Deep sea fishing method, device and equipment based on cross-medium aircraft

Abstract

The invention provides a deep-sea fishing method, device and equipment based on cross-medium aircrafts, and relates to the field of deep-sea fishing operation, and the method comprises the following steps: releasing a preset number of first cross-medium aircrafts; acquiring height information and depth information of the first cross-medium aircraft, and determining a working state of the first cross-medium aircraft; enabling a first cross-medium aircraft closest to the underwater target to approach the underwater target and performing continuous tracking; acquiring first relative position information and second relative position information of the first cross-medium aircraft, and constructing an underwater three-dimensional space coordinate system; and when it is determined that the first cross-medium aircraft moves to the edge of the detection range, the second cross-medium aircraft is released and is handed over with the first cross-medium aircraft. According to the invention, the underwater target which is about to be separated from the monitoring area can be continuously tracked, the loss of the underwater target in the detection process is avoided, and the efficiency and scientificity of deep sea fishing are improved.

Description

Technical Field

[0001] The present invention relates to the field of deep-sea fishing operations, and in particular to a deep-sea fishing method, device and equipment based on a cross-medium aircraft. Background Art

[0002] At present, bottom trawls are often used to catch deep-sea fish. The deep-sea fish species caught by bottom trawls usually have the characteristics of long lifespan, low fertility and slow growth. These deep-sea fish are easily affected by overfishing. In order to avoid overfishing of deep-sea fish, which exceeds the limit that the marine ecosystem can balance and compensate, and then leads to the degradation of the entire marine ecosystem, selective fishing is required when using bottom trawls to catch deep-sea fish. Therefore, auxiliary equipment that can detect the type of fish, individual size and age of fish and assist fishing is necessary. These auxiliary equipment can assist bottom trawls in selectively catching mature fish and avoid catching fish in the breeding period and immature fish.

[0003] However, when fishermen use the above-mentioned auxiliary equipment to detect fish schools, for a wide range of deep-sea operation areas, the detection range of the above-mentioned auxiliary equipment, such as sonar equipment, cannot completely cover the exploration area, and the detection target is easily lost. In some cases, it will also lead to fishing blind spots during deep-sea fishing, which affects both fishing efficiency and scientific deep-sea fishing.

[0004] Therefore, it is necessary to provide a deep-sea fishing method that can cope with the situation where auxiliary equipment cannot fully cover the current deep-sea operating area. Summary of the invention

[0005] In view of this, the present invention proposes a deep-sea fishing method, device and equipment based on a cross-medium aircraft to solve the problem of easy loss of detection target in current deep-sea fishing operations.

[0006] The technical solution of the present invention is achieved in this way:

[0007] According to a first aspect, an embodiment of the present invention provides a deep-sea fishing method based on a cross-medium aircraft, the method comprising:

[0008] When it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released; the carrying platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing boat;

[0009] Acquire the altitude information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the altitude information and the depth information; the working state includes an air flight state, an underwater diving state, and a stopped working state;

[0010] When it is determined that the first cross-medium aircraft is in an underwater diving state, the underwater distance between each first cross-medium aircraft and the underwater target is obtained, and the first cross-medium aircraft closest to the underwater target is made to approach the underwater target and continuously track it until the distance to the underwater target is always within a preset range;

[0011] Acquire first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information;

[0012] When it is determined that the first cross-medium aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first cross-medium aircraft is lower than a preset value, the first relative position coordinates of the first cross-medium aircraft and the corresponding fishing boat are recorded, the second cross-medium aircraft is released to move to the first relative position coordinates and is connected with the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target previously tracked by the first cross-medium aircraft according to the third relative position information, until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat;

[0013] When it is determined that the reserve energy of the second cross-medium aircraft is lower than a preset value, the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat are recorded, the third cross-medium aircraft is released to move to the second relative position coordinates and connects with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target that the second cross-medium aircraft has been tracking until the distance between the third cross-medium aircraft and the underwater target is always within the preset range, and the second cross-medium aircraft returns to the corresponding fishing boat.

[0014] In combination with the first aspect, in the first implementation of the first aspect, when determining that the first cross-medium aircraft is in an underwater diving state, obtaining the underwater distance between each first cross-medium aircraft and the underwater target, and making the first cross-medium aircraft closest to the underwater target approach the underwater target and continuously track it until the distance to the underwater target is always within a preset range, specifically includes:

[0015] When it is determined that the first cross-medium aircraft is in an underwater diving state, obtaining the underwater distance between each first cross-medium aircraft and the underwater target;

[0016] The first cross-medium aircraft closest to the underwater target is made to approach the underwater target until the distance to the underwater target is always within a preset range, the movement trajectory of the underwater target is obtained by the first cross-medium aircraft, and a tracking instruction of the first cross-medium aircraft is generated according to the movement trajectory;

[0017] Instructing the first cross-medium aircraft to move underwater according to the tracking instruction, and obtaining the real-time position of the first cross-medium aircraft and the underwater target;

[0018] The change in the real-time position is determined, and when it is determined that the change exceeds a preset difference, the tracking instruction is adjusted.

[0019] In combination with the first implementation of the first aspect, in the second implementation of the first aspect, determining the change value of the real-time orientation, and adjusting the tracking instruction when it is determined that the change value exceeds a preset difference, specifically includes:

[0020] Determine the change in relative distance and the change in relative direction;

[0021] When it is determined that the change value of the relative distance and / or the change value of the relative direction exceeds a preset difference, the tracking instruction is adjusted.

[0022] In combination with the first aspect, in a third implementation manner of the first aspect, when it is determined that the first trans-medium aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-medium aircraft is lower than a preset value, the first relative position coordinates of the first trans-medium aircraft and the corresponding fishing boat are recorded, the second trans-medium aircraft is released to move to the first relative position coordinates and is connected with the first trans-medium aircraft, and the second trans-medium aircraft continues to track the underwater target that was previously continuously tracked by the first trans-medium aircraft according to the third relative position information until the distance between the second trans-medium aircraft and the underwater target is always within the preset range, and the first trans-medium aircraft returns to the corresponding fishing boat, specifically including:

[0023] When it is determined that the first trans-medium aircraft moves to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-medium aircraft is lower than a preset value, the first relative position coordinates of the first trans-medium aircraft and the corresponding fishing boat are recorded;

[0024] Flying the second cross-medium aircraft to move to the first relative position coordinate, acquiring the height information and depth information of the second cross-medium aircraft, and determining the working state of the second cross-medium aircraft according to the height information and the depth information;

[0025] When determining that the second trans-medium aircraft is in an underwater diving state, capturing an aircraft signal of the first trans-medium aircraft at the first relative position coordinate;

[0026] When it is determined that the aircraft signal is captured, obtaining the underwater distance between the second cross-medium aircraft and the first cross-medium aircraft;

[0027] When it is determined that the underwater distance is less than the first preset distance, the second cross-medium aircraft is handed over to the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target previously tracked by the first cross-medium aircraft according to the third relative position information until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat.

[0028] In combination with the first aspect, in a fourth implementation of the first aspect, when it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, releasing a preset number of first cross-medium aircraft specifically includes:

[0029] Determine the estimated position of underwater targets when the total detection range of fishing vessels does not fully cover the deep-sea fishing area, and determine whether there is a cross-medium aircraft within the capture range of the preset position;

[0030] When it is determined that there are no cross-medium aircraft, the operating distance between each fishing boat and the expected direction is obtained, and a preset number of first cross-medium aircraft are released by the fishing boats whose operating distance is less than the second preset distance.

[0031] In combination with the first aspect, in a fifth implementation of the first aspect, the method further includes the following steps:

[0032] Determine the second relative position information between the first cross-medium aircraft and the corresponding fishing boat, and determine the fishing boat closest to the first relative position coordinates according to the first relative position coordinates of the first cross-medium aircraft;

[0033] Determine the fourth relative position information between the first cross-medium aircraft and the nearest fishing boat, and when it is determined that the distance indicated by the second relative position information is less than the distance indicated by the fourth relative position information, release the second cross-medium aircraft to move to the first relative position coordinates and connect with the first cross-medium aircraft, and according to the third relative position information, the second cross-medium aircraft continues to track the underwater target that was previously tracked by the first cross-medium aircraft until the distance between the second cross-medium aircraft and the underwater target is always within a preset range, and the first cross-medium aircraft returns to the corresponding fishing boat.

[0034] In combination with the first aspect, in a sixth implementation of the first aspect, when it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, before the step of releasing a preset number of first cross-medium aircraft, the method further includes:

[0035] The deep-sea fishing area is determined based on fishing demand and the activity range of underwater targets, and the total detection range is determined by the detection range of all fishing vessels.

[0036] According to a second aspect, an embodiment of the present invention further provides a deep-sea fishing device based on a cross-medium aircraft, the device comprising:

[0037] The fishing and releasing module is used to release a preset number of first cross-medium aircraft when it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area; the carrying platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing boat;

[0038] A state acquisition module, used to acquire the height information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the height information and the depth information; the working state includes an air flight state, an underwater diving state and a stop working state;

[0039] The first tracking module is used to determine that the first cross-medium aircraft is in an underwater diving state, obtain the underwater distance between each first cross-medium aircraft and the underwater target, and make the first cross-medium aircraft closest to the underwater target approach the underwater target and continue to track until the distance to the underwater target is always within a preset range;

[0040] A coordinate establishment module is used to obtain first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information;

[0041] The second tracking module is used to determine that when the first cross-medium aircraft moves to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first cross-medium aircraft is lower than a preset value, record the first relative position coordinates of the first cross-medium aircraft and the corresponding fishing boat, release the second cross-medium aircraft to move to the first relative position coordinates and connect with the first cross-medium aircraft, and according to the third relative position information, the second cross-medium aircraft continues to track the underwater target that the first cross-medium aircraft has been tracking until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat;

[0042] The third tracking module is used to determine that the reserve energy of the second cross-medium aircraft is lower than a preset value, record the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat, release the third cross-medium aircraft to move to the second relative position coordinates and connect with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target previously tracked by the second cross-medium aircraft until the distance between the third cross-medium aircraft and the underwater target is always within a preset range, and the second cross-medium aircraft returns to the corresponding fishing boat.

[0043] According to the third aspect, an embodiment of the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the deep-sea fishing method based on a cross-medium aircraft as described in any one of the above are implemented.

[0044] According to a fourth aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described deep-sea fishing methods based on a cross-medium aircraft.

[0045] According to the fifth aspect, an embodiment of the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the deep-sea fishing method based on a cross-medium aircraft as described in any one of the above items.

[0046] The deep-sea fishing method, device and equipment based on the cross-medium aircraft of the present invention have the following beneficial effects compared with the prior art:

[0047] Cross-medium aircraft with advantages such as high-speed cruising, high maneuverability, long-term endurance, and covert penetration are used to continuously track underwater targets in the deep-sea fishing area that is not fully covered by the detection range, that is, the detection blind spot. At the same time, out of consideration for the energy consumption and recovery of the cross-medium aircraft during long-term underwater patrols, the cross-medium aircraft continuously relay and hand over, and another batch of cross-medium aircraft continues to track the underwater targets and assists in detecting the blind spots of auxiliary equipment after the handover. The cross-medium aircraft that has completed its mission and returned can serve as the next batch of cross-medium aircraft to perform operations after energy replenishment. In this way, underwater targets that are about to leave the monitoring area can be tracked continuously to avoid the loss of underwater target detection process, thereby improving the efficiency and scientificity of deep-sea fishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 It is a schematic diagram of the process of the deep-sea fishing method based on the cross-medium aircraft of the present invention;

[0050] Figure 2 A schematic diagram of constructing an underwater three-dimensional space coordinate system in the deep-sea fishing method based on a cross-medium aircraft of the present invention;

[0051] Figure 3 Another schematic diagram of the process of the deep-sea fishing method based on the cross-medium aircraft of the present invention;

[0052] Figure 4 It is a schematic diagram of a cross-medium aircraft continuously tracking an underwater target in a deep-sea fishing method based on a cross-medium aircraft of the present invention;

[0053] Figure 5 It is a schematic diagram of the handover of two cross-medium aircraft in the deep-sea fishing method based on the cross-medium aircraft of the present invention;

[0054] Figure 6 A schematic diagram of allocating a cross-medium aircraft for continuously tracking an underwater target in the deep-sea fishing method based on a cross-medium aircraft of the present invention;

[0055] Figure 7 It is a schematic structural diagram of a deep-sea fishing device based on a cross-medium aircraft of the present invention;

[0056] Figure 8 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] At present, bottom trawl is often used to catch deep-sea fish. Bottom trawl uses the movement of fishing vessels to drag fishing gear forward on the seabed, forcing the fishing gear to pass through deep-sea fish species such as fish, shrimp and crabs in the water into the net bag to achieve the purpose of fishing. The deep-sea fish species caught by bottom trawl usually have the characteristics of long life, low fertility and slow growth. These deep-sea fish are easily affected by overfishing. In order to avoid excessive fishing of deep-sea fish, exceeding the limit that the marine ecosystem can balance and compensate, and then leading to the degradation of the entire marine ecosystem, selective fishing is required when using bottom trawl for deep-sea fish catching operations. Therefore, auxiliary equipment that can detect fish species, individual size and fish age and assist fishing is necessary. These auxiliary equipment can assist bottom trawls in selectively catching mature fish, avoiding catching fish in the breeding period and immature fish, which has far-reaching significance and social value for protecting marine species, maintaining ecological balance and avoiding overfishing.

[0059] Taking into account the characteristics of multi-boat linkage and collective fishing when fishermen use the above-mentioned auxiliary equipment to detect fish schools, for a wide range of deep-sea operation areas, the detection range of ship-borne or towed detection equipment cannot completely cover the exploration area, and the detection target is easily lost. In some cases, since the detection range of the auxiliary equipment cannot completely cover the exploration area, there are fishing blind spots in deep-sea fishing, which affects both fishing efficiency and scientific deep-sea fishing.

[0060] Therefore, it is necessary to provide a deep-sea fishing method that can cope with the situation where auxiliary equipment cannot fully cover the current deep-sea operating area.

[0061] The deep-sea fishing method based on a cross-media aircraft provided in this specification can be applied to electronic devices capable of deep-sea fishing operations, aiming to continue tracking underwater targets that are about to leave the monitoring area, avoiding the loss of underwater target detection process, thereby improving the efficiency and scientificity of deep-sea fishing. The electronic device may include a notebook, a desktop computer, a smart phone, a smart wearable device (virtual reality glasses, smart watches, etc.), a tablet computer, etc. Of course, the deep-sea fishing method based on a cross-media aircraft provided in this specification can also be applied to applications running in the above-mentioned electronic devices. For example, the automatic driving control method can be applied to a browser capable of deep-sea fishing operations, and can also be applied to the corresponding deep-sea fishing software.

[0062] See also Figure 1 , Figure 1 A flow chart of a deep-sea fishing method based on a cross-medium aircraft according to an embodiment of the present invention is shown. The method may include the following steps:

[0063] S101. When it is determined that the total detection range of the fishing vessel does not completely cover the deep-sea fishing area, release a preset number of first cross-medium aircraft.

[0064] In this embodiment, a cross-medium aircraft is used. The cross-medium aircraft is a new type of aircraft that can switch freely in the air and underwater. It has the advantages of high-speed cruising, high maneuverability, long endurance, and concealed penetration. That is, the cross-medium aircraft is an aircraft that combines unmanned aerial vehicle technology and unmanned submarine technology. It can move flexibly in water and air, two completely different fluid media. The cross-medium aircraft relies on its aerial flight advantage to approach the target position at a very fast speed above the water surface through a highly maneuverable flying method, and can dive underwater in cross-medium operations. The carrier platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft also has a corresponding fishing boat.

[0065] To target deep-sea fish to be caught, a fishing boat can carry multiple cross-medium aircraft. When a cross-medium aircraft is in a stopped working state, it can be replenished with energy from the fishing boat's onboard energy to carry out the next batch of operations, thus achieving efficient utilization of the cross-medium aircraft.

[0066] By binding the fishing boat and the aircraft it carries, for example, the cross-medium aircraft corresponding to fishing boat No. 1 are No. 1-1, No. 1-2, etc., the cross-medium aircraft corresponding to fishing boat No. 2 are No. 2-1, No. 2-2, etc., and so on, the cross-medium aircraft corresponding to fishing boat No. n are No. n-1, No. n-2, etc. In the underwater target detection process of deep-sea fishing operations, the fishing boat can first release a preset number of cross-medium aircraft, which are the first cross-medium aircraft. After the first cross-medium aircraft released in advance enters the water, it serves as the depth coordinate calibration device of the underwater three-dimensional coordinate system. This part of the cross-medium aircraft mainly works within the detection range of auxiliary equipment such as towed equipment to assist in the establishment of the underwater three-dimensional space coordinate system.

[0067] In this embodiment, the deep-sea fishing area is determined according to the fishing demand and the activity range of the underwater target, and the total detection range is determined by the detection range of all fishing boats. When the auxiliary equipment carried by the fishing boat detects the underwater target during operation, the underwater target is tracked and detected within the detection range of the single boat, and the movement of the underwater target is monitored. When it is found that the distance to the underwater target is about to approach the search radius R of the single boat, it is judged that the underwater target is about to leave the detection range of the ship. At this time, combined with the position information of other fishing boats in the fleet and their detection radius R in the ship system, it is judged whether the underwater target will enter the detection range of the adjacent fishing boat. If it will enter the detection range of the adjacent fishing boat, the adjacent ship is notified to prepare for tracking and detection. If there is no underwater detection coverage of the adjacent fishing boat in the direction of movement of the underwater target, the estimated position of the underwater target is determined, and it is determined whether there is a cross-medium aircraft within the capture range of the preset position. If not, it is determined that the cross-medium aircraft needs to be released, and then the operating distance between each fishing boat and the expected position is obtained, and the fishing boat with an operating distance less than the second preset distance releases a preset number of the first cross-medium aircraft. These first cross-medium aircraft enter the water near the target point, turn on the short-range detection system, turn off the positioning system and other communication equipment that are easily detected, track the underwater target, release positioning information through the underwater communication device at regular intervals, track and feedback the position of the underwater target in a timely manner, and make corrections to the overall path prediction, deep-sea fishing area and total detection range.

[0068] It should be noted that since fishing boats are constantly moving, the total detection range is also constantly changing.

[0069] S102: Acquire altitude information and depth information of a first cross-medium aircraft, and determine a working state of the first cross-medium aircraft according to the altitude information and the depth information.

[0070] In this embodiment, the cross-media aircraft is equipped with an altitude sensor, a depth sensor, a humidity sensor (including a front humidity sensor at the front end of the cross-media aircraft and a rear humidity sensor at the rear end), a six-component force sensor, a gyroscope sensor, an hydroacoustic sensor, a microgravity sensor, a vibration sensor, a micromagnetic sensor, an underwater communicator, an aerial communication module, and a Beidou sensor, etc.

[0071] The height information and depth information of the first cross-medium aircraft are respectively acquired in real time by using sensors such as an altitude sensor and a depth sensor, and the working state of the first cross-medium aircraft is determined according to the altitude information and the depth information. In this embodiment, the working state of the cross-medium aircraft includes an air flight state, an underwater diving state, and a stopped working state. In particular, when the cross-medium aircraft switches from the air flight state to the underwater diving state, or when it switches from the underwater diving state to the air flight state, there is a cross-medium stage.

[0072] It should be noted that, according to the working state of the cross-medium aircraft, the force and torque required to maintain the cross-medium aircraft in the current state or switch to the next state can also be determined, so as to maintain the air / underwater posture or switch the posture.

[0073] Among them, when the cross-medium aircraft is in an air flight state, the altitude sensor has information output, and the depth sensor has no information output. When the cross-medium aircraft is in an underwater diving state, the altitude sensor has information output, and the depth sensor also has information output. Furthermore, when the cross-medium aircraft is in an underwater diving state from the air, the altitude difference is calculated based on the altitude information output by the altitude sensor. When the altitude difference is a negative value, it means that the altitude of the cross-medium aircraft is decreasing. At this time, the humidity difference of multiple humidity sensors at the front and rear ends of the cross-medium aircraft is compared. When there is a difference in humidity, it means that the cross-medium aircraft is near the water surface and is about to cross the medium. By issuing a command to fold the wings to the cross-medium aircraft, the depth information of the cross-medium aircraft is further read. If the depth information can be received, it means that the cross-medium has entered the water from the air. By switching the power system of the cross-medium aircraft, the rotor flying in the air is switched to the power equipment for surface and underwater navigation. When entering the air from underwater, first rely on the depth information sent back by the depth sensor or whether it can send back the depth information to determine whether the cross-media aircraft is in a floating state, and further rely on the humidity difference of the humidity sensor to determine whether the cross-media aircraft is in a cross-media stage completion state. After completion, the wings of the cross-media aircraft are unfolded and the power device is switched.

[0074] S103, when it is determined that the first cross-medium aircraft is in an underwater diving state, the underwater distance between each first cross-medium aircraft and the underwater target is obtained, and the first cross-medium aircraft closest to the underwater target is made to approach the underwater target and continuously track it until the distance to the underwater target is always within a preset range.

[0075] When auxiliary equipment such as sonar equipment finds an underwater target, it can output an approximate three-dimensional coordinate, that is, establish an initial three-dimensional coordinate system. At this time, the operator can issue a command to the first cross-medium aircraft that is already underwater and closest to the underwater distance to approach the underwater target from underwater. When there is no first cross-medium aircraft near the position where the underwater target appears, the tracking is completed by launching a new cross-medium aircraft on the water. After the first cross-medium aircraft approaches the underwater target from underwater, the detection equipment carried by the aircraft end is used to accurately determine the relative position of the underwater target and itself until the distance between the first cross-medium aircraft and the underwater target is within a preset range.

[0076] It is understandable that the underwater targets are schools of fish, which are constantly moving. Therefore, even if the distance between the first cross-medium aircraft and the underwater target is already within the preset range, it is still necessary to continue to move underwater to keep the distance between the first cross-medium aircraft and the underwater target always within the preset range or to move the first cross-medium aircraft to the edge of the detection range of the auxiliary equipment.

[0077] By using the gravity sensor and micro-magnetic sensor on the cross-medium aircraft, the current gravity value measured is compared with the gravity value of the gravity field, so that the positioning information of the first cross-medium aircraft, that is, the underwater distance between the first cross-medium aircraft and the underwater target, can be obtained. While obtaining the positioning information of the first cross-medium aircraft itself, the detection of underwater targets mainly relies on the vibration sensor to detect the underwater vibration signal, and then separate different signal sources, compare them with the signal sources already stored in the database, distinguish different types of signal sources, and determine whether the signal source is the target signal source. If it is the target signal source, the signal position is sent to the signal receiving end of the fishing boat through the underwater communication machine. The signal receiving end completes the cross-medium communication through the signal cable connected to the ship, and realizes the detection and continuous tracking of underwater targets.

[0078] S104. Obtain first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information.

[0079] By obtaining the relative position relationship (including but not limited to direction, distance and depth) between the first cross-medium aircraft and the corresponding fishing boat, that is, obtaining the second relative position information of the underwater target relative to the single close cross-medium aircraft, and then combining the relative position relationship between the first cross-medium aircraft itself and the fishing boat, that is, obtaining the first relative position information of the cross-medium aircraft relative to the fishing boat, the coordinates are superimposed to obtain the precise three-dimensional coordinates of the underwater target relative to the fishing boat, and an underwater three-dimensional space coordinate system is constructed. Afterwards, the already constructed underwater three-dimensional space coordinate system, the first relative position information and the second relative position information are combined to obtain the third relative position information of the underwater target relative to the fishing boat.

[0080] The first relative position information is calculated with the fishing boat corresponding to the first cross-medium aircraft as the coordinate origin, and the second relative position information is calculated with the first cross-medium aircraft as the coordinate origin. Since there are multiple underwater targets in the deep sea, an initial first cross-medium aircraft for underwater target tracking can be assigned to each underwater target. By executing steps S103 and S104 by these cross-medium aircraft, the establishment of the entire underwater three-dimensional space coordinate system can be completed, and the third relative position information of each underwater target relative to the fishing boat can be obtained.

[0081] See also Figure 2 Since the cross-medium aircraft is not a large-scale air or water vehicle, its endurance and communication radius are limited by the onboard energy and power. It is difficult to complete the establishment of the entire underwater three-dimensional space coordinate system through a single cross-medium aircraft in conjunction with auxiliary equipment. Therefore, in this embodiment, an underwater networking mode is also performed based on the cross-medium aircraft, that is, a preset number of first cross-medium aircraft are released, and multiple cross-medium aircraft are used to continuously detect and track to complete the establishment of the underwater three-dimensional space coordinate system for continuous tracking of deep-sea fish targets.

[0082] S105. When it is determined that the first trans-medium aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-medium aircraft is lower than a preset value, the first relative position coordinates of the first trans-medium aircraft and the corresponding fishing boat are recorded, and the second trans-medium aircraft is released to move to the first relative position coordinates and connects with the first trans-medium aircraft. According to the third relative position information, the second trans-medium aircraft continues to track the underwater target that was previously tracked by the first trans-medium aircraft until the distance between the second trans-medium aircraft and the underwater target is always within the preset range, and the first trans-medium aircraft returns to the corresponding fishing boat.

[0083] Considering that the cross-medium aircraft is close to the detection edge of the auxiliary equipment carried on the fishing boat, in order to ensure that there are enough cross-medium aircraft within the detection range to support the establishment of the underwater three-dimensional space coordinate system and the continuous tracking of underwater targets, and considering the energy consumption and recovery of the first cross-medium aircraft that have been patrolling underwater for a long time, the first cross-medium aircraft will be recovered, and the energy of these cross-medium aircraft will be replenished before the next batch of operations, that is, the cross-medium aircraft that patrolled underwater and built the underwater three-dimensional space coordinate system in the early stage will not be dispatched to continue tracking the underwater target to the detection blind spot. In this embodiment, the second batch of cross-medium aircraft, that is, the second cross-medium aircraft, will be dispatched to hand over to the first cross-medium aircraft. It can be understood that the number of the second cross-medium aircraft to be dispatched is equal to the number of the first cross-medium aircraft, both of which are the above-mentioned preset numbers, and the number of the second cross-medium aircraft is one-to-one corresponding to and handed over to the first cross-medium aircraft.

[0084] Specifically, when the first cross-medium aircraft releases precise coordinates and sends out information that it is close to the edge of detection or sends out information that its energy is low, the fishing boat releases a new cross-medium aircraft. This part of the cross-medium aircraft is the second cross-medium aircraft. The second cross-medium aircraft moves in the air according to the first relative position coordinates released by the corresponding first cross-medium aircraft and quickly approaches the first cross-medium aircraft. When it reaches the target point, it enters the water and moves to the position of the first cross-medium aircraft. The two conduct mutual detection. When the distance between the two is less than the first preset distance, the two complete the handover. The first cross-medium aircraft completes its mission and returns, and the newly released second cross-medium aircraft continues to track and enter the detection blind spot.

[0085] In this embodiment, the information handed over by the two cross-medium aircraft is mainly the relative position to the underwater target, that is, the second relative position information of the first cross-medium aircraft and the underwater target.

[0086] S106: When it is determined that the energy reserve of the second cross-medium aircraft is lower than the preset value, the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat are recorded, and the third cross-medium aircraft is released to move to the second relative position coordinates and is connected with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target that the second cross-medium aircraft has been tracking until the distance between the third cross-medium aircraft and the underwater target is always within the preset range, and the second cross-medium aircraft returns to the corresponding fishing boat. In this process, the second cross-medium aircraft will also continue to record the fifth relative position information between it and the underwater target. According to the fifth relative position information, the third cross-medium aircraft can continue to track the underwater target.

[0087] Similarly, when the energy of the third cross-medium aircraft is lower than the preset value, the fourth cross-medium aircraft is released to take over with it, and so on, through the continuous relay handover of the cross-medium aircraft, the highly maneuverable cross-medium aircraft continues to track the underwater target and assists in continuously detecting the detection blind spots of the auxiliary equipment. It should be noted that the cross-medium aircraft that has completed its mission and returned can serve as the next batch of cross-medium aircraft to perform operations after energy replenishment.

[0088] The deep-sea fishing method based on a cross-medium aircraft of the present invention utilizes a cross-medium aircraft with the advantages of high-speed cruising, high maneuverability, long-term endurance, and concealed penetration to continuously track underwater targets whose detection range does not completely cover the deep-sea fishing area, i.e., the detection blind spot. At the same time, out of consideration for the energy consumption and recovery of the cross-medium aircraft during long-term underwater patrols, the cross-medium aircraft continuously performs relay handovers, and another batch of cross-medium aircraft continuously tracks the underwater targets after the handover and assists in continuously detecting the detection blind spots of the auxiliary equipment. The cross-medium aircraft that has completed its mission and returned can be used as the next batch of cross-medium aircraft to perform operations after energy replenishment. In this way, the underwater targets that are about to leave the monitoring area can be continuously tracked to avoid the loss of underwater target detection process, thereby improving the efficiency and scientificity of deep-sea fishing.

[0089] See also Figure 3 and Figure 4 , the method may further include the following steps:

[0090] S201: When it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released. For details, refer to step S101.

[0091] S202, obtaining the height information and depth information of the first cross-medium aircraft, and determining the working state of the first cross-medium aircraft according to the height information and the depth information. For details, refer to step S102.

[0092] S2031: When it is determined that the first cross-medium aircraft is in an underwater diving state, obtain the underwater distance between each first cross-medium aircraft and the underwater target.

[0093] Different from traditional aircraft that use high-power magnetic detectors in the air to detect underwater targets and then drop sonar buoys, the cross-medium aircraft directly enters the water near the underwater target. During the entry process, in order to extend the flight time and reduce the anti-detection by the underwater target, it can shut down its onboard communication module and turn on its own low-power detection equipment to search for underwater targets at close range, thereby determining the underwater distance between each cross-medium aircraft and the underwater target.

[0094] S2032: Make the first cross-medium aircraft closest to the underwater target approach the underwater target until the distance to the underwater target is always within a preset range, use the first cross-medium aircraft to obtain the movement trajectory of the underwater target, and generate a tracking instruction for the first cross-medium aircraft according to the movement trajectory. The tracking instruction mainly includes the speed and heading operation signals of the cross-medium aircraft.

[0095] When the first cross-medium aircraft approaches the underwater target until the distance to the underwater target is always within a preset range, the movement trajectory of the underwater target is collected in real time by the first cross-medium aircraft. The movement trajectory includes the direction angle and relative distance from the underwater target, so that a tracking instruction can be generated. The tracking instruction is used to adjust the heading and speed of the cross-medium aircraft to maintain the relative distance and direction from the underwater target.

[0096] In this embodiment, the first cross-medium aircraft starts a positioning feedback at a certain interval, and the positioning is transmitted back to the fishing boat so that the fishing boat can predict the trajectory of the underwater target.

[0097] S2033: Instruct the first cross-medium aircraft to move underwater according to the tracking instruction, and obtain the real-time position of the first cross-medium aircraft and the underwater target.

[0098] S2034: Determine the change value of the real-time orientation, and adjust the tracking instruction when it is determined that the change value exceeds a preset difference.

[0099] More specifically, the change value of the real-time azimuth includes the change value of the relative distance and the change value of the relative direction. When the change value of the relative distance and the change value of the relative direction are judged to be stable fluctuations, the cross-media aircraft can continue to be manipulated to continuously track the underwater target according to the preset tracking instructions. When the change value of the relative distance and / or the change value of the relative direction are judged to be abnormal fluctuations, that is, when it is determined that the change value of the relative distance and / or the change value of the relative direction exceeds the preset difference, the tracking instructions are adjusted, such as changing the motor speed of the cross-media aircraft, changing the speed to adjust the distance, etc.

[0100] S204, obtaining first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, constructing an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtaining third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information. For details, refer to step S104.

[0101] S205: When it is determined that the first cross-medium aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first cross-medium aircraft is lower than a preset value, the first relative position coordinates of the first cross-medium aircraft and the corresponding fishing boat are recorded, the second cross-medium aircraft is released to move to the first relative position coordinates and is connected with the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target previously tracked by the first cross-medium aircraft according to the third relative position information, until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat. For details, refer to step S105.

[0102] S206: When it is determined that the energy reserve of the second cross-medium aircraft is lower than the preset value, the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat are recorded, and the third cross-medium aircraft is released to move to the second relative position coordinates and is connected with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target that the second cross-medium aircraft has been tracking until the distance between the third cross-medium aircraft and the underwater target is always within the preset range, and the second cross-medium aircraft returns to the corresponding fishing boat. For details, refer to step S106.

[0103] See also Figure 5 , the method may further include the following steps:

[0104] S301: When it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released. For details, refer to step S101.

[0105] S302: Acquire the height information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the height information and the depth information. For details, refer to step S102.

[0106] S303: When it is determined that the first cross-medium aircraft is in an underwater diving state, the underwater distance between each first cross-medium aircraft and the underwater target is obtained, and the first cross-medium aircraft closest to the underwater target is made to approach the underwater target and continuously track it until the distance to the underwater target is always within a preset range. For details, refer to step S103.

[0107] S304, obtaining first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, constructing an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtaining third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information. For details, refer to step S104.

[0108] S3051. When it is determined that the first trans-medium aircraft moves to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-medium aircraft is lower than a preset value, the first relative position coordinates of the first trans-medium aircraft and the corresponding fishing boat are recorded.

[0109] S3052: Release the second cross-medium aircraft and move it to the first relative position coordinate, obtain the height information and depth information of the second cross-medium aircraft, and determine the working state of the second cross-medium aircraft according to the height information and the depth information.

[0110] S3053: When it is determined that the second cross-medium aircraft is in an underwater diving state, capture the aircraft signal of the first cross-medium aircraft at the first relative position coordinate. This process can also be completed by the two aircraft capturing each other's signals.

[0111] S3054: When it is determined that the aircraft signal is captured, obtain the underwater distance between the second cross-medium aircraft and the first cross-medium aircraft.

[0112] S3055. When it is determined that the underwater distance is less than the first preset distance, the second cross-medium aircraft is handed over to the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target previously tracked by the first cross-medium aircraft according to the third relative position information, until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat.

[0113] like Figure 5 As shown, taking the No. 1-1 cross-medium aircraft of fishing boat No. 1 as a first cross-medium aircraft and the No. n-1 cross-medium aircraft of fishing boat No. n as a corresponding second cross-medium aircraft as an example, when it is determined that the No. 1-1 cross-medium aircraft moves to the edge of the detection range of the corresponding fishing boat No. 1 or the reserve energy of the No. 1-1 cross-medium aircraft is lower than the preset value, the first relative position coordinate of the No. 1-1 cross-medium aircraft is recorded. With the first relative position coordinate, fishing boat No. n can release the No. n-1 cross-medium aircraft, and the No. n-1 cross-medium aircraft Approach the two-dimensional coordinate position corresponding to the first relative position coordinate, and enter the water to switch the working state at the two-dimensional coordinate position. After that, when it is determined that the n-1 cross-medium aircraft is in the underwater diving state, the n-1 cross-medium aircraft will capture the aircraft signal of the 1-1 cross-medium aircraft at the first relative position coordinate. After capturing the aircraft signal, it will determine whether the underwater distance between the two is within a first preset distance, such as 1m. If so, the handover can be completed, and the n-1 cross-medium aircraft will continue to track the underwater target, while the 1-1 cross-medium aircraft will return to the corresponding fishing boat 1.

[0114] S306: When it is determined that the energy reserve of the second cross-medium aircraft is lower than the preset value, the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat are recorded, and the third cross-medium aircraft is released to move to the second relative position coordinates and is connected with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target that the second cross-medium aircraft has been tracking until the distance between the third cross-medium aircraft and the underwater target is always within the preset range, and the second cross-medium aircraft returns to the corresponding fishing boat. For details, refer to step S106.

[0115] See also Figure 6 In some other possible embodiments, the method may further include the following steps:

[0116] S401: When it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released. For details, refer to step S101.

[0117] S402: Acquire the altitude information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the altitude information and the depth information. For details, refer to step S102.

[0118] S403: When it is determined that the first cross-medium aircraft is in an underwater diving state, the underwater distance between each first cross-medium aircraft and the underwater target is obtained, and the first cross-medium aircraft closest to the underwater target is made to approach the underwater target and continuously track it until the distance to the underwater target is always within a preset range. For details, refer to step S103.

[0119] S404: Obtain first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information. For details, refer to step S104.

[0120] S405: Determine the second relative position information between the first cross-medium aircraft and the corresponding fishing boat, and determine the fishing boat closest to the first relative position coordinates according to the first relative position coordinates of the first cross-medium aircraft.

[0121] S406. Determine the fourth relative position information between the first cross-medium aircraft and the nearest fishing boat, and when it is determined that the distance indicated by the second relative position information is less than the distance indicated by the fourth relative position information, release the second cross-medium aircraft to move to the first relative position coordinate and connect with the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target that was previously tracked by the first cross-medium aircraft according to the third relative position information until the distance between the second cross-medium aircraft and the underwater target is always within a preset range, and the first cross-medium aircraft returns to the corresponding fishing boat.

[0122] In some other possible implementations, underwater targets at a greater distance are continuously tracked by the cross-medium aircraft, while underwater targets at a closer distance are detected and tracked by auxiliary equipment. Figure 6 As shown, taking the No. 1-1 cross-medium aircraft of fishing boat No. 1 as a first cross-medium aircraft and the No. n-1 cross-medium aircraft of fishing boat No. n as a corresponding second cross-medium aircraft as an example, when the relative distance L indicated by the second relative position information between the No. 1-1 cross-medium aircraft and fishing boat No. 1 is less than the relative distance I indicated by the fourth relative position information between the No. 1-1 cross-medium aircraft and fishing boat No. n, the first relative position coordinates of the No. 1-1 cross-medium aircraft are recorded, and fishing boat No. n can release the No. n-1 cross-medium aircraft based on the first relative position coordinates, and the No. n-1 cross-medium aircraft can be released by the No. n-1 cross-medium aircraft. The cross-medium aircraft approaches the two-dimensional coordinate position corresponding to the first relative position coordinate, and enters the water to switch the working state at the two-dimensional coordinate position. After that, when it is determined that the cross-medium aircraft No. n-1 is in the underwater diving state, the cross-medium aircraft No. n-1 will capture the aircraft signal of the cross-medium aircraft No. 1-1 at the first relative position coordinate. After capturing the aircraft signal, it is determined whether the underwater distance between the two is within the first preset distance, such as 1m. If so, the handover can be completed, and the cross-medium aircraft No. n-1 continues to track the underwater target, and the cross-medium aircraft No. 1-1 returns to the corresponding fishing boat No. 1. In this way, the cross-medium aircraft can be more scientifically allocated to perform deep-sea fishing operations.

[0123] S407: When it is determined that the energy reserve of the second cross-medium aircraft is lower than the preset value, the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat are recorded, and the third cross-medium aircraft is released to move to the second relative position coordinates and connects with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target that the second cross-medium aircraft has been tracking until the distance between the third cross-medium aircraft and the underwater target is always within the preset range, and the second cross-medium aircraft returns to the corresponding fishing boat. For details, refer to step S106.

[0124] The following describes an apparatus provided by an embodiment of the present invention. The apparatus described below and the method described above can refer to each other.

[0125] See also Figure 7 , Figure 7 The schematic diagram of the structure of a deep-sea fishing device based on a cross-medium aircraft according to an embodiment of the present invention is shown, and the device may include:

[0126] The fishing and releasing module 10 is used to release a preset number of first cross-medium aircraft when it is determined that the total detection range of the fishing vessel does not completely cover the deep-sea fishing area.

[0127] In this embodiment, a cross-medium aircraft is used. The cross-medium aircraft is a new type of aircraft that can switch freely between the air and underwater. It has the advantages of high-speed cruising, high maneuverability, long endurance, and concealed penetration. That is, the cross-medium aircraft is an aircraft that combines unmanned aerial vehicle technology and unmanned submarine technology. It can move flexibly in two completely different fluid media, water and air, and can operate across media. The carrier platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing boat.

[0128] In order to target deep-sea fish to be caught, a fishing boat can carry multiple cross-medium aircraft. When the cross-medium aircraft is in a stopped working state, the onboard energy of the fishing boat can be used to replenish its energy in order to carry out the next batch of operations.

[0129] The state acquisition module 20 is used to acquire the altitude information and the depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the altitude information and the depth information.

[0130] The height information and depth information of the first cross-medium aircraft are respectively acquired in real time by using sensors such as an altitude sensor and a depth sensor, and the working state of the first cross-medium aircraft is determined according to the altitude information and the depth information. In this embodiment, the working state of the cross-medium aircraft includes an air flight state, an underwater diving state, and a stopped working state. In particular, when the cross-medium aircraft switches from the air flight state to the underwater diving state, or when it switches from the underwater diving state to the air flight state, there is a cross-medium stage.

[0131] The first tracking module 30 is used to determine that the first cross-medium aircraft is in an underwater diving state, obtain the underwater distance between each first cross-medium aircraft and the underwater target, and make the first cross-medium aircraft closest to the underwater target approach the underwater target and continue tracking until the distance to the underwater target is always within a preset range.

[0132] The coordinate establishment module 40 is used to obtain the first relative position information between the first cross-medium aircraft and the corresponding fishing boat and the second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain the third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information.

[0133] By obtaining the relative position relationship (including but not limited to direction, distance and depth) between the first cross-medium aircraft and the corresponding fishing boat, that is, obtaining the second relative position information of the underwater target relative to the single approaching cross-medium aircraft, and then combining the relative position relationship between the first cross-medium aircraft itself and the fishing boat, that is, obtaining the first relative position information of the cross-medium aircraft relative to the fishing boat, the coordinates are superimposed to obtain the precise three-dimensional coordinates of the underwater target relative to the fishing boat, thereby realizing the establishment of an underwater three-dimensional space coordinate system. Afterwards, the third relative position information of the underwater target relative to the fishing boat is obtained by combining the constructed underwater three-dimensional space coordinate system, the first relative position information and the second relative position information.

[0134] The first relative position information is calculated with the fishing boat corresponding to the first cross-medium aircraft as the coordinate origin, and the second relative position information is calculated with the first cross-medium aircraft as the coordinate origin. Since there are multiple underwater targets in the deep sea, an initial first cross-medium aircraft for underwater target tracking can be assigned to each underwater target. By executing steps S103 and S104 by these cross-medium aircraft, the establishment of the entire underwater three-dimensional space coordinate system can be completed, and the third relative position information of each underwater target relative to the fishing boat can be obtained.

[0135] The second tracking module 50 is used to determine when the first trans-medium aircraft moves to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-medium aircraft is lower than a preset value, record the first relative position coordinates of the first trans-medium aircraft and the corresponding fishing boat, release the second trans-medium aircraft to move to the first relative position coordinates and connect with the first trans-medium aircraft, and according to the third relative position information, the second trans-medium aircraft continues to track the underwater target that was previously tracked by the first trans-medium aircraft until the distance between the second trans-medium aircraft and the underwater target is always within the preset range, and the first trans-medium aircraft returns to the corresponding fishing boat.

[0136] In this embodiment, the information handed over by the two cross-medium aircraft is mainly the relative position to the underwater target, that is, the second relative position information of the first cross-medium aircraft and the underwater target.

[0137] The third tracking module 60 is used to determine that the reserve energy of the second trans-medium aircraft is lower than a preset value, record the second relative position coordinates of the second trans-medium aircraft and the corresponding fishing boat, release the third trans-medium aircraft to move to the second relative position coordinates and connect with the second trans-medium aircraft, and the third trans-medium aircraft continues to track the underwater target previously tracked by the second trans-medium aircraft until the distance between the third trans-medium aircraft and the underwater target is always within the preset range, and the second trans-medium aircraft returns to the corresponding fishing boat.

[0138] The deep-sea fishing device based on the cross-medium aircraft of the present invention utilizes the cross-medium aircraft with the advantages of high-speed cruising, high maneuverability, long-term endurance, concealed penetration, etc. to continuously track underwater targets whose detection range does not completely cover the deep-sea fishing area, i.e., the detection blind spot. At the same time, out of consideration for the energy consumption and recovery of the cross-medium aircraft during long-term underwater patrols, the cross-medium aircraft continuously performs relay handovers, and another batch of cross-medium aircraft continuously tracks the underwater targets after the handover and assists in continuously detecting the detection blind spots of the auxiliary equipment. The cross-medium aircraft that has completed its mission and returned can be used as the next batch of cross-medium aircraft to perform operations after energy replenishment. In this way, the underwater targets that are about to leave the monitoring area can be continuously tracked to avoid the loss of underwater target detection process, thereby improving the efficiency and scientificity of deep-sea fishing.

[0139] Figure 8 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8 As shown, the electronic device may include: a processor 810 (processor), a communication interface 820 (Communications Interface), a memory 830 (memory) and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic command in the memory 830 to execute a deep-sea fishing method based on a cross-medium aircraft, the method comprising:

[0140] When it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released; the carrying platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing boat;

[0141] Acquire the altitude information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the altitude information and the depth information; the working state includes an air flight state, an underwater diving state, and a stopped working state;

[0142] When it is determined that the first cross-medium aircraft is in an underwater diving state, the underwater distance between each first cross-medium aircraft and the underwater target is obtained, and the first cross-medium aircraft closest to the underwater target is made to approach the underwater target and continuously track it until the distance to the underwater target is always within a preset range;

[0143] Acquire first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information;

[0144] When it is determined that the first cross-medium aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first cross-medium aircraft is lower than a preset value, the first relative position coordinates of the first cross-medium aircraft and the corresponding fishing boat are recorded, the second cross-medium aircraft is released to move to the first relative position coordinates and is connected with the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target previously tracked by the first cross-medium aircraft according to the third relative position information, until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat;

[0145] When it is determined that the reserve energy of the second cross-medium aircraft is lower than a preset value, the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat are recorded, the third cross-medium aircraft is released to move to the second relative position coordinates and connects with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target that the second cross-medium aircraft has been tracking until the distance between the third cross-medium aircraft and the underwater target is always within the preset range, and the second cross-medium aircraft returns to the corresponding fishing boat.

[0146] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memor), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0147] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer can execute the deep-sea fishing method based on a cross-medium aircraft provided by the above methods, the method comprising:

[0148] When it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released; the carrying platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing boat;

[0149] Acquire the altitude information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the altitude information and the depth information; the working state includes an air flight state, an underwater diving state, and a stopped working state;

[0150] When it is determined that the first cross-medium aircraft is in an underwater diving state, the underwater distance between each first cross-medium aircraft and the underwater target is obtained, and the first cross-medium aircraft closest to the underwater target is made to approach the underwater target and continuously track it until the distance to the underwater target is always within a preset range;

[0151] Acquire first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information;

[0152] When it is determined that the first cross-medium aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first cross-medium aircraft is lower than a preset value, the first relative position coordinates of the first cross-medium aircraft and the corresponding fishing boat are recorded, the second cross-medium aircraft is released to move to the first relative position coordinates and is connected with the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target previously tracked by the first cross-medium aircraft according to the third relative position information, until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat;

[0153] When it is determined that the reserve energy of the second cross-medium aircraft is lower than a preset value, the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat are recorded, the third cross-medium aircraft is released to move to the second relative position coordinates and connects with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target that the second cross-medium aircraft has been tracking until the distance between the third cross-medium aircraft and the underwater target is always within the preset range, and the second cross-medium aircraft returns to the corresponding fishing boat.

[0154] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the above-mentioned deep-sea fishing method based on a cross-medium aircraft, the method comprising:

[0155] When it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released; the carrying platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing boat;

[0156] Acquire the altitude information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the altitude information and the depth information; the working state includes an air flight state, an underwater diving state, and a stopped working state;

[0157] When it is determined that the first cross-medium aircraft is in an underwater diving state, the underwater distance between each first cross-medium aircraft and the underwater target is obtained, and the first cross-medium aircraft closest to the underwater target is made to approach the underwater target and continuously track it until the distance to the underwater target is always within a preset range;

[0158] Acquire first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information;

[0159] When it is determined that the first cross-medium aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first cross-medium aircraft is lower than a preset value, the first relative position coordinates of the first cross-medium aircraft and the corresponding fishing boat are recorded, the second cross-medium aircraft is released to move to the first relative position coordinates and is connected with the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target previously tracked by the first cross-medium aircraft according to the third relative position information, until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat;

[0160] When it is determined that the reserve energy of the second cross-medium aircraft is lower than a preset value, the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat are recorded, the third cross-medium aircraft is released to move to the second relative position coordinates and connects with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target that the second cross-medium aircraft has been tracking until the distance between the third cross-medium aircraft and the underwater target is always within the preset range, and the second cross-medium aircraft returns to the corresponding fishing boat.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A deep-sea fishing method based on a cross-medium aircraft, characterized in that: The method comprises: When it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released; the carrying platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing boat; Acquire the altitude information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the altitude information and the depth information; the working state includes an air flight state, an underwater diving state, and a stopped working state; When it is determined that the first cross-medium aircraft is in an underwater diving state, the underwater distance between each first cross-medium aircraft and the underwater target is obtained, and the first cross-medium aircraft closest to the underwater target is made to approach the underwater target and continuously track it until the distance to the underwater target is always within a preset range; Acquire first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information; When it is determined that the first cross-medium aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first cross-medium aircraft is lower than a preset value, the first relative position coordinates of the first cross-medium aircraft and the corresponding fishing boat are recorded, the second cross-medium aircraft is released to move to the first relative position coordinates and is connected with the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target previously tracked by the first cross-medium aircraft according to the third relative position information, until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat; When it is determined that the reserve energy of the second cross-medium aircraft is lower than a preset value, the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat are recorded, the third cross-medium aircraft is released to move to the second relative position coordinates and connects with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target that the second cross-medium aircraft has been tracking until the distance between the third cross-medium aircraft and the underwater target is always within the preset range, and the second cross-medium aircraft returns to the corresponding fishing boat.

2. The deep-sea fishing method based on a cross-medium aircraft as claimed in claim 1, characterized in that: When it is determined that the first cross-medium aircraft is in an underwater diving state, the underwater distance between each first cross-medium aircraft and the underwater target is obtained, and the first cross-medium aircraft closest to the underwater target is made to approach the underwater target and continuously track the underwater target until the distance to the underwater target is always within a preset range, specifically including: When it is determined that the first cross-medium aircraft is in an underwater diving state, obtaining the underwater distance between each first cross-medium aircraft and the underwater target; The first cross-medium aircraft closest to the underwater target is made to approach the underwater target until the distance to the underwater target is always within a preset range, the movement trajectory of the underwater target is obtained by the first cross-medium aircraft, and a tracking instruction of the first cross-medium aircraft is generated according to the movement trajectory; Instructing the first cross-medium aircraft to move underwater according to the tracking instruction, and obtaining the real-time position of the first cross-medium aircraft and the underwater target; The change in the real-time position is determined, and when it is determined that the change exceeds a preset difference, the tracking instruction is adjusted.

3. The deep-sea fishing method based on a cross-medium aircraft as claimed in claim 2, characterized in that: The determining of the change value of the real-time position and adjusting the tracking instruction when the change value exceeds a preset difference specifically includes: Determine the change in relative distance and the change in relative direction; When it is determined that the change value of the relative distance and / or the change value of the relative direction exceeds a preset difference, the tracking instruction is adjusted.

4. The deep-sea fishing method based on a cross-medium aircraft as claimed in claim 1, characterized in that: The method of determining that the first cross-medium aircraft moves to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first cross-medium aircraft is lower than a preset value, recording the first relative position coordinates of the first cross-medium aircraft and the corresponding fishing boat, launching the second cross-medium aircraft to move to the first relative position coordinates and connecting with the first cross-medium aircraft, and having the second cross-medium aircraft continuously track the underwater target previously continuously tracked by the first cross-medium aircraft according to the third relative position information, until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat, specifically includes: When it is determined that the first trans-medium aircraft moves to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-medium aircraft is lower than a preset value, the first relative position coordinates of the first trans-medium aircraft and the corresponding fishing boat are recorded; Flying the second cross-medium aircraft to move to the first relative position coordinate, acquiring the height information and depth information of the second cross-medium aircraft, and determining the working state of the second cross-medium aircraft according to the height information and the depth information; When determining that the second trans-medium aircraft is in an underwater diving state, capturing an aircraft signal of the first trans-medium aircraft at the first relative position coordinate; When it is determined that the aircraft signal is captured, obtaining the underwater distance between the second cross-medium aircraft and the first cross-medium aircraft; When it is determined that the underwater distance is less than the first preset distance, the second cross-medium aircraft is handed over to the first cross-medium aircraft, and the second cross-medium aircraft continues to track the underwater target previously tracked by the first cross-medium aircraft according to the third relative position information until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat.

5. The deep-sea fishing method based on a cross-medium aircraft as claimed in claim 1, characterized in that: When it is determined that the total detection range of the fishing vessel does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released, including: Determine the estimated position of underwater targets when the total detection range of fishing vessels does not fully cover the deep-sea fishing area, and determine whether there is a cross-medium aircraft within the capture range of the preset position; When it is determined that there are no cross-medium aircraft, the operating distance between each fishing boat and the expected direction is obtained, and a preset number of first cross-medium aircraft are released by the fishing boats whose operating distance is less than the second preset distance.

6. The deep-sea fishing method based on a cross-medium aircraft as claimed in claim 1, characterized in that: The method further comprises the following steps: Determine the second relative position information between the first cross-medium aircraft and the corresponding fishing boat, and determine the fishing boat closest to the first relative position coordinates according to the first relative position coordinates of the first cross-medium aircraft; Determine the fourth relative position information between the first cross-medium aircraft and the nearest fishing boat, and when it is determined that the distance indicated by the second relative position information is less than the distance indicated by the fourth relative position information, release the second cross-medium aircraft to move to the first relative position coordinates and connect with the first cross-medium aircraft, and according to the third relative position information, the second cross-medium aircraft continues to track the underwater target that was previously tracked by the first cross-medium aircraft until the distance between the second cross-medium aircraft and the underwater target is always within a preset range, and the first cross-medium aircraft returns to the corresponding fishing boat.

7. The deep-sea fishing method based on a cross-medium aircraft as claimed in claim 1, characterized in that: In the case where it is determined that the total detection range of the fishing vessel does not completely cover the deep-sea fishing area, before the step of releasing a preset number of first cross-medium aircraft, the method further includes: The deep-sea fishing area is determined based on fishing demand and the activity range of underwater targets, and the total detection range is determined by the detection range of all fishing vessels.

8. A deep-sea fishing device based on a cross-medium aircraft, characterized in that: The device comprises: The fishing and releasing module is used to release a preset number of first cross-medium aircraft when it is determined that the total detection range of the fishing boat does not completely cover the deep-sea fishing area; the carrying platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing boat; A state acquisition module, used to acquire the height information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft according to the height information and the depth information; the working state includes an air flight state, an underwater diving state and a stop working state; The first tracking module is used to determine that the first cross-medium aircraft is in an underwater diving state, obtain the underwater distance between each first cross-medium aircraft and the underwater target, and make the first cross-medium aircraft closest to the underwater target approach the underwater target and continue to track until the distance to the underwater target is always within a preset range; A coordinate establishment module is used to obtain first relative position information between the first cross-medium aircraft and the corresponding fishing boat and second relative position information between the first cross-medium aircraft and the underwater target, construct an underwater three-dimensional space coordinate system according to the first relative position information and the second relative position information, and obtain third relative position information of the underwater target relative to the fishing boat by combining the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information; The second tracking module is used to determine that when the first cross-medium aircraft moves to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first cross-medium aircraft is lower than a preset value, record the first relative position coordinates of the first cross-medium aircraft and the corresponding fishing boat, release the second cross-medium aircraft to move to the first relative position coordinates and connect with the first cross-medium aircraft, and according to the third relative position information, the second cross-medium aircraft continues to track the underwater target that the first cross-medium aircraft has been tracking until the distance between the second cross-medium aircraft and the underwater target is always within the preset range, and the first cross-medium aircraft returns to the corresponding fishing boat; The third tracking module is used to determine that the reserve energy of the second cross-medium aircraft is lower than a preset value, record the second relative position coordinates of the second cross-medium aircraft and the corresponding fishing boat, release the third cross-medium aircraft to move to the second relative position coordinates and connect with the second cross-medium aircraft, and the third cross-medium aircraft continues to track the underwater target previously tracked by the second cross-medium aircraft until the distance between the third cross-medium aircraft and the underwater target is always within a preset range, and the second cross-medium aircraft returns to the corresponding fishing boat.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the deep-sea fishing method based on a cross-medium aircraft as described in any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the deep-sea fishing method based on a cross-medium aircraft as described in any one of claims 1 to 7 are implemented.

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