Trawl net with power net plate and working method of trawl net

Abstract

The invention relates to a trawl net with a power net plate and a working method thereof, relates to the technical field of fishery fishing, and is used for controlling the moving direction and the moving speed of the power net plate through cooperation of a main pushing device and a side pushing device so as to adjust the orientation of a net opening of the trawl net, so that the control of a fishing boat on the trawl net is improved. And the trawl net opening can be adjusted according to the environment condition and the condition of the captured object. The trawl net has the advantages that the fishing efficiency of the trawl net is improved, and the net opening orientation of the trawl net can be adjusted in time.

Description

Technical Field

[0001] The invention relates to the field of fishery fishing technology, in particular to a trawl with a powered net plate and a working method thereof. Background Art

[0002] A trawl is a fishing tool that uses the movement of a ship to drag the net forward on the seabed or in the sea water, forcing the target to be caught into the net to achieve the purpose of fishing.

[0003] In the prior art, a trawl net generally includes a body, a float, a sinker and a mesh plate. The float is used to pull up the upper edge of the mesh opening of the body, the sinker is used to sink the lower edge of the mesh opening of the body, and the mesh plate is used to symmetrically open the edges of the mesh opening of the body. When in use, the trawl net needs to adjust the direction of the mesh opening of the body according to the moving direction of the fishing object. The direction of the mesh opening is generally adjusted by adjusting the sailing direction of the ship, and the draft of the body is adjusted according to the position of the fishing object. The draft is generally adjusted by adjusting the sailing speed of the ship.

[0004] When the wind and waves are strong, the trawl is affected by the wind and waves, making it difficult to adjust the direction of the net mouth, causing the target to escape from the trawl, resulting in low fishing efficiency. Summary of the invention

[0005] In order to improve the fishing efficiency of the trawl net and to timely adjust the direction of the trawl net mouth, the present invention provides a trawl net with a powered net plate and a working method thereof.

[0006] In a first aspect, the present invention provides a method for operating a trawl with a powered net plate, using the following technical solution:

[0007] A method for operating a trawl with a powered net plate, comprising:

[0008] Get sonar information of fish schools;

[0009] Analyze the fish position from the preset fish position analysis model based on the sonar information;

[0010] According to the position of the fish school and the preset preceding position, the direction of the fish school is matched from a preset fish school moving direction matching model, and the position of the fish school is defined as the preceding position;

[0011] According to the direction of the fish school, the trawl direction is matched from the preset trawl direction matching model, and the preset net plate position of the power net plate is obtained;

[0012] Matching the actual orientation from a preset actual orientation matching model according to the position of the stencil;

[0013] According to the trawl direction and the actual direction, a steering position is matched from a preset net board steering position matching model;

[0014] Matching the steering stroke from a preset steering stroke matching model according to the screen position and the steering position;

[0015] The preset power net board is controlled according to the steering stroke to drag the preset trawl net.

[0016] By adopting the above technical solution, the position of the fish school is detected by sonar, and the position of the fish school is recorded according to time to determine the movement direction of the fish school, so as to match the angle required for the trawl net, and then adjust the direction of the trawl net mouth through the power net plate to improve the fishing efficiency of the trawl net.

[0017] Optionally, a trawl net orientation adjustment method is also included, and the trawl net orientation adjustment method includes:

[0018] Get the sailing speed of the fishing boat;

[0019] matching an adjustment speed from a preset adjustment speed matching model according to the sailing speed;

[0020] According to the trawl orientation and the actual orientation, an adjustment angle is matched from a preset adjustment angle matching model;

[0021] When the adjustment angle falls into the preset expansion angle range, the preset power net board is controlled according to the adjustment speed to reach the turning position according to the turning stroke, and the preset power net board is controlled according to the navigation speed to drag the preset trawl.

[0022] By adopting the above technical solution, one of the symmetrical power net plates is controlled to approach the fishing boat to adjust the direction of the trawl net mouth, the power net plate is controlled to change its position at an adjustment speed exceeding the sailing speed, and then the position is maintained at the sailing speed to keep the direction of the trawl net mouth.

[0023] Optionally, the trawl orientation adjustment method further includes:

[0024] When the adjustment angle does not fall within the preset expansion angle range, the adjustment stroke is matched from a preset adjustment stroke matching model according to the adjustment angle and the screen position;

[0025] Matching the adjustment time from a preset adjustment time matching model according to the adjustment stroke and the adjustment speed;

[0026] The preset power grid plate is controlled according to the preset power output method based on the adjustment time and the adjustment stroke.

[0027] By adopting the above technical solution, when the angle of the trawl that needs to be adjusted is too large, the distance required to move the power net plate close to the fishing boat to adjust the angle is long, which can easily cause the two sides of the trawl net mouth to be pulled too long and cause the trawl net mouth to become flat. The deformation of the trawl net mouth can be reduced by adjusting the moving direction of the power net plate.

[0028] Optionally, the trawl orientation adjustment method further includes:

[0029] When the adjustment angle falls into the preset expansion angle range, the retraction length is matched from the preset retraction length matching model according to the steering stroke;

[0030] According to the retraction length and the preset wheel circumference, the retraction number of circles is matched from a preset retraction number matching model;

[0031] When the power net plate reaches the turning position according to the turning stroke, the trawl recovery device preset between the trawl and the fishing boat is controlled to recover the rope according to the number of retraction circles;

[0032] When the adjustment angle does not fall within the preset expansion angle range, the adjustment length is matched from a preset retraction length matching model according to the adjustment stroke;

[0033] Matching the adjustment number of turns from a preset retraction number matching model according to the adjustment length and the preset wheel circumference;

[0034] Based on the situation that the preset power net plate is controlled according to the preset power output method according to the adjustment time and the adjustment stroke, the trawl recovery device preset between the trawl and the fishing boat is controlled to recover the rope according to the adjustment number of circles.

[0035] By adopting the above technical solution, when the position of the powered net plate is adjusted to change the direction of the trawl, the rope on the trawl recovery device arranged between the trawl and the fishing boat is easy to loosen. At this time, the trawl recovery device is controlled to recover the rope to make the rope between the trawl and the fishing boat taut, thereby reducing the need to start the powered net plate to maintain the position, thereby improving the convenience of using the trawl.

[0036] Optionally, a trawl retraction method is also included, and the trawl retraction method includes:

[0037] When the trawl recovery device recovers the rope, obtain the recovery resistance of the recovery process;

[0038] When the recovery resistance exceeds the preset rope force range, the recovery power of the trawl recovery device is obtained;

[0039] Matching the relaxation power from a preset relaxation power matching model according to the recovery power and the recovery resistance;

[0040] The trawl recovery device retrieves the rope according to the preset slack power control.

[0041] By adopting the above technical solution, the recovery resistance is detected to determine whether the rope is in a taut state, and when the recovery resistance is too large, that is, the rope is in a taut state, the power of the trawl recovery device is reduced to reduce the speed at which the trawl recovery device recovers the rope, thereby waiting for the power net plate to move to relax the rope.

[0042] Optionally, the power output method includes:

[0043] According to the adjustment stroke and the adjustment speed, the main push steering and the main push power are matched from the preset main push device adjustment model;

[0044] Match the maintenance power from the preset main propulsion device adjustment model according to the sailing speed;

[0045] Matching the power change parameter from a preset power change parameter matching model according to the main push power, adjustment time and maintenance power;

[0046] According to the power change parameters, the main propulsion device preset on the power grid is controlled to start;

[0047] Matching the steering change parameter from a preset steering change parameter matching model according to the main push steering and the adjustment time;

[0048] Control the direction of the preset main push device according to the steering change parameters;

[0049] Matching the thrust power from a preset thrust device adjustment model according to the adjustment stroke and the adjustment speed;

[0050] The thrust device preset on the power grid is started according to the adjusted time according to the thrust power control.

[0051] By adopting the above technical solution, the moving direction and speed of the net plate are jointly controlled by the main pushing device and the side pushing device, so as to control the power net plate to maintain the position after moving into position, thereby maintaining the direction of the trawl net mouth.

[0052] Optionally, a trawl net opening adjustment method is also included, and the trawl net opening adjustment method includes:

[0053] Match the fish school range from the preset fish school range matching model according to the sonar information;

[0054] According to the range of the fish school, the trawl width is matched from the preset trawl net mouth width matching model;

[0055] According to the width of the trawl, the estimated spacing is matched from the preset mesh plate estimated spacing matching model;

[0056] According to the stencil position, the actual spacing is matched from the preset stencil actual spacing matching model;

[0057] Matching the adjustment spacing from a preset adjustment spacing matching model according to the expected spacing and the actual spacing;

[0058] Matching the adjustment power from a preset adjustment power matching model according to the adjustment interval and the sailing speed;

[0059] The thrusters are activated according to the preset power control settings.

[0060] By adopting the above technical solution, the width of the trawl net opening is controlled by controlling the spacing of the mesh plates, thereby controlling the range of the trawl net opening, so that the trawl net opening can be opened quickly to capture fish schools, thereby improving the convenience of using the trawl net.

[0061] Optionally, a trawl recovery method is also included, and the trawl recovery method includes:

[0062] Matching the offset stroke from a preset offset stroke matching model according to the position of the stencil;

[0063] Matching the offset steering from a preset offset steering matching model according to the offset stroke;

[0064] Matching the offset power from a preset offset power matching model according to the offset travel and the sailing speed;

[0065] The direction of the preset main push device is controlled according to the offset steering, the preset main push device is started according to the offset power, and the preset trawl net recovery device is controlled to recover the trawl net.

[0066] By adopting the above technical solution, the power net plates are controlled to approach each other, so that the ropes between the power net plates and the fishing boat are parallel to the sailing direction of the fishing boat, thereby reducing the resistance of the recovery rope of the trawl recovery device and improving the energy utilization rate of the trawl recovery device.

[0067] In the second aspect, the present application provides a trawl with a powered net plate, which adopts the following technical solution:

[0068] A trawl with powered net panels, using any one of the working methods of a trawl with powered net panels mentioned above, comprises a trawl, on which powered net panels are symmetrically arranged.

[0069] Optionally, the power net panel includes a power net panel main body, a side of the power net panel main body close to the trawl is provided with a full-turn ducted propeller for propelling the power net panel and driving the power net panel to turn, a side of the power net panel main body away from the trawl is provided with a side thruster for controlling the left and right movement of the net, and a control tower for receiving and transmitting signals is also provided on the power net panel main body.

[0070] By adopting the above technical solution, the power net plate is driven to move by the cooperation of the fully rotating ducted propeller and the side thruster, and the real-time coordinates are sent to the fishing boat through the control tower and the instructions from the fishing boat are received, so as to automatically control the opening of the trawl net and adjust the direction of the net mouth.

[0071] In summary, the present application includes at least one of the following beneficial technical effects:

[0072] 1. Use sonar to detect the position of the fish school and record the position of the fish school according to time to determine the movement direction of the fish school, so as to match the angle required for the trawl net, and then adjust the direction of the trawl net mouth through the power net plate to improve the fishing efficiency of the trawl net;

[0073] 2. Control one of the symmetrical power net plates to approach the fishing boat to adjust the direction of the trawl net opening, control the power net plate to change position at an adjustment speed exceeding the sailing speed, and then maintain the position at the sailing speed to maintain the direction of the trawl net opening;

[0074] 3. By controlling the spacing of the mesh plates to control the width of the trawl net opening, and then controlling the range of the trawl net opening, the trawl net opening can be opened quickly to capture fish schools, thereby improving the convenience of using the trawl net. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 It is a schematic diagram of the structure of a trawl with a powered net board;

[0076] Figure 2 It is a structural diagram of the power grid plate;

[0077] Figure 3 It is a method of working a trawl with a powered net board;

[0078] Figure 4 is a flow chart of the trawl orientation adjustment method;

[0079] Figure 5 is a flow chart of the trawl orientation adjustment method;

[0080] Figure 6 is a flow chart of the trawl orientation adjustment method;

[0081] Figure 7 is a flow chart of the trawl retraction method;

[0082] Figure 8 is a flow chart of the power output method;

[0083] Fig. 9 It is a flow chart of the method for adjusting the trawl net mouth;

[0084] Fig.10 is a flow chart of the trawl recovery method.

[0085] The names of the parts indicated by the numerical symbols in the above drawings are as follows: 10, trawl; 20, power net board; 21, power net board body; 22, fully rotating ducted propeller; 23, side thruster; 24, control tower. DETAILED DESCRIPTION

[0086] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0087] The embodiment of the present application discloses a trawl with a powered mesh plate and a working method thereof. The present invention is used to control the moving direction and moving speed of the powered mesh plate through the cooperation of a main thrust device and a side thrust device to adjust the orientation of the trawl net opening, thereby improving the control of the trawl by the fishing vessel, and further adjusting the trawl net opening according to environmental conditions and the situation of the captured object.

[0088] Reference Figure 1 and Figure 2 A trawl with a power net plate, comprising two power net plates 20 connected to the trawl 10 and arranged symmetrically, the power net plates 20 comprising a net plate body 21, each of which is equipped with an azimuth ducted propeller 22 for propulsion and steering, a bow thruster 23 for controlling the left and right movement and steering of the net plate 20 together with the azimuth ducted propeller 22, and a control tower 24 for receiving and transmitting signals. The net plate body 21 is located below the water surface, and the control tower 24 is always above the water surface. The control tower 24 of each power net plate 20 can send the real-time coordinates of the power net plate 20 to the mother ship and receive instructions from the mother ship, and then the control tower 24 controls the movement of the net plate 20 according to the instructions sent by the mother ship.

[0089] Reference Figure 3 Based on the same inventive concept, an embodiment of the present invention provides a working method of a trawl with a powered net plate, comprising the following steps:

[0090] Step 100: Obtain sonar information of fish schools.

[0091] Sonar information refers to the feedback sound wave information obtained through the fish finder. The method of obtaining sonar information is selected by the staff based on actual conditions and will not be elaborated here.

[0092] Step 101: Analyze the position of the school of fish from a preset fish position analysis model based on the sonar information.

[0093] The fish school position analysis model refers to a neural network model obtained through sample training in advance. The fish school position analysis model can analyze the range of the fish school from the sonar information and use the coordinate position of the center of the fish school as the current fish school position, where the coordinate position refers to the coordinate in the coordinate system established with the fishing boat as the origin. The way to establish the coordinate system is selected by the staff according to the actual situation and will not be elaborated here.

[0094] Step 102: Match the movement direction from a preset fish school movement direction matching model according to the fish school position and the preset previous position, and define the fish school position as the previous position.

[0095] The previous position refers to the position of the fish school detected by the fish school detector in the previous detection cycle. The fish school detector generally sends and receives sound waves at a fixed period to detect fish schools. The method of obtaining the previous position is selected by the staff according to the actual situation and will not be elaborated here.

[0096] The fish school movement direction matching model refers to a neural network model obtained through sample training in advance. The fish school movement direction matching model can match the most possible movement direction of the fish school according to the change from the previous position to the position of the fish school.

[0097] Step 103: Match the trawl direction from a preset trawl direction matching model according to the direction of the fish school, and obtain the preset net plate position of the power net plate.

[0098] The trawl direction matching model refers to a neural network model obtained through sample training in advance. The trawl direction matching model can match the trawl direction with the highest capture rate, that is, the direction opposite to the direction of the fish school.

[0099] The net plate position refers to the current coordinate position of the power net plate in the coordinate system established with the fishing boat as the origin. The net plate position can be obtained through the control tower 24. The method for obtaining the net plate position is selected by the staff according to the actual situation and will not be elaborated here.

[0100] Step 104: Match the actual orientation from a preset actual orientation matching model according to the position of the screen.

[0101] The actual direction matching model refers to a neural network model obtained through sample training in advance. The actual direction matching model can match the actual direction of the net mouth of the underwater trawl according to the position information of the two power net plates.

[0102] Step 105: Match the turning position from a preset net plate turning position matching model according to the trawl direction and the actual direction.

[0103] The mesh plate steering position matching model refers to a neural network model obtained through sample training in advance. The mesh plate steering position matching model can match the steering position that the power mesh plate needs to reach in order to turn the trawl net mouth from the actual direction to the desired trawl direction.

[0104] Step 106: Match the steering stroke from a preset steering stroke matching model according to the screen position and the steering position.

[0105] The steering stroke matching model refers to a neural network model obtained in advance through sample training. The steering stroke matching model can match the steering stroke of the power grid from the current grid position to the desired steering position.

[0106] Step 107: Control the preset power net board to drag the preset trawl net according to the steering stroke.

[0107] The direction of the trawl is controlled by controlling the position of the power net plate, and then the direction of the trawl mouth is controlled to maintain the direction of the trawl, thereby improving the efficiency of trawl fishing.

[0108] Reference Figure 4 , the trawl orientation adjustment method comprises the following steps:

[0109] Step 200: Obtain the sailing speed of the fishing boat.

[0110] The sailing speed refers to the actual sailing speed information of the fishing vessel. The method of obtaining the sailing speed is selected by the staff according to the actual situation and will not be elaborated here.

[0111] Step 201: Matching an adjustment speed from a preset adjustment speed matching model according to the navigation speed.

[0112] The adjustment speed matching model refers to a neural network model obtained through sample training in advance. The adjustment speed matching model can match the adjustment speed required for the power net plate to approach the fishing boat when it is towed by the fishing boat at sailing speed.

[0113] Step 202: matching an adjustment angle from a preset adjustment angle matching model according to the trawl orientation and the actual orientation.

[0114] The adjustment angle matching model refers to a neural network model obtained through sample training in advance. The adjustment angle matching model can calculate the difference between the expected trawl direction and the actual direction and define it as the adjustment angle.

[0115] Step 203: When the adjustment angle falls into the preset expansion angle range, the preset power net board is controlled to reach the turning position according to the turning stroke according to the adjustment speed, and the preset power net board is controlled to drag the preset trawl according to the navigation speed.

[0116] The expansion angle range refers to the adjustment angle range in which the shape of the trawl net mouth changes less. When the power net plate approaches the fishing boat to adjust the direction of the trawl net mouth, the distance between the two power net plates tends to become longer, thereby causing the width of the net mouth to increase. When the adjustment angle is too large, it is easy to cause the net mouth to deform. The expansion angle range is selected by the staff according to actual conditions and will not be elaborated here.

[0117] The adjustment angle falling into the expansion angle range indicates that the net mouth changes little at this time. At this time, one of the two powered net plates is controlled to adjust the speed to approach the fishing boat to adjust the direction of the trawl net mouth, and then the powered net plate is controlled to keep synchronous movement with the fishing boat at the sailing speed, so that the trawl net maintains the direction of the net mouth.

[0118] Reference Figure 5 The trawl orientation adjustment method further comprises the following steps:

[0119] Step 204: When the adjustment angle does not fall within the preset expansion angle range, the adjustment stroke is matched from a preset adjustment stroke matching model according to the adjustment angle and the screen position.

[0120] If the adjustment angle does not fall within the expansion angle range, it means that the shape of the net mouth changes greatly, which may easily lead to the escape of the captured object from the trawl. The adjustment stroke matching model refers to a neural network model obtained through sample training in advance. The adjustment stroke matching model can match the adjustment stroke of rotating the trawl mouth according to the adjustment angle through the power net plate while maintaining the width of the trawl mouth.

[0121] Step 205: Matching the adjustment time from a preset adjustment time matching model according to the adjustment stroke and the adjustment speed.

[0122] The adjustment time matching model refers to a neural network model obtained through sample training in advance. The adjustment time matching model can match the adjustment time required for the power grid plate to move according to the adjustment stroke at the adjustment speed.

[0123] Step 206: Control the preset power grid plate according to the preset power output method based on the adjustment time and the adjustment stroke.

[0124] The power output method refers to a method for controlling the movement of the power mesh plate, which adjusts the moving direction and speed of the power mesh plate by controlling the power output of the power mesh plate, thereby adjusting the mesh port direction while keeping the mesh port width unchanged.

[0125] Reference Figure 6 The trawl orientation adjustment method further comprises the following steps:

[0126] Step 207: When the adjustment angle falls into the preset expansion angle range, the retraction length is matched from the preset retraction length matching model according to the steering stroke.

[0127] The retraction length matching model refers to a neural network model obtained through sample training in advance. The retraction length matching model can match the shortened distance between the power net plate and the fishing boat after the power net plate moves according to the steering stroke, and define this distance as the retraction length.

[0128] Step 208: matching the number of retraction turns from a preset retraction turn number matching model according to the retraction length and the preset wheel circumference.

[0129] Trawl recovery device refers to the device used to recover the trawl net to harvest the fish. Trawl recovery device generally includes a winch and a rope. One end of the rope is fixed to the winch, and the other end of the rope is fixed to the power net board. The winch rotates to control the length of the rope and thus the distance between the power net board and the fishing boat. The trawl recovery device is selected by the staff according to the actual situation, and will not be described here. The circumference of the rotor refers to the circumference of the drum of the winch. The method of obtaining the circumference of the rotor is selected by the staff according to the actual situation, and will not be described here.

[0130] The retraction circle number matching model refers to a neural network model obtained through sample training in advance. The retraction circle number matching model can match the number of retraction circles required to be rotated to retract the rope through the rope winch to retract the length.

[0131] Step 209: When the power net plate reaches the turning position according to the turning stroke, the trawl recovery device preset between the trawl and the fishing boat is controlled to recover the rope according to the number of retraction circles.

[0132] When the power net board reaches the turning position, the rope is relaxed. At this time, the rope is recovered by the winch to make the rope tight again, thereby reducing the situation where the power net board maintains the direction of the trawl net mouth according to the sailing speed, thereby improving the energy utilization rate of the power net board.

[0133] Step 210: When the adjustment angle does not fall within the preset expansion angle range, the adjustment length is matched from a preset retraction length matching model according to the adjustment stroke.

[0134] The adjusted length is the distance shortened between the power net plate and the fishing boat after the power net plate matched in the retraction length matching model moves according to the adjustment stroke.

[0135] Step 211: matching the adjustment number of turns from a preset retraction number matching model according to the adjustment length and the preset wheel circumference.

[0136] The number of adjustment turns is the number of adjustment turns required to retract the rope through the winch machine to adjust the length, which is matched by the retraction turn matching model.

[0137] Step 212: Based on the situation that the preset power net plate is controlled according to the preset power output method according to the adjustment time and the adjustment stroke, the trawl recovery device preset between the trawl and the fishing boat is controlled to recover the rope according to the adjustment number of turns.

[0138] When the power net board moves according to the adjustment stroke, the rope is relaxed. At this time, the rope is recovered by the winch to make the rope tight again, thereby reducing the situation where the power net board maintains the direction of the trawl net mouth according to the sailing speed, thereby improving the energy utilization rate of the power net board.

[0139] Reference Figure 7 , the trawl retraction method comprises the following steps:

[0140] Step 300: When the trawl recovery device recovers the rope, the recovery resistance of the recovery process is obtained.

[0141] Recovery resistance refers to the resistance encountered when the rope winch rotates to recover the rope. The method of obtaining the recovery resistance is selected by the staff according to the actual situation and will not be elaborated here.

[0142] Step 301: When the recovery resistance exceeds a preset rope force range, the recovery power of the trawl recovery device is obtained.

[0143] The rope force range refers to the resistance range of the retrieval rope when the rope is in a relaxed state. The rope force range is selected by the staff according to the actual situation and will not be described here. If the retrieval resistance exceeds the rope force range, it means that the rope is still in a taut state.

[0144] Recovery power refers to the actual working power of the trawl recovery device. The method of obtaining the recovery power is selected by the staff according to the actual situation and will not be elaborated here.

[0145] Step 302: Match the relaxation power from a preset relaxation power matching model according to the recovery power and the recovery resistance.

[0146] The relaxed power matching model refers to a neural network model obtained through sample training in advance. The relaxed power matching model can match the appropriate recovery speed of the trawl recovery device according to the recovery resistance, where the appropriate recovery speed means that a lower recovery speed is used when the recovery resistance is large, and a higher recovery speed is used when the recovery resistance is small, and the relaxed power is matched to make the trawl recovery device rotate according to the recovery speed.

[0147] Step 303: Control the preset trawl recovery device to recover the rope according to the release power.

[0148] When the rope is still in a taut state, the energy utilization rate of the trawl recovery device is improved by reducing the rotation speed of the trawl recovery device to wait for the power net plate to get closer to the fishing boat so that the rope can be relaxed.

[0149] Reference Figure 8 , the power output method comprises the following steps:

[0150] Step 400: Match the main push steering and the main push power from a preset main push device adjustment model according to the adjustment stroke and the adjustment speed.

[0151] The main propulsion device refers to a power device arranged on the power mesh plate and used to drive the power mesh plate. In this embodiment, the main propulsion device adopts a fully rotating ducted propeller 22. The main propulsion device is selected by the staff according to actual conditions and will not be described in detail here.

[0152] The side thrust device refers to a power device arranged on the power mesh plate and used to drive the power mesh plate. In this embodiment, the side thrust device adopts a side thruster 23. The side thrust device is selected by the staff according to actual conditions and will not be described in detail here.

[0153] The main thrust device adjustment model refers to a neural network model obtained in advance through sample training. The main thrust device adjustment model can match the required moving direction of the power grid plate during the adjustment stroke, and calculate the main thrust steering required by the main thrust device and the main thrust power required by the main thrust device when the main thrust device and the side thrust device cooperate to output power that is opposite to the moving direction and reaches the adjustment speed.

[0154] Step 401: Match the maintenance power from the preset main propulsion device adjustment model according to the navigation speed.

[0155] The maintenance power is the power matched from the main propulsion device adjustment model to enable the power grid board to reach the sailing speed.

[0156] Step 402: Match the power change parameter from a preset power change parameter matching model according to the main push power, adjustment time and maintenance power.

[0157] The power change parameter matching model refers to a neural network model obtained in advance through sample training. The power change parameter matching model can combine the main push power, adjustment time and maintenance power to obtain the power change parameters for controlling the working power of the main push device.

[0158] Step 403: Control the main propulsion device preset on the power grid board to start according to the power change parameter.

[0159] The power variation parameters are used to control the main propulsion device to start working at the main propulsion power to adjust the time, and then continue working at the maintenance power, so that the power net plate reaches the target position according to the adjustment speed and maintains its relative position with the fishing boat at the navigation speed.

[0160] Step 404: Match the steering change parameter from a preset steering change parameter matching model according to the main push steering and the adjustment time.

[0161] The steering change parameter matching model refers to a neural network model obtained in advance through sample training. The steering change parameter matching model can combine the main push steering and the adjustment time to obtain the steering change parameters for controlling the steering of the main push device.

[0162] Step 405: Control the direction of the preset main push device according to the steering change parameter.

[0163] The steering change parameter is used to control the main propulsion device to adjust its direction according to the main propulsion steering and maintain the adjustment time, and then return to its original position according to the main propulsion steering, so that the power net plate reaches the target position according to the adjustment speed and maintains its relative position with the fishing boat at the navigation speed, wherein the steering change parameter and the power change parameter synchronously control the main propulsion device.

[0164] Step 406: Match the thruster power from a preset thruster adjustment model according to the adjustment stroke and the adjustment speed.

[0165] The side thruster adjustment model refers to a neural network model obtained in advance through sample training. The side thruster adjustment model can match the required moving direction of the power grid plate in the adjustment stroke, and calculate the side thruster power that the side thruster needs to output when the side thruster and the side thruster cooperate to output power that is opposite to the moving direction and reaches the adjustment speed.

[0166] Step 407: The thruster device preset on the power grid is started according to the adjusted time according to the thruster power control.

[0167] The side push device provides lateral power to the power mesh plate, thereby facilitating the adjustment of the left and right positions of the power mesh plate, and can cooperate with the main push device to give the power mesh plate greater power.

[0168] Reference Fig. 9 , the trawl net mouth adjustment method comprises the following steps:

[0169] Step 500: Match the fish school range from a preset fish school range matching model according to the sonar information.

[0170] The fish school range matching model refers to a neural network model obtained through sample training in advance. The fish school range matching model can match the fish school range of the capture object from the sonar information.

[0171] Step 501: matching the trawl width from a preset trawl opening width matching model according to the fish school range.

[0172] The trawl net mouth width matching model refers to a neural network model obtained through sample training in advance. The trawl net mouth width matching model can match the trawl net mouth shape with the highest capture efficiency for the capture objects within the range of fish schools, and extract the trawl width of the trawl net mouth shape.

[0173] Step 502: matching the expected spacing from a preset mesh plate expected spacing matching model according to the trawl width.

[0174] The predicted mesh plate spacing matching model refers to a neural network model obtained through sample training in advance. The predicted mesh plate spacing matching model can match the predicted spacing between the power mesh plates when the trawl net mouth reaches the trawl net width.

[0175] Step 503: Match the actual spacing from a preset stencil actual spacing matching model according to the stencil position.

[0176] The actual mesh spacing matching model refers to a neural network model obtained through sample training in advance. The actual mesh spacing matching model can match the actual spacing between the two power mesh plates according to the positions of the two power mesh plates.

[0177] Step 504: Match the adjusted spacing from a preset adjusted spacing matching model according to the expected spacing and the actual spacing.

[0178] The adjustment spacing matching model refers to a neural network model obtained through sample training in advance. The adjustment spacing matching model can calculate the difference between the expected spacing and the actual spacing and define it as the adjustment spacing.

[0179] Step 505: Match the adjustment power from a preset adjustment power matching model according to the adjustment interval and the navigation speed.

[0180] The adjustment power matching model refers to a neural network model obtained in advance through sample training. The adjustment power matching model can match the adjustment power required for the thruster to work when the power net plate moves according to the adjustment spacing under the towing of a fishing boat at a sailing speed.

[0181] Step 506: Start the preset thruster according to the adjusted power control.

[0182] The side thrust device outputs power on the side of the power net plate, thereby driving the power net plate to move left and right, and then adjusting the spacing of the power net plates to adjust the width of the trawl net opening.

[0183] Reference Fig.10 , the trawl recovery method comprises the following steps:

[0184] Step 600: matching the offset stroke from a preset offset stroke matching model according to the screen position.

[0185] The offset stroke matching model refers to a neural network model obtained through sample training in advance. The offset stroke matching model can match the offset stroke that the power net needs to move to make the extension direction of the rope on the power net parallel to the navigation direction of the fishing boat.

[0186] Step 601: Match the offset steering from a preset offset steering matching model according to the offset stroke.

[0187] The offset steering matching model refers to a neural network model obtained in advance through sample training. The offset steering matching model can match the moving direction of the power grid plate during the offset stroke, and match the offset steering required to turn the main push device to the direction opposite to the moving direction.

[0188] Step 602: Match the offset power from a preset offset power matching model according to the offset distance and the sailing speed.

[0189] The offset power matching model refers to a neural network model obtained through sample training in advance. The offset power matching model can match the offset power required for the power net plate to move according to the offset stroke when being towed by a fishing boat at a sailing speed.

[0190] Step 603: Control the direction of the preset main push device according to the offset steering, control the preset main push device to start according to the offset power, and control the preset trawl net recovery device to recover the trawl net.

[0191] The extension direction of the rope on the power net plate from the end close to the fishing boat to the end far from the fishing boat generally spreads out in a trumpet shape. When the trawl is recovered by the trawl recovery device, it is easy to cause the force of the trawl recovery device acting on the rope to be dispersed. The main thrust device is used to make the extension direction of the rope parallel to the navigation direction of the fishing boat to reduce the dispersion of the force of the trawl recovery device.

[0192] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for operating a trawl with a powered net, characterized in that: include: Get sonar information of fish schools; Analyze the fish position from the preset fish position analysis model based on the sonar information; According to the position of the fish school and the preset preceding position, the direction of the fish school is matched from a preset fish school moving direction matching model, and the position of the fish school is defined as the preceding position; According to the direction of the fish school, the trawl direction is matched from the preset trawl direction matching model, and the preset net plate position of the power net plate is obtained; Matching the actual orientation from a preset actual orientation matching model according to the position of the stencil; According to the trawl direction and the actual direction, a steering position is matched from a preset net board steering position matching model; Matching the steering stroke from a preset steering stroke matching model according to the screen position and the steering position; The preset power net board is controlled according to the steering stroke to drag the preset trawl net.

2. A method for operating a trawl with a powered net according to claim 1, characterized in that: The invention also includes a trawl net orientation adjustment method, wherein the trawl net orientation adjustment method comprises: Get the sailing speed of the fishing boat; matching an adjustment speed from a preset adjustment speed matching model according to the sailing speed; According to the trawl orientation and the actual orientation, an adjustment angle is matched from a preset adjustment angle matching model; When the adjustment angle falls into the preset expansion angle range, the preset power net board is controlled according to the adjustment speed to reach the turning position according to the turning stroke, and the preset power net board is controlled according to the navigation speed to drag the preset trawl.

3. A method for operating a trawl with a powered net according to claim 2, characterized in that: The trawl orientation adjustment method further comprises: When the adjustment angle does not fall within the preset expansion angle range, the adjustment stroke is matched from a preset adjustment stroke matching model according to the adjustment angle and the screen position; Matching the adjustment time from a preset adjustment time matching model according to the adjustment stroke and the adjustment speed; The preset power grid plate is controlled according to the preset power output method based on the adjustment time and the adjustment stroke.

4. A method for operating a trawl with a powered net according to claim 3, characterized in that: The trawl orientation adjustment method further comprises: When the adjustment angle falls into the preset expansion angle range, the retraction length is matched from the preset retraction length matching model according to the steering stroke; According to the retraction length and the preset wheel circumference, the retraction number of circles is matched from a preset retraction number matching model; When the power net plate reaches the turning position according to the turning stroke, the trawl recovery device preset between the trawl and the fishing boat is controlled to recover the rope according to the number of retraction circles; When the adjustment angle does not fall within the preset expansion angle range, the adjustment length is matched from a preset retraction length matching model according to the adjustment stroke; Matching the adjustment number of turns from a preset retraction number matching model according to the adjustment length and the preset wheel circumference; Based on the situation that the preset power net plate is controlled according to the preset power output method according to the adjustment time and the adjustment stroke, the trawl recovery device preset between the trawl and the fishing boat is controlled to recover the rope according to the adjustment number of circles.

5. A method for operating a trawl with a powered net according to claim 4, characterized in that: Also included is a trawl retraction method, the trawl retraction method comprising: When the trawl recovery device recovers the rope, obtain the recovery resistance of the recovery process; When the recovery resistance exceeds the preset rope force range, the recovery power of the trawl recovery device is obtained; Matching the relaxation power from a preset relaxation power matching model according to the recovery power and the recovery resistance; The trawl recovery device retrieves the rope according to the preset slack power control.

6. A method for operating a trawl with a powered net according to claim 3, characterized in that: The power output method comprises: According to the adjustment stroke and the adjustment speed, the main push steering and the main push power are matched from the preset main push device adjustment model; Match the maintenance power from the preset main propulsion device adjustment model according to the sailing speed; Matching the power change parameter from a preset power change parameter matching model according to the main push power, adjustment time and maintenance power; According to the power change parameters, the main propulsion device preset on the power grid is controlled to start; Matching the steering change parameter from a preset steering change parameter matching model according to the main push steering and the adjustment time; Control the direction of the preset main push device according to the steering change parameters; Matching the thrust power from a preset thrust device adjustment model according to the adjustment stroke and the adjustment speed; The thrust device preset on the power grid is started according to the adjusted time according to the thrust power control.

7. A method for operating a trawl with a powered net according to claim 6, characterized in that: The invention also includes a method for adjusting the trawl net opening, wherein the method for adjusting the trawl net opening includes: Match the fish school range from the preset fish school range matching model according to the sonar information; According to the range of the fish school, the trawl width is matched from the preset trawl net mouth width matching model; According to the width of the trawl, the estimated spacing is matched from the preset mesh plate estimated spacing matching model; According to the stencil position, the actual spacing is matched from the preset stencil actual spacing matching model; Matching the adjustment spacing from a preset adjustment spacing matching model according to the expected spacing and the actual spacing; Matching the adjustment power from a preset adjustment power matching model according to the adjustment interval and the sailing speed; The thrusters are activated according to the preset power control settings.

8. A method for operating a trawl with a powered net according to claim 6, characterized in that: Also included is a trawl recovery method, the trawl recovery method comprising: Matching the offset stroke from a preset offset stroke matching model according to the position of the stencil; Matching the offset steering from a preset offset steering matching model according to the offset stroke; Matching the offset power from a preset offset power matching model according to the offset travel and the sailing speed; The direction of the preset main push device is controlled according to the offset steering, the preset main push device is started according to the offset power, and the preset trawl net recovery device is controlled to recover the trawl net.

9. A trawl with a powered net, using a working method of a trawl with a powered net as claimed in any one of claims 1 to 8, comprising a trawl (10), characterized in that: Power net plates (20) are symmetrically arranged on the trawl (10).

10. A trawl with a powered net panel according to claim 9, characterized in that: The power net plate (20) comprises a power net plate body (21), a side of the power net plate body (21) close to the trawl (10) is provided with an omni-rotating ducted propeller (22) for propelling the power net plate (20) and driving the power net plate (20) to turn, a side of the power net plate body (21) away from the trawl (10) is provided with a side thruster (23) for controlling the left and right movement of the net plate, and a control tower (24) for receiving and transmitting signals is also provided on the power net plate body (21).

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