CN115892399A - Intelligent fish egg collection and early resource amount monitoring and estimation device - Google Patents
Intelligent fish egg collection and early resource amount monitoring and estimation device Download PDFInfo
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- CN115892399A CN115892399A CN202211434680.9A CN202211434680A CN115892399A CN 115892399 A CN115892399 A CN 115892399A CN 202211434680 A CN202211434680 A CN 202211434680A CN 115892399 A CN115892399 A CN 115892399A
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Abstract
The invention discloses an intelligent fish egg collection and early resource amount monitoring and estimation device, which comprises a submersible, wherein a sensing module is arranged in front of the submersible and used for monitoring the running state of the submersible; the sensing module realizes the stable posture of the submersible, the submersible drives the fish egg collecting net cage to collect fish eggs at any specified water depth, the distribution rule of the early resource quantity of the lower layer of fish eggs in the river can be known, and the flexible, convenient and efficient fish egg collecting operation is realized; the current meter can record river hydrological characteristic parameters in real time in the roe collection process, the camera records roe collection process images in real time, and the roe collection box internal images are shot according to a set time interval, so that the roe density of any specified water depth position is evaluated, and more accurate estimation of early fish resource amount is facilitated.
Description
Technical Field
The invention relates to the technical field of monitoring of early resources of fishes, in particular to an intelligent fish egg collecting and early resource amount monitoring and estimating device.
Background
The ecological balance of the aquatic environment is influenced by the community structure change of the fishes, and the evaluation of the early resource quantity of the fishes is an important means for understanding the species composition and population scale of the fishes, and is helpful for guiding the development and utilization of fishery and the protection and restoration of an ecological system. The early life history of the fishes mainly comprises roe, larval fish and juvenile fish stages, and the resource quantity of the fishes is an important standard reflecting the breeding scale and population scale of the fishes.
The traditional collection of fish egg early resources can use an active net or a fixed net. The active net is mainly a plankton net, needs to be dragged by the ship body, and is suitable for collecting fish eggs and fish fries in still water lakes. The fixed net comprises a conical net, a jiang net, a fusiform net and the like, is fixed on the anchored ship body and is suitable for collecting fish eggs and fish fries in the river dry flow.
The method for sampling fish eggs in rivers generally comprises the steps of fixing a sampling point of a river section, selecting a proper collection net cage, and binding a cylindrical plastic barrel around the net cage to ensure that the net cage is suspended on the river. The time for collecting each time is 2-3 hours, and after the sampling is finished, the net cage needs to be fished manually, and then the samples are sorted and subpackaged.
The prior device for collecting fish eggs in rivers and monitoring early resources has the following defects:
(1) The collection system is large in size and difficult to operate, the fishing boat needs to drag the fixed monitoring section to perform net releasing and sampling in actual use, the sampling process is complex, a large amount of manpower and material resources need to be input, and the collection operation time is long and the efficiency is low.
(2) In the torrent environment of rivers, roe is influenced by river flow dynamic transport, and the spread on the river course section is often random. However, the existing collection net can only sample at a fixed position of a river cross section, the collected sample is the sample of a river surface layer, the fish egg resource amount of a middle and lower layer is difficult to monitor, fish egg sampling of a plurality of vertical measuring lines on one monitoring cross section is lacked, the estimated fish egg density only floats on the river surface layer, and the estimation accuracy of early resource amount is influenced.
(3) The conventional fish egg collection and early resource assessment are difficult to carry out measuring instruments, and usually only a current meter can be placed at a net mouth to measure the flow velocity, other hydrological information can be obtained only through a nearby hydrological station, and the accuracy of monitoring river environment parameters is low.
(4) If the mesh is damaged in the process of one sampling, the counting of the density of the roes in the current sampling is greatly influenced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent fish egg collecting and early resource amount monitoring and estimating device, which solves the problems that the existing river fish egg collecting and early resource monitoring device has long collecting operation time and low efficiency and can only collect and estimate the fish egg density on the surface layer of river water.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
the intelligent fish egg collection and early resource amount monitoring and estimation device comprises a submersible, wherein a sensing module is arranged in front of the submersible and used for monitoring the running state of the submersible, a fish egg collecting net cage is arranged at the bottom of the submersible, a net port of the fish egg collecting net cage is positioned in front of the submersible, a current meter is arranged at the net port of the fish egg collecting net cage and fixedly connected with the submersible; a camera electrically connected with the sensing module is arranged right in front of the net opening of the fish egg collecting net cage.
The basic principle of the intelligent fish egg collection and early resource amount monitoring and estimation device is as follows: the sensing module realizes the stable posture of the submersible, and the submersible can drive the fish egg collecting net cage to collect fish eggs with any specified water depth under a plurality of vertical measuring lines in one section by arranging the fish egg collecting net cage on the submersible, so that the submersible is favorable for knowing the distribution rule of the early resource quantity of the fish eggs on the lower layer in a river, and the submersible drives the fish egg collecting net cage to freely move underwater and fixedly hover at a set depth position, thereby realizing flexible, convenient and efficient fish egg collecting operation; meanwhile, fish eggs enter the fish egg collecting net box from the net opening along with water flow, the flow velocity meter can record river hydrological characteristic parameters in real time in the fish egg collecting process, the camera records fish egg collecting process images in real time, and the images in the fish egg collecting net box are shot according to set time intervals, so that the fish egg density of any specified water depth position is evaluated, and the early fish resource quantity can be estimated more accurately.
Further, as a specific implementation mode of the submersible, the submersible comprises a main cabin body, the roe collecting net cage is arranged below the main cabin body, and a net port of the roe collecting net cage is arranged in the forward movement direction of the submersible; the front end of the main cabin body is provided with a sensing module, a control system is arranged in the main cabin body, and the rear end of the main cabin body is provided with a power supply system and a propeller thruster;
the sensing module, the control system and the propeller thruster are electrically connected with the power supply system;
the sensing module comprises a shell fixedly connected with the front end of the main cabin body, and an image sensor, a speed sensor, an electronic compass and a three-axis gyroscope are arranged in the shell; the camera is electrically connected with the image sensor;
a control system is arranged in the main cabin body, the control system comprises a central controller and a signal module electrically connected with the central controller, and the signal module is electrically connected with a ground software system through a ground relay communication base station;
the image sensor, the speed sensor, the electronic compass, the three-axis gyroscope and the propeller thruster are all electrically connected with the central controller.
The image sensor is used for recording fish egg collection process images in real time by the camera and transmitting the fish egg collection process images to the central controller, the central controller transmits the fish egg collection process images back to the ground software system through the signal module, and the ground software system can quickly calculate fish egg density through an image recognition technology and estimate early fish resource quantity more accurately.
The speed sensor is used for monitoring the speed information of the submersible in real time, the electronic compass is used for monitoring the azimuth information of the submersible in real time, the three-axis gyroscope is used for monitoring the operation attitude information of the submersible in real time, the information is transmitted to the central controller, the central controller controls the propeller to operate, the submersible drives the roe collecting net box to collect roes in any specified water depth under a plurality of vertical measuring lines in one section, and the distribution rule of early resource quantity of the roes in the lower layer of a river is favorably known.
Further, as a specific implementation manner of the propeller thruster, the propeller thruster comprises a steering engine electrically connected with the central controller, and an output shaft of the steering engine is connected with a propeller; the central controller controls the rotating speed and the rotating angle of the steering engine, and then the submersible drives the fish egg collecting net cage to move in water.
Furthermore, a floating and diving control unit is arranged at the top of the main cabin body and comprises a closed cylinder body and a water guide piston, and the water guide piston is used for injecting or discharging water into or from the closed cylinder body; the submergence-floatation control unit controls the air volume of the closed cylinder body to realize submergence and floatation of the submersible, and the submergence-floatation principle is the same as that of the submarine; the floating and submerging control unit is also provided with a flow-resistant self-locking floating and stopping module which is electrically connected with the central controller, and the flow-resistant self-locking floating and stopping module can realize underwater fixed-point hovering by matching with the sensing system and the control system.
Furthermore, the fish egg collecting net cage is detachably connected with the main cabin body. After the roe sampling at every turn, roe collection box with a net under submersible ware come-up dismantlement collects the sample and preserves, treats simultaneously that another group of roe collection box with a net changes and can carry out the roe collection of next sampling point after accomplishing for sample fixed work and new group's sample sampling work can be carried out in step, have improved the efficiency of roe collection work.
Furthermore, as a specific setting mode of the fish egg collecting net cage, the fish egg collecting net cage comprises a net cage frame, the net cage frame is of a quadrangular frustum pyramid structure with a large upper end and a small lower end, the top of the net cage frame is detachably connected with the bottom of the main cabin body, and fish egg nets are arranged around the net cage frame; a net port is arranged on the roe net on the side of the net cage frame close to the front end of the main cabin body.
Furthermore, the current meter is an acoustic Doppler current profiler, the main body of the current meter is arranged in the main cabin, and the detection end of the current meter is positioned at the net mouth of the roe net.
Furthermore, a supporting foot rest is arranged at the bottom of the net cage frame.
The invention has the beneficial effects that: 1. the intelligent fish egg collecting and early resource amount monitoring and estimating device can freely move underwater and is fixedly hovered at a set depth position, and flexible and convenient fish egg collecting operation is achieved.
2. The intelligent fish egg collection and early resource amount monitoring and estimation device can collect fish eggs at the specified water depth position, and can monitor the fish egg density of a plurality of vertical measuring lines on the same adopted section, so that the fish egg sample collection of the lower layer in the river is realized, and the more accurate fish early resource amount estimation is facilitated.
3. The image sensor in the intelligent fish egg collecting and early resource amount monitoring and estimating device is used for recording fish egg collecting process images in real time by the camera and transmitting the images to the central controller, the central controller transmits the fish egg collecting process images back to the ground software system through the signal module, and the ground software system can quickly calculate the fish egg density through an image recognition technology and estimate the early resource amount of the fish more accurately.
4. The design of detachable roe collection net cage in the intelligent roe collection and early resource quantity monitoring and estimating device enables sample fixing work and a new group of sample sampling work to be synchronously developed, and improves the efficiency of roe collection work.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent fish egg collection and early resource amount monitoring and estimation device.
Fig. 2 is a structural sectional view of an intelligent fish egg collecting and early resource amount monitoring and estimating device.
Wherein, 1, perception module; 2. a main cabin; 3. a support foot rest, 4, a propeller thruster, 5 and a camera; 6. a current meter; 7. the system comprises a control system 8, a power supply system 9 and a floating and diving control unit; 10. a fish egg collecting net cage; 101. a cage frame; 102. a fish egg net.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
Example 1
As shown in fig. 1-2, the invention provides an intelligent fish egg collection and early resource amount monitoring and estimation device, which comprises a submersible, wherein a sensing module 1 is arranged in front of the submersible, the sensing module 1 is used for monitoring the running state of the submersible, a fish egg collecting net cage 10 is arranged at the bottom of the submersible, a net port of the fish egg collecting net cage 10 is positioned in front of the submersible, a current meter 6 is arranged at the net port of the fish egg collecting net cage 10, and the current meter 6 is fixedly connected with the submersible; a camera 5 electrically connected with the sensing module 1 is arranged right in front of the net opening of the fish egg collecting net cage 10.
Specifically, the current meter 6 is an acoustic doppler current profiler of the ADCP model, the main body of the current meter 6 is arranged inside the main cabin 2, and the detection end of the current meter 6 is located at the mesh opening of the roe collecting net cage 10.
In the embodiment, the sensing module 1 realizes the stable posture of the submersible, and the submersible is provided with the fish egg collecting net cage 10, so that the submersible can drive the fish egg collecting net cage 10 to collect fish eggs with arbitrarily specified water depth under a plurality of vertical measuring lines in one section, thereby being beneficial to knowing the distribution rule of the early resource quantity of the fish eggs at the lower layer in a river, and the submersible drives the fish egg collecting net cage 10 to move freely underwater and to fixedly hover at a set depth position, thereby realizing the flexible, convenient and efficient fish egg collecting operation; meanwhile, fish eggs enter the fish egg collecting net cage 10 from the net opening along with water flow, the flow velocity meter 6 can record river hydrological characteristic parameters in real time in the fish egg collecting process, the camera 5 records images of the fish egg collecting process in real time, and the images in the fish egg collecting net cage 10 are shot according to set time intervals, so that the fish egg density of any specified water depth position is evaluated, and the early-stage resource quantity of fish is estimated more accurately.
Specifically, as a specific implementation mode of the submersible, the submersible comprises a main cabin body 2, a fish egg collecting net cage 10 is arranged below the main cabin body 2, and a net port of the fish egg collecting net cage 10 is arranged in the forward movement direction of the submersible; the front end of the main cabin body 2 is provided with a sensing module 1, the main cabin body 2 is internally provided with a control system 7, and the rear end of the main cabin body 2 is provided with a power supply system 8 and a propeller thruster 4.
The sensing module 1, the control system 7 and the propeller thruster 4 are all electrically connected with a power supply system 8. The power supply system 8 is located at the periphery of the control system 7, a lithium battery is arranged in the power supply system 8, and the lithium battery supplies power for the sensing module 1, the control system 7 and the propeller thruster 4.
The sensing module 1 comprises a shell fixedly connected with the front end of the main cabin body 2, and an image sensor, a speed sensor, an electronic compass and a three-axis gyroscope are arranged in the shell; the camera 5 is electrically connected with the image sensor.
The main cabin body 2 is internally provided with a control system 7, the control system 7 comprises a central controller and a signal module electrically connected with the central controller, the central controller can select a single chip microcomputer with the model of STC15W, and the signal module is electrically connected with a ground software system through a ground relay communication base station.
The image sensor, the speed sensor, the electronic compass, the three-axis gyroscope and the propeller thruster 4 are electrically connected with the central controller.
The image sensor is used for recording fish egg collection process images in real time by the camera 5 and transmitting the fish egg collection process images to the central controller, the central controller transmits the fish egg collection process images back to the ground software system through the signal module, and the ground software system can quickly calculate the fish egg density through an image recognition technology and estimate early fish resource amount more accurately.
The speed sensor is used for monitoring the speed information of the submersible in real time, the electronic compass is used for monitoring the azimuth information of the submersible in real time, the three-axis gyroscope is used for monitoring the running attitude information of the submersible in real time, the information is transmitted to the central controller, the central controller controls the propeller thruster 4 to run, the submersible drives the roe collecting net cage 10 to collect roes in any specified water depth under a plurality of vertical measuring lines in one section, and the distribution rule of early-stage resource quantity of the roes in the lower layer of a river is favorably known.
The propeller thruster 4 comprises a steering engine electrically connected with the central controller, and an output shaft of the steering engine is connected with a propeller; the central controller controls the rotating speed and the rotating angle of the steering engine, and then the submersible drives the fish egg collecting net box 10 to move in water.
In this embodiment, the connection relationship and the type selection between the electrical components are the existing mature technologies, so the circuit structure and the working principle between the electrical components are not repeated herein.
Example 2
As shown in fig. 1 to fig. 2, the present embodiment is further limited based on embodiment 1, and the specific improvement point is that a submersible control unit is provided on the submersible, and please refer to embodiment 1 or the prior art for other parts not mentioned.
The top of the main cabin body 2 is provided with a floating and diving control unit 9, the floating and diving control unit 9 comprises a closed cylinder body and a water guide piston, and the water guide piston is used for injecting or discharging water into or from the closed cylinder body; the floating and submerging control unit 9 controls the air volume of the closed cylinder body to realize the sinking and surfacing of the submersible, and the principle is that the sinking and surfacing principles of the submersible are the same; the floating and submerging control unit 9 is also provided with a flow-resistant self-locking floating and stopping module which is electrically connected with the central controller, the flow-resistant self-locking floating and stopping module is matched with the sensing system and the control system 7 to realize underwater fixed-point hovering, the position of the floating and submerging control unit can be always kept in a complex water area, underwater undercurrent interference is not needed, and efficient and safe operation is realized.
The anti-current self-locking floating-stopping module is divided into a system coupling parameter identification and self-adaptive hovering decoupling response model. The system coupling parameter identification model is characterized in that real-time input data are provided by a sensing system, the underwater fixed point hovering process of the submersible is considered to be a Markov process, a partial differential equation of free response of the floating and sinking motion and the pitching motion is established, and a transient motion state is obtained by carrying out system identification on parameters in the equation through a multilayer sensor. The submersible dynamics and equations of motion are as follows:
a three-axis coordinate system is established by taking the floating center of the submersible as an origin, and the kinetic equation of the submersible is as follows:
in the formula, v x 、v y 、v 2 And omega x 、ω y 、ω z Three components of the motion speed and the angular speed of the submersible are respectively; x is the number of c 、y c 、z c Is the coordinates of the mass center of the submersible; f. of x 、f y 、f 2 And M x 、M y 、M 2 Three components of external force f and moment M borne by the submersible are respectively; and m is the submersible mass.
The rotational kinematics equation of the submersible consists of the angular velocity versus attitude angle relationship:
in the formula, theta is a pitch angle; psi is the yaw angle;
is a roll angle.
The adaptive hovering decoupling response model obtains a transient state signal through a filter, approaches a dynamic system under a set precision by a radial basis function, outputs a system expected response value to a central controller based on horizontal movement deviation, vertical movement deviation and attitude angle deviation, controls the adjustment direction of a propeller thruster by the controller, controls the vertical force generated by the drainage of a closed cylinder body to eliminate unbalanced moment of underwater dark current in the hovering process, and realizes balance adjustment of underwater hovering.
Example 3
As shown in fig. 1 and fig. 2, the present embodiment is further limited on the basis of embodiment 1 or embodiment 2, and the specific improvement point is how to arrange the roe collecting net cage 10, and please refer to embodiment 1 or embodiment 2 or the prior art for other parts not mentioned.
Specifically, the roe collecting net cage 10 is detachably connected with the main cabin 2. The fish egg collecting net cage 10 comprises a net cage frame 101, the net cage frame 101 is of a quadrangular frustum pyramid structure with a large upper end and a small lower end, the top of the net cage frame 101 is detachably connected with the bottom of the main cabin body 2, fish egg nets 102 are arranged on the periphery of the net cage frame 101, and the density and the diameter of meshes of the fish egg nets 102 are flexibly set according to actual fish egg sampling requirements; a net opening is arranged on the fish egg net 102 which is positioned at the side of the net cage frame 101 close to the front end of the main cabin body 2. The bottom of the net cage frame 101 is provided with a supporting foot stool 3. After the roe sampling at every turn, roe collection box with a net 10 is dismantled to the submersible floating, collects the sample and preserves, treats simultaneously that another group of roe collection box with a net 10 changes and can carry out the roe collection of next sampling point after accomplishing for sample fixed work and a new set of sample sampling work can be carried out in step, have improved the efficiency of roe collection work.
The arrangement of the supporting foot frame 3 is convenient for placing the whole roe collecting net cage 10, and meanwhile, when the roe collecting net cage 10 moves in water along with the submersible, the roe collecting net cage 10 can be prevented from being in direct contact with submerged reefs in water, the roe collecting net cage 10 is protected, the condition that roe loss of the roe collecting net cage 10 is caused due to collision damage of the roe collecting net cage 10 can be avoided, and the accuracy of roe density counting in sampling is improved.
Example 4
As shown in fig. 1 and fig. 2, this embodiment 4 mainly provides a method for using an intelligent fish egg collecting and early resource amount monitoring and estimating device, which includes:
step 1: determining transverse and vertical sampling intervals on a selected roe sampling section, drawing roe section sampling point positions, assembling meshes of a proper roe collecting net cage 10 according to actual roe sampling requirements, and moving a submersible vehicle to a preset sampling point position for fixed hovering;
step 2: in the fish egg sampling process, fish eggs enter the fish egg collecting net cage 10 along with water flow, the camera 5 records images of the fish egg collecting process in real time, the images in the fish egg collecting net cage 10 are shot according to a set time interval, the collected images are transmitted to the central controller through the image sensor, the central controller transmits the images of the fish egg collecting process back to the ground software system through the signal module, and the ground software system can quickly calculate the fish egg density through an image recognition technology and more accurately estimate the early-stage resource quantity of fish;
and step 3: after sampling of roes at the current sampling point is finished, the central controller controls the propeller thruster 4 and the floating and submerging control unit 9 to enable the submersible to float upwards, the roe collecting net cage 10 is detached from the bottom of the main cabin body 2, and roe samples in the roe collecting net cage 10 are collected and stored; and meanwhile, the fish egg collecting work of the next sampling point can be carried out after the replacement of the other group of fish egg collecting net boxes 10 is finished.
Claims (8)
1. An intelligent fish egg collection and early resource amount monitoring and estimation device is characterized by comprising a submersible, wherein a sensing module is arranged in front of the submersible and used for monitoring the running state of the submersible, a fish egg collecting net cage is arranged at the bottom of the submersible, a net port of the fish egg collecting net cage is positioned in front of the submersible, a current meter is arranged at the net port of the fish egg collecting net cage and fixedly connected with the submersible; and a camera electrically connected with the sensing module is arranged right in front of the net opening of the fish egg collecting net cage.
2. The intelligent roe collecting and early resource monitoring and estimating device according to claim 1, wherein the submersible comprises a main cabin body, the roe collecting net cage is arranged below the main cabin body, and a net port of the roe collecting net cage is arranged in the forward movement direction of the submersible;
the front end of the main cabin body is provided with the sensing module, the main cabin body is internally provided with a control system, and the rear end of the main cabin body is provided with a power supply system and a propeller thruster;
the sensing module, the control system and the propeller thruster are electrically connected with the power supply system;
the sensing module comprises a shell fixedly connected with the front end of the main cabin body, and an image sensor, a speed sensor, an electronic compass and a three-axis gyroscope are arranged in the shell; the camera is electrically connected with the image sensor;
a control system is arranged in the main cabin body, the control system comprises a central controller and a signal module electrically connected with the central controller, and the signal module is electrically connected with a ground software system through a ground relay communication base station;
image sensor, speed sensor, electron compass, triaxial gyroscope and screw propeller all with central controller electric connection.
3. The intelligent fish egg collection and early resource amount monitoring and estimation device according to claim 2, wherein the propeller thruster comprises a steering engine electrically connected with the central controller, and an output shaft of the steering engine is connected with a propeller.
4. The intelligent fish egg collection and early resource amount monitoring and estimation device as claimed in claim 2, wherein a floating and submerging control unit is arranged at the top of the main cabin body, and comprises a closed cylinder and a water guide piston, and the water guide piston is used for injecting or discharging water into or from the closed cylinder;
and the floating and submerging control unit is also provided with a current-resistant self-locking floating and stopping module which is electrically connected with the central controller.
5. The intelligent fish egg collection and early resource amount monitoring and estimation device as claimed in claim 2, wherein the fish egg collection cage is detachably connected to the main cabin.
6. The intelligent fish egg collection and early resource amount monitoring and estimation device as claimed in claim 5, wherein the fish egg collection cage comprises a cage frame, the cage frame is of a quadrangular frustum pyramid structure with a large upper end and a small lower end, the top of the cage frame is detachably connected with the bottom of the main cabin body, and fish egg nets are arranged around the cage frame; a net port is arranged on the roe net on the side of the net cage frame close to the front end of the main cabin body.
7. The intelligent roe collection and early resource amount monitoring and estimation device according to claim 6, wherein the flow meter is an acoustic Doppler flow profiler, a flow meter main body is arranged inside the main cabin, and a detection end of the flow meter is positioned at a mesh opening of the roe net.
8. The intelligent fish egg collection and early resource amount monitoring and estimation device as claimed in claim 6, wherein a supporting foot stand is arranged at the bottom of the net cage frame.
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