Intelligent folding, unfolding and self-cleaning system and folding, unfolding and self-cleaning method for euphausia superba fishing truss

Abstract

The invention provides an intelligent retracting, releasing and self-cleaning system and method for an euphausia superba fishing truss. The system comprises a truss structure, a recognition module, a cleaning module, a monitoring module and a control module. The truss structure can be connected to the ship end in a multi-direction retractable mode and is used for pulling an underwater net. The identification module is mounted at the front end part of the truss structure and is used for identifying obstacles; the monitoring module is used for monitoring the winding and unwinding length of an operation rope of the truss structure; the cleaning module, the recognition module and the monitoring module are electrically connected with the control module; the control module is used for controlling accurate positioning of the truss structure according to monitoring information of the monitoring module and controlling folding and unfolding actions of the truss structure and cleaning actions of the cleaning module according to identification information of the identification module. The system can monitor the folding and unfolding state of the truss in real time and quickly feed back when encountering a foreign matter, so that measures can be taken in time; and a self-cleaning mechanism is also integrated, so that the foreign matter attachment and blockage risks are reduced, and the reliability and durability of the system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of marine fishing systems, and in particular to an intelligent retractable and self-cleaning system and a retractable and self-cleaning method for an Antarctic krill fishing truss. Background Art

[0002] As one of the largest biological populations on Earth, Antarctic krill has become a valuable marine resource that countries around the world are competing to develop and utilize. In order to effectively capture this abundant resource, fishing vessels have become an indispensable intake tool, and the fishing method has also undergone a significant evolution from traditional trawls to modern truss trawl continuous pumping technology. In this advanced fishing system, the truss plays a vital role. It not only bears the huge pulling force of the trawl, but also can flexibly adapt to various posture changes of the ship and accurately adjust the distance between the ship and the net, thereby ensuring the efficiency and stability of the fishing operation.

[0003] However, in the existing truss devices and their supporting systems, there is a problem that needs to be solved: during the truss retraction and extension process, once encountering foreign objects or unknown obstacles, the system often cannot immediately feedback relevant information, making it difficult for operators to respond in time. If the operation is forced to continue under this circumstance, it is likely to cause serious damage to the truss structure, thus affecting the smooth progress of the entire fishing operation and even causing safety accidents.

[0004] Based on this, the present invention proposes a new intelligent retractable and self-cleaning system and retractable and self-cleaning method for Antarctic krill fishing trusses. Summary of the invention

[0005] Based on the above description, the present invention provides an intelligent retraction and self-cleaning system and retraction and self-cleaning method for Antarctic krill fishing trusses to solve the technical problem in the prior art that during the retraction and deployment of the trusses, foreign objects or unknown obstacles are encountered, and relevant information cannot be fed back immediately, making it difficult for operators to respond in time.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: In a first aspect, the present invention provides an Antarctic krill fishing truss intelligent retracting and self-cleaning system, comprising: a truss structure, an identification module, a cleaning module, a monitoring module and a control module; The truss structure can be retracted in multiple directions and connected to the end of the ship to tow the underwater net; The identification module is installed at the front end of the truss structure and is used to identify obstacles; The monitoring module is used to monitor the retracted and extended length of the operating rope of the truss structure; The cleaning module, the identification module and the monitoring module are all electrically connected to the control module; the control module is used to control the precise positioning of the truss structure according to the monitoring information of the monitoring module, and to control the retraction and extension action of the truss structure and the cleaning action of the cleaning module according to the identification information of the identification module.

[0007] Based on the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, the outer end of the truss structure is used to hang a trawl pulley, so that the trawl wire rope passes through the trawl pulley to tow the underwater net.

[0009] Furthermore, the truss structure includes: a truss, a stay cable group, a truss rotation axis, a truss jacking device, a front end fastening device, a rear end fastening device and a top end fastening device; The end of the truss away from the trawling tackle is rotatably connected to the ship end through the truss rotation axis; the truss pushing device is used to push the truss from the vertical state to the horizontal expansion state; The outer end of the truss is rotatably connected to the ship end through the inclined cable group and the front end fastening device, the rear end fastening device and the top end fastening device; under the action of the inclined cable group, the front end fastening device, the rear end fastening device and the top end fastening device, the outer end of the truss can be rotated in three dimensions through three-point fastening.

[0010] Further, when the recognition module recognizes an obstacle, the recognition module feeds back initial recognition information to the control module; The control module controls the truss structure to stop the retracting and extending action and starts the cleaning module according to the initial identification information. The cleaning module removes obstacles through the reciprocating movement of the front cleaning device.

[0011] Furthermore, after the recognition module recognizes that cleaning is completed, the recognition module feeds back cleaning recognition information to the control module, and the control module controls the start of the cleaning action of the cleaning module and the start of the retraction and extension action of the truss structure according to the cleaning recognition information until the fishing and recovery are completed.

[0012] Furthermore, the recognition module includes a camera; the camera is used to capture image information of the front end of the truss structure.

[0013] Furthermore, the Antarctic krill fishing truss intelligent retraction and self-cleaning system also includes a monitoring module; The monitoring module is used to monitor the recognition image of the recognition module in real time to provide feedback on the working status of the truss structure and the cleaning module.

[0014] Furthermore, the monitoring module includes an audible and visual alarm device, and the audible and visual alarm device is used to make an audible and visual alarm when it is identified that the truss structure and the cleaning module are working abnormally.

[0015] In a second aspect, the present invention provides a method for retracting and self-cleaning the Antarctic krill fishing truss intelligent retracting and self-cleaning system based on the first aspect, comprising the following steps: S1. According to the target horizontal and vertical angles, the control module controls the multi-angle adjustment of the truss structure in three dimensions until the truss and the underwater net are in the target state; S2, the recognition module recognizes the obstacle and transmits the recognition information to the control module; S3. The control module controls the retracting and extending action of the truss structure and the cleaning action of the cleaning module according to the identification information of the identification module.

[0016] Based on the above technical solution, the present invention can also be improved as follows.

[0017] Furthermore, in step S3, when the recognition module recognizes an obstacle, the control module controls the truss structure to stop the retracting and extending action and starts the cleaning module according to the recognition information of the recognition module, and the cleaning module removes the obstacle through the reciprocating motion of the front cleaning device.

[0018] Compared with the prior art, the Antarctic krill fishing truss intelligent retractable and self-cleaning system and retractable and self-cleaning method provided by the present invention have the following beneficial technical effects: (1) The Antarctic krill fishing truss intelligent retraction and self-cleaning system proposed in the present invention monitors the retraction and extension length of each operating rope, and feeds the data back to the control module for processing. It takes the expected truss retraction and extension position as the target, performs precise positioning, improves operating efficiency, and reduces the danger and uncertainty caused by human operation.

[0019] (2) The Antarctic krill fishing truss intelligent retraction and self-cleaning system proposed in the present invention is equipped with an identification module to identify the abnormal retraction and extension status of the truss.

[0020] (3) The Antarctic krill fishing truss intelligent retraction and self-cleaning system proposed in the present invention can automatically remove foreign objects during the truss retraction and deployment process by setting up a control module to process and feedback the working status of the truss in real time, and to control the cleaning module in real time, so as to ensure the safety of the truss retraction and deployment.

[0021] In summary, the system and method can monitor the status of the truss in real time during the process of retraction and extension, and quickly provide feedback to the operator when encountering foreign objects so that corresponding measures can be taken in time; at the same time, a self-cleaning mechanism is also incorporated to effectively reduce the risk of foreign object adhesion and blockage, further improving the reliability and durability of the system. This innovative design not only ensures the safety and efficiency of fishing operations, but also provides strong technical support for the sustainable utilization of Antarctic krill resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of an intelligent retractable and self-cleaning system for Antarctic krill fishing trusses provided in Example 1 of the present invention; Figure 2 A schematic diagram of a top view of a truss structure provided in Example 1 of the present invention; Figure 3 A schematic diagram of the main structure of the truss structure provided in Example 1 of the present invention; Figure 4 A schematic diagram of the intelligent retracting and self-cleaning method for Antarctic krill fishing trusses provided in Example 2 of the present invention; In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Truss; 2. Cable group; 3. Truss rotation axis; 4. Truss pushing device; 5. Front end fastening device; 6. Rear end fastening device; 7. Identification module; 8. Cleaning module; 9. Control module; 10. Monitoring module. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0026] In the prior art, there is a technical problem that when the truss encounters foreign objects or unknown obstacles during its retraction and deployment, relevant information cannot be fed back immediately, making it difficult for operators to respond in time. To address this technical difficulty, the present invention proposes an innovative solution - an intelligent retraction and self-cleaning system and retraction and self-cleaning method for Antarctic krill fishing trusses.

[0027] The following is combined with Figures 1 to 4 The embodiments of the present invention are further described in detail with examples. The following examples are used to illustrate the present invention but cannot be used to limit the scope of the present invention.

[0028] Example 1 like Figure 1 As shown, the Antarctic krill fishing truss intelligent retractable and self-cleaning system provided by the embodiment of the present invention includes: a truss structure, an identification module 7, a cleaning module 8, a monitoring module 10 and a control module 9.

[0029] The truss structure can be retracted and extended in multiple directions and is connected to the end of the ship to tow underwater nets.

[0030] Specifically, Figure 2 and Figure 3 As shown, the truss structure includes: a truss 1, a cable group 2, a truss rotation axis 3, a truss pushing device 4, a front end fastening device 5, a rear end fastening device 6 and a top end fastening device.

[0031] The truss 1 is used to suspend the trawl block so that the trawl wire rope passes through the trawl block to pull the underwater net.

[0032] One end of the truss 1 is rotatably connected to the end of the ship through a truss rotation shaft 3; the truss pushing device 4 is used to push the truss 1 from a vertical state to a horizontally unfolded state.

[0033] The outer end of the truss 1 is rotatably connected to the end of the ship through the inclined cable group 2 and the front end fastening device 5, the rear end fastening device 6 and the top end fastening device; under the action of the inclined cable group 2, the front end fastening device 5, the rear end fastening device 6 and the top end fastening device, the outer end of the truss 1 can be rotated in three dimensions through three-point fastening.

[0034] In a specific example, the stay cable group 2 includes a front end stay cable, a rear end stay cable and a top end stay cable.

[0035] The front end inclined cable, the rear end inclined cable and the top end inclined cable are respectively connected to the outer end of the truss 1 at an angle of 45 degrees to decompose the trawl tension below the outer end of the truss 1 in the three directions in which the inclined cables extend.

[0036] By adjusting the retracted and extended lengths of each operating rope, the desired truss retracted and extended position can be achieved.

[0037] The truss rotation axis 3 is a cross-shaped bidirectional rotation axis, and the truss 1 can perform multi-directional rotation around the cross-shaped bidirectional rotation axis, so that the truss 1 can rotate horizontally and / or vertically.

[0038] Specifically, the truss rotation axis 3 includes a horizontal rotation axis and a vertical rotation axis; the horizontal rotation axis and the vertical rotation axis are arranged in a cross shape.

[0039] In an optional embodiment, the truss pushing device 4 includes a ball-head hydraulic pushing cylinder.

[0040] The pushing portion of the truss pushing device 4 is in spherical contact with the truss 1. Under the action of the ball head hydraulic pushing cylinder, the truss 1 can be gradually unfolded and pulled open to the target angle under the traction of the front end fastening device 5.

[0041] By using the principle of moment balance, the moment generated between the cylinder pushing point of the ball head hydraulic pushing cylinder and the horizontal rotation axis 31 is defined as M1; the static friction moment M2 of the truss 1 at the horizontal rotation axis is defined; when M1>M2, the truss 1 can be horizontally unfolded under the pushing force.

[0042] The truss rotation axis identification module is installed at the front end of the truss rotation axis truss structure and is used to identify obstacles.

[0043] Specifically, the truss rotation axis recognition module includes a camera; the truss rotation axis camera is used to capture image information of the front end of the truss rotation axis truss structure.

[0044] When the truss rotation axis recognition module recognizes an obstacle, the truss rotation axis recognition module feeds back initial recognition information to the control module.

[0045] The truss rotating shaft control module controls the truss rotating shaft truss structure to stop the retracting and extending action and start the cleaning module according to the initial identification information of the truss rotating shaft. The truss rotating shaft cleaning module removes obstacles through the reciprocating motion of the front cleaning device.

[0046] After the truss rotation axis recognition module recognizes that the cleaning is completed, the truss rotation axis recognition module feeds back the cleaning recognition information to the truss rotation axis control module. The truss rotation axis control module controls the cleaning action of the truss rotation axis cleaning module and the retraction and extension action of the truss structure according to the truss rotation axis cleaning recognition information until the fishing and recovery are completed.

[0047] The truss rotation axis monitoring module is used to monitor the retraction and extension length of the operating rope of the truss rotation axis truss structure.

[0048] The truss rotation axis cleaning module, the truss rotation axis identification module and the truss rotation axis monitoring module are all electrically connected to the truss rotation axis control module.

[0049] The truss rotation axis control module is used to control the precise positioning of the truss rotation axis truss structure according to the monitoring information of the truss rotation axis monitoring module, and to control the retraction and extension action of the truss rotation axis truss structure and the cleaning action of the truss rotation axis cleaning module according to the identification information of the truss rotation axis identification module.

[0050] On the basis of the above-mentioned embodiment, further, the Antarctic krill fishing truss intelligent retraction and self-cleaning system also includes a monitoring module.

[0051] The truss rotation axis monitoring module is used to monitor the recognition image of the truss rotation axis recognition module in real time to feedback the working status of the truss rotation axis truss structure and the truss rotation axis cleaning module.

[0052] Specifically, the truss rotating shaft monitoring module includes an audible and visual alarm device, and the truss rotating shaft audible and visual alarm device is used to make an audible and visual alarm when it is identified that the truss rotating shaft truss structure and the truss rotating shaft cleaning module are working abnormally.

[0053] Example 2 like Figure 4 As shown, the method for intelligently retracting and self-cleaning an Antarctic krill fishing truss provided by an embodiment of the present invention comprises the following steps: S1. According to the target horizontal and vertical angles, the control module controls the multi-angle adjustment of the truss structure in three dimensions until the truss and the underwater net are in the target state.

[0054] S2. The recognition module recognizes the obstacle and transmits the recognition information to the control module.

[0055] S3, the truss rotation axis control module controls the retracting and extending action of the truss rotation axis truss structure and the cleaning action of the truss rotation axis cleaning module according to the identification information of the truss rotation axis identification module; Specifically, when the recognition module identifies an obstacle, the truss rotation axis control module controls the truss rotation axis truss structure to stop the retraction and extension action and start the cleaning module according to the recognition information of the truss rotation axis recognition module. The truss rotation axis cleaning module removes the obstacle through the reciprocating motion of the front-end cleaning device.

[0056] In summary, the Antarctic krill fishing truss intelligent retractable and self-cleaning system and retractable and self-cleaning method provided by the embodiments of the present invention have the following advantages: (1) The Antarctic krill fishing truss intelligent retraction and self-cleaning system proposed in the present invention monitors the retraction and extension length of each operating rope, and feeds the data back to the control module for processing. It takes the expected truss retraction and extension position as the target, performs precise positioning, improves operating efficiency, and reduces the danger and uncertainty caused by human operation.

[0057] (2) The Antarctic krill fishing truss intelligent retraction and self-cleaning system proposed in the present invention is equipped with an identification module to identify the abnormal retraction and extension status of the truss.

[0058] (3) The Antarctic krill fishing truss intelligent retraction and self-cleaning system proposed in the present invention can automatically remove foreign objects during the truss retraction and deployment process by setting up a control module to process and feedback the working status of the truss in real time, and to control the cleaning module in real time, so as to ensure the safety of the truss retraction and deployment.

[0059] The system and method can monitor the status of the truss in real time during the process of retraction and release, and quickly provide feedback to the operator when encountering foreign objects so that corresponding measures can be taken in time; at the same time, it also incorporates a self-cleaning mechanism to effectively reduce the risk of foreign object adhesion and clogging, further improving the reliability and durability of the system. This innovative design not only ensures the safety and efficiency of fishing operations, but also provides strong technical support for the sustainable utilization of Antarctic krill resources.

[0060] In the description of this specification, the description with reference to the terms "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent retractable and self-cleaning system for Antarctic krill fishing truss, characterized in that: include: Truss structure, identification module, cleaning module, monitoring module and control module; The truss structure can be retracted in multiple directions and connected to the end of the ship to tow the underwater net; The identification module is installed at the front end of the truss structure and is used to identify obstacles; The monitoring module is used to monitor the retracted and extended length of the operating rope of the truss structure; The cleaning module, the identification module and the monitoring module are all electrically connected to the control module; the control module is used to control the precise positioning of the truss structure according to the monitoring information of the monitoring module, and to control the retraction and extension action of the truss structure and the cleaning action of the cleaning module according to the identification information of the identification module.

2. The Antarctic krill fishing truss intelligent retractable and self-cleaning system according to claim 1 is characterized in that: The outer end of the truss structure is used to hang a trawl block, so that the trawl wire rope passes through the trawl block to pull the underwater net.

3. The Antarctic krill fishing truss intelligent retractable and self-cleaning system according to claim 2 is characterized in that: The truss structure comprises: a truss, a stay cable group, a truss rotation axis, a truss jacking device, a front end fastening device, a rear end fastening device and a top end fastening device; The end of the truss away from the trawling tackle is rotatably connected to the ship end through the truss rotation axis; the truss pushing device is used to push the truss from the vertical state to the horizontal expansion state; The outer end of the truss is rotatably connected to the ship end through the inclined cable group and the front end fastening device, the rear end fastening device and the top end fastening device; under the action of the inclined cable group, the front end fastening device, the rear end fastening device and the top end fastening device, the outer end of the truss can be rotated in three dimensions through three-point fastening.

4. The Antarctic krill fishing truss intelligent retractable and self-cleaning system according to claim 1 is characterized in that: When the recognition module recognizes an obstacle, the recognition module feeds back initial recognition information to the control module; The control module controls the truss structure to stop the retracting and extending action and starts the cleaning module according to the initial identification information. The cleaning module removes obstacles through the reciprocating movement of the front cleaning device.

5. The Antarctic krill fishing truss intelligent retractable and self-cleaning system according to claim 4 is characterized in that: After the recognition module recognizes that cleaning is completed, the recognition module feeds back cleaning recognition information to the control module, and the control module controls the start of the cleaning action of the cleaning module and the start of the retracting and extending action of the truss structure according to the cleaning recognition information until the fishing and recovery are completed.

6. The Antarctic krill fishing truss intelligent retractable and self-cleaning system according to claim 4 or 5, characterized in that: The recognition module includes a camera; the camera is used to capture image information of the front end of the truss structure.

7. The Antarctic krill fishing truss intelligent retractable and self-cleaning system according to claim 1, characterized in that: The Antarctic krill fishing truss intelligent retraction and self-cleaning system also includes a monitoring module; The monitoring module is used to monitor the recognition image of the recognition module in real time to provide feedback on the working status of the truss structure and the cleaning module.

8. The Antarctic krill fishing truss intelligent retractable and self-cleaning system according to claim 7, characterized in that: The monitoring module includes an audible and visual alarm device, and the audible and visual alarm device is used to generate an audible and visual alarm when it is identified that the truss structure and the cleaning module are working abnormally.

9. A method for retracting and self-cleaning the Antarctic krill fishing truss intelligent retracting and self-cleaning system according to any one of claims 1 to 8, characterized in that: The steps include: S1. According to the target horizontal and vertical angles, the control module controls the multi-angle adjustment of the truss structure in three dimensions until the truss and the underwater net are in the target state; S2, the recognition module recognizes the obstacle and transmits the recognition information to the control module; S3. The control module controls the retracting and extending action of the truss structure and the cleaning action of the cleaning module according to the identification information of the identification module.

10. The retractable and self-cleaning method according to claim 9, characterized in that: In step S3, when the recognition module recognizes an obstacle, the control module controls the truss structure to stop retracting and extending according to the recognition information of the recognition module and starts the cleaning module, and the cleaning module removes the obstacle through the reciprocating motion of the front cleaning device.

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