A wireless intelligent control system and control method for fish-finding protection tank

Abstract

This invention relates to the field of fishing auxiliary equipment technology. To address the limitations of traditional fish finder control methods and the difficulties in cable management, this invention provides a wireless intelligent control system and method for a fish finder protection chamber. The system includes a fish finder robot APP installed on a mobile terminal and a protection chamber integrating a wireless image transmission module, a control board, a motor drive module, a motor, a reel, and a camera module. The system establishes a connection with the APP via the wireless image transmission module. The control board interprets commands to drive the motor, which in turn drives the reel to automatically reel in and out the cable. The camera module captures underwater images in real time and transmits them to the APP. This invention enables wireless remote intelligent control of the fish finder, automatic line reel in and out, and precise depth control, solving the problems of limited control methods and difficult cable management in traditional fish finders.

Description

Technical Field

[0001] This invention relates to the field of fishing auxiliary equipment technology, and in particular to a wireless intelligent control system and control method for a fish-finding protection chamber. Background Technology

[0002] With the continuous development of electronic and underwater imaging technologies, fish finders have become an indispensable auxiliary tool in modern fishing activities. Fish finders, through the cooperation of underwater camera probes and surface control equipment, provide anglers with an intuitive underwater view, helping users understand the underwater environment, fish distribution, and other information. In existing technologies, fish finders typically use cables to connect the underwater camera probe and the surface control equipment, achieving basic image transmission and control functions through wired or simple wireless methods. These devices generally include an underwater camera unit, a cable transmission system, and a surface control terminal. Users operate the device through the control terminal to conduct underwater detection and obtain real-time image information.

[0003] Existing fish finders generally rely on manual cable deployment and reeling, which is cumbersome and prone to cable twisting, tangling, and even core wire breakage. Furthermore, their control methods are mostly wired direct connection or simple infrared / 2.4G remote control, lacking stable, low-latency two-way image and command interaction capabilities. The separate design of the underwater camera module and the cable reel mechanism results in a long signal transmission path, easy water ingress into the interface, and significant image jitter during attitude changes. In addition, the wireless module is often placed inside the tank or in a low position, severely affected by water shielding, and the connection is prone to interruption. These problems collectively restrict the real-time performance, reliability, and intelligence level of underwater fish finding operations.

[0004] However, in existing technologies, the control methods and cable management of fish finders face many challenges, affecting the user experience and detection results. Summary of the Invention

[0005] This invention provides a wireless intelligent control system and method for a fish finder protection tank, which can solve the technical problems of limited control methods and difficult cable management in traditional fish finders. To achieve the above objectives, this invention provides the following technical solution:

[0006] The first aspect of the present invention provides a wireless intelligent control system for a fish-finding protection tank, comprising:

[0007] The fish finder robot app is available on mobile devices.

[0008] The protective compartment contains:

[0009] The wireless image transmission module is used to establish a wireless connection with the fish finder robot APP;

[0010] The control board is electrically connected to the wireless image transmission module;

[0011] The motor drive module is mounted on the control board;

[0012] The motor is electrically connected to the motor drive module circuit.

[0013] The cable reel, connected to the motor drive, is used to wind and store cables, and to achieve cable winding and unwinding under the drive of the motor;

[0014] The camera module is mechanically coupled to the reel via a cable and electrically connected to the control board.

[0015] In one optional embodiment, the control board is provided with a microcontroller, a power management unit and a signal processing unit, and the microcontroller is electrically connected to the wireless image transmission module, the motor drive module and the camera module respectively.

[0016] In one alternative embodiment, the wireless image transmission module is connected via Wi-Fi, 4G, 5G, or Starlink.

[0017] In one optional embodiment, the wireless image transmission module supports the 2.4GHz and / or 5.8GHz frequency bands and uses H.264 or H.265 video encoding formats for image compression and transmission.

[0018] In one optional embodiment, the fish finder robot APP has functions such as depth setting, automatic line reeling and unloading, real-time image display, video playback, and power monitoring.

[0019] A second aspect of the present invention provides a control method for a wireless intelligent control system for a fish-finding protection tank, comprising the following steps:

[0020] Step S1, System Initialization: After the protection chamber is powered on, the intelligent control system circuit of the protection chamber performs a self-test, and the wireless image transmission module starts up and establishes a wireless hotspot.

[0021] Step S2, wireless connection establishment: The fish finder robot APP on the mobile terminal searches for and connects to the wireless signal emitted by the wireless image transmission module to establish a two-way communication link;

[0022] Step S3, parameter setting and command issuance: The user sets the target depth and line release / retrieval speed parameters through the fish finder robot APP. The APP sends the control commands to the intelligent control system circuit of the protective chamber via the wireless image transmission module.

[0023] Step S4, Motor drive control: The intelligent control system circuit of the protection compartment analyzes the control command and sends the corresponding drive signal to the motor drive module circuit;

[0024] Step S5, Automatic cable winding and unwinding: The motor drive module circuit drives the waterproof motor to rotate forward or reverse. The waterproof motor drives the winding wheel of the anti-winding waterproof cable reel to rotate through the gear transmission mechanism, thereby realizing the winding or unwinding of the communication power cable and controlling the diving depth of the camera module.

[0025] Step S6, Image Data Acquisition and Transmission: The camera module acquires underwater image data in real time, transmits it to the intelligent control system circuit of the protection tank via the communication power cable, and then transmits it wirelessly to the fish finder robot APP for display after compression and encoding by the wireless image transmission module.

[0026] Step S7, Depth Feedback and Closed-Loop Control: The control system circuit determines the diving depth based on the number of rotations and direction of the waterproof motor, and feeds the depth information back to the fish finder robot APP in real time. When the target depth is reached, the line release is automatically stopped.

[0027] In an optional embodiment, in step S5, the slip ring assembly of the anti-tangle and waterproof cable reel ensures that during the winding and unwinding process of the communication power cable, the cable on the reel side rotates with the reel while the conductor on the protective side remains stationary, eliminating cable torsional stress.

[0028] In an optional embodiment, in step S7, the depth calculation adopts a conversion model between cable length and vertical depth, and is compensated and corrected by combining gyroscope attitude data.

[0029] In one optional embodiment, the control method further includes an automatic retrieval mode: when the fish finder robot APP issues a retrieval command or the battery power is lower than a threshold, the intelligent control system circuit of the protective chamber controls the waterproof motor to reverse and automatically retract the camera module into the protective chamber.

[0030] In one optional embodiment, an anomaly protection strategy is also provided: when abnormal cable tension, motor overload, or communication interruption is detected, the intelligent control system circuit of the protection chamber automatically stops the motor and issues an alarm.

[0031] This invention provides a wireless intelligent control system and method for a fish-finding protection tank. This solution achieves wireless intelligent control of the fish-finding equipment through the collaborative work of a fish-finding robot APP and various functional modules within the protection tank. A wireless connection is established between the wireless image transmission module and the fish-finding robot APP, enabling stable communication between the mobile terminal and the equipment. This eliminates the distance limitations of traditional wired connections, allowing users to remotely operate the fish-finding equipment from a safe location.

[0032] Based on the control board as the core control unit, it receives and parses control commands from the APP, and then controls the motor drive module to drive the motor, enabling precise control of the fish finder's depth. Users can achieve the diving and retrieval of the fish finder without manually operating the cable. The automatic cable winding and unwinding function is achieved through the transmission connection between the reel and the motor, which not only improves operational convenience but also ensures that the fish finder can stably reach the target depth. The camera module is mechanically coupled to the reel via cable and electrically connected to the control board, allowing underwater images to be transmitted to the mobile terminal in real time, enabling users to directly observe the underwater environment.

[0033] The fish finder robot's app integrates depth setting, automatic line reeling and deployment, real-time image display, video playback, and battery monitoring functions, greatly simplifying the user's operation. The control method's system initialization and self-test ensure all modules are in normal working order, a two-way communication link guarantees reliable command and data interaction, depth feedback and automatic stop mechanisms achieve precise depth control, and anomaly detection and alarm mechanisms effectively prevent equipment damage. Depth calculation uses a cable length to vertical depth conversion model, combined with gyroscope attitude data for compensation and correction. The initial diving depth is estimated using the cable length to depth conversion model, and then compensation is applied using fused gyroscope attitude data to correct measurement errors caused by tilt, achieving high-precision closed-loop control. The automatic retrieval mode is automatically triggered when the battery level is below a threshold or when a retrieval command is received, controlling the waterproof motor to reverse and retract the fish finder into the protective compartment. The system as a whole realizes wireless remote intelligent control, automatic line reeling and deployment, and precise depth control of the fish finder, solving the problems of limited control methods and difficult cable management in traditional fish finders, significantly improving the fishing experience and fish finding efficiency. Attached Figure Description

[0034] Figure 1 This is a front view structural diagram of the fish finder provided by the present invention;

[0035] Figure 2 A cross-sectional view of the fish finder provided by the present invention;

[0036] Figure 3 This is an exploded view of the main structure of the fish finder provided by the present invention;

[0037] Figure 4 External structural diagram of the cabin provided for this invention;

[0038] Figure 5 The present invention provides a target for Figure 4 Enlarged view of point A in the middle;

[0039] Figure 6 The transmission structure diagram provided by the present invention;

[0040] Figure 7 An exploded view of the transmission structure provided by this invention;

[0041] Figure 8 This is a first view of the gear transmission mechanism provided by the present invention;

[0042] Figure 9 This is a second view of the gear transmission mechanism provided by the present invention;

[0043] Figure 10 A first exploded view of the waterproof motor housing and sealing structure provided by the present invention;

[0044] Figure 11 A second exploded view of the waterproof motor housing and sealing structure provided by the present invention;

[0045] Figure 12 The structural diagram of the slip ring and mounting bracket provided by the present invention;

[0046] Figure 13 A cross-sectional structural diagram of the slip ring provided by the present invention;

[0047] Figure 14 This is an exploded view of the camera module provided by the present invention;

[0048] Figure 15 A diagram illustrating the control method of the wireless intelligent control system for the fish-finding protection chamber provided by this invention.

[0049] In the diagram: 10. Camera module; 11. Housing; 111. Middle area; 112. Upper area; 113. Lower area; 12. Sealing seat; 13. Spherical lens; 14. Lens module; 16. Circuit board; 18. Gyroscope; 19. Cable clip; 1A. Water pressure sensor; 1B. Pressure guide hole; 1C. Rubber plug; 1D. Figure-eight ring; 1E. Light-emitting diode; 1F. Main control chip; 20. Cable winding assembly; 21. Mounting bracket; 211. First side; 212. Second side; 213. Top edge; 214. Positioning hole; 215. Waist-shaped hole; 22. Cable; 221. Slip ring base; 222. Limiting protrusion ring; 23. Slip ring cylinder; 231. Upper cylinder; 232. Lower cylinder; 233. Inner liner; 234. Limiting constriction; 24. Waterproof chamber; 241 1. Threaded bushing; 242. Sealing ring; 243. Locking nut; 244. Positioning pin; 25. Motor; 26. Drive gear; 27. Transition gear; 28. Driven gear; 29. ​​Winding reel; 290. Hollow shaft; 291. Cable outlet hole; 292. First retaining plate; 293. Second retaining plate; 294. Second end shaft; 295. First end shaft; 50. Cabin; 501. Charging port; 502. Sealing gasket; 503. Upper fixed seat; 504. Lower fixed seat; 505. Fixed pin; 506. Vent hole; 507. Winding groove; 508. Sliding cavity; 509. Strip hole; 51. Hand-throwing rope; 52. Anti-detachment wristband; 53. USB socket; 54. Bottom cover; 55. Counterweight ring; 56. Buffer pad; 57. Partition; 58. Control board; 59. Battery. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0051] In fishing operations, panoramic cameras often need to be cast to distant bodies of water to capture underwater images. Existing technologies have limitations: some protective chambers, due to their high center of gravity, insufficient chamber sealing, and unreasonable internal component layout, are prone to tumbling, tilting, or floating horizontally after entering the water. The camera module is easily displaced by water currents, and the control board and battery are at risk of water ingress, affecting image acquisition stability and equipment lifespan.

[0052] To address the aforementioned issues, this invention proposes a wireless intelligent control system and method for a fish-finding protection chamber based on center of gravity adjustment, chamber isolation, and spatial partitioning. Through structured center of gravity configuration, physical water barrier construction, and functional chamber division, underwater attitude self-stabilization and hierarchical protection of core components are achieved.

[0053] See Figures 1 to 5The protective compartment includes a compartment 50, the upper part of which is provided with a winding groove 507 for winding the hand-thrown rope 51. The middle part of the compartment 50 is provided with an exhaust port 506, and the bottom of the compartment 50 is provided with a bottom cover 54 for sealing.

[0054] The cabin 50 is equipped with a buffer pad 56 for protecting the camera module 10. The buffer pad 56 is attached to the inner wall of the cabin 50. The height of the upper part of the buffer pad 56 is slightly greater than the height of the camera module 10. The vent 506 is located above the buffer pad 56.

[0055] The buffer pad 56 is a flexible protective structure attached to the inner wall of the cabin 50 and arranged around the camera module 10. Its function is to absorb the impact energy generated during transportation, throwing, or underwater attitude adjustment, and to prevent the camera module 10 from rigidly colliding with the inner wall of the cabin 50. The buffer pad 56 is fixedly connected to the inner wall of the cabin 50 by adhesive, snap-fit, or hot-melt pressing. Its material is EVA foam, silicone, TPE elastomer, or closed-cell foamed rubber, which has the characteristics of good compression resilience, excellent water resistance, and small long-term deformation. The outer side of the buffer pad 56 is completely attached to the inner wall of the cabin 50, and the inner side is arc-shaped to fit the outer contour of the camera module 10. The upper end of the buffer pad 56 is slightly higher than the top of the camera module 10, thereby ensuring a covering protection for protruding components such as the lens of the camera module 10.

[0056] The protective compartment includes a cylindrical body 50 with a bottom cover 54 at its opening. A winding groove 507 is axially formed on the upper outer periphery of the body 50 for winding and storing a hand-thrown rope 51. An exhaust vent 506 is provided through the middle side wall of the body 50.

[0057] The camera module 10 is housed inside the cabin 50, and a buffer pad 56 is attached to the inner wall of the cabin 50 to buffer and protect the camera module 10.

[0058] Specifically, the buffer pad 56 extends circumferentially along the inner wall of the cabin 50, and the upper end of the buffer pad 56 is slightly higher than the top of the camera module 10 to prevent the lens of the camera module 10 from directly contacting the inner wall of the cabin 50. The vent 506 is located in the area above the buffer pad 56, allowing the interior space of the cabin 50 to communicate with the outside through the vent 506.

[0059] A counterweight ring 55 is also provided in the lower region along the axial direction of the buffer pad 56. The counterweight ring 55 has a ring structure, and its outer diameter is adapted to the inner diameter of the compartment 50 and is attached and fixed to the inner wall of the compartment 50. The counterweight ring 55 makes the overall center of gravity of the protective compartment close to the hatch position, thereby ensuring that the protective compartment remains stably vertical with its head facing downward.

[0060] The counterweight ring 55 is a ring-shaped metal block made of lead, tungsten alloy, or cast iron, with a density greater than that of the main body material of the cabin 50, to provide sufficient mass within a limited volume. The outer diameter of the counterweight ring 55 is adapted to the inner diameter of the cabin 50, and it is attached to the inner wall of the cabin 50 near the bottom cover 54 by interference fit, adhesive fixation, or snap ring limiting. The counterweight ring 55 functions as a center of gravity adjustment unit in this invention, and its position determines the overall downward displacement of the center of gravity. By arranging it in the bottom area of ​​the cabin 50, combined with the mass distribution of the cabin 50 itself, the overall center of gravity of the protective cabin is located slightly below the geometric center. When the protective cabin enters the water, under the action of buoyancy, the center of gravity and the center of buoyancy form a stable torque, driving the cabin 50 to automatically rotate to a downward vertical posture, thereby preventing the camera module 10 from deviating from the target view due to attitude instability.

[0061] The hand-throwing rope 51 is wound and stored in the winding groove 507. The free end of the hand-throwing rope 51 is connected to an anti-slip wristband 52. The anti-slip wristband 52 has a ring-shaped wristband structure and is used to prevent the hand from slipping and throwing the entire product when throwing the hand-throwing rope 51.

[0062] The anti-slip wristband 52 can be a hard plastic ring, a metal ring, or an elastic silicone ring, with an anti-slip texture or knurled structure on the outer edge; the anti-slip wristband 52 is firmly connected to the free end of the throwing rope 51 by welding, riveting, or buckle structure; the function of the anti-slip wristband 52 is to increase the grip contact area, improve the reliability of the hand grip, and prevent the hand from slipping out during throwing due to sweat, water immersion, or excessive force; the connection between the anti-slip wristband 52 and the throwing rope 51 is a non-detachable fixed connection, or a quick-release pin structure can be used to make it replaceable.

[0063] In one embodiment, the hand-throwing rope 51 can be made of PE, nylon or other materials.

[0064] To achieve fixed-length fixation of the hand-thrown rope 51, an upper fixing seat 503 and a lower fixing seat 504 are respectively provided on the upper and lower sides of the winding groove 507. The combination of the upper fixing seat 503 and the lower fixing seat 504 forms an overall waist-shaped or elliptical structure. The upper fixing seat 503 and the lower fixing seat 504 are each provided with a corresponding sliding cavity 508. The lower fixing seat 504 is also provided with a strip-shaped hole 509 communicating with the sliding cavity 508. A fixing pin 505 is slidably fitted inside the lower fixing seat 504. The combination of the upper fixing seat 503 and the lower fixing seat 504 forms a locking area for fixing the hand-thrown rope 51.

[0065] The fixing pin 505 is configured to move axially along the strip hole 508 to achieve locking and unlocking: when it is necessary to adjust the length of the hand-throwing rope 51, push the fixing pin 505 downward to make it exit from the sliding cavity 508 of the upper fixing seat 503, and release the locking state. At this time, the hand-throwing rope 51 can be released to the required length; when the required length is reached, push the fixing pin 505 upward to make it pass through the strip hole 509 and insert into the sliding cavity 508 of the upper fixing seat 503, thereby pressing and locking the hand-throwing rope 51 within the specified area of ​​the winding groove 507, preventing the hand-throwing rope 51 from loosening or accidentally sliding in the non-operational state.

[0066] The upper fixed seat 503 can be a boss structure or a radially extending block protrusion, fixed to the upper edge of the winding groove 507 on the outer periphery of the cabin 50. The sliding cavity 508 inside can be a through rectangular groove, T-shaped groove or other, used to accommodate and limit the top end of the pin 505. The function of the sliding cavity 508 in the present invention is to provide axial constraint and clamping fulcrum, thereby forming a stable limit.

[0067] The lower fixing seat 504 can be a flange integrally formed with the cabin body 50, or it can be detachably connected to the lower edge of the winding groove 507 on the outer periphery of the cabin body 50 by screws or buckles. It has a vertically penetrating sliding cavity 508 inside. The strip hole 509 is opened on the outer wall of the lower fixing seat 504 and communicates with the inner sliding cavity 508. The cross-sectional shape of the sliding cavity 508 is adapted to the structure of the fixing pin 505. The sliding cavity 508 is used to guide the fixing pin 505 to move smoothly back and forth in the vertical direction and to restrict its circumferential rotation or lateral displacement. The lower fixing seat 504 and the upper fixing seat 503 together form a double-end limiting structure for the fixing pin 505.

[0068] The fixing pin 505 can be made of stainless steel, aluminum alloy, or engineering plastic. The top of the fixing pin 505 has an insertion part that matches the sliding cavity 508 of the upper fixing seat 503, and the bottom can be provided with a pressing boss to facilitate the user to apply vertical pushing force. The fixing pin 505 converts the user's linear pushing action into clamping or releasing control of the hand-throwing rope 51. It forms an embedded fit with the sliding cavity 508 of the upper fixing seat 503 and a guiding fit with the sliding cavity 508 of the lower fixing seat 504. The three work together to establish a dynamically adjustable mechanical stop point on the winding path of the hand-throwing rope 51 constrained by the winding groove 507, thereby realizing instant locking and rapid release under any number of winding turns.

[0069] Specifically, when the user pushes the fixed pin 505 downward, its top end disengages from the sliding cavity 508 of the upper fixed seat 503. At this time, the hand-throwing line 51 is in an unrestrained state and can be freely pulled out or retrieved. When the user pushes the fixed pin 505 upward, its top end inserts into the sliding cavity 508, and at the same time, its side or bottom surface contacts the surface of the hand-throwing line 51 and applies positive pressure, pressing the hand-throwing line 51 tightly between the pin and the upper fixed seat 503 to form a friction limit, thereby preventing the hand-throwing line 51 from unexpectedly slipping off due to water flow disturbance or accidental pulling during fishing.

[0070] As an optional embodiment, the present invention is implemented as follows: Before use, the user winds the hand-throwing rope 51 into the winding groove 507 as needed. After winding to the required length, the user pushes the fixing pin 505 upward so that its top end is fully inserted into the slot 508 of the upper fixing seat 503, at which point the hand-throwing rope 51 is reliably pressed tight. During the throwing or retrieval process, if the rope length needs to be adjusted, simply press the fixing pin 505 downward to instantly release the lock, pull the rope to the new position, and then push it upward to lock it again. The entire operation requires no tools and does not rely on external parts; it can be completed by pushing with only the thumb or forefinger of one hand, with a rapid response and clear action.

[0071] Through the above technical solution, since the upper fixed seat 503 and lower fixed seat 504 are set up with corresponding upper and lower fixed seats, and the vertically movable fixed pin 505 is slidably assembled in the lower fixed seat 504, a stable and resettable mechanical locking node can be constructed in the area where the winding groove 507 is located. Since the fixed pin 505 directly controls its engagement / disengagement state with the slot 508 of the upper fixed seat 503 through the pushing action, the operational complexity and failure risk caused by rotation adjustment, spring pre-tensioning or additional locking structure are avoided. Since the locking mechanism is integrated near the existing winding groove 507 structure on the outer periphery of the cabin 50, it does not occupy the internal cavity space, nor does it affect the layout and sealing of the camera module 10, the winding assembly 20 and the control board 58. Therefore, while ensuring functional reliability, the compactness and waterproof integrity of the whole machine are maintained.

[0072] The cabin 50 is equipped with a camera module 10 and a cable winding assembly 20. The camera module 10 is located below the cable winding assembly 20. A waterproof partition 57 is located above the cable winding assembly 20. The partition 57 is located in front of the winding groove 506. The partition 57 and the inner top wall of the cabin 50 form a closed space. A control board 58 and a battery 59 are installed in the closed space. A USB socket 53 is installed on the control board 58. A charging port 501 is opened in the cabin 50 at the position corresponding to the USB charging dock. A sealing gasket 502 is also provided to seal the charging port 501.

[0073] The cabin 50 houses a camera module 10 and a cable winding assembly 20, with the camera module 10 axially positioned below the cable winding assembly 20. A waterproof partition 57 is positioned above the cable winding assembly 20, dividing the interior of the cabin 50 into an upper sealed chamber and a lower chamber. The upper sealed chamber is formed by the waterproof partition 57 and the inner top wall of the cabin 50. A control board 58 and a battery 59 are installed within the upper sealed chamber, and the control board 58 and battery 59 are isolated from water by the waterproof partition 57. A USB socket 53 is integrated on the control board 58. A charging interface 501 is provided on the side wall of the cabin 50 corresponding to the USB socket 53. A sealing gasket 502 is detachably provided at the charging interface 501 to seal it for waterproofing when not charging.

[0074] The upper sealed chamber is a closed space formed between the upper surface of the waterproof partition 57 and the inner top wall of the cabin 50. Structurally, this space is not connected to the lower chamber, and its top boundary is the inner top wall of the cabin 50, its bottom boundary is the upper surface of the waterproof partition 57, and its lateral boundary is the inner wall of the cabin 50. This chamber is used to house the control board 58 and the battery 59. Its sealing is achieved through a reliable connection between the waterproof partition 57 and the inner wall of the cabin 50, such as by using a silicone sealing ring for pressing and fixing, to ensure that it remains airtight under underwater pressure.

[0075] The waterproof partition 57 is a rigid flat plate structure, which can be a stainless steel plate, an aluminum alloy plate or an engineering plastic plate. Its outer edge is connected to the inner wall of the chamber 50 by an interference fit or an annular sealing groove to ensure physical isolation between the upper and lower chambers. The waterproof partition 57 is positioned as the bottom plate of the upper sealed chamber and the top plate of the lower chamber in this invention. It not only undertakes the separation function, but also participates in forming the sealed boundary of the upper chamber.

[0076] The inner top wall of the compartment 50 can refer to the inner surface of the uppermost part of the compartment 50 along the axial direction. Its shape is consistent with the overall cylindrical structure of the compartment 50. It can be a flat surface or a slightly convex arc surface, used to enclose the top sealing surface of the upper sealed chamber together with the waterproof partition 57. The vertical distance between the inner top wall and the waterproof partition 57 can be set according to the overall stacking height of the control board 58 and the battery 59. Specifically, it can be adjusted according to the actual component size and heat dissipation requirements. This embodiment of the invention does not impose any special limitations on this.

[0077] When the protective chamber is submerged in water, the overall center of gravity shifts downward and tends to stabilize in a vertical position under the action of the counterweight ring 55. At this time, since the upper sealed chamber is formed by the waterproof partition 57 and the inner top wall of the chamber 50, its spatial position is located in the uppermost area of ​​the chamber 50. Therefore, when the protective chamber is vertically floating or suspended, the entire chamber is above the water surface, so that the control board 58 contained inside is in the air environment, avoiding the strong absorption and shielding of 2.4 GHz / 5.8 GHz wireless signals such as Wi-Fi and Bluetooth by the water.

[0078] Specifically, the positional relationship of the upper sealed chamber is directly related to the attitude stability of the protective chamber: the counterweight ring 55 is located inside the chamber 50 near the bottom cover 54, making the center of gravity of the whole machine significantly lower than the geometric center; when the protective chamber is disturbed in the water, the restoring torque formed by gravity and buoyancy will drive it to automatically return to a vertical attitude; in this attitude, the horizontal plane where the waterproof baffle 57 is located constitutes an approximate boundary reference plane of the water-air interface, and the upper sealed chamber above it is naturally in the air environment because it is structurally raised above this interface; this positional relationship does not depend on external active control, but is determined only by the structural layout and static characteristics.

[0079] Specifically, the control board 58 is used to manage the image acquisition of the camera module 10, the motion control of the winding assembly 20, the power monitoring of the battery 59, and data transmission via the network. It integrates a microcontroller, a power management chip, a USB communication interface circuit, and a USB socket 53. The USB socket 53 is a physical interface of Type-A, Type-B, Type-C, or Micro-USB specifications, used to establish an electrical connection with an external charger or data cable. Its placement on the control board 58 corresponds precisely to the charging interface 501 on the side wall of the compartment 50, so that when the control board 58 is fixedly installed in the upper sealed cavity, the socket of the USB socket 53 is directly opposite the inner opening of the charging interface 501, thereby enabling the external charging cable to be directly connected to the USB socket 53 through the charging interface 501 without additional adapters or opening the cover.

[0080] The charging interface 501 is an oval or rectangular through hole, the diameter or side length of which is set according to the external dimensions of the selected USB socket 53. The charging interface 501 is installed through the side wall of the cabin 50 and is located in the upper part of the outer periphery of the cabin 50, avoiding the arrangement height of the waterproof partition 57 and the vent 506. Its specific position on the cabin 50 is arranged to avoid the human grip posture and the area where the hand-throwing rope 51 is wrapped, for example, it is set at a position on the outer periphery of the cabin 50 at a height of 2 / 3 of the total height from the bottom cover 54. The charging interface 501 does not have a permanent protective structure, but is dynamically sealed by a removable sealing gasket 502, thus taking into account both functional openness and environmental adaptability.

[0081] The sealing gasket 502 is an elastic gasket made of silicone, fluororubber, or other materials, and its outline is consistent with the hole shape of the charging interface 501. One end of it is provided with a buckle, flange, or magnetic structure, and the other end is provided with anti-slip texture or groove, which is used to form an interference fit or adsorption fastening with the side wall of the chamber 50. The sealing gasket 502 covers the outer opening of the charging interface 501 and fills the assembly gap between the charging interface 501 and the side wall of the chamber 50 by compression deformation, thereby preventing water vapor from penetrating into the interior of the chamber 50 along the interface path when not charging. When charging is required, the user can manually remove the sealing gasket 502 and insert the charging cable into the USB socket 53 to complete the power supply. After charging is completed, the sealing gasket 502 can be reinstalled to restore the waterproof capability of the whole machine. The sealing gasket 502 can be removed by pressing quick release, rotating buckle, magnetic or screw screw.

[0082] The USB socket 53 and the charging interface 501 form the physical outlet of the electrical connection channel. Their collaborative operation is as follows: When the protective compartment is in the state of being ready to be thrown or underwater operation, the sealing gasket 502 remains installed on the outside of the charging interface 501. At this time, the upper sealed chamber remains completely sealed, and the control board 58 and the battery 59 are in a waterproof isolation environment. When the protective compartment is recovered to the shore and needs to be recharged, the user first removes the sealing gasket 502 to expose the USB socket 53 inside the charging interface 501, and then inserts the standard USB charging cable and connects it to an external power source. During the charging process, the current is input through the USB socket 53 to the power management circuit on the control board 58, and then distributed to the battery 59 for charging. After the charging is completed, the charging cable is unplugged, and the sealing gasket 502 is reset and pressed tightly against the charging interface 501, thus completing a complete charge and discharge maintenance cycle.

[0083] As an optional embodiment, the specific implementation of the present invention is as follows: In a fishing operation scenario, before the user puts the fish-finding protection chamber wireless intelligent control system and control method into the water, they confirm that the sealing gasket 502 has completely covered and pressed tightly against the charging interface 501; after the protection chamber is put into the water, because the upper sealed chamber is above the water surface, and the USB socket 53 is doubly isolated by the solid wall of the chamber 50 and the sealing gasket 502, even if the chamber 50 is partially submerged, it will not cause the control board 58 to short-circuit or the battery 59 to get wet; after the operation is completed, the user wipes the water off the outer surface of the chamber 50, removes the sealing gasket 502, and uses a portable power bank to quickly recharge the battery 59 via USB cable. The whole process takes no more than 30 seconds; then the sealing gasket 502 is reinstalled, and it can be put into use again in the next cycle.

[0084] With the above technical solution, since the USB socket 53 is integrated on the control board 58 and the charging interface 501 is opened at the corresponding position on the side wall of the cabin 50, external power supply can be connected without opening the bottom cover 54 or disassembling the cabin 50. Since the charging interface 501 is equipped with a removable sealing gasket 502, it can effectively block the path of water vapor intrusion when not charging, and maintain the airtightness and waterproofness of the upper sealed chamber. Since the sealing gasket 502 is made of elastic material and is compatible with various installation methods, it not only ensures the reliability of repeated assembly and disassembly, but also avoids the degradation of sealing performance caused by thread wear or adhesive failure.

[0085] The wireless intelligent control system and control method for fish-finding protection tank provided by this invention have the following advantages:

[0086] Attitude self-stabilization design: By setting a counterweight ring 55 near the bottom cover 54 on the cabin 50, the overall center of gravity of the protective cabin is shifted to the hatch side.

[0087] The buffer pad 56 attached to the inner wall of the cabin 50 is made of soft materials such as EVA, foam or silicone, and its upper end is slightly higher than the top of the camera module 10. During the cable winding and unwinding operation, it can effectively buffer the impact force, prevent the lens of the camera module 10 from being scratched or damaged, and significantly extend the service life of the equipment.

[0088] The interior of the cabin is divided into an upper sealed chamber and a lower chamber by a waterproof partition 57. The control board 58 and power module 59 are housed in the upper sealed chamber, completely isolated from the water, ensuring reliable waterproofing of the electronic components. Simultaneously, when the protective cabin remains vertical, the upper sealed chamber is above the water surface, allowing the Wi-Fi, Bluetooth, and other wireless signals emitted by the control board 58 to be unaffected by water shielding, achieving a stable wireless connection between the protective cabin and the land-based terminal, thus balancing waterproofing performance with communication reliability.

[0089] The protective bulkhead has vents 506, which are used to expel air as the protective bulkhead changes its orientation from horizontal to vertical after entering the water.

[0090] The vent 506 can be a circular, elliptical, or rectangular through-hole structure. Its diameter or equivalent size can be set according to the overall volume of the cabin 50, the expected water depth, and the required air discharge rate. The vent 506 is installed through the middle side wall of the cabin 50, with its axis perpendicular to the generatrix of the cabin 50 and located below the waterproof partition 57, ensuring that it is within the lower chamber range, thereby avoiding communication with the upper sealed chamber and preventing moisture from entering the area where the control board 58 and battery 59 are located through the vent 506. The function of the vent 506 is to serve as a directional release channel for air in the lower chamber, and it together with the counterweight ring 55 constitutes the attitude control subsystem.

[0091] The upper part of the outer periphery of the cabin 50 is provided with a winding groove 507, which, together with the upper fixed seat 503, the lower fixed seat 504 and the fixed pin 505, forms a locking mechanism that facilitates the winding, storage and quick fixation of the hand-thrown rope 51, improving the portability and ease of use of the equipment.

[0092] The counterweight ring 55 is a ring structure and is attached to the inner wall of the chamber 50 near the bottom cover 54. By reasonably configuring the weight and position of the counterweight ring 55, the overall center of gravity of the protective chamber is brought close to the hatch. This design ensures that the protective chamber can maintain a vertical posture similar to a fishing float in the water.

[0093] In practical applications, fish finders often need to operate for extended periods underwater or in high-humidity environments. However, existing fish finder transmission structures commonly suffer from problems such as insufficient waterproof sealing, easy cable twisting and tangling during winding and unwinding, sluggish transmission response, and low assembly precision leading to operational vibrations, which in turn increase the risk of equipment failure. The root cause of these problems lies in the fact that traditional structures often employ open wiring and direct-drive systems, lacking a constraint mechanism on the cable's movement path; and the absence of a speed reduction and torque amplification transmission design between the motor and the winding reel adapted to underwater operating conditions.

[0094] Based on the above-mentioned technical problems, the present invention constructs a rigid bearing platform by mounting brackets, realizes precise power transmission through gear transmission mechanism, guides the moving cable without winding by slip ring, and ensures the continuity of electrical signal and mechanical reliability by relying on the specific connection path between the winding wheel and the cable, thereby forming a stable cable winding and unwinding device for complex underwater working conditions.

[0095] See Figure 6 and Figure 7 The fish finder includes a camera module 10 located at the bottom, which is connected upwards via a cable 22. The cable 22 is wound on a reel 29, which can be rotated to wind up and unwind the cable 22.

[0096] A gear transmission mechanism for driving the winding reel 29 is provided. The gear transmission mechanism includes a U-shaped mounting bracket 21, with the winding reel 29 located on the lower inner side of the mounting bracket 21 and the motor 25 located on the upper inner side of the mounting bracket 21.

[0097] Cable 22 can refer to a composite cable used to transmit power and video signals. It contains power conductors and video cores, and is covered with a water-resistant and bend-resistant sheath. One end of cable 22 is connected to the waterproof interface of camera module 10, and the other end is led out along a set path and wound on reel 29. Its material, outer diameter and bending radius can be set according to the maximum diving depth and retrieval speed requirements of the fish finder.

[0098] The reel 29 is a cylindrical hollow rotating body structure, and its axial length matches the total length of the cable 22. The reel 29 can be made of aluminum alloy or engineering plastic, and its surface is treated with anodizing or wear-resistant coating to enhance corrosion resistance.

[0099] See Figure 8 and Figure 9 The reel 29 includes a hollow shaft 290, with a cable outlet hole 291 in the middle for easy cable 22 to be led out. A first baffle 292 and a second baffle 293 are formed at both ends of the hollow shaft 290. A first end shaft 295 communicating with the hollow shaft 290 is provided on the outer end face of the first baffle 292. The first end shaft 295 is axially connected to the first side 211 of the mounting bracket 21. The cable 22 is led out through the first end shaft 295, the hollow shaft 290, and the cable outlet hole 291. A driven gear 28 is provided on the outer end of the second baffle 293. A second end shaft 294 for axial connection with the first side 212 of the mounting bracket 21 is provided on the outer end face of the driven gear 28.

[0100] The winding reel 29 is mounted on the mounting bracket 21 in an axial support manner at both ends. That is, the first end shaft 295 and the second end shaft 294 are respectively embedded in the corresponding bearing holes of the first side 211 and the second side 212 to achieve rotational support. This fit relationship enables the winding reel 29 to have good anti-eccentric load capacity when under force and to form a stable torque input path with the gear transmission mechanism.

[0101] The first baffle 292 and the second baffle 293 can refer to annular disc structures that are fixedly connected to both ends of the hollow shaft 290, respectively, to limit the axial displacement of the cable 22 during the winding process and prevent it from slipping off to the outside of the end of the hollow shaft 290. Both are metal stamping parts integrally formed with the hollow shaft 290, or are independently processed and connected to the end face of the hollow shaft 290 by interference fit, welding or screw fastening. The first baffle 292 and the second baffle 293 work together to limit the cable 22 wound on both sides when the winding wheel 29 rotates, improving the neatness of winding and unwinding and the repeatability of positioning. The two baffles and the hollow shaft 290 together form an annular winding groove. The depth of the winding groove is determined by the thickness of the baffle and the outer diameter of the hollow shaft, and is suitable for cables 22 of different diameters.

[0102] The first end shaft 295 can refer to a cylindrical boss that extends axially from the outer end face of the first baffle 292. Its inner cavity is connected to the interior of the hollow shaft 290, forming an entrance channel for the cable 22 to enter the hollow shaft 290 from the outside. The first end shaft 295 is supported by a bearing and axially connected to the first side 211 of the mounting bracket 21. It achieves rotational support by embedding a bearing seat on the first side 211 or by directly engaging with the shaft hole provided on the first side 211. Its function is to constrain the rotational movement of the winding wheel 29 to one side of the first side 211, and at the same time serve as the inlet interface of the cable 22, forming a continuous connection with the slip ring cylinder 23 and the subsequent cable path.

[0103] The second end shaft 294 can refer to a cylindrical boss that extends axially from the outer end face of the second baffle 293. It has no internal cavity and mainly undertakes the functions of rotational support and torque transmission. The second end shaft 294 is coaxially fixedly connected to the driven gear 28, thereby receiving power input from the gear transmission mechanism. The second end shaft 294 is axially connected to the second side 212 of the mounting bracket 21. The connection method is bearing support or bushing floating fit to ensure the overall rotational coaxiality of the winding wheel 29. Together with the first end shaft 295, it forms a double-support rotation structure of the winding wheel 29, which improves the dynamic stability and anti-bending ability under high-speed winding.

[0104] The cable 22 is led out sequentially through the first end shaft 295, the hollow shaft 290, and the outlet hole 291. This means that the cable 22 is inserted axially from the outside of the mounting bracket 21 into the first end shaft 295, enters the internal cavity of the hollow shaft 290, and extends axially to the middle area of ​​the hollow shaft 290 before radially exiting through the outlet hole 291, and finally connects to the camera module 10. This lead-out path keeps the cable 22 inside or near the center of the winding reel 29 throughout the entire process, avoiding sag, swing, and interference with moving parts. The design of the outlet hole 291 being located in the middle of the hollow shaft 290 ensures that the cable 22 lead-out point is always close to the rotation center of the winding reel 29.

[0105] The motor shaft of the motor 25 is connected to the drive gear 26. The outer end face of the drive gear 26 is provided with a third end shaft that is axially connected to the first side 212 of the mounting bracket 21. The drive gear 26 and the driven gear 28 are meshed together.

[0106] Furthermore, at least one transition gear 27 is provided between the driving gear 26 and the driven gear 28, respectively meshing with both.

[0107] This invention employs a multi-stage gear transmission design. The motor shaft is connected to a driving gear 26, which meshes with a transition gear 27, which in turn meshes with a driven gear 28. The driven gear 28 is coaxially fixed to the winding reel 29. The number of teeth on the driving gear 26 is equal to the number of teeth on the transition gear 27, and the number of teeth on the driven gear 28 is greater than the number of teeth on the driving gear 26.

[0108] The function of the gear transmission mechanism is to convert the high-speed, low-torque power output by the motor 25 into the low-speed, high-torque rotational motion required by the reel 29, thereby adapting to the underwater heavy-load retrieval conditions; its connection with the reel 29 is a coaxial rigid connection, that is, the driven gear 28 and the hollow shaft 290 of the reel 29 achieve synchronous rotation through key connection or interference fit.

[0109] The motor 25 is connected to the winding reel 29 through a gear transmission mechanism. Its output shaft does not directly drive the winding reel 29, but achieves speed ratio adjustment and load isolation through at least one intermediate transmission. This connection allows the motor 25 to be arranged away from the winding reel 29, which facilitates heat dissipation and waterproof housing integration, while reducing the vibration coupling effect of cable movement on the motor shaft system.

[0110] The working process and principle are as follows: After the motor 25 is powered on and started, its rotational power is transmitted to the intermediate gear 27 via the driving gear 26. The intermediate gear 27 then meshes with and drives the driven gear 28, thereby causing the winding reel 29 to rotate around its own axis. Due to the gear ratio setting, the driving gear 26 and the intermediate gear 27 have the same number of teeth, and the first stage of transmission is a constant speed transmission. The intermediate gear 27 drives the driven gear 28, which has more teeth, forming a speed reduction transmission. This transmission chain as a whole plays the role of speed reduction and torque increase. Finally, the driven gear 28 drives the winding reel 29 to rotate with a larger torque, which can easily pull the winding cable 11 connected to the camera 10, and can stably retrieve the cable even in deep water.

[0111] When the winding wheel 29 rotates, the cable 22 wound on it is wound or released in an orderly manner. During this process, the cable 22 remains stationary relative to the mounting bracket 21 and only undergoes axial extension and retraction, avoiding the cable twisting itself due to the rotation of the winding wheel 29. The camera module 10 rises and falls with the cable 22, and its power supply and video signal are transmitted back in real time through the cable 22, without being disturbed by the winding and unwinding action.

[0112] In one embodiment, the driving gear 26 has 10 teeth, the intermediate gear 27 has 10 teeth, and the driven gear 28 has 13 teeth. By limiting the specific tooth ratio of this three-stage gear transmission system to the above values, not only can a 1:1 power transmission be achieved between the driving gear 26 and the intermediate gear 27 to simplify the structure, but the 10:13 tooth difference between the intermediate gear 27 and the driven gear 28 can also be used to achieve precise speed reduction and torque increase. While ensuring a compact overall size of the device, the output torque is maximized, effectively preventing the motor 25 from stalling due to insufficient torque when retrieving the line under heavy load in deep water. It also prevents the problem of excessively slow retrieval speed due to an excessively large reduction ratio, thereby significantly improving the working stability and reliability of the fish finder in complex underwater environments.

[0113] The driving gear 26 can be a cylindrical spur gear installed at the end of the output shaft of the motor 25 and rigidly connected thereto. The driving gear 26 is used to transmit the rotational power output by the motor 25 to the transition gear 27 in a mechanical meshing manner. Its connection with the motor shaft can be a key connection, interference fit or thread fastening. The specific implementation method is determined according to the assembly process and torque transmission requirements.

[0114] Driven gear 28 can be a cylindrical spur gear that is coaxially and fixedly connected to the rotating shaft of winding reel 29. It is fixed to winding reel 29 by set screw, spline engagement or integral molding. Driven gear 28 is used to receive power input from intermediate gear 27 and drive winding reel 29 to rotate synchronously, thereby driving cable 22 to be wound and unwound. Its coaxial fixed relationship with winding reel 29 ensures the directness of power transmission path and consistency of angular velocity, avoiding cable tension fluctuations caused by eccentricity or slippage.

[0115] The transition gear 27 can refer to an intermediate transmission gear set between the driving gear 26 and the driven gear 28. Its axial direction is supported between the first side 211 and the second side 212 of the mounting bracket 21 by a gear shaft. The two ends of the gear shaft are respectively embedded in the bearing holes on the side, or are only axially connected to the second side 212. The transition gear 27 is used to change the direction of power transmission and realize speed ratio adjustment. It maintains an external meshing relationship with the driving gear 26 and the driven gear 28 with a constant center distance, thus forming a three-stage gear transmission chain. Its existence makes it unnecessary for the driving gear 26 and the driven gear 28 to be arranged in the same plane or adjacent positions, which is conducive to optimizing the relative layout of the motor 25 and the winding reel 29 in a limited space and improving the overall structural compactness.

[0116] This technical solution incorporates a transition gear 27 positioned between the driving gear 26 and the driven gear 28, meshing with both. This expands the gear arrangement space without increasing the motor's axial dimensions, alleviating positional interference between the motor 25 and the reel 29 on the mounting bracket 21. Since the transition gear 27 shares the direct meshing force between the driving gear 26 and the driven gear 28, it reduces the contact stress of a single gear pair. Because the driven gear 28 and the reel 29 are rigidly coaxially connected, the rotational angular velocity of the reel 29 is ensured to be strictly consistent with that of the driven gear 28, avoiding errors in the cable 22's winding and unwinding length due to elastic deformation or slippage of the transmission chain, thus improving the accuracy of the fish finder's descent depth control.

[0117] Specifically, when the motor 25 is powered on, its output shaft drives the drive gear 26 to rotate; the drive gear 26 drives the intermediate gear 27 to rotate in the opposite direction through tooth surface meshing; the intermediate gear 27 then drives the driven gear 28 to rotate in the same direction as the drive gear 26 through tooth surface meshing; the driven gear 28 drives the winding reel 29, which is fixed coaxially with it, to rotate synchronously, thereby realizing the orderly winding or unwinding of the cable 22; in this transmission path, the intermediate gear 27 acts as an intermediate idler gear, which does not change the absolute value of the transmission ratio but changes the output direction, while sharing the meshing load, reducing the contact stress of a single pair of gears, and improving the operational stability of the system under deep water and high back pressure conditions.

[0118] To enhance waterproofing, a waterproof compartment 24 is provided, such as... Figure 5 and Figure 6 As shown, the motor 25 is installed inside the waterproof chamber 24. To prevent moisture intrusion, the gaps inside the waterproof chamber 24 are filled with potting compound to fix the circuit board and motor stator, thus providing moisture and shock protection.

[0119] A specialized sealing assembly, including a sealing ring 242 and a locking nut 243, was designed for the dynamic sealing area where the motor shaft protrudes. A threaded bushing 241 is provided on the waterproof chamber 24. During installation, the sealing ring 242 is fitted onto the motor shaft, with the sealing ring 242 positioned inside the locking nut 243. The locking nut 243 is then screwed onto the threaded bushing 241. The side end of the waterproof chamber 24 is sealed with adhesive.

[0120] Specifically, the waterproof chamber 24 is used to house and physically isolate the motor 25. The waterproof chamber 24 can be made of metal or engineering plastic, and its shape is adapted to the shape of the motor 25 and a space is reserved for the motor shaft to pass through. The size of the waterproof chamber 24 can be set according to the specifications of the motor 25 and the filling thickness requirements of the potting compound. The waterproof chamber 24 is connected to the mounting bracket 21 by fasteners or fixed by positioning structure. Its installation position should ensure that the motor shaft and the drive gear 26 of the gear transmission mechanism are coaxially aligned.

[0121] The potting compound inside the waterproof chamber 24 is used to cover the motor body 25 and lead terminals, serving to prevent moisture, resist shock, provide insulation and mechanical fixation; the amount of potting compound should be enough to completely cover the motor 25 housing and terminals without any air bubbles remaining.

[0122] The threaded bushing 241 is a hollow cylindrical structure with an internal thread on its outer wall that matches the locking nut 243. The threaded bushing 241 can be fixedly embedded in the opening on the side wall of the waterproof chamber 24, or it can be integrally formed with the waterproof chamber 24. Its inner diameter is slightly larger than the outer diameter of the motor shaft, and the gap is controlled within the range of 0.05–0.15 mm to balance assembly convenience and the compression deformation space of the sealing ring 242. The axial length of the threaded bushing 241 can be set according to the compression stroke of the sealing ring 242 and the screw-in depth of the locking nut 243.

[0123] The sealing ring 242 is sleeved on the motor shaft and located in the inner cavity of the threaded bushing 241. Its inner diameter is interference-fitted with the outer diameter of the motor shaft, and its outer diameter is slidingly fitted with the inner diameter of the threaded bushing 241. The sealing ring 242 can be an O-ring rubber seal. The material can be nitrile rubber, fluororubber, or hydrogenated nitrile rubber. When the locking nut 243 is screwed in, the sealing ring 242 undergoes radial elastic deformation under axial pressure. Its outer edge fits against the inner wall of the threaded bushing 241, and its inner edge tightly covers the surface of the motor shaft. The cross-sectional shape of the sealing ring 242 is circular.

[0124] The outer wall of the locking nut 243 is a hexagonal nut or an anti-loosening nut with a locking structure. Its internal thread matches the internal thread of the threaded bushing 241. The screwing direction is preferably opposite to the rotation direction of the motor shaft to avoid loosening due to vibration during operation. The axial force of the locking nut 243 is converted into a stable axial preload on the sealing ring 242 through the threaded pair. The magnitude of the preload should cause effective radial compression of the sealing ring 242 but not permanent deformation or failure.

[0125] The assembly process of the waterproof chamber 24 and the sealing assembly is as follows: the motor 25 is installed into the waterproof chamber 24 as a whole, and the motor shaft is passed through the threaded bushing 241; then the sealing ring 242 is fitted into the section of the motor shaft to be passed through; then the locking nut 243 is screwed into the threaded bushing 241, and torque is gradually applied until the sealing ring 242 is uniformly compressed, there is no axial movement, and the rotational resistance of the motor shaft does not increase significantly; finally, the interior of the waterproof chamber 24 is filled with glue.

[0126] Working principle: When the locking nut 243 is tightened on the threaded bushing 241, the inner end face of the locking nut 243 will axially compress the sealing ring 242. After being compressed, the sealing ring 242 undergoes elastic deformation, contracts radially, and tightly wraps around the motor shaft, thereby forming a tight waterproof barrier between the motor shaft and the housing.

[0127] As shown in Figure 7 and Figure 11As shown, the top of the waterproof compartment 24 is a horizontal plane, on which a positioning post 244 extends vertically upward. The top edge 213 of the mounting bracket 21 has a positioning hole 214 that corresponds to the position of the positioning post 244 and is of a suitable size. During assembly, the positioning post 244 is inserted into the positioning hole 214 to achieve quick positioning and installation between the waterproof compartment 24 and the mounting bracket 21.

[0128] The positioning post 244 can be a cylindrical, prismatic, or polygonal cross-section protrusion with its axis perpendicular to the top surface of the waterproof compartment 24, used to provide radial constraints and angular references during assembly. The positioning post 244 and the waterproof compartment 24 are integrally formed or fixedly connected by fasteners, and its height can be set according to the actual assembly clearance requirements. There is a single-sided fitting clearance of 0.05mm to 0.2mm between the outer diameter of the positioning post 244 and the inner diameter of the positioning hole 214 to balance guidance and positioning accuracy. This clearance value can be adaptively adjusted according to the machining tolerance grade and the thermal expansion coefficient of the material.

[0129] The positioning hole 214 can be a through hole or a blind hole, and its shape matches the cross-sectional profile of the positioning post 244 to accommodate and limit the positioning post 244. The positioning hole 214 is opened in the central area of ​​the top edge 213 of the mounting bracket 21 or in a symmetrical position near the motor mounting side, and its axis is perpendicular to the surface of the top edge 213. The depth of the positioning hole 214 is greater than the insertion length of the positioning post 244 to ensure that a stable support is formed after full embedding.

[0130] The fit between the positioning post 244 and the positioning hole 214 is as follows: when the waterproof chamber 24 is installed in the vertical direction, the positioning post 244 first enters the positioning hole 214 and slides along its inner wall, constraining the translational degree of freedom of the waterproof chamber 24 in the X and Y directions through surface contact, and restricting the rotational degree of freedom around the Z axis.

[0131] This technical solution enables the installation of a vertically extending positioning post 244 at the top of the waterproof chamber 24, and the opening of a matching positioning hole 214 on the top edge 213 of the mounting bracket 21. This allows for highly repeatable and low-error-tolerance spatial positioning during assembly. Since the positioning post 244 and the positioning hole 214 are fitted with a clearance, the smoothness of insertion and the resistance to lateral loads are improved. Because this positioning structure is independent of the sealing components and fastening structure, it enhances the reliability and convenience of the overall assembly process while ensuring the waterproof reliability of the motor.

[0132] like Figure 12As shown, the mounting bracket 21 is generally U-shaped, including a first side 211 and a second side 212 arranged relatively parallel to each other, and a top edge 213 connected to the top of the first side 211 and the second side 212. The first side 211, the second side 212 and the top edge 213 are preferably integrally formed to ensure the overall strength and stability of the bracket.

[0133] Specifically, the mounting bracket 21 can be a rigid support frame integrally formed by stamping, bending or injection molding of metal sheet. Its first side 211 and second side 212 are arranged in parallel and vertically, and its top side 213 is horizontally connected to the top of the two, forming a П-shaped open mouth body structure. The functional positioning of the mounting bracket 21 is: on the one hand, to provide a common reference mounting surface for the motor 25, gear transmission mechanism and slip ring cylinder 23, to ensure the coaxiality and position repeatability of the axes of each component; on the other hand, to form a double-sided limit on the winding wheel 29 through the first side 211 and the second side 212, to prevent its axial movement. The size and wall thickness of the mounting bracket 21 can be set according to the space constraints and strength requirements of the whole machine.

[0134] A waist-shaped hole 215 extending along its length is provided on the first side 211, and the waist-shaped hole 215 extends to the top edge 213. A slip ring cylinder 23 corresponding to the waist-shaped hole 215 is provided. Through the design of the waist-shaped hole 215, the slip ring cylinder 23 can be adjusted to adapt to different installation requirements.

[0135] like Figure 13 As shown, the slip ring cylinder 23 has a cylindrical structure, including an upper cylinder 213 and a lower cylinder 232 connected below the upper cylinder. The upper cylinder 213 and the lower cylinder 232 are connected in cavity, and the diameter of the upper cylinder 231 is larger than the diameter of the lower cylinder 232. An inner liner 233 extends upward from the inner bottom wall of the upper cylinder 232 to support the slip ring base 221. After the slip ring base 221 is placed in, it is filled with waterproof silicone grease. The bottom of the slip ring cylinder 23 is provided with a limiting opening 234. The diameter of the limiting opening 234 is smaller than the inner diameter of the lower cylinder 232, forming an anti-detachment structure to prevent internal parts from falling off when the equipment shakes.

[0136] A flexible limiting protrusion 222, made of silicone waterproof ring, is provided below the slip ring base 221 near the cable 22. This protrusion serves both as a locking and waterproofing element. The limiting protrusion 222 includes two annular protrusions spaced apart axially. When the slip ring base 221 is inserted into the slip ring 23, the limiting constriction 234 engages between the two annular protrusions of the limiting protrusion 222, thus axially limiting the connection between the cable 22 and the slip ring 23. The limiting protrusion 222 is preferably made of soft rubber.

[0137] The inner cavity of the slip ring cylinder 23 is filled with a waterproof lubricating material, which is filled between the slip ring base 221 and the outlet of the slip ring cylinder 23. The waterproof lubricating material is preferably waterproof silicone grease.

[0138] The core function of the slip ring cylinder 23 is to allow the cable 22 to have a certain degree of freedom relative to the mounting bracket 21 during the continuous forward and reverse rotation of the winding wheel 29, while maintaining the continuity of the electrical signal path and the stability of the mechanical path.

[0139] The mating structure of the limiting protrusion 222 and the limiting constriction 234 has the following advantages:

[0140] Quick assembly: No screws required, simply snap-fit ​​for secure installation;

[0141] Reliable anti-detachment: The double convex ring structure provides bidirectional limiting to prevent axial movement;

[0142] Easy to disassemble: When maintenance is needed, simply pull it out to separate it.

[0143] See Figure 14 The camera module 10 includes a circuit board 16 and a housing 11 arranged symmetrically front and rear. Lens modules 14 are mounted on the front and rear sides of the circuit board 16, and light-emitting diodes 1E are also mounted thereon. The lens modules 14 and the light-emitting diodes 1E are used to acquire underwater images and provide supplementary lighting, respectively. A gyroscope 18 is also integrated on the circuit board 16, which is used to detect the attitude information of the camera module 10 in real time. A cable 22 is electrically connected to the upper part of the circuit board 16, which is used for transmitting image signals and receiving power.

[0144] The housing 11 has through holes corresponding to the lens module 14, and the lens module 14 extends outward through the corresponding through holes. The cable 22 passes through the top of the housing 11, and a cable clip 19 is provided between the cable 22 and the housing 11. The cable clip 19 is used to fix the cable 22 and achieve a waterproof seal to prevent water from seeping into the sealed cavity along the cable 22.

[0145] A ring-shaped protruding sealing seat 12 is provided on the outer side of the middle part of the housing 11 at a predetermined distance from the outside of the through hole of the lens module 14. A spherical lens 13 is embedded in the sealing seat 12. The spherical lens 13 is preferably made of tempered glass, which has high hardness and impact resistance, and can effectively protect the lens module 14 from underwater foreign object collision damage. At the same time, the spherical structure can provide a wide-angle optical field of view and reduce underwater refraction distortion.

[0146] The sealing seat 12 and the spherical lens 13 are sealed together, using at least one, two, or more of the following embodiments.

[0147] In the first embodiment, the inner diameter of the sealing seat 12 is larger than the outer diameter of the spherical lens 13, and the sealing seat 12 and the spherical lens 13 are sealed by potting adhesive.

[0148] In the second embodiment, a sealing ring is provided between the sealing seat 12 and the spherical lens 13 to achieve double waterproof protection.

[0149] To measure water pressure, a water pressure sensor 1A is mounted on circuit board 16, and a pressure guiding hole 1B is provided on housing 11 corresponding to the position of water pressure sensor 1A. After assembly, water pressure sensor 1A is installed in pressure guiding hole 1B, and external water pressure can directly act on the sensing surface of water pressure sensor 1A. A flexible sealing ring is provided around water pressure sensor 1A, and water pressure sensor 1A and pressure guiding hole 1B are interference-fitted to ensure that external river water or seawater will not seep into the interior of housing 11.

[0150] According to the water pressure sensor 1A, the present invention also provides a depth-assisted detection method based on the water pressure sensor, comprising the following steps:

[0151] Step S701: Collect external water pressure signals in real time using a water pressure sensor;

[0152] Step S702: The water pressure signal is filtered and denoised to obtain calibrated water pressure data;

[0153] Step S703: Based on the preset water pressure-depth conversion relationship, convert the calibrated water pressure data into the current diving depth value;

[0154] Step 704: Compare the diving depth value with a preset depth threshold to obtain the diving depth.

[0155] This data is used to help verify the diving depth. Combined with the aforementioned number of motor rotations and direction, the two are combined to make a precise judgment on the diving depth.

[0156] The housing 11 is also provided with a rubber stopper 1C for sealing the pressure guide hole 1B during storage or transportation. The rubber stopper 1C is preferably made of silicone.

[0157] The rubber stopper 1C can be a cylindrical stopper made of elastic rubber or silicone, with its outer diameter slightly larger than the inner diameter of the pressure guiding hole 1B, so as to form an interference fit and achieve a reliable seal after insertion; the length of the rubber stopper 1C can be set according to the depth of the pressure guiding hole 1B, so that its rear end face is flush with or slightly protruding from the outer surface of the housing 11, which facilitates insertion and removal operations; the top of the rubber stopper 1C can be provided with anti-slip texture or raised structure to enhance the friction when the fingers apply force and improve the ease of insertion and removal.

[0158] The bottom of the housing 11 is equipped with a figure-eight ring 1D for suspending counterweights to adjust the center of gravity of the camera module 10, ensuring a stable shooting posture in water. The figure-eight ring 1D includes a cylindrical sealing post, with limiting discs of larger diameter on its upper and lower end faces. The bottom of the housing 11 has an interference fit hole for the sealing post, achieving a sealing effect. A figure-eight hanging ring is fixedly connected to the bottom of the sealing post, through which counterweights can be suspended.

[0159] To address the issue of dim lighting on the water line, LEDs 1E are installed on circuit board 16 for supplemental lighting.

[0160] Correspondingly, the shell 11 is injection molded from transparent or semi-transparent PC material and is divided into three areas along the vertical direction: the middle area 111, the upper area 112, and the lower area 113. Wherein:

[0161] The central area 111 is a light-shielding area. Its outer surface is treated with oil spraying and texturing to form an opaque light-shielding layer, preventing the LED fill light from leaking from around the lens module 14 and avoiding glare or halo interference with shooting.

[0162] The upper area 112 and the lower area 113 are light-transmitting areas. They maintain the light-transmitting properties of transparent or semi-transparent PC material, allowing the supplementary light emitted by the LED to diffuse outward through the housing 11 and provide uniform illumination for the shooting area.

[0163] The core innovation of this invention lies in constructing an optical path spatial isolation structure based on the vertical partitioning of the housing: by physically dividing the housing 11 into a central light-blocking area and upper and lower light-transmitting areas, the light emitted by the supplementary light source can only be diffused directionally to the shooting area through the upper and lower light-transmitting areas.

[0164] Preferably, the central region 111 is painted with black or dark paint, and the textured finish is made with a fine texture to enhance the light-blocking effect and appearance.

[0165] This camera module design optimizes the underwater shooting environment by using a transparent or semi-transparent housing divided vertically into a central, upper, and lower section. The central section, coated with a light-blocking material, effectively blocks light leakage from the LEDs to the lens module, preventing stray light from entering the lens and causing issues like washed-out images and reduced contrast. The upper and lower sections, acting as light-transmitting areas, allow the LEDs' illumination to diffuse outwards, providing uniform lighting to the shooting area and significantly improving visibility and image clarity in dark underwater conditions. LEDs mounted on the circuit board provide supplementary lighting, solving the problem of low visibility due to insufficient underwater light. Furthermore, the lens modules are mounted on the front and rear of the circuit board, with corresponding through-holes in the housing allowing them to extend outwards, enabling binocular stereo imaging and providing users with more accurate underwater environmental information. Finally, the housing and circuit board form a sealed cavity, ensuring reliable operation of the device in underwater environments. This design improves the poor image quality caused by limited light propagation during underwater shooting. The partitioned shell design achieves a balance between effective supplementary lighting and anti-interference, thereby improving the image signal-to-noise ratio and imaging stability, and optimizing the underwater optical environment.

[0166] Furthermore, the upper part of the housing 11 is provided with an adhesive inlet, which is used to inject sealant into the sealed cavity to achieve overall potting and waterproofing of the camera module 10, effectively improving its sealing reliability in deep water environment.

[0167] To address the limitations of traditional fish finder control methods and the difficulties in cable management, this invention provides a wireless intelligent control system for a fish finder protection chamber, comprising:

[0168] The fish finder robot app is available on mobile devices.

[0169] The protective compartment is equipped with:

[0170] The wireless image transmission module is used to establish a wireless connection with the fish finder robot APP;

[0171] Control board 58 is electrically connected to the wireless image transmission module;

[0172] The motor 25 drive module is mounted on the control board 58;

[0173] Motor 25 is electrically connected to the motor 25 drive module circuit;

[0174] The reel 29 is connected to the motor 25 for winding and storing the cable 22, and is driven by the motor 25 to take in and release the cable.

[0175] The camera module 10 is mechanically coupled to the reel 29 via cable 22 and electrically connected to the control board 58.

[0176] The fish finder robot APP can be an application deployed on mobile terminals such as smartphones or tablets. As a human-computer interaction interface, it provides users with access to functions such as depth settings, real-time image display, video playback, and battery monitoring.

[0177] The wireless image transmission module can refer to a radio frequency communication unit with image compression encoding and wireless transmission capabilities. It can be a 2.4 GHz single-band module or a 2.4 GHz / 5.8 GHz dual-band module. The module can be configured to operate in AP mode, allowing the fish finder robot APP to actively search for and connect to it, or in STA mode, connecting to a user-preset home or mobile hotspot. It is electrically connected to the control board 58 via UART or SPI bus, receives control commands from the control board 58, and uploads the parsed image data frames to the control board 58.

[0178] The control board 58 can refer to the circuit board 16 that integrates a microcontroller and its peripheral circuits. It is electrically connected to the wireless image transmission module and is used to receive depth setting values, wire take-up and take-down start and stop commands and speed parameters sent by the APP. It also parses the commands into low-level signals such as PWM duty cycle, direction level and pulse count. It is electrically connected to the motor 25 drive module circuit and provides logic level control signals. The control board 58 also integrates an ADC acquisition channel for monitoring the battery 59 voltage and motor 25 current.

[0179] The motor 25 drive module can refer to the power drive circuit set on the control board 58. It can be an H-bridge drive chip or a full-bridge circuit composed of discrete MOSFETs. The module receives the direction control signal and PWM speed regulation signal from the control board 58 and outputs a DC drive voltage that can be reversed to the motor 25.

[0180] Motor 25 can refer to a power execution unit electrically connected to the motor 25 drive module circuit, which can be a brushed DC motor 25 or a brushless DC motor 25.

[0181] The camera module 10 can refer to an underwater imaging unit that is mechanically coupled to the reel 29 via cable 22 and electrically connected to the control board 58. It can be a monocular high-definition module or a binocular panoramic module.

[0182] The core innovation of this invention lies in constructing a wireless image transmission—control board 58—motor 25 drive—reel 29—camera module 10 link: the wireless image transmission module is electrically connected to the control board 58, establishing a remote command input path; the control board 58 and the motor 25 drive module are integrated on the same PCB, reducing signal delay and interference; the motor 25 and the reel 29 are rigidly driven, ensuring zero-loss power transmission; the reel 29 and the camera module 10 are kinematically bound through the cable 22, forming a definite mapping relationship between depth adjustment action and image acquisition angle.

[0183] The working process and principle of this invention are as follows: The user starts the fish finder robot APP on the mobile terminal. The APP scans and connects to the Wi-Fi hotspot broadcast by the wireless image transmission module of the protection tank. After the connection is established, the APP sends the target depth parameters and line winding and unwinding instructions to the control board 58. The control board 58 parses the instructions and outputs the corresponding direction and PWM duty cycle drive signal to the motor 25 drive module. The motor 25 drive module drives the motor 25 to rotate forward or reverse, and drives the winding reel 29 to rotate after gear reduction. The winding reel 29 winds up or unwinds the line, pulling the camera module 10 to rise or descend synchronously. The camera module 10 collects underwater images in real time, transmits them to the control board 58 via cable 22, and then the wireless image transmission module compresses and encodes them before transmitting them back to the APP for display. During this process, the cable 22 is always constrained within the closed path formed by the guide groove of the winding reel 29 and the guide rail of the camera module 10. Its axial extension and circumferential rotation are all uniformly regulated by the winding reel 29 to avoid the free section of the cable 22 from getting tangled.

[0184] As an optional embodiment, the specific implementation of the present invention is as follows: The user throws the protective chamber into the target water area, and it automatically adjusts to a vertical position after entering the water, with the upper sealed chamber floating on the surface; the user opens a mobile APP and connects to a preset Wi-Fi hotspot; the user clicks on the line release button on the APP interface and sets the target depth to 5 meters; the APP sends the instruction to the wireless image transmission module, and the control board 58 analyzes it and outputs a positive PWM signal to the motor 25 drive module; the motor 25 runs, and after deceleration, the reel 29 rotates at a constant speed to release the line; the cable 22 is released orderly from the guide groove of the reel 29; when the length of the released cable 22 reaches 50mm (obtained by the cumulative pulse of the encoder of the reel 29), the APP automatically stops the line release instruction, and the camera module 10 remains stationary at a depth of 50mm underwater; at this time, the binocular lens synchronously collects 360° panoramic images, transmits them back to the control board 58 via the cable 22, and displays them on the mobile phone screen in real time after compression.

[0185] Through the above technical solutions, the present invention achieves the following beneficial effects: Because the wireless image transmission module is electrically connected to the control board 58, stable, low-latency bidirectional communication between the mobile terminal and the protection chamber is realized, overcoming the problems of limited distance in traditional wired control and easy interruption in simple wireless remote control; because the motor 25 is connected to the reel 29 via transmission, orderly and anti-tangling winding of the cable 22 is achieved, solving the technical problems of easy knotting and core wire breakage during manual operation; because the camera module 10 is mechanically coupled to the reel 29 via the cable 22, the attitude stability and image acquisition continuity of the camera module 10 during descent are ensured, avoiding image rotation and signal interruption caused by cable 22 twisting; because the protection chamber adopts a cavity-type sealed structure and cooperates with the counterweight ring 55 and exhaust port 506 to achieve vertical attitude self-stabilization, the wireless image transmission module is always in an unshielded environment above the water surface, significantly improving the reliability of Wi-Fi communication; the above technical features work together to constitute a wireless intelligent control system for a fish-finding protection chamber with remote intelligent control capabilities, suitable for outdoor fishing scenarios.

[0186] In one embodiment, the control board 58 is provided with a microcontroller, a power management unit and a signal processing unit. The microcontroller is electrically connected to the wireless image transmission module, the motor 25 drive module and the camera module 10 respectively.

[0187] The microcontroller can be an embedded processor based on the ARM Cortex-M series, providing real-time control capabilities and multi-task scheduling functions. It communicates with the wireless image transmission module through an SPI or UART interface, receives control commands from the fish finder robot APP, and feeds back system status information to the wireless image transmission module. It is electrically connected to the motor 25 drive module through a PWM interface, outputting a drive signal with an adjustable duty cycle to control the speed and direction of the motor 25. It is electrically connected to the camera module 10 through a MIPI CSI-2 or HDMI parallel interface, receives the raw image data stream, and coordinates the subsequent image processing and transmission process.

[0188] The power management unit includes a wide-input DC-DC converter circuit, a lithium battery 59 charge / discharge management chip, and a multi-channel LDO voltage regulator module. The lithium battery 59 charge / discharge management chip integrates overvoltage / undervoltage / overcurrent / overtemperature protection functions and supports USB-C or dedicated charging interface input. The multi-channel LDO voltage regulator module provides independent, low-noise, and highly stable power to the logic side of the microcontroller, wireless image transmission module, camera module 10, and motor 25 drive module.

[0189] Specifically, after receiving the target depth command from the APP, the microcontroller calculates the number of rotations required for the motor 25 based on the current cable length 22, and precisely controls the output of the motor 25 drive module via PWM signals. Simultaneously, the microcontroller continuously reads the 10-frame synchronization signal from the camera module. Immediately after each frame is acquired, the signal processing unit initiates a preprocessing procedure and caches the processed image data in external SDRAM. Once the cache reaches a set threshold, the microcontroller uses the DMA channel to transfer the image data to the TX FIFO of the wireless image transmission module, which then performs H.264 encoding and Wi-Fi transmission. Throughout this process, the power management unit continuously monitors the power supply status of each module. When the voltage fluctuation of the camera module 10 exceeds ±3%, the microcontroller automatically reduces the image acquisition frame rate to mitigate risk. When the battery 59's charge is below 20%, the microcontroller actively limits the maximum output power of the motor 25 and prompts the user to enter a low-power cable retraction mode.

[0190] Through the above technical solutions, the microcontroller coordinates the runtime sequence and data flow of the wireless image transmission module, the motor 25 drive module, and the camera module 10, thereby improving the system's task scheduling efficiency and real-time response. The power management unit provides isolated, regulated, and monitorable dedicated power supply paths for each module, reducing the risk of image anomalies or communication interruptions caused by voltage fluctuations and extending the single-operation runtime. Furthermore, the signal processing unit completes critical preprocessing before image uploading, reducing the real-time encoding pressure on the wireless image transmission module and improving the subjective image quality and detail reproduction capability under the same bandwidth.

[0191] In one possible implementation, the present invention also provides a wireless intelligent control system for the fish-finding protection tank, wherein the wireless image transmission module is connected via Wi-Fi or Bluetooth.

[0192] The wireless image transmission module is an integrated wireless communication module that supports dual-mode communication. Its hardware circuit includes an RF front-end, a baseband processor, and an antenna interface. After the system is powered on and initialized, the module can adaptively select to enable Wi-Fi mode or Bluetooth mode according to preset priority or ambient signal strength. It can also be forcibly switched by issuing commands from the fish finder robot APP. In Wi-Fi mode, the module operates in the 2.4 GHz and / or 5.8 GHz frequency bands and supports the IEEE 802.11n / ac protocol.

[0193] Wi-Fi connection means that after the protective tank is powered on, the wireless image transmission module automatically starts and establishes a Wi-Fi hotspot. The fish finder robot APP on the mobile terminal scans and connects to the hotspot, forming a point-to-multipoint local area network communication link. This link supports the TCP / IP protocol stack, allowing the APP to send control commands such as depth setting, line reeling / releasing start / stop, and recording trigger to the control board 58, and to receive audio and video streams and sensor feedback data from the camera module 10. The Wi-Fi mode is suitable for fishing scenarios with calm water and minimal electromagnetic interference.

[0194] In one embodiment, the present invention also provides a wireless intelligent control system for a fish-finding protection tank, wherein the wireless image transmission module supports the 2.4GHz and / or 5.8GHz frequency bands and uses H.264 or H.265 video encoding format for image compression and transmission.

[0195] The wireless image transmission module supports 2.4GHz and / or 5.8GHz frequency bands. This can mean that the module has a built-in dual-band radio frequency transceiver unit that can work independently in the 2.4 GHz ISM band and the 5.8 GHz UNII band, or dynamically switch between the two. The 2.4 GHz band has the characteristics of strong diffraction capability and long propagation distance, making it suitable for fishing environments with open water surfaces and many obstacles. The 5.8 GHz band has the advantages of wider bandwidth, more channels, and less co-channel interference, making it suitable for short-distance, high-quality real-time image transmission scenarios.

[0196] During operation, the wireless image transmission module first initializes the radio frequency parameters according to the current communication environment by the microcontroller on the control board 58: if the number of active Wi-Fi networks detected in the 2.4 GHz band is greater than 5 and the average signal-to-noise ratio is less than 15 dB, it automatically switches to the 5.8 GHz band; otherwise, if the signal strength in the 5.8 GHz band is less than -75 dBm, it falls back to the 2.4 GHz band.

[0197] As an optional embodiment, the specific implementation of the present invention is as follows: In a lake fishing scenario, after the user throws the protective chamber into the water and completes the vertical posture adjustment, the fish finder robot APP automatically connects to its Wi-Fi hotspot; initially, the 2.4 GHz frequency band and H.264 encoding are enabled by default to achieve basic image transmission; when the APP detects multiple 2.4 GHz interference sources such as routers, Bluetooth devices, and microwave ovens in the vicinity, and the real-time image quality shows mosaic and stuttering, the APP sends a frequency band switching command to the control board 58; after the control board 58 parses the command, it reconfigures the radio frequency front-end of the wireless image transmission module through the SPI interface and loads the H.265 encoding firmware; the module completes the frequency band and encoding format switching within 100 ms, and the image immediately returns to clear and smooth, while the APP interface displays that it has switched to 5.8 GHz + H.265 mode; at this time, even if a household microwave oven is turned on within 15 meters of the protective chamber, the image remains stable and uninterrupted, verifying the synergistic effect of dual-band anti-interference capability and efficient encoding.

[0198] Through the above technical solutions, since the wireless image transmission module supports the 2.4GHz and / or 5.8GHz frequency bands, it can adaptively select the optimal communication frequency band under different electromagnetic environments, thereby improving the stability of the wireless link. Since the H.264 or H.265 video encoding format is used for image compression transmission, the transmission bit rate is significantly reduced under the same bandwidth conditions, reducing packet loss and latency, and ensuring the real-time performance and clarity of underwater images. Since the frequency band selection and encoding format switching are uniformly scheduled by the control board 58 and no hardware replacement is required, the environmental adaptability and long-term availability of the system are enhanced.

[0199] In one optional embodiment, the present invention also provides a wireless intelligent control system for the fish finder protection chamber, and the fish finder robot APP has functions such as depth setting, automatic line rewinding and unwinding, real-time image display, video playback and power monitoring.

[0200] The depth setting function allows users to input the target diving depth value via the APP interface. This depth value is transmitted to the intelligent control system circuit of the protective chamber via the wireless image transmission module. The system calculates the corresponding line length based on the preset conversion relationship between the number of rotations of the reel 29 and the single-turn winding length of the cable 22, and controls the motor 25 to stop operating when the length is reached. This function works in conjunction with the reel 29, the motor 25 drive module, and the wireless image transmission module to enable users to accurately locate the fish finder to the target water depth without manual measurement or estimation, thus forming a closed-loop depth control path.

[0201] The automatic line release and reel function refers to the APP's built-in control logic module automatically generating and issuing control commands containing direction, speed, and termination conditions after the user clicks the automatic line release or automatic line reel button. The line release and reel speed parameters can be set according to the actual water conditions or derived from the rated speed of motor 25 and gear transmission ratio. This function is executed in conjunction with the motor 25 drive module, waterproof motor 25, and reel 29. The motor 25 drives the reel 29 to rotate by reversing forward and reverse, thereby realizing the automatic extension and retraction of the communication power cable 22, thus replacing the traditional manual crank operation, reducing the operation threshold and improving the consistency of operation.

[0202] The real-time image display function refers to the APP receiving a compressed video stream from the wireless image transmission module and continuously displaying the underwater image in a window on the mobile terminal screen; the video stream uses H.264 or H.265 encoding format, with a frame rate of 15-30 fps and a latency controlled within 200 ms; the display interface can support full-screen / split-screen mode switching and overlay auxiliary information such as current depth, battery level, and signal strength.

[0203] The video playback function refers to the APP storing the received video stream locally in the mobile terminal's internal memory or external SD card during operation, with the encoding method being the same as the transmission stream; users can enter the playback interface after the fish search is completed, and select any time period to play, pause, fast forward or take screenshots.

[0204] The power monitoring function refers to the APP periodically receiving and parsing battery voltage, current and remaining capacity data from the intelligent control system circuit of the protection compartment, converting them into percentage form through the built-in algorithm and refreshing and displaying them in real time in a prominent area of ​​the main interface; this data is transmitted through the wireless image transmission module in a low-bandwidth signaling manner, and the update frequency is once every 2 seconds; when the remaining power is lower than 15%, the APP triggers a pop-up prompt and is accompanied by a vibration reminder.

[0205] As an optional embodiment, the specific implementation of the present invention is as follows: After the user opens the fish finder robot APP, they first enter the connection wizard page and successfully connect to the Wi-Fi hotspot of the protection tank; after entering the main interface, they click the depth setting icon at the bottom, and enter 5.2 on the numeric keypad. After confirmation, the value is sent to the protection tank; then, they click automatic line release, and the APP immediately issues a command, the motor 25 in the protection tank starts, the reel 29 releases the line at a constant speed, the underwater panoramic view is displayed in real time in the middle of the APP main interface, the red REC icon in the upper right corner indicates that recording is in progress, and the depth value and battery level are dynamically refreshed in the top status bar; when the depth value stabilizes, the motor 25 automatically stops, and the APP emits a prompt sound; after the user observes the distribution of fish in the picture, they click automatic line reeling, and the device begins to retrieve the line at a constant speed.

[0206] Through the above technical solutions, since the APP integrates a depth setting function, users can digitize and repeatedly set the diving position of the fish finder without relying on physical scales and experience estimations; since the APP has an automatic line reeling and unloading function, it avoids the uneven force, tangling risk, and operator fatigue caused by manual cranking; since the APP supports real-time image display and video playback, it constructs a complete visual information chain that allows for immediate capture, immediate storage, and traceability.

[0207] like Figure 15 As shown, the technical problem to be solved by the present invention is that the existing fish-finding operation process is complicated, relies on human experience, and lacks closed-loop control and safety protection mechanisms, resulting in low depth control accuracy, easy tangling and breakage of cable 22, poor equipment operation safety, and unstable underwater image transmission.

[0208] This invention provides a control method for a wireless intelligent control system for a fish-finding protection tank, comprising the following steps:

[0209] Step S1, System Initialization: After the protection chamber is powered on, the intelligent control system circuit of the protection chamber performs a self-test, and the wireless image transmission module starts up and establishes a wireless hotspot.

[0210] Step S2, wireless connection establishment: The fish finder robot APP on the mobile terminal searches for and connects to the wireless signal emitted by the wireless image transmission module to establish a two-way communication link;

[0211] In this context, the search for and connection to the wireless signal emitted by the wireless image transmission module on the mobile terminal fish finder robot APP can refer to the APP calling the operating system's network management interface to actively scan the surrounding 2.4 GHz band Wi-Fi signals, identify hotspots whose SSIDs match preset rules, and initiate the association and key negotiation process; establishing a two-way communication link can refer to the successful establishment of at least one stable UDP data channel and one TCP control channel between the APP and the wireless image transmission module on the basis of the TCP / IP protocol stack, which are used for image stream transmission and command interaction, respectively.

[0212] For example, in this invention, when a user opens the Fish Finder Robot APP, a new device notification pops up automatically. After clicking to connect, the APP initiates WPA2 authentication, and the user enters the default password 12345678. After successful authentication, the APP obtains the IP address 192.168.4.2, the wireless image transmission module is assigned the IP address 192.168.4.1, and the TCP control channel and UDP image channel are established synchronously. The APP interface displays that the connection is complete, and the icon in the bottom status bar changes from gray to blue, indicating that the two-way communication link is ready.

[0213] Step S3, parameter setting and command issuance: The user sets the target depth and line release / retrieval speed parameters through the fish finder robot APP. The APP sends the control commands to the intelligent control system circuit of the protective chamber via the wireless image transmission module.

[0214] Among them, the target depth can refer to the value entered or selected by the user on the APP interface, and the take-up and release speed parameter can refer to the duty cycle reference value of the PWM signal output by the motor 25 drive module circuit, corresponding to the take-up and release rate of the cable 22; the APP sends the control command to the intelligent control system circuit of the protection compartment via the wireless image transmission module. This can refer to the APP encapsulating the structured control data into TCP data packets and sending them to the wireless image transmission module through the established control channel. After unpacking, the wireless image transmission module forwards the data to the microcontroller through the UART or SPI interface.

[0215] Step S4, Motor 25 drive control: The intelligent control system circuit of the protection compartment analyzes the control command and sends the corresponding drive signal to the motor 25 drive module circuit;

[0216] Among them, the intelligent control system circuit of the protective chamber can be interpreted as the microcontroller reading control instructions from the serial port buffer and extracting the action type, target depth, speed parameters and direction flags; sending the corresponding drive signal to the motor 25 drive module circuit can be interpreted as the microcontroller configuring the timer to output a PWM waveform based on the interpretation results, with a fixed frequency of 20 kHz, a duty cycle linearly mapped according to the speed parameters, and polarity control of the upper and lower bridge arms of the H-bridge to determine the direction of motor 25.

[0217] Step S5, automatic cable winding and unwinding: The motor 25 drive module circuit drives the waterproof motor 25 to rotate forward or reverse. The waterproof motor 25 drives the winding wheel 29 of the anti-winding waterproof cable reel to rotate through the gear transmission mechanism, thereby realizing the winding or unwinding of the communication power supply cable 22, thereby controlling the diving depth of the camera module 10.

[0218] For example, the present invention can convert the high-speed, low-torque output of the motor 25 into the low-speed, high-torque rotation of the winding wheel 29 according to the gear transmission ratio (e.g., 10:13), to ensure that the winding and unwinding of the cable 22 is smooth and without slippage; the present invention can also convert the number of rotations of the motor 25 into the change in the length of the cable 22 according to the diameter of the winding wheel 29 and the circumference of a single layer of winding.

[0219] Step S6, Image data acquisition and transmission: The camera module 10 acquires underwater image data in real time, transmits it to the intelligent control system circuit of the protective tank via the communication power cable 22, and then transmits it wirelessly to the fish finder robot APP for display after compression and encoding by the wireless image transmission module.

[0220] Among them, the real-time acquisition of underwater image data by the camera module 10 can refer to the simultaneous triggering of exposure by its two wide-angle CMOS image sensors, which capture images from the left and right perspectives respectively. The white balance, noise reduction, and distortion correction are then completed by the ISP module. The transmission of image data to the intelligent control system circuit of the protective tank via the communication power cable 22 can refer to the image data being uploaded via shielded twisted-pair cable using the MIPI CSI-2 protocol, with the cable 22 also carrying DC power. The wireless transmission module then compresses and encodes the image data before wirelessly transmitting it to the fish finder robot APP for display. This can refer to the intelligent control system circuit of the protective tank handing the original image data to the encoder built into the wireless transmission module for real-time compression, encapsulation into an RTP stream, and pushment to the designated port of the APP via the UDP protocol.

[0221] For example, the present invention may involve a camera module 10 acquiring 1920×1080 resolution images at 30 fps and uploading them to the protection chamber via a communication power cable 22; a wireless image transmission module performing H.264 encoding at a bit rate of 4 Mbps, and pushing RTP packets via a UDP port; the APP receiving the data, decoding and rendering it, and displaying the underwater panoramic image at 30 fps.

[0222] Step S7, Depth Feedback and Closed-Loop Control: The intelligent control system circuit of the protective chamber calculates the current depth of the fish finder based on the length of the cable 22, and feeds the depth information back to the fish finder robot APP in real time. When the target depth is reached, the cable release is automatically stopped.

[0223] Specifically, calculating the current depth of the fish finder based on the length of cable 22 can refer to multiplying the cumulative number of rotation pulses of the reel 29 by the length of a single turn of line, and compensating for radius changes by combining the current number of winding layers; feeding the depth information back to the fish finder robot APP in real time can refer to the microcontroller encapsulating the calculated depth value into a lightweight binary structure and periodically reporting it through the TCP control channel of the wireless image transmission module; automatically stopping line release when the target depth is reached can refer to the microcontroller comparing the real-time depth with the target depth, and when the absolute value of the difference is less than the preset tolerance and lasts for more than 200 ms, sending a zero duty cycle PWM signal to the motor 25 drive module circuit and locking the direction output.

[0224] In an optional embodiment, an abnormality protection strategy is also provided: when abnormal tension of cable 22, overload of motor 25 or communication interruption is detected, the intelligent control system circuit of the protection chamber automatically stops the operation of motor 25 and issues an alarm.

[0225] Among these, detecting abnormal cable tension 22 can refer to the integration of a micro strain gauge in the bearing housing of the reel 29 to monitor the axial load in real time. When the tension exceeds the threshold and lasts for 500 ms, it is determined to be a stuck cable. Overload of motor 25 can refer to the motor 25 drive module circuit detecting the output current of the H-bridge through a sampling resistor. When the peak current is a predetermined ampere and maintained for 200 ms, overcurrent protection is triggered. Communication interruption can refer to the microcontroller failing to receive the APP heartbeat packet three times consecutively, or the wireless image transmission module reporting a link quality RSSI < −80 dBm for 1 s. Automatically stopping motor 25 and issuing an alarm can refer to the microcontroller immediately pulling down the level of all PWM output pins, cutting off the motor 25 drive signal, and issuing a three short and one long alarm sound through the buzzer, while simultaneously pushing an alarm event code to the APP through the wireless image transmission module.

[0226] For example, during the cable laying process, if the cable 22 gets caught on an underwater rock, the tension sensor output voltage will surge, the microcontroller will detect five consecutive times that the voltage exceeds the threshold, and the motor 25 current will increase; the system will immediately stop and alarm, and a red alarm box will pop up in the APP.

[0227] This invention utilizes the intelligent control system circuit of the protective chamber to coordinate the wireless image transmission module, the motor 25 drive module circuit, and the camera module 10. It achieves depth perception by leveraging the mapping relationship between the cable 22's length and the fish finder's depth, and dynamically adjusts the motor 25 drive signal based on the deviation between the target depth and the real-time depth. Furthermore, it introduces multi-dimensional status monitoring, including tension, current, and communication quality, to construct a graded response anomaly protection mechanism. This allows for precise control of the fish finder's diving depth and ensures operational safety in a low-cost and robust manner without relying on additional depth sensors, effectively solving the problems of crude depth control, cumbersome operation, and equipment damage in existing technologies.

[0228] In another optional embodiment, the present invention also provides that in step S7, the depth calculation uses a conversion model between the cable 22's extended length and the vertical depth, combined with the attitude data from the gyroscope 18 for compensation and correction, including:

[0229] Step S71: Depth calculation uses the conversion model of cable 22 length and vertical depth, combined with gyroscope 18 attitude data for compensation and correction.

[0230] Among them, the conversion model between the cable 22 release length and vertical depth can refer to a mathematical modeling method based on geometric relationships, which maps the physical release length of the cable 22 corresponding to the rotation of the reel 29 to the actual vertical position of the fish finder in the water.

[0231] This model has the ability to convert a one-dimensional linear displacement into a vertical component in three-dimensional space within its technical field. Its input is the length of cable 22 and its output is the theoretical vertical depth.

[0232] The attitude data of gyroscope 18 can refer to the pitch and roll angle information obtained by integrating the angular velocity signal collected in real time by the three-axis gyroscope 18 integrated into the intelligent control system circuit of the protective compartment.

[0233] For example, this invention determines the theoretical vertical depth of the fish finder by means of a conversion model between the length of cable 22 and vertical depth; for example, this invention determines the current spatial tilt state of the protective chamber by means of attitude angle data output in real time by gyroscope 18.

[0234] Step S72: Depth calculation is used to support the closed-loop control logic in step S7 that automatically stops laying the wire when the target depth is reached.

[0235] Among them, closed-loop control logic can refer to the feedback adjustment mechanism in which the system compares the depth information fed back in real time with the target depth set by the user, and dynamically adjusts the operating state of motor 25 accordingly.

[0236] This invention establishes a preliminary foundation for depth perception by using a conversion model between the length of cable 22 and vertical depth. It uses the attitude data of gyroscope 18 to identify the tilt state of the protective chamber in real time, and then performs vector projection correction on the length of cable 22 based on this data to obtain a high-confidence vertical depth feedback.

[0237] In yet another optional embodiment, the invention also provides an automatic recycling mode, such as... Figure 3 As shown, the control method also includes an automatic recycling mode: when the fish finder robot APP issues a recycling command or the battery 59 power is lower than the threshold, the intelligent control system circuit of the protective chamber controls the waterproof motor 25 to reverse and automatically retract the camera module 10 into the protective chamber.

[0238] Among them, the automatic recycling mode is a cable 22 recycling operation state that is autonomously started by the intelligent control system circuit of the protection chamber under specific triggering conditions and does not require continuous manual intervention;

[0239] This mode remains in standby mode during system operation. Its triggering conditions include two independent and equivalent events: one is the active retrieval command from the fish finder robot APP, and the other is the intelligent control system circuit of the protective compartment detecting that the battery power is lower than the preset threshold.

[0240] The fish finder robot APP issues a retrieval command after the user clicks the one-click retrieval button on the APP interface. The APP sends a structured control message to the intelligent control system circuit of the protection compartment through the wireless image transmission module. This message contains a command type identifier and a verification field.

[0241] When the battery level of battery 59 is lower than a threshold, the intelligent control system circuit of the protection compartment samples the voltage and discharge current of battery 59 in real time through the power management unit. When the battery level is lower than the preset recycling trigger threshold (e.g., 15%), it is determined that the automatic recycling conditions are met.

[0242] The intelligent control system circuit of the protective chamber controls the waterproof motor 25 to reverse so that the microcontroller generates a control signal for the motor 25 according to the trigger event, which is converted into a reverse PWM drive waveform by the motor 25 drive module circuit, so that the waterproof motor 25 outputs a rotational torque opposite to the wire feeding direction;

[0243] The waterproof motor 25 automatically retracts the camera module 10 into the protective chamber. Through a gear transmission mechanism, the winding wheel 29 performs a uniform winding action, so that the communication power supply cable 22 is orderly wound on the winding wheel 29 until the camera module 10 is completely in the lower chamber of the protective chamber and reaches the preset mechanical limit position. At this time, the intelligent control system circuit of the protective chamber receives the return signal from the limit switch or encoder and terminates the operation of the motor 25.

[0244] For example, before the fish-finding operation ends, the user clicks the one-click retrieval button through the fish-finding robot APP. The APP immediately sends the retrieval command to the intelligent control system circuit of the protective compartment via the Wi-Fi image transmission module. After the microcontroller parses the command, it immediately outputs a reverse PWM signal to the motor 25 drive module circuit, driving the waterproof motor 25 to reverse at 70% of its rated speed. The motor 25 drives the reel 29 to smoothly reel in the line through the reduction and torque amplification mechanism composed of the drive gear 26, the transition gear 27, and the driven gear 28. The slip ring assembly ensures that there is no torsional stress accumulation in the communication power cable 22 during the reeling process. The camera module 10 rises at a constant speed with the cable 22, and the image data is continuously transmitted back to the APP for display.

[0245] For example, during the fish-finding process, the intelligent control system circuit of the protective tank continuously monitors the status of battery 59. When the power management unit detects that the current power level has dropped to 15%, the microcontroller determines that it has entered a low power risk state and automatically triggers the recovery process. The system pauses the current line-laying or hovering action and immediately sends a reverse drive signal to the motor 25 drive module circuit. After the waterproof motor 25 starts, it drives the anti-winding waterproof reel to perform line reeling. At the same time, the image transmission module maintains the lowest power communication link and continuously pushes power level alarms and recovery progress to the APP. The camera module 10 continues to acquire and transmit images during the line reeling process until it is fully returned to its position. After the position is fully returned, the system enters the standby state, only maintaining the RTC real-time clock and low-power wake-up circuit to work, waiting for the user to manually shut down or for automatic power-off after a timeout.

[0246] This invention, through the synergy of an automatic recovery mode and a battery power threshold monitoring mechanism, enables the system to make safety decisions based on the device's own energy status even without user intervention. Utilizing both remote command channels via the APP and local power threshold triggering, it ensures user control over the device. Furthermore, by leveraging the existing execution link comprised of the waterproof motor 25, gear transmission mechanism, reel 29, and slip ring assembly, it reuses existing hardware resources to achieve automatic repositioning without requiring additional structural components. Ultimately, without increasing system complexity, it significantly improves the safety redundancy and reliability of the device during underwater operations.

[0247] The wireless intelligent control system and control method for fish-finding protection tank provided by this invention have the following advantages:

[0248] This invention provides a wireless intelligent control system and method for a fish-finding protection tank. This solution achieves wireless intelligent control of the fish-finding equipment through the collaborative work of a fish-finding robot APP and various functional modules within the protection tank. A wireless connection is established between the wireless image transmission module and the fish-finding robot APP, enabling stable communication between the mobile terminal and the equipment. This eliminates the distance limitations of traditional wired connections, allowing users to remotely operate the fish-finding equipment from a safe location.

[0249] Based on the control board as the core control unit, it receives and parses control commands from the APP, and then controls the motor drive module to drive the motor, enabling precise control of the fish finder's depth. Users can achieve the diving and retrieval of the fish finder without manually operating the cable. The automatic cable winding and unwinding function is achieved through the transmission connection between the reel and the motor, which not only improves operational convenience but also ensures that the fish finder can stably reach the target depth. The camera module is mechanically coupled to the reel via cable and electrically connected to the control board, allowing underwater images to be transmitted to the mobile terminal in real time, enabling users to directly observe the underwater environment.

[0250] The wireless image transmission module supports 2.4GHz and / or 5.8GHz frequency bands and uses H.264 or H.265 video encoding formats for image compression and transmission. By dynamically switching frequency bands to avoid interference sources, it achieves high-quality image compression and fast transmission under limited bandwidth, significantly improving the stability and clarity of image transmission.

[0251] The fish finder robot's app integrates depth setting, automatic line reeling and deployment, real-time image display, video playback, and battery monitoring functions, greatly simplifying the user's operation. System initialization and self-testing in the control method ensure all modules are in normal working order, a two-way communication link ensures reliable command and data interaction, depth feedback and automatic stop mechanisms achieve precise depth control, and anomaly detection and alarm mechanisms effectively prevent equipment damage. Depth calculation uses a cable length to vertical depth conversion model, combined with gyroscope attitude data for compensation and correction. The initial diving depth is estimated using the cable length to depth conversion model, and then compensation is applied using gyroscope attitude data to correct measurement errors caused by tilt, achieving high-precision closed-loop control. The automatic retrieval mode is automatically triggered when the battery level is below a threshold or when a retrieval command is received, controlling the waterproof motor to reverse and retract the fish finder into the protective compartment. Overall, the fish finder achieves wireless remote intelligent control, automatic line reeling and deployment, and precise depth control, solving the problems of limited control methods and difficult cable management in traditional fish finders, significantly improving the fishing experience.

[0252] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wireless intelligent control system for a fish-finding protection chamber, characterized in that, include: The fish finder robot app is available on mobile devices. The protective compartment contains: The wireless image transmission module is used to establish a wireless connection with the fish finder robot APP; The control board (58) is electrically connected to the wireless image transmission module; The motor drive module is mounted on the control board (58); The motor (25) is electrically connected to the motor drive module circuit; The reel (29) is connected to the motor (25) for winding and storing the cable (22), and is driven by the motor (25) to take in and release the cable. The camera module (10) is mechanically coupled to the reel (29) via the cable (22) and electrically connected to the control board (58).

2. The wireless intelligent control system for the fish-finding protection chamber according to claim 1, characterized in that, The control board (58) is equipped with a microcontroller, a power management unit and a signal processing unit. The microcontroller is electrically connected to the wireless image transmission module, the motor drive module and the camera module (10) respectively.

3. The wireless intelligent control system for the fish-finding protection chamber according to claim 1, characterized in that, The wireless image transmission module is connected via Wi-Fi, 4G, 5G, or StarFlash.

4. The wireless intelligent control system for the fish-finding protection chamber according to claim 1, characterized in that, The wireless image transmission module supports 2.4GHz and / or 5.8GHz frequency bands and uses H.264 or H.265 video encoding formats for image compression and transmission.

5. A control method for a wireless intelligent control system for a fish-finding protection tank, characterized in that, Includes the following steps: Step S1, System Initialization: After the protection chamber is powered on, the intelligent control system circuit of the protection chamber performs a self-test, and the wireless image transmission module starts up and establishes a wireless hotspot. Step S2, wireless connection establishment: The fish finder robot APP on the mobile terminal searches for and connects to the wireless signal emitted by the wireless image transmission module to establish a two-way communication link; Step S3, parameter setting and command issuance: The user sets the target depth and line release / retrieval speed parameters through the fish finder robot APP. The APP sends the control commands to the intelligent control system circuit of the protective chamber via the wireless image transmission module. Step S4, Motor drive control: The intelligent control system circuit of the protection compartment analyzes the control command and sends the corresponding drive signal to the motor drive module circuit; Step S5, Automatic winding and unwinding: The motor drive module circuit drives the waterproof motor (25) to rotate forward or reverse. The waterproof motor (25) drives the winding wheel (29) of the anti-winding waterproof winding reel to rotate through the gear transmission mechanism, thereby realizing the winding or unwinding of the communication power supply cable (22), thereby controlling the diving depth of the camera module (10). Step S6, Image data acquisition and transmission: The camera module (10) acquires underwater image data in real time, transmits it to the intelligent control system circuit of the protective tank via the communication power cable (22), and then transmits it wirelessly to the fish finder robot APP for display after compression and encoding by the wireless image transmission module; Step S7, Depth Feedback and Closed-Loop Control: The diving depth is determined based on the number of rotations and direction of the waterproof motor (25), and the depth information is fed back to the fish finder robot APP in real time. When the target depth is reached, the line release is automatically stopped.

6. The control method according to claim 5, characterized in that, In step S5, the slip ring assembly of the anti-tangle and waterproof reel ensures that during the winding and unwinding process of the communication power supply cable (22), the cable (22) on the side of the reel (29) rotates with the reel (29) while the conductor on the protective side remains stationary, thus eliminating the torsional stress of the cable (22).

7. The control method according to claim 5, characterized in that, In step S7, the depth calculation adopts the conversion model of cable (22) length and vertical depth, and is compensated and corrected by combining the attitude data of gyroscope (18).

8. The control method according to claim 5, characterized in that, The control method also includes an automatic recovery mode: when the fish finder robot APP issues a recovery command or the battery (59) power is lower than the threshold, the intelligent control system circuit of the protective chamber controls the waterproof motor (25) to reverse and automatically retract the camera module (10) into the protective chamber.

9. The control method according to claim 5, characterized in that, It also has an abnormal protection strategy: when abnormal cable (22) tension, motor (25) overload or communication interruption is detected, the intelligent control system circuit of the protection chamber will automatically stop the motor (25) and issue an alarm.

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