A floating fish reef control system based on real-time sea condition monitoring

Abstract

The invention relates to the technical field of artificial fish reefs, and in particular to a floating fish reef control system based on real-time sea condition monitoring, comprising a monitoring module, a communication module, an analysis module, which determines the local sea condition index corresponding to each floating fish reef according to wave height, offshore wind speed, offshore wind direction, seawater flow rate and the real-time position of each floating fish reef, determines the stability model of the floating fish reef according to the local sea condition index and the real-time posture and center of gravity position to analyze the stability of the floating fish reef, and determines the normal floating fish reef area and the abnormal floating fish reef area according to the local sea condition index, the real-time position and the number of biological activity groups; the control module determines the adjustment method of the floating fish reef according to the analysis result of the floating fish reef stability, the normal floating fish reef area and the abnormal floating fish reef area; and a power module. The invention takes into account the influence of the real-time sea condition on the floating fish reef, and effectively adjusts the position of the floating fish reef so that its distribution is more suitable for the living environment of fish.

Description

Technical Field

[0001] The invention relates to the technical field of artificial fish reefs, and in particular to a floating fish reef control system based on real-time sea condition monitoring. Background Art

[0002] Floating fish reefs are mainly used to lure middle and upper layer fish, providing a place for them to avoid enemies, prey and live. They are suitable for muddy coasts. Existing floating fish reefs are mainly composed of floats, reefs, anchoring components and connecting components. The float is the uppermost structure of the floating fish reef, providing buoyancy for the entire component; the reef is located below the float, providing a place for fish to live and reproduce; the anchoring component includes components such as anchor blocks and anchor ropes to ensure that the floating fish reef remains stable under the influence of wind, waves and currents; the connecting component is used to connect the float, reef and anchoring components together to form a complete floating fish reef system.

[0003] After the artificial floating fish reefs are deployed, flow field effects will be generated under the action of tides, upwelling will be generated on the upstream side, and back vortex will be generated on the downstream side. These flow field effects will affect the transport of suspended sand and the deposition and siltation of seabed sediment. At the same time, the water currents and waves in the ocean will scour and wear the floating fish reefs. Under long-term action, the fish reef structure will be destroyed or the stability will be reduced.

[0004] Therefore, there is an urgent need for a floating fish reef control system based on real-time sea condition monitoring, which can fully consider the impact of real-time sea conditions on floating fish reefs, effectively adjust the position of floating fish reefs, make their distribution scientific, and further create a suitable living environment. Summary of the invention

[0005] To this end, the present invention provides a floating fish reef control system based on real-time sea condition monitoring, which is used to overcome the problem in the prior art that the floating fish reef cannot be adaptively adjusted according to the real-time sea conditions, resulting in damage to the floating fish reef structure and reduced stability of the floating fish reef.

[0006] To achieve the above object, on the one hand, the present invention provides a floating fish reef control system based on real-time sea condition monitoring, comprising:

[0007] A monitoring module is used to monitor sea condition parameters and real-time working condition parameters corresponding to a number of floating fish reefs, wherein the sea condition parameters include wave height, wind speed, wind direction, seawater flow speed, and seawater flow direction of the sea surface, and the working condition parameters include the real-time posture, real-time position, center of gravity position, and number of biological activity groups of floating fish reefs;

[0008] A communication module is arranged on each floating fish reef to enable the floating fish reef to communicate with other floating fish reefs or a shore-based control center in real time;

[0009] An analysis module connected to the monitoring module is used to determine the local sea condition index corresponding to each floating fish reef according to the wave height, offshore wind speed, offshore wind direction, seawater flow rate and the real-time position of each floating fish reef, determine the stability model of the floating fish reef according to the local sea condition index and the real-time posture and center of gravity position to analyze the stability of the floating fish reef, and determine the normal floating fish reef area and the abnormal floating fish reef area according to the local sea condition index, the real-time position and the number of biological activity groups;

[0010] A control module is connected to the analysis module and is used to determine the adjustment method of the floating fish reef according to the analysis result of the floating fish reef stability, the determined normal floating fish reef area and the abnormal floating fish reef area, wherein:

[0011] According to the comparison result of the stability index of the plurality of floating fish reefs obtained by the stability model and the preset stability index, determining the adjustment method of the floating fish reefs, including adjusting the length of the anchor rope corresponding to a single floating fish reef or adjusting the relative positions between the plurality of floating fish reefs;

[0012] Determining the adjustment of the moving path of the floating fish reefs according to the relative distance between the abnormal floating fish reef area and the inner floating fish reefs of the normal floating fish reef area;

[0013] A power module is connected to the control module, and includes an anchoring assembly and a power assembly. The anchoring assembly includes an anchor for fixing the floating fish reef, an anchor rope for connecting the floating fish reef and the anchor, and an anchoring controller for adjusting the length of the anchor rope. The power assembly includes a small propeller for providing power to the floating fish reef, a power supply for providing electricity to the floating fish reef, and a power controller for controlling the operating parameters of the propeller.

[0014] Furthermore, the analysis module determines the influence weights of wave height, offshore wind speed, offshore wind direction, and seawater flow rate on the severity of the sea conditions of a single floating fish reef based on the real-time position of the single floating fish reef and the corresponding historical sea condition data, and determines the local sea condition severity index corresponding to the single floating fish reef based on the influence weights.

[0015] Furthermore, the analysis module determines the local sea condition change rate according to the local sea condition severity index at adjacent time points, determines abnormal floating fish reef points and normal floating fish reef points according to the comparison results of the local sea condition change rate and the preset change rate, the comparison results of the relative distance and the preset distance, and the comparison results of the number of biological activity groups and the preset number of activity groups, and determines abnormal floating fish reef areas and normal floating fish reef areas according to the abnormal floating fish reef points and the normal floating fish reef points, wherein,

[0016] If the local sea condition change rate is greater than the preset change rate and the relative distance is greater than the preset distance, or the local sea condition change rate is greater than the preset change rate and the number of biological activity groups is less than the preset number of activity groups, the floating fish reef is determined to be an abnormal floating fish reef point;

[0017] If the local sea condition change rate is less than or equal to the preset change rate and the relative distance is less than or equal to the preset distance, or the local sea condition change rate is less than or equal to the preset change rate and the number of biological activity groups is greater than or equal to the preset number of activity groups, then the floating fish reef is determined to be a normal floating fish reef point.

[0018] Furthermore, the analysis module determines the corresponding distribution density according to the real-time positions corresponding to the abnormal floating fish reef points and the normal floating fish reef points and the preset radius, and determines the abnormal floating fish reef area and the normal floating fish reef area according to the distribution density.

[0019] Furthermore, the analysis module determines the abnormal floating fish reef area and the normal floating fish reef area according to the comparison result of the distribution density corresponding to the single floating fish reef point and the preset distribution density and the proportion of abnormal floating fish reef points within the preset radius of the single floating fish reef point, wherein:

[0020] If the distribution density is less than or greater than the preset distribution density, and the proportion of abnormal floating fish reef points is greater than the preset proportion, then the circular area formed by the single floating fish reef point and the preset radius is the abnormal floating fish reef area; if the distribution density is equal to the preset distribution density, and the proportion of abnormal floating fish reef points is less than the preset proportion, then the circular area formed by the single floating fish reef point and the preset radius is the normal floating fish reef area.

[0021] Furthermore, the analysis module determines the adjustment method according to the number of super-stable floating fish reefs whose stability indexes exceed a preset stability index, wherein:

[0022] If the number of the ultra-stable floating fish reefs is less than the preset number, adjusting the length of the anchor rope corresponding to the single floating fish reef;

[0023] If the number of the ultra-stable floating fish reefs is greater than a preset number, the relative positions between the plurality of floating fish reefs are adjusted.

[0024] Furthermore, the analysis module determines a length adjustment function according to a safe length range of the anchor rope, a stability index, a preset stability index and a current anchor rope length, and determines an adjustment amount of the anchor rope length for a single floating fish reef according to the length adjustment function.

[0025] Furthermore, the analysis module determines a position adjustment model based on the offshore wind direction, the safety distance of the floating fish reefs, the real-time position and stability index of the floating fish reefs, and a preset stability index, and determines the target arrangement of the floating fish reefs and the target position of each floating fish reef based on the position adjustment model.

[0026] Further, the analysis module determines the relative distance between each floating fish reef in the abnormal floating fish reef area and each floating fish reef in the normal floating fish reef area according to the real-time position of the floating fish reefs to determine the marked floating fish reefs, determines the moving path of the floating fish reefs in the abnormal floating fish reef area according to the marked floating fish reefs, and adjusts the floating fish reefs in the abnormal floating fish reef area according to the moving path;

[0027] Among them, the marked floating fish reefs are the floating fish reefs in the abnormal floating fish reef area that are closest to the normal floating fish reef area.

[0028] Furthermore, the analysis module determines the position deviation according to the real-time position of the floating fish reefs in the abnormal floating fish reef area, the real-time position of the nearest floating fish reef on the preset path, and the safe distance of the floating fish reefs, and adjusts the anchor rope length according to the position deviation.

[0029] Compared with the prior art, the beneficial effect of the present invention lies in that, by real-time monitoring and analyzing the sea conditions and the posture, position and other information of floating fish reefs, the present invention constructs a stability model and derives the local sea condition severity index to discover the instability problems faced by floating fish reefs, and adjusts the relative positions of floating fish reefs in the floating fish reef group and the posture of a single floating fish reef accordingly, thereby ensuring the long-term stable operation of floating fish reefs in a complex marine environment, optimizing the ecological functions of floating fish reefs, and further promoting the reproduction and habitat of marine organisms.

[0030] Furthermore, the present invention determines the local sea condition index according to the weights of the influence of wave height, offshore wind speed, offshore wind direction, and seawater flow rate on the severity of the sea conditions, and effectively analyzes the impact of ocean currents on floating fish reefs. Thus, the stability of floating fish reefs is further evaluated based on the local sea condition index, and the subsequent adjustment method is determined. Thus, the long-term stable operation of floating fish reefs in complex marine environments is further guaranteed, the ecological functions of floating fish reefs are optimized, and the reproduction and habitat of marine organisms are promoted.

[0031] Furthermore, the present invention determines a preliminary abnormality when the distribution density of a certain floating fish reef point is higher than a threshold value, and determines the abnormal floating fish reef area according to the proportion of abnormal floating fish reef points in a preset area. Taking into account the distribution density and the proportion of abnormal floating fish reef points, a double judgment is made on the abnormal floating fish reef area, which is helpful for the subsequent adjustment of the floating fish reefs, thereby further ensuring the long-term stable operation of the floating fish reefs in a complex marine environment, optimizing the ecological function of the floating fish reefs, and promoting the reproduction and habitat of marine organisms.

[0032] Furthermore, the present invention adjusts the length of the mooring assembly by constructing a length adjustment function to offset the problem that the anchor rope is too long, resulting in too little tension on the floating fish reef, thereby affecting the stability of the floating fish reef, thereby optimizing the buoyancy and stability of the floating fish reef, further ensuring the long-term stable operation of the floating fish reef in a complex marine environment, optimizing the ecological function of the floating fish reef, and promoting the reproduction and habitat of marine organisms.

[0033] Furthermore, the present invention determines a position adjustment model according to the offshore wind direction, the safety distance of floating fish reefs, the real-time position of the floating fish reefs and the stability index, and the preset stability index, and then determines the target arrangement of the floating fish reefs and the target position of each floating fish reef, thereby further ensuring the long-term stable operation of the floating fish reefs in a complex marine environment, optimizing the ecological function of the floating fish reefs, and promoting the reproduction and habitat of marine organisms.

[0034] Furthermore, the present invention determines the floating fish reefs in the abnormal floating fish reef area according to the relative distance from each floating fish reef in the normal floating fish reef area to determine the moving path of the floating fish reefs in the abnormal floating fish reef area, and adjusts the floating fish reefs in the abnormal floating fish reef area according to the moving path, thereby further ensuring the long-term stable operation of the floating fish reefs in a complex marine environment, optimizing the ecological function of the floating fish reefs, and promoting the reproduction and habitat of marine organisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a flow chart of the floating fish reef control system based on real-time sea condition monitoring of the present invention;

[0036] Figure 2 A flow chart for determining abnormal floating fish reef areas and normal floating fish reef areas according to an embodiment of the present invention;

[0037] Figure 3 A determination diagram for determining an adjustment method of a floating fish reef according to an embodiment of the present invention;

[0038] Figure 4 The present invention is a flowchart for determining the adjustment of the moving path of a floating fish reef according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0041] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0042] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] See also Figure 1 As shown, it is a connection block diagram of a floating fish reef control system based on real-time sea condition monitoring of the present invention. Specifically, the present invention provides a floating fish reef control system for real-time sea condition monitoring, comprising:

[0044] A monitoring module is used to monitor sea condition parameters and real-time working condition parameters corresponding to a number of floating fish reefs, wherein the sea condition parameters include wave height, wind speed, wind direction, seawater flow speed, and seawater flow direction of the sea surface, and the working condition parameters include the real-time posture, real-time position, center of gravity position, and number of biological activity groups of floating fish reefs;

[0045] A communication module is arranged on each floating fish reef to enable the floating fish reef to communicate with other floating fish reefs or a shore-based control center in real time;

[0046] An analysis module connected to the monitoring module is used to determine the local sea condition index corresponding to each floating fish reef according to the wave height, offshore wind speed, offshore wind direction, seawater flow rate and the real-time position of each floating fish reef, determine the stability model of the floating fish reef according to the local sea condition index and the real-time posture and center of gravity position to analyze the stability of the floating fish reef, and determine the normal floating fish reef area and the abnormal floating fish reef area according to the local sea condition index, the real-time position and the number of biological activity groups;

[0047] A control module is connected to the analysis module and is used to determine the adjustment method of the floating fish reef according to the analysis result of the floating fish reef stability, the determined normal floating fish reef area and the abnormal floating fish reef area, wherein:

[0048] According to the comparison result of the stability index of the plurality of floating fish reefs obtained by the stability model and the preset stability index, determining the adjustment method of the floating fish reefs, including adjusting the length of the anchor rope corresponding to a single floating fish reef or adjusting the relative positions between the plurality of floating fish reefs;

[0049] Determining the adjustment of the moving path of the floating fish reefs according to the relative distance between the abnormal floating fish reef area and the inner floating fish reefs of the normal floating fish reef area;

[0050] The power module includes an anchoring component and a power component. The anchoring component includes an anchor for fixing the floating fish reef, an anchor rope for connecting the floating fish reef and the anchor, and an anchor controller for adjusting the length of the anchor rope. The power component includes a small propeller for providing power to the floating fish reef, a power supply for providing electricity to the floating fish reef, and a power controller for controlling the operating parameters of the propeller.

[0051] It can be understood that the analysis unit analyzes the local severe sea condition index corresponding to each floating fish reef in combination with the sea condition environment data to determine the sea surface conditions near each floating fish reef, and determines the stability model of the floating fish reef according to the local severe sea condition index and the real-time posture and center of gravity position corresponding to the floating fish reef to characterize the stability state of the floating fish reef under the influence of real-time sea conditions. At the same time, since the number of biological activity groups under the floating fish reef is also related to the sea condition factors, the number of biological activity groups is combined with the local severe sea condition index and the position of each floating fish reef to determine the normal floating fish reef area, as well as the abnormal floating fish reef area with poor stability and susceptible to sea condition factors. In this way, according to the analysis results of the stability of the floating fish reef, the normal floating fish reef area and the abnormal floating fish reef area, the adjustment method of the floating fish reef is determined, including the adjustment of the relative position of the floating fish reef group, the length of the anchor rope of a single floating fish reef, etc., so as to stabilize the floating fish reef and ensure the survival of organisms.

[0052] In a specific embodiment, the monitoring module includes detection components such as anemometers, image sensors, current meters, and IMUs to monitor the wave height, offshore wind speed, offshore wind direction, seawater flow velocity, seawater flow direction, and the corresponding real-time posture, real-time position, center of gravity position, and number of biological activity groups of several floating fish reefs. The value range of the preset stability index is 0.7 to 1. Preferably, the value of the preset stability index is 0.8. The stability model of the floating fish reef is determined based on the local sea condition index and the real-time posture and center of gravity position. The stability model is determined by a machine learning algorithm. The specific component composition of the monitoring module, the value range and preferred value of the preset stability index can be determined according to the actual situation. No specific limitation is made here and no further description is given.

[0053] The present invention monitors and analyzes the sea conditions and the posture, position and other information of floating fish reefs in real time, constructs a stability model and obtains the local sea condition severity index to discover the instability problems faced by floating fish reefs. Based on this, the relative positions of floating fish reefs in a floating fish reef group and the posture of a single floating fish reef are adjusted to ensure the long-term stable operation of floating fish reefs in a complex marine environment, optimize the ecological function of floating fish reefs, and further promote the reproduction and habitat of marine organisms.

[0054] Specifically, the analysis module determines the influence weights of wave height, offshore wind speed, offshore wind direction, and seawater flow rate on the severity of the sea conditions of a single floating fish reef based on the real-time position of the single floating fish reef and the corresponding historical sea condition data, and determines the local sea condition severity index corresponding to the single floating fish reef based on the influence weights.

[0055] In a specific embodiment, the wave height, offshore wind speed, offshore wind direction, and seawater flow velocity can be graded in combination with historical sea condition data, and the grades are graded into 1 to 10 grades. The higher the parameter values ​​corresponding to the wave height, offshore wind speed, offshore wind direction, and seawater flow velocity, the higher the grade. For example, if the wave height is between 2.5 and 4 meters, the wave grade is 5, indicating big waves. If the wave height is between 6 and 10 meters, the wave grade is 9, indicating huge waves; if the wind speed is between 1m / s and 3m / s, the wind force grade is 2, indicating a breeze. If the wind speed is between 13m / s and 17m / s, the wind force grade is 7, indicating a strong wind; when the angle between the wind direction and the floating fish reef on the baseline is 15°, the wind direction impact grade is 2. When the angle between the wind direction and the floating fish reef on the baseline exceeds 45°, the wind direction impact level is level 5; the flow velocity is related to the tilt angle of the floating fish reef on the horizontal sea surface. When the tilt angle is 15°, the impact level is level 3, and when the tilt angle exceeds 45°, the impact level is level 6, etc. The local sea condition index is the sum of the product of the first impact weight and the wave level, the product of the second impact weight and the wind speed level, the product of the third impact weight and the wind direction impact level, and the product of the fourth impact weight and the flow speed impact level. The first impact weight, the second impact weight, the third impact weight, and the fourth impact weight are all 0.25. In implementation, the first impact weight, the second impact weight, the third impact weight, and the fourth impact weight are not specifically limited here. As long as the sum of the first impact weight, the second impact weight, the third impact weight, and the fourth impact weight is 1, they are not specifically limited here and will not be repeated.

[0056] In implementation, the method for confirming the local sea condition severity index can be determined according to actual conditions, and is not specifically limited here and will not be repeated.

[0057] The present invention determines the local sea condition index according to the weight of the influence of wave height, offshore wind speed, offshore wind direction, and seawater flow rate on the severity of the sea condition, and effectively analyzes the influence of the ocean current on the floating fish reef. Thus, the stability of the floating fish reef is further evaluated based on the local sea condition index, and the subsequent adjustment method is determined. Thus, the long-term stable operation of the floating fish reef in a complex marine environment is further guaranteed, the ecological function of the floating fish reef is optimized, and the reproduction and habitat of marine organisms are promoted.

[0058] See also Figure 2As shown, it is a flow chart of determining abnormal floating fish reef areas and normal floating fish reef areas according to an embodiment of the present invention; specifically, the analysis module determines the local sea condition change rate according to the local sea condition severe index at adjacent time points, determines the abnormal floating fish reef points and normal floating fish reef points according to the comparison results of the local sea condition change rate and the preset change rate, the comparison results of the relative distance and the preset distance, and the comparison results of the number of biological activity groups and the preset number of activity groups, and determines the abnormal floating fish reef areas and normal floating fish reef areas according to the abnormal floating fish reef points and the normal floating fish reef points, wherein,

[0059] If the local sea condition change rate is greater than the preset change rate and the relative distance is greater than the preset distance, or the local sea condition change rate is greater than the preset change rate and the number of biological activity groups is less than the preset number of activity groups, the floating fish reef is determined to be an abnormal floating fish reef point;

[0060] If the local sea condition change rate is less than or equal to the preset change rate and the relative distance is less than or equal to the preset distance, or the local sea condition change rate is less than or equal to the preset change rate and the number of biological activity groups is greater than or equal to the preset number of activity groups, then the floating fish reef is determined to be a normal floating fish reef point.

[0061] It is understandable that by using the real-time position and distribution density analysis of floating fish reef points, combined with stability and the number of biological activity groups, it is possible to determine the normal and abnormal areas of floating fish reefs, so as to adjust the position of floating fish reefs in time and provide a better ecological environment. If the change rate of the local sea conditions of a floating fish reef is greater than the preset change rate and the relative distance is greater than the preset distance or the number of biological activity groups is less than the preset number of activity groups, the floating fish reef is determined to be an abnormal floating fish reef point, indicating that the stability of the abnormal floating fish reef point is poor and the number of biological activity groups has been significantly reduced.

[0062] In a specific embodiment, the local sea condition change rate is the ratio of the difference of the local sea condition severity index corresponding to adjacent time points to the adjacent time intervals, the preset change rate has a value range of 8% to 12%, preferably, the preset change rate has a value range of 10%, the preset distance has a value range of 200m to 400m, preferably, the preset distance has a value of 300m, the preset number of activity groups has a value range of 100 to 200, preferably, the preset number of activity groups has a value of 150. In implementation, the value range and preferred value of the preset change rate, the preset distance and the preset number of activity groups can be determined according to actual conditions, and are not specifically limited here, nor will they be described in detail.

[0063] Specifically, the analysis module determines the corresponding distribution density according to the real-time positions and preset radius corresponding to the abnormal floating fish reef points and the normal floating fish reef points, and determines the abnormal floating fish reef area and the normal floating fish reef area according to the distribution density.

[0064] In a specific embodiment, the local range area is determined according to the real-time position and preset radius corresponding to a single floating fish reef point, the number of floating fish reef points in the local range is determined according to the real-time position of the floating fish reef point, the distribution density corresponding to a single abnormal floating fish reef point in the local range is the ratio of the number of abnormal floating fish reef points in the local range to the corresponding local range area, and the distribution density corresponding to a single normal floating fish reef point in the local range is the ratio of the number of normal floating fish reef points in the local range to the corresponding local range area. The preset radius has a value range of 450m to 650m, and preferably, the preset radius has a value of 500m. In implementation, the method for confirming the distribution density, the value range and the preferred value of the preset radius can be determined according to actual conditions, which are not specifically limited here and will not be repeated.

[0065] Specifically, the analysis module determines the abnormal floating fish reef area and the normal floating fish reef area according to the comparison result of the distribution density corresponding to a single floating fish reef point and the preset distribution density and the proportion of abnormal floating fish reef points within the preset radius of the single floating fish reef point, wherein:

[0066] If the distribution density is less than or greater than the preset distribution density, and the proportion of abnormal floating fish reef points is greater than the preset proportion, the circular area formed by the single floating fish reef point and the preset radius is the abnormal floating fish reef area;

[0067] If the distribution density is equal to the preset distribution density, and the proportion of abnormal floating fish reef points is less than the preset proportion, the circular area formed by the single floating fish reef point and the preset radius is the normal floating fish reef area.

[0068] In a specific embodiment, the preset distribution density is determined according to a preset radius and a preset distance, and the preset proportion is in the range of 1 / 3 to 1 / 2. Preferably, the preset proportion is 1 / 2.5. In implementation, the preset distribution density, the preset proportion, the range of values ​​and the preferred value can be determined according to actual conditions. No specific limitation is made here and no further details are given.

[0069] The present invention determines a preliminary abnormality when the distribution density of a certain floating fish reef point is higher than a threshold value, and determines the abnormal floating fish reef area according to the proportion of abnormal floating fish reef points in a preset area. Taking the distribution density and the proportion of abnormal floating fish reef points into consideration, a double judgment is made on the abnormal floating fish reef area, which is helpful for the subsequent adjustment of the floating fish reefs, thereby further ensuring the long-term stable operation of the floating fish reefs in a complex marine environment, optimizing the ecological function of the floating fish reefs, and promoting the reproduction and habitat of marine organisms.

[0070] See also Figure 3 As shown, it is a determination diagram for determining the adjustment method of floating fish reefs according to an embodiment of the present invention; specifically, the analysis module determines the adjustment method according to the number of super-stable floating fish reefs whose stability indexes of a number of floating fish reefs exceed a preset stability index, wherein:

[0071] If the number of the ultra-stable floating fish reefs is less than the preset number, adjusting the length of the anchor rope corresponding to the single floating fish reef;

[0072] If the number of the ultra-stable floating fish reefs is greater than a preset number, the relative positions between the plurality of floating fish reefs are adjusted.

[0073] It is understandable that if the number of times the stability index of several floating fish reefs exceeds the preset stability index is less than the preset number, it means that only some floating fish reefs have poor stability, and it may be that the anchor rope is too long, resulting in poor stability of the floating fish reefs, and it is not affected by the sea conditions. If the number of times the stability index of several floating fish reefs exceeds the preset stability index is greater than the preset number, it means that the sea conditions affect the stability of floating fish reefs in a large area, and the position of the floating fish reefs should be adjusted.

[0074] In a specific embodiment, the value range of the preset number can be determined according to the number of floating fish reefs in a certain area. Assuming that the number of floating fish reefs is 30, the preset number is 1 to 3. Preferably, the preset number is 2. In implementation, the value range and preferred value of the preset number can be determined according to actual conditions, and no specific limitation is made here, nor will it be repeated.

[0075] Specifically, the analysis module determines a length adjustment function according to a safe length range of the anchor rope, a stability index, a preset stability index and a current anchor rope length, and determines an adjustment amount of the anchor rope length for a single floating fish reef according to the length adjustment function.

[0076] It is understandable that in order to ensure that the floating fish reef can be stably fixed in the sea, the length of the anchor rope needs to be long enough so that the floating fish reef can maintain a certain stability under the action of water flow and wind. However, if the length of the anchor rope is too long, the floating fish reef will drift too far or collide with other obstacles due to the action of water flow and wind, so a safe length range of the anchor rope is set.

[0077] In a specific embodiment, the value range of the safety length range is 8m to 12m, preferably, the value of the safety length range is 10m, and the length adjustment function is Y=kX+b, wherein k is the ratio of the difference between the stability index and the preset stability index to the preset stability index, X is the current anchor rope length, b is an empirical constant that can be determined according to actual conditions, and Y is the anchor rope length adjustment amount. In implementation, the value range and preferred value of the safety length range, as well as the calculation method of the length adjustment function can be determined according to actual conditions, and are not specifically limited here and will not be repeated.

[0078] In a specific embodiment, the analysis module determines the tilt angle of a single floating fish reef relative to the sea level according to the real-time posture of the single floating fish reef, and determines the propulsion amount of the propeller according to the tilt angle. It can be understood that if the floating fish reef is unstable in rolling, the propeller generates corresponding lateral thrust to offset the rolling moment.

[0079] The present invention adjusts the length of the mooring assembly through a length adjustment function to offset the problem that the pulling force on the floating fish reef is too small due to the excessive length of the anchor rope, thereby affecting the stability of the floating fish reef, thereby optimizing the buoyancy and stability of the floating fish reef, further ensuring the long-term stable operation of the floating fish reef in a complex marine environment, optimizing the ecological function of the floating fish reef, and promoting the reproduction and habitat of marine organisms.

[0080] Specifically, the analysis module determines a position adjustment model based on the offshore wind direction, the safety distance of floating fish reefs, the real-time position and stability index of the floating fish reefs, and a preset stability index, and determines the target arrangement of the floating fish reefs and the target position of each floating fish reef based on the position adjustment model.

[0081] In a specific embodiment, a position adjustment model is established, and the minimum position adjustment amount of the floating fish reef is used as the objective function. The safety distance of the floating fish reef and the corresponding stability index after the position adjustment are greater than or equal to the preset stability index as restriction conditions to construct the position adjustment model, so as to determine the minimum position adjustment amount and the target position of the floating fish reef after adjustment. The position adjustment model can be solved by algorithms such as gradient descent method, simulated annealing method, genetic algorithm, etc. to obtain the minimum position adjustment amount. In real time, the method of establishing the position adjustment model can be determined according to actual conditions. No specific limitation is made here and it will not be repeated.

[0082] In another specific embodiment, a position adjustment model is established to analyze the target arrangement. For example, in a specific ocean area, the offshore wind direction is mainly from the east. After simulation and analysis by the position adjustment model, it is found that the floating fish reefs should be arranged in a zigzag shape and the distance between adjacent floating fish reefs should be kept at the floating fish reef safety distance to improve the overall stability. Then, according to the real-time position of the floating fish reefs, the zigzag arrangement and the safety distance requirements, the target position of each floating fish reef is determined by geometric calculation and optimization algorithm, as long as the floating fish reef moves at the minimum distance. In implementation, the analysis target arrangement of the position adjustment model can be determined according to actual conditions, which is not specifically limited here and will not be repeated.

[0083] The present invention determines a position adjustment model according to the offshore wind direction, the safety distance of floating fish reefs, the real-time position of the floating fish reefs and the stability index, and the preset stability index, and then determines the target arrangement of the floating fish reefs and the target position of each floating fish reef, thereby further ensuring the long-term stable operation of the floating fish reefs in a complex marine environment, optimizing the ecological function of the floating fish reefs, and promoting the reproduction and habitat of marine organisms.

[0084] See also Figure 4 As shown, Figure 4 The present invention is a flowchart of determining the adjustment of the moving path of floating fish reefs according to an embodiment of the present invention; specifically, the analysis module determines the relative distance between each floating fish reef in the abnormal floating fish reef area and each floating fish reef in the normal floating fish reef area according to the real-time position of the floating fish reefs to determine the marked floating fish reefs, determines the moving path of the floating fish reefs in the abnormal floating fish reef area according to the marked floating fish reefs, and adjusts the floating fish reefs in the abnormal floating fish reef area according to the moving path;

[0085] Among them, the marked floating fish reefs are the floating fish reefs in the abnormal floating fish reef area that are closest to the normal floating fish reef area.

[0086] It can be understood that, for the entire floating fish reef, after the abnormal floating fish reef area is determined, the normal floating fish reef area closest to the abnormal floating fish reef is determined according to the relative position information of each floating fish reef, so as to adjust the position of the abnormal floating fish reef.

[0087] In a specific embodiment, the distances of individual floating fish reefs in the abnormal floating fish reef area from all floating fish reefs in the normal floating fish reef area are sorted from small to large, so that the nearest floating fish reef in the normal floating fish reef area to the individual floating fish reef in the abnormal floating fish reef area can be found, and then the moving direction and moving path are determined according to the real-time position of the corresponding nearest floating fish reef and the real-time position of the corresponding individual floating fish reef in the abnormal floating fish reef area, so that the position of the corresponding individual floating fish reef in the abnormal floating fish reef area is adjusted to move it to a more suitable sea condition area to maintain the stability of the corresponding individual floating fish reef in the abnormal floating fish reef area.

[0088] Specifically, the analysis module determines the position deviation according to the real-time position of the floating fish reefs in the abnormal floating fish reef area, the real-time position of the nearest floating fish reef on the preset path, and the safe distance of the floating fish reefs, and adjusts the anchor rope length according to the position deviation.

[0089] In a specific embodiment, the length of the anchor rope of the floating fish reef to be moved is known, the vertical length of the corresponding anchor block and the sea level, and the horizontal distance between one end of the anchor rope away from the anchor block and the anchor block can be used to construct a first right-angled triangle. Then, the position deviation and the horizontal distance between one end of the anchor rope away from the anchor block and the anchor block are used as one vertical side of the vertical triangle, the length of the anchor rope is the hypotenuse, and the vertical length of the corresponding anchor block and the sea level is the other vertical side. Then, the adjusted anchor rope length can be calculated, and then the anchor rope length adjustment amount is determined according to the difference between the adjusted anchor rope length and the current anchor rope length. In implementation, the anchor rope length adjustment amount can be determined according to actual conditions, which is not specifically limited here and will not be repeated.

[0090] In another specific embodiment, the propulsion amount of the small propeller can also be adjusted according to the position deviation.

[0091] The present invention determines the floating fish reefs in the abnormal floating fish reef area according to the relative distance from the closest floating fish reef in the normal floating fish reef area to determine the moving path of the floating fish reefs in the abnormal floating fish reef area, and adjusts the floating fish reefs in the abnormal floating fish reef area according to the moving path, thereby further ensuring the long-term stable operation of the floating fish reefs in a complex marine environment, optimizing the ecological function of the floating fish reefs, and promoting the reproduction and habitat of marine organisms.

[0092] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A floating fish reef control system based on real-time sea condition monitoring, characterized in that: include: A monitoring module is used to monitor sea condition parameters and real-time working condition parameters corresponding to a number of floating fish reefs, wherein the sea condition parameters include wave height, wind speed, wind direction, seawater flow speed and seawater flow direction, and the working condition parameters include the real-time posture, real-time position, center of gravity position and number of biological activity groups of floating fish reefs; A communication module is arranged on each floating fish reef to enable the floating fish reef to communicate with other floating fish reefs or a shore-based control center in real time; An analysis module connected to the monitoring module is used to determine the local sea condition index corresponding to each floating fish reef according to the wave height, offshore wind speed, offshore wind direction, seawater flow rate and the real-time position of each floating fish reef, determine the stability model of the floating fish reef according to the local sea condition index and the real-time posture and center of gravity position to analyze the stability of the floating fish reef, and determine the normal floating fish reef area and the abnormal floating fish reef area according to the local sea condition index, the real-time position and the number of biological activity groups; A control module is connected to the analysis module and is used to determine the adjustment method of the floating fish reef according to the analysis results of the stability of the floating fish reef, the normal floating fish reef area and the abnormal floating fish reef area, wherein: According to the comparison result of the stability index of the plurality of floating fish reefs obtained by the stability model and the preset stability index, determining the adjustment method of the floating fish reefs, including adjusting the length of the anchor rope corresponding to a single floating fish reef or adjusting the relative positions between the plurality of floating fish reefs; Determining the adjustment of the moving path of the floating fish reefs according to the relative distance between the abnormal floating fish reef area and the inner floating fish reefs of the normal floating fish reef area; a power module connected to the control module, comprising an anchor assembly and a power assembly, wherein the anchor assembly comprises an anchor for fixing the floating fish reef, an anchor rope for connecting the floating fish reef and the anchor, and an anchor controller for adjusting the length of the anchor rope, and the power assembly comprises a small propeller for providing power to the floating fish reef, a power supply for providing power to the floating fish reef, and a power controller for controlling the operating parameters of the propeller; The analysis module determines the influence weights of wave height, offshore wind speed, offshore wind direction, and seawater flow rate on the severity of the sea conditions of a single floating fish reef according to the real-time position of the single floating fish reef and the corresponding historical sea condition data, and determines the local severe sea condition index corresponding to the single floating fish reef according to the influence weights; The local sea condition severity index is the sum of the product of the first impact weight and the wave level, the product of the second impact weight and the wind speed level, the product of the third impact weight and the wind direction impact level, and the product of the fourth impact weight and the current speed impact level.

2. The floating fish reef control system based on real-time sea condition monitoring according to claim 1 is characterized in that: The analysis module determines the local sea condition change rate according to the local sea condition severe index at adjacent time points, determines abnormal floating fish reef points and normal floating fish reef points according to the comparison results of the local sea condition change rate and the preset change rate, the comparison results of the relative distance and the preset distance, and the comparison results of the number of biological activity groups and the preset number of activity groups, and determines abnormal floating fish reef areas and normal floating fish reef areas according to the abnormal floating fish reef points and the normal floating fish reef points, wherein, If the local sea condition change rate is greater than the preset change rate and the relative distance is greater than the preset distance, or the local sea condition change rate is greater than the preset change rate and the number of biological activity groups is less than the preset number of activity groups, the floating fish reef is determined to be an abnormal floating fish reef point; If the local sea condition change rate is less than or equal to the preset change rate and the relative distance is less than or equal to the preset distance, or the local sea condition change rate is less than or equal to the preset change rate and the number of biological activity groups is greater than or equal to the preset number of activity groups, then the floating fish reef is determined to be a normal floating fish reef point.

3. The floating fish reef control system based on real-time sea condition monitoring according to claim 2 is characterized in that: The analysis module determines the corresponding distribution density according to the real-time positions of the abnormal floating fish reef points and the normal floating fish reef points and the preset radius, and determines the abnormal floating fish reef area and the normal floating fish reef area according to the distribution density.

4. The floating fish reef control system based on real-time sea condition monitoring according to claim 3 is characterized in that: The analysis module determines the abnormal floating fish reef area and the normal floating fish reef area according to the comparison result of the distribution density corresponding to the single floating fish reef point and the preset distribution density and the proportion of abnormal floating fish reef points within the preset radius of the single floating fish reef point, wherein: If the distribution density is less than or greater than the preset distribution density, and the proportion of abnormal floating fish reef points is greater than the preset proportion, then the circular area formed by the single floating fish reef point and the preset radius is the abnormal floating fish reef area; if the distribution density is equal to the preset distribution density, and the proportion of abnormal floating fish reef points is less than the preset proportion, then the circular area formed by the single floating fish reef point and the preset radius is the normal floating fish reef area.

5. The floating fish reef control system based on real-time sea condition monitoring according to claim 1 is characterized in that: The analysis module determines the adjustment method according to the number of super-stable floating fish reefs whose stability indexes exceed the preset stability index, wherein: If the number of the ultra-stable floating fish reefs is less than the preset number, adjusting the length of the anchor rope corresponding to the single floating fish reef; If the number of the ultra-stable floating fish reefs is greater than a preset number, the relative positions between the plurality of floating fish reefs are adjusted.

6. The floating fish reef control system based on real-time sea condition monitoring according to claim 5 is characterized in that: The analysis module determines a length adjustment function according to a safe length range of the anchor rope, a stability index, a preset stability index and a current anchor rope length, and determines an adjustment amount of the anchor rope length for a single floating fish reef according to the length adjustment function.

7. The floating fish reef control system based on real-time sea condition monitoring according to claim 5 is characterized in that: The analysis module determines a position adjustment model according to the offshore wind direction, the safety distance of floating fish reefs, the real-time position and stability index of the floating fish reefs, and a preset stability index, and determines the target arrangement of the floating fish reefs and the target position of each floating fish reef according to the position adjustment model.

8. The floating fish reef control system based on real-time sea condition monitoring according to claim 1 is characterized in that: The analysis module determines the relative distance between each floating fish reef in the abnormal floating fish reef area and each floating fish reef in the normal floating fish reef area according to the real-time position of the floating fish reefs to determine the marked floating fish reefs, determines the moving path of the floating fish reefs in the abnormal floating fish reef area according to the marked floating fish reefs, and adjusts the floating fish reefs in the abnormal floating fish reef area according to the moving path; Among them, the marked floating fish reefs are the floating fish reefs in the abnormal floating fish reef area that are closest to the normal floating fish reef area.

9. The floating fish reef control system based on real-time sea condition monitoring according to claim 8 is characterized in that: The analysis module determines the position deviation according to the real-time position of the floating fish reefs in the abnormal floating fish reef area, the real-time position of the nearest floating fish reef on the preset path and the floating fish reef safety distance, and adjusts the anchor rope length according to the position deviation.

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