A trawl with a powered net panel and method of operation thereof

Abstract

The application relates to a trawl with a power net plate and a working method thereof, and relates to the field of fishing technology. The application is used for adjusting the orientation of a trawl mouth by cooperating with a main pushing device and a side pushing device to control the moving direction and moving speed of the power net plate, so that the control of a fishing boat on the trawl is improved, and then the trawl mouth can be adjusted according to the environmental conditions and the conditions of the captured objects. The application has the effects of improving the fishing efficiency of the trawl and timely adjusting the orientation of the trawl mouth.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fishing technology, in particular to a trawl with a powered net board and a working method thereof. BACKGROUND

[0002] The trawl is a fishing tool that uses the movement of a ship to drag a net forward on the seabed or in the sea, forcing the catch to enter the net bag, achieving the purpose of fishing.

[0003] In the prior art, the trawl generally includes a body, a float, a sinker, and a net board. The float is used to pull up the upper edge of the net opening of the body, the sinker is used to sink the lower edge of the net opening of the body, and the net board is used to symmetrically pull apart the two side edges of the net opening of the body. When using the trawl, the orientation of the net opening of the body needs to be adjusted according to the moving direction of the catch, and the orientation of the net 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 catch, and the draft is generally adjusted by adjusting the sailing speed of the ship.

[0004] When the wind and waves are large, the trawl is affected by the wind and waves, making it difficult to adjust the orientation of the net opening, resulting in the escape of the catch from the trawl, and further resulting in a low efficiency of fishing. SUMMARY

[0005] In order to improve the efficiency of fishing of the trawl and timely adjust the orientation of the net opening of the trawl, the present application provides a trawl with a powered net board and a working method thereof.

[0006] In a first aspect, the present application provides a working method of a trawl with a powered net board, which adopts the following technical solution:

[0007] A working method of a trawl with a powered net board, comprising:

[0008] Obtaining sonar information of a fish school;

[0009] Analyzing the position of the fish school from a preset fish school position analysis model according to the sonar information;

[0010] Matching the direction of the fish school from a preset fish school moving direction matching model according to the position of the fish school and a preset previous position, and defining the position of the fish school as the previous position;

[0011] Matching the orientation of the trawl from a preset trawl orientation matching model according to the direction of the fish school, and obtaining the net board position of the preset powered net board;

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

[0013] Matching the turning position from a preset net board turning position matching model according to the orientation of the trawl and the actual orientation;

[0014] According to the net plate position and the steering position, a steering stroke is matched from a preset steering stroke matching model;

[0015] According to the steering stroke, a preset power net plate drags a preset dragnet.

[0016] By adopting the above technical solution, the fish school position is detected by the sonar, and the fish school position is recorded according to time to judge the moving direction of the fish school, so that the angle required by the dragnet is matched, and then the net opening direction of the dragnet is adjusted by the power net plate, thereby improving the efficiency of the dragnet.

[0017] Optionally, the method further comprises a dragnet direction adjustment method, and the dragnet direction adjustment method comprises:

[0018] The sailing speed of the fishing boat is obtained;

[0019] According to the sailing speed, an adjustment speed is matched from a preset adjustment speed matching model;

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

[0021] When the adjustment angle falls within a preset expansion angle interval, according to the adjustment speed, the preset power net plate reaches the steering position according to the steering stroke, and according to the sailing speed, the preset power net plate drags the preset dragnet.

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

[0023] Optionally, the dragnet direction adjustment method further comprises:

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

[0025] According to the adjustment stroke and the adjustment speed, an adjustment time is matched from a preset adjustment time matching model;

[0026] According to the adjustment time and the adjustment stroke, the preset power net plate is controlled according to a preset power output method.

[0027] By adopting the above technical solution, when the angle required by the dragnet is too large, the power net plate is controlled to move close to the fishing boat to adjust the distance required to move at the angle, which is easy to cause the two sides of the net opening of the dragnet to be pulled too long and thus the net opening of the dragnet to be flat, and the moving direction of the power net plate is adjusted to reduce the deformation of the net opening of the dragnet.

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

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

[0030] The retraction number of turns is matched from the preset retraction number of turns matching model according to the retraction length and the preset circumference of the reel;

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

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

[0033] The adjustment number of turns is matched from the preset retraction number of turns matching model according to the adjustment length and the preset circumference of the reel;

[0034] Based on the preset power output method according to the adjustment time and the adjustment stroke, the rope of the trawl recovery device preset between the trawl and the fishing boat is recovered according to the adjustment number of turns.

[0035] By adopting the above technical solution, after the position of the power net plate is adjusted to change the orientation of the trawl, the rope on the trawl recovery device preset between the trawl and the fishing boat is easily loosened, and at this time the trawl recovery device is controlled to recover the rope so as to tighten the rope between the trawl and the fishing boat, thereby reducing the need for the power net plate to be started to maintain the position, and further improving the convenience of using the trawl.

[0036] Optionally, it further comprises a trawl retraction method, the trawl retraction method comprising:

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

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

[0039] The loosening power is matched from the preset loosening power matching model according to the recovery power and the recovery resistance;

[0040] The preset trawl recovery device is controlled to recover the rope according to the loosening power.

[0041] By adopting the technical scheme, whether the rope is in a taut state is determined by detecting the recovery resistance, and the power of the trawl recovery device is reduced to reduce the speed of the trawl recovery device recovering the rope when the recovery resistance is too large, i.e., the rope is in a taut state, so as to wait for the movement of the power net plate to relax the rope.

[0042] Optionally, the power output method comprises:

[0043] The main pushing steering and the main pushing power are matched from the preset main pushing device adjustment model according to the adjustment distance and the adjustment speed;

[0044] The maintaining power is matched from the preset main pushing device adjustment model according to the sailing speed;

[0045] The power change parameter is matched from the preset power change parameter matching model according to the main pushing power, the adjustment time and the maintaining power;

[0046] The preset main pushing device on the power net plate is controlled to start according to the power change parameter;

[0047] The steering change parameter is matched from the preset steering change parameter matching model according to the main pushing steering and the adjustment time;

[0048] The orientation of the preset main pushing device is controlled according to the steering change parameter;

[0049] The side pushing power is matched from the preset side pushing device adjustment model according to the adjustment distance and the adjustment speed;

[0050] The preset side pushing device on the power net plate is controlled to start according to the side pushing power and the adjustment time.

[0051] By adopting the technical scheme, the moving direction and the moving speed of the net plate are controlled by the main pushing device and the side pushing device, so that the position of the power net plate is kept after the power net plate moves to the position, and the trawl mouth direction is kept.

[0052] Optionally, the method further comprises a trawl mouth adjustment method, and the trawl mouth adjustment method comprises:

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

[0054] The trawl width is matched from the preset trawl mouth width matching model according to the fish school range;

[0055] The expected distance is matched from the preset net plate expected distance matching model according to the trawl width;

[0056] The actual distance is matched from the preset net plate actual distance matching model according to the net plate position;

[0057] According to the expected distance and the actual distance, an adjustment distance is matched from a preset adjustment distance matching model;

[0058] According to the adjustment distance and the sailing speed, an adjustment power is matched from a preset adjustment power matching model;

[0059] The preset side push device is controlled according to the adjustment power.

[0060] By using the above technical solution, the width of the trawl net mouth is controlled by controlling the distance between the net plates, and then the range of the trawl net mouth is controlled, so that the trawl net mouth is quickly opened to capture the fish school, and then the convenience of using the trawl net is improved.

[0061] Optionally, the trawl net recovery method further comprises:

[0062] According to the net plate position, an offset stroke is matched from a preset offset stroke matching model;

[0063] According to the offset stroke, an offset turning is matched from a preset offset turning matching model;

[0064] According to the offset stroke and the sailing speed, an offset power is matched from a preset offset power matching model;

[0065] According to the offset turning, the orientation of the preset main push device is controlled, according to the offset power, the preset main push device is started, and the preset trawl net recovery device is controlled to recover the trawl net.

[0066] By using the above technical solution, the power net plates are controlled to move close to 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, and then the resistance of the trawl net recovery device to recover the ropes is reduced, and the energy utilization rate of the trawl net recovery device is improved.

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

[0068] A trawl net with a power net plate, which applies a working method of any one of the above-mentioned trawl nets with a power net plate, comprising a trawl net, and the trawl net is symmetrically provided with a power net plate.

[0069] Optionally, the power net plate comprises a power net plate body, a full-rotation duct propeller for propelling and turning the power net plate is arranged on the side of the power net plate body close to the trawl net, a side pusher for controlling the left and right movement of the net plate is arranged on the side of the power net plate body away from the trawl net, and a control tower for receiving and transmitting signals is further arranged on the power net plate body.

[0070] By adopting the above technical scheme, the full-rotation ducted propeller and the side thruster are used to drive the power net plate to move, the tower sends real-time coordinates to the fishing boat and receives instructions sent by the fishing boat, so as to automatically control the opening of the trawl net and adjust the orientation of the net mouth.

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

[0072] 1. The fish school position is detected by the sonar, and the fish school position is recorded according to time to determine the moving direction of the fish school, so as to match the angle required by the trawl net to be oriented, and then the orientation of the net mouth of the trawl net is adjusted by the power net plate, thereby improving the efficiency of trawling;

[0073] 2. One of the symmetrical power net plates is controlled to be close to the fishing boat to adjust the orientation of the net mouth of the trawl net, the power net plate is controlled to change the position at an adjustment speed exceeding the sailing speed, and then the position is maintained at the sailing speed to keep the orientation of the net mouth of the trawl net;

[0074] 3. The distance between the net plates is controlled to control the width of the net mouth of the trawl net, thereby controlling the range of the net mouth of the trawl net, so that the net mouth of the trawl net is quickly opened to capture the fish school, thereby improving the convenience of using the trawl net. BRIEF DESCRIPTION OF DRAWINGS

[0075] Figure 1 is a structural schematic diagram of a trawl net with a power net plate;

[0076] Figure 2 is a structural schematic diagram of a power net plate;

[0077] Figure 3 is a working method of a trawl net with a power net plate;

[0078] Figure 4 is a flowchart of a trawl net orientation adjustment method;

[0079] Figure 5 is a flowchart of a trawl net orientation adjustment method;

[0080] Figure 6 is a flowchart of a trawl net orientation adjustment method;

[0081] Figure 7 is a flowchart of a trawl net retraction method;

[0082] Figure 8 is a flowchart of a power output method;

[0083] Figure 9 is a flowchart of a trawl net mouth adjustment method;

[0084] Figure 10 is a flowchart of a trawl net recovery method.

[0085] The names of the parts referred to by the reference numerals in the above figures are as follows: 10, trawl net; 20, power net plate; 21, power net plate body; 22, full-rotation ducted propeller; 23, side thruster; 24, control tower. DETAILED DESCRIPTION

[0086] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0087] The embodiments of the present application disclose a trawl net with power net plates and a working method thereof. The present application is used for adjusting the orientation of the trawl net mouth by cooperating the main pushing device and the side pushing device to control the moving direction and the moving speed of the power net plates, thereby improving the control of the trawl net by the fishing boat, and further adjusting the trawl net mouth according to the environmental conditions and the situation of the captured objects.

[0088] Reference Figure 1 and Figure 2 A trawl net with power net plates comprises two power net plates 20 connected to the trawl net 10 and symmetrically arranged, wherein each power net plate 20 comprises a net plate body 21, a full-rotation ducted propeller 22 for propelling and steering, a bow side thruster 23 for controlling the left and right movement and steering of the net plate 20 together with the full-rotation 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 higher than 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 the instructions sent by 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, the embodiments of the present application provide a working method of a trawl net with power net plates, comprising the following steps:

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

[0091] The sonar information refers to the feedback sound wave information obtained by a fish school detector. The obtaining method of the sonar information is selected by the staff according to the actual situation, and is not described herein.

[0092] Step 101: analyzing the fish school position from a preset fish school position analysis model according to the sonar information.

[0093] The fish school position analysis model is 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 take the coordinate position of the center of the fish school as the current fish school position. The coordinate position refers to a coordinate in a coordinate system established with the fishing boat as the origin. The establishment method of the coordinate system is selected by the staff according to the actual situation, and is not described herein.

[0094] Step 102: matching the moving direction from the preset fish school moving direction matching model according to the fish school position and the preset previous position, and defining the fish school position as the previous position.

[0095] The previous position refers to the fish school position detected by the fish school detector in the last detection period. The fish school detector generally transmits and receives sound waves at a fixed period to detect the fish school. The acquisition method of the previous position is selected by the staff according to the actual situation, and is not described herein.

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

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

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

[0099] The net plate position refers to the 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 acquisition method of the net plate position is selected by the staff according to the actual situation, and is not described herein.

[0100] Step 104: matching the actual heading from the preset actual heading matching model according to the net plate position.

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

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

[0103] The net plate turning position matching model refers to a neural network model obtained through sample training in advance, and the net plate turning position matching model can match a turning position required for the power net plate to reach from the actual orientation of the trawl net mouth to the expected trawl orientation.

[0104] Step 106: Matching a turning stroke from a preset turning stroke matching model according to the net plate position and the turning position.

[0105] The turning stroke matching model refers to a neural network model obtained through sample training in advance, and the turning stroke matching model can match a turning stroke of the power net plate from the current net plate position to the expected turning position.

[0106] Step 107: Controlling the preset power net plate to drag the preset trawl net according to the turning stroke.

[0107] By controlling the position of the power net plate to control the orientation of the trawl net, the orientation of the trawl net mouth is kept, thereby improving the efficiency of trawl fishing.

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

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

[0110] The sailing speed refers to the speed information of the actual sailing of the fishing boat, and the obtaining method of the sailing speed is selected by the staff according to the actual situation, which is not described here.

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

[0112] The adjustment speed matching model refers to a neural network model obtained through sample training in advance, and the adjustment speed matching model can match an adjustment speed required for the power net plate to approach the fishing boat under the condition that the fishing boat is towed by the 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, and the adjustment angle matching model can calculate the difference between the expected trawl orientation and the actual orientation and define it as the adjustment angle.

[0115] Step 203: When the adjustment angle falls into a preset expansion angle interval, controlling the preset power net plate to reach the turning position according to the turning stroke and controlling the preset power net plate to drag the preset trawl net according to the sailing speed.

[0116] The expansion angle interval refers to an adjustment angle interval in which the shape of the net mouth changes less. When the power net plates are close to the fishing boat to adjust the orientation of the net mouth, the distance between the two power net plates is likely to become longer, thereby causing the width of the net mouth to become larger. When the adjustment angle is too large, the net mouth is likely to be deformed. The expansion angle interval is selected by the staff according to the actual situation, and will not be described here.

[0117] When the adjustment angle falls within the expansion angle interval, it means that the shape of the net mouth changes less at this time. At this time, one of the two power net plates is controlled to move close to the fishing boat at an adjustment speed to adjust the orientation of the net mouth, and then the power net plate is controlled to move at a sailing speed to keep synchronization with the fishing boat, so that the trawl net keeps the orientation of the net mouth.

[0118] Referring to Figure 5 , the trawl orientation adjustment method further includes the following steps:

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

[0120] When the adjustment angle does not fall within the expansion angle interval, it means that the shape of the net mouth changes greatly at this time, which is likely to cause the captured objects to escape from the trawl net. The adjustment stroke matching model refers to a neural network model obtained by sample training in advance. The adjustment stroke matching model can match an adjustment stroke for rotating the net mouth of the trawl net according to the adjustment angle by the power net plate while keeping the width of the net mouth.

[0121] Step 205: An adjustment time is matched 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 by sample training in advance. The adjustment time matching model can match the adjustment time required for the power net plate to move according to the adjustment stroke at the adjustment speed.

[0123] Step 206: A preset power net plate is controlled according to a preset power output method according to the adjustment time and the adjustment stroke.

[0124] The power output method refers to a method for controlling the movement of the power net plate. The movement direction and speed of the power net plate are adjusted by controlling the power output of the power net plate, so as to keep the width of the net mouth unchanged while adjusting the orientation of the net mouth.

[0125] Referring to Figure 6 , the trawl orientation adjustment method further includes the following steps:

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

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

[0128] Step 208: According to the retraction length and the preset wheel circumference, the retraction number of turns is matched from the preset retraction number of turns matching model.

[0129] The trawl recovery device refers to a device for recovering a trawl to harvest a caught fish school. The 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 plate. The length of the rope is controlled by rotating the winch to control the distance between the power net plate 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 wheel circumference refers to the circumference of the reel of the winch. The method of obtaining the wheel circumference is selected by the staff according to the actual situation, and will not be described here.

[0130] The retraction number of turns matching model refers to a neural network model obtained by sample training in advance. The retraction number of turns matching model can match the number of turns required to recover the retraction length of the rope by the winch.

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

[0132] When the power net plate reaches the steering position, the rope is loosened. At this time, the rope is recovered by the winch to make the rope tight again, thereby reducing the case that the power net plate maintains the trawl mouth direction according to the sailing speed, and further improving the energy utilization rate of the power net plate.

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

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

[0135] Step 211: According to the adjustment length and the preset wheel circumference, the adjustment number of turns is matched from the preset retraction number of turns matching model.

[0136] The adjustment number of turns is the number of turns required to recover the adjustment length of the rope by the winch, which is matched by the retraction number of turns matching model.

[0137] Step 212: based on the preset power net plate according to the preset power output method control, according to the adjustment of the number of control preset between the trawl and the trawl recovery device recovery rope.

[0138] When the power net plate moves according to the adjustment stroke, the rope is loosened, and the rope is recovered by the winch to make the rope tight again, so as to reduce the situation that the power net plate maintains the trawl net opening direction according to the sailing speed, and further improve the energy utilization rate of the power net plate.

[0139] Referring to 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] The recovery resistance refers to the resistance received by the winch when it rotates to recover the rope. The way of obtaining the recovery resistance is selected by the staff according to the actual situation, which is not described here.

[0142] Step 301: when the recovery resistance exceeds the preset rope stress interval, the recovery power of the trawl recovery device is obtained.

[0143] The rope stress interval refers to the resistance interval received by the rope when it is recovered in a relaxed state. The rope stress interval is selected by the staff according to the actual situation, which is not described here. The recovery resistance exceeding the rope stress interval represents that the rope is still in a tight state at this time.

[0144] The recovery power refers to the actual working power of the trawl recovery device. The way of obtaining the recovery power is selected by the staff according to the actual situation, which is not described here.

[0145] Step 302: according to the recovery power and the recovery resistance, the relaxation power is matched from the preset relaxation power matching model.

[0146] The relaxation power matching model refers to a neural network model obtained by sample training in advance. The relaxation power matching model can match the appropriate recovery speed of the trawl recovery device according to the recovery resistance, wherein the appropriate recovery speed refers to a lower recovery speed when the recovery resistance is large, and a higher recovery speed when the recovery resistance is small, and the relaxation power that makes the trawl recovery device rotate at the recovery speed is matched.

[0147] Step 303: according to the relaxation power, the preset trawl recovery device recovers the rope.

[0148] When the rope is still in a tight state, the rotation speed of the trawl recovery device is reduced to wait for the power net plate to further approach the fishing boat to loosen the rope, so as to improve the energy utilization rate of the trawl recovery device.

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

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

[0151] The main pushing device refers to a power device arranged on the power net plate and used for driving the power net plate, and in the embodiment, the main pushing device adopts a full-rotation duct propeller 22. The main pushing device is selected by the staff according to the actual situation, and will not be described here.

[0152] The side pushing device refers to a power device arranged on the power net plate and used for driving the power net plate, and in the embodiment, the side pushing device adopts a side pusher 23. The side pushing device is selected by the staff according to the actual situation, and will not be described here.

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

[0154] Step 401: matching the maintaining power from the preset main pushing device adjustment model according to the sailing speed.

[0155] The maintaining power is the power required to make the power net plate reach the sailing speed matched from the main pushing device adjustment model.

[0156] Step 402: matching the power change parameter from the preset power change parameter matching model according to the main pushing power, the adjustment time and the maintaining power.

[0157] The power change parameter matching model refers to a neural network model obtained by sample training in advance. The power change parameter matching model can obtain the power change parameter for controlling the working power of the main pushing device in combination with the main pushing power, the adjustment time and the maintaining power.

[0158] Step 403: controlling the preset main pushing device on the power net plate to start according to the power change parameter.

[0159] The main pushing device is controlled by the power change parameter to start working at the main pushing power for the adjustment time, and then continues to work at the maintaining power, so that the power net plate reaches the target position at the adjustment speed and then maintains the relative position with the fishing boat at the sailing speed.

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

[0161] The steering change parameter matching model refers to a neural network model obtained through sample training in advance, and the steering change parameter matching model can obtain the steering change parameter of the control main propulsion device steering in combination with the main propulsion steering and the adjustment time.

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

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

[0164] Step 406: Match the side propulsion power from the preset side propulsion device adjustment model according to the adjustment stroke and the adjustment speed.

[0165] The side propulsion device adjustment model refers to a neural network model obtained through sample training in advance, and the side propulsion device adjustment model can match the moving direction required by the power net plate in the adjustment stroke, and calculate the side propulsion power required by the side propulsion device to output the power opposite to the moving direction and reaching the adjustment speed through the side propulsion device and the side propulsion device cooperation.

[0166] Step 407: Control the preset side propulsion device on the power net plate to start according to the adjustment time according to the side propulsion power.

[0167] The side propulsion device provides side power for the power net plate, so as to facilitate the adjustment of the left and right directions of the power net plate, and can cooperate with the main propulsion device to give the power net plate greater power.

[0168] Reference Figure 9 The trawl mouth adjustment method comprises the following steps:

[0169] Step 500: Match the fish school range from the 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, and the fish school range matching model can match the fish school range of the captured object from the sonar information.

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

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

[0173] Step 502: matching the expected distance from the preset net plate expected distance matching model according to the trawl width.

[0174] The net plate expected distance matching model refers to a neural network model obtained through sample training in advance, and the net plate expected distance matching model can match the expected distance between the power net plates when the trawl net opening reaches the trawl width.

[0175] Step 503: matching the actual distance from the preset net plate actual distance matching model according to the net plate position.

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

[0177] Step 504: matching the adjustment distance from the preset adjustment distance matching model according to the expected distance and the actual distance.

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

[0179] Step 505: matching the adjustment power from the preset adjustment power matching model according to the adjustment distance and the sailing speed.

[0180] The adjustment power matching model refers to a neural network model obtained through sample training in advance, and the adjustment power matching model can match the adjustment power required for the side thrust device to work when the power net plate moves according to the adjustment distance under the trawling of the fishing boat at the sailing speed.

[0181] Step 506: controlling the preset side thrust device to start according to the adjustment power.

[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 further adjusting the distance between the power net plates to adjust the width of the trawl net opening.

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

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

[0185] The offset stroke matching model refers to a neural network model obtained through sample training in advance, and the offset stroke matching model can match the offset stroke required for the power net plate to move horizontally with the extension direction of the rope on the power net plate and the sailing direction of the fishing boat.

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

[0187] The offset turning matching model refers to a neural network model obtained by sample training in advance, and the offset turning matching model can match the moving direction of the power net plate in the offset stroke, and match the offset turning required to turn the main pushing device to the direction opposite to the moving direction.

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

[0189] The offset power matching model refers to a neural network model obtained by sample training in advance, and the offset power matching model can match the offset power required for the power net plate to move according to the offset stroke under the dragging of the fishing boat at the sailing speed.

[0190] Step 603: controlling the orientation of the preset main pushing device according to the offset turning, and controlling the preset main pushing device to start according to the offset power, and controlling the preset trawl recovery device to recover the trawl.

[0191] The extension direction of the rope on the power net plate generally presents a horn shape from the end close to the fishing boat to the end away from the fishing boat, and when the trawl is recovered through the trawl recovery device, the force of the trawl recovery device acting on the rope is easily dispersed, and the extension direction of the rope is parallel to the sailing direction of the fishing boat through the main pushing device to reduce the dispersion of the force of the trawl recovery device.

[0192] The above only describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments, and any technical solution falling within the concept of the present application belongs to the protection scope of the present application. It should be noted that for ordinary skilled in the art, some improvements and decorations without departing from the principles of the present application are also considered as the protection scope of the present application.

Claims

1. A method of operating a trawl with a powered net panel, characterised in that, The method comprises the following steps: obtaining sonar information of fish school; analyzing the position of the fish school from a preset fish school position analysis model according to the sonar information; matching the direction of the fish school from a preset fish school direction matching model according to the position of the fish school and a preset previous position, and defining the position of the fish school as the previous position; matching the direction of the trawl net from a preset trawl net direction matching model according to the direction of the fish school, and obtaining the position of the net board of a preset power net board; matching the actual direction from a preset actual direction matching model according to the position of the net board; matching the turning position from a preset net board turning position matching model according to the direction of the trawl net and the actual direction; matching the turning stroke from a preset turning stroke matching model according to the position of the net board and the turning position; controlling the preset power net board to drag the preset trawl net according to the turning stroke. The method further comprises a trawl net direction adjustment method, which comprises the following steps: obtaining the sailing speed of the fishing boat; matching the adjustment speed from a preset adjustment speed matching model according to the sailing speed; matching the adjustment angle from a preset adjustment angle matching model according to the direction of the trawl net and the actual direction; when the adjustment angle falls within a preset expansion angle interval, which refers to an adjustment angle interval in which the shape of the trawl net mouth changes less, controlling the preset power net board to reach the turning position according to the turning stroke and controlling the preset power net board to drag the preset trawl net according to the sailing speed. The trawl net direction adjustment method further comprises the following steps: when the adjustment angle does not fall within the preset expansion angle interval, matching the adjustment stroke from a preset adjustment stroke matching model according to the adjustment angle and the position of the net board; matching the adjustment time from a preset adjustment time matching model according to the adjustment stroke and the adjustment speed; controlling the preset power net board according to the preset power output method according to the adjustment time and the adjustment stroke.

2. A method of operating a trawl with a powered net panel as claimed in claim 1, characterised in that, The trawl net direction adjustment method further comprises the following steps: when the adjustment angle falls within the preset expansion angle interval, matching the retraction length from a preset retraction length matching model according to the turning stroke; matching the retraction number of turns from a preset retraction number of turns matching model according to the retraction length and a preset circumference of the reel; after the power net board reaches the turning position according to the turning stroke, controlling the trawl net recovery device preset between the trawl net and the fishing boat to recover the rope according to the retraction number of turns; when the adjustment angle does not fall within the preset expansion angle interval, matching the adjustment length from a preset retraction length matching model according to the adjustment stroke; matching the adjustment number of turns from a preset retraction number of turns matching model according to the adjustment length and a preset circumference of the reel; based on the control of the preset power net board according to the preset power output method according to the adjustment time and the adjustment stroke, controlling the trawl net recovery device preset between the trawl net and the fishing boat to recover the rope according to the adjustment number of turns.

3. A method of operating a trawl with a powered net panel as claimed in claim 2, characterised in that, The method further comprises a trawl net retraction method, which comprises the following steps: when the trawl net recovery device recovers the rope, obtaining the recovery resistance of the recovery process; when the recovery resistance exceeds a preset rope stress interval, obtaining the recovery power of the trawl net recovery device; matching the relaxation power from a preset relaxation power matching model according to the recovery power and the recovery resistance; controlling the preset trawl net recovery device to recover the rope according to the relaxation power.

4. A method of operating a trawl with a powered net panel according to claim 1, characterised 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; According to the navigation speed, the maintenance power is matched from the preset main push device adjustment model; According to the main push power, the adjustment time and the maintenance power, the power change parameter is matched from the preset power change parameter matching model; According to the power change parameter, the preset main push device on the power net plate is started; 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; 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; 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; 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; 5. A method of operating a trawl with a powered net panel as claimed in claim 4, characterised in that, 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. The trawl net mouth adjustment method comprises: According to the sonar information, the fish school range is matched from the preset fish school range matching model; According to the fish school range, the trawl net width is matched from the preset trawl net mouth width matching model; According to the trawl net width, the expected interval is matched from the preset net plate expected interval matching model; According to the net plate position, the actual interval is matched from the preset net plate actual interval matching model; According to the expected interval and the actual interval, the adjustment interval is matched from the preset adjustment interval matching model; According to the adjustment interval and the navigation speed, the adjustment power is matched from the preset adjustment power matching model; 6. A method of operating a trawl with a powered net panel according to claim 5, characterised in that, According to the adjustment power, the preset side push device is started. The trawl net recovery method comprises: According to the net plate position, the offset stroke is matched from the preset offset stroke matching model; According to the offset stroke, the offset steering is matched from the preset offset steering matching model; According to the offset stroke and the navigation speed, the offset power is matched from the preset offset power matching model; 7. A trawl with a powered panel, a method of operating a trawl with a powered panel as claimed in any one of claims 1 to 6, including a trawl (10), characterised in that: According to the offset steering, the orientation of the preset main push device is controlled, according to the offset power, the preset main push device is started, and the preset trawl net recovery device is controlled to recover the trawl net.

8. A trawl net with a powered web according to claim 7, characterised in that: The power net plate (20) is symmetrically arranged on the trawl net (10). The power net plate (20) comprises a power net plate body (21), a full-rotation duct propeller (22) for propelling the power net plate (20) and steering the power net plate (20) is arranged on one side of the power net plate body (21) close to the trawl net (10), a side pusher (23) for controlling the left and right movement of the net plate is arranged on the side of the power net plate body (21) away from the trawl net (10), and a control tower (24) for receiving and transmitting signals is further arranged on the power net plate body (21).

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