CN115151132B - Fishing method, fishing device, fishing boat, fishing system, and readable storage medium - Google Patents

Fishing method, fishing device, fishing boat, fishing system, and readable storage medium Download PDF

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Publication number
CN115151132B
CN115151132B CN202280001466.6A CN202280001466A CN115151132B CN 115151132 B CN115151132 B CN 115151132B CN 202280001466 A CN202280001466 A CN 202280001466A CN 115151132 B CN115151132 B CN 115151132B
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fish
shoal
mother ship
ship
throwing
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CN115151132A (en
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陈观富
刘章华
万小康
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Guangdong ePropulsion Technology Co Ltd
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Guangdong ePropulsion Technology Co Ltd
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
    • A01K79/02—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery by electrocution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/14—Fishing vessels
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Animal Husbandry (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)

Abstract

The embodiment of the application discloses a fishing method, a fishing device, a fishing boat, a fishing system and a storage medium. The method is applied to a son boat in a fishing system, the fishing system comprises the son boat and a mother boat, and the fishing method comprises the following steps: detecting fish shoals in a preset water area; under the condition that the fish shoals are detected, putting fish shoals clustering substances into the detected fish shoals; and sending the detection result of the shoal of fish to the mother ship so that the mother ship can carry out fishing operation on the shoal of fish based on the detection result.

Description

Fishing method, fishing device, fishing boat, fishing system, and readable storage medium
Technical Field
The application relates to the technical field of fishing, in particular to a fishing method, a fishing device, a fishing boat, a fishing system and a readable storage medium.
Background
When fishing, a fisher usually uses the fishing experience accumulated for many years to distinguish which water areas possibly have more fish shoals, and then opens the ship into the corresponding water area for fishing during fishing.
In the related art, a fishing sonar can be provided on a fishing boat, when the fishing boat sails on water, the fishing sonar detects and searches a fish shoal in real time, and when the fish shoal is searched and the position of the fish shoal is determined, the fishing boat is driven to a corresponding position, so that fishing is performed. However, for large ocean-going fishing vessels, the way of equipping them with fishing sonar for shoal fishing is inefficient.
Disclosure of Invention
The application provides a fishing method, a fishing device, a fishing boat, a fishing system and a readable storage medium, which are used for solving the problem of low fishing efficiency of a fish shoal in the related art and effectively improving the fishing operation efficiency of a boat.
In a first aspect, an embodiment of the present application provides a fishing method applied to a sub-ship in a fishing system, the fishing system including the sub-ship and a mother ship, the fishing method including:
detecting fish shoals in a preset water area;
under the condition that the fish shoal is detected, putting a fish shoal clustering substance into the detected fish shoal;
and sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result.
In a second aspect, embodiments of the present application also provide a fishing device, the device comprising:
the fish shoal detection module is used for detecting fish shoals in a preset water area range;
the fish swarm clustering material throwing module is used for throwing the detected fish swarm clustering material under the condition that the fish swarm is detected;
and the detection result sending module is used for sending the detection result of the shoal of fish to a mother ship so that the mother ship can carry out fishing operation on the shoal of fish based on the detection result.
In a third aspect, an embodiment of the present application further provides a fishing vessel, the fishing vessel comprising: the device comprises a detection device, a fish swarm clustering material throwing device and a communication module; wherein,
the detection device is used for detecting fish shoals in a preset water area range;
the shoal clustering material throwing device is used for throwing the shoal clustering material to the detected shoal under the condition that the shoal is detected;
the communication module is used for sending the detection result of the fish shoal to a mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result.
In a fourth aspect, embodiments of the present application also provide a fishing system, comprising: the ship comprises a mother ship and a child ship, wherein the child ship is detachably mounted on the mother ship; wherein,
the child ship is used for detecting the fish shoals in the range of the preset water area, sending the detection result of the fish shoals to the mother ship under the condition that the fish shoals are detected, and throwing the fish shoals clustering materials into the detected fish shoals;
the mother ship is used for receiving the detection result sent by the child ship and carrying out fishing operation on the shoal of fish based on the detection result.
In a fifth aspect, an embodiment of the present application further provides another fishing method applied to a fishing system, the fishing system including a mother ship and a son ship, the fishing method including:
The boat detects fish shoals in a preset water area;
under the condition that the fish shoal is detected, the boat carries out fish shoal clustering material throwing on the detected fish shoal;
the son ship sends the detection result of the fish shoal to the mother ship;
and the mother ship receives the detection result and carries out fishing operation on the fish shoals based on the detection result.
In a sixth aspect, embodiments of the present application further provide a computer readable storage medium storing computer instructions for causing a processor to execute the fishing method according to any of the embodiments of the present application.
According to the technical scheme, in the process that the mother ship waits for fishing the fish shoals, the son ship detects the fish shoals, and the fish shoals are thrown in the fish shoals, so that the fish shoals are kept in the preset range, the mother ship is convenient to catch, the problem that the fish shoals are low in catching efficiency in the related art is solved, and the efficiency of ship fishing operation is effectively improved.
Drawings
Fig. 1 is a flow chart of a fishing method provided according to an embodiment of the present application;
FIG. 2 is a flow chart of another fishing method provided in accordance with an embodiment of the present application;
Fig. 3 is a schematic structural view of a fishing device according to an embodiment of the present application;
FIG. 4 is a schematic view of a fishing vessel according to an embodiment of the present application;
fig. 5 is a schematic structural view of a fishing system according to an embodiment of the present application;
fig. 6 is a schematic flow chart of another fishing method according to an embodiment of the application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described in the following with reference to the accompanying drawings, in which the described embodiments are only some embodiments of the present application, and not all embodiments.
Fig. 1 is a schematic flow chart of a fishing method according to an embodiment of the present application, where the embodiment of the present application is suitable for fishing in a water area using a fishing vessel, the method may be performed by a fishing device, and the device may be implemented in a form of software and/or hardware, and optionally, implemented by an electronic device, where the electronic device may be a ship, a mobile terminal, a PC terminal, a server, or the like.
As shown in fig. 1, a sub-ship in a fishing system of a fishing method. The fishing system comprises a mother ship and the son ship. The fishing method comprises the following steps:
S110, detecting the shoal of fish in the range of the preset water area.
The mother ship is a fishing ship capable of being mounted on the mother ship, the son ship can be dismounted from the mother ship, and communication can be carried out between the mother ship and the son ship.
Specifically, the sub-ship can detect the fish shoal in the range of the preset water area through a fish shoal detection device arranged on the sub-ship; for example, fish shoal is detected by using a fish sonar. In this embodiment, the body of water may include, but is not limited to, a pond for artificial culture, the ocean, and the like. The preset water area can be actually set according to the detection range of the sonar, for example, the range of 1000 meters. Optionally, the son boat may perform detection of the fish shoal by itself, or may perform detection of the fish shoal after receiving a detection instruction sent by the mother boat, which is not limited in this embodiment.
And S120, under the condition that the fish shoal is detected, putting a fish shoal clustering material into the detected fish shoal.
In the embodiment of the application, the detection result of the shoal detection device arranged on the boat is received. Specifically, the detection result can be automatically fed back when the fish shoal is detected; the feedback of the detection result can be performed at intervals of preset time, and the detection result can include but is not limited to not detecting the fish shoal and detecting the fish shoal. Of course, the detection result of the fish shoal may be received in other forms, which is not limited in this embodiment.
In this embodiment, the fish swarm clustering material may be understood as a material that gathers fish swarms together, and specifically, the fish swarm clustering material may include, but is not limited to, ingestion pheromones, safety pheromones, fish food and the like; the ingestion pheromone can be understood as a steroid substance with special smell secreted by fish in the body during eating, and the fish with long distance around can track the smell of the ingestion pheromone secreted by the fish after smelling the smell of the ingestion pheromone secreted by the fish, so that the fish can gather together for fishing conveniently. The safety pheromone can be understood as a steroid substance with special smell released by fishes in a self-considered safe and comfortable area, and the fishes can be gathered together conveniently after the nearby congeners smell the smell of the safety pheromone.
Optionally, the detection result comprises the type of fish in the fish school; correspondingly, the method for throwing the fish shoal clustering material into the detected fish shoal comprises the following steps: determining a fish school cluster material of a target type based on the species; throwing a target type fish swarm clustering material; and/or the detection result comprises the number of fish in the fish school; correspondingly, the method for throwing the fish shoal clustering material into the detected fish shoal comprises the following steps: and determining the throwing amount of the shoal clustered materials based on the quantity, and throwing the shoal clustered materials in the throwing amount.
Specifically, under the condition that the fish shoal is detected, information such as the type of fish and the number of fish of the detected fish shoal is obtained based on the detection result, and fish shoal clustering material is put into the detected fish shoal based on the information such as the type and the number of fish, so that the fish shoal is better maintained in a preset range.
And S130, sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result.
In the embodiment of the application, after the detection result is sent to the mother ship, the position of the mother ship can be obtained, and the son ship is sailed to the mother ship based on the position of the mother ship, so that the mother ship carries out fishing operation on the fish shoal based on the detection result; of course, the parent ship can also sail to the shoal of fish based on the position of the shoal of fish in the detection result without moving at the current position, so as to carry out fishing operation on the shoal of fish. Naturally, on the basis of the above embodiment, the shoal may be caught by the boat itself, and the present embodiment is not limited to how to catch the shoal.
The step of throwing the fish shoal cluster material into the detected fish shoal and the step of transmitting the detection result of the fish shoal to the mother ship are not limited in execution sequence, and may be executed simultaneously or sequentially.
It can be understood that the ocean fishing vessel is provided with sonar for the mode of fishing fish shoal, and the ocean fishing vessel needs to navigate to a plurality of positions of the water area to detect the fish shoal, so that more energy sources are needed to be consumed; in addition, ocean-going fishing vessels are often of a large size and high tonnage, so that the ocean-going fishing vessels are limited in speed and mobility, and the fish shoal may have been moved during the time from when the fish boat detects the fish shoal to when the fish boat sails to where the fish shoal is located to catch the fish shoal. In summary, the above two factors can be seen that the fishing operation efficiency of the mode of providing sonar on the ocean fishing vessel for fishing fish shoals is low. In the technical scheme of the embodiment of the application, in the process of waiting for fishing the shoal by the mother ship, the shoal is detected by the son ship, and the shoal clustering material is put into the detected shoal, so that the shoal is kept within the preset range, thereby facilitating fishing by the mother ship.
Fig. 2 is a flowchart of another fishing method according to an embodiment of the present application, where, based on any one of the optional technical solutions of the embodiments of the present application, the detection result includes a shoal position of a shoal, and the shoal cluster material is put into the detected shoal, including step S220 and step S230.
Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein. Referring to fig. 2, the fishing method provided in this embodiment specifically includes:
s210, detecting the shoal of fish in the range of the preset water area.
And S220, receiving the position of the mother ship sent by the mother ship under the condition that the fish shoal is detected, and determining the distance between the mother ship and the fish shoal based on the position of the mother ship and the position of the fish shoal.
S230, determining a throwing parameter of throwing of the shoal of fish cluster substances based on the distance, and throwing the shoal of fish cluster substances to the detected shoal of fish based on the throwing parameter.
S240, sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result.
In the embodiment of the application, the throwing parameters comprise throwing frequency, and correspondingly, the throwing parameters for throwing the fish swarm clustering substances are determined based on the distance, and the method comprises the following steps: receiving the navigational speed of the mother ship sent by the mother ship; determining a mother ship moving time of the mother ship based on the distance and the voyage speed of the mother ship; determining a release frequency based on the movement time of the mother ship; correspondingly, the method for throwing the fish shoal clustering substances into the detected fish shoals based on the throwing parameters comprises the following steps: in the sailing process of the mother ship, throwing in the shoal of fish clustering materials at a throwing frequency; correspondingly, sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result, and the method comprises the following steps: and sending the shoal position to the mother ship so as to enable the mother ship to move to the shoal position for fishing.
Specifically, when the mother ship receives information sent by the son ship under the condition that the son ship sends the detection result of the fish shoal to the mother ship, the mother ship can send the current position of the mother ship to the son ship and directly drive to the position reported by the son ship to perform operation. And during the period from the position of the mother ship when receiving the information to the position reported by the son ship, the son ship is kept at the position of the shoal of fish, and a shoal of fish clustering material is put into the water, so that the shoal of fish is always kept near the position of the son ship. Specifically, after the son ship receives the information fed back by the mother ship, the distance between the mother ship and the fish farm can be calculated based on the position information of the mother ship and the position information of the fish farm, and the time required for the mother ship to reach the position of the fish farm can be further calculated. And then, calculating the throwing frequency of the shoal of fish cluster substances based on the time, and throwing the shoal of fish cluster substances according to the calculated throwing frequency so as to ensure that the shoal of fish keeps moving nearby the boat. The mother ship directly runs to the position reported by the child ship for operation.
Optionally, on the basis of the foregoing embodiment, the throwing parameter includes a throwing frequency, and correspondingly, determining a throwing parameter of throwing the fish swarm cluster material based on the distance, and further includes: acquiring the boat speed of a boat; determining a ship movement time of the ship based on the distance and the ship speed; determining a launch frequency based on the vessel movement time; correspondingly, the method for throwing the fish shoal clustering substances into the detected fish shoals based on the throwing parameters comprises the following steps: in the sailing process of the boat, throwing in the shoal clustering materials at a throwing frequency; correspondingly, sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result, and the method comprises the following steps: and sending information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
Specifically, when the mother ship receives information sent by the son ship under the condition that the son ship sends the detection result of the fish shoal to the mother ship, the current position of the mother ship can be sent to the son ship, after the son ship receives feedback of the mother ship, the mother ship starts to return to the position of the mother ship, and fish shoal clustering materials are put into water in the return process, so that the fish shoals are attracted to the position of the mother ship, and the mother ship can work. Specifically, after the son boat receives information fed back by the mother boat, the distance between the mother boat and the shoal of fish can be calculated based on the position information of the mother boat and the position information of the shoal of fish, the time required for the son boat to reach the position of the mother boat is further calculated, then the throwing frequency of the shoal of fish clustering substances is calculated based on the time, and the throwing of the shoal of fish clustering substances is carried out according to the calculated throwing frequency, so that the shoal of fish is ensured to move nearby the son boat.
On the basis of the above embodiments, the detection result includes the number of fish in the fish shoal; correspondingly, the fishing method further comprises the following steps: judging whether the number is larger than a preset number threshold value or not; correspondingly, the method for throwing the fish shoal clustering material into the detected fish shoal comprises the following steps: when the number is larger than a preset number threshold, throwing a shoal clustering material into the shoal in the sailing process of the mother ship; correspondingly, sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result, and the method comprises the following steps: and sending the shoal position of the shoal to the mother ship so as to enable the mother ship to move to the shoal position for fishing.
Specifically, under the condition that the fish shoal is detected, determining the number of the detected fish, and if the number of the fish is larger than a preset number threshold value, controlling the mother ship to sail to the position where the fish shoal is located for fishing. Specifically, when the mother ship receives information sent by the son ship, the current position of the mother ship can be sent to the son ship, after the son ship receives the information, the distance between the mother ship and the fish shoal is calculated based on the current position of the mother ship and the position of the fish shoal, the time required for the mother ship to reach the position of the fish shoal is further calculated, then the throwing frequency of the fish shoal clustering materials is calculated based on the time, and the throwing of the fish shoal clustering materials is carried out according to the calculated throwing frequency, so that the fish shoal is ensured to always keep moving nearby the son ship. Therefore, when the number of the fishes is large, the mother ship moves to the position where the fish shoal is located to catch the fishes, so that the catching number is ensured.
Optionally, on the basis of the above embodiments, when the number is smaller than a preset number threshold, putting a shoal cluster material into the shoal during sailing of the boat; correspondingly, sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result, and the method comprises the following steps: and sending information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
Specifically, if the number of fish is smaller than a preset number threshold, controlling the son boat to sail to the position of the mother boat, and fishing the detected fish shoal based on the mother boat. Specifically, after the son boat receives information fed back by the mother boat, the distance between the mother boat and the shoal of fish can be calculated based on the position information of the mother boat and the position information of the shoal of fish, the time required for the son boat to reach the position of the mother boat is further calculated, then the throwing amount and the throwing times (or the throwing distance intervals) of the shoal of fish clustering substances are calculated based on the time, and the throwing of the shoal of fish clustering substances is performed according to the calculated throwing amount and the throwing times (or the throwing distance intervals) so as to ensure that the shoal of fish continuously moves along with the son boat. Therefore, when the number of the fishes is small, the son ship guides the fish shoal to the position of the mother ship, and the mother ship catches the fishes, so that the fishes can be caught with lower energy consumption.
According to the technical scheme, in the process that the mother ship waits for fishing the fish shoal, the son ship sailing or the mother ship sailing is controlled, so that the detected fish shoal is fished, the problem of low fishing efficiency of the fish shoal in the related art is solved, and the fishing operation efficiency of the ship is effectively improved.
Fig. 3 is a schematic structural diagram of a fishing device according to an embodiment of the present application, where, as shown in fig. 3, the device includes: a fish shoal detection module 310, a fish shoal clustering material throwing module 320 and a detection result sending module 330; wherein,
the shoal detection module 310 is configured to detect a shoal in a preset water area;
the shoal clustering material throwing module 320 is configured to throw the shoal clustering material into the detected shoal when the shoal is detected;
and the detection result sending module 330 is configured to send the detection result of the fish shoal to the mother ship, so that the mother ship performs fishing operation on the fish shoal based on the detection result.
Based on the above embodiments, optionally, the detection result includes a shoal position of the shoal, and the shoal cluster material delivering module 320 includes:
the mother ship position receiving sub-module is used for receiving the mother ship position sent by the mother ship;
the distance determining submodule is used for determining the distance between the mother ship and the fish shoal based on the position of the mother ship and the position of the fish shoal;
the throwing parameter determining submodule is used for determining throwing parameters of throwing the fish swarm clustering substances based on the distance;
and the first throwing submodule is used for throwing the fish swarm clustering substances into the detected fish swarms based on the throwing parameters.
On the basis of the above embodiments, optionally, the delivery parameters include a delivery frequency, and the delivery parameter determining sub-module includes:
the mother ship navigational speed receiving unit is used for receiving the navigational speed of the mother ship sent by the mother ship;
the mother ship moving time determining unit is used for determining the mother ship moving time of the mother ship based on the distance and the navigational speed of the mother ship;
the first release frequency determining unit is used for determining release frequency based on the movement time of the mother ship;
correspondingly, the first delivery sub-module comprises:
the first throwing unit is used for throwing the shoal of fish clustering materials at throwing frequency in the sailing process of the mother ship;
correspondingly, the detection result sending module 330 includes:
and the first detection result sending submodule is used for sending the shoal of fish position to the mother ship so as to enable the mother ship to move to the shoal of fish position for fishing operation.
On the basis of the above embodiments, optionally, the delivery parameters include a delivery frequency, and the delivery parameter determining sub-module includes:
the ship navigation speed acquisition unit is used for acquiring the ship navigation speed of the ship;
a ship movement time determining unit for determining a ship movement time of the ship based on the distance and the ship speed;
the second release frequency determining unit is used for determining release frequency based on the movement time of the ship;
Correspondingly, the first delivery sub-module comprises:
the second throwing unit is used for throwing the shoal clustering materials at throwing frequency in the sailing process of the boat;
correspondingly, the detection result sending module 330 includes:
and the second detection result sending submodule is used for sending the information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
Based on the above embodiments, optionally, the detection result includes a type of fish in the fish farm; accordingly, the fish school cluster material delivery module 320 includes:
a fish school clustered material determination sub-module for determining a fish school clustered material of a target type based on the category;
and the second throwing submodule is used for throwing the target type of fish school clustering material.
On the basis of the above embodiments, optionally, the detection result includes the number of fish in the fish farm; accordingly, the fish school cluster material delivery module 320 includes:
the throwing amount determining submodule is used for determining throwing amount of the fish swarm clustering material based on the quantity;
and the third throwing submodule is used for throwing the fish swarm clustering material in a throwing amount.
On the basis of the above embodiments, optionally, the detection result includes the number of fish in the fish farm; correspondingly, the device also comprises:
The quantity judging module is used for judging whether the quantity is larger than a preset quantity threshold value or not;
accordingly, the fish school cluster material delivery module 320 includes:
the fourth throwing submodule is used for throwing fish shoal clustering substances into the fish shoals in the sailing process of the mother ship when the number is larger than a preset number threshold value;
correspondingly, the detection result sending module 330 includes:
and the third detection result transmitting submodule is used for transmitting the shoal position of the shoal to the mother ship so as to enable the mother ship to move to the shoal position for fishing operation.
Based on the above embodiments, optionally, the fish swarm cluster material delivering module 320 includes:
the fourth throwing unit is used for throwing the shoal clustering materials into the shoal in the sailing process of the boat when the number is smaller than a preset number threshold value;
correspondingly, the detection result sending module 330 includes:
and the fourth detection result sending submodule is used for sending the information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
According to the technical scheme, in the process that the mother ship waits for fishing the fish shoals, the son ship detects the fish shoals, and the fish shoals are thrown in the fish shoals, so that the fish shoals are kept in the preset range, the mother ship is convenient to catch, the problem that the fish shoals are low in catching efficiency in the related art is solved, and the efficiency of ship fishing operation is effectively improved.
The fishing device provided by the embodiment of the application can execute the fishing method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that each unit and module included in the above apparatus are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present application.
Fig. 4 is a schematic structural view of a fishing vessel according to an embodiment of the present application, which may be used for fishing in a water area. Referring to fig. 4, the fishing vessel includes: the device comprises a detection device 410, a fish swarm clustering material throwing device 420 and a communication module 430; wherein,
the detecting device 410 is used for detecting the shoal of fish in the range of the preset water area;
a fish swarm clustering material throwing device 420 for throwing the fish swarm clustering material to the detected fish swarm when the fish swarm is detected;
the communication module 430 is configured to send a detection result of the fish farm to the mother ship, so that the mother ship performs a fishing operation on the fish farm based on the detection result.
According to the technical scheme, in the process that the mother ship waits for fishing the fish shoals, the son ship detects the fish shoals, and the fish shoals are thrown in the fish shoals, so that the fish shoals are kept in the preset range, the mother ship is convenient to catch, the problem that the fish shoals are low in catching efficiency in the related art is solved, and the efficiency of ship fishing operation is effectively improved.
Based on the above embodiments, the detection result includes a shoal location of the shoal. The communication module 430 is also used for receiving the mother ship position sent by the mother ship. The fishing vessel further comprises a processing circuit for determining a distance between the mother vessel and the shoal of fish based on the mother vessel position and the shoal of fish position and determining a delivery parameter for the delivery of the shoal of fish cluster material based on the distance. The shoal cluster material delivery device 420 is further configured to deliver the shoal cluster material to the detected shoal based on the delivery parameters.
On the basis of the above embodiments, optionally, the delivery parameters include a delivery frequency. The communication module 430 is also used for receiving the voyage speed of the mother ship sent by the mother ship. The processing circuit of the fishing vessel is also used for determining the movement time of the mother vessel based on the distance and the navigational speed of the mother vessel and determining the throwing frequency based on the movement time of the mother vessel. The shoal cluster material delivering device 420 is further configured to deliver the shoal cluster material at a delivering frequency during voyage of the mother ship. The communication module 430 is also used to send the shoal of fish location to the mother ship to move the mother ship to the shoal of fish location for fishing operations.
On the basis of the above embodiments, optionally, the delivery parameters include a delivery frequency. The fishing vessel also includes a navigational speed detector. The speed detector is used for acquiring the speed of the ship. The processing circuit of the fishing vessel is also used for determining the movement time of the boat based on the distance and the boat speed, and determining the throwing frequency based on the movement time of the boat. The shoal cluster material delivering device 420 is further configured to deliver the shoal cluster material at a delivering frequency during sailing of the boat. The communication module 430 is also used to send information to the mother ship that a fish is successfully detected, so that the mother ship is kept at the current position and waits for a fishing operation for the fish.
On the basis of the above embodiments, optionally, the detection result includes a kind of fish in the fish farm. The processing circuitry of the fishing vessel is also configured to determine a target type of fish school cluster material based on the type. The shoal cluster material delivery device 420 is also used for delivering a target type of shoal cluster material.
Based on the above embodiments, optionally, the detection result includes a number of fish in the fish farm. The processing circuit of the fishing vessel is also used for determining the throwing amount of the fish school clustering material based on the quantity. The shoal cluster material delivery device 420 is also used for delivering the shoal cluster material in a delivery amount.
Based on the above embodiments, optionally, the detection result includes a number of fish in the fish farm. The processing circuit of the fishing boat is also used for judging whether the number is larger than a preset number threshold value. The shoal cluster material delivering device 420 is further configured to deliver a shoal cluster material to the shoal during voyage of the mother ship when the number is greater than the preset number threshold. The communication module 430 is also used to send the shoal location of the shoal to the mother ship to move the mother ship to the shoal location for fishing.
Based on the above embodiments, optionally, the shoal cluster material delivering device 420 is further configured to deliver the shoal cluster material to the shoal during the sailing of the boat when the number is less than the preset number threshold. The communication module 430 is also used to send information to the mother ship that a fish is successfully detected, so that the mother ship is kept at the current position and waits for a fishing operation for the fish.
Fig. 5 is a schematic structural diagram of a fishing system according to an embodiment of the present application. As shown in fig. 5, the system includes: a mother ship 520 and a child ship 510, the child ship 510 being detachably loaded on the mother ship 520; wherein,
the boat 510 is configured to detect a fish school within a preset water area, send a detection result of the fish school to the mother boat 520 when the fish school is detected, and perform fish school clustering material throwing on the detected fish school;
the mother ship 520 is configured to receive the detection result sent by the child ship 510, and perform fishing operation on the fish shoals based on the detection result.
According to the technical scheme provided by the embodiment of the application, in the process that the mother ship 520 waits for fishing the fish shoals, the son ship 510 is firstly used for detecting the fish shoals, and the fish shoals are thrown in by the fish shoals, so that the fish shoals are kept within the preset range, the fishing of the mother ship 520 is facilitated, the problem of lower fishing efficiency of the fish shoals in the related art is solved, and the fishing operation efficiency of the ship is effectively improved.
Based on the above embodiments, optionally, the detection result includes a shoal location of the shoal. The mother ship 520 is also used to send the mother ship position to the child ship 510. The boat 510 is also configured to: receiving a mother ship position transmitted by the mother ship 520; determining a distance between the mother ship 520 and the shoal of fish based on the mother ship position and the shoal of fish position; determining a throwing parameter of throwing the fish school clustering material based on the distance; and carrying out fish swarm clustering material throwing on the detected fish swarms based on the throwing parameters.
On the basis of the above embodiments, optionally, the delivery parameters include a delivery frequency. The mother ship 520 is also used to send the mother ship's voyage speed to the child ship 510. The boat 510 is also configured to: receiving the voyage speed of the mother ship 520; determining a mother ship movement time of the mother ship 520 based on the distance and the mother ship navigational speed; determining a release frequency based on the movement time of the mother ship; during voyage of mother ship 520, fish school clustering material is thrown in at throwing frequency; the shoal location is sent to the mother ship 520. The mother vessel 520 is also used to receive and move to a shoal location for fishing operations.
On the basis of the above embodiments, optionally, the delivery parameters include a delivery frequency. The boat 510 is also configured to: acquiring the own boat speed of the child boat; determining a ship movement time of the ship 510 based on the distance and the ship speed; determining a launch frequency based on the vessel movement time; during sailing of the boat 510, shoal of fish cluster material is launched at a launch frequency; the information of successful detection of the fish school is sent to the mother ship 520. The mother ship 520 is also used for receiving the information of successfully detected shoal sent by the child ship 510 and keeping the information at the current position to wait for the fishing operation of the shoal.
On the basis of the above embodiments, optionally, the detection result includes a kind of fish in the fish farm. The boat 510 is also used to determine a target type of fish school cluster based on the type and to launch the target type of fish school cluster.
Based on the above embodiments, optionally, the detection result includes a number of fish in the fish farm. The boat 510 is also configured to determine an amount of the fish school clustered material to be administered based on the quantity, and administer the fish school clustered material in the amount to be administered.
Based on the above embodiments, optionally, the detection result includes a number of fish in the fish farm. The boat 510 is further configured to determine whether the number is greater than a preset number threshold, and when the number is greater than the preset number threshold, throw a shoal cluster material into the shoal during the sailing of the mother boat 520; the shoal location of the shoal is sent to the mother ship 520. The mother ship 520 is also used to receive the shoal location transmitted from the child ship 510 and move toward the shoal location to perform a fishing operation.
On the basis of the above embodiments, optionally, the boat 510 is further configured to put in a shoal of fish cluster material in the course of sailing of the boat 510 when the number is smaller than the preset number threshold, and send information of successfully detecting the shoal of fish to the mother boat 520. The mother ship 520 is also used for receiving the information of successfully detected shoal sent by the child ship 510 and keeping the current position to wait for the fishing operation of the shoal.
Fig. 6 is a flow chart of another fishing method provided by an embodiment of the present application, which may be performed by a fishing system including a mother vessel and a child vessel. As shown in fig. 6, the method includes:
S610, detecting fish shoals in a preset water area by a boat;
s620, under the condition that the fish shoal is detected, the boat carries out fish shoal clustering material throwing on the detected fish shoal;
s630, the son ship sends the detection result of the fish shoal to the mother ship;
s640, the mother ship receives the detection result and carries out fishing operation on the shoal of fish based on the detection result.
According to the technical scheme, in the process that the mother ship waits for fishing the fish shoals, the son ship detects the fish shoals, and the fish shoals are thrown in the fish shoals, so that the fish shoals are kept in the preset range, the mother ship is convenient to catch, the problem that the fish shoals are low in catching efficiency in the related art is solved, and the efficiency of ship fishing operation is effectively improved.
Based on the above embodiments, optionally, the detection result includes a shoal location of the shoal. The fishing method further comprises the following steps: the mother ship transmits the mother ship position to the child ship. The shoal carries out shoal clustering material throwing on the detected shoal by the boat, and the shoal clustering material throwing method comprises the following steps:
the mother ship position sent by the mother ship is received by the son ship;
the son ship determines the distance between the mother ship and the shoal of fish based on the position of the mother ship and the position of the shoal of fish;
the boat determines a throwing parameter of throwing the fish school clustering material based on the distance;
And the boat performs fish swarm clustering material throwing on the detected fish swarm based on the throwing parameters.
On the basis of the above embodiments, optionally, the delivery parameters include a delivery frequency. The fishing method further comprises the following steps: the mother ship transmits the speed of the mother ship to the child ship. Correspondingly, the sub-ship determines the throwing parameters of the shoal clustered material throwing based on the distance, and the method comprises the following steps:
the mother ship navigational speed sent by the mother ship is received by the son ship;
the method comprises the steps that a mother ship moving time of a mother ship is determined by a child ship based on distance and the navigational speed of the mother ship;
the child ship determines the release frequency based on the movement time of the mother ship;
correspondingly, the son boat carries out fish swarm clustering material throwing on the detected fish swarm based on throwing parameters, and the method comprises the following steps:
during the sailing process of the mother ship, the son ship puts in the fish school clustering material with the putting frequency;
correspondingly, the son ship transmits the detection result of the fish shoal to the mother ship, and the method comprises the following steps:
the son ship sends the shoal of fish position to the mother ship;
the mother ship receives the detection result and carries out fishing operation on the fish shoals based on the detection result, and the method comprises the following steps:
the mother ship receives the shoal of fish position and moves to the shoal of fish position to perform the fishing operation.
On the basis of the above embodiments, optionally, the throwing parameters include throwing frequency, and accordingly, the boat determines throwing parameters of throwing the fish school clustered materials based on the distance, and further includes:
The method comprises the steps that a ship obtains the ship navigational speed of the ship;
the method comprises the steps that a ship determines ship moving time of the ship based on distance and ship navigational speed;
the method comprises the steps that a ship determines a throwing frequency based on ship moving time;
correspondingly, the son boat carries out fish swarm clustering material throwing on the detected fish swarm based on throwing parameters, and the method comprises the following steps:
during the sailing process of the boat, the boat puts in the shoal of fish clustering materials at the putting frequency;
correspondingly, the son ship transmits the detection result of the fish shoal to the mother ship, and the method comprises the following steps:
the son ship sends the information of successfully detecting the fish shoal to the mother ship;
the mother ship receives the detection result and carries out fishing operation on the fish shoals based on the detection result, and the method comprises the following steps:
the mother ship receives the information of successfully detecting the fish shoal sent by the child ship and keeps the information at the current position to wait for fishing the fish shoal.
Based on the above embodiments, optionally, the detection result includes a type of fish in the fish farm; correspondingly, the son boat carries out fish swarm clustering material throwing on the detected fish swarm, and the method comprises the following steps:
the boat determines a fish school clustering material of a target type based on the type;
the boat delivers the shoal cluster material of the target type.
On the basis of the above embodiments, optionally, the detection result includes the number of fish in the fish farm; correspondingly, the son boat carries out fish swarm clustering material throwing on the detected fish swarm, and the method comprises the following steps:
The boat determines the throwing amount of the fish swarm clustering material based on the quantity;
the boat delivers the shoal of fish cluster material in a delivery amount.
On the basis of the above embodiments, optionally, the detection result includes the number of fish in the fish farm; correspondingly, the fishing method further comprises the following steps:
the method comprises the steps that a child ship judges whether the number is larger than a preset number threshold value or not;
correspondingly, the son boat carries out fish swarm clustering material throwing on the detected fish swarm, and the method comprises the following steps:
when the number is larger than a preset number threshold, putting shoal cluster materials into the shoal by the child ship in the sailing process of the mother ship;
correspondingly, the son ship transmits the detection result of the fish shoal to the mother ship, and the method comprises the following steps:
the son ship sends the shoal position of the shoal to the mother ship;
the mother ship receives the detection result and carries out fishing operation on the fish shoals based on the detection result, and the method comprises the following steps:
the mother vessel receives the shoal location and moves to the shoal location for a fishing operation.
On the basis of the above embodiments, optionally, the method for delivering the fish swarm clustering material to the detected fish swarm by the boat includes:
when the number is smaller than a preset number threshold, putting shoal clustering substances into the shoal by the boat during sailing of the boat;
correspondingly, the son ship transmits the detection result of the fish shoal to the mother ship, and the method comprises the following steps:
The son ship sends the information of successfully detecting the fish shoal to the mother ship;
the mother ship receives the detection result and carries out fishing operation on the fish shoals based on the detection result, and the method comprises the following steps:
the mother ship receives the information of successfully detecting the fish shoal sent by the child ship and keeps the information at the current position to wait for fishing the fish shoal.
Embodiments of the present application also provide a storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform the fishing method of any of the previous embodiments.
Optionally, the computer executable instructions, when executed by the computer processor, are operable to perform the following method of fishing applied to a sub-ship in a fishing system:
detecting fish shoals in a preset water area;
under the condition that the fish shoals are detected, putting fish shoals clustering substances into the detected fish shoals;
and sending the detection result of the shoal of fish to the mother ship so that the mother ship can carry out fishing operation on the shoal of fish based on the detection result.
Optionally, the computer executable instructions, when executed by the computer processor, are operable to perform the following fishing method applied to a fishing system:
controlling the boat to detect the fish shoal in the range of the preset water area;
under the condition that the fish shoal is detected, controlling the boat to put in a fish shoal clustering material to the detected fish shoal;
The son ship is controlled to send the detection result of the fish shoal to the mother ship;
and controlling the mother ship to receive the detection result and carrying out fishing operation on the fish shoals based on the detection result.
From the above description of embodiments, it will be clear to a person skilled in the art that the present application may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method of the embodiments of the present application.
It should be noted that, in the above-mentioned embodiments of the search apparatus, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.
Furthermore, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims (10)

1. A fishing method, wherein a sub-ship is applied in a fishing system comprising the sub-ship and a mother ship, the fishing method comprising:
detecting fish shoals in a preset water area;
under the condition that the fish shoal is detected, putting a fish shoal clustering substance into the detected fish shoal, wherein the fish shoal clustering substance comprises at least one of ingestion pheromone, safety pheromone and fish food;
transmitting the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result;
the detection result includes a shoal position of the shoal, and the shoal clustering material throwing is performed on the detected shoal, including:
receiving a mother ship position sent by the mother ship;
Determining a distance between the mother vessel and the shoal of fish based on the mother vessel location and the shoal of fish location;
determining a throwing parameter of throwing the shoal clustered materials based on the distance;
carrying out the fish swarm clustering material throwing on the detected fish swarm based on the throwing parameters;
wherein the delivery parameters include delivery frequency;
correspondingly, the determining the throwing parameters of the fish swarm clustering material throwing based on the distance comprises the following steps:
receiving the navigational speed of the mother ship sent by the mother ship;
determining a mother ship movement time of the mother ship based on the distance and the mother ship navigational speed;
determining the launch frequency based on the mother ship movement time;
correspondingly, the step of carrying out the fish swarm clustering material delivery on the detected fish swarm based on the delivery parameters comprises the following steps:
during the voyage of the mother ship, throwing the shoal of fish clustering material at the throwing frequency;
correspondingly, the sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result comprises the following steps:
sending the shoal of fish position to the mother ship so that the mother ship moves to the shoal of fish position for fishing operation;
Or determining the throwing parameter of throwing the fish school clustering material based on the distance, wherein the throwing parameter comprises the following steps:
acquiring the boat speed of the boat;
determining a boat movement time of the boat based on the distance and the boat speed;
determining the launch frequency based on the vessel movement time;
correspondingly, the step of carrying out the fish swarm clustering material delivery on the detected fish swarm based on the delivery parameters comprises the following steps:
during the sailing process of the boat, throwing the shoal cluster materials at the throwing frequency;
correspondingly, the sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result comprises the following steps:
and sending the information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
2. The method of claim 1, wherein the detection result comprises a type of fish in the fish school; correspondingly, the step of putting the detected fish shoals with fish shoal clustering substances comprises the following steps:
determining a fish school cluster material of a target type based on the species;
Throwing the shoal clustering material of the target type; and/or the number of the groups of groups,
the detection result comprises the number of fish in the fish school; correspondingly, the step of putting the detected fish shoals with fish shoal clustering substances comprises the following steps:
determining the throwing amount of the fish school clustering material based on the quantity;
and the fish school clustering material is put in the putting quantity.
3. A fishing apparatus, wherein a sub-ship is applied in a fishing system including the sub-ship and a mother ship, the fishing apparatus comprising:
the fish shoal detection module is used for detecting fish shoals in a preset water area range;
the fish swarm clustering material throwing module is used for throwing the detected fish swarm clustering material under the condition that the fish swarm is detected, wherein the fish swarm clustering material comprises at least one of ingestion pheromone, safety pheromone and fish food;
the detection result sending module is used for sending the detection result of the shoal of fish to the mother ship so that the mother ship can carry out fishing operation on the shoal of fish based on the detection result;
wherein, the detection result includes the shoal position of the shoal, and the shoal cluster substance delivery module includes:
The mother ship position receiving submodule is used for receiving the mother ship position sent by the mother ship;
a distance determination sub-module for determining a distance between the mother ship and the shoal of fish based on the mother ship position and the shoal of fish position;
the throwing parameter determining submodule is used for determining throwing parameters of throwing the shoal clustered materials based on the distance;
the first throwing submodule is used for throwing the fish swarm clustering substances into the detected fish swarms based on the throwing parameters;
wherein the delivery parameters include delivery frequency;
correspondingly, the delivery parameter determining submodule comprises:
the mother ship navigational speed receiving unit is used for receiving the navigational speed of the mother ship sent by the mother ship;
a mother ship moving time determining unit for determining a mother ship moving time of the mother ship based on the distance and the mother ship navigational speed;
the first launching frequency determining unit is used for determining the launching frequency based on the movement time of the mother ship;
correspondingly, the first delivery submodule comprises:
the first throwing unit is used for throwing the shoal cluster materials at the throwing frequency in the sailing process of the mother ship;
correspondingly, the detection result sending module comprises:
The first detection result sending submodule is used for sending the shoal of fish position to the mother ship so that the mother ship moves to the shoal of fish position to carry out fishing operation;
alternatively, the delivery parameter determination submodule includes:
a ship speed acquisition unit for acquiring the ship speed of the ship;
a boat movement time determining unit configured to determine a boat movement time of the boat based on the distance and the boat speed;
a second launch frequency determining unit for determining the launch frequency based on the boat movement time;
correspondingly, the first delivery submodule comprises:
the second throwing unit is used for throwing the shoal clustering substances at the throwing frequency in the sailing process of the boat;
correspondingly, the detection result sending module comprises:
and the second detection result sending submodule is used for sending the information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
4. A fishing vessel, wherein the fishing vessel is a sub-vessel in a fishing system comprising the sub-vessel and a parent vessel, the fishing vessel comprising: the device comprises a detection device, a fish swarm clustering material throwing device and a communication module; wherein,
The detection device is used for detecting fish shoals in a preset water area range;
the fish swarm clustering material throwing device is used for throwing the detected fish swarm clustering material under the condition that the fish swarm is detected, wherein the fish swarm clustering material comprises at least one of ingestion pheromone, safety pheromone and fish food;
the communication module is used for sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result;
wherein the detection result comprises a shoal position of the shoal; the communication module is also used for receiving the position of the mother ship sent by the mother ship; the fishing boat further comprises a processing circuit, wherein the processing circuit is used for determining the distance between the mother boat and the shoal of fish based on the position of the mother boat and the position of the shoal of fish, and determining the throwing parameter of throwing the shoal of fish cluster material based on the distance; the shoal clustering material throwing device is further used for throwing the detected shoal clustering material into the shoal based on the throwing parameters;
wherein the delivery parameters include delivery frequency;
the communication module is also used for receiving the voyage speed of the mother ship sent by the mother ship; the processing circuit of the fishing vessel is further used for determining a mother ship moving time of the mother ship based on the distance and the voyage speed of the mother ship and determining a throwing frequency based on the mother ship moving time; the shoal cluster material throwing device is also used for throwing the shoal cluster materials at the throwing frequency in the sailing process of the mother ship; the communication module is also used for sending the shoal position to the mother ship so as to enable the mother ship to move to the shoal position for fishing operation;
Alternatively, the fishing vessel further comprises a navigational speed detector; the navigational speed detector is used for acquiring the navigational speed of the sub-ship; the processing circuit of the fishing boat is also used for determining the boat moving time of the boat based on the distance and the boat speed, and determining the throwing frequency based on the boat moving time; the shoal cluster material throwing device is also used for throwing the shoal cluster materials at the throwing frequency in the sailing process of the boat; the communication module is also used for sending the information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
5. A fishing system, comprising: the ship comprises a mother ship and a child ship, wherein the child ship is detachably mounted on the mother ship; wherein,
the child ship is used for detecting a fish school in a preset water area, sending a detection result of the fish school to the mother ship when the fish school is detected, and throwing fish school clustering materials to the detected fish school, wherein the fish school clustering materials comprise at least one of ingestion pheromone, safety pheromone and fish food;
the mother ship is used for receiving the detection result sent by the child ship and carrying out fishing operation on the fish shoals based on the detection result;
Wherein the detection result comprises a shoal position of the shoal; the mother ship is also used for sending the mother ship position to the child ship; the boat is further configured to: receiving the mother ship position sent by the mother ship, determining the distance between the mother ship and the shoal of fish based on the mother ship position and the shoal of fish, determining the throwing parameter of throwing the shoal of fish clustering material based on the distance, and throwing the shoal of fish clustering material detected based on the throwing parameter;
wherein the delivery parameters include delivery frequency;
the mother ship is also used for sending the navigational speed of the mother ship to the child ship; the boat is further configured to: receiving the voyage speed of the mother ship sent by the mother ship, determining the movement time of the mother ship based on the distance and the voyage speed of the mother ship, determining the throwing frequency based on the movement time of the mother ship, throwing the fish school clustering material with the throwing frequency in the voyage process of the mother ship, and sending the fish school position to the mother ship; the mother ship is also used for receiving the shoal position and moving towards the shoal position so as to perform fishing operation;
alternatively, the boat is further configured to: acquiring the ship speed of a ship per se, determining the ship moving time of the ship based on the distance and the ship speed, determining the throwing frequency based on the ship moving time, throwing the fish swarm clustering material with the throwing frequency in the sailing process of the ship, and transmitting the information of successfully detecting the fish swarm to the mother ship; the mother ship is also used for receiving the information of successfully detecting the fish shoal sent by the child ship and keeping the information at the current position so as to wait for fishing the fish shoal.
6. A fishing method, wherein a sub-ship is applied in a fishing system comprising the sub-ship and a mother ship, the fishing method comprising:
detecting fish shoals in a preset water area;
under the condition that the fish shoal is detected, putting a fish shoal clustering substance into the detected fish shoal;
transmitting the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result;
wherein the detection result comprises the number of fish in the fish school; correspondingly, the fishing method further comprises the following steps:
judging whether the number is larger than a preset number threshold value or not;
correspondingly, the step of putting the detected fish shoals with fish shoal clustering substances comprises the following steps:
when the number is larger than the preset number threshold, throwing the shoal clustering material into the shoal in the sailing process of the mother ship;
correspondingly, the sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result comprises the following steps:
sending the shoal position of the shoal to the mother ship so as to enable the mother ship to move to the shoal position for fishing operation;
The step of putting the detected fish shoals with fish shoal clustering substances comprises the following steps:
when the number is smaller than the preset number threshold, throwing the shoal clustering material into the shoal in the sailing process of the boat;
correspondingly, the sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result comprises the following steps:
and sending the information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
7. A fishing apparatus, wherein a sub-ship is applied in a fishing system including the sub-ship and a mother ship, the fishing apparatus comprising:
the fish shoal detection module is used for detecting fish shoals in a preset water area range;
the fish swarm clustering material throwing module is used for throwing the detected fish swarm clustering material under the condition that the fish swarm is detected;
the detection result sending module is used for sending the detection result of the shoal of fish to the mother ship so that the mother ship can carry out fishing operation on the shoal of fish based on the detection result;
Wherein the detection result comprises the number of fish in the fish school; correspondingly, the fishing device further comprises:
the quantity judging module is used for judging whether the quantity is larger than a preset quantity threshold value or not;
correspondingly, the shoal cluster material delivery module comprises:
a fourth throwing submodule, configured to throw the shoal cluster material into the shoal during the voyage of the mother ship when the number is greater than the preset number threshold;
correspondingly, the detection result sending module comprises:
the third detection result sending submodule is used for sending the shoal position of the shoal to the mother ship so that the mother ship moves to the shoal position to carry out fishing operation;
a fish school clustering material delivery module comprising:
a fourth throwing unit, configured to throw the shoal cluster material into the shoal during the sailing of the boat when the number is smaller than the preset number threshold;
correspondingly, the detection result sending module comprises:
and the fourth detection result sending submodule is used for sending the information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
8. A fishing vessel, wherein the fishing vessel is a sub-vessel in a fishing system comprising the sub-vessel and a parent vessel, the fishing vessel comprising: the device comprises a detection device, a fish swarm clustering material throwing device and a communication module; wherein,
the detection device is used for detecting fish shoals in a preset water area range;
the shoal clustering material throwing device is used for throwing the shoal clustering material to the detected shoal under the condition that the shoal is detected;
the communication module is used for sending the detection result of the fish shoal to the mother ship so that the mother ship can carry out fishing operation on the fish shoal based on the detection result;
wherein the detection result comprises the number of fish in the fish school; the processing circuit of the fishing boat is used for judging whether the number is larger than a preset number threshold value or not; the shoal cluster substance throwing device is used for throwing the shoal cluster substance into the shoal in the sailing process of the mother ship when the number is larger than the preset number threshold value; the communication module is used for sending the shoal position of the shoal to the mother ship so as to enable the mother ship to move to the shoal position for fishing operation; the shoal cluster substance throwing device is further used for throwing the shoal cluster substance into the shoal in the sailing process of the boat when the number is smaller than the preset number threshold value; the communication module is also used for sending the information of successfully detecting the fish shoal to the mother ship so as to enable the mother ship to be kept at the current position and wait for fishing the fish shoal.
9. A fishing system, comprising: the ship comprises a mother ship and a child ship, wherein the child ship is detachably mounted on the mother ship; wherein,
the child ship is used for detecting the fish shoals in the range of the preset water area, sending the detection result of the fish shoals to the mother ship under the condition that the fish shoals are detected, and throwing the fish shoals clustering materials into the detected fish shoals;
the mother ship is used for receiving the detection result sent by the child ship and carrying out fishing operation on the fish shoals based on the detection result;
wherein the detection result comprises the number of fish in the fish school; the son ship is used for judging whether the number is larger than a preset number threshold value, and when the number is larger than the preset number threshold value, throwing the shoal of fish clustering material into the shoal of fish in the sailing process of the mother ship, and sending the shoal of fish position of the shoal of fish to the mother ship; the mother ship is used for receiving the shoal position sent by the child ship and moving to the shoal position to perform fishing operation; the son ship is further used for throwing the shoal cluster substances into the shoal and sending the information of successfully detecting the shoal to the mother ship in the sailing process of the son ship when the number is smaller than the preset number threshold value; the mother ship is also used for receiving the information sent by the child ship and successfully detecting the fish shoal, and keeping the information at the current position to wait for fishing the fish shoal.
10. A computer readable storage medium, wherein the computer readable storage medium stores computer instructions for causing a processor to perform the fishing method of any one of claims 1-2 and/or the fishing method of claim 6 when executed.
CN202280001466.6A 2022-05-25 2022-05-25 Fishing method, fishing device, fishing boat, fishing system, and readable storage medium Active CN115151132B (en)

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