch, and the pulling force of the net reel winch. The net is then lowered into the sea area according to the first control parameters.

[0089] Hydraulic oil pressure affects the winch's power output, the length of the trawl line determines the net's deployment range in the water, dynamic tension reflects the real-time changes in the force exerted on the trawl in the water, and the pulling force of the winch reflects the net's retrieval. By precisely monitoring and adjusting these parameters, the trawl's working condition can be optimized, ensuring the stability and efficiency of the net during krill harvesting, thereby improving harvesting results and reducing equipment wear and tear.

[0090] If the center of the net is detected to be below the second active depth, the trawl winch is controlled to perform a haul-in operation so that the center of the net is at the same level as the second active depth.

[0091] If the center of the net is detected to be above the second active depth, the trawl winch is controlled to perform a release operation so that the center of the net is at the same level as the second active depth.

[0092] By using the techniques of hauling in and releasing the net, the center of the net can be positioned at the same level as the depth of the krill to be caught, which can speed up the catching process and save costs.

[0093] If at least one of the hydraulic oil pressure of the cable winch, the trawl net length of the trawl winch, the dynamic tension of the trawl winch, and the pulling force of the net reel winch is outside the preset rated parameters, then at least one of the following: the ship's sailing speed, the cable winch's operating speed, the trawl winch's operating speed, and the net reel winch's operating speed; and, control the trawl winch to perform a release operation and / or control the trawl winch to perform a release operation so that the center position of the net is on the same horizontal line as the second activity depth.

[0094] Step 107: Once the net has been lowered, control the main propulsion system and the side thrust system to align the net opening with the krill swarm in order to catch the krill.

[0095] In this embodiment, when the net is lowered, it is determined whether the center of the net is aligned with the krill swarm. If it is not aligned, the computer on the krill fishing vessel controls the main propulsion system and the side thrust system through the programmable logic controller (PLC) to align the net opening with the krill swarm in order to catch the krill.

[0096] In one embodiment of the present invention, step 107 includes:

[0097] Step 1071: When the center of the net is at the same level as the second activity depth, collect the power and lateral thrust information of the krill fishing vessel.

[0098] In this embodiment, collecting dynamic and lateral thrust information when the center of the net is at the same horizontal level as the second operational depth can help optimize the fishing operation. By analyzing this data, the working state of the net can be adjusted to ensure the efficiency and accuracy of krill harvesting, while reducing resource waste and operational errors.

[0099] Step 1072: Control the main propulsion system to generate second control parameters based on the power information.

[0100] In this embodiment, the main propulsion system generates second control parameters based on the power information. The second control parameters are mainly responsible for the ship's main propulsion force and speed. The power information includes the speed of the krill fishing vessel and the operating power of the main engine.

[0101] Step 1073: The control side thrust system generates the third control parameter based on the side thrust information.

[0102] In this embodiment, the control system generates a third control parameter based on the thrust information. The third control parameter is mainly used to control the lateral stability of the ship and adjust the ship's course. The thrust information includes the thruster operating status and thruster pitch.

[0103] Step 1074: The main propulsion system and the side propulsion system are coordinated to align the net opening with the krill swarm according to the second control parameters and the third control parameters, so as to catch the krill swarm.

[0104] In this embodiment, the net's opening is aligned with the krill swarm based on the coordinated control of the second and third control parameters to harvest the krill. Precise adjustment of the main propulsion system and the side thrust system ensures that the net's opening is accurately aligned with the krill swarm. This improves harvesting efficiency, reduces missed and accidental catches, optimizes the harvesting process, maximizes harvesting effectiveness, and saves time and resources.

[0105] In one embodiment of the present invention, a three-dimensional trajectory of krill group activity is constructed based on the first group information and the second group information. The activity range and activity characteristics of krill are generated based on the three-dimensional trajectory of krill group activity to construct a krill group database. The habitat and ecosystem of krill group are modeled based on the activity range and activity characteristics of krill in the krill group database. The three-dimensional trajectory of krill group activity in the future is predicted based on the activity range and activity characteristics of krill in the krill group database, thereby improving the krill harvesting efficiency.

[0106] By constructing three-dimensional trajectories of krill populations and analyzing their activity range and characteristics, and then building databases and ecosystem models based on this data, we can gain a deeper understanding of krill behavior patterns and habitats. This comprehensive data analysis and modeling can not only optimize krill population management and conservation strategies, but also predict future activity trajectories, thereby improving ecosystem sustainability and the efficiency of biological resource management.

[0107] Krill are gregarious organisms, and changes in their density and migration significantly impact Antarctic krill harvesting efficiency. A centralized intelligent control system enables three-dimensional dynamic display of Antarctic krill swarms. This system automatically outputs control commands to the main propulsion system, side thrust system, and trawl winch, achieving automatic control of vessel speed, side thrust, and the trawl winch. This ensures the net opening is always aligned with the center of the krill swarm, maximizing harvesting efficiency. Furthermore, the intelligent control system collects net posture and catch information through a net positioning system and trawl winch operating parameters through a deck-mounted winch system. Combining these data with net parameters, water flow information, vessel speed, and turning angle, a safety model for trawl fishing is established, improving net safety and preventing damage during trawl operations.

[0108] In this embodiment, as Figure 4 As shown, the system collects information on the krill swarm's harvesting progress, harvesting conditions, and data from the intelligent harvesting system server, krill processing line server, alarm system server, and video monitoring server. This data is then transmitted via satellite communication to the shore-based management system, which arranges for transfer vessels to move the krill swarm from the harvesting vessel to land. This integrated management system, encompassing shipboard, shore-based information center, and shore-based access, ensures seamless connectivity.

[0109] Antarctic krill fishing vessels are typically ocean-going fishing vessels that integrate deep-sea fishing, processing, and storage. In order to maximize profits, they can usually fish continuously in the Antarctic waters without docking. They use transit transport ships to transfer the finished catch to land for sale every few months. Therefore, Antarctic krill fishing vessels need to maintain contact with land-based factories during fishing operations.

[0110] The Differential Global Positioning System (DGPS) is used to locate krill fishing vessels in real time. DGPS significantly improves the accuracy and reliability of GPS positioning by using correction information provided by ground reference stations. Compared to traditional GPS, DGPS can reduce positioning errors to within a few meters, thus providing higher positioning accuracy.

[0111] The shore-based management system includes shore-based cloud services, as well as three modes: command center monitoring station, PC browser, and mobile terminal. The system adopts a client / server network architecture, with the web service hosted on a cloud server, providing data display, statistics, aggregation, and reporting services to accessing PC clients, mobile tablets, and smartphones. Authorized mobile administrators can access important dynamic information from the shipyard even outside the office, improving work efficiency.

[0112] In this embodiment of the invention, the system is applied to a krill fishing vessel. The krill fishing vessel integrates a vertical sonar system, a fish finder system, a net positioning system, a deck winch system, a main propulsion system, and a side thruster system. When the krill fishing vessel is navigating in the sea, the vertical sonar system is controlled to search for the first group of krill swarms in both the horizontal and vertical directions. This first group information is matched with preset fishing conditions. If the first group information matches the fishing conditions successfully, then when the krill fishing vessel is navigating above the krill swarms in the sea, the fish finder system is controlled to detect the second group of krill swarms in the vertical direction. The system matches the second set of information with the fishing conditions. If the match is successful, the net positioning system generates attitude data for the net that matches the second set of information. The deck winch system then lowers the net to the sea area based on the attitude data. Once the net is lowered, the main propulsion system and side thrusters align the net opening with the krill swarm for harvesting. The coordinated operation of the vertical sonar, fish finder, and net positioning system ensures accurate identification and analysis of the krill swarm's location and quantity, thus optimizing the net deployment and harvesting process. Precise positioning and automated control reduce reliance on professional fishing personnel and the influence of human experience, enabling stable fishing operations. This reduces unnecessary trawling time, minimizes disturbance to the marine ecosystem, lowers fishing costs, and increases fishing efficiency.

[0113] Example 2

[0114] Figure 5 This is a schematic diagram of a krill harvesting device provided in Embodiment 2 of the present invention, applied in a krill harvesting vessel. The krill harvesting vessel integrates a vertical sonar system, a fish finder system, a net positioning system, a deck winch system, a main propulsion system, and a side thruster system, such as... Figure 5 As shown, the device includes:

[0115] The first group information acquisition module 501 is used to control the vertical sonar system to search for the first group information of the krill group in the horizontal and vertical directions when the krill fishing vessel is sailing in the sea area.

[0116] The first group information matching module 502 is used to match the first group information with preset fishing conditions;

[0117] The second group information acquisition module 503 is used to control the fish finder system to detect the second group information of the krill swarm in the vertical direction when the krill fishing vessel sails over the krill swarm in the sea area if the first group information matches the fishing conditions successfully.

[0118] The second group information matching module 504 is used to match the second group information with the fishing conditions;

[0119] The attitude data generation module 505 is used to control the net positioning system to generate attitude data of the net that matches the second group information if the second group information is successfully matched with the fishing conditions.

[0120] The net lowering module 506 is used to control the deck winch system to lower the net that conforms to the attitude data to the sea area according to the second group of information;

[0121] The krill harvesting module 507 is used to control the main propulsion system and the side propulsion system to align the net opening of the net with the krill swarm in order to harvest the krill swarm when the net is lowered.

[0122] In one embodiment of the present invention, the first group information matching module 502 includes:

[0123] The first group information reading module is used to read the first activity depth and first group size information of the krill group from the first group information;

[0124] The fishing conditions query module is used to query preset fishing conditions; the fishing conditions include depth range and fish population size conditions.

[0125] The first group size information matching module is used to match the first group size information with the group size conditions;

[0126] The distance measurement module is used to measure the distance between the krill fishing vessel and the krill swarm if the first activity depth is within the depth range and the first swarm size information matches the swarm size condition.

[0127] The first group information matching module is used to determine that the first group information of the nearest krill group is successfully matched with the fishing conditions.

[0128] The second group information matching module 504 includes:

[0129] The second group information reading module is used to read the second activity depth and second group size information of the krill group from the second group information;

[0130] The second group size information matching module is used to match the second group size information with the group size conditions;

[0131] The second group information matching success module is used to determine that the second group information matches the fishing conditions successfully if the second activity depth is within the depth range and the second group size information matches the group size condition successfully.

[0132] In one embodiment of the present invention, the first group size information matching module includes:

[0133] The first group size information reading module is used to read the first group width, first group thickness and first group density from the first group size information;

[0134] The group size condition reading module is used to read the crossbar width, thickness threshold and density threshold of the nets in the krill fishing vessel from the group size conditions;

[0135] The first group size information matching module is used to determine that the first group size information matches the group size conditions successfully if the width of the first group is greater than the width of the crossbar of the net in the krill fishing vessel, the thickness of the first group is greater than the thickness threshold, and the density of the first group is greater than the density threshold.

[0136] The second group size information matching module includes:

[0137] The second group size information reading module is used to read the second group width, second group thickness and second group density from the second group size information;

[0138] The second group size information matching module is used to determine that the second group size information matches the group size conditions successfully if the width of the second group is greater than the width of the crossbar of the net in the krill fishing vessel, the thickness of the second group is greater than the thickness threshold, and the density of the second group is greater than the density threshold.

[0139] In one embodiment of the present invention, the attitude data generation module 505 includes:

[0140] The capture quantity statistics module is used to count the capture quantity of the krill group according to the second group size information;

[0141] The net data acquisition module is used to collect at least the net's gate width, net's gate depth, net's balance conditions, net's shape, and the temperature of the seawater in the sea area.

[0142] A center point determination module is used to determine the center point of the krill swarm using the second swarm density;

[0143] The net control module is used to control the net positioning system to generate attitude data of the net aligned with the center point based at least on the net's gate width, net's gate depth, net's balance conditions, net's shape, the catch amount of the krill swarm, and the temperature of the seawater in the area.

[0144] In one embodiment of the present invention, the deck winch system includes a cable winch, a trawl winch, and a net reel winch; the net lowering module 506 includes:

[0145] The winch data acquisition module is used to acquire at least the hydraulic oil pressure of the cable winch, the trawl length of the trawl winch, the dynamic tension of the trawl winch, and the pulling force of the coil winch.

[0146] The first control parameter generation module is used to control the deck winch system to generate first control parameters that match the attitude data, based at least on the hydraulic oil pressure of the cable winch, the traction length of the trawl net of the trawl winch, the dynamic tension of the trawl winch, and the tension of the net reel winch, if the hydraulic oil pressure of the cable winch, the traction length of the trawl net of the trawl winch, the dynamic tension of the trawl winch, and the tension of the net reel winch, and to lower the net into the sea area according to the first control parameters.

[0147] The haul-in operation execution module is used to control the trawl winch to perform a haul-in operation if it is detected that the center position of the net is below the second activity depth, so that the center position of the net is on the same horizontal line as the second activity depth;

[0148] The cable-laying operation execution module is used to control the trawl winch to perform a cable-laying operation so that the center position of the net is at the same level as the second activity depth if the center position of the net is detected to be above the second activity depth.

[0149] The device speed control module is used to reduce at least one of the following if at least one of the hydraulic oil pressure of the cable winch, the trawl net length of the trawl winch, the dynamic tension of the trawl winch, and the pulling force of the net reel winch is outside a preset rated parameter: the ship's sailing speed, the cable winch's operating speed, the trawl winch's operating speed, and the net reel winch's operating speed; and to control the trawl winch to perform a release operation and / or control the trawl winch to perform a release operation so that the center position of the net is at the same horizontal line as the second active depth.

[0150] In one embodiment of the present invention, the krill harvesting module 507 includes:

[0151] The power information and lateral thrust information acquisition module is used to acquire the power information and lateral thrust information of the krill fishing vessel when the center position of the net is at the same horizontal line as the second activity depth;

[0152] The second control parameter generation module is used to control the main propulsion system to generate second control parameters based on the power information.

[0153] The third control parameter generation module is used to control the side thrust system to generate third control parameters based on the side thrust information.

[0154] The collaborative control module is used to coordinate the main propulsion system to align the net opening of the net with the krill swarm according to the second control parameters and the side thrust system to align the net opening with the krill swarm according to the third control parameters, so as to harvest the krill swarm.

[0155] In one embodiment of the present invention, the apparatus further includes:

[0156] A three-dimensional trajectory construction module is used to construct the three-dimensional trajectory of the krill group activity based on the first group information and the second group information.

[0157] The database construction module is used to generate the activity range and activity characteristics of the krill based on the three-dimensional trajectory of the krill group's activities, so as to construct the krill group database;

[0158] The habitat and ecosystem construction module is used to model the habitat and ecosystem of the krill population based on the activity range and activity characteristics of the krill in the krill population database.

[0159] The krill swarm activity prediction module is used to predict the three-dimensional trajectory of the krill swarm in the future based on the activity range and characteristics of the krill in the krill swarm database.

[0160] In one embodiment of the present invention, the apparatus further includes:

[0161] The fishing information generation module is used to generate fishing progress information and fishing condition information for the krill population.

[0162] The fishing information transmission module is used to transmit the first group information, the second group information, the fishing progress information and the fishing condition information to the shore management system via satellite communication, so as to arrange a transfer vessel to transfer the krill group from the krill fishing vessel to the land.

[0163] The krill harvesting device provided in this embodiment of the invention can perform the krill harvesting method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for performing the krill harvesting method.

[0164] Example 3

[0165] See Figure 6This diagram illustrates a structural schematic of a computer device according to an embodiment of the present invention. The term "computer device" is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, blade servers, mainframe computers, and other suitable computers. The computer device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0166] like Figure 6 As shown, the computer device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the computer device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0167] Multiple components in computer device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows computer device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0168] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as krill harvesting methods.

[0169] In some embodiments, the krill harvesting method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on computer device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the krill harvesting method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the krill harvesting method by any other suitable means (e.g., by means of firmware).

[0170] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0171] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0172] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0173] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0174] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0175] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0176] Example 4

[0177] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the krill harvesting method provided in any embodiment of this invention.

[0178] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0179] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0180] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for harvesting krill, characterized in that, The method is applied to krill fishing vessels that integrate a vertical sonar system, a fish finder system, a net positioning system, a deck winch system, a main propulsion system, and a side thruster system. The method includes: When the krill fishing vessel is sailing in the sea, the vertical sonar system is controlled to search for the first group of krill swarms in both the horizontal and vertical directions. The information from the first group is matched with preset fishing conditions; If the first group of information matches the fishing conditions, when the krill fishing vessel sails over the krill swarm in the sea area, it controls the fish finder system to detect the second group of information of the krill swarm in the vertical direction. Match the second group of information with the fishing conditions; If the second group of information successfully matches the fishing conditions, the system controls the net positioning device to generate attitude data of the net that matches the second group of information; The deck winch system is controlled to lower the net, which conforms to the attitude data, into the sea area based on the second group of information; When the net is lowered, the main propulsion system and the side propulsion system are controlled to align the net opening with the krill swarm in order to catch the krill swarm. The process of controlling the positioning system to generate attitude data of the net that matches the second group of information includes: The catch volume of the krill group is calculated based on the second group size information read from the second group information; At least the following data should be collected: the gate width of the net, the gate depth of the net, the balance condition of the net, the shape of the net, and the temperature of the seawater in the area. The center point of the krill swarm is determined using the second swarm density read from the second swarm size information. The net positioning system controls the net to generate attitude data aligned with the center point based at least on the net's gate width, net's gate depth, net's balance conditions, net's shape, the amount of krill caught, and the temperature of the seawater in the area. The deck winch system includes a cable winch, a trawl winch, and a net reel winch; controlling the deck winch system to lower the nets conforming to the attitude data into the sea area based on the second group of information includes: At least the hydraulic oil pressure of the cable winch, the length of the trawl net traction rope of the trawl net winch, the dynamic tension of the trawl net winch, and the pulling force of the coil winch should be collected. If the hydraulic oil pressure of the cable winch, the trawl net length of the trawl winch, the dynamic tension of the trawl winch, and the pulling force of the net reel winch are all within the preset rated parameters, the deck winch system is controlled to generate first control parameters that match the attitude data based at least on the hydraulic oil pressure of the cable winch, the trawl net length of the trawl winch, the dynamic tension of the trawl winch, and the pulling force of the net reel winch, and the net is lowered into the sea area according to the first control parameters; If the center position of the net is detected to be below the second activity depth, the trawl winch is controlled to perform a haul-in operation so that the center position of the net is at the same level as the second activity depth; wherein, the second activity depth is the second activity depth of the krill group read from the second group information; If the center position of the net is detected to be above the second active depth, the trawl winch is controlled to perform a release operation so that the center position of the net is on the same horizontal line as the second active depth; If at least one of the hydraulic oil pressure of the cable winch, the trawl length of the trawl winch, the dynamic tension of the trawl winch, and the pulling force of the net winch is outside the preset rated parameters, then at least one of the sailing speed of the krill fishing vessel, the operating speed of the cable winch, the operating speed of the trawl winch, and the operating speed of the net winch shall be reduced, and the trawl winch shall be controlled to perform a release operation and / or the trawl winch shall be controlled to perform a release operation so that the center position of the net is at the same horizontal line as the second active depth.

2. The method according to claim 1, characterized in that, The step of matching the first group information with preset fishing conditions includes: Read the first activity depth and first group size information of the krill group from the first group information; Query the preset fishing conditions; the fishing conditions include depth range and fish population size conditions; Match the first group size information with the group size conditions; If the first activity depth is within the depth range, and the first group size information matches the group size condition successfully, then measure the distance between the krill fishing vessel and the krill group. The information of the first group of the nearest krill group is successfully matched with the fishing conditions; The step of matching the second group information with the fishing conditions includes: Read the second activity depth and second group size information of the krill group from the second group information; Match the second group size information with the group size conditions; If the second activity depth is within the depth range, and the second group size information successfully matches the group size condition, then it is determined that the second group information successfully matches the fishing condition.

3. The method according to claim 2, characterized in that, The step of matching the first group size information with the group size condition includes: Read the width, thickness, and density of the first group from the first group size information; Read the crossbar width, thickness threshold, and density threshold of the nets in the krill fishing vessel from the group size conditions; If the width of the first group is greater than the width of the crossbar of the net in the krill fishing vessel, the thickness of the first group is greater than the thickness threshold, and the density of the first group is greater than the density threshold, then it is determined that the first group size information matches the group size condition successfully. The step of matching the second group size information with the group size condition includes: Read the second group width, second group thickness, and second group density from the second group size information; If the width of the second group is greater than the width of the crossbar of the net in the krill fishing vessel, the thickness of the second group is greater than the thickness threshold, and the density of the second group is greater than the density threshold, then it is determined that the size information of the second group matches the group size condition successfully.

4. The method according to claim 1, characterized in that, The method of controlling the main propulsion system and the side thrust system to align the net opening of the net with the krill swarm for harvesting the krill includes: When the center of the net is at the same horizontal level as the second activity depth, the power and lateral thrust information of the krill fishing vessel are collected. The main propulsion system is controlled to generate second control parameters based on the power information; The side thrust system is controlled to generate a third control parameter based on the side thrust information; The main propulsion system is controlled in coordination with the side thruster system according to the second control parameters to align the net opening with the krill swarm in order to catch the krill swarm.

5. The method according to any one of claims 1-4, characterized in that, Also includes: Construct a three-dimensional trajectory of the krill group activity based on the information from the first group and the information from the second group; The activity range and characteristics of the krill are generated based on the three-dimensional trajectory of the krill group's activities, so as to construct the krill group database; Based on the activity range and characteristics of the krill in the krill population database, the habitat and ecosystem of the krill population are modeled. Based on the activity range and characteristics of the krill in the krill swarm database, the three-dimensional trajectory of the krill swarm in the future is predicted.

6. The method according to any one of claims 1-4, characterized in that, Also includes: The krill population is used to generate harvesting progress information and harvesting operation information. The information of the first group, the information of the second group, the fishing progress information, and the fishing conditions information are transmitted to the shore management system via satellite communication, so as to arrange a transfer vessel to transfer the krill swarm from the krill fishing vessel to the land.

7. A computer device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the krill harvesting method as described in any one of claims 1-6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the krill harvesting method as described in any one of claims 1-6.

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