A deep-sea fishing method, device and equipment based on a cross-medium aircraft

Abstract

The present invention proposes a deep-sea fishing method, device, and equipment based on a cross-medium aircraft, which relates to the field of deep-sea fishing operations. The method includes: launching a preset number of first cross-medium aircraft; obtaining altitude information and depth information of the first cross-medium aircraft, and determining the working status of the first cross-medium aircraft; making the first cross-medium aircraft closest to the underwater target approach the underwater target and continuously track it; obtaining 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 determining that the first cross-medium aircraft has moved to the edge of the detection range, launching a second cross-medium aircraft and handing it over to the first cross-medium aircraft. The present invention can continuously track underwater targets that are about to leave the monitoring area, avoid loss of underwater target detection, and improve the efficiency and scientificity of deep-sea fishing.

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] Bottom trawls are currently commonly used to catch deep-sea fish. These species are often long-lived, have low reproductive capacity, and grow slowly, making them susceptible to overfishing. To avoid overfishing of deep-sea fish, which could exceed the balance of the marine ecosystem and lead to the degradation of the entire marine ecosystem, bottom trawls require selective fishing. Therefore, auxiliary equipment that can detect fish species, size, and age is necessary to assist in fishing. These auxiliary equipment can help bottom trawls selectively catch mature fish, avoiding those in their reproductive stages and those that have not yet matured.

[0003] However, when fishermen use the above-mentioned auxiliary equipment to detect fish schools, for a wide deep-sea operation area, the detection range of the above-mentioned auxiliary equipment, such as sonar equipment, cannot completely cover the exploration area, and it is easy to lose the detection target. 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 that detection targets are easily lost in current deep-sea fishing operations.

[0006] The technical solution of the present invention is achieved as follows:

[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 vessel does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released; the carrying platforms of the cross-medium aircraft are fishing vessels, each fishing vessel is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing vessel;

[0009] Acquiring altitude information and depth information of the first cross-medium aircraft, and determining an operating state of the first cross-medium aircraft based on the altitude information and the depth information; the operating state includes an airborne state, an underwater diving state, and a stopped operating 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 caused to approach the underwater target and continuously track the underwater target until the distance to the underwater target is always within a preset range;

[0011] 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 spatial coordinate system based on 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 spatial coordinate system, the first relative position information, and the second relative position information;

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

[0013] When it is determined that the reserve energy of the second trans-medium aircraft is lower than a preset value, the second relative position coordinates of the second trans-medium aircraft and the corresponding fishing boat are recorded, and the third trans-medium aircraft is released to move to the second relative position coordinates and connects with the second trans-medium aircraft. 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.

[0014] In conjunction with the first aspect, in the first implementation of the first aspect, when determining that the first trans-medium aircraft is in an underwater diving state, obtaining the underwater distance between each first trans-medium aircraft and an underwater target, and causing the first trans-medium aircraft closest to the underwater target 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 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 directed 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 for the first cross-medium aircraft is generated based on 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] A change in the real-time position is determined, and if the change exceeds a predetermined difference, the tracking instruction is adjusted.

[0019] In combination with the first embodiment of the first aspect, in the second embodiment 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 embodiment of the first aspect, when it is determined that the first trans-media aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-media aircraft is lower than a preset value, the first relative position coordinates of the first trans-media aircraft and the corresponding fishing boat are recorded, the second trans-media aircraft is released to move to the first relative position coordinates and is handed over to the first trans-media aircraft, and the second trans-media aircraft continues to track the underwater target previously tracked by the first trans-media aircraft according to the third relative position information until the distance between the second trans-media aircraft and the underwater target is always within the preset range, and the first trans-media aircraft returns to the corresponding fishing boat, specifically including:

[0023] 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 energy reserve of the first trans-medium aircraft is lower than a preset value, recording the first relative position coordinates of the first trans-medium aircraft and the corresponding fishing boat;

[0024] Flying the second cross-medium aircraft to the first relative position coordinate, obtaining 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-media aircraft is in an underwater diving state, capturing an aircraft signal of the first trans-media 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 will be handed over to the first cross-medium aircraft, and the second cross-medium aircraft will continue to track the underwater target previously tracked by the first cross-medium aircraft based on 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 vessel does not completely cover the deep-sea fishing area, launching a preset number of first cross-medium aircraft specifically includes:

[0029] Determining the estimated position of underwater targets and determining whether there are cross-medium aircraft within the capture range of the preset position when the total detection range of the fishing vessel does not fully cover the deep-sea fishing area;

[0030] When it is determined that there are no cross-medium aircraft, the operating distance between each fishing vessel and the expected direction is obtained, and a preset number of first cross-medium aircraft are released by fishing vessels whose operating distance is less than a 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] Determining second relative position information between the first cross-medium aircraft and the corresponding fishing vessel, and determining the fishing vessel closest to the first relative position coordinates based on 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 coordinate and hand over to 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.

[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 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:

[0035] The deep-sea fishing area is determined based on fishing needs 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 vessel does not completely cover the deep-sea fishing area; the carrying platform of the cross-medium aircraft is a fishing vessel, each fishing vessel is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing vessel;

[0038] a state acquisition module, configured to acquire altitude information and depth information of the first cross-medium aircraft, and determine an operating state of the first cross-medium aircraft based on the altitude information and depth information; the operating state includes an aerial flight state, an underwater diving state, and a stopped operating state;

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

[0040] a coordinate establishment module for obtaining first relative position information between the first cross-medium aircraft and the corresponding fishing vessel, and second relative position information between the first cross-medium aircraft and the underwater target, constructing an underwater three-dimensional spatial coordinate system based on the first relative position information and the second relative position information, and combining the underwater three-dimensional spatial coordinate system, the first relative position information, and the second relative position information to obtain third relative position information of the underwater target relative to the fishing vessel;

[0041] The second tracking module is used to determine that when the first trans-media aircraft moves to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-media aircraft is lower than a preset value, record the first relative position coordinates of the first trans-media aircraft and the corresponding fishing boat, launch the second trans-media aircraft to move to the first relative position coordinates and transfer to the first trans-media aircraft, and according to the third relative position information, the second trans-media aircraft continues to track the underwater target previously tracked by the first trans-media aircraft until the distance between the second trans-media aircraft and the underwater target is always within the preset range, and the first trans-media aircraft returns to the corresponding fishing boat;

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

[0043] According to the third aspect, an embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable 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 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 a cross-medium aircraft of the present invention have the following beneficial effects compared to the prior art:

[0047] Cross-medium aircraft with advantages such as high-speed cruising, high maneuverability, long 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, in consideration of the energy consumption and recovery of the cross-medium aircraft during long-term underwater patrols, the cross-medium aircraft continuously carry out relay handovers, and another batch of cross-medium aircraft continues to track the underwater targets after the handover and assists in continuously detecting the detection blind spots of the auxiliary equipment. The cross-medium aircraft that have completed the mission and returned can be used 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 continuously tracked 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0049] Figure 1 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 flow chart of the deep-sea fishing method based on a cross-medium aircraft of the present invention;

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

[0053] Figure 5 A schematic diagram of the handover between two cross-medium aircraft in the deep-sea fishing method based on 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 A schematic structural diagram of a deep-sea fishing device based on a cross-medium aircraft according to 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 embodiments described 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 making creative efforts are within the scope of protection of the present invention.

[0058] Currently, bottom trawls are commonly used to catch deep-sea fish. Bottom trawls utilize the motion of fishing vessels to drag fishing gear along the seafloor, forcing deep-sea species such as fish, shrimp, and crabs into the nets for capture. Deep-sea fish species caught by bottom trawls are often long-lived, have low reproductive capacity, and grow slowly, making them susceptible to overfishing. To prevent overfishing of deep-sea fish, which could exceed the balance of the marine ecosystem and lead to the degradation of the entire marine ecosystem, bottom trawls require selective fishing. Therefore, auxiliary equipment that can detect fish species, size, and age is essential for fishing. These auxiliary equipment can help bottom trawls selectively catch mature fish, avoiding those in their reproductive stages and those that have not yet matured. This has far-reaching significance and social value for protecting marine species, maintaining ecological balance, and preventing 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, and is intended to continue tracking underwater targets that are about to leave the monitoring area, avoid the loss of underwater target detection process, and thereby improve 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 flowchart 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] This embodiment utilizes a trans-medium aircraft, a new type of aircraft capable of switching freely between air and underwater. It boasts advantages such as high-speed cruising, high maneuverability, long endurance, and stealth penetration. Specifically, a trans-medium aircraft combines unmanned aerial vehicle (UAV) and unmanned underwater vehicle (USU) technologies, enabling flexible movement through two distinct fluid media: water and air. Leveraging its aerial flight advantages, the trans-medium aircraft can approach a target at extremely high speeds above the water surface through highly maneuverable flight, and can also dive underwater using trans-medium operations. The trans-medium aircraft's carrier platform is a fishing vessel, each carrying at least one trans-medium aircraft. Each trans-medium aircraft also has a corresponding fishing vessel.

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

[0066] By binding the fishing vessel and its onboard aircraft, for example, the cross-medium aircraft corresponding to fishing vessel No. 1 are numbered 1-1, 1-2, etc., the cross-medium aircraft corresponding to fishing vessel No. 2 are numbered 2-1, 2-2, etc., and so on, the cross-medium aircraft corresponding to fishing vessel No. n are numbered n-1, n-2, etc. During underwater target detection in deep-sea fishing operations, the fishing vessel can first launch a preset number of cross-medium aircraft. These cross-medium aircraft are the first cross-medium aircraft. After entering the water, the first cross-medium aircraft launched in advance serve as depth coordinate calibration equipment for the underwater three-dimensional coordinate system. These cross-medium aircraft mainly operate within the detection range of auxiliary equipment such as towed equipment to assist in completing the establishment of the underwater three-dimensional space coordinate system.

[0067] In this embodiment, a deep-sea fishing area is determined based on fishing needs and the range of underwater targets, and the total detection range is determined by the detection ranges of all fishing vessels. When a fishing vessel detects an underwater target during operation using its onboard auxiliary equipment, it tracks and detects the target within its detection range, monitoring its progress. When the distance to the target approaches the search radius R of the individual vessel, it is determined that the target is about to leave the vessel's detection range. At this point, the position information and detection radius R of other fishing vessels in the fleet are combined to determine whether the target will enter the detection range of an adjacent vessel. If so, the adjacent vessel is notified to prepare for tracking and detection. If the target's direction of motion is not covered by underwater detection by an adjacent vessel, the target's estimated position is determined, and a determination is made as to whether a cross-medium aircraft exists within the capture range of the preset position. If not, it is determined that a cross-medium aircraft needs to be released. The operating distance between each fishing vessel and the estimated position is then determined, and a preset number of first cross-medium aircraft are released by fishing vessels whose operating distance is less than a second preset distance. 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 underwater acoustic sensor, a microgravity sensor, a vibration sensor, a micromagnetic sensor, an underwater communication device, an air communication module, and a Beidou sensor, etc.

[0071] Altitude and depth information of the first trans-medium aircraft are acquired in real time using sensors such as an altitude sensor and a depth sensor, and the operating state of the first trans-medium aircraft is determined based on the altitude and depth information. In this embodiment, the operating states of the trans-medium aircraft include an aerial flight state, an underwater flight state, and an inoperative state. Specifically, when the trans-medium aircraft switches from an aerial flight state to an underwater flight state, or vice versa, there is a trans-medium phase.

[0072] It should be noted that, based on 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] When the trans-media aircraft is in an airborne state, the altitude sensor outputs information, but the depth sensor does not. When the trans-media aircraft is in a submerged state, both the altitude sensor and the depth sensor output information. Furthermore, when the trans-media aircraft is in a submerged state, the altitude difference is calculated based on the altitude information output by the altitude sensor. A negative altitude difference indicates that the trans-media aircraft is descending. The humidity difference values ​​of the multiple humidity sensors at the front and rear ends of the trans-media aircraft are then compared. If a humidity difference exists, it indicates that the trans-media aircraft is near the water surface and is about to cross the water. A command to retract the wings is issued to the trans-media aircraft, and the aircraft's depth information is further read. If depth information is received, it indicates that the trans-media aircraft has entered the water. The trans-media aircraft's power system is switched, switching from the rotors for airborne flight to the power equipment for surface and underwater navigation. When entering the air from underwater, the depth information sent back by the depth sensor or whether the depth information can be sent back is first used to determine whether the cross-media aircraft is in a floating state, and the humidity difference of the humidity sensor is further used 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, 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 continuously track it until the distance to the underwater target is always within a preset range.

[0075] When auxiliary equipment, such as sonar, detects an underwater target, it outputs approximate three-dimensional coordinates, establishing an initial three-dimensional coordinate system. At this point, the operator can instruct the first trans-medium aircraft, already underwater and closest to the target, to approach the target from underwater. If the first trans-medium aircraft is not already near the target's location, a new trans-medium aircraft is launched from the surface to complete tracking. After the first trans-medium aircraft approaches the target from underwater, it uses its onboard detection equipment to accurately determine the target's relative position to itself until the distance between the first trans-medium aircraft and the target falls 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 move the first cross-medium aircraft to the edge of the detection range of the auxiliary equipment.

[0077] By comparing the current gravity value measured with the gravity field gravity value using the gravity sensor and micromagnetic sensor carried by the cross-medium aircraft, the positioning information of the first cross-medium aircraft, i.e., 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 underwater vibration signals, then separate different signal sources, compare them with the signal sources already stored in the database, distinguish different signal sources, and determine whether the signal source is the target signal source. If it is the target signal source, the signal location is sent to the signal receiving end of the fishing vessel via the underwater communication device. The signal receiving end completes cross-medium communication via the signal cable connected to the vessel, realizing 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 based on 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 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, 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 using the fishing vessel corresponding to the first cross-medium aircraft as the coordinate origin, and the second relative position information is calculated using the first cross-medium aircraft as the coordinate origin. Because there are multiple underwater targets in the deep sea, each underwater target can be assigned an initial first cross-medium aircraft for underwater target tracking. By executing steps S103 and S104 with these cross-medium aircraft, the entire underwater three-dimensional spatial coordinate system can be established, and the third relative position information of each underwater target relative to the fishing vessel can be obtained.

[0081] See also Figure 2 Since the cross-media 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-media aircraft in conjunction with auxiliary equipment. Therefore, in this embodiment, an underwater networking mode is also performed based on the cross-media aircraft, that is, a preset number of first cross-media aircraft are launched, and multiple cross-media aircraft are used to continuously detect and track to complete the establishment of the underwater three-dimensional space coordinate system.

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

[0083] Considering that when a cross-media vehicle approaches the detection edge of the auxiliary equipment on a fishing vessel, in order to ensure that there are sufficient cross-media aircraft within the detection range to support the establishment of the underwater three-dimensional spatial coordinate system and the continuous tracking of underwater targets, and also considering the energy consumption and recovery of the first cross-media aircraft that have been patrolling underwater for a long time, the first cross-media aircraft will be recovered and replenished before the next batch of operations is carried out. In other words, the cross-media aircraft that were previously patrolling underwater and establishing the underwater three-dimensional spatial coordinate system will not be dispatched to continue tracking underwater targets into the detection blind spot. In this embodiment, a second batch of cross-media aircraft, namely the second cross-media aircraft, will be dispatched to hand over to the first cross-media aircraft. It can be understood that the number of second cross-media aircraft to be dispatched is equal to the number of first cross-media aircraft, both of which are the preset numbers mentioned above, and the number of second cross-media aircraft corresponds to and hands over to the first cross-media aircraft.

[0084] Specifically, when the first cross-medium aircraft releases precise coordinates and sends out information that it is close to the detection edge or sends out information that the 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: If it is determined that the energy reserve of the second trans-media aircraft is less than a preset value, the second relative position coordinates of the second trans-media aircraft and the corresponding fishing boat are recorded, and a third trans-media aircraft is launched to move to the second relative position coordinates and connect with the second trans-media aircraft. The third trans-media aircraft then continues to track the underwater target previously tracked by the second trans-media aircraft until the distance between the third trans-media aircraft and the underwater target remains within a preset range, at which point the second trans-media aircraft returns to the corresponding fishing boat. During this process, the second trans-media aircraft also continues to record fifth relative position information between itself and the underwater target. Based on the fifth relative position information, the third trans-media aircraft can continue to track the underwater target.

[0087] Similarly, when the energy level of the third inter-media aircraft falls below a preset value, the fourth inter-media aircraft is launched to take over from it, and so on. Through the continuous relay handover between inter-media aircraft, the highly maneuverable inter-media aircraft continuously tracks the underwater target and assists in continuously detecting the blind spots of the auxiliary equipment. It should be noted that the inter-media aircraft that has completed its mission and returned home can serve as the inter-media aircraft for the next batch of operations after recharging its energy.

[0088] The deep-sea fishing method based on a cross-media aircraft of the present invention utilizes a cross-media 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, that is, the detection blind spot. At the same time, in consideration of the energy consumption and recovery of the cross-media aircraft during long-term underwater patrols, the cross-media aircraft continuously performs relay handovers, and another batch of cross-media aircraft continues to track the underwater targets after the handover and assists in continuously detecting the detection blind spots of the auxiliary equipment. The cross-media aircraft that has completed its mission and returned can serve as the next batch of cross-media aircraft to perform operations after energy replenishment. In this way, 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 comprise the following steps:

[0090] S201: 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. For details, refer to step S101.

[0091] S202: Acquire the altitude information and depth information of the first cross-medium aircraft, and determine the working state of the first cross-medium aircraft based on the altitude information and 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] Unlike traditional aircraft that use high-power magnetic detectors in the air to detect underwater targets and then drop sonar buoys, cross-media aircraft directly enter the water near the underwater target. During the entry process, in order to extend the flight time and reduce the risk of counter-detection by underwater targets, 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 first cross-media aircraft and the underwater target.

[0094] S2032: The first cross-medium aircraft closest to the underwater target is directed to approach the underwater target until the distance to the underwater target remains within a preset range. The first cross-medium aircraft is used to obtain the movement trajectory of the underwater target, and a tracking instruction is generated for the first cross-medium aircraft based on the movement trajectory. The tracking instruction primarily includes speed and heading control 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 return at a certain interval, and the positioning is returned 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 if it is determined that the change value exceeds a preset difference.

[0099] More specifically, the change value of the real-time orientation 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: 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 spatial coordinate system based on the first relative position information and the second relative position information. Finally, combine the underwater three-dimensional spatial coordinate system, the first relative position information, and the second relative position information to obtain third relative position information of the underwater target relative to the fishing boat. For details, refer to step S104.

[0101] S205: If it is determined that the first trans-media aircraft has moved to the edge of the detection range of the corresponding fishing vessel or the energy reserve of the first trans-media aircraft is less than a preset value, the first relative position coordinates of the first trans-media aircraft and the corresponding fishing vessel are recorded, and a second trans-media aircraft is launched to move to the first relative position coordinates and connect with the first trans-media aircraft. The second trans-media aircraft then continues to track the underwater target previously tracked by the first trans-media aircraft based on the third relative position information until the distance between the second trans-media aircraft and the underwater target remains within the preset range, and the first trans-media aircraft then returns to the corresponding fishing vessel. For details, refer to step S105.

[0102] S206: If it is determined that the energy reserve of the second trans-media aircraft is less than a preset value, the second relative position coordinates of the second trans-media aircraft and the corresponding fishing vessel are recorded, and a third trans-media aircraft is launched to move to the second relative position coordinates and connect with the second trans-media aircraft. The third trans-media aircraft then continues to track the underwater target previously tracked by the second trans-media aircraft until the distance between the third trans-media aircraft and the underwater target remains within a preset range. The second trans-media aircraft then returns to the corresponding fishing vessel. For details, refer to step S106.

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

[0104] S301: 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. For details, refer to step S101.

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

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

[0107] S304: 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 spatial coordinate system based on the first relative position information and the second relative position information. Finally, combine the underwater three-dimensional spatial coordinate system, the first relative position information, and the second relative position information to obtain third relative position information of the underwater target relative to the fishing boat. For details, refer to step S104.

[0108] S3051. 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 reserved 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.

[0109] S3052: Launch the second cross-medium aircraft to move 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 depth information.

[0110] S3053: When it is determined that the second trans-medium aircraft is in an underwater diving state, capture the aircraft signal of the first trans-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 based on 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 the No. 1 fishing boat as a first cross-medium aircraft and the No. n-1 cross-medium aircraft of the No. n fishing boat 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 No. 1 fishing boat 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, the No. n fishing boat can release the No. n-1 cross-medium aircraft, and the No. n-1 cross-medium aircraft Approaching the two-dimensional coordinate position corresponding to the first relative position coordinate, and entering the water to switch the working state at the two-dimensional coordinate position, and then determining 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, and the 1-1 cross-medium aircraft will return to the corresponding fishing boat No. 1.

[0114] S306: If it is determined that the energy reserve of the second trans-media aircraft is less than a preset value, the second relative position coordinates of the second trans-media aircraft and the corresponding fishing vessel are recorded, and a third trans-media aircraft is launched to move to the second relative position coordinates and connect with the second trans-media aircraft. The third trans-media aircraft then continues to track the underwater target previously tracked by the second trans-media aircraft until the distance between the third trans-media aircraft and the underwater target remains within a preset range. The second trans-media aircraft then returns to the corresponding fishing vessel. 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 vessel 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 based on the altitude information and depth information. For details, refer to step S102.

[0118] S403: If it is determined that the first trans-medium aircraft is in the underwater diving state, the underwater distance between each first trans-medium aircraft and the underwater target is obtained. The first trans-medium aircraft closest to the underwater target is instructed to approach the underwater target and continuously track the underwater target until the distance to the underwater target remains 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 vessel, and second relative position information between the first cross-medium aircraft and the underwater target. Construct an underwater three-dimensional spatial coordinate system based on the first relative position information and the second relative position information. Finally, combine the underwater three-dimensional spatial coordinate system, the first relative position information, and the second relative position information to obtain third relative position information of the underwater target relative to the fishing vessel. 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 based on the first relative position coordinates of the first cross-medium aircraft.

[0121] S406. Determine the fourth relative position information between the first cross-media 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-media aircraft to move to the first relative position coordinate and connect with the first cross-media aircraft. According to the third relative position information, the second cross-media aircraft continues to track the underwater target that was previously tracked by the first cross-media aircraft until the distance between the second cross-media aircraft and the underwater target is always within the preset range, and the first cross-media aircraft returns to the corresponding fishing boat.

[0122] In 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 the No. 1 fishing boat as one of the first cross-medium aircraft and the No. n-1 cross-medium aircraft of the No. n fishing boat as a corresponding second cross-medium aircraft as an example, when the relative distance L indicated by the second relative position information of the No. 1-1 cross-medium aircraft and the No. 1 fishing boat is less than the relative distance I indicated by the fourth relative position information of the No. 1-1 cross-medium aircraft and the No. n fishing boat, the first relative position coordinate of the No. 1-1 cross-medium aircraft is recorded. With the help of the first relative position coordinate, the No. n fishing boat can release the No. n-1 cross-medium aircraft, and the No. n-1 cross-medium aircraft can be released. The inter-medium aircraft approaches the two-dimensional coordinate position corresponding to the first relative position coordinate and enters the water to switch to the working state at this two-dimensional coordinate position. If the inter-medium aircraft No. n-1 is then determined to be in the underwater diving state, the inter-medium aircraft No. n-1 will capture the aircraft signal of the inter-medium aircraft No. 1-1 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 1 meter. If so, the handover is completed, and the inter-medium aircraft No. n-1 will continue to track the underwater target, while the inter-medium aircraft No. 1-1 will return to its corresponding fishing boat No. 1. This method can more scientifically allocate inter-medium aircraft to perform deep-sea fishing operations.

[0123] S407: If it is determined that the energy reserve of the second trans-medium aircraft is less than a preset value, the second relative position coordinates of the second trans-medium aircraft and the corresponding fishing vessel are recorded, and a third trans-medium aircraft is launched to move to the second relative position coordinates and connect with the second trans-medium aircraft. The third trans-medium aircraft then 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 remains within a preset range. The second trans-medium aircraft then returns to the corresponding fishing vessel. 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 A schematic structural diagram of a deep-sea fishing device based on a cross-medium aircraft according to an embodiment of the present invention is shown. 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] This embodiment utilizes a trans-medium aircraft, a new type of aircraft capable of switching freely between air and underwater. It offers advantages such as high-speed cruising, high maneuverability, long endurance, and stealth penetration. Specifically, a trans-medium aircraft combines unmanned aerial vehicle (UAV) and unmanned underwater vehicle (UUV) technologies, enabling flexible movement through two distinct fluid media: water and air, and capable of cross-medium operations. The trans-medium aircraft are carried by fishing vessels, each of which is equipped with at least one trans-medium aircraft, and each trans-medium aircraft has a corresponding fishing vessel.

[0128] To target deep-sea fish species to be caught, a fishing vessel can carry multiple cross-medium aircraft. When the cross-medium aircraft is in a stopped state, it can be replenished with energy from the fishing vessel's onboard energy to carry out the next batch of operations.

[0129] The state acquisition module 20 is configured to 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.

[0130] Altitude and depth information of the first trans-medium aircraft are acquired in real time using sensors such as an altitude sensor and a depth sensor, and the operating state of the first trans-medium aircraft is determined based on the altitude and depth information. In this embodiment, the operating states of the trans-medium aircraft include an aerial flight state, an underwater flight state, and an inoperative state. Specifically, when the trans-medium aircraft switches from an aerial flight state to an underwater flight state, or vice versa, there is a trans-medium phase.

[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 based on the first relative position information and the second relative position information, and combine the underwater three-dimensional space coordinate system, the first relative position information and the second relative position information to obtain the third relative position information of the underwater target relative to the fishing boat.

[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 using the fishing vessel corresponding to the first cross-medium aircraft as the coordinate origin, and the second relative position information is calculated using the first cross-medium aircraft as the coordinate origin. Because there are multiple underwater targets in the deep sea, each underwater target can be assigned an initial first cross-medium aircraft for underwater target tracking. By executing steps S103 and S104 with these cross-medium aircraft, the entire underwater three-dimensional spatial coordinate system can be established, and the third relative position information of each underwater target relative to the fishing vessel can be obtained.

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

[0138] The deep-sea fishing device based on the cross-media aircraft of the present invention utilizes the cross-media 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, that is, the detection blind spot. At the same time, out of consideration for the energy consumption and recovery of the cross-media aircraft during long-term underwater patrols, the cross-media aircraft continuously performs relay handovers, and another batch of cross-media aircraft continues to track the underwater targets after the handover and assists in continuously detecting the detection blind spots of the auxiliary equipment. The cross-media aircraft that has completed its mission and returned can serve as the next batch of cross-media 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 below. 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 via the communication bus 840. The processor 810 may call the logic commands in the memory 830 to execute a deep-sea fishing method based on a cross-medium aircraft, the method including:

[0140] 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; the carrying platforms of the cross-medium aircraft are fishing vessels, each fishing vessel is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing vessel;

[0141] Acquiring altitude information and depth information of the first cross-medium aircraft, and determining an operating state of the first cross-medium aircraft based on the altitude information and the depth information; the operating state includes an airborne state, an underwater diving state, and a stopped operating 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 caused to approach the underwater target and continuously track the underwater target until the distance to the underwater target is always within a preset range;

[0143] 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 spatial coordinate system based on 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 spatial coordinate system, the first relative position information, and the second relative position information;

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

[0145] When it is determined that the reserve energy of the second trans-medium aircraft is lower than a preset value, the second relative position coordinates of the second trans-medium aircraft and the corresponding fishing boat are recorded, and the third trans-medium aircraft is released to move to the second relative position coordinates and connects with the second trans-medium aircraft. 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.

[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 sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or 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 code.

[0147] On the other hand, the present invention further provides a computer program product, comprising a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions. When the program instructions are executed by a computer, the computer is capable of executing 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 vessel does not completely cover the deep-sea fishing area, a preset number of first cross-medium aircraft are released; the carrying platforms of the cross-medium aircraft are fishing vessels, each fishing vessel is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing vessel;

[0149] Acquiring altitude information and depth information of the first cross-medium aircraft, and determining an operating state of the first cross-medium aircraft based on the altitude information and the depth information; the operating state includes an airborne state, an underwater diving state, and a stopped operating 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 caused to approach the underwater target and continuously track the underwater target until the distance to the underwater target is always within a preset range;

[0151] 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 spatial coordinate system based on 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 spatial coordinate system, the first relative position information, and the second relative position information;

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

[0153] When it is determined that the reserve energy of the second trans-medium aircraft is lower than a preset value, the second relative position coordinates of the second trans-medium aircraft and the corresponding fishing boat are recorded, and the third trans-medium aircraft is released to move to the second relative position coordinates and connects with the second trans-medium aircraft. 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.

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

[0155] 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; the carrying platforms of the cross-medium aircraft are fishing vessels, each fishing vessel is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing vessel;

[0156] Acquiring altitude information and depth information of the first cross-medium aircraft, and determining an operating state of the first cross-medium aircraft based on the altitude information and the depth information; the operating state includes an airborne state, an underwater diving state, and a stopped operating 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 caused to approach the underwater target and continuously track the underwater target until the distance to the underwater target is always within a preset range;

[0158] 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 spatial coordinate system based on 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 spatial coordinate system, the first relative position information, and the second relative position information;

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

[0160] When it is determined that the reserve energy of the second trans-medium aircraft is lower than a preset value, the second relative position coordinates of the second trans-medium aircraft and the corresponding fishing boat are recorded, and the third trans-medium aircraft is released to move to the second relative position coordinates and connects with the second trans-medium aircraft. 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.

[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 various embodiments of the present invention.

Claims

1. A deep-sea fishing method based on a cross-medium aircraft, characterized by: The method comprises: 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; the carrying platforms of the cross-medium aircraft are fishing vessels, each fishing vessel is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing vessel; Acquiring altitude information and depth information of the first cross-medium aircraft, and determining an operating state of the first cross-medium aircraft based on the altitude information and the depth information; the operating state includes an airborne state, an underwater diving state, and a stopped operating 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 caused to approach the underwater target and continuously track the underwater target until the distance to the underwater target is always within a preset range; 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 spatial coordinate system based on 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 spatial coordinate system, the first relative position information, and the second relative position information; When it is determined that the first trans-media aircraft has moved to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-media aircraft is lower than a preset value, the first relative position coordinates of the first trans-media aircraft and the corresponding fishing boat are recorded, the second trans-media aircraft is launched to move to the first relative position coordinates and connects with the first trans-media aircraft, and the second trans-media aircraft continues to track the underwater target previously tracked by the first trans-media aircraft based on the third relative position information until the distance between the second trans-media aircraft and the underwater target is always within the preset range, and the first trans-media aircraft returns to the corresponding fishing boat; When it is determined that the reserve energy of the second trans-medium aircraft is lower than a preset value, the second relative position coordinates of the second trans-medium aircraft and the corresponding fishing boat are recorded, and the third trans-medium aircraft is released to move to the second relative position coordinates and connects with the second trans-medium aircraft. 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.

2. The deep-sea fishing method based on a cross-medium aircraft according to claim 1, characterized in that: When determining that the first cross-medium aircraft is in the underwater diving state, obtaining the underwater distance between each first cross-medium aircraft and the underwater target, and causing the first cross-medium aircraft closest to the underwater target 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 includes: 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 directed 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 for the first cross-medium aircraft is generated based on 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; A change in the real-time position is determined, and if the change exceeds a predetermined difference, the tracking instruction is adjusted.

3. The deep-sea fishing method based on a cross-medium aircraft according to claim 2, characterized in that: 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: 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 according to claim 1, characterized in that: The method further comprises: when it is determined that the first trans-media aircraft has moved to the edge of the detection range of the corresponding fishing boat or the energy reserve of the first trans-media aircraft is lower than a preset value, recording the first relative position coordinates of the first trans-media aircraft and the corresponding fishing boat, launching the second trans-media aircraft to move to the first relative position coordinates and connecting with the first trans-media aircraft, and continuously tracking the underwater target previously tracked by the first trans-media aircraft according to the third relative position information until the distance between the second trans-media aircraft and the underwater target is always within the preset range, and the first trans-media aircraft returns to the corresponding fishing boat. 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 energy reserve of the first trans-medium aircraft is lower than a preset value, recording the first relative position coordinates of the first trans-medium aircraft and the corresponding fishing boat; Flying the second cross-medium aircraft to the first relative position coordinate, obtaining 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-media aircraft is in an underwater diving state, capturing an aircraft signal of the first trans-media 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 will be handed over to the first cross-medium aircraft, and the second cross-medium aircraft will continue to track the underwater target previously tracked by the first cross-medium aircraft based on 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 according to 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: Determining the estimated position of underwater targets and determining whether there are cross-medium aircraft within the capture range of the preset position when the total detection range of the fishing vessel does not fully cover the deep-sea fishing area; When it is determined that there are no cross-medium aircraft, the operating distance between each fishing vessel and the expected direction is obtained, and a preset number of first cross-medium aircraft are released by fishing vessels whose operating distance is less than a second preset distance.

6. The deep-sea fishing method based on a cross-medium aircraft according to claim 1, characterized in that: The method further comprises the following steps: Determining second relative position information between the first cross-medium aircraft and the corresponding fishing vessel, and determining the fishing vessel closest to the first relative position coordinates based on 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 coordinate and hand over to 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.

7. The deep-sea fishing method based on a cross-medium aircraft according to 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 needs 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 by: 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 vessel does not completely cover the deep-sea fishing area; the carrying platform of the cross-medium aircraft is a fishing vessel, each fishing vessel is equipped with at least one cross-medium aircraft, and each cross-medium aircraft has a corresponding fishing vessel; a state acquisition module, configured to acquire altitude information and depth information of the first cross-medium aircraft, and determine an operating state of the first cross-medium aircraft based on the altitude information and depth information; the operating state includes an aerial flight state, an underwater diving state, and a stopped operating state; A first tracking module is configured to determine that the first trans-medium aircraft is in an underwater diving state, obtain the underwater distance between each first trans-medium aircraft and the underwater target, and make the first trans-medium aircraft closest to the underwater target approach the underwater target and continuously track the underwater target until the distance to the underwater target is always within a preset range; a coordinate establishment module for obtaining first relative position information between the first cross-medium aircraft and the corresponding fishing vessel, and second relative position information between the first cross-medium aircraft and the underwater target, constructing an underwater three-dimensional spatial coordinate system based on the first relative position information and the second relative position information, and combining the underwater three-dimensional spatial coordinate system, the first relative position information, and the second relative position information to obtain third relative position information of the underwater target relative to the fishing vessel; The second tracking module is used to determine that when the first trans-media aircraft moves to the edge of the detection range of the corresponding fishing boat or the reserve energy of the first trans-media aircraft is lower than a preset value, record the first relative position coordinates of the first trans-media aircraft and the corresponding fishing boat, launch the second trans-media aircraft to move to the first relative position coordinates and transfer to the first trans-media aircraft, and according to the third relative position information, the second trans-media aircraft continues to track the underwater target previously tracked by the first trans-media aircraft until the distance between the second trans-media aircraft and the underwater target is always within the preset range, and the first trans-media aircraft returns to the corresponding fishing boat; The third tracking module is used to determine that the reserve energy of the second trans-media aircraft is lower than a preset value, record the second relative position coordinates of the second trans-media aircraft and the corresponding fishing boat, release the third trans-media aircraft to move to the second relative position coordinates and hand over to the second trans-media aircraft, and the third trans-media aircraft continues to track the underwater target previously tracked by the second trans-media aircraft until the distance between the third trans-media aircraft and the underwater target is always within the preset range, and the second trans-media 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 claimed in any one of claims 1 to 7 are implemented.

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