52 results about "Fish movement" patented technology

The invention relates to a device for synchronously recording the metabolism and swimming motion of fish, comprising a sealed water groove, which is connected with a water inlet tube and a water outlet tube, and a flux adjuster mounted on the water inlet tube. The water groove has annular water channel, and a water-flow generating adjusting device for controlling the water flow to flow along the annular water channel in one direction. The sealed water groove is made from transparent material. The camera device is mounted above / beside the sealed breath room. The invention can measure the basic or general metabolism, at different strengths, and record the swimming motion.

The invention discloses a parallax-based three-dimensional trajectory tracking method of fish movement. The parallax-based three-dimensional trajectory tracking method comprises the following steps: performing histogram equalization and difference operation on two input camera capture images, to obtain a fish movement region in the image, quickly and effectively extracting the fish outline from the original image according to gray scale information of the movement region; secondly, automatically extracting a centroid from the outline image by using a centroid tracking algorithm; then, performing three-dimensional reconstruction on two centroids by a parallax method; finally, combining all three-dimensional points, to obtain a three-dimensional trajectory of fish in stereoscopic vision. The parallax-based three-dimensional trajectory tracking method is applicable to complex environment in biological water quality monitoring process, can track the target accurately and can observe the fish trajectory in a three-dimensional space, so as to reflect the reaction results of the change of water quality on fish movement in time.

The invention discloses a mode-recognition-based design method for a biological abnormal water quality evaluation system. The basic idea is that: aiming at the characteristics of multiple factors, high dimension, nonlinearity and the like showed in water quality evaluation, and the problem of a complicated relationship between an evaluation factor and water quality, with a common biological indicator fish in biological abnormal water quality evaluation as a research object, a rapid abnormal water quality evaluation system is provided by adopting a computer image processing technique. The method comprises the following steps: firstly, collecting a fish movement video image capable of reflecting the water quality condition on the basis of computer vision; obtaining water quality evaluation indexes, namely fish behavior characteristic parameters by adopting an image processing technique; simultaneously building a semantic mapping model capable of reflecting the water quality condition and the fish behavior characteristic parameters on the basis of mode recognition; and finally investigating the feasibility of the model. The effects caused by environment illumination change and noise change can be overcome when the fish movement information is extracted; a water quality abnormality evaluation model is constructed by adopting a support vector machine (SVM); and the robustness of the model is updated and improved in real time.

The disclosed method to monitor poisonous substance in water by fish active potential comprises: putting target water into slot with fish; collecting active potential in tank by a sensor to send to a amplifier and a filter then the data processing device; analyzing, feedback, sending and storing the signal, and auto alarming. This invention is shortcut and sensitive, and has well social benefit.

The invention discloses a fish ultrasonic wave marker precise positioning method and system suitable for a complex water environment. The method comprises the steps of S1, collecting the time when a signal marker fish arrives at each hydrophone in a hydrophone monitoring network or the time difference between arrivals at two hydrophones; S2, estimating approximate coordinates and a signal emissiontime of the signal marker fish by using a Chan algorithm; S3, taking the approximate coordinates of the signal marker fish as the center, constructing an approximate coordinate alternative interval,and dividing the approximate coordinate alternative interval into sub-nets; S4, taking a node position of one subnet as a position initial value of the signal marker fish, and carrying out the signalmarker positioning calculation by using the robust least-square estimation; and S5, evaluating a positioning calculation result obtained in the step S4, if the evaluation passes, determining the position calculation result as the precise positioning result of the signal marker fish, and otherwise, repeating the step S4. The method of the invention can effectively realize the accurate capture of fish movement trajectories with high precision and high reliability.

The invention discloses a fish movement and spatial distribution simulation method and a fish movement and spatial distribution simulation system based on an individual mode. The method comprises the steps of building a fish movement spatial explicit model based on ecological behaviors of fish, and simulating a movement process of each fish individual by coupling with a water environment model; and acquiring space-time dynamic distribution of the fish. According to the method and the system provided by the invention, during a process of building a simulation model, easy acquisition of model parameters and actual ecological significance of the parameters are considered, and the defect of a messy situation based on the fragmented individual fish models is remedied, so that the method and the system are universal.

The invention discloses an underwater bionic robotic fish driven by a fluid conveying pipe. The underwater bionic robotic fish includes a fish head, a fish body, a dorsal fin, a tail fin, pectoral fins, a water sac, a water pump, a fluid conveying pipe system, a controller and a power supply. The interior of the fish body is a closed cavity, and the water pump, the controller and the fluid conveying pipe system are all installed in the cavity. Flutter occurs when the internal flow of a fluid conveying hose of the tail fin exceeds the critical flow velocity, so that the tail fin is driven to swing to provide power for the fish to move forwards. A fluid hose of the pectoral fins also flutters when the internal flow exceeds the critical flow velocity, so that the left and right pectoral finsswing up and down, and the steering of the fish can be controlled while the propulsion power is provided. The water storage capacity in the water sac is controlled by the water pump and the fluid conveying pipe system, and the weight of the fish body is increased or reduced so as to achieve the sinking and floating of the fish body. The required power for electrical equipment is provided by the power supply, and various motion forms of the bionic fish is controlled by the controller. According to the underwater bionic robotic fish driven by the fluid conveying pipe, the fish movement can be simulated, the disturbance to underwater creatures is reduced, and the risk of being trapped is reduced.

The invention discloses a fish movement training experiment device, comprising a cylindrical experiment water tank. The device is characterized in that the experiment water tank is internally provided with a water treatment pipe which is also cylindrical and is coaxial with the experiment water tank. The top of the water treatment pipe is provided with a filtering unit. The filtering unit is internally provided with a plurality of filtering layers. A baffle is arranged under the filtering unit. The baffle is provided with a plurality of via holes. The side wall of the bottom of the water treatment pipe is provided with a plurality of water inlets. The water treatment pipe is internally provided with a circulating water pump. The water outlet pipe of the circulating water pump is communicated with a vertical pipe which is arranged on the inner wall of the experiment water tank. The vertical pipe is uniformly provided with a plurality of water injection nozzles on a longitudinal direction. The injection direction of the water injection nozzle is a tangential direction of a circle which is formed on the cross section of the experiment water tank. The top end of the vertical pipe is connected with a horizontal pipe above the experiment water tank. The horizontal pipe is also provided with a regulating valve. The water outlet end of the horizontal pipe is above the top end opening of the water treatment pipe.

The invention discloses an intelligent fish tank feeding system based on machine vision, which comprises a fish tank, a monitoring system and a client; the monitoring system comprises the following working steps: (1) enabling a camera to acquire an image in the fish tank and transmits image information to an API; (2) performing image classification, background modeling and image detection; (3) performing logic screening by using a Selective Search algorithm, finding out various fish schools and filtering out a background; (4) calculating the fish school distribution situation to form a dynamicfish motion trail image; (5) carrying out binarization and clustering on the motion trail graph, and filtering out clusters with the recognition correct rate smaller than 50%; (6) extracting featuresof the remaining clusters, performing accuracy verification, and judging whether the fish finds food or not; (7) judging whether the fish needs to be fed or not according to a result obtained by accuracy verification; and (8) sending a result to the client. The system processes and analyzes fish behaviors collected by the camera, whether feeding is needed or not is judged, and scientific feedingcan be conducted according to the fish behaviors by using the system.

The invention discloses a fish clustering effect and fish swimming trajectory model testing system. The system comprises a water tank, a water inlet pipe, a gradient pipeline, three arc-shaped plates,a water supplementing area, a long straight partition plate, a fish collection channel, four fish blocking nets, a reservoir, a fountain submersible pump, grid lines, a drain pipe and the like. By means of the testing system, the movement loci of fish and cognition of the fish clustering effect and swimming trajectory under different current gradient changes can be observed clearly; by means of flow field measurement, fish movement pictures and record data, the response regularity of fish migration and clustering behaviors for hydraulic characteristic factors can be explored, and test data and theoretical basis are provided for mining the response relationship between the water velocity and the fish migration and cluster behaviors in further depth; meanwhile, the defects that in the priorart, research on the current gradient is deficient and the testing process is unstable are overcome. The system is simple in structure and convenient to operate; the water resource is recycled, and the migration area is reduced while the water resource is saved.

The invention relates to a fishway outlet adapting to water level change and a design method. The fishway outlet comprises an overflow section; the overflow section is connected with an outlet section; the overflow section is formed by connecting multiple overflow pools having the same lengths and widths with conventional pools; fish passing facilities are respectively arranged between a fishway and the overflow section, between the overflow section and the outlet section, among all the conventional pools and all the overflow pools; the outlet section is as wide as the conventional pools; the height of a side wall of the outlet section is slightly higher than a highest value of a reservoir upstream water level change difference; and the bottoms of all the overflow pools at the outlet section and the overflow section are on the same horizontal line. The fishway outlet adopts the mode of arranging the overflow section and the outlet section in the fishway outlet to enable the continuously changed upstream reservoir water level to firstly arithmetically fall according to the water level change of each conventional pool of the fishway when flowing in the fishway, so that the flow of water entering the fishway cannot be increased to disturb the fish movement, and the overflow section for guaranteeing fishes to smoothly enter the upstream reservoir even if the water level of the upstream reservoir is changed is formed.

The invention discloses a determining method and system for fin-propulsive robotic-fish movement energy consumption. The method includes the steps that the swinging deflection angle, the swinging amplitude and the swinging frequency of a robotic-fish tail fin are obtained; an energy-consumption model of a robotic fish is determined; according to the swinging deflection angle, the swinging amplitude and the swinging frequency of the robotic-fish tail fin and the energy-consumption model of the robotic fish, robotic-fish movement energy consumption is calculated. According to the determining method and system for fin-propulsive robotic-fish movement energy consumption, a calculation model of robotic-fish movement energy consumption is provided, the movement energy consumption model is relevant to the swinging deflection angle, the swinging amplitude and the swinging frequency of the robotic-fish tail fin, and according to the movement energy consumption model and the swinging deflectionangle, the swinging amplitude and the swinging frequency of the robotic-fish tail fin, movement energy consumption of the robotic fish can be calculated. The determining method and system have the advantages of being easy, fast and convenient to calculate and high in accuracy.

The invention discloses a fish tank dynamic interaction display device based on position detection and an interaction implementation method. Belongs to the technical field of intelligent aquarium equipment and digital interaction and collects fish body images in real time, a control screen supports touch and voice interaction, and a background display screen dynamically updates display content according to the position of a fish body. The control processing hardware module integrates a microprocessor, a real-time digital graphic processing chip and an artificial intelligence processing unit, and image correction, multi-fish body detection tracking, coordinate mapping and dynamic background rendering are achieved. The method comprises the steps of image acquisition, geometric correction, position detection, coordinate mapping, dynamic rendering, cross-device linkage and the like, and supports gesture interaction, AI background generation and multi-fish tank linkage functions. Through combination of real-time position detection and a dynamic display technology, immersive interactive experience of fish moving and scene following is constructed, the problem that a traditional fish tank is insufficient in interactivity is solved, and the fish tank is suitable for families, commercial display and other scenes.

The invention proposes a fish migration trajectory tracking method, and relates to the technical field of fish trajectory tracking, and the method comprises the steps: S1, constructing a deep learning model which comprises a multi-branch feature extraction network and a trajectory segment encoder; s2, training a deep learning model by utilizing the fish video data set, and optimizing model parameters by adopting a comparative learning strategy and regularization constraint to obtain a fish multi-target tracking model; s3, processing a to-be-analyzed fish video by using the fish multi-target tracking model, and performing trajectory tracking of fish individuals through a multi-layer matching strategy to obtain a complete fish motion trajectory; and S4, calculating the main direction angle of the fish movement track through principal component analysis, and judging the migration direction according to the included angle between the main direction angle and the river direction angle so as to track the migration of the fish. According to the method, the technical problems that an existing fish trajectory tracking method is not accurate enough in feature representation in a complex underwater environment, a time sequence association strategy is incomplete, and trajectory continuity and consistency in long-time tracking are insufficient can be solved.

The invention belongs to the technical field of construction of fish culture ditches in rice fields, and discloses a method for constructing comprehensive rice planting and fish culture ditches. The method for constructing the comprehensive rice planting and fish culture ditches comprises the following steps: making a frame on a ridge and a fish ditch by using angle steels and cement tiles, and the filling the frame with soil; digging a fish ditch at the periphery of the ridge, digging one or more parallel longitudinal and transverse fish ditches according to the size and the shape of a rice field, wherein the ditches communicate with one another; constructing a fish nest at one corner or in the center of the rice field, and connecting at least one channel of the fish nest with the fish ditches; and mounting fish blocking equipment at a water inlet and outlet opening. The method has the advantages of firm ridge, strong water retention and fertilizer retention, convenience in drainage and irrigation, flood control, drought prevention and tidy and beautiful integral engineering. Moreover, the surface of the field has a water level with a certain height, the three-dimensional space for fish movement is increased, the leakage of the field ridge is prevented, and fish running in heavy rain is prevented.

The disclosed method to monitor poisonous substance in water by fish active potential comprises: putting target water into slot with fish; collecting active potential in tank by a sensor to send to a amplifier and a filter then the data processing device; analyzing, feedback, sending and storing the signal, and auto alarming. This invention is shortcut and sensitive, and has well social benefit.

The present invention relates to the field of computer vision technology, and specifically to a method for multi-object tracking of fish in the scenario of land-based industrialized recirculating aquaculture. First, the present invention obtains the fish movement video and light intensity of a land-based industrialized recirculating aquaculture farm. Secondly, video frames that meet preset conditions are selected from the fish movement video as reference frames. Then, based on the fish movement video and light intensity, video frame features are extracted, and a video frame adjustment coefficient is generated in combination with the reference frames. Then, an adaptive adjustment model for fish movement video frames is constructed according to the video frame adjustment coefficient to adaptively adjust the fish movement video frames to obtain a standard fish movement video. Then, a fish multi-object tracking model is constructed to perform multi-object tracking of fish on the standard fish movement video to obtain fish movement trajectories. Finally, according to the fish movement trajectories and the standard fish movement video, a fish health detection model is constructed to detect the health status of each fish in the standard fish movement video.

The invention relates to a fish slicing device. The fish slicing device comprises a machine case, wherein an upper fixed wheel and a lower fixed wheel are arranged in the machine case, the upper fixedwheel is arranged on the left side wall of the machine case, and the lower fixed wheel is arranged on the right side wall of the machine case; an upper blade is further mounted on the right side wall, an upper opening and a lower opening are formed in the left side wall, a lower blade is mounted in the upper opening, a button is arranged in the lower opening and is hinged with a first connectingrod, a second connecting rod is hinged to the other end of the first connecting rod, a third connecting rod is connected to the lower blade, and the other end of the third connecting rod is connectedto one end, far from the first connecting rod, of the second connecting rod; and a slide block for clamping fish tail is arranged on the left side wall, a traction rope is arranged on the slide blockand is electrically connected with the motor, and the distance from the upper opening to the lower opening is equal to the length of the slide block. The fish is pulled to move through the traction rope, the right surface of the fish is sliced by virtue of the upper blade, the slide block is driven by the traction rope to trigger a lower blade switch to drive the lower blade to slice the left sidesurface of the fish, and then the two surfaces of the fish are cut off.

The invention discloses an intelligent method and system for evaluating the ecological friendliness of fishes in a flow field, and belongs to the technical field of water conservancy projects. The method comprises the following steps: acquiring hydraulic parameter data of a target flow field and movement behavior data of fishes; constructing an input feature set based on the hydraulic parameters, the biological attribute parameters and the water entry features, constructing an output tag set based on the behavior mode tags, and training by adopting a random forest algorithm to obtain a fish behavior prediction model; inputting to-be-evaluated fish individuals and flow field parameters into the model to obtain prediction probabilities of different behavior modes; and the comprehensive ecological friendliness of the flow field is evaluated by performing statistical analysis on the prediction probabilities of a plurality of individuals. The system comprises a data acquisition module, a model training module and an evaluation application module. The method can accurately predict the behavior probability of fishes in the complex flow field, realizes quantitative and efficient evaluation of the ecological friendliness of the flow field, and provides a scientific basis for fish passing facility design and ecological restoration.

The invention belongs to the technical field of bionic robots and particularly relates to a bionic fish movement mechanism. The bionic fish movement mechanism aims at achieving the technical purposes of being flexible in movement, simple in structure and wide in application. To achieve the technical purposes, the bionic fish movement mechanism comprises a bionic fish head, a bionic fish body, a bionic fish tail, bionic fish fins, a fixing plate, a first sliding rail, first sliding blocks, a rack, supporting rods, a first fixed pulley, a first pull wire, a second fixed pulley, a second pull wire, a fixing rod, a first swing rod, a sector gear, a second sliding rail, a second sliding block, a connecting rod, first winding wheels, large belt wheels, cylindrical gears, small belt wheels, flat belts, motors, second winding wheels, a third sliding rail, a third sliding block, first connecting rods, rotating discs, second connecting rods, sliding shafts, second swing rods and baffles. The bionic fish movement mechanism has the advantages of being flexible in movement, simple in structure and wide in application.

According to the method for efficiently monitoring the motion behaviors of the fishes near the estuary shore based on the unmanned aerial vehicle, by combining the unmanned aerial vehicle high-resolution image technology, the video monitoring technology and the fish motion behavior analysis data processing algorithm, efficient and accurate monitoring of the motion behaviors and distribution of the fishes in the estuary area is achieved. Through data acquisition and accurate motion trail analysis, the method not only improves the monitoring efficiency, but also provides accurate data support for researching fish behaviors, is helpful to better understand the motion migration mode of fish in the estuary area, assesses the habitat quality, and improves the fish habitat quality. And an activity mode of influence of environment change on fish behaviors is monitored, so that a scientific basis is provided for ecological environment protection and fishery sustainable management measures in the near-shore of the estuary.

The utility model discloses a three-degree-of-freedom bionic mechanical fish and relates to the technical field of robots, the head end of a bionic fish head is provided with a detection module, the tail end of the bionic fish head is provided with a first steering engine, the output end of the first steering engine is connected with a bionic fish body, the tail end of the bionic fish body is connected with a second steering engine, and the output end of the second steering engine is connected with a bionic fish tail. A hollow cavity is formed in the bionic fish head, a posture adjusting mechanism is arranged in the hollow cavity and comprises a main control chip, a six-axis gyroscope sensor, a third steering engine, a transmission part and a balancing weight, the output end of the third steering engine is connected with the transmission part, and the balancing weight is connected to the transmission part. The device can simulate and realize the tail swing rule of fish, improves the swimming efficiency of mechanical fish in water and the fish movement bionic effect, has the advantages of good maneuverability, simple structure, high concealment and biological affinity and the like, and meanwhile, the arranged detection module can perform underwater image acquisition and image signal wireless transmission, so that the device is convenient to use. And the underwater exploration task is efficiently completed.

The application provides a kind of quantification method for characterizing the influence of pulsed electric field on fish behavior, comprising: obtaining the behavior data of target fish under the influence of different electric field parameters;Marking the trajectory of fish movement, obtaining speed, acceleration, time and coordinate information;For the behavior data, obtain the coordinates of the sensing point of the fish, the coordinates of the turning point, the maximum acceleration before escaping the electric field and its corresponding coordinates, the maximum speed after escaping the electric field and its corresponding coordinates;Calculate the sensing distance, the turning distance, the maximum acceleration corresponding distance and the maximum speed corresponding distance, and the turning or passing situation as the characteristic parameters of fish behavior;Establish the correlation model between the pulsed electric field parameters and the characteristic parameters of fish behavior, and quantitatively analyze the influence of electric field parameters on fish behavior.The method of the application can effectively evaluate and optimize the electric field parameter setting of fish blocking electric fence by obtaining and analyzing the characteristic behavior data of fish in the electric field, and establishing the correlation model of characteristic behavior and electric field parameters.

The fish motion visual simulation method provided in the application comprises the following steps: constructing a simulation system and configuring simulation parameters, the simulation system comprising a circular arc array base station transceiver model and a fish motion model composed of multiple array elements; simulating an actual motion track of the fish based on an initial position of the fish and the fish motion model; controlling each array element to transmit and receive signals according to a preset transmission and reception cycle, wherein each array element transmits a detection signal in a transmission state and receives a return signal in a receiving state; estimating a calculated position of the fish according to the detection signal and the return signal of each array element in each transmission and reception cycle; determining a track deviation of the fish according to a calculated motion track composed of multiple calculated positions and the actual motion track; and generating a visual report for reflecting a motion state of the fish based on the actual motion track, the calculated motion track and the track deviation. The fish motion visual simulation method, device and equipment provided in the application can provide accurate and reliable data for fishery management, acoustic detection and biological behavior research.

The application discloses a kind of fishing precision feeding system, it is related to aquaculture technical field, including: water identification device, edge server, intelligent feeding device, water identification device, edge server, intelligent feeding device are sequentially connected;Water identification device is used to obtain fish movement containing video stream information and is sent to edge server through local area network;Edge server is used to identify and count target fish in video stream information through pre-trained YOLOv8 network, determine the real-time proportion of target fish in different regions, obtain the feed consumption data of different regions and send to corresponding intelligent feeding device;Intelligent feeding device is based on the feed consumption data received to complete feeding.The application uses deep learning computer vision technology, and more accurately feeds by the distribution of fish in each region;Through the way of intelligent precision feeding, fish feed is saved, and water pollution caused by excessive feeding is prevented.

The invention provides a quantification method for representing the influence of a pulsed electric field on fish behaviors. The method comprises the following steps: acquiring behavior data of target fish under the influence of different electric field parameters; marking a fish movement track, and obtaining speed, acceleration, time and coordinate information; aiming at the behavior data, acquiring induction point coordinates, turning point coordinates, the maximum acceleration before escaping from the electric field and corresponding coordinates thereof, and the maximum speed after escaping from the electric field and corresponding coordinates thereof; an induction distance, a turn-back distance, a distance corresponding to the maximum acceleration, a distance corresponding to the maximum speed and a turn-back or passing condition are calculated to serve as fish behavior characteristic parameters; and establishing a correlation model between the pulse electric field parameters and the fish behavior characteristic parameters, and quantitatively analyzing the influence of the electric field parameters on the fish behaviors. According to the method provided by the invention, the correlation model of the characteristic behaviors and the electric field parameters is established by acquiring and analyzing the whole-process characteristic behavior data of the fishes in the electric field, so that the electric field parameter setting of the fish blocking electric grid can be effectively evaluated and optimized.

The invention discloses a fish movement and spatial distribution simulation method and a fish movement and spatial distribution simulation system based on an individual mode. The method comprises the steps of building a fish movement spatial explicit model based on ecological behaviors of fish, and simulating a movement process of each fish individual by coupling with a water environment model; and acquiring space-time dynamic distribution of the fish. According to the method and the system provided by the invention, during a process of building a simulation model, easy acquisition of model parameters and actual ecological significance of the parameters are considered, and the defect of a messy situation based on the fragmented individual fish models is remedied, so that the method and the system are universal.

The fish motion visualization simulation method comprises the steps that a simulation system is constructed, simulation parameters are configured, and the simulation system comprises an arc array transmitting and receiving model composed of a plurality of array elements and a fish motion model; simulating an actual movement track of the fish based on the initial position of the fish and a fish movement model; each array element is controlled to transmit and receive signals according to a preset transmitting and receiving period, and each array element transmits a detection signal in a transmitting state and receives a return signal in a receiving state; in each transmitting and receiving period, estimating the measurement and calculation position of the fish according to the detection signal and the return signal of each array element; determining the trajectory deviation of the fish according to the measurement and calculation motion trajectory formed by the plurality of measurement and calculation positions and the actual motion trajectory; and generating a visual report for reflecting the motion state of the fish based on the actual motion trail, the measured motion trail and the trail deviation. According to the fish motion visual simulation method, device and equipment provided by the invention, accurate and reliable data can be provided for fishery management, acoustic detection and biological behavioral research.

The invention relates to a fish breeding tool, in particular to a fish movement motivating device for a rectangular glass fishbowl. The device includes a shelf plate assembly, a power assembly, a field angle adjusting assembly, a water stroking assembly and a water stroking plate assembly, wherein rotating plates arranged inside the device can be used for stroking water to motivate movement of fishes inside the fishbowl, the height of the rotating plates can be adjusted, and the distance between the two rotating plates can be adjusted; moreover, the rotating plates can rotate around the corresponding rotating plate axes to adjust water stroking areas. A slideway rod is arranged on the middle portion of a middle plate, the middle plate is perpendicular to the slideway rod, and the upper end of the slideway rod is provided with a ladder-shaped slideway; a rotating disk support is fixedly connected to the left end of the middle plate, the upper end of the rotating disk support is fixedly connected with a motor, and a rotating disk is fixedly connected to the rotating shaft of the motor; a connecting rod is fixedly connected to the right end of a groove rod support, the upper end of groove rod support is fixedly connected with a groove rod, and a sliding groove is formed in the groove rod; the right end of the connecting rod is provided with a sliding column inserted in the sliding groove of the sliding rod, and the left end of the connecting rod is hinged to the edge of the rotating disk.