Antarctic krill fishing control method, system, device and storage medium

Abstract

This invention discloses a method, system equipment, and storage medium for controlling Antarctic krill harvesting. The method includes: real-time monitoring of marine environmental parameters and sea state analysis of these parameters; adjusting the attitude of the fishing vessel's double cantilever truss based on the sea state analysis results; after the attitude adjustment of the double cantilever truss, acquiring the fishing vessel's mesh diameter, the left and right net opening coordinates of the USBL (Upper Net Lid), and the left and right net position drag forces; adjusting the thruster's operating parameters based on the USBL's left and right net opening coordinates and drag forces, and adjusting the vacuum pump's operating parameters using ocean current compensation calculated by CFD; after the operating parameters are adjusted, generating an ecological protection strategy based on the mesh diameter and seabird approach speed, and harvesting Antarctic krill based on this strategy. This invention achieves eco-friendly harvesting with high survival rates and low by-product catches through coordinated control of net position, drag force, and vessel position.

Description

Technical Field

[0001] This invention relates to the field of fishing control technology, and in particular to a method, system equipment and storage medium for fishing control of Antarctic krill. Background Technology

[0002] Against the backdrop of growing global awareness of ecological protection, Antarctic krill fishing faces enormous challenges and a need for transformation. While traditional fishing methods provide abundant marine resources, they also bring numerous ecological problems, such as overfishing leading to the depletion of Antarctic krill resources, the loss of biodiversity due to large amounts of by-products (non-target species), and the damage to the marine ecosystem caused by the fishing process. These problems not only threaten the balance and stability of the marine ecosystem but also affect the sustainable development of the Antarctic krill industry. Therefore, achieving eco-friendly fishing with high survival rates and low by-product catches has become an urgent issue to be addressed.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention The main objective of this invention is to provide a method, system, and storage medium for controlling Antarctic krill harvesting, aiming to address the technical problem of achieving eco-friendly harvesting with high survival rates and low by-product catches.

[0004] To achieve the above objectives, the present invention provides a method for controlling Antarctic krill harvesting, the method comprising: S1, Real-time monitoring of marine environmental parameters, and sea state analysis of the marine environmental parameters; S2, adjust the attitude of the fishing vessel's double cantilever truss based on the sea condition analysis results; S3, after the attitude adjustment of the double cantilever truss is completed, obtain the mesh diameter of the fishing boat, the left and right mesh coordinates of the USBL, and the left and right mesh drag force. S4. Adjust the working parameters of the thruster according to the left and right network port coordinates of the USBL and the drag force of the left and right network positions, and adjust the working parameters of the vacuum pump according to the ocean current compensation calculated by CFD. S5, after the working parameters are adjusted, an ecological protection strategy is generated based on the mesh diameter and the approach speed of the seabirds, and Antarctic krill is harvested based on the ecological protection strategy.

[0005] Optionally, S2 includes: S2.1 Extract wind speed and wave height from sea state analysis results; S2.2, Determine the sea state level based on the wind speed and the wave height; S2.3, determine the current truss adjustment mode based on the mapping relationship between the sea state level and the truss adjustment mode according to the sea state level; S2.4, Adjust the attitude of the double cantilever truss of the fishing vessel based on the current truss adjustment mode.

[0006] Optionally, S2.4 includes: S2.4.1, Based on the current truss adjustment mode, the hydraulic joint compensation angle and the hydraulic joint target damping frequency are calculated respectively using the ship motion compensation algorithm and the truss resonance suppression algorithm; S2.4.2, Adjust the attitude of the fishing vessel's double cantilever truss according to the hydraulic joint compensation angle and the hydraulic joint target damping frequency.

[0007] Optionally, adjusting the operating parameters of the actuator based on the left and right network port coordinates of the USBL and the drag force of the left and right network positions includes: Calculate the left and right port coordinate deviations based on the left and right port coordinates of the USBL; The thrust difference of the actuator is calculated based on the left and right network port coordinate deviation using the network position deviation correction formula. Calculate the difference in drag force between the left and right net positions based on the drag force of the left and right net positions; The thruster speed adjustment is calculated using the PID thrust balancing formula based on the difference in drag force between the left and right positions. The operating parameters of the thruster are adjusted based on the thrust difference and the thruster speed adjustment.

[0008] Optionally, adjusting the operating parameters of the vacuum pump using the ocean current compensation calculated by CFD includes: Based on the ocean current velocity calculated by CFD, the ocean current compensation amount is calculated using the ocean current compensation formula; Adjust the operating parameters of the vacuum pump based on the ocean current compensation amount.

[0009] Optionally, generating the ecological protection strategy based on the mesh diameter and the approach speed of the seabirds includes: The expanded mesh diameter is calculated based on the aforementioned mesh diameter using the whale escape mesh expansion formula. The minimum speed of the ribbon is calculated based on the approach speed of the seabirds using the ribbon speed formula of the fishing boat; An ecological protection strategy is generated based on the expanded mesh diameter and the minimum rotation speed of the ribbon.

[0010] Optionally, after S5, the method further includes: S6 collects the weight and volume of the catch using a weight sensor and a volume sensor, respectively. S7, when the weight of the catch reaches a preset weight threshold and the volume of the catch reaches a preset volume threshold, the net-collecting operation is triggered; S8, when the catch weight does not reach the preset weight threshold and / or the catch volume does not reach the preset volume threshold, return to S3 until the catch weight reaches the preset weight threshold and the catch volume reaches the preset volume threshold.

[0011] Furthermore, to achieve the above objectives, the present invention also proposes an Antarctic krill harvesting control system, which includes: The analysis module is used to monitor marine environmental parameters in real time and perform sea state analysis on the marine environmental parameters; The adjustment module is used to adjust the attitude of the fishing vessel's double cantilever truss based on sea condition analysis results. The acquisition module is used to acquire the mesh diameter, left and right mesh coordinates of the USBL, and left and right mesh drag force of the fishing boat after the attitude adjustment of the double cantilever truss is completed. The adjustment module is also used to adjust the working parameters of the actuator according to the left and right network port coordinates of the USBL and the drag force of the left and right network positions, and to adjust the working parameters of the vacuum pump through the ocean current compensation calculated by CFD. The fishing module is used to generate an ecological protection strategy based on the mesh diameter and the approach speed of seabirds after the working parameters are adjusted, and to fish for Antarctic krill based on the ecological protection strategy.

[0012] Furthermore, to achieve the above objectives, the present invention also proposes an Antarctic krill harvesting control device, the device comprising: a memory, a processor, and an Antarctic krill harvesting control program stored in the memory and executable on the processor, the Antarctic krill harvesting control program being configured to implement the steps of the Antarctic krill harvesting control method described above.

[0013] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing an Antarctic krill harvesting control program, wherein when the Antarctic krill harvesting control program is executed by a processor, the steps of the Antarctic krill harvesting control method described above are implemented.

[0014] This invention first monitors marine environmental parameters in real time and performs sea state analysis. Then, based on the sea state analysis results, it adjusts the attitude of the fishing vessel's double cantilever truss. After the attitude adjustment is complete, it acquires the net diameter, the coordinates of the left and right net openings (USBL), and the left and right net position drag forces. Next, it adjusts the thruster's operating parameters based on the USBL's left and right net opening coordinates and drag forces, and adjusts the vacuum pump's operating parameters using ocean current compensation calculated by CFD. After the operating parameters are adjusted, it generates an ecological protection strategy based on the net diameter and seabird approach speed. Finally, it harvests Antarctic krill based on this ecological protection strategy. This invention achieves eco-friendly fishing with high survival rates and low by-product catches through coordinated control of net position, drag force, and vessel position. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the Antarctic krill harvesting control equipment in the hardware operating environment involved in the embodiments of the present invention; Figure 2 This is a flowchart illustrating the first embodiment of the Antarctic krill harvesting control method of the present invention. Figure 3 This is a structural block diagram of the first embodiment of the Antarctic krill harvesting control system of the present invention.

[0016] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0017] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0018] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the Antarctic krill harvesting control equipment in the hardware operating environment of the embodiment of the present invention.

[0019] like Figure 1As shown, the Antarctic krill harvesting control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage system independent of the aforementioned processor 1001.

[0020] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on Antarctic krill fishing control equipment and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0021] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an Antarctic krill harvesting control program.

[0022] exist Figure 1 In the Antarctic krill harvesting control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the Antarctic krill harvesting control device of the present invention can be set in the Antarctic krill harvesting control device, and the Antarctic krill harvesting control device calls the Antarctic krill harvesting control program stored in the memory 1005 through the processor 1001 and executes the Antarctic krill harvesting control method provided in the embodiment of the present invention.

[0023] This invention provides a method for controlling Antarctic krill harvesting, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the Antarctic krill harvesting control method of the present invention.

[0024] In this embodiment, the Antarctic krill harvesting control method includes the following steps: S1, real-time monitoring of marine environmental parameters, and sea state analysis of the marine environmental parameters.

[0025] It is easy to understand that the executing entity in this embodiment can be an Antarctic krill fishing control system with functions such as data processing, network communication and program operation, or other computer equipment with similar functions. This embodiment does not limit it.

[0026] In this embodiment, the Antarctic krill harvesting control system can be used for krill harvesting or harvesting other targets.

[0027] It should be noted that by deploying sea state monitoring equipment, such as anemometers and wave sensors, and transmitting the collected data to the Antarctic krill harvesting control system, the system analyzes the data to obtain sea state analysis results, including wind speed, wave height, and water current.

[0028] S2, adjust the attitude of the fishing vessel's double cantilever truss based on the sea condition analysis results.

[0029] Further, S2.1, extract wind speed and wave height from the sea state analysis results; S2.2, determine the sea state level based on wind speed and wave height; S2.3, determine the current truss adjustment mode based on the mapping relationship between the sea state level and the truss adjustment mode; S2.4, adjust the attitude of the fishing vessel's double cantilever truss based on the current truss adjustment mode.

[0030] In practice, sea state levels can be set according to wind speed and wave height, for example, 13 levels from 0 (calm) to 12 (hurricane). Below are some descriptions of sea state levels: Level 0: Calm, smooth sea surface.

[0031] Level 1: Light wind, wave height less than 0.1 meters.

[0032] Level 2: Light breeze, wave height 0.1-0.5 meters.

[0033] Level 3: Light breeze, wave height 0.5-1.25 meters.

[0034] Level 4: Gentle wind, wave height 1.25-2.5 meters.

[0035] Level 5: Fresh and strong wind, wave height 2.5-4 meters.

[0036] Level 6: Strong winds, wave height 4-6 meters.

[0037] Level 7: Gale-force winds, wave height 6-9 meters.

[0038] Level 8: Gale-force winds, wave height 9-14 meters.

[0039] Level 9: Gale-force winds, wave height 14-20 meters.

[0040] Level 10: Gale-force winds, wave height 20-25 meters.

[0041] Level 11: Storm, wave height 25-30 meters.

[0042] Category 12: Hurricane, wave height exceeding 30 meters.

[0043] It should also be noted that the mapping relationship between sea state levels and truss adjustment modes is a user-defined setting. Truss adjustment modes include a full-power mode and a safety model. The full-power mode requires the truss to be extended, while the safety mode requires the truss to be retracted by 30%. Therefore, sea state levels 0-5 can be mapped to the full-power mode, and sea state levels 6-12 to the safety model. The extension and retraction of the truss adapt to different sea state conditions to achieve optimal working results.

[0044] If the detected sea state level is 5, the current truss adjustment mode is full power mode, and the truss needs to be deployed.

[0045] Further, S2.4 includes: S2.4.1, calculating the hydraulic joint compensation angle and the hydraulic joint target damping frequency based on the current truss adjustment mode using the ship motion compensation algorithm and the truss resonance suppression algorithm respectively; S2.4.2, adjusting the attitude of the fishing vessel's double cantilever truss (i.e., truss deployment or truss retraction) according to the hydraulic joint compensation angle and the hydraulic joint target damping frequency.

[0046] By calculating the compensation angle of the hydraulic joints, the deformation of the truss under different loads and environmental conditions can be precisely compensated, thereby improving the stability of the entire structure. Calculating the target damping frequency of the hydraulic joints helps in designing a damping system that can effectively absorb and dissipate vibration energy. By adjusting the damping frequency, the vibration of the truss under dynamic loads such as wind and waves can be reduced, protecting the structure from fatigue damage.

[0047] It should also be noted that calculating the target damping frequency of the hydraulic joints can optimize the dynamic response of the truss, ensuring that the truss can quickly return to equilibrium in the event of sudden events (such as strong winds or gusts), reducing potential damage. Precise calculation of the hydraulic joint compensation angle and damping frequency helps improve the safety of the entire system and reduces the risk of accidents caused by structural instability or excessive vibration.

[0048] Ship motion compensation algorithm:

[0049] In the formula, For hydraulic joint compensation angle, The ship's roll angle (measured by IMU, ±15°). For proportional gain, This is the differential gain (its ratio / differential gain can be adaptively adjusted according to sea conditions).

[0050] Truss resonance suppression algorithm:

[0051] In the formula, Let E be the target damping frequency of the hydraulic joint (Hz), E be the elastic modulus of the truss (Pa), and I be the moment of inertia of the section (m). 4 ), m is the truss linear density (kg / m), L is the cantilever length (m), and c is a constant.

[0052] S3, after the attitude adjustment of the double cantilever truss is completed, obtain the mesh diameter of the fishing boat, the left and right mesh coordinates of the USBL, and the left and right mesh drag forces.

[0053] It should be noted that the mesh diameter is the initial mesh diameter at which byproducts (such as whales) escape.

[0054] Ultra-Short Baseline (USBL) underwater acoustic positioning systems are used for locating underwater targets. On fishing vessels, the port and starboard coordinates of the USBL refer to the interface positions of the USBL devices installed on both sides of the hull. The port and starboard tug force refers to the port and starboard tug force of the fishing vessel during net trawling.

[0055] S4. Adjust the working parameters of the thruster according to the left and right network port coordinates of the USBL and the drag force of the left and right network positions, and adjust the working parameters of the vacuum pump according to the ocean current compensation calculated by CFD.

[0056] Furthermore, the operating parameters of the thruster are adjusted based on the left and right port coordinates and the drag force of the left and right network positions in the USBL, including: calculating the left and right port coordinate deviations based on the left and right port coordinates in the USBL; calculating the thrust difference of the thruster based on the left and right port coordinate deviations using the network position deviation correction formula; calculating the drag difference of the left and right network positions based on the drag force of the left and right network positions; calculating the thruster speed adjustment amount based on the drag difference of the left and right network positions using the PID drag force balancing formula; and automatically adjusting the operating parameters of the thruster based on the thrust difference and the thruster speed adjustment amount, the operating parameters including thrust and speed.

[0057] In practice, the operating parameters of the thruster can also be manually adjusted based on the thrust difference and the thruster speed adjustment.

[0058] It should also be noted that the left and right net opening coordinate deviations can be used to calculate the heel angle or position deviation of the fishing boat.

[0059] Net position deviation correction formula:

[0060] In the formula, The thrust difference of the thrusters (kN). The coordinate deviation (m) is the left and right network port coordinates. These are the coordinates of the left network port of USBL. Here are the coordinates of the right network port of USBL. This is the network port stiffness coefficient (kN / m, measured and calibrated).

[0061] PID drag balance formula:

[0062]

[0063] In the formula, The thruster speed adjustment amount (%) The difference in drag force between the left and right mesh positions, in kN. Leftward drag force, unit: kN The drag force is on the right, in kN. =0.8, =0.2, =0.1, , and These are PID parameters.

[0064] Furthermore, the operating parameters of the vacuum pump are adjusted based on the ocean current compensation amount calculated by CFD, including: calculating the ocean current compensation amount using the ocean current compensation formula based on the ocean current velocity calculated by CFD; and adjusting the operating parameters of the vacuum pump based on the ocean current compensation amount.

[0065] In practice, by establishing a three-dimensional model of the ocean and considering factors such as topography, temperature, and salinity, ocean current velocities can be calculated using computational fluid dynamics (CFD).

[0066] Ocean current compensation formula:

[0067] In the formula, For ocean current compensation, Ocean current velocity (m / s) calculated for CFD. The response delay of the robotic arm is denoted as s. The system settling time is denoted as s.

[0068] In practice, the operating parameters of the vacuum pump can be adjusted automatically or manually according to the ocean current compensation amount. These operating parameters include flow rate, rotation speed, vacuum level, and working fluid temperature.

[0069] S5, after the working parameters are adjusted, an ecological protection strategy is generated based on the mesh diameter and the approach speed of the seabirds, and Antarctic krill is harvested based on the ecological protection strategy.

[0070] The ecological protection strategy involves setting a minimum ribbon rotation speed and an expanded mesh diameter.

[0071] It should also be noted that the fishing boats are decorated with ribbons to deter seabirds from feeding on fish that may be hooked behind the vessel. As a visual deterrent, the ribbons reduce contact between seabirds and fishing gear, thus lowering the risk of seabird death from accidental catches. Furthermore, the ribbons may also be used in different situations to drive away seabirds and reduce their disturbance to Antarctic krill. This method not only helps protect seabird populations but also reduces negative impacts on the marine ecosystem.

[0072] Furthermore, an ecological protection strategy is generated based on the mesh diameter and the approach speed of seabirds, including: calculating the expanded mesh diameter using the cetacean escape mesh expansion formula based on the mesh diameter; calculating the minimum ribbon rotation speed using the fishing boat ribbon rotation speed formula based on the approach speed of seabirds; and generating an ecological protection strategy based on the expanded mesh diameter and the minimum ribbon rotation speed.

[0073] Formula for cetacean escape mesh expansion:

[0074] In the formula, The diameter of the expanded mesh (m). The mesh diameter (i.e., the initial aperture (0.3m)) is used. The coefficient of thermal expansion of shape memory alloy (m / ℃) The contact point temperature is (°C). The phase transition temperature of SMA is 35°C.

[0075] Ribbon rotation speed formula:

[0076] In the formula, This is the lowest speed for the ribbon. The approach speed of the seabird (m / s) Let be the radius of the ribbon (m). The reflectivity coefficient is 0.8~1.0.

[0077] It should also be noted that it is necessary to determine whether the Antarctic krill harvesting is complete: S6, the weight and volume of the catch are collected by the weight sensor and the volume sensor respectively; S7, when the catch weight reaches the preset weight threshold and the catch volume reaches the preset volume threshold, the net hauling operation is triggered; S8, when the catch weight does not reach the preset weight threshold and / or the catch volume does not reach the preset volume threshold, return to S3 until the catch weight reaches the preset weight threshold and the catch volume reaches the preset volume threshold.

[0078] In this embodiment, marine environmental parameters are first monitored in real time, and sea state analysis is performed. Then, based on the sea state analysis results, the attitude of the fishing vessel's double cantilever truss is adjusted. After the attitude adjustment is completed, the vessel's mesh diameter, USBL (Upper Net Lever) coordinates (left and right net openings), and left and right net position drag forces are obtained. Subsequently, the thruster's operating parameters are adjusted based on the USBL coordinates and drag forces, and the vacuum pump's operating parameters are adjusted using CFD-calculated ocean current compensation. After the operating parameters are adjusted, an ecological protection strategy is generated based on the mesh diameter and seabird approach speed. Finally, Antarctic krill harvesting is conducted based on this ecological protection strategy. This embodiment achieves eco-friendly fishing with high survival rates and low by-product catches through coordinated control of net position, drag force, and vessel position.

[0079] Reference Figure 3 , Figure 3 This is a structural block diagram of the first embodiment of the Antarctic krill harvesting control system of the present invention.

[0080] like Figure 3 As shown, the Antarctic krill harvesting control system proposed in this embodiment of the invention includes: Analysis module 3001 is used to monitor marine environmental parameters in real time and perform sea state analysis on the marine environmental parameters; Adjustment module 3002 is used to adjust the attitude of the fishing vessel's double cantilever truss based on sea condition analysis results; The acquisition module 3003 is used to acquire the mesh diameter, left and right mesh coordinates of the USBL, and left and right mesh drag force of the fishing boat after the attitude adjustment of the double cantilever truss is completed. The adjustment module 3002 is also used to adjust the working parameters of the thruster according to the left and right network port coordinates of the USBL and the drag force of the left and right network positions, and to adjust the working parameters of the vacuum pump through the ocean current compensation amount calculated by CFD. The fishing module 3004 is used to generate an ecological protection strategy based on the mesh diameter and the approach speed of seabirds after the working parameters are adjusted, and to fish for Antarctic krill based on the ecological protection strategy.

[0081] Other embodiments or specific implementations of the Antarctic krill harvesting control system of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0082] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0083] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0084] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0085] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for controlling Antarctic krill harvesting, characterized in that, The method includes the following steps: S1, Real-time monitoring of marine environmental parameters, and sea state analysis of the marine environmental parameters; S2, adjust the attitude of the fishing vessel's double cantilever truss based on the sea condition analysis results; S3, after the attitude adjustment of the double cantilever truss is completed, obtain the mesh diameter of the fishing boat, the left and right mesh coordinates of the USBL, and the left and right mesh drag force. S4. Adjust the working parameters of the thruster according to the left and right network port coordinates of the USBL and the drag force of the left and right network positions, and adjust the working parameters of the vacuum pump by the ocean current compensation amount calculated by CFD. S5, after the working parameters are adjusted, an ecological protection strategy is generated based on the mesh diameter and the approach speed of the seabirds, and Antarctic krill is harvested based on the ecological protection strategy; The step of adjusting the thruster's operating parameters based on the left and right network port coordinates of the USBL and the drag force of the left and right network positions includes: Calculate the left and right port coordinate deviations based on the left and right port coordinates of the USBL; The thrust difference of the thruster is calculated based on the coordinate deviation of the left and right mesh ports using the mesh position deviation correction formula. The network position deviation correction formula is as follows: wherein is the thruster force difference, is the left and right net port coordinate deviation, is the left net port coordinate of the USBL, is the right net port coordinate of the USBL, is the net port stiffness coefficient; Calculate the difference in drag force between the left and right net positions based on the drag force of the left and right net positions; The thruster speed adjustment is calculated using the PID thrust balancing formula based on the difference in drag force between the left and right positions. The PID drag balancing formula: In the formula, For thruster speed adjustment, The difference in drag force between the left and right mesh positions, in kN. For left drag force, For right-hand drag force, , and For PID parameters; The operating parameters of the thruster are adjusted based on the thrust difference and the thruster speed adjustment. The method of generating an ecological protection strategy based on the mesh diameter and the approach speed of seabirds includes: The expanded mesh diameter is calculated based on the aforementioned mesh diameter using the whale escape mesh expansion formula. The formula for expanding the escape mesh in whales: In the formula, To expand the mesh diameter, The mesh diameter is... The coefficient of thermal expansion of shape memory alloys is... The contact point temperature, This refers to the SMA phase transition temperature. The minimum speed of the ribbon is calculated based on the approach speed of the seabirds using the ribbon speed formula of the fishing boat; The formula for the ribbon rotation speed is: In the formula, This is the lowest speed for the ribbon. For the approach speed of seabirds, The radius of the ribbon, The reflectivity coefficient; An ecological protection strategy is generated based on the expanded mesh diameter and the minimum rotation speed of the ribbon.

2. The method as described in claim 1, characterized in that, The S2 includes: S2.1 Extract wind speed and wave height from sea state analysis results; S2.2, Determine the sea state level based on the wind speed and the wave height; S2.3, determine the current truss adjustment mode based on the mapping relationship between the sea state level and the truss adjustment mode according to the sea state level; S2.4, Adjust the attitude of the double cantilever truss of the fishing vessel based on the current truss adjustment mode.

3. The method of claim 2, wherein, S2.4 includes: S2.4.1, Based on the current truss adjustment mode, the hydraulic joint compensation angle and the hydraulic joint target damping frequency are calculated respectively using the ship motion compensation algorithm and the truss resonance suppression algorithm; The ship motion compensation algorithm: wherein is the hydraulic joint compensation angle, is the ship roll angle, is the proportional gain, is the derivative gain; The truss resonance suppression algorithm: In the formula, Let E be the target damping frequency of the hydraulic joint, E be the elastic modulus of the truss, I be the moment of inertia of the section, m be the linear density of the truss, L be the cantilever length, and c be a constant. S2.4.2, Adjust the attitude of the fishing vessel's double cantilever truss according to the hydraulic joint compensation angle and the hydraulic joint target damping frequency.

4. The method of claim 1, wherein, The adjustment of the vacuum pump's operating parameters based on ocean current compensation calculated via CFD includes: Based on the ocean current velocity calculated by CFD, the ocean current compensation amount is calculated using the ocean current compensation formula; The ocean current compensation formula is as follows: wherein is the ocean current compensation amount, is the ocean current velocity calculated by CFD, is the mechanical arm response delay, is the system stability time; Adjust the operating parameters of the vacuum pump based on the ocean current compensation amount.

5. The method as described in claim 1, characterized in that, Following S5, the following is also included: S6 collects the weight and volume of the catch using a weight sensor and a volume sensor, respectively. S7, when the weight of the catch reaches a preset weight threshold and the volume of the catch reaches a preset volume threshold, the net-collecting operation is triggered; S8, when the catch weight does not reach the preset weight threshold and / or the catch volume does not reach the preset volume threshold, return to S3 until the catch weight reaches the preset weight threshold and the catch volume reaches the preset volume threshold.

6. A krill harvesting control system, applied to the krill harvesting control method of claim 1, characterized in that, The system includes: The analysis module is used to monitor marine environmental parameters in real time and perform sea state analysis on the marine environmental parameters; The adjustment module is used to adjust the attitude of the fishing vessel's double cantilever truss based on the sea state analysis results; adjust the working parameters of the thruster based on the left and right net port coordinates and left and right net position drag based on the USBL; and adjust the working parameters of the vacuum pump based on the ocean current compensation calculated by CFD. The acquisition module is used to acquire the mesh diameter, left and right mesh coordinates of the USBL, and left and right mesh drag force of the fishing boat after the attitude adjustment of the double cantilever truss is completed. The fishing module is used to generate an ecological protection strategy based on the mesh diameter and the approach speed of seabirds after the working parameters are adjusted, and to fish for Antarctic krill based on the ecological protection strategy.

7. A control device for harvesting Antarctic krill, characterized in that, The device includes: a memory, a processor, and an Antarctic krill harvesting control program stored in the memory and executable on the processor, the Antarctic krill harvesting control program being configured to implement the steps of the Antarctic krill harvesting control method as described in any one of claims 1 to 5.

8. A storage medium, characterized by The storage medium stores an Antarctic krill harvesting control program, which, when executed by a processor, implements the steps of the Antarctic krill harvesting control method as described in any one of claims 1 to 5.

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