A fish fixed-point releasing device based on unmanned ship carrying

Abstract

This invention discloses a fish release device based on an unmanned surface vessel (USV), relating to the field of ecological release technology. It includes a release cage for accommodating fish to be released, comprising a load-bearing main frame and a net covering, the net covering being laid on the main frame to form a space for accommodating the fish; a multi-directional traction structure connecting the USV and the release cage for transmitting drag force and releasing deflection degrees of freedom; a buoyancy component located at the top of the release cage for providing buoyancy in the water; a bottom-opening release port structure at the bottom of the release cage for releasing fish from the bottom of the release cage when opened; and a remote control component located on the side of the release cage and connected to the bottom-opening release port structure for receiving remote control commands and driving the bottom-opening release port structure to open.

Description

Technical Field

[0001] This invention relates to the field of fish ecological release technology, and more specifically to a fish fixed-point release device based on an unmanned vessel. Background Technology

[0002] Current fish stock enhancement and release operations mostly employ artificial methods, transporting fish to easily accessible riverbank locations for dumping and release. The impact of river damming on fish resources has become a key bottleneck restricting the sustainable development of hydropower projects, making fish stock enhancement and release an important measure to restore fish populations. Furthermore, in the process of studying fish behavior in the wild, it is often necessary to transport target fish to designated waters for release. For fish that prefer fast-flowing conditions, appropriate swimming acclimatization training before release can help improve their adaptability to the natural river environment, thereby increasing their survival rate after release.

[0003] The existing technology has the following main shortcomings: First, the release location is limited by geographical conditions and can only be carried out in near-shore waters, so the fish cannot get sufficient swimming adaptation training under natural current speed; Second, for tagged fish, precise release is required at specific locations or distances, but due to inconvenient transportation, the release location deviation is large, affecting the ecological monitoring and tracking effect; Third, manual release is inefficient and can easily have adverse effects on the health of fish.

[0004] In view of the above, the present invention designs a fish release device based on an unmanned vessel, which solves the above-mentioned technical problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a fish release device based on an unmanned vessel, which solves the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a fish release device based on an unmanned surface vessel (USV), comprising: an USV for navigating to a target release area; a release cage for accommodating fish to be released, the release cage comprising a load-bearing main frame and a net, the net being laid on the load-bearing main frame to form a space for accommodating the fish; a multi-directional traction structure connecting the USV and the release cage for transmitting towing force and releasing deflection degrees of freedom; and a buoyancy component disposed on the top of the release cage for providing buoyancy to the release cage. The system incorporates buoyancy in water; a bottom-opening release port structure is provided at the bottom of the release box, which allows fish to be released from the bottom of the release box when opened; a remote control component is located on the side of the release box and connected to the bottom-opening release port structure, used to receive remote control commands and drive the bottom-opening release port structure to open; wherein, the parameters of the unmanned vessel, the multi-directional traction structure, and the buoyancy component are matched to ensure that the longitudinal tilt angle of the release box is less than 10° when releasing 20kg of fish in a current velocity environment of 0-0.2m / s.

[0007] Preferably, the multi-directional traction structure includes a U-shaped buckle, a stainless steel solid ring, and multiple polyethylene traction cables. The U-shaped buckle is located at the stern of the unmanned vessel, the stainless steel solid ring is located on one side of the release net cage, and the polyethylene traction cables are connected between the U-shaped buckle and the stainless steel solid ring and arranged symmetrically on the left and right.

[0008] Preferably, the U-shaped buckle is located at the middle of the stern of the unmanned vessel, and the U-shaped buckle is 50mm long, 25mm wide, and 4mm thick; there are a total of 6 polyethylene towing cables, each with a length of 0.23-0.25m and a diameter of 2mm, which are symmetrically arranged between the unmanned vessel and the release net cage, with 3 cables on each side; the outer diameter of the stainless steel solid ring is 22mm and the wall thickness is 2mm.

[0009] Preferably, the bottom-opening discharge port structure includes a winding spool, a connecting rod, a movable bottom net, a DC motor, a rotating gear, and a slide rail. The winding spool has a diameter of 15mm and is connected to the movable bottom net via the connecting rod. The DC motor is connected to the winding spool via the rotating gear. The connecting rod is slidably mounted on the slide rail. When the winding spool rotates, it drives the movable bottom net to wind up and open along the slide rail via the connecting rod.

[0010] Preferably, the remote control component includes a lithium battery, a self-locking circular switch, a status indicator light, a main control board, a wireless communication module, and a motor drive module. The lithium battery is electrically connected to the self-locking circular switch, the main control board, and the motor drive module. The main control board is signal connected to the wireless communication module, the status indicator light, and the motor drive module. The motor drive module is electrically connected to the DC motor.

[0011] Preferably, a transparent protective cover is provided on the outside of the winding spool and the DC motor. The transparent protective cover is used to prevent fish or debris from interfering with the operation of the winding spool and the DC motor.

[0012] Preferably, the top of the release cage is provided with a spring hinge door cover, which is used to open when loading fish and close after loading fish; the bottom of the release cage is provided with a magnet, and one end of the connecting rod can slide to the side of the magnet and be attracted to lock the movable bottom net in the closed state.

[0013] A preferred method for targeted fish release based on unmanned surface vessels includes the following steps:

[0014] S1: During the fish loading stage, ensure that the bottom opening release port structure is closed, put the fish to be released into the release net cage, and close the release net cage.

[0015] S2: During the transportation phase, the release cage is towed and transported to the target release point by the unmanned vessel;

[0016] S3: During the remote release stage, the remote control component receives a remote opening command and drives the bottom opening release port structure to open, allowing the fish to swim naturally out from the bottom of the release net cage, thus completing the fixed-point release.

[0017] Preferably, in the S1 fish loading stage, the self-locking circular switch of the remote control component is first turned off to de-energize the DC motor, then the spring hinge door is opened, the connecting rod is slid to the side of the magnet and attracted, the fish to be released are placed into the release net cage, the spring hinge door is closed, and then the self-locking circular switch is opened to wait for the remote control command.

[0018] Preferably, in the S3 remote release stage, the DC motor drives the winding shaft to rotate, which in turn drives the rotating gear to rotate, causing the connecting rod to disengage from the magnet's attraction position. The movable bottom net is then retracted along the slide rail, and the release port gradually opens. Under the influence of gravity or the movement of fish, the movable bottom net unfolds downwards, achieving full opening of the release port.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. The present invention provides a fish release device based on an unmanned vessel. The present invention forms a stable towing platform by matching the parameters of the unmanned vessel, the multi-directional traction structure and the buoyancy component. Under the conditions of a current speed of 0 to 0.2 m / s and a fish load of 20 kg, the longitudinal tilt angle of the released net cage is less than 10°, which can achieve low sway and low stress transportation. The multi-directional traction structure transmits the towing force and releases the deflection degree of freedom through U-shaped buckles, stainless steel solid rings and symmetrically arranged polyethylene traction cables, which helps to reduce the sway of the net cage during navigation.

[0021] 2. The present invention provides a fish release device based on an unmanned vessel. The present invention relies on the long-range navigation capability of the unmanned vessel to accurately transport the release cage to the target water area coordinates. Combined with the bottom opening release port driven by remote control, it can achieve precise release, which is conducive to breaking through the limitations of traditional near-shore release and improving the accuracy of release location and ecological monitoring effect.

[0022] 3. The present invention provides a fish release device based on an unmanned vessel. The present invention releases fish automatically through remote control, without the need for direct human contact with the fish, which can reduce mechanical damage and stress, improve release efficiency and reduce labor costs. During transportation and release preparation, the fish can be stimulated by natural current speed, which can enhance their swimming ability and river adaptability, shorten the adaptation period after release and improve the survival rate after release. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This invention relates to a method for connecting an unmanned vessel with fish release.

[0025] Figure 3 This is a structural diagram of the wire mesh cage of the present invention;

[0026] Figure 4 This is a detailed structural diagram of the discharge port motor of the present invention;

[0027] Figure 5 This is a detailed structural diagram of the discharge port winding spool of the present invention;

[0028] Figure 6 This is a wiring diagram of the internal circuit of the remote control component of the present invention;

[0029] Figure label:

[0030] 1. Unmanned surface vessel; 2. U-shaped buckle; 3. Stainless steel solid ring; 4. Polyethylene traction cable; 5. Buoyancy component; 6. Netting; 7. Main load-bearing frame; 8. Spring hinge door cover; 9. Remote control component; 10. DC motor; 11. Rotary gear; 12. Cable reel; 13. Transparent protective cover; 14. Slide rail; 15. Magnet; 16. Connecting rod. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] like Figure 1 As shown, this embodiment provides a fish release device based on an unmanned vessel, including an unmanned vessel, a multi-directional traction structure, a release cage, a buoyancy component, a bottom-opening release port structure, and a remote control component.

[0033] The unmanned vessel is used to navigate to the target release area. In this embodiment, the unmanned vessel is a commercially available finished unmanned vessel. The navigation route is planned through remote control operation. Its length × width × height is 0.9m × 0.5m × 0.3m, the buoyancy is 25kg, the corresponding fish load is 20kg, and the maximum unloaded speed in still water is 2.0m / s. The unmanned vessel is equipped with a multi-directional towing connection point at the stern for reliable connection with the release cage.

[0034] like Figure 2 As shown, a multi-directional traction structure connects the unmanned surface vessel (USV) and the release net cage to transmit towing force and release deflection freedom. The multi-directional traction structure includes a U-shaped buckle, a stainless steel solid ring, and polyethylene traction cables. The U-shaped buckle is located in the middle of the stern of the USV, with a length of 50mm, a width of 25mm, and a thickness of 4mm. The stainless steel solid ring has an outer diameter of 22mm and a wall thickness of 2mm and is installed on the connection structure of the release net cage. There are six polyethylene traction cables, each 0.23-0.25m long and 2mm in diameter, symmetrically arranged between the USV and the release net cage, with three cables on each side, connecting the U-shaped buckle and the stainless steel solid ring respectively. This connection method allows the release net cage to deflect to a certain extent relative to the USV during navigation, thereby releasing the deflection freedom during towing and helping to maintain the overall stability of the device.

[0035] like Figure 3As shown, the release cage is used to accommodate fish to be released, including a main structural frame and a net. The main structural frame is a stainless steel metal frame made of 20×20×4mm square stainless steel tubing, with a length of 600mm, a width of 500mm, and a height of 400mm, and can hold approximately 20kg of fish at a time. The net is laid on the main structural frame to form a closed space for accommodating the fish. In this embodiment, the net is made of polyethylene (PE) mesh with a diameter of 0.8mm and an aperture of 10mm, which can meet the interception requirement of a minimum released fish fry length of 5cm.

[0036] The buoyancy assembly is installed around the top of the release cage to provide buoyancy in the water, ensuring the stable floating of the release cage and ensuring that the fish are always at a suitable depth. In this embodiment, the buoyancy assembly is made of high-strength polyethylene material, with a length of 600mm, a width of 500mm, a cross-sectional diameter of 150mm, and a total buoyancy value of approximately 42kg, which can meet the buoyancy requirements of the release cage, auxiliary equipment, and fish.

[0037] like Figure 4 and Figure 5 As shown, a bottom-opening release port is located at the bottom of the release net cage, used to release fish from the bottom of the cage when it is opened. The bottom-opening release port includes a spool, a connecting rod, a movable bottom net, a DC motor, a rotating gear, and a slide rail. The spool has a diameter of 15mm and is connected to the movable bottom net via the connecting rod. The DC motor is connected to the spool via the rotating gear. The connecting rod is slidably mounted on the slide rail. When the DC motor drives the spool to rotate, the spool rotates and retracts, causing the connecting rod to slide along the slide rail, gradually winding up the movable bottom net, forming an opening at the bottom of the release net cage, from which the fish can swim out naturally. The spool and DC motor are equipped with transparent protective covers to prevent fish or debris from interfering with their operation. A magnet is also installed at the bottom of the release net cage, and one end of the connecting rod can slide to the magnet and engage, locking the movable bottom net in the closed state.

[0038] like Figure 6 As shown, the remote control component is fixedly installed on the side of the release cage and connected to the bottom opening release port structure. It is used to receive remote control commands and drive the reel to rotate, so as to realize the automatic release of fish. The remote control component includes a lithium battery, a self-locking circular switch, a status indicator light, a main control board, a wireless communication module and a motor drive module.

[0039] In this embodiment, the lithium battery is a 12V lithium battery, the status indicator light is a 5V indicator light, the operating voltage of the wireless communication module is 1.9~3.6V, and the remote control range is 3km. The lithium battery is electrically connected to the self-locking circular switch, the main control board, and the motor drive module, respectively. The main control board is connected to the wireless communication module, the status indicator light, and the motor drive module, respectively. The motor drive module is electrically connected to the DC motor, and the negative terminals of all modules are connected to a common ground. Figure 6 In the diagram, ① is a 12V lithium battery, ② is a self-locking circular switch, ③ is a status indicator light, ④ is the main control board, ⑤ is the wireless communication module, and ⑥ is the motor drive module. After the wireless communication module receives the start command from the remote control, the main control board controls the motor drive module to start the DC motor.

[0040] The top of the release cage is also equipped with a spring-loaded hinged door cover, which is used to open when loading fish and to manually close after loading is completed, thus isolating the inside of the release cage from the outside world.

[0041] The parameters of the aforementioned unmanned vessel, multi-directional traction structure, and buoyancy components are systematically matched to form a compatible relationship. Verified by on-site towing experiments, this compatible relationship enables the release cage to have a longitudinal tilt angle of less than 10° when releasing 20kg of fish in a current velocity environment of 0-0.2m / s, achieving low-sway and low-stress transportation. During the transportation and release preparation process, the fish can be stimulated by the natural current velocity and complete the adaptive training of swimming ability.

[0042] This embodiment also provides a method for releasing fish using the above-described device, including the following steps:

[0043] S1 Fish Loading Stage: Turn off the self-locking circular switch to ensure the DC motor is powered off; open the spring hinge door cover, slide the connecting rod of the bottom movable bottom net to the magnet side and engage it; place the fish to be released into the release net cage, and close the spring hinge door cover; then turn on the self-locking circular switch and wait for the remote control command.

[0044] S2 Transportation Phase: The release cages are towed and transported to the target release point by unmanned vessels.

[0045] S3 Adaptation Phase: Using unmanned vessels, the release cages are transported to the target aquatic environment area to conduct fish flow velocity adaptation training; for common river flow velocities, a stable towing platform is used to implement constant speed cruising so that the fish receive appropriate flow velocity stimulation before release.

[0046] S4 Remote Release Stage: The wireless communication module receives the opening command from the remote control, and the main control board controls the motor drive module to start the DC motor; the DC motor drives the rotating gear to rotate the reel, the connecting rod disengages from the magnetic attraction position, and the reel is retracted through the slide rail, causing the movable bottom net to gradually rewind and open; an opening is formed at the bottom of the release net box, and the movable bottom net unfolds downward under the action of gravity or the swimming action of the fish, realizing the full opening of the release port, and the fish swim out naturally from the bottom, completing the fixed-point release.

[0047] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within the scope of its essence and protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A fish release device based on an unmanned vessel, comprising: Unmanned vessel (1) is used to navigate to the target release area; A release cage for accommodating fish to be released is characterized in that the release cage includes a load-bearing main frame (7) and a net (6), the net (6) being laid on the load-bearing main frame (7) to form a space for accommodating fish; a multi-directional traction structure connecting the unmanned vessel (1) and the release cage for transmitting drag force and releasing deflection degrees of freedom; a buoyancy component (5) disposed at the top of the release cage for providing buoyancy in the water; and a bottom-opening release port provided at the bottom of the release cage. The structure includes a bottom-opening release port structure for releasing fish from the bottom of the release cage when it is opened; a remote control component (9) is located on the side of the release cage and connected to the bottom-opening release port structure for receiving remote control commands and driving the bottom-opening release port structure to open; wherein the parameters of the unmanned vessel (1), the multi-directional traction structure and the buoyancy component (5) are matched to each other so that the longitudinal tilt angle of the release cage when releasing 20kg of fish in a current velocity environment of 0 to 0.2m / s is less than 10°.

2. The fish release device based on an unmanned vessel as described in claim 1, characterized in that: The multi-directional traction structure includes a U-shaped buckle (2), a stainless steel solid ring (3), and multiple polyethylene traction cables (4). The U-shaped buckle (2) is located at the stern of the unmanned vessel (1), the stainless steel solid ring (3) is located on one side of the release net box, and the polyethylene traction cables (4) are connected between the U-shaped buckle (2) and the stainless steel solid ring (3) and arranged symmetrically on the left and right.

3. The fish release device based on an unmanned vessel as described in claim 2, characterized in that: The U-shaped buckle (2) is located at the middle of the stern of the unmanned vessel (1). The U-shaped buckle (2) is 50mm long, 25mm wide, and 4mm thick. There are 6 polyethylene traction cables (4) with a length of 0.23-0.25m and a diameter of 2mm. They are symmetrically arranged between the unmanned vessel (1) and the release net cage, with 3 cables on each side. The stainless steel solid ring (3) has an outer diameter of 22mm and a wall thickness of 2mm.

4. A fish release device based on an unmanned vessel as described in claim 1, characterized in that: The bottom opening discharge port structure includes a winding spool (12), a connecting rod (16), a movable bottom net, a DC motor (10), a rotating gear (11), and a slide rail (14). The winding spool (12) has a diameter of 15mm. The winding spool (12) is connected to the movable bottom net through the connecting rod (16). The DC motor (10) is connected to the winding spool (12) through the rotating gear (11). The connecting rod (16) is slidably mounted on the slide rail (14). When the winding spool (12) rotates, it drives the movable bottom net to wind up and open along the slide rail (14) through the connecting rod (16).

5. A fish release device based on an unmanned vessel as described in claim 4, characterized in that: The remote control component (9) includes a lithium battery, a self-locking circular switch, a status indicator light, a main control board, a wireless communication module, and a motor drive module. The lithium battery is electrically connected to the self-locking circular switch, the main control board, and the motor drive module. The main control board is signal connected to the wireless communication module, the status indicator light, and the motor drive module. The motor drive module is electrically connected to the DC motor (10).

6. A fish release device based on an unmanned vessel as described in claim 5, characterized in that: The spool (12) and the DC motor (10) are provided with a transparent protective cover (13), which is used to prevent fish or debris from interfering with the operation of the spool (12) and the DC motor (10).

7. A fish release device based on an unmanned vessel as described in claim 1, characterized in that: The top of the release net cage is provided with a spring hinge door cover (8), which is used to open when loading fish and close after loading fish; the bottom of the release net cage is provided with a magnet (15), and one end of the connecting rod (16) can slide to the side of the magnet (15) and be attracted to lock the movable bottom net in the closed state.

8. A method for targeted fish release based on an unmanned vessel, applied to a targeted fish release device based on an unmanned vessel as described in any one of claims 1-7, characterized in that, The specific steps are as follows: S1: During the fish loading stage, ensure that the bottom opening release port structure is closed, put the fish to be released into the release net cage, and close the release net cage. S2: During the transportation phase, the release cage is towed and transported to the target release point by the unmanned vessel (1); S3: During the remote release stage, the remote control component (9) receives a remote opening command and drives the bottom opening release port structure to open, so that the fish swim out naturally from the bottom of the release net cage, thus completing the fixed-point release.

9. A method for releasing fish at a fixed point based on an unmanned vessel, as described in claim 8, characterized in that: During the S1 fish loading stage, first turn off the self-locking circular switch of the remote control component (9) to de-energize the DC motor (10), then open the spring hinge door cover (8), slide the connecting rod (16) to the side of the magnet (15) and attract it, put the fish to be released into the release net box and then close the spring hinge door cover (8), then open the self-locking circular switch and wait for the remote control command.

10. A method for releasing fish at a fixed point based on an unmanned vessel, as described in claim 8, characterized in that: During the S3 remote release stage, the DC motor (10) drives the winding shaft (12) to rotate, which in turn drives the rotating gear (11) to rotate, causing the connecting rod (16) to disengage from the magnet (15). The movable bottom net is retracted along the slide rail (14), and the release port gradually opens. The movable bottom net unfolds downward under the action of gravity or fish swimming, thus achieving full opening of the release port.

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