Electric fish blocking ship passing device based on radar identification and LQR intelligent control

Abstract

The invention relates to an electric fish blocking ship passing device based on radar recognition and LQR intelligent control, and belongs to the technical field of ship navigation. The device is composed of four core modules including a high-voltage pulse module, a main control module, an inspection robot module and an intelligent electrode bar module. The high-voltage pulse module generates high-voltage pulses which act on the electric grid and the intelligent electrode bar, and the fish blocking function is achieved. The master control module is responsible for controlling the whole device and displaying the state of the device in real time through the touch display screen. The inspection robot module records real-time images through a camera and circularly monitors the working state of the electrode bar. The intelligent electrode bar module is the core of the device, the vertical state is always kept through an LQR control algorithm, fish escape is avoided, meanwhile, a telescopic structure is adopted, and the ship passing function is achieved. The device can adapt to rivers with different widths and depths by increasing or decreasing the number of the electric grids and the intelligent electrode bars; a laser radar is adopted to identify ships, and an electrode bar is controlled through an LQR control algorithm, so that intelligent fish blocking and ship passing are realized.

Description

Technical Field

[0001] The invention belongs to the technical field of navigation ships and relates to an electric fish blocking ship passing device based on radar recognition and LQR intelligent control. Background Art

[0002] As fishery resources are increasingly reduced, electric fish interception technology is increasingly being used in fishery production. Traditional electric fish interception devices mainly rely on electric current to stimulate fish to return to the water, thereby achieving the purpose of intercepting fish. However, traditional electric fish interception devices have the following problems:

[0003] Traditional devices are usually suitable for small waterways and cannot meet the passage needs of large ships with deeper draft in large waterways.

[0004] Traditional devices lack the ability to identify ships and are unable to automatically control the ship passing device, resulting in complicated operations and low efficiency.

[0005] Traditional devices lack protection measures for ships. Once the identification or control system fails, it is easy to collide with the ship, causing equipment damage or safety accidents.

[0006] In order to solve the above problems, some new electric fish interception devices have been developed. These devices usually use cameras or infrared sensors to identify ships, and control the lifting and lowering of the ship passing device through motors to achieve the ship passing function. However, these devices still have some limitations, such as:

[0007] Cameras or infrared sensors are easily affected by factors such as light and weather, resulting in low recognition accuracy.

[0008] The motor control method makes it difficult to accurately control the posture of the ship passing device, resulting in low ship passing efficiency.

[0009] The device lacks real-time monitoring capabilities and is unable to detect equipment failures or abnormal conditions in a timely manner, affecting production safety.

[0010] Therefore, it is necessary to develop a new type of electric fish blocking device, which has the characteristics of wide application range, high degree of intelligence, high safety, and real-time monitoring to meet the needs of modern fishery production. Summary of the invention

[0011] In view of this, the purpose of the present invention is to provide an electric fish intercepting device based on radar recognition and LQR intelligent control. The working principle of the device is: the high-voltage pulse module generates high-voltage pulses, which are applied to the electric grid and the intelligent electrode rod to achieve the purpose of intercepting fish; the intelligent electrode rod detects its own inclination angle in real time, and adjusts the angle by the front and rear thrusters according to the inclination angle through the LQR control algorithm, so that the intelligent electrode rod always remains in a vertical state; the laser radar continuously scans, and after detecting the ship, the intelligent electrode rod retracts the inner electrode rod to allow the ship to pass, and after the ship passes, the inner electrode rod extends again to achieve the purpose of passing the ship; the inspection robot detects its own position, moves through the motion device, cyclically observes each intelligent electrode rod, uses the camera to record the work of each electrode rod in real time, and sends it to the main control module, and displays it in real time on the display screen.

[0012] In order to achieve the above object, the present invention provides the following technical solutions:

[0013] An electric fish intercepting ship passing device based on radar recognition and LQR intelligent control, comprising:

[0014] A high voltage pulse device 1, used for generating high voltage pulses, the output end of which is connected to the electric grid 3 and the intelligent electrode rod 15;

[0015] The main control module 2 is used to control the entire device, including a power module, a touch screen, a main control controller, an LED light 7 and a laser radar 6. The main control controller is respectively connected to the high-voltage pulse device 1, the electric grid 3, the intelligent electrode rod module, the LED light 7, the laser radar 6 and the inspection robot module 9; wherein the intelligent electrode rod module includes an electrode rod controller 20, an angle sensor 19, a front thruster 21 and a rear thruster 19, and the lifting device includes a motor 23, a gear 24 and a rack 25;

[0016] The electric fence 3 is used to intercept fish by electric current, which is connected to the high-voltage pulse device 1 and connected to the buoy platform 5 by a steel wire rope 4;

[0017] The steel wire rope 4 is used to fix and conduct high voltage pulses, connect the electric grid 3 and the intelligent electrode rod 15, and is supported by the buoy platform 5;

[0018] The buoy platform 5 is used for marking and fixing, which is connected to the steel wire rope 4 and carries the laser radar 6 and the LED light 7. The buoy platform 5 is connected to the underwater fixed anchor 8;

[0019] A laser radar 6, used for detecting ships, which is connected to the main control module 2;

[0020] LED light 7, used for nighttime identification, connected to the main control module 2;

[0021] An underwater fixed anchor 8, used to fix the entire device, which is connected to the buoy platform 5;

[0022] The inspection robot module 9 is used to record the working state of the electrode rod by video, and includes a robot controller, a three-dimensional position sensor, a motion device, an infrared camera 10 and a depth sensor 11. The robot controller is connected to the main control module 2, the three-dimensional position sensor, the motion device, the infrared camera 10 and the depth sensor 11 respectively; the motion device includes a front and rear propeller, a left and right propeller and an up and down propeller;

[0023] The intelligent electrode rod module is used to control the intelligent electrode rod 15, including an electrode rod controller 20, a lifting device, an angle sensor 19, a front thruster 21, and a rear thruster 19. The electrode rod controller 20 is respectively connected to the main control module 2, the angle sensor 19, the front thruster 21, and the rear thruster 19; the lifting device includes a motor 23, a gear 24, and a rack 25; the motor 23 is connected to the gear 24, and the gear 24 is meshed with the rack 25; the angle sensor 19 is fixed at the bottom end of the outer electrode rod 17; the front thruster 21 and the rear thruster 19 are respectively connected to the electrode rod controller 20.

[0024] Furthermore, the intelligent electrode rod module comprises:

[0025] The electrode rod controller 20 is used to receive information from the angle sensor 19, run the complementary filtering algorithm and the LQR control algorithm, and control the lifting and lowering of the intelligent electrode rod 15 and keep it in a vertical state in the water;

[0026] A lifting device, used for extending and retracting the inner electrode rod 15;

[0027] Angle sensor 19, used to measure the tilt angle data of electrode rod 15;

[0028] The front thruster 21 and the rear thruster 19 are used to maintain the smart electrode rod 15 in a vertical state in the water.

[0029] Furthermore, the inspection robot module 9 includes:

[0030] The robot controller is used to communicate with the main control module 2, receive sensor data and camera images, run the control algorithm, and control the motion device;

[0031] Underwater robot body;

[0032] A motion device, used to drive the inspection robot 9 to move;

[0033] A three-dimensional position sensor is used to obtain the position coordinate information of the inspection robot 9 in the water;

[0034] Infrared camera 10, used for taking images of smart electrode rod 15;

[0035] The depth sensor 11 is used to obtain the depth of the inspection robot 9 .

[0036] Further, in the main control module 2, the main control controller includes:

[0037] The posture solving system is used to solve the inclination angle of the electrode rod 15 using a complementary filtering algorithm, wherein the complementary filtering algorithm comprises the following steps:

[0038] Input stage: the electrode rod controller 20 continuously receives the angular velocity and angular acceleration information provided by the angle sensor 19;

[0039] Attitude calculation stage: the electrode rod controller 20 uses a complementary filtering algorithm to calculate the current tilt angle of the electrode rod 15 according to the current angular velocity and angular acceleration of the electrode rod 15;

[0040] Output and recording stage: the electrode rod controller 20 sends the calculated current angle to the main control module 2 and records the angle, which will be used in the attitude control system;

[0041] The posture control system is used to control the intelligent electrode rod 15 to always maintain a vertical state using an LQR control algorithm, wherein the LQR control algorithm includes the following steps:

[0042] Input stage: the electrode rod controller 20 continuously receives the angular velocity provided by the angle sensor 19 and the current angle information provided by the attitude solution system;

[0043] Control solution stage: the electrode rod controller 20 uses the LQR control algorithm to calculate the control input variable according to the angular velocity and current angle information of the electrode rod 15;

[0044] Control implementation stage: the electrode rod controller 20 adjusts the power of the front thruster 21 or the rear thruster 19 according to the calculated value of the control input variable, so that the intelligent electrode rod 15 always maintains a vertical state.

[0045] The beneficial effects of the present invention are:

[0046] (1) The electric grid and intelligent electrode rods of the device are connected by steel wire ropes, and the number of electric grids and intelligent electrode rods can be increased or decreased at will, so that it is suitable for rivers of different widths and depths; the device is equipped with a small waterway for passing ships, and the intelligent electrode rods are arranged in the small waterway, while ordinary electric grids are used outside, so as to facilitate control, reduce costs, and reduce the probability of fish escape; the intelligent electrode rod module of the device adopts a telescopic structure, so that it can respond faster, be easier to control, and save more energy.

[0047] (2) When calculating the posture of the intelligent electrode rod, this device uses a complementary filtering algorithm to calculate the current tilt angle of the electrode rod. This algorithm has a small amount of calculation and is easy to apply in real time. In the control of the intelligent electrode rod, a linear quadratic regulation, i.e., LQR control algorithm, is used to control the intelligent electrode rod to maintain a vertical state under different water flow speeds. This algorithm has stronger robustness to parameter changes and external interference.

[0048] (3) The device adopts the LQR control algorithm to keep the smart electrode rod vertical in the water at all times, reducing the probability of fish escape; the device uses laser radar to identify ships instead of traditional cameras, so that ships can be identified normally at night with high recognition accuracy; the device is equipped with a patrol robot and a display screen. The patrol robot's camera can record the status of the smart electrode rod blocking fish and passing ships in real time and display it on the display screen, so that the staff can understand in real time whether the device is working properly.

[0049] (4) The device is equipped with colored floats and LEDs, which mark the boundaries of the small waterway during the day and at night, respectively, to guide ships to cross safely. The device uses hinges to connect the smart electrode rods to the wire ropes. When the device fails, the bottom of the ship directly contacts the upper end of the smart electrode rod and pushes the electrode rod to rotate around the hinge in the direction of travel, thereby avoiding rigid collision and protecting the ship and the electrode rod from damage to the greatest extent.

[0050] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0052] Figure 1 It is a structural diagram of the device of the present invention;

[0053] Figure 2 This is a structural diagram of the intelligent electrode rod in the present invention;

[0054] Figure 3 It is the module connection diagram of the present invention;

[0055] Figure 4 This is a software system diagram of the present invention.

[0056] Figure numerals: high-voltage pulse equipment 1, main control module 2, electric grid 3, wire rope 4, buoy platform 5, laser radar 6, LED light 7, underwater fixed anchor 8, inspection robot module 9, infrared camera 10, depth sensor 11, cable 12, riverbed 13, small waterway for passing ships 14, inner electrode rod 15, hinge 16, outer electrode rod 17, angle sensor 19, rear thruster 19, electrode rod controller 20, front thruster 21, sealing ring 22, motor 23, gear 24, rack 25. DETAILED DESCRIPTION

[0057] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0058] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0059] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0060] See also Figure 1-2 , the device of the present invention is as follows:

[0061] High-voltage pulse equipment 1: used to provide the high-voltage pulses required for fish interception. Input 220V voltage to generate 500-800V high-voltage pulses, which are applied to the electric grid and electrode rods connected to them. Tester voltage pulse generator and other equipment can be used.

[0062] Main control module 2: used to control the entire device, integrating power module, touch screen, and main controller. The power module is used to power all devices such as the main controller and high-voltage pulse equipment; the touch screen is used to display the position and status of the intelligent electrode rod, the position and status of the underwater robot, the real-time image taken by the underwater robot, and receive input commands; the main controller is used to input and output information and overall control other controllers and devices. The touch screen can use Waveshare's 13.3-inch QHD AMOLED, and the main controller can use NVIDIA's JETSONNANO.

[0063] Electric fence 3: Used to intercept fish using electric current. The electric fence is composed of soft steel wire rope, which carries the high-voltage pulse generated by the high-voltage pulse device, generates an electric field in the water, and when the fish approach, they are stimulated by the current and return, achieving the purpose of intercepting fish. Its specific length, number, and interval need to be adjusted according to the actual depth and width of the river.

[0064] Steel wire rope 4: used to fix and conduct high voltage pulses. The steel wire rope connects all electric grids and electrode rods to fix their positions and conduct high voltage pulses.

[0065] Floating platform 5: used for marking and fixing. The buoy platform is made of colored plastic buoys, which are connected to steel wire ropes and use buoyancy to support the electric grid and electrode rods in the entire device; it carries laser radar and LED lights on top; its color marks the location and boundary of the small waterway for ships to pass through.

[0066] LiDAR 6: used to detect ships. LiDAR emits laser pulses in two directions of the river and determines the arrival of ships by receiving reflected signals. Leddar tech M16 solid-state LiDAR can be used.

[0067] LED light 7: used for nighttime identification. The main control module controls the LED light to light up at night to mark the location and boundary of the small waterway for passing ships at night.

[0068] Underwater anchor 8: used to fix the entire device. The underwater anchor is embedded in the river bottom to fix the position of the buoy and prevent the device from being deviated by the water flow.

[0069] Inspection robot module 9: used to record the working status of the electrode rod, integrates the robot controller, three-dimensional position sensor, motion device, and is connected to the external infrared camera and depth sensor. The robot controller is used to communicate with the main controller, receive information from the camera and sensor, control the motion device and thus control the robot movement; the three-dimensional position sensor is used to obtain the position coordinate information of the robot in the water; the motion device includes front and back, left and right, and up and down thrusters to push the robot to move. The robot controller can use NVIDIA's JETSON NANO, the three-dimensional position sensor can use Shenzhen Hefangyuan's GU620 GPS module, and the thruster can use Blue Robotics' T100 Thruster.

[0070] Infrared camera 10: used to capture images of the electrode rod during its working process. The infrared camera can capture infrared rays and record the electrode rod during the day and at night. An Orbbec Astra camera can be used.

[0071] Depth sensor 11: used to detect the underwater depth of the robot. Shenzhen Huace HC-200 depth sensor can be used.

[0072] Cable 12: used to connect the underwater robot and the main control module. The cable connects the underwater robot and the main control module to enable communication between them and to provide power to the underwater robot.

[0073] Riverbed13: The bed and banks of a river.

[0074] Small waterway 14: A small waterway divided by steel wire ropes for ships to pass through. The smart electrode rod is installed in the small waterway, and ships can only pass through the small waterway. Its depth and width are determined by the width of the river and the maximum draft of the ship.

[0075] Inner electrode rod 15: The upper part of the intelligent electrode rod, which uses electric current to intercept fish. The inner electrode rod is a cylindrical electrode rod made of conductive metal, with a motor installed at the bottom. It extends when there is no boat and retracts into the outer electrode rod below when there is a boat.

[0076] Hinge 16: enables the smart electrode rod to rotate around the wire rope. The hinge connects the smart electrode rod to the wire rope and allows the smart electrode rod to rotate around the wire rope to avoid rigid collision with the ship when the inner electrode rod cannot be retracted.

[0077] The outer electrode rod 17 is the lower part of the intelligent electrode rod, which uses electric current to intercept fish. It is a hollow cylindrical electrode rod made of conductive metal, with an open top and a closed bottom. A rack is installed inside, and a controller and a propeller are installed at the bottom of the outside. When there is a boat, the inner electrode rod is retracted into it.

[0078] Angle sensor 18: used to detect the tilt angle of the smart electrode rod. The angle sensor is fixed at the bottom of the outer electrode rod. When the electrode rod rotates due to factors such as water flow, the angular velocity and acceleration of the rotation are measured and sent to the controller. The MPU6050 six-axis motion sensor can be used.

[0079] Thruster 19: used to push the electrode rod to rotate backward around the wire rope. T100Thruster of Blue Robotics can be used.

[0080] Electrode rod controller 20: used to control the intelligent electrode rod. The electrode rod controller communicates with the main controller, receives information from the angle sensor, runs the complementary filtering algorithm and the LQR control algorithm, controls the lifting and lowering of the intelligent electrode rod and maintains the vertical direction in the water. NVIDIA's JETSON NANO can be used. The electrode rod controller receives the tilt angle data collected by the angle sensor for attitude solution and control. The electrode rod controller controls the power of the front thruster according to the attitude solution result to keep the intelligent electrode rod in a vertical state. The electrode rod controller also controls the power of the rear thruster according to the attitude solution result, and works with the front thruster to ensure that the electrode rod is vertical. The angle sensor 19 is directly installed at the bottom of the intelligent electrode rod, which is used to monitor the tilt angle of the electrode rod in real time and transmit the data to the electrode rod controller. The front thruster 21 and the rear thruster 19 are respectively connected to the electrode rod controller, and the power is adjusted according to the instructions of the controller to keep the electrode rod in a vertical state in the water.

[0081] Front thruster 21: used to push the electrode rod to rotate forward around the wire rope. Blue Robotics' T100Thruster can be used.

[0082] Sealing ring 22: used to prevent water from entering the outer electrode rod. The sealing ring is installed at the connection between the inner and outer electrode rods to prevent water from entering the outer electrode rod when the inner electrode rod is extended or retracted, thereby causing corrosion damage to the internal motor, gears, and racks.

[0083] Motor 23: used to drive the inner electrode rod to expand and contract. The motor is installed at the bottom of the inner electrode rod and connected to the gear. The gear is rotated to drive the inner electrode rod to expand and contract. In order to prevent the seal ring from failing and water entering to damage the motor, a waterproof motor should be used. The 12V DC Submersible Motor of SEALITE can be used.

[0084] Gear 24: used to drive the inner electrode rod to extend and retract. The gear is a circular square gear, connected to the motor and meshing with the rack.

[0085] Rack 25: used to drive the inner electrode rod to extend and retract. The rack is fixed in the hollow of the outer electrode rod. When the motor rotates, it drives the gear to rotate. Since the rack is fixed, the gear, motor and the inner electrode rod will move up and down along the rack to complete the extension and retraction of the inner electrode rod.

[0086] 1. Hardware module composition

[0087] The device is mainly composed of four core modules: high-voltage pulse module, main control module, inspection robot module, and intelligent electrode rod module. Figure 3 shown.

[0088] 1. High-voltage pulse module: The high-voltage pulse module consists of a high-voltage pulse device, an electric grid and an electrode rod. Its function is to use the high-voltage pulse produced to intercept fish. The high-voltage pulse device is used to generate high-voltage pulses, the power module supplies power to it, and the main controller controls it; the electric grid and electrode rod are used to carry high-voltage pulses and generate an electric field in the water to intercept fish.

[0089] 2. Main control module: The main control module consists of a power module, a touch screen, a main controller, LED lights, and a laser radar. It controls the entire device and provides power to the entire device. The power module supplies power to all devices in the device; the touch screen is responsible for the visualization of the device status and human-computer interaction; the main controller is connected to the high-voltage pulse device, electrode rod controller, robot controller, LED lights, and laser radar, and is responsible for receiving information data, running complex algorithms, outputting instructions to the secondary controller, and controlling the entire device. LED lights are used for nighttime identification; laser radar is used to detect ships.

[0090] 3. Intelligent electrode rod module: The intelligent electrode rod module consists of an electrode rod controller, a lifting device, an angle sensor, a front thruster, and a rear thruster, and its function is to control the intelligent electrode rod. The electrode rod controller is connected to the lifting device, the angle sensor, and the front and rear thrusters, and is responsible for communicating with the main controller, receiving sensor data, running attitude solution and control algorithms, and controlling the lifting device, the front and rear thrusters; the lifting device includes a motor, a gear, and a rack, which is responsible for the extension and retraction of the inner electrode rod; the angle sensor is responsible for measuring the inclination angle data of the electrode rod; the front and rear thrusters are responsible for maintaining the intelligent electrode rod vertically in the water. The motor 23 is the power source of the lifting device, and the motor is connected to the gear. The gear 24 is a transmission mechanism, and the gear is connected to the motor, and realizes rotational motion by meshing the rack. The rack 25 is fixed inside the outer electrode rod of the intelligent electrode rod. When the motor drives the gear to rotate, the gear meshes with the rack, pushing the rack to move linearly, thereby driving the motor and the inner electrode rod to move along the rack direction to achieve the extension and retraction of the inner electrode rod.

[0091] 4. Inspection robot module: The inspection robot module consists of a robot controller, an underwater robot body, a motion device, a three-dimensional position sensor, an infrared camera, and a depth sensor. It controls the inspection robot and monitors the working status of the electrode rod. The robot controller is connected to the motion device, the three-dimensional position sensor, the infrared camera, and the depth sensor. It is responsible for communicating with the main controller, receiving sensor data and camera images, running control algorithms, and controlling the motion device. The motion device includes front and back, left and right, and up and down thrusters, which are responsible for the movement of the inspection robot. The three-dimensional position sensor is responsible for obtaining the position coordinate information of the robot in the water. The infrared camera is responsible for capturing the image of the intelligent electrode rod. The depth sensor is responsible for obtaining the depth of the inspection robot.

[0092] 2. Software System Composition

[0093] The software system of this device is mainly composed of three core systems: main control system, intelligent electrode rod system, and inspection robot system. Each system is composed of multiple small systems, such as Figure 4 shown.

[0094] (1) Attitude calculation system:

[0095] The attitude calculation system uses a complementary filtering algorithm to calculate the electrode rod inclination angle, including the following steps:

[0096] A1: Input stage: The electrode rod controller continuously receives the angular velocity and angular acceleration information provided by the angle sensor;

[0097] A2: Attitude calculation stage: The electrode rod controller uses a complementary filtering algorithm to calculate the current inclination angle of the electrode rod according to the current angular velocity and angular acceleration of the electrode rod;

[0098] A3: Output and recording stage: The electrode rod controller sends the calculated current angle to the main controller and records the angle at the same time, which will be used in the attitude control system.

[0099] In step A2, the complementary filtering algorithm includes the following sub-steps:

[0100] A21: Angular velocity data calculation: Calculate the current angle based on the current angular velocity. The formula is:

[0101] θ gyro =θ prew +ω·Δt

[0102] where θ gyro is the current angle obtained according to the angular velocity, θ prew is the angle calculated last time, ω is the angular velocity, and Δt is the time step;

[0103] A22: Angular acceleration data calculation: Calculate the current angle based on the current angular acceleration. The formula is:

[0104] θ acc = atan2(a y ,a x )

[0105] Where is the current angle obtained based on the angular acceleration, a x and a y They are the vertical and vertical accelerations respectively;

[0106] A23: Complementary filtering: Combine the two angles to get the accurate angle. The formula is:

[0107] θ=α·θ gyro +(1-α)·θ acc

[0108] Here, α is a weight factor, which is usually between 0.98 and 0.99 to better balance the impact of dynamic and static data.

[0109] (2) Attitude control system:

[0110] The attitude control system uses linear quadratic regulation, i.e., LQR control algorithm, to control the smart electrode rod to always maintain a vertical state, including the following steps:

[0111] B1: Input stage: The electrode rod controller continuously receives the angular velocity provided by the angle sensor and the current angle information provided by the attitude solution system;

[0112] B2: Control solution stage: The electrode rod controller uses the LQR control algorithm to calculate the control input variable u according to the electrode rod angular velocity and current angle information;

[0113] B3: Control implementation stage: The electrode rod controller adjusts the power of the front thruster or the rear thruster according to the calculated value of the control input variable u, so that the intelligent electrode rod always remains in a vertical state.

[0114] In step B2, the LQR control algorithm includes the following sub-steps:

[0115] B21: Establish the linearized dynamic equation:

[0116] For the electrode rod in the water, affected by gravity and the torque applied by the propeller, it can be approximated by the following linear dynamic equation

[0117]

[0118] Among them, I is the moment of inertia of the electrode rod, m is the total mass of the electrode rod, g is the acceleration of gravity, L is the length of the outer electrode rod, and u is the thruster torque, that is, the control input variable;

[0119] Introduce state variable x and define the system state

[0120]

[0121] Where θ is the current tilt angle of the electrode rod, is the current angular velocity of the electrode rod;

[0122] Rewrite it into state space form

[0123]

[0124] Among them, A is the state matrix and B is the input matrix;

[0125] B22: Determine the state matrix A and input matrix B:

[0126] According to the linearized dynamic equation, we get

[0127]

[0128] B23: Define performance indicators:

[0129] Define a quadratic cost function to optimize the control performance of the system

[0130]

[0131] Among them, Q and R are weight matrices, and the selection of Q and R affects the stability and reaction speed of the control. Usually, the diagonal elements in Q can be set to larger values ​​to ensure that the system returns to the vertical state quickly; R can be set to a smaller value to balance the energy consumption of the control input;

[0132] B24: Solve the Riccati equation:

[0133] Solving Algebraic Riccati Equations (ARE)

[0134] A T P+PA-PBR -1 B T P+Q=0

[0135] Get the matrix P;

[0136] B25: Design a state feedback controller:

[0137] Use matrix P to calculate the feedback gain matrix K

[0138] K=R -1 BT P

[0139] Design control law

[0140] u=-Kx

[0141] The thruster torque u is obtained, which is the control input variable.

[0142] 3. Device workflow:

[0143] The power module in the main control module is turned on and the entire device starts.

[0144] The main controller controls the high-voltage pulse module to start, generates a 500V high-voltage pulse, and applies it to the electric fence and electrode rod through the wire rope to start intercepting fish; the main controller controls the laser radar to start, and starts to continuously scan the river in two directions to detect ships; the main controller controls the LED light, which turns off during the day and lights up at night; the main controller controls the intelligent electrode rod module to start, and the angle sensor continuously detects the angular velocity and acceleration of the electrode rod and sends it to the electrode rod controller. The electrode rod controller uses the complementary filtering algorithm to calculate the current tilt angle of the electrode rod. According to the tilt angle, the front and rear thrusters are controlled by the LQR control algorithm to keep the electrode rod in a vertical state at all times; the main controller controls the inspection robot module to start, and the three-dimensional position sensor and depth sensor continuously detect the position and depth of the robot and send them to the robot controller. The robot controller controls the motion device according to the position and depth, so that the robot circulates through each intelligent electrode rod, uses the infrared camera to record the work of each electrode rod, and sends the image to the main controller; the main controller controls the touch screen to start, and displays the intelligent electrode rod status, posture, real-time image, inspection robot position and depth in real time, which are monitored by the staff.

[0145] When a ship approaches, the laser radar on one side detects the ship and sends a signal to the main controller. The main controller sends a retraction command to the electrode rod controller. The electrode rod controller controls the motor to rotate, and the inner electrode rod retracts through the meshing of gears and racks. When the ship passes, the mechanical radar on the other side detects the ship at a certain distance and sends a signal to the main controller. The main controller sends an extension command to the electrode rod controller. The electrode rod controller controls the motor to rotate in the opposite direction, and the inner electrode rod extends through the meshing of gears and racks. During the entire ship passing process, the main controller sends a signal to the inspection robot, which focuses on inspecting the electrode rods near the bottom of the ship and transmits real-time images back.

[0146] When the device fails and the electrode rod cannot be retracted, the bottom of the ship directly contacts the upper end of the intelligent electrode rod and pushes the electrode rod to rotate around the hinge in the direction of the ship to avoid rigid collision. If the staff finds that the electrode rod is abnormal through the display screen and that the electrode rod is not working properly through real-time video recording, they will shut down the entire device for inspection and maintenance.

[0147] The present invention designs an electric fish intercepting device with a wide range of applications, high intelligence, good fish intercepting effect, high ship passing safety, and real-time monitoring. By using complementary filtering algorithm, LQR control algorithm, laser radar detection and other algorithm technologies, the problems of the device not being applicable to a variety of rivers, low intelligence, low safety factor, and device monitoring are solved, and the contradiction between fishery production and waterway navigation is solved, and the efficiency of fishery production and waterway navigation is significantly improved, which has high practicality and promotion value.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. An electric fish intercepting device based on radar recognition and LQR intelligent control, characterized in that: include: A high voltage pulse device (1) for generating high voltage pulses, the output end of which is connected to the electric grid (3) and the intelligent electrode rod (15); A main control module (2) is used to control the entire device, including a power module, a touch screen, a main control controller, an LED light (7) and a laser radar (6), wherein the main control controller is respectively connected to the high-voltage pulse device (1), the electric grid (3), the intelligent electrode rod module, the LED light (7), the laser radar (6) and the inspection robot module (9); wherein the intelligent electrode rod module includes an electrode rod controller (20), an angle sensor (19), a front thruster (21) and a rear thruster (19), and the lifting device includes a motor (23), a gear (24) and a rack (25); An electric fence (3) is used to intercept fish using electric current, which is connected to the high-voltage pulse device (1) and is connected to the buoy platform (5) by a steel wire rope (4); A steel wire rope (4) is used to fix and conduct high voltage pulses, connect the electric grid (3) and the intelligent electrode rod (15), and is supported by the buoy platform (5); A buoy platform (5) is used for marking and fixing, is connected to the steel wire rope (4), and carries a laser radar (6) and an LED light (7), and the buoy platform (5) is connected to an underwater fixed anchor (8); A laser radar (6), used for detecting ships, connected to the main control module (2); LED light (7), used for nighttime identification, connected to the main control module (2); An underwater fixed anchor (8) is used to fix the entire device and is connected to the buoy platform (5); The inspection robot module (9) is used to record the working state of the electrode rod by video, and comprises a robot controller, a three-dimensional position sensor, a motion device, an infrared camera (10) and a depth sensor (11), wherein the robot controller is respectively connected to the main control module (2), the three-dimensional position sensor, the motion device, the infrared camera (10) and the depth sensor (11); the motion device comprises a front and rear propeller, a left and right propeller and an up and down propeller; An intelligent electrode rod module is used to control an intelligent electrode rod (15), comprising an electrode rod controller (20), a lifting device, an angle sensor (19), a front thruster (21) and a rear thruster (19), wherein the electrode rod controller (20) is respectively connected to a main control module (2), an angle sensor (19), a front thruster (21) and a rear thruster (19); the lifting device comprises a motor (23), a gear (24) and a rack (25), wherein the motor (23) is connected to the gear (24), and the gear (24) is meshed with the rack (25); the angle sensor (19) is fixed at the bottom end of an outer electrode rod (17); and the front thruster (2)1 and the rear thruster (19) are respectively connected to the electrode rod controller (20).

2. The electric fish intercepting ship passing device based on radar recognition and LQR intelligent control according to claim 1 is characterized in that: The intelligent electrode rod module comprises: An electrode rod controller (20) is used to receive information from the angle sensor (19), run a complementary filtering algorithm and an LQR control algorithm, and control the lifting and lowering of the intelligent electrode rod (15) and to keep it in a vertical state in water; A lifting device, used for extending and retracting the inner electrode rod (15); An angle sensor (19), used for measuring the tilt angle data of the electrode rod (15); The front thruster (21) and the rear thruster (19) are used to maintain the intelligent electrode rod (15) in a vertical state in water.

3. The electric fish intercepting ship passing device based on radar recognition and LQR intelligent control according to claim 1 is characterized in that: The inspection robot module (9) comprises: A robot controller, used to communicate with the main control module (2), receive sensor data and camera images, run control algorithms, and control the motion device; Underwater robot body; A motion device, used to drive the inspection robot (9) to move; A three-dimensional position sensor, used to obtain position coordinate information of the inspection robot (9) in water; An infrared camera (10) for capturing images of the smart electrode rod (15); The depth sensor (11) is used to obtain the depth at which the inspection robot (9) is located.

4. The electric fish intercepting ship passing device based on radar recognition and LQR intelligent control according to claim 1 is characterized in that: In the main control module (2), the main control controller comprises: The posture calculation system is used to calculate the inclination angle of the electrode rod (15) by using a complementary filtering algorithm, wherein the complementary filtering algorithm comprises the following steps: Input stage: the electrode rod controller (20) continuously receives the angular velocity and angular acceleration information provided by the angle sensor (19); Attitude calculation stage: the electrode rod controller (20) uses a complementary filtering algorithm to calculate the current tilt angle of the electrode rod (15) according to the current angular velocity and angular acceleration of the electrode rod (15); Output and recording stage: the electrode rod controller (20) sends the calculated current angle to the main control module (2) and records the angle, which will be used in the attitude control system; The posture control system is used to control the intelligent electrode rod (15) to always maintain a vertical state by using an LQR control algorithm, wherein the LQR control algorithm comprises the following steps: Input stage: the electrode rod controller (20) continuously receives the angular velocity provided by the angle sensor (19) and the current angle information provided by the attitude solution system; Control solution stage: the electrode rod controller (20) uses the LQR control algorithm to calculate the control input variable according to the angular velocity and current angle information of the electrode rod (15); Control implementation stage: the electrode rod controller (20) adjusts the power of the front propeller (21) or the rear propeller (19) according to the calculated value of the control input variable, so that the intelligent electrode rod (15) always maintains a vertical state.

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