CN110127010A - A kind of device and method for the tracking of the water-bed shoal of fish - Google Patents
A kind of device and method for the tracking of the water-bed shoal of fish Download PDFInfo
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- CN110127010A CN110127010A CN201910413219.7A CN201910413219A CN110127010A CN 110127010 A CN110127010 A CN 110127010A CN 201910413219 A CN201910413219 A CN 201910413219A CN 110127010 A CN110127010 A CN 110127010A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 6
- 230000007812 deficiency Effects 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 3
- 238000010248 power generation Methods 0.000 claims 1
- 230000003287 optical effect Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 4
- 239000002002 slurry Substances 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000009360 aquaculture Methods 0.000 description 2
- 244000144974 aquaculture Species 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
- H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses a kind of device and method for the tracking of the water-bed shoal of fish.Described device includes main body；Information acquisition module, for acquiring water-bed shoal of fish information and Lighting information；Solar electrical energy generation module is powered for converting light energy into electric energy for described device；Computing module calculates the predicted motion track of described device based on the water-bed shoal of fish information to track the shoal of fish in real time, and based on the Lighting information calculate described device prediction steering angle so that the solar electrical energy generation module against sun light direction；Steering module drives the main body to turn to for the prediction steering angle based on described device；Propulsion die promotes the bulk motion for the predicted motion track based on described device.Device and method for water-bed shoal of fish tracking of the invention can uninterruptedly track the shoal of fish for a long time.
Description
Technical field
The present invention relates to aquaculture field, especially a kind of device and method for the tracking of the water-bed shoal of fish.
Background technique
Living resources are abundant in lake, can be used as the food of the mankind containing a large amount of fish, the research to the water-bed shoal of fish, energy
Many help is brought for aquaculture, therefore the water-bed shoal of fish is monitored, and is very important.But it is if persistently right
The water-bed shoal of fish is detected, and the power supply of detection device is a problem.
Therefore, it is necessary to a kind of device and method for keeping track the water-bed shoal of fish.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of device and method for the tracking of the water-bed shoal of fish, can continue
The shoal of fish is tracked, the life process and growth course of the shoal of fish are recorded, valuable data are collected in the research for the water-bed shoal of fish.
Therefore, in the first aspect of the present invention, a kind of device for the tracking of the water-bed shoal of fish is provided, described device includes
Main body, and:
Information acquisition module, the information acquisition module are located at the body top, for acquire water-bed shoal of fish information and
Lighting information；
Solar electrical energy generation module, the solar electrical energy generation module is located at the body top, for converting light energy into electricity
Can, it is powered for described device；
Computing module, the computing module are located at the body interior, calculate institute in real time based on the water-bed shoal of fish information
The predicted motion track of device is stated to track the shoal of fish, and turn to based on the prediction that the Lighting information calculates described device
Amplitude so that the solar electrical energy generation module against sun light direction；
Steering module, the steering module is located in the middle part of the main body, for the prediction steering angle based on described device
The main body is driven to turn to；
Propulsion die, the propulsion die are located in the main body, push away for the predicted motion track based on described device
Into the bulk motion.
Preferably, described device is waterproof.
Preferably, the information acquisition module is one or more.
Preferably, the information acquisition module includes photographic device and optical sensor.
Preferably, the information acquisition module is configured to carry out image recognition.
Preferably, described device further includes rechargeable battery, for storing the electric energy of the solar electrical energy generation module, and
The solar electrical energy generation module does not generate electricity or when generation deficiency, powers for described device.
Preferably, the propulsion die is rotatably arranged in the bottom part body, and the propulsion die can preferably turn to.
Preferably, it there are two the steering modules, adjusts separately the main body and turns to and turn to counterclockwise clockwise.
Preferably, described device further includes wireless communication module, for the water-bed shoal of fish information to be transmitted in data
The heart, such as cloud center.
Preferably, the wireless communication module includes Wi-Fi module or mobile network's module.
Preferably, the Lighting information includes the direction of sunlight.
Preferably, the water-bed shoal of fish information includes angle, the distance, movement side of the water-bed shoal of fish and described device
To movement velocity.
In the second aspect of the present invention, a kind of side of water-bed shoal of fish of device tracking using first aspect present invention is provided
Method, described device include the information acquisition module, the solar electrical energy generation module, the computing module, the steering module
With the propulsion die, the solar electrical energy generation module is described device power supply, which comprises
(1) the water-bed shoal of fish information and Lighting information of tracking are acquired in real time by the information acquisition module；
(2) by the computing module, the predicted motion rail of described device is calculated in real time based on the water-bed shoal of fish information
Mark calculates the prediction steering angle of described device so that the solar energy to track the shoal of fish, and based on the Lighting information
Electricity generation module is against sun light direction；
(3) the prediction steering angle based on described device drives the steering module, to be realized by the steering module
The steering of described device；
(4) propulsion die described in the predicted motion Track fusion based on described device, to be promoted by the propulsion die
Described device movement.
Preferably, in (4), the propulsion die is driven, including turns to the propulsion die, and make the propulsion
Module is forward.
Preferably, in (1), the bottom shoal of fish information is acquired by photographic device, and the Lighting information optical flame detector is adopted
Collection.
Preferably, in (1), believed by the water-bed shoal of fish that one or more information acquisition modules acquire tracking in real time
Breath and Lighting information.
Preferably, in (1), the information acquisition module includes photographic device and optical sensor.
Preferably, in (1), it further includes the image to the shoal of fish that the bottom shoal of fish information, which includes the image of the shoal of fish,
It is identified.
Preferably, in (4), the propulsion die is rotatably arranged in the bottom part body.
Preferably, in (3), there are two the steering modules, adjust separately the main body turn to clockwise and counterclockwise
It turns to.
Preferably, the method also includes (5) is transmitted to the water-bed shoal of fish information in data by wireless telecommunications
The heart, such as cloud center.
Preferably, the wireless telecommunications include being carried out by Wi-Fi or mobile network.
Preferably, in (1), the Lighting information includes the direction of sunlight.
Preferably, in (1), the bottom shoal of fish information include the angle of the water-bed shoal of fish and described device, distance,
The direction of motion, movement velocity.
Device and method for water-bed shoal of fish tracking of the invention identify and track the shoal of fish by acquisition shoal of fish information,
Realize the life process and growth course of the long-term uninterrupted recording shoal of fish.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of the device for water-bed shoal of fish tracking of the invention；
Fig. 2 is the flow diagram of one embodiment of the method for water-bed shoal of fish tracking of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in the picture) between each component relative positional relationship,
Motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill
Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of case is not present, also not the present invention claims protection scope within.
Fig. 1 shows a kind of structural schematic diagram of one embodiment of device for the tracking of the water-bed shoal of fish.Such as Fig. 1 institute
Show, described device includes main body 1, solar electrical energy generation module 2, information acquisition module 3, steering module 6, propulsion die 8 and calculates
Module 4.
In Fig. 1, the main body 1 is the seal of waterproof, to avoid internal components by water destruct.The main body 1 has
Upper and lower part, working condition in water are that top is upward, and lower part is downward.This can be by suitably arranging the component of main body to arrange
Cloth conveniently realizes.
In Fig. 1, the information acquisition module 3 is located at 1 top of main body, for acquiring water-bed shoal of fish information and illumination
Information.The information acquisition module 3 can be one or more.For example, the information acquisition module 3 includes photographic device and light
Sensor, photographic device is for acquiring water-bed shoal of fish information, and optical sensor is for acquiring Lighting information, such as the side of sunlight
To.Optical sensor can there are three or more, be distributed in 1 top of main body, may be implemented pair by multiple optical sensors
The positioning of sun light direction.The information of the bottom shoal of fish includes the angle, distance and the direction of motion with described device, movement speed
Degree.In an example, the water-bed shoal of fish information includes the image of the shoal of fish, further includes knowing to the image of the shoal of fish
Not.Therefore, the information acquisition module 3 can be configured to carry out image recognition.By image recognition can to tracking the shoal of fish into
Streak feature or size, the quantative attribute of some or multiple fishes in the identification of row feature, such as the identification shoal of fish, to reduce tracking
A possibility that wrong shoal of fish.In a preferred example, label can be had with one or more fishes in the shoal of fish, with
Facilitate and is identified.For example, the research for the specific shoal of fish, if having ready conditions can be done with one or more fishes it is special
Icon indicia, or fish tape is made to have fluorescence.Photographic device can also there are three or more, be distributed in 1 top of main body, with
Realize that each direction of motion transformation of the shoal of fish can be monitored the shoal of fish.Such as the shoal of fish and the sun position is opposite or phase
It is right.
In Fig. 1, the solar electrical energy generation module 2 is located at 1 top of main body for converting light energy into electric energy and is
Described device is powered.In general, in order to reduce cost and be 3 vacating space of information acquisition module, the solar energy
Battery is installed only at half or the one third part on 1 top of main body.In an example, the solar electrical energy generation module
2 solar panel is not continuously, to be divided into two parts or three parts, the information acquisition module 3 is provided between part,
Such as photographic device and/or optical sensor.
In an example, described device further includes rechargeable battery 7, for storing the solar electrical energy generation module 2
Electric energy, and do not generate electricity in the solar electrical energy generation module 2 or when generation deficiency, power for described device.
In Fig. 1, the computing module 4 is located inside the main body 1, calculates institute in real time based on the water-bed shoal of fish information
The predicted motion track of device is stated to track the shoal of fish, and turn to based on the prediction that the Lighting information calculates described device
Amplitude so that the solar electrical energy generation module 2 against sun light direction.The shoal of fish is movement, described in order to track the shoal of fish
Device needs are moved with the movement of the shoal of fish, computing module 4 according to the information of the water-bed shoal of fish, such as with described device
Angle, distance and the direction of motion, movement velocity.By the steering angle and movement velocity of these adjustable main bodys 1, with
Suitable distance is kept with the water-bed shoal of fish.The Lighting information includes the direction of sunlight, and the direction of sunlight can lead to
Cross optical sensor acquisition, the direction of determination sunlight that can be more accurate by two or more optical sensors, with generally with
The direction of the main body 1 is adjusted, so that the solar electrical energy generation module 2 is against sun light direction.
In Fig. 1, the steering module 6 is located at 1 middle part of main body, for the prediction steering angle based on described device
The main body 1 is driven to turn to.In the preferred embodiment, there are two the steering modules 6, the main body 1 is adjusted separately clockwise
It turns to and turns to counterclockwise.The steering module 6 can use paddle, generate power by the rotation of slurry.
In Fig. 1, the propulsion die 8 is located in the main body 1, pushes away for the predicted motion track based on described device
It is moved into the main body 1.The propulsion die 8 can be one or more, such as 2 as illustrated in the drawing.The propulsion module
Block 8 can use paddle, generate power by the rotation of slurry.The propulsion die 8 is rotatably arranged in 1 bottom of main body.
In an example, the propulsion die 8 can turn to, i.e., rotate around with the connecting rod 81 of main body 1, to realize in the main body
1 towards in the case where constant, and direction of motion variation neither changes the solar electrical energy generation module 2 and receives to sunlight, and energy
The direction of motion is adjusted according to the variation of the shoal of fish.
In the preferred embodiment, described device further includes wireless communication module 5, is located inside the main body 1, is used for institute
It states water-bed shoal of fish information and is transmitted to data center, such as cloud center.In an example, the wireless communication module includes Wi-
Fi module or mobile network's module.
Fig. 2 is the flow diagram of one embodiment of the method S100 for water-bed shoal of fish tracking of the invention.For
The method S100 of water-bed shoal of fish tracking can be realized by the device shown in fig. 1 for water-bed shoal of fish tracking.It is described to be used for water
The method S100 of ground fish group's tracking includes: the water-bed shoal of fish letter of (S110) by the acquisition tracking in real time of information acquisition module 3
Breath and Lighting information；(S120) by the computing module 4, the pre- of described device is calculated based on the water-bed shoal of fish information in real time
Motion profile is surveyed to track the shoal of fish, and the prediction steering angle of described device is calculated so that institute based on the Lighting information
Solar electrical energy generation module is stated against sun light direction；(S130) the prediction steering angle based on described device drives the steering mould
Block, to realize the steering of described device by the steering module；(S140) the predicted motion Track fusion based on described device
The propulsion die, to promote described device movement by the propulsion die.
In S110, water-bed shoal of fish information can be acquired by one or more information acquisition modules 3 and illumination is believed
Breath.For example, the information acquisition module 3 includes photographic device and optical sensor, photographic device is used to acquire water-bed shoal of fish information,
Optical sensor is for acquiring Lighting information, such as the direction of sunlight.Optical sensor can there are three or more, be distributed in institute
1 top of main body is stated, the positioning to sun light direction may be implemented by multiple optical sensors.It is described the bottom shoal of fish information include
With the angle, distance and the direction of motion of described device, movement velocity.In an example, the water-bed shoal of fish information includes fish
The image of group, further includes identifying to the image of the shoal of fish.Therefore, the information acquisition module 3 can be configured to carry out
Image recognition.Some in feature identification, such as the identification shoal of fish or multiple fishes can be carried out to the tracking shoal of fish by image recognition
Streak feature or size, quantative attribute, thus a possibility that reducing the tracking wrong shoal of fish.It is described in a preferred example
It can be identified with one or more fishes in the shoal of fish with label with facilitating.For example, the research for the specific shoal of fish,
If special icon indicia can be done with one or more fishes by having ready conditions, or fish tape is made to have fluorescence.Photographic device
Can there are three or more, be distributed in 1 top of main body, with realize the shoal of fish each direction of motion transformation can be to fish
Group is monitored.Such as the position of the shoal of fish and the sun is opposite or opposite.
In S120, the computing module 4 is located inside the main body 1, is calculated in real time based on the water-bed shoal of fish information
The predicted motion track of described device is turned to track the shoal of fish, and based on the prediction that the Lighting information calculates described device
To amplitude so that the solar electrical energy generation module is against sun light direction.The shoal of fish is movement, described in order to track the shoal of fish
Device needs are moved with the movement of the shoal of fish, computing module 4 according to the information of the water-bed shoal of fish, such as with described device
Angle, distance and the direction of motion, movement velocity.By the steering angle and movement velocity of these adjustable main bodys 1, with
Suitable distance is kept with the water-bed shoal of fish.The Lighting information includes the direction of sunlight, and the direction of sunlight can lead to
Cross optical sensor acquisition, the direction of determination sunlight that can be more accurate by two or more optical sensors, with generally with
The direction of the main body 1 is adjusted, so that the solar electrical energy generation module 2 is against sun light direction.
In S130, the steering module 6 is located at 1 middle part of main body, turns to width for the prediction based on described device
Degree drives the main body 1 to turn to.In the preferred embodiment, there are two the steering modules 6,1 up time of main body is adjusted separately
Needle is turned to and is turned to counterclockwise.The steering module 6 can use paddle, generate power by the rotation of slurry.
In S140, drive the propulsion die, including turn to the propulsion die, and make the propulsion die to
Before.The propulsion die 8 can be one or more, such as 2 as illustrated in the drawing.The propulsion die 8 can use paddle,
Power is generated by the rotation of slurry.The propulsion die 8 is rotatably arranged in 1 bottom of main body.In an example, institute
Stating propulsion die 8 can turn to, i.e., around with the rotation of the connecting rod 81 of main body 1, to realize in the main body 1 towards constant situation
Under, direction of motion variation neither changes the solar electrical energy generation module 2 and receives to sunlight, and can be according to the variation of the shoal of fish
Adjust the direction of motion.
In the preferred embodiment, described device further includes wireless communication module 5, is located inside the main body 1, is used for institute
It states water-bed shoal of fish information and is transmitted to data center, such as cloud center.In an example, the wireless communication module includes Wi-
Fi module or mobile network's module.
In the preferred embodiment, the method also includes by wireless telecommunications, the water-bed shoal of fish information is transmitted to number
According to center, such as cloud center.The wireless telecommunications may include being carried out by Wi-Fi or mobile network.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of device for the tracking of the water-bed shoal of fish, it is characterised in that: described device includes main body, and:
Information acquisition module, the information acquisition module is located at the body top, for acquiring water-bed shoal of fish information and illumination
Information；
Solar electrical energy generation module, the solar electrical energy generation module are located at the body top for converting light energy into electric energy and are
Described device is powered；
Computing module, the computing module are located at the body interior, calculate the dress in real time based on the water-bed shoal of fish information
The predicted motion track set is to track the shoal of fish, and the prediction steering angle of described device is calculated based on the Lighting information
So that the solar electrical energy generation module is against sun light direction；
Steering module, the steering module are located in the middle part of the main body, for the prediction steering angle driving based on described device
The main body turns to；
Propulsion die, the propulsion die are located in the main body, promote institute for the predicted motion track based on described device
State bulk motion.
2. device as described in claim 1, it is characterised in that: the information acquisition module is one or more.
3. device as claimed in claim 1 or 2, it is characterised in that: the information acquisition module includes that photographic device and light pass
Sensor.
4. device as claimed in claim 1 or 2, it is characterised in that: the information acquisition module is also configured to carry out image knowledge
Not.
5. device as claimed in claim 1 or 2, it is characterised in that: described device further includes rechargeable battery, for storing
It states the electric energy of solar electrical energy generation module, and does not generate electricity in the solar electrical energy generation module or when generation deficiency, supplied for described device
Electricity.
6. device as claimed in claim 1 or 2, it is characterised in that: the propulsion die is rotatably arranged in the main body
Bottom.
7. device as claimed in claim 1 or 2, it is characterised in that: there are two the steering modules, adjusts separately the main body
It turns to and turns to counterclockwise clockwise.
8. device as claimed in claim 1 or 2, it is characterised in that: described device further includes wireless communication module, is used for institute
It states water-bed shoal of fish information and is transmitted to data center, such as cloud center；The wireless communication module preferably includes Wi-Fi module or shifting
Dynamic network module.
9. device as claimed in claim 1 or 2, it is characterised in that: the Lighting information includes the direction of illumination；The bottom
Shoal of fish information includes angle, distance, the direction of motion of the water-bed shoal of fish and described device, movement velocity.
10. a kind of method that the device using any one of according to claim 1-9 tracks the water-bed shoal of fish, it is characterised in that: described
Method includes:
(1) the water-bed shoal of fish information and Lighting information of tracking are acquired in real time by the information acquisition module；
(2) by the computing module, based on the water-bed shoal of fish information calculate in real time the predicted motion track of described device with
The shoal of fish is tracked, and the prediction steering angle of described device is calculated so that the solar power generation based on the Lighting information
Module is against sun light direction；
(3) the prediction steering angle based on described device drives the steering module, described in being realized by the steering module
The steering of device；
(4) propulsion die described in the predicted motion Track fusion based on described device, described in being promoted by the propulsion die
Device movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910413219.7A CN110127010A (en) | 2019-05-17 | 2019-05-17 | A kind of device and method for the tracking of the water-bed shoal of fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910413219.7A CN110127010A (en) | 2019-05-17 | 2019-05-17 | A kind of device and method for the tracking of the water-bed shoal of fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110127010A true CN110127010A (en) | 2019-08-16 |
Family
ID=67575033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910413219.7A Withdrawn CN110127010A (en) | 2019-05-17 | 2019-05-17 | A kind of device and method for the tracking of the water-bed shoal of fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110127010A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111833203A (en) * | 2020-07-15 | 2020-10-27 | 上海览宋科技有限公司 | Fish shoal monitoring device |
-
2019
- 2019-05-17 CN CN201910413219.7A patent/CN110127010A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111833203A (en) * | 2020-07-15 | 2020-10-27 | 上海览宋科技有限公司 | Fish shoal monitoring device |
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Application publication date: 20190816 |