A smart folding and self-cleaning system and method for a euphausia superba fishing truss

Abstract

The application provides a Euphausia superba fishing truss intelligent winding and unwinding and self-cleaning system and method, the system comprising a truss structure, an identification module, a cleaning module, a monitoring module and a control module; the truss structure is connected to the end of a ship and can be wound and unwound in multiple directions to pull underwater nets; the identification module is installed at the front end of the truss structure to identify obstacles; the monitoring module is used to monitor the winding and unwinding length of the working rope of the truss structure; the cleaning module, the identification module and the monitoring module are electrically connected to the control module; the control module is used to control the accurate positioning of the truss structure according to the monitoring information of the monitoring module, and control the winding and unwinding action of the truss structure and the cleaning action of the cleaning module according to the identification information of the identification module. The system can monitor the winding and unwinding state of the truss in real time, and quickly feedback when encountering foreign matter, so that timely measures can be taken; the self-cleaning mechanism is also integrated, which reduces the risk of foreign matter attachment and blockage, and improves the reliability and durability of the system.

Description

Technical Field

[0001] This invention relates to the field of marine fishing systems technology, specifically to an intelligent deployment and self-cleaning system and method for Antarctic krill fishing trusses. Background Technology

[0002] Antarctic krill, as one of the largest biological populations on Earth, has become a valuable marine resource that countries around the world are vying to develop and utilize. To effectively capture this abundant resource, fishing vessels have become indispensable harvesting tools, and fishing methods have undergone a significant evolution from traditional trawls to modern truss trawls with continuous pump suction technology. In this advanced fishing system, the truss plays a crucial role; it not only bears the enormous tensile force of the trawl net but also flexibly adapts to various changes in the vessel's attitude and precisely adjusts the distance between the net and the vessel, thereby ensuring the efficiency and stability of the fishing operation.

[0003] However, existing truss devices and their supporting systems present a pressing problem: during the deployment and retraction of the truss, if it encounters foreign objects or unknown obstacles, the system often fails to provide timely feedback, making it difficult for operators to react promptly. If operation is continued under these circumstances, it could cause serious damage to the truss structure, thereby affecting the smooth progress of the entire fishing operation and even leading to safety accidents.

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

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

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0007] In a first aspect, the present invention provides an intelligent deployment and self-cleaning system for Antarctic krill harvesting trusses, comprising: a truss structure, an identification module, a cleaning module, a monitoring module, and a control module;

[0008] The truss structure can be retracted and extended in multiple directions at the end of the ship for towing underwater nets.

[0009] The identification module is installed at the front end of the truss structure and is used to identify obstacles;

[0010] The monitoring module is used to monitor the length of the working ropes of the truss structure.

[0011] The cleaning module, the identification 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 the folding and unfolding action of the truss structure and the cleaning action of the cleaning module according to identification information of the identification module.

[0012] On the basis of the above technical solution, the application can be further improved as follows.

[0013] Further, the outer end of the truss structure is used for suspending a trawl car to make a trawl steel wire pass through the trawl car to pull underwater nets.

[0014] Further, the truss structure comprises a truss, a cable group, a truss rotating shaft, a truss pushing device, a front end fixing device, a rear end fixing device and a top end fixing device.

[0015] The end of the truss away from the trawl car is rotatably connected with the ship end through the truss rotating shaft; the truss pushing device is used for pushing the truss to transform from a vertical state to a horizontal unfolded state.

[0016] The outer end of the truss is rotatably connected with the ship end through the cable group and the front end fixing device, the rear end fixing device and the top end fixing device; under the action of the cable group, the front end fixing device, the rear end fixing device and the top end fixing device, the outer end of the truss can be realized to rotate in three-dimensional directions through three-point fixing.

[0017] Further, when the identification module identifies an obstacle, the identification module feeds back initial identification information to the control module.

[0018] The control module controls the truss structure to stop the folding and unfolding action and starts the cleaning module according to the initial identification information; the cleaning module removes the obstacle through the back-and-forth movement of the front end cleaning device.

[0019] Further, after the identification module identifies that the cleaning is completed, the identification module feeds back cleaning identification information to the control module; the control module controls to start the cleaning action of the cleaning module and the folding and unfolding action of the truss structure according to the cleaning identification information, until the fishing recovery is completed.

[0020] Further, the identification module comprises a camera; the camera is used for capturing image information of the front end of the truss structure.

[0021] Further, the Antarctic krill fishing truss intelligent folding and unfolding and self-cleaning system further comprises a monitoring module.

[0022] The monitoring module is used for monitoring the identification image of the identification module in real time to feed back the working states of the truss structure and the cleaning module.

[0023] Further, the monitoring module comprises an audible and visual alarm device, which is used for audible and visual alarm when identifying the working abnormality of the truss structure and the cleaning module.

[0024] In the second aspect, the application provides a folding and self-cleaning method of the Antarctic krill fishing truss intelligent folding and self-cleaning system.

[0025] S1, according to the target horizontal and vertical angles, the control module controls the multi-angle adjustment of the truss structure in three-dimensional directions to reach the target state of the truss and the underwater netting.

[0026] S2, the identification module identifies the obstacles and transmits the identification information to the control module.

[0027] S3, the control module controls the folding action of the truss structure and the cleaning action of the cleaning module according to the identification information of the identification module.

[0028] On the basis of the above technical solution, the application can be further improved as follows.

[0029] Further, in step S3, when the identification module identifies the obstacles, the control module controls the truss structure to stop the folding action and starts the cleaning module, and the cleaning module removes the obstacles through the back-and-forth movement of the front-end cleaning device.

[0030] Compared with the prior art, the Antarctic krill fishing truss intelligent folding and self-cleaning system and the folding and self-cleaning method have the following beneficial technical effects.

[0031] (1) The Antarctic krill fishing truss intelligent folding and self-cleaning system can monitor the folding length of each working rope, feed back the data to the control module for processing, take the expected truss folding position as the target, and accurately position to improve the working efficiency and reduce the danger and uncertainty caused by human operation.

[0032] (2) The Antarctic krill fishing truss intelligent folding and self-cleaning system can identify the abnormal state of the truss folding through the identification module.

[0033] (3) The Antarctic krill fishing truss intelligent folding and self-cleaning system can realize the automatic removal of foreign matters in the truss folding process through the real-time processing and feedback of the truss working state by the control module and the real-time control of the cleaning module, thereby ensuring the safety of the truss folding.

[0034] In summary, the system and method can monitor the state of the truss in real time during the process of retraction and deployment, and quickly feedback to the operator when encountering foreign matter, so as to take corresponding measures in time; at the same time, the self-cleaning mechanism is also integrated, which effectively reduces the risk of foreign matter attachment 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 DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0036] Figure 1 The schematic diagram of the Antarctic krill fishing truss intelligent retraction and deployment and self-cleaning system provided for embodiment 1 of the present application is shown in the figure.

[0037] Figure 2 The top view structural schematic diagram of the truss structure provided for embodiment 1 of the present application is shown in the figure.

[0038] Figure 3 The front view structural schematic diagram of the truss structure provided for embodiment 1 of the present application is shown in the figure.

[0039] Figure 4 The schematic diagram of the Antarctic krill fishing truss intelligent retraction and deployment and self-cleaning method provided for embodiment 2 of the present application is shown in the figure.

[0040] In the drawings, the component list represented by each number is as follows:

[0041] 1, truss; 2, cable-stayed cable group; 3, truss rotation shaft; 4, truss pushing device; 5, front end fixing device; 6, rear end fixing device; 7, identification module; 8, cleaning module; 9, control module; 10, monitoring module. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0043] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited, the terms "connected", "connection" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection, it can be mechanical connection, or electrical connection, it can be direct connection, or indirect connection through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0044] There is a technical problem in the prior art that during the folding and unfolding of the truss, foreign matter or unknown obstacles are encountered, and relevant information cannot be fed back in time, making it difficult for the operator to make timely response. In view of this technical problem, the present application proposes an innovative solution - a South Polar krill fishing truss intelligent folding and unfolding and self-cleaning system and method.

[0045] The embodiments of the present application will be further described in detail below with the help of the accompanying drawings Figures 1 to 4 and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0046] Example 1

[0047] As Figure 1 shown, the South Polar krill fishing truss intelligent folding and unfolding and self-cleaning system provided by the embodiments of the present application comprises: a truss structure, an identification module 7, a cleaning module 8, a monitoring module 10 and a control module 9.

[0048] The truss structure can be connected to the ship end in multiple directions for towing underwater netting.

[0049] Specifically, as Figure 2 and Figure 3 shown, the truss structure comprises: a truss 1, a cable-stayed cable group 2, a truss rotating shaft 3, a truss pushing device 4, a front end fixing device 5, a rear end fixing device 6 and a top end fixing device.

[0050] The truss 1 is used to suspend a trawl car to make the trawl steel wire rope pass through the trawl car to tow underwater netting.

[0051] One end of the truss 1 is rotatably connected to the ship end through the truss rotating shaft 3; the truss pushing device 4 is used to push the truss 1 to change from a vertical state to a horizontal unfolded state.

[0052] The outer end of the truss 1 is rotatably connected to the ship end through the cable-stayed cable group 2 and the front end fixing device 5, the rear end fixing device 6 and the top end fixing device; under the action of the cable-stayed cable group 2, the front end fixing device 5, the rear end fixing device 6 and the top end fixing device, the outer end of the truss 1 can be realized in three-dimensional direction rotation through three-point fixing.

[0053] In one specific example, the cable group 2 includes a front cable, a rear cable and a top cable.

[0054] The front cable, the rear cable and the top cable are connected to the outer end of the truss 1 at an angle of 45°, respectively, to decompose the trawl tension under the outer end of the truss 1 in three directions in which the cables extend.

[0055] By adjusting the length of each working rope, the desired truss deployment position can be achieved.

[0056] The truss rotation shaft 3 is a cross-shaped bidirectional rotation shaft, and the truss 1 can rotate in multiple directions around the cross-shaped bidirectional rotation shaft to make the truss 1 rotate horizontally and / or vertically.

[0057] Specifically, the truss rotation shaft 3 includes a horizontal rotation shaft and a vertical rotation shaft, and the horizontal rotation shaft and the vertical rotation shaft are arranged in a cross shape.

[0058] In an optional embodiment, the truss pushing device 4 includes a ball head hydraulic pushing cylinder.

[0059] The pushing part of the truss pushing device 4 is in spherical contact with the truss 1, and under the action of the ball head hydraulic pushing cylinder, the truss 1 can be gradually unfolded and pulled apart to the target angle under the traction of the front end fixing device 5.

[0060] 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 shaft 31 is defined as M1, and the static friction moment M2 of the truss 1 at the horizontal rotation shaft is defined. In the case of M1>M2, the truss 1 can be unfolded horizontally under the pushing force.

[0061] The truss rotation shaft identification module is installed at the front end of the truss rotation shaft truss structure and is used to identify obstacles.

[0062] Specifically, the truss rotation shaft identification module includes a camera, and the truss rotation shaft camera is used to capture image information of the front end of the truss rotation shaft truss structure.

[0063] When the truss rotation shaft identification module identifies an obstacle, the truss rotation shaft identification module feeds back initial identification information to the control module.

[0064] The truss rotation shaft control module controls the truss rotation shaft truss structure to stop the deployment action and starts the cleaning module according to the initial identification information of the truss rotation shaft, and the truss rotation shaft cleaning module removes the obstacle through the back-and-forth movement of the front end cleaning device.

[0065] After the truss rotation axis identification module identifies the cleaning completion, it feeds back the cleaning identification information to the truss rotation axis control module. The truss rotation axis control module controls the start of the cleaning action of the truss rotation axis cleaning module and the start of the truss structure retraction and extension actions based on the truss rotation axis cleaning identification information until the fishing and retrieval are completed.

[0066] The truss rotation axis monitoring module is used to monitor the length of the working ropes of the truss rotation axis truss structure.

[0067] The truss rotation axis cleaning module, truss rotation axis identification module, and truss rotation axis monitoring module are all electrically connected to the truss rotation axis control module.

[0068] The truss rotation axis control module is used to control the precise positioning of the truss structure based on the monitoring information from the truss rotation axis monitoring module, and to control the retraction and extension actions of the truss structure and the cleaning actions of the truss rotation axis cleaning module based on the identification information from the truss rotation axis identification module.

[0069] Based on the above embodiments, the intelligent deployment and self-cleaning system for Antarctic krill fishing trusses further includes a monitoring module.

[0070] The truss rotation axis monitoring module is used to monitor the recognition images of the truss rotation axis identification module in real time, so as to provide feedback on the working status of the truss structure and the truss rotation axis cleaning module.

[0071] Specifically, the truss rotation axis monitoring module includes an audible and visual alarm device, which is used to issue an audible and visual alarm when abnormalities are detected in the truss structure and the cleaning module of the truss rotation axis.

[0072] Example 2

[0073] like Figure 4 As shown in the figure, the intelligent deployment and self-cleaning method for Antarctic krill fishing trusses provided in this embodiment of the invention includes the following steps:

[0074] S1. Based on the target horizontal and vertical angles, the control module controls the truss structure to adjust at multiple angles in three dimensions until the truss and underwater net are in the target state.

[0075] S2. The recognition module identifies obstacles and transmits the recognition information to the control module.

[0076] S3. The truss rotation axis control module controls the extension and retraction of the truss structure and the cleaning action of the truss rotation axis cleaning module based on the identification information of the truss rotation axis identification module.

[0077] Specifically, when the identification module identifies the obstacle, the truss rotating shaft control module controls the truss rotating shaft structure to stop the action of winding and unwinding and starts the cleaning module according to the identification information of the truss rotating shaft identification module.

[0078] In summary, the Antarctic krill fishing truss intelligent winding and self-cleaning system and method provided by the embodiment of the application has the following advantages:

[0079] (1) The Antarctic krill fishing truss intelligent winding and self-cleaning system provided by the application can improve the operation efficiency and reduce the risk and uncertainty caused by human operation by monitoring the winding and unwinding length of each working rope, feeding the data to the control module for processing, and positioning accurately with the expected truss winding position as the target.

[0080] (2) The Antarctic krill fishing truss intelligent winding and self-cleaning system provided by the application can identify the abnormal state of the truss winding by setting the identification module.

[0081] (3) The Antarctic krill fishing truss intelligent winding and self-cleaning system provided by the application can automatically remove foreign matter in the truss winding process by setting the control module to real-time process and feedback the state of the truss work and real-time control the cleaning module, thereby ensuring the safety of the truss winding.

[0082] The system and method can monitor the state of the truss in the winding process in real time and quickly feedback to the operator when encountering foreign matter, so that appropriate measures can be taken in time. At the same time, the self-cleaning mechanism is also integrated, which effectively reduces the risk of foreign matter attachment and blockage, further improving the reliability and durability of the system. This innovative design not only ensures the safety and efficiency of the fishing operation, but also provides strong technical support for the sustainable utilization of Antarctic krill resources.

[0083] In the description of the present specification, the description referring to the terms "specific example" or "some examples" and the like 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 present embodiment. In the present specification, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0084] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A krill fishing trawl intelligent deployment and self-cleaning system, characterized in that, Comprise: The truss structure, identification module, cleaning module, monitoring module and control module; The truss structure can be connected to the ship end in multiple directions for towing underwater net; The identification module is installed at the front end of the truss structure for identifying obstacles; The monitoring module is used to monitor the length of the truss structure operation rope; The cleaning module, the identification module and the monitoring module are electrically connected with the control module; the control module is used to control the accurate positioning of the truss structure according to the monitoring information of the monitoring module, and control the extension and retraction action of the truss structure and the cleaning action of the cleaning module according to the identification information of the identification module.

2. The Euphausia superba fishing trawler intelligent deployment and self-cleaning system according to claim 1, characterized in that, The outer end of the truss structure is used to hang a trawl car to make the trawl steel wire rope pass through the trawl car to tow underwater net.

3. The Euphausia superba fishing trawler intelligent deployment and self-cleaning system according to claim 2, characterized in that, The truss structure comprises: a truss, a cable group, a truss rotating shaft, a truss pushing device, a front end fixing device, a rear end fixing device and a top end fixing device; The end of the truss away from the trawl car is rotatably connected with the ship end through the truss rotating shaft; the truss pushing device is used to push the truss to change from vertical state to horizontal state; The outer end of the truss is rotatably connected with the ship end through the cable group and the front end fixing device, the rear end fixing device and the top end fixing device; under the action of the cable group, the front end fixing device, the rear end fixing device and the top end fixing device, the outer end of the truss can be rotated in three-dimensional direction through three-point fixing.

4. The Euphausia superba fishing trawler intelligent deployment and self-cleaning system according to claim 1, characterized in that, When the identification module identifies obstacles, the identification module feeds back initial identification information to the control module; The control module controls the truss structure to stop extension and retraction action and starts the cleaning module according to the initial identification information; the cleaning module removes obstacles through the forward and backward movement of the front end cleaning device.

5. The Euphausia superba fishing trawler smart deployment and self-cleaning system according to claim 4, characterized in that, After the identification module identifies that the cleaning is completed, the identification module feeds back cleaning identification information to the control module; the control module controls to start the cleaning action of the cleaning module and the extension and retraction action of the truss structure according to the cleaning identification information, until the fishing and recovery are completed.

6. The Euphausia superba fishing trawler smart deployment and self-cleaning system according to claim 4 or 5, characterized in that, The identification module comprises a camera; the camera is used to capture image information of the front end of the truss structure.

7. The Euphausia superba fishing trawler intelligent deployment and self-cleaning system according to claim 1, characterized in that, The intelligent extension and retraction and self-cleaning system of the Antarctic krill fishing truss further comprises a monitoring module; The monitoring module is used to monitor the identification image of the identification module in real time to feed back the working state of the truss structure and the cleaning module.

8. The Euphausia superba fishing trawler smart deployment and self-cleaning system according to claim 7, characterized in that, The monitoring module comprises an audible and visual alarm device; the audible and visual alarm device is used to give audible and visual alarm when the working state of the truss structure and the cleaning module is abnormal.

9. A method of retraction and self-cleaning of the Euphausia superba fishing trawler intelligent retraction and self-cleaning system according to any one of claims 1 to 8, characterized in that, Comprise the following steps: S1, according to the target horizontal and vertical angle, the control module controls the multi-angle adjustment of the truss structure in three-dimensional direction, until the truss and underwater net reach the target state; S2, the identification module identifies obstacles and transmits identification information to the control module; S3, the control module controls the extension and retraction action of the truss structure and the cleaning action of the cleaning module according to the identification information of the identification module.

10. The method of winding and self-cleaning according to claim 9, characterized in that, In step S3, when the identification module identifies the obstacle, the control module controls the stop of the extension and retraction action of the truss structure and starts the cleaning module according to the identification information of the identification module, and the cleaning module removes the obstacle through the reciprocating movement of the front-end cleaning device.

Images