Full-automatic intelligent unmanned ship system for artemia egg fishing

Abstract

The present disclosure provides a kind of full-automatic intelligent unmanned ship system for artemia egg fishing, applied to double-hulled unmanned ship, comprising: buoyancy adjustment and control module, for real-time acquisition wave disturbance information and ship body buoyancy state, dynamically adjusts the distribution of ballast water volume of left and right float of ship body;Attitude perception and compensation control module, for monitoring the attitude deviation of ship body, drive the angle adjustment support of fishing assembly into water to carry out reverse compensation and locking;Hydraulic buffer and slow-release control module, for controlling the speed and acceleration of fishing net bag lowering, realize the buffer soft entry of net bag;Depth determination and stable locking module, for determining whether net bag reaches target depth, calculate locking torque after reaching, and drive hydraulic locking device, and stabilize fishing assembly at target depth;Flow screening and collection execution module, for guiding, screening and automatically collecting artemia eggs, through multi-module closed-loop control to realize full-process optimization, improve the environmental adaptability and operation stability of system.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of intelligent aquaculture equipment, in particular to a full-automatic intelligent unmanned ship system for Artemia salina cysts fishing. BACKGROUND

[0002] With the increasing demand for high-quality open bait in aquaculture, the fishing operation of Artemia salina cysts in salt lakes has been increasingly valued. As an important Artemia salina cyst production area in China, the special high-salinity water environment and frequent gusty weather of the Ebinur Lake in Xinjiang pose severe challenges to the fishing operation. Currently, the fishing of Artemia salina cysts mainly relies on the traditional manual operation mode, and the fishing personnel need to wear protective equipment to fish the cysts in the shallow water area by hand or to operate in the deep water area by riding a trawl boat, which has problems of high labor intensity, low efficiency, high safety risk, etc. Although the unmanned ship technology has been gradually applied to the field of fisheries in recent years, there are obvious deficiencies in the existing double-hulled unmanned ship when it is used for fishing in the high-salt shallow water environment of the Ebinur Lake. When the wind on the lake surface is above 4 levels, short-period irregular waves will be generated, resulting in obvious roll and pitch of the ship body. This rocking causes the fishing net to deviate from the angle when it enters the water, which not only reduces the efficiency of cyst capture, but also causes mechanical damage to the cysts. At the same time, due to the lack of effective self-adaptive adjustment mechanism, the traditional fishing system cannot maintain a stable operating posture in the dynamically fluctuating environment, resulting in a high interruption rate of fishing operation, which seriously affects the fishing efficiency and economic benefits.

[0003] Therefore, it is urgent to develop an intelligent unmanned ship system that can adapt to the high-salt wind and wave environment and maintain the stability of fishing operation, so as to solve the problems of low fishing efficiency and cyst damage caused by ship body rocking in the prior art. SUMMARY

[0004] Therefore, in order to solve the problems brought by the prior art, the present application provides a full-automatic intelligent unmanned ship system for Artemia salina cysts fishing.

[0005] In a first aspect, the present disclosure provides a full-automatic intelligent unmanned ship system for Artemia salina cysts fishing, which is applied to a double-hulled unmanned ship, and the system comprises:

[0006] a buoyancy adjustment and control module for collecting wave disturbance information and ship body buoyancy state in real time, dynamically adjusting the ballast water volume distribution of the left and right floats of the ship body, and suppressing the rocking of the ship body;

[0007] a posture sensing and compensation control module in communication connection with the buoyancy adjustment and control module, for monitoring the posture deviation of the ship body, driving the reverse compensation and locking of the water entry angle adjustment support of the fishing assembly, and maintaining the vertical water entry posture of the net bag;

[0008] The hydraulic buffer and slow release control module is communicatively connected to the attitude sensing and compensation control module and is used to control the lowering speed and acceleration of the fishing net to achieve a smooth and buffered entry of the net into the water.

[0009] The depth determination and stabilization locking module is communicatively connected to the hydraulic buffer and slow release control module. It is used to determine whether the net has reached the target depth, calculate the locking torque after reaching the target depth, and drive the hydraulic locking device to stabilize the fishing component at the target depth.

[0010] The flow guidance, screening, and collection execution module is communicatively connected to the depth determination and stability locking module, and is used for guiding, screening, and automatically collecting brine shrimp eggs.

[0011] Optionally, the buoyancy adjustment and control module includes:

[0012] The floats are arranged symmetrically on the left and right, and each float contains a water bladder.

[0013] Miniature water pumps and solenoid valve assemblies connected to each water bladder;

[0014] The buoyancy difference between the left and right floats is calculated, and the water distribution in the left and right water bladders is adjusted by controlling the micro water pump and solenoid valve group to eliminate the buoyancy difference.

[0015] Optionally, the attitude perception and compensation control module is further configured to:

[0016] Based on the collected ship roll angle and pitch angle Calculate the target compensation angle The water inlet angle adjustment bracket is rotated to the target compensation angle and then locked.

[0017] Optionally, the method based on the collected hull roll angle and pitch angle Calculate the target compensation angle include:

[0018] Through formula Calculate the target compensation angle, where, The hull roll angle, The pitch angle of the hull. and These are the weighting factors for the ship's roll and pitch angles, which are dynamically adjusted based on historical operational data.

[0019] Optionally, the hydraulic buffer and release control module is further configured to:

[0020] Based on the preset target lowering parameters and the real-time monitored net displacement x and velocity v, according to the formula Calculate the hydraulic damping force, where c is the damping coefficient and k is the equivalent stiffness coefficient.

[0021] Based on the damping force Calculate the damping moment with lever arm length l ;

[0022] Generate valve opening command to control the hydraulic proportional valve To smoothly control the trajectory of the net as it is lowered, among which... This represents the maximum output torque of the hydraulic cylinder.

[0023] Optionally, the command for generating the valve opening degree of the hydraulic proportional valve further includes:

[0024] Introducing wave disturbance parameters Feedforward compensation term The feedforward compensation term Based on wave disturbance parameters Wave frequency in Generates a preset wave frequency-compensation gain relationship curve;

[0025] Modify the valve opening command to This is to anticipate the disturbances that waves will cause and to counteract them in advance. This is the maximum output torque of the hydraulic cylinder.

[0026] Optionally, the depth determination and stabilization locking module is further configured to:

[0027] Receive the current water depth data d from the depth sensor and compare it with the preset target depth. and depth threshold error Compare, when the conditions are met At that time, a depth determination result is generated to trigger a locking action.

[0028] Optionally, the depth determination and stabilization locking module is further configured to:

[0029] After the locking is triggered, calculate the locking torque. Where m is the mass of the fishing component, The measured acceleration during the lowering of the net. The length of the lever arm. Due to the high density of the salt lake water, Let A be the acceleration due to gravity, and A be the equivalent wave-receiving area of ​​the fishing component. Wave height The term represents the inertial torque, used to counteract acceleration disturbances. The term represents the wave impact torque, used to resist the up-and-down movement of water.

[0030] According to the wave spectrum characteristics and the residual sway amplitude of the ship body, the optimal locking strategy is selected to drive the hydraulic locking device to perform locking;

[0031] After locking is completed, output the steady-state parameters , wherein, is the current water depth data, is the attitude angle of the net.

[0032] Optionally, the flow guiding, screening and collecting execution module is further configured to:

[0033] receive the steady-state parameters , dynamically adjust the inclination angle of the flow guide plate to direct the water flow into the net;

[0034] make the water flow pass through the double-layer filtering structure composed of the primary fence layer and the secondary net layer in turn to intercept large-particle impurities and capture target brine shrimp eggs;

[0035] monitor the amount of captured eggs and the larva filtration rate per unit time in real time.

[0036] Optionally, the flow guiding, screening and collecting execution module is further configured to:

[0037] when the larva filtration rate is lower than a preset target value or the pressure difference between the two sides of the net abnormally rises, automatically trigger the cleaning operation;

[0038] when the amount of captured eggs continuously exceeds the limit, start the full-automatic collection sequence, perform the net lifting and tilting actions, and use the near-infrared spectrum sensor to analyze the purity of the eggs in the collection box in real time.

[0039] The present disclosure has the following advantages compared with the prior art:

[0040] By integrating a series of technical features such as active adjustment of buoyancy, real-time compensation of attitude, hydraulic soft buffering, depth stabilization locking and intelligent flow guiding and screening, a series of technical problems of traditional brine shrimp egg catching methods in open water environment with wind and wave, such as severe ship body sway, out-of-control net entry attitude, large water entry impact disturbance, inability to maintain the working depth and low collection efficiency, are systematically overcome. The full-process intelligentization and high-precision control of brine shrimp egg catching from platform stability, attitude control, process buffering to depth locking and finally collection are realized, and a full-automatic operation system capable of safe, efficient and stable operation in dynamic wave environment is constructed, which significantly improves the quality and efficiency of the catching operation, and greatly reduces the damage risk to fragile aquatic biological resources. BRIEF DESCRIPTION OF DRAWINGS

[0041] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure.

[0042] Figure 1 The structure schematic diagram of the double-hull unmanned ship for artemia egg fishing is provided for the embodiment of the present disclosure.

[0043] Figure 2 The structure schematic diagram of the full-automatic intelligent unmanned ship system for artemia egg fishing is provided for the embodiment of the present disclosure.

[0044] In the drawings, the components represented by the numbers are listed as follows:

[0045] 1, double-hull ship; 2, double-axle rudder machine; 3, first rudder machine fixed connection block; 4, first rudder machine movable connection block; 5, first collection net connecting piece; 6, second collection net connecting piece; 7, lower part of collection net structure; 8, upper part of collection net structure; 9, collection net; 10, secondary net bag layer; 11, collection box; 12, rotary air cylinder main body; 13, rotary air cylinder rotating port; 14, second rudder machine first connecting block; 15, second rudder machine second connecting block; 16, small-diameter deep-groove ball bearing; 17, collection net connecting piece; 18, rotary air cylinder and net connecting block; 19, solar panel; 20, propeller; 21, blocking net; 22, guide plate.

[0046] Through the above-mentioned drawings, the explicit embodiment of the present disclosure has been shown, and more detailed description will be given hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present disclosure by any means, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0047] The present disclosure will be further described below in conjunction with the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present disclosure, and cannot limit the protection scope of the present disclosure.

[0048] The components of the embodiments of the present disclosure generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the claimed present disclosure, but only represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present disclosure.

[0049] Hereinafter, the terms "include", "have", and their conjugations, which are used in various embodiments of the present application, merely indicate the existence of certain features, numbers, steps, operations, elements, components, or combinations thereof, and do not exclude the existence of or addition of one or more other features, numbers, steps, operations, elements, components, or combinations thereof.

[0050] Unless defined otherwise, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present application belong. Terms such as those defined in a generally used dictionary are to be interpreted to have the same meaning as those in the context of relevant technology and are not to be interpreted to have an idealized or overly formal meaning unless clearly defined in various embodiments of the present application.

[0051] Figure 1 A schematic diagram of a double-hulled unmanned ship structure for artemia egg fishing is provided for embodiments of the present disclosure.

[0052] Figure 1 The illustrated double-hulled unmanned ship structure is a common platform form in current artemia egg fishing operations, which adopts a left-right pontoon design to provide basic stability, and is equipped with a propeller thruster, a solar panel, and a simple fishing net. The specific connection relationship of each component includes: the double-hulled ship (1) as the basic platform of the entire system, the left and right pontoon structures provide the main buoyancy for the system. The solar panel (19) is laid on the deck or the connecting bridge of the double-hulled ship (1) to provide energy for the electric equipment such as the propeller (20).

[0053] The propeller (20) is installed at the tail of the ship body as a propeller, usually through a rudder or a motor seat. The double-shaft rudder (2) is the core executive mechanism, and its shell is rigidly connected with the ship body through the first rudder fixed connection block (3), and its output shaft is connected with the fishing assembly through the first rudder movable connection block (4), so as to drive the fishing assembly to perform the pitching movement. The upper part (8) and the lower part (7) of the collecting net structure are connected through a mechanical mode (such as a bolt or a buckle), and together constitute the support frame of the collecting net (9). The first collecting net connecting piece (5) and the second collecting net connecting piece (6) are hinged to the collecting net frame and the first rudder movable connection block (4), forming a reliable power transmission path. The secondary net bag layer (10) is suspended or fixed inside the collecting net (9). The blocking net (21) and the guide vane (22) are usually located in front of or above the collecting net (9), and are speculated to be connected with the collecting net structure upper part (8) or the ship body through a support, for guiding and preliminary filtering the water flow. The rotary cylinder main body (12) is fixed on the ship body or the collecting net structure, and the rotary cylinder rotating port (13) is connected with the collecting net connecting piece (17) through the rotary cylinder and the net connecting block (18), responsible for driving the collecting net (9) to complete the tilting action. The second rudder first connecting block (14) and the second rudder second connecting block (15) can be used to assist in adjusting the angle of the guide vane (22) or the blocking net (21). The small-diameter deep-groove ball bearing (16) is installed at the rotating part of the rotary cylinder or the rudder, to ensure smooth rotation. The collecting box (11) is placed on the deck of the ship body, below or behind the collecting net (9), for receiving the artemia eggs poured out of the net.

[0054] In practical application, such ship body usually relies on its wide ship body layout to resist general water flow disturbance, and can realize basic autonomous cruising and fishing functions. However, in the face of frequent gusts and short-period wave groups unique to high-salt shallow lake areas such as the Ebinur Lake in Xinjiang, the structure has obvious limitations: the ship body is prone to high-frequency rolling and pitching after being affected by waves, causing the fishing net to deviate from the water angle, and it is difficult to maintain a vertical posture; at the same time, there is a lack of buffering mechanism during the lowering of the net bag, and the water impact is easy to disturb the egg group and cause damage; in addition, the traditional structure also cannot stably maintain the net bag in the target water layer in the fluctuating water environment, resulting in inconsistent fishing depth and large fluctuations in egg capture efficiency. The above defects seriously limit the operation effect and reliability of the system in complex dynamic water areas.

[0055] The present disclosure is based on the double-hull ship structure as shown in Figure 1 The present disclosure is based on the double-hull ship structure as shown in Figure 2 The present disclosure is based on the double-hull ship structure as shown in Figure 1 The present disclosure is based on the double-hull ship structure as shown in

[0056] Figure 2The structure schematic diagram of the full-automatic intelligent unmanned ship system for artemia egg fishing provided by the embodiments of the present disclosure is shown in the figure. Figure 2 As shown in the figure, the system can include:

[0057] The buoyancy adjustment and control module: used for collecting wave disturbance information and ship body buoyancy state in real time, dynamically adjusting the ballast water distribution of the left and right pontoons of the ship body, and suppressing the ship body rolling.

[0058] The core target of the module is to counteract the asymmetric buoyancy disturbance of the double-hull ship caused by short-period irregular waves in real time, thereby significantly reducing the rolling and pitching amplitude of the ship body, and providing a stable working platform for the subsequent fishing mechanism. The module is used to perform the following functions:

[0059] By arranging special wave sensors at key positions of the ship body, including the bow, the stern and the outside of the left and right pontoons, the dynamic information of the working water area is collected in real time. These sensors directly measure two key physical quantities: real-time wave height (unit: meter, common working wave height 0.5m~1.0m, extreme case such as gale above 4 levels can reach 1.5m or above) and real-time wave frequency (unit: hertz, common range 0.2Hz~1.5Hz). The system combines these two real-time measurement values to form a core parameter group representing the current wave disturbance characteristics, i.e. the wave disturbance parameter , which is mathematically expressed as: . The wave disturbance parameter provides the most direct and timely environmental input basis for subsequent buoyancy adjustment calculation, and is the basis for dynamically adapting to wave changes.

[0060] The left and right symmetrically arranged pontoons are arranged on the ship body, and water bags are arranged in each pontoon. The water bags are connected with micro water pumps and electromagnetic valve groups. At the same time, the real-time measurement values of the buoyancy sensors symmetrically installed inside the left and right pontoons are read (about 2000~3000N in the empty state, about 4000~6000N in the full load working state). The real-time buoyancy of the left pontoon is recorded as (unit: Newton), and the real-time buoyancy of the right pontoon is recorded as (unit: Newton). In order to quantitatively evaluate the current balance state of the ship body and determine the adjustment direction and target, the system calculates the real-time , . If , it indicates that the left buoyancy is greater than the right buoyancy, and the ship body has a left tilting trend; if , it indicates that the right buoyancy is greater than the left buoyancy, and the ship body has a right tilting trend. The system compares the buoyancy difference with a preset allowed buoyancy difference constant (the constant The range is 5-10 N, determined by the hull design stability and safety margin. This operation precisely quantifies the current imbalance of buoyancy and clearly indicates the position of the buoy where the buoyancy needs to be increased or decreased and the required adjustment amount.

[0061] Based on the calculated , the control system drives the micro water pump and electromagnetic valve group installed inside the left and right buoys to perform specific water injection and drainage operations. The target of adjustment is to make the corrected left and right buoyancy meet the condition: , i.e., the absolute value of the difference between the left and right buoyancy is not greater than the allowed floating threshold (determined by the hull design stability and safety margin, usually set to 5-10 N). For example, if is detected, it indicates that the left tilt is serious, and the control system instructs the right buoy water bag to inject water to reduce its effective buoyancy, and at the same time instructs the left buoy water bag to drain water to increase its effective buoyancy, thereby generating an opposite righting moment by changing the mass distribution of the left and right buoys. Conversely, if is detected, it indicates that the right tilt is serious, and the opposite operation is performed, i.e., the left buoy water bag is injected, and the right buoy water bag is drained. During the adjustment process, the system monitors the injected or drained water volume in real time through a high-precision flowmeter (single adjustment water volume 0.5 L-5.0 L), the left water bag water volume is denoted as , the right water bag water volume is denoted as , and the adjusted water volume distribution state is formed. This state parameter not only represents the current ballast configuration, but also provides an important input reference for subsequent operations. This link uses the dynamic deployment of water in the water bag through closed-loop control to effectively resist the instantaneous buoyancy asymmetry caused by waves, laying a physical foundation for maintaining the stability of the ship in waves.

[0062] Further, the buoyancy adjustment system does not work independently, but cooperates with the whole ship control system. The system has a self-learning algorithm that can remember the optimal water volume distribution state under different wave parameters . After each operation, the system compares the actual adjustment effect with the expected stable state and optimizes the adjustment strategy, thereby forming a more accurate adjustment ability in the specific water area of Lake Abai. In addition, the system monitors the working state of the water pump and electromagnetic valve group in real time, and if it detects that the water injection and drainage efficiency of one side is reduced or blocked (such as crystallization due to high-salt water), it will automatically enable the redundant pipeline or trigger a warning to ensure the long-term operation reliability of the system in harsh environments. This cooperative optimization mechanism ensures the timeliness, accuracy, and robustness of buoyancy adjustment, providing a crucial stable platform for subsequent operations.

[0063] In the technical solution of this disclosure, by sensing wave disturbance characteristics in real time and dynamically adjusting the ballast water distribution of the left and right buoys, the asymmetric buoyancy disturbance caused by short-period irregular waves to the catamaran is effectively offset. This active adjustment significantly reduces the roll and pitch amplitudes of the hull during operation, fundamentally creating a highly stable operating platform for subsequent fishing operations. Its deep collaborative self-learning mechanism can also continuously optimize the adjustment strategy under different wave conditions, improving the system's adaptability and long-term operational reliability, and laying a solid physical foundation for the wind and wave resistance capability of the entire unmanned vessel system.

[0064] Attitude perception and compensation control module: It is communicatively connected to the buoyancy adjustment and control module and is used to monitor the attitude deviation of the hull, drive the water entry angle adjustment bracket of the fishing component to perform reverse compensation and locking, and maintain the vertical water entry attitude of the net.

[0065] The core objective of this module is to further drive the water entry angle adjustment bracket of the fishing assembly, building upon the aforementioned buoyancy adjustment, to ensure that the double-layered net maintains a vertical entry posture during lowering, thereby preventing net tilting caused by residual hull sway. Such tilting can lead to the loss or damage of brine shrimp eggs; therefore, this module achieves stable operation of the fishing net in windy and wavy environments by real-time monitoring of attitude deviations, calculating precise compensation angles, and executing locking actions. This module performs the following functions:

[0066] Receive water distribution state parameters output from the buoyancy adjustment and control module This parameter characterizes the current balance state of the hull's ballast configuration. Simultaneously, high-precision attitude sensors mounted on both sides of the catamaran collect real-time dynamic rolling data of the hull, such as real-time data from MEMS-based inertial measurement units installed at the connection points of the port and starboard pontoons on both sides of the catamaran. These sensors directly measure two key angles, including the roll angle. (Units are degrees, typically -10° to +10°) and pitch angle (Unit: degrees, typically -5° to +5°). Roll angle The pitch angle reflects the degree of the ship's roll to the left or right. These parameters describe the changes in pitch, and together they constitute the core indicators of the ship's attitude. The system reads these raw angle values ​​via a high-speed data bus (sampling frequency ≥100Hz) and combines them into an attitude deviation. This deviation The residual sway after hull buoyancy adjustment was quantified, providing direct input for subsequent compensation calculations. During implementation, the sensor installation position needs to be calibrated to ensure that the measurement axis is aligned with the hull coordinate system; if abnormal sensor data is detected, such as a sudden change in continuous sampling values ​​exceeding 5°, the system will automatically switch to redundant sensor nodes to maintain data continuity.

[0067] Based on the acquired attitude deviation , the control system initiates the calculation logic of the compensation angle. The core of this logic is to generate a reverse correction angle to offset the impact of the hull sway on the entry angle of the fishing net. In the specific calculation, the system applies the following formula to derive the target compensation angle based on the real-time roll angle and pitch angle : where the negative sign indicates reverse compensation, i.e., if the hull tilts to the right, the entry angle adjustment bracket needs to be fine-tuned to the left. The calculated is strictly limited within the range of to prevent excessive adjustment leading to mechanical stress or control oscillation. For example, if (right tilt) and (front pitch), then , indicating that the entry angle adjustment bracket needs to rotate counterclockwise by 5° to maintain the net's verticality. This calculation process is performed in real time in the embedded processor, with a response delay of less than 10 ms, ensuring the timeliness of the compensation. At the same time, the system monitors the covariance matrix of the calculation results, and if the deviation persists beyond the standard, it triggers a warning and switches to a safety mode. This compensation algorithm is based on the principles of coordinate transformation and kinematic inverse solution. The system maps the roll and pitch angles in the hull coordinate system to the compensation amount for driving the bracket rotation through the established kinematic model of the fishing assembly bracket.

[0068] In an alternative implementation, to adapt to different wave conditions, the system introduces weighting factors and (default value 1.0) for the roll angle and pitch angle in actual control, which intensifies the compensation for intense movements, i.e., . The weight factors can be dynamically adjusted based on historical operation data, for example, in working conditions where short-period pitch occurs frequently, the system can automatically increase the weight of to achieve local optimization of the control strategy and further improve the accuracy of the compensation effect.

[0069] Based on the target compensation angle , the control system drives the mechanical actuator of the fishing assembly bracket. The entry angle adjustment bracket realizes rotation control through the coaxially installed rudder (a precision servo motor). The rudder receives the command signal of the target compensation angle , which is converted into a rotary displacement through a PWM drive circuit, driving the entry angle adjustment bracket to rotate accurately to the target angle. During the execution process, a high-resolution encoder feeds back the actual angle of the entry angle adjustment bracket in real time, forming a closed-loop control to eliminate tracking errors. When the entry angle adjustment bracket reaches the target compensation angle After the position, the system activates the electromagnetic locking device (such as an electromagnetic brake) to fix the water entry angle adjusting support at the target posture, preventing displacement drift caused by wind and wave disturbance. Finally, the system outputs the vertical water entry state parameters , which include the water entry angle adjusting support locking angle, timestamp, and confidence index, providing reference input for subsequent operations. The entire execution link emphasizes smooth transition, with the steering engine speed controlled within 5° / s to avoid mechanical impact. After locking, the stability is verified through stress sensors to ensure that the net bag maintains a vertical state throughout the water entry process, thereby maximizing the egg capture rate and minimizing the risk of damage.

[0070] Further, to ensure system safety, the system has multiple protection mechanisms. The steering engine driver monitors current and temperature in real time, and if stall (such as the net bag touching an underwater obstacle) or overheating is detected, it immediately enters force-position hybrid control mode, limiting the output torque while reporting the system status and requesting decision intervention. The electromagnetic locking device uses a dual-coil redundant design, and a single coil failure does not affect the locking function, and periodic self-check signals ensure its reliability. All key commands and status data are transmitted through CRC-verified industrial buses, effectively preventing control abnormalities caused by data error codes. These mechanisms collectively ensure the safety and continuity of the active compensation system in complex lake environments.

[0071] In the technical solution of the embodiments of the present disclosure, on the basis of rough adjustment of the hull buoyancy, the residual attitude deviation of the hull is monitored in real time with high precision, and the accurate reverse compensation angle is calculated to drive the water entry angle adjusting support of the fishing assembly to make real-time dynamic adjustment. This feedback fine adjustment ensures that the double-layer net bag always maintains a vertical water entry posture during lowering, effectively avoiding the problem of net opening inclination caused by residual rocking of the hull, thereby minimizing the loss and damage risk of artemia eggs during the water entry stage. Its fast response speed, precise angle control, and reliable electromagnetic locking device collectively ensure the stable initial posture of the fishing net in dynamic water.

[0072] The above-mentioned buoyancy adjustment and control module and the attitude sensing and compensation control module constitute a two-level architecture for stability control of the intelligent unmanned ship system. The buoyancy adjustment of the buoyancy adjustment and control module serves as a feedforward rough adjustment, mainly offsetting large-amplitude low-frequency wave torque, thereby reducing the overall rocking amplitude of the hull from the root cause, and reducing the burden of precise control of the attitude sensing and compensation control module. The angle control of the attitude sensing and compensation control module serves as a feedback fine adjustment, based on high-frequency attitude signals, to make millisecond-level dynamic compensation for the residual rocking after the adjustment of the buoyancy adjustment and control module and the high-frequency wave components that cannot be offset by hull leveling. The two modules interact through a data bus and work together to form a comprehensive anti-disturbance solution with wide frequency domain and high precision.

[0073] Hydraulic buffer and release control module: in communication with the posture sensing and compensation control module, for controlling the speed and acceleration of the fishing net bag lowering, and realizing the buffer and soft entry of the net bag into water.

[0074] The core goal of this module is to extend the water entry process time through hydraulic buffer device on the basis of the fishing assembly maintaining the vertical water entry posture, offset the instantaneous acceleration impact caused by short period waves, so as to avoid the water body surging caused by the rapid water entry of the net bag, resulting in the escape or damage of the brine shrimp eggs. This module is used to perform the following functions:

[0075] Receiving the vertical water entry state parameters output by the posture sensing and compensation control module , indicating that the net bag has stably maintained the vertical posture. At the same time, the displacement encoder installed on the fishing support monitors the current position of the net bag lowering in real time, denoted as (unit: meters). Based on this, the system sets the safe motion parameters of the net bag entering water according to the fluid mechanics principle and the protection requirements of the eggs, including the target lowering speed , limited to m / s (a smaller value is taken when close to the water surface), and the target acceleration , limited to m / s 2 . The mathematical expression of the target lowering parameters is: The parameters are generated through dynamic mapping rules: when the displacement is less than 30% of the total stroke (initial section), the upper limit value =0.15 m / s is adopted; when the displacement is greater than 70% of the total stroke (near water surface section), the lower limit value =0.05 m / s is switched to. In implementation, real-time interpolation algorithm is needed to smooth the transition speed curve to avoid mechanical vibration caused by step change.

[0076] Further, the setting range of the target speed and the target acceleration is not a fixed value, but is determined based on the fluid mechanics simulation and the brine shrimp egg tolerance test data. The system has an experience mapping table, which will dynamically fine-tune the upper limit of the target acceleration according to the current wave disturbance level contained in the vertical water entry state parameters output by the posture sensing and compensation control module (such as estimated according to the amplitude or frequency of change of ). For example, when high-frequency small-amplitude fluctuations are detected, the target acceleration is allowed to be close to 0.30 m / s 2 to improve efficiency; and when a low-frequency large-amplitude fluctuation warning is detected, it is automatically tightened to 0.15 m / s 2Inward, priority to ensure the level of stability. This dynamic parameter adjustment mechanism significantly improves the system's adaptive ability to different wave conditions.

[0077] The system combines multi-sensor feedback to calculate the hydraulic damping force in real time. The damping coefficient c (value range ), the equivalent stiffness coefficient k (value range N / m) is preset according to the characteristics of hydraulic oil, the force arm length l (unit: meter) is a structural constant (which needs to be measured and calibrated before factory delivery), the real-time input includes the actual speed of the net v (unit: m / s) collected by the speed sensor, the displacement encoder data x (unit: meter), and the damping force calculation formula of the hydraulic device is: The corresponding damping torque is converted to: The system generates a dimensionless valve opening command according to the maximum output torque of the hydraulic cylinder (obtained from the equipment calibration certificate): For example, if and N·m, then u=0.8, indicating that 80% of the valve opening is opened. The command is transmitted to the hydraulic proportional valve controller through the CAN bus to drive the spool displacement.

[0078] In an optional implementation, to further improve the response speed and accuracy of damping control, the system introduces a feedforward compensation term based on the wave disturbance parameter on the basis of calculating the basic damping torque . According to the wave frequency and the preset wave frequency-compensation gain relationship curve. The preset wave frequency-compensation gain relationship defines the mapping relationship between the wave frequency and the feedforward compensation gain coefficient , the abscissa is the wave frequency (unit: Hz), and the ordinate is the compensation gain coefficient (dimensionless). The shape of the curve is closely related to the dynamics of the ship-net system, and its typical relationship is as follows: in the low frequency region (for example <0.3Hz), although the wave energy is large, the system's buoyancy adjustment and attitude compensation module can effectively suppress most of its impact, so the feedforward gain required by the hydraulic buffer is maintained at a lower baseline level to avoid excessive compensation; in the resonance frequency region (for example 0.3Hz≤ ≤1.0Hz), this frequency band is close to or covers the natural frequency of the fishing assembly lowering mechanism, and the wave disturbance is easy to cause system resonance, resulting in rapid changes in net acceleration, therefore, the curve sets a significant gain peak in this interval, The value increases rapidly to the maximum value, actively offsets the resonance risk through strong feedforward compensation force, which is the key to achieve soft water entry; in the high frequency region (e.g. >1.0Hz), such waves are usually broken or wind-generated short waves, with small energy and very short period, limited impact on the overall motion of the hull and large mass fishing components, but may cause high-frequency jitter, the curve shows The value decreases rapidly from the peak value and gradually approaches zero, avoiding the system responding to high-frequency noise and preventing unnecessary control oscillation. Finally, the valve port command is corrected to . This feedforward mechanism effectively predicts the disturbance that the wave will exert, increases or decreases the damping force in advance, significantly weakens the instantaneous acceleration impact caused by the wave, and makes the measured acceleration can more smoothly track the target acceleration .

[0079] The hydraulic proportional valve receives the valve port opening command u, and adjusts the flow control net speed. The acceleration sensor collects the actual acceleration a (m / s 2 ) in real time, and the system checks whether the deviation between the target value : , where is the allowable acceleration deviation (take m / s 2 ). If the continuous 5 sampling periods exceed the standard, the valve port opening value u is fine-tuned (such as increasing by 5% opening), and the damping torque is recalculated . Finally, the output buffer releases the release process data: , where, ' is the actual valve port opening, is the measured net speed, is the measured net acceleration, and the standard flag is a Boolean quantity (set to True when is met) for depth determination and stable locking module to execute depth locking.

[0080] Optionally, the system records the data of each release process in real time. The performance evaluation algorithm runs in the background, calculates the root mean square value RMSE of the acceleration tracking error. If the root mean square value RMSE of a certain operation continues to exceed the standard or is significantly better than the historical average, the system will analyze the wave characteristics and adjustment parameters of the operation, try to optimize the feedforward compensation gain mapping table, and store the optimization results in the knowledge base for subsequent similar working conditions, realizing continuous iterative improvement of the damping control effect.

[0081] The technical scheme of the embodiments of the present disclosure prolongs the water entry process of the net bag and smoothes its motion trajectory by precise force control of the hydraulic damping device under the premise that the fishing net maintains a vertical posture. The controllable slow-release mechanism effectively offsets the instantaneous acceleration impact and fluid dynamic oscillation caused by short-period waves, avoids the disturbance to the surrounding water and the target brine shrimp egg population caused by the rapid water entry of the net bag, and significantly reduces the possibility of egg escape or physical damage caused by water entry impact. The combination of wave feedforward and dynamic parameter adjustment further enhances the adaptive ability of the system to respond to different frequency and amplitude wave disturbances, ensuring stable and reliable water entry.

[0082] The depth determination and stable locking module is in communication connection with the hydraulic buffer and slow-release control module, is used for determining whether the net bag reaches the target depth, calculating a locking torque after reaching the target depth, and driving a hydraulic locking device to stably lock the fishing assembly at the target depth.

[0083] The core target of the module is to ensure that the fishing assembly maintains a stable locking state under the disturbance of wind and waves after the net bag completes the slow-release water entry, so as to avoid the interruption of brine shrimp egg screening or the failure of collection caused by the up-and-down floating of waves. Through depth determination, torque calculation and locking execution, the system maintains the position and posture of the fishing mechanism in a dynamic environment, providing a reliable basis for subsequent screening operations. The module is used for executing the following functions:

[0084] receiving the slow-release lowering process data output by the hydraulic buffer and slow-release control module , which includes an actual valve opening degree , a measured net bag lowering speed , a measured net bag lowering acceleration , and a flag indicating whether the target is reached. At the same time, a depth sensor (such as a piezoresistive or ultrasonic sensor) installed at the bottom of the net bag support collects real-time net bag water depth data d (unit: meters). The depth sensor accurately measures the position of the net bag relative to the water surface through water pressure or sound wave reflection principle, and the sampling frequency is ≥50 Hz to ensure real-time performance. The system calculates the depth determination result based on the preset target depth (set according to the distribution of brine shrimp egg enrichment layer, the range is set to meters) and the depth threshold error (taken meters, calibrated by the volatility of the operating environment): If =1, it indicates that the net bag has reached the target depth and is in a stable state; if = 0, it indicates that the deployment needs to be continued or the position needs to be adjusted. This operation triggers the locking action accurately by comparing the actual depth with the target value in real time, avoiding the failure of the operation caused by premature or late locking. In implementation, if the sensor data is abnormal, for example, the continuous sampling value exceeds the physical range, the system automatically switches to the redundant sensor node and records the fault log for maintenance reference.

[0085] When the depth discrimination result = 1, the system starts the locking torque calculation. This operation requires multiple dynamic inputs, including the release process data of the hydraulic buffer and release control module (containing the measured net bag deployment acceleration ), wave disturbance parameters (transferred and stored by the buoyancy adjustment and control module), and preset physical constants. Real-time wave height is directly obtained by the sensor, and water density (high-salinity lake area is about kg / m 3 ) is calibrated in real time according to salinity. The system combines the mass m (unit: kilograms, measured before factory delivery) of the fishing assembly, the gravitational acceleration g (9.8 m / s 2 ), the wave-affected area A (unit: m 2 , calculated based on the net bag projection geometry model), and the force arm length l (unit: meters) to calculate the locking torque required to maintain stability: , where m is the mass of the fishing assembly, is the measured acceleration from , l is the force arm length, is the high-salinity lake water density, is the gravitational acceleration, A is the equivalent wave-affected area of the fishing assembly, is the wave height. This formula is determined by a comprehensive empirical algorithm and quantitatively describes the mechanical balance under wave action: the first term represents the inertia torque, which is used to offset the acceleration disturbance, and the second term represents the wave impact torque, which is used to resist the up-and-down floating of the water body. The calculated locking torque has a unit of Newton meters (N·m) and provides a target value for the hydraulic locking device. In implementation, the system verifies whether the calculated locking torque is within the safe range of the hydraulic cylinder , and if it exceeds the limit, it is limited to the upper limit value and an alarm is triggered.

[0086] According to the current wave spectrum characteristics (judged by the real-time wave frequency dominant frequency) and the residual sway amplitude of the ship body (judged by the attitude deviation amount ​determining the optimal locking strategy. For low-frequency large-amplitude oscillation (e.g. long-period swell), the locking torque is focused on the term, i.e. the wave impact torque; for high-frequency small-amplitude vibration (e.g. short-period wind wave), the locking torque is focused on the term, i.e. the inertial torque. Meanwhile, the system supports both "soft locking" mode, i.e. allowing small elastic displacement within a preset range, and "hard locking" mode, i.e. complete rigid constraint, by adjusting the pressure-flow characteristics of the hydraulic system. The selection of control strategy is driven by the expert rule base, ensuring the best balance between energy consumption, mechanism life and locking effect.

[0087] Based on the locking torque , the control system drives the hydraulic locking device, such as a hydraulic brake or an electromagnetic clutch. After the actuator receives the locking torque command, the oil pressure is adjusted through a proportional valve to apply an accurate torque to lock the net position. During the locking process, the displacement sensor monitors the support micro-displacement in real time, and if drift is detected, such as displacement exceeding 0.5 mm, the system automatically compensates for the additional torque. After locking is completed, the output steady-state parameters are obtained, where is the current water depth data, is the attitude angle of the net. The steady-state parameters include key operating state indicators, providing input for subsequent brine shrimp egg screening and collection. Finally, the system starts a self-checking process: the locking firmness is verified by the stress sensor, for example, when the contact force exceeds 80% of the target value, the firmness requirement is met, and the timestamp and confidence are recorded on the monitoring interface. If the wind wave weakens, for example, there is no significant fluctuation for 10 seconds, the system releases the lock with a time delay to save energy, otherwise it maintains the lock until the operation is completed.

[0088] In the technical solution of the embodiments of the present disclosure, when the net buffer reaches the target water layer, a powerful hydraulic locking mechanism is triggered by accurate depth determination. This mechanism takes into account the effects of wave impact force, inertial force and residual sway of the ship body, calculates and applies an accurate locking torque to firmly maintain the fishing assembly at the set operating depth. This static maintenance capability in dynamic environment effectively resists the interference of wave continuous up-and-down floating on fishing operation, avoids the interruption of screening or failure of collection due to position drift, and provides a reliable operation basis for subsequent flow-guiding screening operation, which still maintains a constant spatial position and attitude in wind and waves.

[0089] Flow-guiding screening and collection execution module: in communication connection with the depth determination and stable locking module, used for flow-guiding, screening and automatically collecting brine shrimp eggs.

[0090] The module, on the basis of depth-locked capture assembly, realizes efficient and low-damage Brine Shrimp eggs capture operation through the coordinated control of directional flow guiding, hierarchical screening and dumping collection. The module is used to perform the following functions:

[0091] Receiving the lock steady-state parameters output by the depth determination and stable locking module , which includes the current depth and the posture angle of the net . Based on the parameters, the deflector dynamically adjusts the inclination angle (adjustment range ) through a servo motor to direct the water flow in the target area into the entrance of the double-layer net. The deflector adopts a curved surface design to reduce turbulence, and its angle is accurately controlled according to real-time flow feedback. An electromagnetic flowmeter installed in the flow channel continuously monitors the water flow value (unit: L / s), and maintains the flow within the optimal range of through a PID algorithm. The system generates deflector state parameters . In implementation, dynamic calibration is required for high-salinity water conductivity changes to avoid measurement drift. When the flow value deviates from the target range, the system automatically adjusts the deflector angle or starts the auxiliary thruster to compensate for the flow rate, ensuring that the Brine Shrimp egg group enters the screening area continuously and stably.

[0092] The imported water flow is sequentially separated by the double-layer filtering structure to achieve precise separation of eggs and larvae, including:

[0093] ① The primary barrier layer is composed of 40-mesh stainless steel mesh, which is used to intercept large-particle impurities such as algae clumps and debris with a diameter greater than 500 μm;

[0094] ② The secondary net layer is a 90-mesh nylon filter screen that captures target Brine Shrimp eggs (particle size about 200-300 μm) while allowing larvae (particle size less than 180 μm) and micro-particles to pass through the mesh and be discharged;

[0095] ③ The buffer enrichment chamber is used to temporarily store the filtered eggs at the bottom of the net's conical cavity, with a cavity wall design inclination angle greater than 60° to prevent egg accumulation.

[0096] The system monitors the net load distribution in real time through an array of pressure sensors. When the Brine Shrimp egg capture amount per unit time (unit: eggs / min) exceeds the preset threshold (e.g., 500 eggs / min), the system generates screening result parameters: , where the larval filtration rate is calculated by optical sensor analysis (formula ) and the target value is maintained at 85%-95%. If the detection value is less than 80%, the system automatically triggers a low-frequency vibration mode to clear the mesh blockage and adjust the deflector angle to disperse the water flow impact. ​

[0097] Further, the system monitors the larva filtration rate in real time and the pressure difference between the two sides of the net If the larva filtration rate continuously decreases and the pressure difference between the two sides of the net abnormally increases, it is determined that the mesh may be blocked (such as algae adhesion). At this time, the system automatically starts a three-level response: 1) temporarily increase the flow for hydraulic flushing; 2) if it is ineffective, trigger the low-frequency micro-vibration mode of the net support to loosen impurities; 3) if it is still ineffective, after this time of dumping collection, control the deflector to switch to the reverse flow mode, and use a special nozzle for high-pressure backwashing. The whole process does not require manual intervention, ensuring the long-term smoothness of the mesh and the filtration efficiency.

[0098] When continuously exceeds the limit (for example, continuously exceeds 10 seconds), an automatic collection sequence is started, including:

[0099] ① Net lifting: the rudder driven support vertically lifts the net to the top of the collection box, and the laser range finder verifies the lifting height;

[0100] ② Tipping action: the rotary cylinder pushes the net to rotate 110°, so that the eggs fall into the collection box along the Teflon coated slide;

[0101] ③ Purity verification: the near-infrared spectrum sensor in the box analyzes the egg concentration (%) in real time, and the electronic scale records the net weight (unit: grams).

[0102] The final output of the fishing result parameters is: If <85%, the system marks the batch as abnormal and starts the built-in vibrating screen in the box for secondary purification. After collection is completed, the deflector switches to the reverse flow mode to flush the net, preparing for the next operation cycle.

[0103] In an optional embodiment, the system uses the near-infrared spectrum sensor in the collection box to analyze the purity of the falling eggs in real time during the dumping process If it is detected that is lower than the preset standard (such as 85%), and it is determined that the main impurity is algae of a specific particle size, the system will automatically adjust the pore size or deflection strategy of the first layer of the grading filter in the subsequent operation to reduce the entry of the impurity from the source. At the same time, the micro-vibrating screen built-in the collection box will automatically select the vibration frequency and amplitude for secondary purification according to the type of impurity (for example, through spectral characteristics). All batch quality data are stored in association with the corresponding working condition parameters (including wave conditions, depth, deflection parameters, etc.), which are used for optimizing the operation procedures and training the machine learning model.

[0104] In the technical solution of the embodiments of the present disclosure, in the stable state of the depth locking of the fishing assembly, the intelligent flow guiding controls the water flow orientation, the double-layer filtering structure realizes the accurate grading separation of insect eggs, and the cooperative operation of the full-automatic dumping and collecting sequence. The dynamically adjusted flow guide plate optimizes the introduction efficiency of the insect egg group; the grading filtering effectively intercepts impurities and retains the target halocline eggs at a high rate; and the automatic lifting, tilting, purity verification and collection process ensures the efficient and low-damage batch fishing operation closed loop. The built-in mesh blockage response mechanism and the strategy feedback optimization based on the collection purity further improve the operation efficiency and output quality of the system, and realize the full-process automatic and efficient execution of the halocline eggs from directional enrichment to clean collection.

[0105] In conclusion, the present application overcomes a series of technical problems of the traditional halocline egg fishing method in open water environment, such as the violent shaking of the ship body, the out-of-control of the net into the water, the large impact disturbance, the inability to maintain the operation depth, and the low collection efficiency. The present application realizes the intelligent and high-precision control of the halocline egg fishing from platform stability, attitude control, process release to depth locking and finally collection, and builds a full-automatic operation system that can safely, efficiently and stably operate in dynamic wave environment, significantly improves the quality and efficiency of fishing operation, and greatly reduces the damage risk to fragile aquatic biological resources.

[0106] According to the embodiments of the present disclosure, the present disclosure also provides an electronic device, which can include a processor, a communications interface, a memory and a communication bus, wherein the processor, the communications interface and the memory complete the communication among each other through the communication bus. The processor can invoke the logical instructions in the memory to execute the functions of each module of the above-mentioned system.

[0107] In addition, the logic instructions in the above-mentioned memory can be realized in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present disclosure essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present disclosure. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0108] In another aspect, the present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the functions of each module of the above system.

[0109] The device embodiments described above are only schematic, wherein the units illustrated as separate components can or can not be physically separated, and the components illustrated as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0110] From the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the functions of each embodiment or some functions of the embodiment.

[0111] It should be understood that the above examples are only used to illustrate the technical solutions of the present disclosure, but not limit the same; although the present disclosure has been described in detail with reference to the foregoing examples, it should be understood by those of ordinary skill in the art that the technical solutions recorded in the foregoing examples can be modified, or some technical features thereof can be replaced by equivalent replacements; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A fully automated intelligent unmanned surface vessel system for harvesting brine shrimp eggs, applied to a catamaran unmanned surface vessel, characterized in that, The system includes: The buoyancy adjustment and control module is used to collect wave disturbance information and hull buoyancy status in real time, dynamically adjust the ballast water distribution of the left and right buoys of the hull, and suppress hull rolling. The buoyancy adjustment and control module includes: The floats are arranged symmetrically on the left and right, and each float contains a water bladder. Miniature water pumps and solenoid valve assemblies connected to each water bladder; The buoyancy difference between the left and right floats is calculated, and the water distribution in the left and right water bladders is adjusted by controlling the micro water pump and solenoid valve group to eliminate the buoyancy difference. The attitude perception and compensation control module is communicatively connected to the buoyancy adjustment and control module. It is used to monitor the attitude deviation of the hull, drive the water entry angle adjustment bracket of the fishing component to perform reverse compensation and locking, and maintain the vertical water entry attitude of the net. The hydraulic buffer and slow release control module is communicatively connected to the attitude sensing and compensation control module and is used to control the lowering speed and acceleration of the fishing net to achieve a smooth and buffered entry of the net into the water. The hydraulic buffer and slow-release control module is also configured to: Based on the preset target lowering parameters and the real-time monitored net displacement x and velocity v, according to the formula Calculate the hydraulic damping force, where c is the damping coefficient and k is the equivalent stiffness coefficient; based on the damping force... Calculate the damping moment with lever arm length l ; Generate valve opening command to control the hydraulic proportional valve To smoothly control the trajectory of the net as it is lowered, among which... This represents the maximum output torque of the hydraulic cylinder. The depth determination and stabilization locking module is communicatively connected to the hydraulic buffer and slow release control module. It is used to determine whether the net has reached the target depth, calculate the locking torque after reaching the target depth, and drive the hydraulic locking device to stabilize the fishing component at the target depth. The depth determination and stabilization locking module is further configured as follows: Receive the current water depth data d from the depth sensor and compare it with the preset target depth. and depth threshold error Compare, when the conditions are met At that time, a depth determination result is generated to trigger a locking action; After the locking is triggered, calculate the locking torque. Where m is the mass of the fishing component, The measured acceleration during the lowering of the net. The length of the lever arm. Due to the high density of the salt lake water, Let A be the acceleration due to gravity, and A be the equivalent wave-receiving area of ​​the fishing component. Wave height based on real-time wave height , The term represents the inertial torque, used to counteract acceleration disturbances. The term represents the wave impact torque, used to resist the up-and-down movement of water. Based on the wave spectrum characteristics and the residual hull sway amplitude, the optimal locking strategy is selected to drive the hydraulic locking device to perform locking. After locking is complete, output steady-state parameters. ,in, For the current water depth data, The angle and posture of the net; The flow guidance, screening, and collection execution module is communicatively connected to the depth determination and stability locking module, and is used for guiding, screening, and automatically collecting brine shrimp eggs.

2. The fully automated intelligent unmanned vessel system for harvesting brine shrimp eggs according to claim 1, characterized in that, The attitude perception and compensation control module is further configured to: Based on the collected ship roll angle and pitch angle Calculate the target compensation angle The water inlet angle adjustment bracket is rotated to the target compensation angle and then locked.

3. The fully automated intelligent unmanned vessel system for harvesting brine shrimp eggs according to claim 2, characterized in that, The data is based on the collected ship roll angle. and pitch angle Calculate the target compensation angle include: Through formula Calculate the target compensation angle, where, The hull roll angle, The pitch angle of the hull. and These are the weighting factors for the ship's roll and pitch angles, which are dynamically adjusted based on historical operational data.

4. The fully automated intelligent unmanned vessel system for harvesting brine shrimp eggs according to claim 1, characterized in that, The command for generating the valve opening degree of the hydraulic proportional valve also includes: Introducing wave disturbance parameters Feedforward compensation term The feedforward compensation term Based on wave disturbance parameters Wave frequency in Generates a preset wave frequency-compensation gain relationship curve; Modify the valve opening command to This is to anticipate the disturbances that waves will cause and to counteract them in advance. This represents the maximum output torque of the hydraulic cylinder.

5. The fully automated intelligent unmanned vessel system for harvesting brine shrimp eggs according to claim 1, characterized in that, The traffic filtering and collection execution module is also configured to: Receive steady-state parameters The tilt angle of the guide plate is dynamically adjusted to direct the water flow into the net bag. The water flow is passed sequentially through a double-layer filtration structure consisting of a primary fence layer and a secondary net layer to intercept large particles of impurities and capture the target brine shrimp eggs. Real-time monitoring of the number of insect eggs captured and the filtration rate of larvae per unit time.

6. The fully automated intelligent unmanned vessel system for harvesting brine shrimp eggs according to claim 5, characterized in that, The traffic filtering and collection execution module is also configured to: When the filtration rate of the larvae is lower than the preset target value, or when the pressure difference between the two sides of the mesh bag increases abnormally, the cleaning operation is automatically triggered. When the number of insect eggs captured continues to exceed the limit, a fully automatic collection sequence is activated, which performs net lifting and tilting actions, and uses a near-infrared spectral sensor to analyze the purity of insect eggs in the collection box in real time.

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