The invention relates to an
electric fish blocking ship passing device based on
radar recognition and LQR
intelligent control, and belongs to the technical field of ship navigation. The device is composed of four core modules including a high-
voltage pulse module, a main control module, an inspection
robot module and an intelligent
electrode bar module. The high-
voltage pulse module generates high-
voltage pulses which act on the electric grid and the intelligent
electrode bar, and the fish blocking function is achieved. The master control module is responsible for controlling the whole device and displaying the state of the device in real time through the touch display screen. The inspection
robot module records real-time images through a camera and circularly monitors the working state of the
electrode bar. The intelligent electrode bar module is the core of the device, the vertical state is always kept through an LQR
control algorithm, fish escape is avoided, meanwhile, a telescopic structure is adopted, and the ship passing function is achieved. The device can adapt to rivers with different widths and depths by increasing or decreasing the number of the electric grids and the intelligent electrode bars; a
laser radar is adopted to identify ships, and an electrode bar is controlled through an LQR
control algorithm, so that intelligent fish blocking and ship passing are realized.