226 results about "Fish head" patented technology

The invention discloses an underwater micropterus salmoides body length and mass measurement method, and relates to the technical field of aquaculture. Comprising the following steps: 1) target detection and key point detection: performing target detection and key point detection on underwater largemouth bass by using a YOLOv8 model to obtain key point coordinate information of a fish head and a fish tail; and 2) obtaining depth information: obtaining the depth information of the underwater image through a monocular depth estimation algorithm, and calculating the body length of the largemouth bass in combination with a key point detection result. And 3) mass estimation: based on the body length information, estimating the mass of the micropterus salmoides through a power function regression model. And 4) model deployment: deploying the model in a recirculating aquaculture monitoring system, and displaying and recording the body length and quality information of the micropterus salmoides in real time. According to the method, the body length and the body weight of the largemouth bass can be obtained in real time in a non-contact mode, the method is suitable for a factory-like circulating water culture mode, data support can be provided for culture management, and the practical value and the popularization prospect are high.

Provided is a bionic rescue robot fish, including a fish body skeleton, a fish head skeleton, a fishtail swing mechanism, a pectoral fin swing mechanism, a rescue mechanism and a buoyancy adjusting mechanism. The fish body skeleton is movably connected to the fish head skeleton. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are arranged on the fish head skeleton. Bionic fish skin is attached to surfaces of the fish body skeleton and the fish head skeleton in a sealing manner. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are each communicated with a control unit. The rescue mechanism can release a lifesaving airbag, and the buoyancy adjusting mechanism can change the volume of fish belly part.

The invention discloses a fish ingestion behavior identification method and system, particularly relates to the technical field of aquaculture intelligent monitoring, and is used for solving the problems of fuzzy feature extraction and low behavior discrimination accuracy caused by underwater environment complexity and ingestion action instantaneity of an existing visual identification method. The method comprises the following steps: acquiring underwater continuous video frames, extracting fish body head motion continuity parameters, and screening candidate key frames; analyzing nonlinear dynamic characteristics of mouth deformation displacement to generate time sequence correlation parameters, and dynamically weighting and fusing the head and mouth motion coupling strength; finally, the ingestion behavior state is counted and judged based on the cumulative effect of the motion coupling strength and the distribution mode. According to the method, through multi-dimensional time sequence feature fusion and a dynamic weight distribution mechanism, accurate capture and reliable judgment of transient feeding actions of fishes in a complex underwater scene are realized, and an effective technical support is provided for optimizing a culture feeding strategy.

The invention discloses a line-driven bionic flexible robotic fish and a using method thereof. The line-driven bionic flexible robotic fish comprises a rigid fish head, and a power source and a control module are arranged in the rigid fish head; the head end of the rigid fish body is connected with the rigid fish head; the flexible fish tail is connected with the rigid fish body, and the flexible fish tail comprises an elastic fish tail spine, a fish tail supporting joint, a tension spring and a flexible fish tail skin; the flexible fishtail driving module is arranged in the rigid fish body; wherein the flexible fishtail is driven by a single motor in cooperation with a stay wire, an intermuscular bone of a fish is simulated through a fishtail supporting joint, the swinging posture of the flexible fishtail is restrained while the driving stay wire is supported, and a nonlinear module is formed through a tension spring and an elastic fishtail spine. The intelligent flexible bionic robotic fish has the advantages that the energy consumption is reduced, and the swimming speed and the swimming efficiency can be improved.

The invention provides a bionic robotic fish driven by a spherical parallel mechanism. The bionic robotic fish comprises a bionic fish head; the pectoral fins are symmetrically arranged on the two sides of the bionic fish head; the bionic fish body is connected with the bionic fish head, a dorsal fin is arranged on the bionic fish body, the bionic fish body comprises a driving cabin section and a transmission cabin section, and a first supporting frame is arranged on the rear end face, away from the bionic fish head, of the driving cabin section; the driving mechanism is mounted on the first supporting frame; the bionic tail fin is movably connected with the bionic fish body, and the bionic tail fin is configured to oscillate and swing on two planes which are perpendicular to each other under the driving of the driving mechanism so as to push the bionic robotic fish to advance in water.

The invention belongs to the technical field of robots, and relates to a bionic robotic fish coupled with fish luring factors, which is characterized in that a fish head, a fish body, a tail fin and a dorsal fin form a robotic fish shell; the robot further comprises two discharge electrodes, a communication module, two obstacle avoidance sensors, a water pump, two RGB lamps, three joint steering engines, a propeller thruster, two loudspeakers, a balance weight adjusting bin, a control circuit board, a battery, a water bin and a high-pressure air bin. Three fish luring factors including sound, light and electricity are coupled to the robotic fish, the combination mode of the factors is reasonably regulated, controlled and optimized, the fishes are guided to gather, the fishway entrance is found, the recognition ability of the fishes to fish passing facilities is enhanced, and the use efficiency of the fishway is improved. The method helps the migration of the rare fish fingerlings, protects the reproduction of the rare fishes, maintains the stability of fish populations, is beneficial to the protection and restoration of the ecological environment of the fishes, and walks the way of ecological priority and green development on the basis of the development of water conservancy projects.

The invention discloses a binocular vision-based fish body quality non-contact estimation method, which comprises the following steps of: in a land-based facility circulating water high-density culture environment in which a fish body freely swims and is easy to block, firstly, obtaining a fish head local image through fish head region segmentation, and carrying out position alignment and scale normalization processing on the fish head local image; constructing a stable fish head geometric anchor point; then, the fish head anchor point is used as condition input, and a generative model is used for inferring and complementing the overall shape of the fish body so as to recover a continuous geometric structure of the fish body; on the basis, binocular stereo vision is combined to carry out stereo matching on key points of the head and the tail of the fish body, and the length of the fish body is obtained through triangulation; finally, based on the mapping relation between the body length and the quality, automatic estimation of the fish body quality is achieved, manual contact with the fish body is not needed, stable and automatic measurement of the fish body quality can be achieved in a complex breeding scene, and the method has the advantages of being high in adaptability, low in stress risk and high in application value.

The invention discloses a prizing-imitating micro-plastic collecting robot and a multi-mode switching control method thereof, and relates to the technical field of underwater robotics.The prizing-imitating micro-plastic collecting robot comprises a fish head, a mouth opening and closing device, pectoral fins, a trunk, a filtering assembly, dorsal fins, a fish tail, tail fins, a fish tail driving assembly, a power source and a controller, and the fish head, the trunk and the fish tail are linearly and sequentially arranged from front to back; the mouth opening and closing device is arranged at the front end of the fish head. The two pectoral fins are symmetrically arranged on the left side and the right side of the fish head. Two water filtering mechanisms are symmetrically arranged on the left side and the right side of the fish head, a collecting bin and an equipment bin are sequentially arranged in the trunk from front to back, a rotary valve assembly is arranged on the front side of the collecting bin, a filtering assembly is located on the rear portion of the collecting bin, and the fish tail is of a three-section structure. The prizing-imitating micro-plastic collecting robot continuously collects micro-plastic in water through a set route, time and labor are saved, the robot can work in a deep water area, the collecting efficiency is high, the use cost is low, the robot is not affected by the environment and weather, safety is high, and the micro-plastic in the water area is comprehensively collected.

The invention provides an inner and outer double-slip composite fishing tool and a downhole fish fishing method, the fishing tool comprises a back-off fishing spear, a fishing barrel and an anti-expansion sleeve, the fishing barrel is arranged outside the back-off fishing spear, the anti-expansion sleeve and the lower end of the fishing barrel are connected and have the same diameter, the inner wall of the fishing barrel is provided with slip inserts, and the lower part of the fishing barrel is provided with a limiting structure; the lower end of the back-off fishing spear is connected with a returnable fishing spear, and a round slip is arranged on the returnable fishing spear. Through the combination of the back-off fishing spear, the fishing barrel and the returnable fishing spear, triple internal and external fishing is carried out on a fish, the fishing area is increased, and the situation that the fish is broken and falls off due to the stress concentration phenomenon on a fishing point after the fish with the corrosion strength reduced is grabbed is avoided; and meanwhile, the anti-expansion sleeve can limit the fallen fish to prevent the fallen fish from being broken due to strength reduction, so that successful fishing is further ensured. According to the internal and external double-slip combined fishing tool, full-size fishing of an oil pipe body, an enlarged part and a coupling of a fish head can be achieved, and the one-time fishing success rate can be increased by using the internal and external double-slip combined fishing tool.

The invention discloses a method, device and equipment for identifying and tracking aquatic biocenosis by using bionic mechanical fish and a storage medium, and belongs to the technical field of bionic technology coupling target identification and tracking. The device comprises a bionic fugu-fish mechanical structure and overall equipment carried by the bionic fugu-fish mechanical structure. The identification and tracking method of the bionic mechanical fish is realized by means of a processor carrying an AN-S algorithm and PID (Proportion Integration Differentiation) control. The method comprises the following steps: shooting aquatic organism communities by adopting a camera located at a fish head position; the controller is used for receiving an instruction of the processor and enabling the fish body to move towards a set direction; the processor and the controller are arranged in the fish body; the side fins, the tail fin and the envelope are located on the side faces, the tail and the fins of the fish body, and motion instructions sent by the processor are achieved. The AN-S algorithm comprises an AttentionNet algorithm for target recognition, target fish in the image is detected and recognized, and recording and storage are started only when a target is detected; the AN-S algorithm comprises a Sort method for continuously tracking a moving target in a recognition sequence and outputting a movement track.

The invention discloses a preparation method of composite active peptide with anti-wrinkle, whitening and freckle-removing effects from marine fish byproducts, cod byproducts, namely fish heads, fish bones and fish skins, are used as raw materials and are mixed according to the mass ratio of 3: 3: 4, and the composite active peptide is prepared through the steps of pretreatment, enzymolysis, enzyme deactivation, centrifugal separation and purification. A compound enzyme used in the enzymolysis step is composed of trypsin and papain according to a certain proportion, and the enzyme addition amount, the enzymolysis time, the enzymolysis temperature and other conditions are optimized. The prepared composite active peptide with the anti-wrinkle, whitening and freckle-removing effects from the marine fish by-product has good anti-wrinkle, whitening and freckle-removing effects, resource utilization of the cod by-product is achieved, and the composite active peptide has high application value.

The invention discloses a fin-paddle composite multi-motion-mode bionic robotic fish, and relates to the technical field of bionic fish structures. The problems that an existing bionic robotic fish is poor in maneuverability and cannot adapt to complex underwater tasks due to the single motion mode are solved. The fish comprises a streamline fish body composed of a fish head, a fish body and a fish tail. A tail swing propulsion system and a pair of multi-mode pectoral fin assemblies are integrated. The tail system adopts a driving motor to drive a cylindrical cam, rotary motion is converted into reciprocating swing of a fishtail through a transmission mechanism, and efficient main propulsive force is provided. According to the multi-mode pectoral fin assembly, the propeller unit is integrated on the pectoral fin body with the adjustable pitch angle, and fusion of pectoral fin gliding and propeller maneuvering is achieved. Through cooperative control of the electric control system, flexible switching of cruising, gliding, maneuvering and composite motion modes of cruising, gliding, maneuvering and the composite motion modes is achieved, and the comprehensive maneuverability, environmental adaptability and task execution capacity of the bionic robotic fish are remarkably improved.

The utility model belongs to the field of oil and gas well drilling, and relates to a screw motor rotor casing milling and fishing tool. The tool aims to solve the problem that a fishing tool is difficult to clamp a fish due to damage of a fish head, so that the fishing success rate is increased, and drilling interruption and economic loss are avoided. According to the main scheme, the device comprises an upper connector and a cylinder assembly which are sequentially connected, a spiral slip and a control ring are arranged in the cylinder assembly, the cylinder assembly is connected with an auxiliary milling assembly, and the auxiliary milling assembly is connected with a guide shoe assembly. And the guide shoe assembly comprises a milling assembly, a guide shoe and a guide hook which are connected in sequence. According to the tool, through the design of the guide hook and the lengthened guide shoe and a double milling mechanism, the work of sleeving a falling fish and trimming a fish head is completed at a time, and the drilling construction efficiency and safety are improved. In addition, the fishing tool is also suitable for fishing other underground slender rod-shaped objects, and the universality of the tool is improved.

The present invention provides a bionic robot fish control method and system based on fish body wave optimization, belonging to the field of robot control technology. The method comprises the following steps: obtaining the swing angle and swing angular velocity of the head of the bionic robot fish, as well as the joint angle and joint angular velocity of the tail in real time; generating the expected swing angle of the head of the fish, and the expected angle and expected angular velocity of each joint in the tail according to the preset expected trajectory of the bionic robot fish; obtaining the dynamic parameters of the bionic robot fish in the fluid; establishing an optimal control model, and obtaining the current optimal joint acceleration of the tail of the bionic robot fish as the control amount of the bionic robot fish. The method proposed by the present invention can effectively reduce the swing of the fish head during the swimming of the robot fish, and is more robust to parameter changes. When the parameters of the bionic robot fish change, stable control can still be achieved, and migration application can be achieved by simply modifying the joint parameters.

The invention belongs to the technical field of underwater bionic robots, and particularly relates to a robotic fish deformable tail fin based on hydraulic drive and a working method thereof. According to the robotic fish based on hydraulic driving, a four-cylinder plunger pump is arranged in the fish head to serve as a hydraulic power source, the fish body comprises a large connector, a middle connector and a small connector, the large connector distributes hydraulic oil to a bionic driving unit set of a joint I, left-right bending of the fish body is achieved, meanwhile, the hydraulic oil is conveyed to the middle connector through an oil conveying pipe, and the small connector distributes the hydraulic oil to the joint I; after pressure synchronization is guaranteed through a pressure equalizing annular pipeline in the fishtail, a piston of a joint II is driven to move, the fishtail is designed to be a deformable tail fin, a tail arm is pushed to rotate through the synchronously-moving piston, and then a tail edge pipe is driven to deform and relatively move, so that the fishtail can dynamically change the area, the camber and the shape in the swimming process; therefore, different cruising speed and maneuverability requirements are met. Through the centralized hydraulic system and bionic structure design, active controllable adjustment of the shape of the deformable tail fin is achieved.

The invention belongs to the technical field of underground fish salvage, and provides an underground fish head lateral magnetic detection device and method.The underground fish head lateral magnetic detection device comprises a measuring probe tube which is placed in a salvage borehole and used for detecting a variable flow magnetic field at the position of a fish; one end of the releasing tool is connected with the measuring probe; the converter is used for generating a variable-flow magnetic field at a fish falling position and is connected with one end, far away from the measuring probe, of the releasing tool; one end of the cable extends into the salvage borehole to be connected with the measuring probe, and the other end of the cable is connected with a ground industrial control unit located on the ground; the salvage well hole is located on one side of the fish well hole, and fishes are reserved in the fish well hole. According to the device, a variable-flow magnetic field can be generated at a fish falling position through the converter, then a variable-flow magnetic field signal at the fish falling position can be obtained in real time through the measuring probe, the measuring probe and the converter are arranged in a fishing fish eye on one side of the fish falling position, the positioning error can be reduced, meanwhile, the converter is remotely controlled through a controller on the ground, and the positioning accuracy is improved. Magnetic field interference can be reduced.

The utility model relates to the field of fish processing, and discloses fish sorting equipment for fish processing. A supporting rail is welded to the upper surface of the working plate, a lower clamping plate is movably connected to the upper surface of the supporting rail, a movable shaft is arranged on the outer surface of the lower clamping plate, an upper clamping plate is welded to the outer surface of the movable shaft, an electric auxiliary pressing plate is arranged on the lower surface of the upper clamping plate, a centering shell is arranged on the upper surface of the lower clamping plate, and a reference electric controller is welded to the outer surface of the centering shell. A motor drives a movable shaft, then a lower clamping plate and the movable shaft are opened and closed to extrude a fish head, a telescopic motor is arranged in an electric auxiliary pressing plate below an upper clamping plate to fix a fish, a centering shell is composed of two racks and a movable gear, the racks are fixed to the lower clamping plate and the electric auxiliary pressing plate respectively, and the movable gear is located in the middle. The movable gear is always in the central position under the meshing action, the extended cross rod of the movable gear is driven to the reference electric controller, the reference position is found by controlling the lifting of the lifting platform corresponding to the internal position of the reference electric controller, and the central position of the fish is conveniently found.

The utility model discloses a novel bionic mechanical fish relates to mechanical fish technical field, including fish head mechanism, the back of fish head mechanism is provided with multistage fish body mechanism, the back of multistage fish body mechanism is provided with fish tail, multistage fish body mechanism includes the docking board no.

The invention provides a bionic fugu robot fish cooperatively propelled by a tail handle and a propeller. The bionic fugu robot fish comprises a fish head cabin, a data acquisition device is installed in the fish head cabin, the data acquisition device is connected with small high-definition cameras arranged on the two sides of the fish head cabin, and attitude sensors are further arranged on the two sides of the fish head cabin; the fish body cabin I is connected with the fish head cabin, and a control device and an energy storage device are mounted in the fish body cabin I; the second fish body cabin is connected with the first fish body cabin, and a counterweight device is mounted in the second fish body cabin; the second fish body cabin is connected with the fishtail cabin through a tail handle, and a steering engine set is installed in the tail handle. A motor device is mounted in the fishtail cabin; the propeller is installed at the tail of the fishtail cabin and connected with the motor device. Through coordinated movement of the tail handle and the propeller thruster, a series of underwater movement of the bionic fugu robot fish is achieved, the tail handle is used for advancing, retreating, ascending, sinking and direction control of the bionic fish, the bionic fish is rapidly moved through coordination of the double propellers, and the capability of executing diversified movement underwater is achieved.

The invention discloses an inspection bionic fish, which comprises a fish body, a fish tail driving unit, a propelling unit and a pitching adjusting unit, and is characterized in that the fish body comprises a fish head, a fish body and a fish tail which are connected in sequence; the fish tail driving unit is arranged in the fish body, is connected with the fish tail and is used for driving the fish tail to swing back and forth towards the two sides of the fish body so as to push the fish body to swim forwards and change the swim direction of the fish body; the propelling unit is arranged on the fish body and used for generating backward thrust so as to drive the fish body to advance forwards; the pitching adjusting unit is arranged in the fish body and used for enabling the fish head to face upwards or downwards. The polling bionic fish has the advantages that the polling bionic fish can simulate fish swimming, fast advancing, steering, floating and diving of the bionic fish can be achieved in cooperation with pushing type driving, and the motion performance is excellent.

The utility model discloses a bionic fish-shaped water quality detection device which comprises an outer shell, the outer shell is formed by sequentially connecting a bionic fish head, a middle shell and a tail shell, a driving mechanism used for driving the whole device to advance in water is arranged on the tail shell, and a water quality detection mechanism used for detecting water quality is arranged on the middle shell. The water quality detection device integrates water collection and water quality detection, can quickly detect water samples at different positions in a water area, can realize full-automatic detection, and is simple and convenient to operate.

A rope-driven X-shaped parallel structure tensegrity flexible bionic fish, relating to a bionic fish. An MCU controller, a battery and a servo motor are installed in the fish head shell, a waterproof switch is installed on the top to control the MCU controller, a servo motor fixes a swing plate, a first fish body joint, a second fish body joint, a third fish body joint and a fish tail joint are arranged in sequence behind the fish head shell and wrapped with bionic fish skin, the first fish body joint and the fish tail joint are connected by two springs, the first fish body joint and the second fish body joint, the second fish body joint and the third fish body joint, and the third fish body joint and the fish tail joint are respectively hinged by an upper connecting rod and a lower connecting rod, the corresponding upper connecting rod and the lower connecting rod are arranged in an X shape, the swing plate is connected to the fish tail joint by two active drive ropes, and the tail fin is installed at the rear end of the fish tail joint through a tension joint. The shortcomings of the hinge mechanism with low rotational stiffness and inability to absorb lateral impact loads are solved, so that the swimming process of the bionic fish is more realistic and stable.

The utility model discloses an opening and closing structure of a fish head game machine, which comprises a mounting panel and a plurality of fish head components detachably and fixedly arranged on the side surface of the mounting panel, and a power component for driving the fish head components to open and close is fixedly arranged on the other side surface of the mounting panel. The fish head assembly comprises a fish head 3D printing piece, a fish tongue 3D printing piece, a circular induction piece, a rotating frame and a bearing. Compared with the prior art, the fish head assembly has the advantages that the multiple fish head assemblies are driven by one motor to do repeated opening and closing movement at the same time, the use and cost of production materials are greatly saved, and the fish head assembly is convenient to use and high in practicability. The eccentric blocks are fixed to the rotating shaft at different angles, a regular staggered movement mode is achieved, the angles of the eccentric blocks can be adjusted at will, more angles of the eccentric blocks can be designed, different assemblies can make more actions, and the requirement for product function diversification is met.

The utility model belongs to the technical field of liquid nitrogen quick-freezing equipment, and particularly relates to liquid nitrogen quick-freezing equipment for fish head processing, which comprises a base, the upper end of the base is in contact with a cover, a backing ring is fixedly connected in the base, a mounting seat is slidably connected in the cover, the mounting seat is slidably connected with the base, and the backing ring is fixedly connected with the base. The lower end of the mounting seat is in contact with a sealing gasket, and the upper end of the sealing gasket is fixedly connected with a clamping block. The sealing gasket, the backing ring and other key components are innovatively designed and elaborately arranged, the sealing degree between the cover and the base can be effectively increased, the threaded rod is ingeniously matched, the sealing gasket and the backing ring can be accurately driven to be tightly attached through flexible rotation, the sealing effect between the cover and the base is greatly improved, and the service life of the cover is prolonged. The problems that liquid nitrogen quick-freezing equipment for fish head processing is poor in sealing performance and liquid nitrogen is prone to leaking when used are fundamentally solved, and stable and efficient operation of the equipment is assisted.

The utility model relates to a coiled tubing downhole tool for grinding a fish head. The coiled tubing downhole tool comprises a grinding shoe and a guiding shoe. The guiding shoe is fixedly arranged outside the milling shoe in a sleeving mode, the lower end of the guiding shoe extends to the position below the milling shoe, and therefore a cavity with an opening in the lower end can be formed below the milling shoe. The device has the advantages that irregular falling objects in a well can be ground so as to facilitate later salvage operation, and the structure is simple.

A novel lure bait is characterized in that the lure bait comprises a simulation fish head, the bottom of the simulation fish head is connected with a fishhook, the top of the simulation fish head is provided with a connecting arm capable of being bound with a fishing line, one end of the connecting arm is connected with the simulation fish head, and the other end of the connecting arm is connected with a metal sheet capable of swinging in the X-axis direction, the Y-axis direction and the Z-axis direction. The utility model has the advantages that the metal sheet is not directly connected with the simulated fish head, but is connected to the free end of the connecting arm capable of binding the fish wire, the metal sheet and the simulated fish head are kept at a certain distance, the swinging in the X, Y and Z directions can be realized through the free end of the connecting arm, and the movement range is larger than that of the design in the prior art; a more vivid artificial bait effect can be simulated; besides, the connecting arm adopts a bending structure with a certain angle, and the metal sheet and the second arm part can form a basically vertical connection mode, so that the metal sheet is supported by the connecting arm and is not positioned in the same plane with the simulated fish head, and a water retaining effect perpendicular to the water surface can be generated; and the balance of the whole lure bait in water is ensured.

The invention provides a large-diameter well construction drilling tool fishing device and method, and belongs to the technical field of drilling tool fishing. The large-diameter well construction drilling tool fishing device comprises a pipe nipple, a hook-shaped grabhook, a built-in connector and a thread making awl, the hook-shaped grabhook is vertically welded to the lower end of the pipe nipple, and the built-in connector is coaxially and fixedly arranged at the upper end of the pipe nipple; a connecting cylinder is elastically and slidably assembled in the built-in connector, a cross-shaped connecting base is coaxially and fixedly installed at the lower end of the connecting cylinder, a thread making cone is coaxially and fixedly installed on the cross-shaped connecting base, clamping jaws are evenly hinged to the outer arc face of the pipe nipple in the circumferential direction, and guide grooves are formed in the top ends of the clamping jaws. According to the device, a fish falling head can be quickly centralized, double reliable fixing is achieved by combining thread making taper threaded connection and clamping jaw radial clamping, the operation process can be simplified by driving an unlocking structure through slurry, and the operation efficiency and construction safety are remarkably improved.

The application relates to the technical field of downhole operation of oil exploitation, in particular to a lost fish head detection device and method for taking and replacing a casing, the method comprising the following steps: by collecting the magnetic variable of a downhole probe at each sampling depth, a potential interference section is first determined; then, by combining the magnetic field gradient distribution and the horizontal magnetic field direction characteristics, the magnetic field change balance degree and the direction consistency are calculated, the stratum lithology and external interference are effectively removed, and the real lost fish head section is accurately locked; finally, the horizontal distance is calculated by using the magnetic field vector weighted summation, and the fish collecting strategy is output. The application aims to improve the accuracy of fish head positioning and the fish collecting success rate.

The present invention discloses a fish top rotating device and its usage method, which relates to the technical field of downhole fish top repair tools. It includes a lifting and rotating assembly and a hydraulic anchor. An axial limiting groove is provided on the outer wall of the upper part of the lifting sleeve, and a lifting sleeve is provided at the bottom. Two radially and coaxially arranged fixing ears are provided on the bottom wall of the lifting sleeve, and a lifting pin shaft is inserted into the fixing ears. The upper part of the direction-changing shaft is the upper shaft of the direction-changing shaft, and the lower part is the lower shaft of the direction-changing shaft. A direction-changing track adapted to the lifting pin shaft is provided on the outer wall of the upper shaft of the direction-changing shaft. The direction-changing track is a 360-degree surrounding wavy track, and a lower joint is provided at the lower end of the lower shaft of the direction-changing shaft. Both the lifting sleeve and the direction-changing shaft are hollow tubular structures. The lifting sleeve is slidably sleeved on the outside of the upper shaft of the direction-changing shaft, and the two lifting pin shafts are slidably arranged in the direction-changing track. When this device is in use, there is no need to rotate the fishing and workover pipe string. By lifting and lowering the pipe string, only the fish top device is driven to rotate to repair the fish top, improving the efficiency of repairing the fish top.

The application discloses a motor for coiled tubing and a use method thereof. The motor comprises an external shell and an internal transmission component installed in the external shell. The external shell is composed of a short section, a power shell, a winding shaft shell, a transmission shaft shell and an end sleeve which are sequentially screwed together. The internal transmission component is composed of a rotor, a winding shaft and a transmission shaft which are sequentially screwed together. A rubber stator corresponding to the rotor is fixedly installed in the power shell. An upper compensating sleeve is installed between the winding shaft shell and the winding shaft. A lower compensating sleeve is installed between the end sleeve and the transmission shaft. A roller bearing assembly and an oil bath type bearing assembly are respectively installed between the transmission shaft shell and the transmission shaft. The motor assembly is simultaneously increased with the stator and the rotor, so that the rotor outputs a lower rotating speed to the transmission shaft, thereby driving the fishing tool connected to the lower part of the transmission shaft to rotate and guiding the fish head into the fishing tool.