Unmanned fishing system and method

Abstract

The embodiment of the invention provides an unmanned fishing system and method. The system comprises a main control device, an angling boat, a camera and a sonar fish finder, the angling boat and the camera are in telescopic physical connection, and the main control device is used for controlling the angling boat to sail on the water surface; controlling a holder of the camera to rotate; when it is determined that a fish school is detected according to detection data sent by the sonar fish finder in real time, the underwater depth of the fish school is determined according to the detection data, the optimal underwater depth of the camera is determined according to the underwater depth of the fish school, and a camera depth adjusting instruction is sent to the fishing boat; the camera is adjusted to the optimal underwater depth of the camera by adjusting the telescopic physical connection between the fishing boat and the camera, the three-dimensional position of a fish school is determined according to the visible light image data stream sent by the camera, and the fishing boat is controlled to sail to the position above the three-dimensional position according to the three-dimensional position of the fish school. And sending a fishing related operation instruction to the fishing boat. According to the embodiment of the invention, the fishing effect in an unmanned fishing scene is improved.

Description

Technical Field

[0001] The present invention relates to the field of information processing technology, and in particular to an unmanned fishing system and method. Background Art

[0002] In the smart fishing scenario, when the user finds a school of fish at a certain location, he / she will actively upload the photos of the catch and GPS (Global Positioning System) information to the server. The server will identify the type of fish at that location based on the photos, associate the GPS information with the type of fish, and guide subsequent fishing based on the association. The disadvantages of this method are: the type of fish is identified based on the photos uploaded by the user at that time. Since the fish are mobile, the fishing effect cannot be guaranteed by using the location and type of the fish at this moment to guide fishing at other times; and the accuracy of GPS is low, and it is impossible to specifically locate a section of the river, so it is impossible to accurately determine the specific location to place the nest or / and unhook; and this method cannot monitor the movement of the fish and the changes in water conditions in real time, so it cannot guarantee the fishing effect. Summary of the invention

[0003] The embodiments of the present invention provide an unmanned fishing system and method to improve the fishing effect in an unmanned fishing scenario.

[0004] The technical solution of the embodiment of the present invention is achieved as follows: An unmanned fishing system, the system comprises: a main control device, a fishing boat, a camera and a sonar fish finder, wherein the camera is fixed on a rotatable pan-tilt platform, a retractable physical connection is provided between the fishing boat and the camera, and a retractable physical connection is provided between the fishing boat and the sonar fish finder, wherein: A main control device, used for: controlling the fishing boat to sail on the water surface; controlling the pan / tilt rotation of the camera; when a school of fish is detected according to the detection data sent in real time by the sonar fish finder, determining the underwater depth of the school of fish according to the detection data, determining the optimal underwater depth of the camera according to the underwater depth of the school of fish, sending a camera depth adjustment instruction to the fishing boat, so that the fishing boat adjusts the camera to the optimal underwater depth of the camera by adjusting the retractable physical connection between the fishing boat and the camera, and determining the three-dimensional position of the school of fish according to the visible light image data stream sent by the camera, controlling the fishing boat to sail above the three-dimensional position according to the three-dimensional position of the school of fish, and sending fishing-related operation instructions to the fishing boat; The fishing boat is used to: sail on the water surface under the control of the main control device; execute the camera depth adjustment command sent by the main control device; execute the fishing related operation command sent by the main control device; The camera is used to collect visible light images and send the collected visible light image data stream to the main control device in real time; The sonar fish finder is used to detect, classify, locate and track underwater targets through sound waves, generate detection data, and send the detection data to the main control device in real time.

[0005] The main control device sends fishing related operation instructions to the fishing boat, including: The main control device sends instructions to the fishing boat to make a nest, or cast a hook, or make a nest + cast a hook, or cast a hook + make a nest, or make a nest + return, or cast a hook + return, or make a nest + cast a hook + return, or cast a hook + make a nest + return.

[0006] The fishing boat executes the camera depth adjustment instruction sent by the main control device, including: The fishing boat receives the camera depth adjustment instruction sent by the main control device, suspends sailing, and executes the camera depth adjustment instruction.

[0007] After the fishing boat executes the fishing related operation instruction sent by the main control device, the method further includes: When the fishing boat has completed the fishing-related operation instructions sent by the main control device, it waits for a preset first time and then continues sailing; Alternatively, when the fishing boat has completed executing the fishing-related operation instructions sent by the main control device, it waits for subsequent operation instructions sent by the main control device and executes the subsequent operation instructions.

[0008] The camera and the main control device use wired communication; Or / and, wireless communication is adopted between the main control device and the fishing boat; Or / and, wireless communication is adopted between the main control device and the sonar fish finder.

[0009] The main control device is pre-configured with one or more cruise paths, each cruise path includes at least one fishing point, and a return point for each cruise path is pre-configured; The main control device controls the fishing boat to sail on the water surface, including: When the main control device detects that the user has selected a cruising path, the main control device controls the fishing boat to sail along the cruising path.

[0010] The main control device is pre-configured with the location of each fishing spot and the type of fishing spot operation, wherein the fishing spot operation type is: making a nest, or casting a hook, or making a nest + casting a hook, or casting a hook + making a nest, or returning, or making a nest + returning, or casting a hook + returning, or making a nest + casting a hook + returning, or casting a hook + making a nest + returning; wherein, there is a fishing spot on each cruising path, and the type of fishing spot operation includes returning; Furthermore, the main control device controls the fishing boat to navigate along the cruise path, including: when it is determined that the fishing boat has arrived at a fishing point on the cruise path according to the positioning information sent by the fishing boat, querying the fishing point operation type of the fishing point stored in the main control device, and carrying the fishing point operation type in the fishing point operation instruction to send to the fishing boat; Furthermore, the fishing boat is further used to execute fishing point operation instructions sent by the main control device.

[0011] The main control device is further used for: When receiving a connection request from a user, sending a connection request to the fishing boat, and when receiving a connection response returned by the fishing boat, the connection between the main control device and the fishing boat is established; or / and, when it is detected that the user clicks a button for setting a return point, the current position of the fishing boat is used as the position of the return point, and the position of the return point is saved; or / and, when it is detected that the user clicks a button for adding a new fishing spot, the location of the current fishing boat is used as the location of the new fishing spot, and a list of optional fishing spot operation types is displayed to the user, and the location of the new fishing spot and the fishing spot operation type selected by the user for the fishing spot are saved; or / and, when it is detected that the user clicks a button for deleting a fishing spot, and the user selects a fishing spot in the fishing spot list, all information of the fishing spot saved by itself is deleted; Or / and, when it is detected that a user clicks a button for setting a cruise path, and a name of the cruise path input by the user is received, and when it is detected that the user selects one or more fishing points in the fishing spot list, the name of the cruise path and the fishing point information of one or more fishing points included in the cruise path are saved, wherein the fishing point information includes the name and / or location of the fishing point, and the fishing point operation type.

[0012] An unmanned fishing method, the method comprising: The main control device controls the fishing boat to sail on the water and controls the camera's pan / tilt rotation; When a school of fish is detected based on the detection data sent in real time by the sonar fish finder, the underwater depth of the school of fish is determined based on the detection data, and the optimal underwater depth of the camera is determined based on the underwater depth of the school of fish; Sending a camera depth adjustment instruction to the fishing boat, so that the fishing boat adjusts the camera to an optimal underwater depth of the camera by adjusting a retractable physical connection between the fishing boat and the camera; Determine the three-dimensional position of the school of fish based on the visible light image data stream sent by the camera, control the fishing boat to sail above the three-dimensional position based on the three-dimensional position of the school of fish, and send fishing-related operation instructions to the fishing boat; The camera is fixed on a rotatable gimbal, a retractable physical connection is provided between the fishing boat and the camera, and a retractable physical connection is provided between the fishing boat and the sonar fish finder.

[0013] The main control device sends fishing related operation instructions to the fishing boat, including: The main control device sends instructions to the fishing boat to make a nest, or cast a hook, or make a nest + cast a hook, or cast a hook + make a nest, or make a nest + return, or cast a hook + return, or make a nest + cast a hook + return, or cast a hook + make a nest + return.

[0014] The main control device is pre-configured with one or more cruise paths, each cruise path includes at least one fishing point, and a return point for each cruise path is pre-configured; The main control device controls the fishing boat to sail on the water surface, including: When the main control device detects that the user has selected a cruising path, the main control device controls the fishing boat to sail along the cruising path.

[0015] The main control device is pre-configured with the location of each fishing spot and the type of fishing spot operation, wherein the fishing spot operation type is: making a nest, or casting a hook, or making a nest + casting a hook, or casting a hook + making a nest, or returning, or making a nest + returning, or casting a hook + returning, or making a nest + casting a hook + returning, or casting a hook + making a nest + returning; wherein, there is a fishing spot on each cruising path, and the type of fishing spot operation includes returning; Furthermore, the main control device controls the fishing boat to navigate along the cruising path, including: when the main control device determines that the fishing boat has arrived at a fishing spot based on the positioning information sent by the fishing boat, it queries the fishing point operation type of the fishing point saved in itself, and carries the fishing point operation type in the fishing point operation instruction and sends it to the fishing boat.

[0016] The method further comprises: When the main control device receives a connection request from the user, it sends a connection request to the fishing boat, and when it receives a connection response from the fishing boat, the connection between the main control device and the fishing boat is established; or / and, when the main control device detects that the user clicks the button for setting the return point, the current position of the fishing boat is used as the position of the return point, and the position of the return point is saved; or / and, when the main control device detects that the user clicks a button for adding a new fishing spot, the current location of the fishing boat is used as the location of the new fishing spot, and a list of optional fishing spot operation types is displayed to the user, and the location of the new fishing spot and the fishing spot operation type selected by the user for the fishing spot are saved; or / and, when the main control device detects that the user clicks a button for deleting a fishing spot, and the user selects a fishing spot in the fishing spot list, all information of the fishing spot stored in the main control device is deleted; Or / and, when the main control device detects that the user clicks the button for setting the cruise path, receives the name of the cruise path input by the user, and detects that the user selects one or more fishing points in the fishing spot list, it saves the name of the cruise path and the fishing point information of one or more fishing points included in the cruise path, wherein the fishing point information includes the name and / or location of the fishing point, and the fishing point operation type.

[0017] A non-transitory computer-readable storage medium stores instructions, which, when executed by a processor, cause the processor to perform any of the unmanned fishing methods described above.

[0018] In the above embodiment, a system including a main control device, a fishing boat, a camera and a sonar fish finder is constructed, wherein the camera is fixed on a rotatable pan head, a retractable physical connection is provided between the fishing boat and the camera, a retractable physical connection is provided between the fishing boat and the sonar fish finder, and when the sonar fish finder detects the depth of a school of fish, the underwater depth of the camera is adjusted so that the camera can capture a visible light image of the school of fish, thereby obtaining the three-dimensional position of the school of fish based on the visible light image of the school of fish, and according to the three-dimensional position of the school of fish, the fishing boat is controlled to reach above the school of fish, and the fishing boat is controlled to perform fishing-related operations, thereby: the school of fish can be detected in real time and accurately, thereby improving the fishing effect in unmanned fishing scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0020] Figure 1 A schematic diagram of the structure of an unmanned fishing system provided by an embodiment of the present invention; Figure 2 A flow chart of an unmanned fishing method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. In order to understand the present invention more clearly, the following terminology is first explained: Baiting: A term in the fishing field, which refers to the action of placing bait at the fishing spot to improve fishing efficiency. The usual method is to throw the bait by hand, cast with a rod, row a boat, or even use a remote-controlled boat. In the embodiment of the present invention, the bait is placed by a remote-controlled fishing boat, that is, the bait is placed on the fishing boat in advance, and when certain conditions are met, a bait-making instruction is sent to the fishing boat, and the fishing boat puts the bait into the water.

[0023] Casting a hook: A term in the fishing field, which refers to the action of throwing a fishhook into the water. The usual method is to cast the hook by a rod or use a remote-controlled boat to cast the hook. In the embodiment of the present invention, the hook is cast by a remote-controlled fishing boat, that is, one end of the fishhook is fixed to the fishing boat in advance, and when the fishing boat reaches the designated position, a casting command is sent to the fishing boat, and the fishing boat casts the other end of the fishhook into the water. Figure 1 This is a schematic diagram of the structure of an unmanned fishing system provided by an embodiment of the present invention. Figure 1 As shown, it mainly includes: a main control device 11, a fishing boat 12, a camera 13 and a sonar fish finder 14, wherein the camera 13 is fixed on a rotatable pan-tilt platform, a retractable physical connection is provided between the fishing boat 12 and the camera 13, and a retractable physical connection is provided between the fishing boat 12 and the sonar fish finder 14. Among them: 1) A main control device 11, used to: control the fishing boat 12 to sail on the water surface; control the pan / tilt rotation of the camera 13; when a school of fish is detected according to the detection data sent in real time by the sonar fish finder 14, determine the underwater depth of the school of fish according to the detection data, determine the optimal underwater depth of the camera 13 according to the underwater depth of the school of fish, send a camera depth adjustment instruction to the fishing boat 12, so that the fishing boat 12 adjusts the camera 13 to the optimal underwater depth of the above camera by adjusting the retractable physical connection between the fishing boat 12 and the camera 13, and determine the three-dimensional position of the school of fish according to the visible light image data stream sent by the camera 13, control the fishing boat 12 to sail above the three-dimensional position according to the three-dimensional position of the school of fish, and send fishing-related operation instructions to the fishing boat 12.

[0024] In practical applications, the main control device 11 may be a mobile terminal or the like.

[0025] In actual application, the pan / tilt of the camera 13 can rotate in the up-down direction and the left-right direction at the same time, and the pan / tilt rotates in the up-down direction and the left-right direction respectively under the control of the main control device 11. Usually, there are multiple gears for the rotation speed, and the main control device 11 can select one of the gears within a period of time to control the pan / tilt to rotate at a constant speed. The camera 13 and the sonar fish finder 14 are located on or close to the same vertical line.

[0026] When the sonar fish finder 14 detects a school of fish, the camera 13 should be adjusted to a position above the school of fish so that the camera 13 can accurately capture the visible light image of the school of fish. The optimal distance between the camera 13 and the school of fish can be preset.

[0027] In an optional embodiment, the main control device 11 determines the optimal underwater depth of the camera 13 according to the underwater depth of the fish school detected by the sonar fish finder 14, including: determining the optimal underwater depth of the camera 13 according to a pre-set optimal distance between the camera 13 and the fish school, and according to the underwater depth of the fish school detected by the sonar fish finder 14.

[0028] 2) The fishing boat 12 is used to: navigate on the water under the control of the main control device 11; execute the camera depth adjustment command sent by the main control device 11; and execute the fishing related operation command sent by the main control device 11.

[0029] In an optional embodiment, the fishing boat 12 executes the camera depth adjustment instruction sent by the main control device 11, including: the fishing boat 12 receives the camera depth adjustment instruction sent by the main control device 11, suspends navigation, and executes the camera depth adjustment instruction.

[0030] In an optional embodiment, the main control device 11 sends fishing-related operation instructions to the fishing boat 12, including: the main control device 11 sends instructions for making a nest, or casting a hook, or making a nest + casting a hook, or casting a hook + making a nest, or making a nest + returning, or casting a hook + returning, or making a nest + casting a hook + returning, or casting a hook + making a nest + returning to the fishing boat 12. Among them, the instructions for making a nest + casting a hook can be sent at the same time, or the instructions for making a nest can be sent first, and the instructions for casting a hook can be sent immediately or after a period of time; similarly, the instructions for casting a hook + making a nest can be sent at the same time, or the instructions for casting a hook can be sent first, and the instructions for making a nest can be sent immediately or after a period of time.

[0031] The user places the bait on the fishing boat 12 in advance, and at the same time, fixes one end of the fish hook on the fishing boat 12. When the fishing boat 12 receives the command of making a nest from the main control device 11, it stops sailing and puts the bait into the water; when the fishing boat 12 receives the command of casting a hook from the main control device 11, it stops sailing and puts the fish hook into the water; when the fishing boat 12 receives the command of making a nest + casting a hook from the main control device 11, it stops sailing, first puts the bait into the water, and immediately or after a period of time, puts the free end of the fish hook into the water; when the fishing boat 12 receives the command of casting a hook + making a nest from the main control device 11, it stops sailing, first puts the free end of the fish hook into the water, and immediately or after a period of time, puts the bait into the water.

[0032] In an optional embodiment, after the fishing boat 12 executes the fishing-related operation instruction sent by the main control device 11, the method further includes: when the fishing boat 12 completes the fishing-related operation instruction sent by the main control device 11, it waits for a preset first time period and then continues to sail. In actual applications, after the main control device 11 sends the fishing-related operation instruction to the fishing boat 12, it waits for the preset first time period and then sends the fishing boat 12 a continuing sailing instruction. In this case, when a school of fish is detected again according to the sonar fish finder 14 and the camera 13 during the sailing process, the main control device 11 will continue to send the fishing-related operation instruction to the fishing boat.

[0033] In an optional embodiment, after the fishing boat 12 executes the fishing-related operation instruction sent by the main control device 11, the method further includes: when the fishing boat 12 has completed executing the fishing-related operation instruction sent by the main control device 11, waiting for the subsequent operation instruction sent by the main control device 11, and executing the subsequent operation instruction. Here, the subsequent operation instruction is such as a return instruction. In this case, during the return process of the fishing boat 12, even if the sonar fish finder 14 and the camera 13 detect a school of fish again, the main control device 11 will not send the fishing-related operation instruction to the fishing boat 12, or, during the return process of the fishing boat 12, if the fishing boat 12 receives an instruction from the main control device 11 that is not related to the return, it will ignore it.

[0034] 3) The camera 13 is used to collect visible light images and send the collected visible light image data stream to the main control device 11 in real time.

[0035] Since the effective distance of visible light under the water surface is limited, the length of the retractable physical connection between the fishing boat 12 and the camera 13 is determined according to the effective distance of visible light under the water surface. For example, the maximum length of the retractable physical connection is 10 meters.

[0036] 4) A sonar fish finder 14 is used to detect, classify, locate and track underwater targets through sound waves, generate detection data, and send the detection data to the main control device 11 in real time.

[0037] The main control device receives the detection data and can render the detection data into an image and display it on the interface.

[0038] In an optional embodiment, wired communication is adopted between the camera 13 and the main control device 11, such as carrier board connection; or / and, wireless communication is adopted between the main control device 11 and the fishing boat 12; or / and, wireless communication is adopted between the main control device 11 and the sonar fish finder 14.

[0039] In actual applications, the main control device 11, the fishing boat 12 and the sonar fish finder 14 can be connected by a wireless local area network. For example, the fishing boat 12 can be used as a wireless access point, and the main control device 11 and the sonar fish finder 14 can be used as wireless sites. The main control device 11 and the sonar fish finder 14 initiate a wireless access request to the fishing boat 12, and after receiving the wireless access response returned by the fishing boat 12, a wireless local area network connection between the three is established.

[0040] In the above embodiment, a system including a main control device 11, a fishing boat 12, a camera 13 and a sonar fish finder 14 is constructed, wherein the camera 13 is fixed on a rotatable pan head, and a retractable physical connection is provided between the fishing boat 12 and the camera 13, and a retractable physical connection is provided between the fishing boat 12 and the sonar fish finder 14. When the sonar fish finder 14 detects the depth of a school of fish, the underwater depth of the camera 13 is adjusted so that the camera 13 can capture a visible light image of the school of fish, thereby obtaining a three-dimensional position of the school of fish based on the visible light image of the school of fish, and according to the three-dimensional position of the school of fish, the fishing boat 12 is controlled to reach above the school of fish, and the fishing boat 12 is controlled to perform fishing-related operations, thereby: the school of fish can be detected in real time and accurately, thereby improving the fishing effect in an unmanned fishing scenario. In an optional embodiment, one or more cruise paths are pre-configured on the main control device 11, each cruise path includes at least one fishing spot, and a return point is pre-configured for each cruise path; and the main control device 11 controls the fishing boat 12 to sail on the water, including: when the main control device 11 detects that the user has selected a cruise path, it controls the fishing boat 12 to sail along the cruise path.

[0041] In an optional embodiment, the main control device 11 is pre-configured with the location of each fishing spot and the type of fishing spot operation, wherein the fishing spot operation type is: making a nest, or casting a hook, or making a nest + casting a hook, or casting a hook + making a nest, or returning, or making a nest + returning, or casting a hook + returning, or making a nest + casting a hook + returning, or casting a hook + making a nest + returning; wherein, there must be a fishing spot on each cruising path whose fishing spot operation type includes returning; Furthermore, the main control device 11 controls the fishing boat 12 to navigate along the cruising path, including: when it is determined that the fishing boat 12 has arrived at a fishing spot on the cruising path based on the positioning information sent by the fishing boat 12, querying the fishing spot operation type of the fishing spot saved by itself, and carrying the fishing spot operation type in the fishing spot operation instruction to the fishing boat 12; and the fishing boat 12 is further used to: execute the fishing spot operation instruction sent by the main control device 11.

[0042] It should be noted that after the fishing boat 12 receives the return instruction from the main control device 11, if it receives other fishing spot operation instructions from the main control device 11 during the return process, the fishing boat 12 will ignore them.

[0043] In actual application, for convenience, the main control device 11 may also be pre-configured with the name of each fishing spot.

[0044] In addition, considering that the water temperature is related to the type of fish, the main control device 11 can also be configured with the water temperature of each fishing spot for the user to refer to when selecting which cruising path to cruise.

[0045] In addition, it is considered that: one main control device 11 can control multiple fishing grounds, wherein each fishing ground corresponds to an independent water area, that is, the water areas of different fishing grounds do not overlap with each other, and one or more cruise paths can be configured in each fishing ground. Therefore, the main control device 11 can be pre-configured with the location of one or more fishing grounds, and one or more cruise paths included in each fishing ground. For convenience, the main control device 11 can also be pre-configured with the name of each fishing ground. In an optional embodiment, the main control device 11 is further used to: when receiving a connection request for a fishing boat input by a user, send a connection request to the fishing boat 12, and when receiving a connection response returned by the fishing boat 12, the connection between the main control device 11 and the fishing boat 12 is established; wherein, after the sonar fish finder 14 is started, it will actively send a connection request to the fishing boat 12, and when receiving a connection response returned by the fishing boat 12, the connection between the sonar fish finder 14 and the fishing boat 12 is established; the main control device 11 and the sonar fish finder 14 are connected through the fishing boat 12; or / and, when it is detected that the user clicks a button for setting a return point, the current position of the fishing boat is used as the position of the return point, and the position of the return point is saved; or / and, when it is detected that the user clicks a button for adding a new fishing spot, the location of the current fishing boat is used as the location of the new fishing spot, and a list of optional fishing spot operation types is displayed to the user, and the location of the new fishing spot and the fishing spot operation type selected by the user for the fishing spot are saved; or / and, when it is detected that the user clicks a button for deleting a fishing spot, and the user selects a fishing spot in the fishing spot list, all information of the fishing spot saved by itself is deleted; Or / and, when it is detected that a user clicks a button for setting a cruise path, and a name of the cruise path input by the user is received, and when it is detected that the user selects one or more fishing points in the fishing spot list, the name of the cruise path and the fishing point information of one or more fishing points included in the cruise path are saved, wherein the fishing point information includes the name and / or location of the fishing point, and the fishing point operation type.

[0046] In actual application, when the launching position of the fishing boat 12 is updated, the position of the return point needs to be updated. At this time, the user clicks the "Set Return Point" button on the main control device 11, and the main control device 11 automatically uses the current position of the fishing boat 12 as the new return point and sends the new return point to the fishing boat 12. In this way, when the connection between the fishing boat 12 and the main control device 11 is abnormally disconnected, the fishing boat 12 can automatically return to the return point according to the return point position saved by itself. In actual application, a cruise APP (Application) is installed on the main control device. When the user clicks on the APP, the main control device displays the main interface of the APP. The main interface of the APP has a fishing ground list, which contains the logo and / or location of each fishing ground. The main interface also has buttons such as "Connect to fishing boat".

[0047] When the user clicks on the logo and / or location of a fishing ground in the fishing ground list on the main interface, the Cruise APP jumps to the fishing ground interface of the fishing ground. The fishing ground interface has buttons such as "Set return point", "Add new fishing point", "Delete fishing point", and "Set cruise route".

[0048] When the user clicks the "Set Return Point" button, the backend uses the current position of the fishing boat as the return point, associates the return point with the fishing ground logo, and displays the return point on the fishing ground interface; When the user clicks the "Add Fishing Spot" button, the background uses the current fishing boat's location as the location of the newly added fishing spot, and can display a fishing spot name input box on the interface to save the fishing spot name entered by the user. In addition, it can also save the water temperature of the fishing spot sent by the current fishing boat, and select the fishing spot operation type set for the newly added fishing spot in the list of optional fishing spot operation types that pop up on the interface. The background associates the name of the fishing spot entered by the user, the location of the fishing spot, the water temperature of the fishing spot, and the fishing spot operation type of the fishing spot with the fishing ground logo, and displays the name of the fishing spot on the fishing ground interface's fishing spot list; When the user clicks the "Set Cruise Path" button, the APP pops up a cruise path name input box, and the user enters the name of the cruise path in the input box. When the user selects one or more fishing spots in the fishing spot list, the background associates the cruise path name entered by the user and the fishing spot information (name, location, water temperature and fishing spot operation type, etc.) of the one or more fishing spots selected by the user with the fishing ground logo, and displays the name of the cruise path and the names of the fishing spots included in the cruise path on the cruise path list of the fishing ground interface; Among them, when the user clicks the "Set Cruise Path" button, the APP may first pop up a cruise path name input box, and the user enters the name of the cruise path in the input box, and then the APP pops up a fishing point input box. The user can add fishing points to the cruise path by dragging the fishing points in the fishing point list into the input box. The background will associate the name of the cruise path and the fishing point information of each fishing point included in the cruise path with the fishing ground logo.

[0049] When the user clicks the "Delete Fishing Spot" button and selects a fishing spot in the fishing spot list, the background will find and delete all the information of the fishing spot saved by itself based on the name and / or location of the fishing spot, and delete the fishing spot from the fishing spot list in the fishing ground interface.

[0050] It should be noted that in actual applications, when there are too many cruise paths or each cruise path contains too many fishing spots, it will be inconvenient for users to operate the cruise APP. Therefore, an upper limit on the number of cruise paths can be set for each fishing ground, and an upper limit on the number of fishing spots can be set for each cruise path. The specific values ​​of the upper limit on the number of cruise paths and the upper limit on the number of fishing spots contained in each cruise path can be determined according to the actual scenario. For example, the upper limit on the number of cruise paths can be set to 5, and the upper limit on the number of fishing spots contained in each cruise path can be set to 10. Figure 2 This is a flow chart of an unmanned fishing method provided by an embodiment of the present invention. Figure 2 As shown, the specific steps are as follows: Step 201: The main control device controls the fishing boat to sail on the water surface and controls the pan / tilt of the camera to rotate, wherein the camera is fixed on a rotatable pan / tilt, and a retractable physical connection is provided between the fishing boat and the camera.

[0051] Step 202: When the main control device determines that a school of fish is detected based on the detection data sent in real time by the sonar fish finder, the underwater depth of the school of fish is determined based on the detection data, and the optimal underwater depth of the camera is determined based on the underwater depth of the school of fish. There is a retractable physical connection between the fishing boat and the sonar fish finder.

[0052] Step 203: The main control device sends a camera depth adjustment instruction to the fishing boat, so that the fishing boat adjusts the camera to the optimal underwater depth of the camera by adjusting the retractable physical connection between the fishing boat and the camera.

[0053] Step 204: The main control device determines the three-dimensional position of the fish school based on the visible light image data stream sent by the camera, controls the fishing boat to sail above the three-dimensional position based on the three-dimensional position of the fish school, and sends fishing-related operation instructions to the fishing boat.

[0054] In an optional embodiment, the main control device sends fishing-related operation instructions to the fishing boat, including: the main control device sends instructions to the fishing boat to make a nest, or cast a hook, or make a nest + cast a hook, or cast a hook + make a nest, or make a nest + return, or cast a hook + return, or make a nest + cast a hook + return, or cast a hook + make a nest + return. In an optional embodiment, the method further comprises: one or more cruise paths are pre-configured on the main control device, each cruise path includes at least one fishing point, and a return point of each cruise path is pre-configured; Furthermore, in step 201, the main control device controls the fishing boat to sail on the water, including: when the main control device detects that the user has selected a cruising path, controlling the fishing boat to sail along the cruising path. In an optional embodiment, the method further comprises: the position of each fishing spot and the type of operation of the fishing spot are pre-configured on the main control device, wherein the type of operation of the fishing spot is: making a nest, or casting a hook, or making a nest + casting a hook, or casting a hook + making a nest, or returning, or making a nest + returning, or casting a hook + returning, or making a nest + casting a hook + returning, or casting a hook + making a nest + returning; wherein, there is a fishing spot on each cruising path, and the type of fishing spot operation includes returning; Furthermore, in step 201, the main control device controls the fishing boat to navigate along the cruising path, including: when the main control device determines that the fishing boat has arrived at a fishing spot based on the positioning information sent by the fishing boat, it queries the fishing point operation type of the fishing point saved by itself, and carries the fishing point operation type in the fishing point operation instruction and sends it to the fishing boat. In an optional embodiment, the method further includes: when the main control device receives a request for connecting to a fishing boat input by a user, a connection request is sent to the fishing boat, and when a connection response returned by the fishing boat is received, a connection between the main control device and the fishing boat is established; or / and, when the main control device detects that the user clicks a button for setting a return point, the current position of the fishing boat is used as the position of the return point, and the position of the return point is saved; or / and, when the main control device detects that the user clicks a button for adding a new fishing point, the current position of the fishing boat is used as the position of the new fishing point, and a list of optional fishing point operation types is displayed to the user, and the position of the new fishing point is saved. or / and, when the main control device detects that the user clicks the button for setting a cruise path, receives the name of the cruise path input by the user, and detects that the user selects one or more fishing points in the fishing point list, saves the name of the cruise path, and the fishing point information of one or more fishing points included in the cruise path, wherein the fishing point information includes the name and / or location of the fishing point, and the fishing point operation type. An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which stores instructions. When the instructions are executed by a processor, the processor executes the unmanned fishing method described in any of the aforementioned embodiments. Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations or combinations are not explicitly described in the present application. In particular, without departing from the spirit and teachings of the present application, the features described in the various embodiments and / or claims of the present application may be combined and / or combined in a variety of ways, and all of these combinations and / or combinations fall within the scope disclosed in the present application.

[0055] Specific embodiments are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas, and is not used to limit the present application. For those skilled in the art, changes can be made in the specific implementation methods and application scopes according to the ideas, spirits and principles of the present invention, and any modifications, equivalent substitutions, improvements, etc. made therein should be included in the scope of protection of this application.

Claims

1. An unmanned fishing system, characterized in that: The system includes: a main control device, a fishing boat, a camera and a sonar fish finder, wherein the camera is fixed on a rotatable pan-tilt platform, a retractable physical connection is provided between the fishing boat and the camera, and a retractable physical connection is provided between the fishing boat and the sonar fish finder, wherein: A main control device, used for: controlling the fishing boat to sail on the water surface; controlling the pan / tilt rotation of the camera; when a school of fish is detected according to the detection data sent in real time by the sonar fish finder, determining the underwater depth of the school of fish according to the detection data, determining the optimal underwater depth of the camera according to the underwater depth of the school of fish, sending a camera depth adjustment instruction to the fishing boat, so that the fishing boat adjusts the camera to the optimal underwater depth of the camera by adjusting the retractable physical connection between the fishing boat and the camera, and determining the three-dimensional position of the school of fish according to the visible light image data stream sent by the camera, controlling the fishing boat to sail above the three-dimensional position according to the three-dimensional position of the school of fish, and sending fishing-related operation instructions to the fishing boat; The fishing boat is used to: sail on the water surface under the control of the main control device; execute the camera depth adjustment command sent by the main control device; execute the fishing related operation command sent by the main control device; The camera is used to collect visible light images and send the collected visible light image data stream to the main control device in real time; The sonar fish finder is used to detect, classify, locate and track underwater targets through sound waves, generate detection data, and send the detection data to the main control device in real time.

2. The system according to claim 1, characterized in that The main control device sends fishing related operation instructions to the fishing boat, including: The main control device sends instructions to the fishing boat to make a nest, or cast a hook, or make a nest + cast a hook, or cast a hook + make a nest, or make a nest + return, or cast a hook + return, or make a nest + cast a hook + return, or cast a hook + make a nest + return.

3. The system according to claim 1, characterized in that The fishing boat executes the camera depth adjustment instruction sent by the main control device, including: The fishing boat receives the camera depth adjustment instruction sent by the main control device, suspends sailing, and executes the camera depth adjustment instruction.

4. The system according to claim 1, characterized in that After the fishing boat executes the fishing related operation instruction sent by the main control device, the method further includes: When the fishing boat has completed the fishing-related operation instructions sent by the main control device, it waits for a preset first time and then continues sailing; Alternatively, when the fishing boat has completed executing the fishing-related operation instruction sent by the main control device, it waits for the subsequent operation instruction sent by the main control device and executes the subsequent operation instruction.

5. The system according to claim 1, characterized in that The camera and the main control device use wired communication; Or / and, wireless communication is adopted between the main control device and the fishing boat; Or / and, wireless communication is adopted between the main control device and the sonar fish finder.

6. The system according to claim 1, characterized in that The main control device is pre-configured with one or more cruise paths, each cruise path includes at least one fishing point, and a return point for each cruise path is pre-configured; The main control device controls the fishing boat to sail on the water surface, including: When the main control device detects that the user has selected a cruising path, the main control device controls the fishing boat to sail along the cruising path.

7. The system according to claim 6, characterized in that The main control device is pre-configured with the location of each fishing spot and the type of fishing spot operation, wherein the fishing spot operation type is: making a nest, or casting a hook, or making a nest + casting a hook, or casting a hook + making a nest, or returning, or making a nest + returning, or casting a hook + returning, or making a nest + casting a hook + returning, or casting a hook + making a nest + returning; wherein, there is a fishing spot on each cruising path, and the type of fishing spot operation includes returning; Furthermore, the main control device controls the fishing boat to navigate along the cruise path, including: when it is determined that the fishing boat has arrived at a fishing point on the cruise path according to the positioning information sent by the fishing boat, querying the fishing point operation type of the fishing point stored in the main control device, and carrying the fishing point operation type in the fishing point operation instruction to send to the fishing boat; Furthermore, the fishing boat is further used to execute fishing point operation instructions sent by the main control device.

8. The system according to claim 1, characterized in that The main control device is further used for: When receiving a connection request from a user, sending a connection request to the fishing boat, and when receiving a connection response returned by the fishing boat, the connection between the main control device and the fishing boat is established; or / and, when it is detected that the user clicks a button for setting a return point, the current position of the fishing boat is used as the position of the return point, and the position of the return point is saved; or / and, when it is detected that the user clicks a button for adding a new fishing spot, the location of the current fishing boat is used as the location of the new fishing spot, and a list of optional fishing spot operation types is displayed to the user, and the location of the new fishing spot and the fishing spot operation type selected by the user for the fishing spot are saved; or / and, when it is detected that the user clicks a button for deleting a fishing spot, and the user selects a fishing spot in the fishing spot list, all information of the fishing spot saved by itself is deleted; Or / and, when it is detected that a user clicks a button for setting a cruise path, and a name of the cruise path input by the user is received, and when it is detected that the user selects one or more fishing points in the fishing spot list, the name of the cruise path and the fishing point information of one or more fishing points included in the cruise path are saved, wherein the fishing point information includes the name and / or location of the fishing point, and the fishing point operation type.

9. An unmanned fishing method, characterized in that: The method includes: The main control device controls the fishing boat to sail on the water and controls the camera's pan / tilt rotation; When a school of fish is detected based on the detection data sent in real time by the sonar fish finder, the underwater depth of the school of fish is determined based on the detection data, and the optimal underwater depth of the camera is determined based on the underwater depth of the school of fish; Sending a camera depth adjustment instruction to the fishing boat, so that the fishing boat adjusts the camera to an optimal underwater depth of the camera by adjusting a retractable physical connection between the fishing boat and the camera; Determine the three-dimensional position of the school of fish based on the visible light image data stream sent by the camera, control the fishing boat to sail above the three-dimensional position based on the three-dimensional position of the school of fish, and send fishing-related operation instructions to the fishing boat; The camera is fixed on a rotatable gimbal, a retractable physical connection is provided between the fishing boat and the camera, and a retractable physical connection is provided between the fishing boat and the sonar fish finder.

10. The method according to claim 9, characterized in that The main control device sends fishing related operation instructions to the fishing boat, including: The main control device sends instructions to the fishing boat to make a nest, or cast a hook, or make a nest + cast a hook, or cast a hook + make a nest, or make a nest + return, or cast a hook + return, or make a nest + cast a hook + return, or cast a hook + make a nest + return.

11. The method according to claim 9, characterized in that The main control device is pre-configured with one or more cruise paths, each cruise path includes at least one fishing point, and a return point for each cruise path is pre-configured; The main control device controls the fishing boat to sail on the water surface, including: When the main control device detects that the user has selected a cruising path, the main control device controls the fishing boat to sail along the cruising path.

12. The method according to claim 11, characterized in that The main control device is pre-configured with the location of each fishing spot and the type of fishing spot operation, wherein the fishing spot operation type is: making a nest, or casting a hook, or making a nest + casting a hook, or casting a hook + making a nest, or returning, or making a nest + returning, or casting a hook + returning, or making a nest + casting a hook + returning, or casting a hook + making a nest + returning; wherein, there is a fishing spot on each cruising path, and the type of fishing spot operation includes returning; Furthermore, the main control device controls the fishing boat to navigate along the cruising path, including: when the main control device determines that the fishing boat has arrived at a fishing spot based on the positioning information sent by the fishing boat, it queries the fishing point operation type of the fishing point saved in itself, and carries the fishing point operation type in the fishing point operation instruction and sends it to the fishing boat.

13. The method according to claim 9, characterized in that The method further comprises: When the main control device receives a connection request from the user, it sends a connection request to the fishing boat, and when it receives a connection response from the fishing boat, the connection between the main control device and the fishing boat is established; or / and, when the main control device detects that the user clicks the button for setting the return point, the current position of the fishing boat is used as the position of the return point, and the position of the return point is saved; or / and, when the main control device detects that the user clicks a button for adding a new fishing spot, the current location of the fishing boat is used as the location of the new fishing spot, and a list of optional fishing spot operation types is displayed to the user, and the location of the new fishing spot and the fishing spot operation type selected by the user for the fishing spot are saved; or / and, when the main control device detects that the user clicks a button for deleting a fishing spot, and the user selects a fishing spot in the fishing spot list, all information of the fishing spot stored in the main control device is deleted; Or / and, when the main control device detects that the user clicks the button for setting the cruise path, receives the name of the cruise path input by the user, and detects that the user selects one or more fishing points in the fishing spot list, it saves the name of the cruise path and the fishing point information of one or more fishing points included in the cruise path, wherein the fishing point information includes the name and / or location of the fishing point, and the fishing point operation type.

14. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium stores instructions, which, when executed by a processor, cause the processor to perform the unmanned fishing method according to any one of claims 9 to 13.

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