Active driving netting system for intelligent fishing operation

Abstract

An active driving netting system for intelligent fishing operation belongs to the technical field of active driving netting for intelligent fishing operation, and is characterized by comprising a planar flexible mesh, an outer frame, a plurality of thin steel wires, a sensing and control integrated intelligent sensor, a horizontal propulsion propeller and a vertical propulsion propeller; the plane flexible mesh is connected to the outer side frame through the thin steel wires; the sensing and control integrated intelligent sensor is arranged on the outer side frame, the horizontal propelling propeller and the vertical propelling propeller are connected to the left rear edge, the right rear edge and the front end of the outer side frame respectively, a sealed module is arranged in the sensing and control integrated intelligent sensor, the structure is compact, the system reliability is high, fish body stress is remarkably reduced, and the service life of the system is prolonged. And cooperation with the operation process of the fish pump can be formed, the fishing efficiency is improved, and the manual participation degree is reduced.

Description

Technical Field

[0001] This invention belongs to the technical field of rotating drive netting equipment for intelligent fishing operations, specifically relating to an active drive netting system for intelligent fishing operations. Background Technology

[0002] The existing technology has at least the following shortcomings: First, the process of driving fish away with purse seines is highly dependent on human experience, with low automation and limited operational efficiency; second, purse seines are mostly deployed and retracted passively, making it difficult to flexibly adjust according to the real-time behavior of fish schools, which can easily cause stress and injury to the fish; third, in deep-sea environments, the high degree of human involvement leads to significant operational safety risks; and fourth, existing purse seine equipment is difficult to coordinate with fish suction pumps, resulting in insufficient continuity and stability in the fishing process. Summary of the Invention

[0003] The purpose of this invention is to provide an active-drive netting system for intelligent fishing operations. By integrating integrated intelligent sensors into the netting structure, it achieves real-time perception and identification of fish distribution and movement, and actively drives the netting to form a guiding posture conducive to the operation of the fish suction pump, thereby achieving low-stress, high-efficiency automated fishing. The technical solution is as follows:

[0004] An active-drive netting system for intelligent fishing operations is characterized by comprising: a planar flexible net 1, an outer frame 2, multiple thin steel wires 3, an integrated sensing and control intelligent sensor 4, a horizontal propulsion propeller 5, and a vertical propulsion propeller 6; the planar flexible net 1 is connected to the outer frame 2 via the thin steel wires 3; the integrated sensing and control intelligent sensor 4 is disposed on the outer frame 2; the horizontal propulsion propeller 5 and the vertical propulsion propeller 6 are respectively connected to the left and right rear edges and the front end of the outer frame 2; the integrated sensing and control intelligent sensor 4 is a sealed module; the thin steel wires 3 are evenly distributed around the periphery of the planar flexible net 1; the integrated sensing and control intelligent sensor 4 includes a signal acquisition module, a data preprocessing module, a fish school identification module, a decision and control module, and a control output module; wherein the signal acquisition module is used to acquire spatial distribution information and motion state information of fish schools within the net cage; the data preprocessing module is used to filter, denoise, perform coordinate transformation, and time synchronization processing on the raw data acquired by the signal acquisition module; the fish school identification module is used to identify and cluster fish targets; the centroid position of the fish school is: The overall swimming direction of the fish school: ,in, For the first The position vector of a school of fish in three-dimensional space. This indicates the number of fish currently identified. This indicates the overall spatial location characteristics of the fish school. Indicates the first The direction or velocity vector of the movement of a school of fish. The decision and control module represents the overall swimming direction characteristics of the fish school, and is used to determine the overall spatial location characteristics of the fish school output by the fish school identification module. and overall swimming direction characteristics And combined with the preset target gathering area location Calculate the propulsion control quantity of the actively driven mesh, which can be calculated using the following generalized control law: ,in, For the target gathering area, For location guidance items; As a sports coordination event, , To control the gain coefficient, the control output module is used to convert the propulsion control command into a corresponding electrical signal or control signal and output it to the horizontal propulsion propeller 5 and the vertical propulsion propeller 6. The mapping from propulsion force to propeller command can be written as follows: ,in, The control input for propulsion.

[0005] The beneficial effects of this invention are as follows: Through the integrated design of sensing and control, the fish swarm perception, identification and propulsion control are integrated into a single module, which has a compact structure and high system reliability. It forms a flexible and adjustable guiding flow field through active driving, avoiding the forced containment of traditional nets, significantly reducing fish stress. It can work in synergy with the operation of fish suction pumps to improve fishing efficiency and reduce human intervention. It is suitable for complex deep-sea environments and has good safety and engineering feasibility. Attached Figure Description

[0006] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0007] Figure 2 This is a schematic diagram of the module block diagram of the present invention. Detailed Implementation

[0008] Example 1: Structure and Layout

[0009] Reference Figures 1-2The active drive netting system for intelligent fishing operations is characterized by comprising a planar flexible netting sheet (1), an outer frame (2), thin steel wires (3), an integrated sensing and control intelligent sensor (4), a horizontal propulsion propeller (5), and a vertical propulsion propeller (6). The planar flexible netting sheet (1) is made of flexible high-strength netting material, and its periphery is connected to the outer frame (2) by multiple thin steel wires (3), so that the netting sheet can be deformed under the propulsion action while maintaining its overall unfolded state. The outer frame (2) is a rigid frame structure used to support the overall shape of the netting sheet and to provide an installation base for the horizontal propulsion propeller (5), the vertical propulsion propeller (6), and the integrated sensing and control intelligent sensor (4). The integrated sensing and control intelligent sensor (4) is fixed to the outer frame (2) in a modular manner. It integrates a signal acquisition unit, a processing and computing unit, and a control output interface to form an integrated structure of perception-decision-execution. The horizontal propulsion propeller (5) and the vertical propulsion propeller (6) are respectively set at different positions of the outer frame (2) to apply propulsion action to the netting sheet in different directions.

[0010] Example 2: Fishing Operation Process

[0011] Before the fishing operation begins, the active drive net system is placed inside the net cage, and the integrated sensing and control intelligent sensor 4, the horizontal propulsion propeller (5) and the vertical propulsion propeller (6) are activated. During the operation, the integrated sensing and control intelligent sensor (4) acquires the spatial distribution and swimming direction information of the fish in real time, and determines the positional relationship of the fish relative to the net through the built-in fish identification algorithm. According to the identification results, the data processing module calculates the required net movement mode and outputs control commands to the horizontal propulsion propeller (5) and the vertical propulsion propeller (6) so that the net forms a guiding posture in the horizontal and vertical directions, gradually driving the fish to gather near the inlet of the fish suction pump. During the operation of the fish suction pump, the active drive net continuously performs fine-tuning control to maintain the stable flow field environment of the fish entering the fish suction pump until the fishing operation is completed.

[0012] Example 3: Safety and Emergency Situation

[0013] When the horizontal propeller (5), vertical propeller (6) or integrated sensing and control smart sensor (4) malfunctions, the system can stop the propulsion action, so that the net can return to a passive state and avoid excessive disturbance to the fish.

[0014] Signal acquisition module

[0015] The signal acquisition module is used to obtain spatial distribution and movement information of fish in the cage. It can use underwater imaging sensors, acoustic detection sensors or a combination thereof to acquire raw data on the location, density and swimming direction of the fish.

[0016] Data preprocessing module

[0017] The data preprocessing module is used to filter, denoise, transform coordinates, and synchronize time on the raw data obtained by the signal acquisition module, so as to improve the stability and reliability of subsequent fish swarm identification.

[0018] Fish School Recognition Module

[0019] Based on the preprocessed data, the fish school identification module is used to identify and cluster fish targets to obtain spatial distribution characteristic parameters of the fish school, including but not limited to the centroid location, spatial expansion range and overall swimming direction of the fish school.

[0020] Location of the fish school's centroid:

[0021] The overall swimming direction of the fish school:

[0022] in, For the first The position vector of a school of fish in three-dimensional space. This indicates the number of fish currently identified. It indicates the overall spatial location characteristics of a school of fish, that is, the location of the school's centroid. Indicates the first The direction or velocity vector of the movement of a school of fish. It indicates the overall swimming direction characteristics of a school of fish, and is used to characterize the group movement trend of a school of fish.

[0023] Decision and Control Module

[0024] The decision-making and control module is used to determine the overall spatial location characteristics of the fish school based on the output of the fish school identification module. and overall swimming direction characteristics And combined with the preset target gathering area location Calculate the propulsion control quantity of the actively driven netting.

[0025] The propulsion control quantity can be calculated using the following generalized control law:

[0026]

[0027] in, For the target gathering area (e.g., near the inlet of the fish suction pump). As a location guide, if the fish are far from the target area, the propulsion force is greater, and if they are close, the propulsion force automatically decreases, so as to achieve "soft driving". As a motion coordination measure, if the fish are already swimming in the right direction, the propulsion force is consistent with the direction of the fish's movement, so as to "guide the fish to swim naturally" and reduce the stress on the fish. , The gain coefficient is used to adjust the weights of position guidance and motion coordination, and can be set or adaptively adjusted according to the working environment.

[0028] Control output module

[0029] The control output module converts the propulsion control commands into corresponding electrical or control signals and outputs them to the horizontal and vertical propulsion propellers to achieve real-time adjustment of the netting's motion. The mapping from propulsion force to propeller commands can be written as follows:

[0030]

[0031] in, The control input for propulsion.

[0032] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An actively driven netting system for intelligent fishing operations, characterized in that: The device includes a planar flexible mesh (1), an outer frame (2), multiple thin steel wires (3), an integrated sensing and control intelligent sensor (4), a horizontal propulsion propeller (5), and a vertical propulsion propeller (6); the planar flexible mesh (1) is connected to the outer frame (2) through the thin steel wires (3); the integrated sensing and control intelligent sensor (4) is disposed on the outer frame (2), and the horizontal propulsion propeller (5) and the vertical propulsion propeller (6) are respectively connected to the left and right rear edges and the front end of the outer frame (2).

2. The active drive netting system for intelligent fishing operations according to claim 1, characterized in that: The integrated sensing and control intelligent sensor (4) has a sealed module inside.

3. The actively driven netting system for intelligent fishing operations according to claim 1, characterized in that: The thin steel wire (3) is evenly distributed around the perimeter of the planar flexible mesh (1).

4. The active drive netting system for intelligent fishing operations according to claim 2, characterized in that: The integrated sensing and control intelligent sensor (4) includes a signal acquisition module, a data preprocessing module, a fish school identification module, a decision and control module, and a control output module. The signal acquisition module is used to acquire the spatial distribution information and motion status information of the fish school in the cage. The data preprocessing module is used to filter, denoise, transform coordinates, and synchronize the time of the raw data obtained by the signal acquisition module.

5. The active drive netting system for intelligent fishing operations according to claim 4, characterized in that: The fish school identification module is used to identify and cluster fish targets. The centroid location of the fish school is: The overall swimming direction of the fish school: ,in, For the first The position vector of a school of fish in three-dimensional space. This indicates the number of fish currently identified. This indicates the overall spatial location characteristics of the fish school. Indicates the first The direction or velocity vector of the movement of a school of fish. This indicates the overall swimming direction of the fish school.

6. The active drive netting system for intelligent fishing operations according to claim 4, characterized in that: The decision-making and control module is used to determine the overall spatial location characteristics of the fish school output by the fish school identification module. and overall swimming direction characteristics And combined with the preset target gathering area location Calculate the propulsion control quantity of the actively driven mesh, which can be calculated using the following generalized control law: ,in, For the target gathering area, For location guidance items; As a sports coordination event, , This is to control the gain coefficient.

7. The active drive netting system for intelligent fishing operations according to claim 4, characterized in that: The control output module is used to convert the propulsion control command into a corresponding electrical signal or control signal and output it to the horizontal propulsion propeller 5 and the vertical propulsion propeller 6. The mapping from propulsion force to propeller command can be written as follows: ,in, The control input for propulsion.

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