A vertical shaft slide type fish monitoring device suitable for large water level amplitude working conditions

Abstract

This invention discloses a vertical shaft slide-type fish monitoring device suitable for conditions with large water level fluctuations. It includes a vertical shaft slide fixedly installed on the shore, a float slidably connected within the slide, a rotating platform fixedly connected below the float, a servo motor assembly, and a sonar probe mounted on the servo motor assembly. The vertical shaft slide has a sonar detection window facing the water, allowing the probe to communicate with the water. The float automatically rises and falls within the slide with changes in water level, maintaining a constant depth of the probe and suppressing swaying caused by high-velocity water flow through the physical constraints of the slide. The servo motor assembly includes horizontal and vertical drive units, enabling the probe to rotate horizontally from 0° to 360° and adjust its pitch angle, achieving multi-degree-of-freedom scanning. The probe is connected to a central control device via a watertight signal transmission line, enabling real-time data transmission and remote device control. This invention provides reliable basic data support for the intelligent operation of fish collection systems.

Description

Technical Field

[0001] This invention belongs to the field of aquatic ecological monitoring and fish passage facility technology, specifically relating to a vertical shaft slide-type fish monitoring device suitable for complex hydrological environments such as large water level fluctuations and high flow velocities downstream of hydropower station dams. It is used to achieve fixed-point, continuous, and stable monitoring of fish behavior downstream of dams, providing data support for the intelligent operation of fish collection and transportation systems. Background Technology

[0002] In water conservancy and hydropower projects, fish passage facilities, as a common type of fish passage engineering facility, have been widely used in river ecological restoration practices to restore the longitudinal connectivity of rivers and alleviate the obstruction effect of dams on migratory fish. There are many types of fish passage facilities, such as fishways, fish lifts, and fish locks, each with its own drawbacks. Fish collection boats offer flexibility and efficiency by allowing for free selection of fish collection locations, but they are labor-intensive and resource-intensive, requiring shipbuilding, oil, and other additional consumption or pollution, and may also be affected by weather. Fishways typically have their entrances located at the tailrace of the power station or on both sides of the spillway section, where there is concentrated water flow. Fish tend to prefer these areas, thus attracting them into the fishway. The exit must be far from areas of concentrated water flow, such as spillways, to prevent fish that have already entered the reservoir from returning downstream. Therefore, while fishways require less manpower and are quite efficient, they are complex to design, difficult to construct, and heavily restricted by terrain. Fish lifts and fish locks both involve manually lifting fish upstream for release, requiring significant manpower and resulting in scattered and inefficient fish collection. The fish collection channel is the fish-collecting component of the fish lift and fish transport system within a fish passage facility. It primarily attracts fish upstream into the channel through a continuous, uninterrupted flow of water, until the fish actively swim in or are passively driven to the collection tank, where they are then transferred across the dam. Currently, the operation and scheduling of fish transport systems largely rely on historical experience, lacking the ability to perceive and predict real-time fish conditions. This results in delayed scheduling responses and makes it difficult to achieve precise and efficient fish passage operations. Summary of the Invention

[0003] To address the above technical problems, this invention proposes a vertical shaft slide-type fish monitoring device suitable for large water level fluctuation conditions, comprising: The vertical shaft slide is a hollow columnar structure installed vertically and fixedly on the water-facing side of the riverbank below the dam. Its height covers at least the water level fluctuation range of the monitoring section of the river, and a sonar detection window is opened on its side wall facing the water. The float is a sealed floating structure that is slidably installed in the inner cavity of the vertical shaft slide and can rise and fall freely in the vertical shaft slide as the water level changes. A rotating gimbal is fixedly connected to the bottom of the float, and a servo motor assembly is installed at the lower end of the rotating gimbal; A sonar detection probe is fixedly installed on the servo motor assembly, with its detection direction facing the sonar detection window, and is used to collect acoustic data of underwater fish. A watertight signal transmission line is connected to the sonar probe signal and is used to transmit the collected data to the central control equipment on the shore. The fish collection and transportation system includes a fish lift, a fish collection channel, and a fish gate. When the central control equipment determines, based on the collected data, that the number of target fish in the fish school within the monitoring section exceeds a threshold, and the distance between the fish school and the fish collection channel is not greater than the threshold, it controls the fish collection channel of the fish collection and transportation system to form a fish-attracting water flow. The servo assembly includes a first drive unit and a second drive unit; the upper end of the first drive unit is fixedly connected to the lower end of the float, and its upper end is horizontally rotatably connected to the second drive unit, for driving the sonar probe to rotate horizontally; the lower end of the first drive unit is vertically rotatably connected to the second drive unit, and the second drive unit is fixedly connected to the sonar probe, for driving it to perform vertical pitch adjustment.

[0004] Furthermore, the sonar detection probe includes a split-beam fish finder probe and a multi-beam sonar detection probe; the split-beam fish finder probe and the multi-beam sonar detection probe are respectively fixedly connected to the second drive unit by a fixing clip, and are adjusted in pitch synchronously with it.

[0005] Furthermore, the central control device is connected to the sonar probe via the watertight signal transmission line; the central control device includes at least a host, a data switch, a power module, and a control unit corresponding to the sonar probe.

[0006] Furthermore, the control unit is connected to the rotating gimbal and sonar probe, and is used to automatically adjust the rotation angle, scanning cycle and detection frequency of the rotating gimbal according to changes in water level or fish activity.

[0007] Furthermore, the central control device is also equipped with a wireless communication module, which is used to upload the processed data to a remote server in real time and receive remote control commands.

[0008] Furthermore, the float has a built-in counterweight adjustment block for adjusting buoyancy, so that it can maintain a preset water depth under various water level conditions.

[0009] Furthermore, the bottom of the vertical shaft slide is located below the lowest water level of the monitoring section, while its top exceeds the highest water level of the monitoring section with a safety margin.

[0010] Furthermore, the inner wall of the shaft slide is smoothed or coated with a friction-reducing coating.

[0011] Furthermore, the power module includes an interface for connecting to mains power and a UPS uninterruptible power supply.

[0012] Compared with the prior art, the beneficial effects of the present invention are: 1. The buoy drives the probe to automatically rise and fall along the vertical shaft slide, so that the detection depth remains constant under large water level fluctuations (daily fluctuation of 4~5m), which solves the problems of easy dehydration and unstable detection depth of traditional fixed devices.

[0013] 2. The vertical shaft slide provides physical constraints on the buoy and probe, effectively suppressing the swaying and deflection caused by the impact of high-velocity water flow, thus ensuring the pointing stability of the detection beam and the quality of data acquisition.

[0014] 3. It does not require frequent adjustments to equipment by ships or personnel, and can achieve long-term, fixed-point, continuous observation in complex hydrological environments, providing reliable hardware support for obtaining baseline fish data. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a scenario using the vertical shaft slide-type fish monitoring device of the present invention; Figure 2 This is a schematic diagram of the vertical shaft slide-type fish monitoring device of the present invention; Figure 3 This is a schematic diagram of the servo motor assembly used in this invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0017] Example like Figure 1 and Figure 2 As shown, a vertical shaft slide-type fish monitoring device suitable for large water level fluctuation conditions includes a vertical shaft slide 1, a float 2, a split beam fish finder probe 3, a rotating gimbal 4, a servo motor group, a multi-beam sonar probe 5, a watertight signal transmission line 6, central control equipment and supporting data processing system, and a fish collection and transportation system.

[0018] The vertical shaft slide 1 is a vertically installed hollow metal column structure made of stainless steel or galvanized steel, fixedly installed on the water-facing side of the bank slope of the monitoring section of the river downstream of the dam. The bottom of the vertical shaft slide 1 is below the lowest operating water level at the monitoring section, and the top exceeds the highest operating water level at the monitoring section, with its height covering the maximum water level fluctuation range and leaving a safety margin. The internal wall surface of the vertical shaft slide 1 is smoothed and has no jamming structure to ensure that the integrated instruments inside can float freely and move smoothly up and down with water level changes under the designed operating conditions. A sonar detection window 11 is opened on the water-facing side of the vertical shaft slide 1. This window is directly connected to the water body to ensure that the sound wave beams emitted by the split beam fish finder probe 3 and the multi-beam sonar probe 5 into the water body are not blocked.

[0019] The float 2 is a sealed float body, its shape matching the inner cavity of the shaft slide 1, and it is slidably installed inside the shaft slide 1. The float 2 has a built-in counterweight adjustment block, so its buoyancy in the water can be adaptively adjusted according to changes in water level, thus allowing it to rise and fall freely along the shaft slide 1. Under the physical constraint of the shaft slide 1, the float 2 and the detection equipment connected below it will not be washed away or experience engulfing vibrations even when impacted by high-velocity water flow.

[0020] Along the inner side of the vertical shaft slide 1, from top to bottom, are arranged a float 2, a rotating gimbal 4, a servo motor assembly, a split-beam fish finder probe 3, and a multi-beam sonar probe 5. Specifically, the float 2 is located at the top, providing buoyancy for the entire system; the rotating gimbal 4 is fixedly connected below the float 2; the servo motor assembly is installed at the lower end of the rotating gimbal 4, and the split-beam fish finder probe 3 and the multi-beam sonar probe 5 are fixedly connected to the servo motor assembly via fixing clips, and are driven by the servo motor assembly for multi-degree-of-freedom adjustment. The detection direction of all detection devices is towards the sonar detection window 11 on the water side of the vertical shaft slide 1.

[0021] The servo motor assembly includes a first drive unit 41 and a second drive unit 42, wherein: The first drive unit 41 is a horizontal rotation servo motor. Its upper end is fixedly connected to the lower end of the float 2, and its upper end is horizontally rotatably connected to the second drive unit 42. It is used to drive the multi-beam sonar probe 5 and the split-beam fish finder probe 3 to perform a 0°~360° rotation scan in the horizontal direction. The second drive unit 42 is a pitch adjustment servo motor, which is vertically rotatably connected to the lower end of the first drive unit 41, and is fixedly connected to the multibeam sonar probe 5 and the split-beam fish finder probe 3. It is used to drive the multibeam sonar probe 5 to adjust the pitch angle in the vertical direction to adapt to the fish detection needs at different water depths.

[0022] The split-beam fish finder probe 3 is used to transmit and receive split-beam acoustic signals to detect the number, size, and location of fish; the multi-beam sonar probe 5 is used to acquire high-resolution underwater acoustic images to observe the distribution and movement trajectory of fish schools; the rotating gimbal 4 can periodically or dynamically adjust the detection direction according to the instructions of the central control equipment to achieve dynamic tracking and full-coverage scanning of fish schools.

[0023] All detection devices are connected to the central control equipment via watertight signal transmission line 6.

[0024] The central control equipment is located on the bank near the vertical shaft slide 1 and is constructed according to the corresponding flood control level to ensure the safe operation of the equipment during floods. The central control equipment includes a split-beam fish finder main unit, a multi-beam sonar main unit, a data switch, a 4G / 5G wireless communication module, a power supply module, and a backup power supply.

[0025] The central control equipment also includes a control unit, which is signal-connected to the servo motor group, the split-beam fish finder probe 3, and the multi-beam sonar probe 5, respectively. This control unit is used for: ① automatically adjusting the rotation angle, scanning cycle, and detection frequency of the servo motor group based on real-time water level changes or fish activity; ② receiving and analyzing data collected by the split-beam fish finder probe 3 and the multi-beam sonar probe 5, generating fish distribution maps, quantity statistics, and movement trajectories; ③ uploading the processed data to a remote server in real time via a wireless communication module, and receiving remote control commands.

[0026] The split-beam fish finder main unit and the multi-beam sonar main unit are connected to the watertight signal transmission line 6 via a data switch to receive detection data and can upload the data to a remote server in real time via a communication module. The power module supplies power to all electrical equipment such as the probe and rotating pan-tilt unit, and has lightning strike and overload protection functions.

[0027] The fish collection and transportation system includes a fish lift, a fish collection channel, and a fish gate. When the central control equipment determines, based on the collected data, that the number of target fish in the fish school within the monitoring section exceeds a threshold, and the distance between the fish school and the fish collection channel is not greater than the threshold, it controls the fish collection channel of the fish collection and transportation system to form a fish-attracting water flow. By monitoring the distribution and number of fish in the monitoring section, it selectively attracts, collects, and transfers fish, responding promptly to fish conditions and achieving precise and efficient fish passage operations.

[0028] During installation, the installation location of the vertical shaft slide 1 is first determined based on the site topography and hydrological conditions, ensuring that the sonar detection window 11 faces the water area and avoids areas with strong bubbles. The float 2, along with the rotating gimbal 4, servo motor assembly, multi-beam sonar probe 5, and split-beam fish finder probe 3 connected below it, are hoisted into the vertical shaft slide 1 as a whole, allowing the float 2 to be secured within the slide 1. The counterweight of the float 2 is adjusted to ensure that the probe remains submerged at an appropriate depth even at the lowest water level. The watertight signal transmission line 6 is then connected, completing the wiring and debugging of the central control equipment.

[0029] After the device is put into operation, as the water level downstream of the dam rises and falls, float 2 automatically rises and falls within the vertical shaft slide 1 under the action of buoyancy, driving the rotating gimbal 4, servo motor group, multi-beam sonar probe 5, and split-beam fish finder probe 3 connected below to move up and down synchronously. Because float 2 is locked inside the vertical shaft slide 1 and is physically constrained by the vertical shaft slide 1, the detection equipment remains stable under the impact of water flow, without significant shaking or displacement. The detection equipment collects acoustic data in real time and transmits it to the split-beam fish finder host and multi-beam sonar host in the central control equipment through the watertight signal transmission line 6. The host performs preliminary processing and storage of the data and sends it to the remote server through the 4G / 5G network.

[0030] As a preferred embodiment, the height of the vertical shaft slide 1 should cover the maximum water level fluctuation range, with a margin of 1-2 meters to ensure that the probe remains submerged under various extreme water level conditions. The inner wall of the vertical shaft slide 1 is smoothed, such as by mirror polishing or coating with a friction-reducing coating, to ensure smooth and unobstructed movement of the float 2. The float 2 uses a high-density polyethylene float body, filled with closed-cell foam to ensure long-term watertightness. The split-beam fish finder probe 3 can operate at a frequency of 120kHz or 200kHz, and the multi-beam sonar probe 5 can operate at a frequency of 500kHz or 1MHz to meet different detection range and resolution requirements. The servo motor group is driven by a stepper motor, and both its first drive unit 41 and second drive unit 42 can be remotely controlled to adjust the rotation direction and speed, enabling dynamic tracking and multi-angle scanning of fish schools. The central control equipment has temperature control and dehumidification functions to ensure stable operation of the internal equipment in harsh weather conditions. The power module can be connected to mains power and is equipped with a UPS uninterruptible power supply to ensure continuous operation for no less than 4 hours in the event of a power outage.

[0031] Fish resource monitoring is an important means of assessing the ecological impact of water conservancy projects and guiding the operation of fish passage facilities. In recent years, underwater acoustic detection technology has been widely used in fish resource surveys in major river basins such as the Yangtze and Pearl Rivers due to its advantages such as non-invasiveness and high spatiotemporal resolution. In particular, in the downstream area of ​​Hydropower Station A, research institutions have carried out spatiotemporal distribution detection of fish based on shipborne mobile surveys, which have preliminarily revealed the patterns of fish aggregation and periodic changes in behavior.

[0032] However, existing fish monitoring technologies still have the following shortcomings in practical applications: ① Currently, most monitoring methods rely on shipborne mobile monitoring, which is limited by ship traffic safety, navigation conditions, and personnel scheduling. This makes it difficult to achieve high-frequency, all-weather, and continuous monitoring of underwater fish activity at fixed locations. Especially in complex hydrological environments, data acquisition is prone to interruption, making it difficult to obtain high-quality baseline data. ② In areas such as downstream of the A hydropower station dam, the daily water level fluctuation can reach 4-5 meters, accompanied by high flow velocities. Traditional fixed or buoy-type monitoring devices struggle to maintain stable probe submersion depths, easily experiencing deviations or swaying, affecting detection accuracy and data continuity. ③ Existing monitoring systems mostly use closed commercial equipment with inconsistent data formats. It is difficult to achieve unified acquisition, transmission, storage, and visualization of multi-source information such as acoustics, video, and hydrology, limiting in-depth data mining and comprehensive application. In summary, existing technologies cannot meet the needs of continuous fixed-point monitoring of fish under conditions of large water level fluctuations and high flow velocities. This invention provides a fish monitoring device that can adapt to extreme hydrological environments and support intelligent fish collection and scheduling.

[0033] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vertical shaft sliding-track type fish monitoring device suitable for large water level fluctuation conditions, characterized in that, include: The vertical shaft slide (1) is a hollow columnar structure set vertically and fixedly installed on the water-facing side of the riverbank below the dam. Its height covers at least the water level fluctuation range of the monitoring section of the river, and a sonar detection window (11) is opened on its side wall facing the water. The float (2) is a sealed floating structure that is slidably installed in the inner cavity of the vertical shaft slide (1) and can rise and fall freely in the vertical shaft slide (1) with the water level. A rotating gimbal (4) is fixedly connected to the bottom of the float (2), and a servo motor assembly is installed at the lower end of the rotating gimbal (4); A sonar detection probe is fixedly installed on the servo assembly, with its detection direction facing the sonar detection window (11), and is used to collect acoustic data of underwater fish. A watertight signal transmission line (6) is connected to the sonar probe signal and is used to transmit the collected data to the central control equipment on the shore. The fish collection and transportation system includes a fish lift, a fish collection channel, and a fish gate. When the central control equipment determines, based on the collected data, that the number of target fish in the fish school within the monitoring section exceeds a threshold, and the distance between the fish school and the fish collection channel is not greater than the threshold, it controls the fish collection channel of the fish collection and transportation system to form a fish-attracting water flow. The servo assembly includes a first drive unit (41) and a second drive unit (42); the upper end of the first drive unit (41) is fixedly connected to the lower end of the float (2), and its upper end is horizontally rotatably connected to the second drive unit (42) for driving the sonar probe to rotate horizontally; the lower end of the first drive unit (41) is vertically rotatably connected to the second drive unit (42), and the second drive unit (42) is fixedly connected to the sonar probe for driving it to adjust its pitch in the vertical direction.

2. The vertical shaft slide-type fish monitoring device according to claim 1, characterized in that, The sonar probe includes a split-beam fish finder probe (3) and a multi-beam sonar probe (5); the split-beam fish finder probe (3) and the multi-beam sonar probe (5) are fixedly connected to the second drive unit (42) by a fixing clip, and are adjusted in pitch synchronously with it.

3. The vertical shaft slide-type fish monitoring device according to claim 1, characterized in that, The central control device is connected to the sonar probe via the watertight signal transmission line (6); the central control device includes at least a host, a data switch, a power module and a control unit corresponding to the sonar probe.

4. The vertical shaft slide-type fish monitoring device according to claim 3, characterized in that, The control unit is connected to the servo motor group and the sonar detection probe, and is used to automatically adjust the rotation angle, scanning cycle and detection frequency of the rotating gimbal (4) according to water level changes or fish activity.

5. A vertical shaft slide-type fish monitoring device according to claim 3, characterized in that, The central control device is also equipped with a wireless communication module, which is used to upload the processed data to a remote server in real time and receive remote control commands.

6. The vertical shaft slide-type fish monitoring device according to claim 1, characterized in that, The float (2) has a built-in counterweight adjustment block for adjusting buoyancy, so that it can maintain a preset water depth under various water level conditions.

7. The vertical shaft slide-type fish monitoring device according to claim 1, characterized in that, The bottom of the vertical shaft slide (1) is below the lowest water level of the monitoring section, and its top is above the highest water level of the monitoring section with a safety margin.

8. The vertical shaft slide-type fish monitoring device according to claim 1, characterized in that, The inner wall of the vertical shaft slide (1) is smoothed or coated with a friction-reducing coating.

9. A vertical shaft slide-type fish monitoring device according to claim 3, characterized in that, The power module includes an interface for connecting to mains power and a UPS uninterruptible power supply.

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