CN115892399B - Intelligent fish egg collection and early resource quantity monitoring and estimating device - Google Patents
Intelligent fish egg collection and early resource quantity monitoring and estimating device Download PDFInfo
- Publication number
- CN115892399B CN115892399B CN202211434680.9A CN202211434680A CN115892399B CN 115892399 B CN115892399 B CN 115892399B CN 202211434680 A CN202211434680 A CN 202211434680A CN 115892399 B CN115892399 B CN 115892399B
- Authority
- CN
- China
- Prior art keywords
- submersible
- fish egg
- main cabin
- cabin body
- net
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses an intelligent roe collecting and early resource quantity monitoring and estimating device, which comprises a submersible, wherein a sensing module is arranged in front of the submersible, the sensing module is used for monitoring the running state of the submersible, a roe collecting net box is arranged at the bottom, a flow velocity meter is arranged at a net mouth of the roe collecting net box, and a camera electrically connected with the sensing module is arranged right in front of the net mouth of the roe collecting net box; the sensing module realizes stable posture of the submersible, the submersible drives the fish egg collecting net cage to collect fish eggs at any appointed water depth, so that the distribution rule of early resource quantity of the lower layer fish eggs in the river is known, and flexible, convenient and efficient fish egg collecting operation is realized; the flow velocity meter can record river hydrologic characteristic parameters in real time in the fish egg collecting process, the camera records images of the fish egg collecting process in real time, images in the fish egg collecting net cage are shot at set time intervals, evaluation of fish egg density at any appointed water depth position is achieved, and more accurate estimation of early-stage fish resource quantity 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 quantity monitoring and estimating device.
Background
The ecological balance of aquatic biological environment is influenced by the variation of the community structure of fish, and the evaluation of the early resource quantity of the fish is an important means for knowing the species composition and population scale of the fish, and is helpful for guiding the development and utilization of fishery and the protection and repair of an ecological system. The early life history of fish mainly comprises fish eggs, fish fries and fish larvae, and the resource amount is an important standard reflecting the breeding scale and population scale of fish.
Traditional collection of early sources of roe may use active or fixed netting gear. The active net is mainly a plankton net, needs to be towed by a ship body, and is suitable for collecting fish eggs and fish fries in a still water lake. The fixed net comprises a conical net, a spindle net and the like, is fixed on the anchored ship body, and is suitable for collecting fish eggs and fish fries in the river main stream.
The sampling method of fish eggs in rivers is usually to select a proper collecting net cage at a fixed river section sampling point, bind a cylindrical plastic barrel around the net cage, and ensure that the net cage is suspended on the river. Each time, the time for collecting is 2-3 hours, and after the sampling is finished, the net cage is manually salvaged, and then the sample is sorted and split-packed.
The existing river fish egg collecting and early resource monitoring device has the following defects:
(1) The acquisition device is huge and difficult to operate, in actual use, the fishing boat is towed to the fixed monitoring section for net laying sampling, the sampling process is complex, a large amount of manpower and material resources are required to be input, and the acquisition operation time is long and the efficiency is low.
(2) In the rapid flow environment of a river, fish eggs are affected by river hydrodynamic transport, and the distribution on the section of the river is random. However, the existing collection net can only sample at a fixed position of a river section, a sample side of a river surface layer is collected, the resource quantity of fish eggs at the middle and lower layers is difficult to monitor, the fish eggs of a plurality of vertical measuring lines are lack to sample on one monitoring section, and the estimated fish egg density only floats on the river surface layer affects the accuracy of estimating the early resource quantity.
(3) The existing fish egg collection and early resource evaluation are difficult to carry measuring instruments, so that a flow velocity meter can only be placed at a net mouth to measure the flow velocity, other hydrologic information can only be obtained through nearby hydrologic stations, and the monitoring accuracy of river environmental parameters is low.
(4) If the situation such as breakage of the meshes occurs during the sampling process, the counting of the fish egg density during the sampling process is greatly affected.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent roe collecting and early resource quantity monitoring and estimating device, which solves the problems of long collecting operation time, low efficiency and capability of only collecting and estimating the roe density on the surface layer of river in the existing device for collecting and early resource of the river.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the intelligent fish egg collecting and early resource quantity monitoring and estimating device comprises a submersible, wherein a sensing module is arranged in front of the submersible, the sensing module is used for monitoring the running state of the submersible, a fish egg collecting net box is arranged at the bottom, a net mouth of the fish egg collecting net box is positioned in front of the submersible, a flow velocity meter is arranged at the net mouth of the fish egg collecting net box, and the flow velocity meter is fixedly connected with the submersible; a camera electrically connected with the sensing module is arranged right in front of the net mouth of the fish egg collecting net cage.
The basic principle of the intelligent fish egg collection and early resource quantity monitoring and estimating device provided by the invention is as follows: the sensing module realizes stable posture of the submersible, and the submersible can drive the fish egg collecting net box to collect fish eggs with water depth arbitrarily appointed under a plurality of vertical measuring lines in one section by arranging the fish egg collecting net box on the submersible, so that the distribution rule of early resource quantity of the lower layer fish eggs in a river is well known, the submersible drives the fish egg collecting net box to freely move underwater and hover at a set depth position, and flexible, convenient and efficient fish egg collecting operation is realized; meanwhile, the fish eggs enter the fish egg collecting net cage along with water flow from the net mouth, the flow velocity meter can record river hydrologic characteristic parameters in real time in the fish egg collecting process, the camera can record images of the fish egg collecting process in real time, images in the fish egg collecting net cage are shot at set time intervals, the fish egg density of any appointed water depth position is estimated, and the method is favorable for estimating the early-stage resource quantity of fish more accurately.
Further, as a specific implementation mode of the submersible, the submersible comprises a main cabin body, a fish egg collecting net cage is arranged below the main cabin body, and a net opening of the fish egg 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, 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;
the sensing module, the control system and the propeller 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;
the main cabin body is internally provided with a control system, 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 triaxial gyroscope and the propeller are all electrically connected with the central controller.
The image sensor is used for recording the image of the fish egg collecting process in real time by the camera and transmitting the image to the central controller, the central controller transmits the image of the fish egg collecting process back to the ground software system through the signal module, and the ground software system can rapidly calculate the fish egg density through the image recognition technology, so that the early resource quantity of the fish can be estimated more accurately.
The speed sensor is used for monitoring speed information of the submersible in real time, the electronic compass is used for monitoring azimuth information of the submersible in real time, the three-axis gyroscope is used for monitoring running posture information of the submersible in real time, the information is transmitted to the central controller, the central controller controls the propeller to run, the fish egg collecting work of the submersible for driving the fish egg collecting net cage to randomly appoint water depth under a plurality of vertical measuring lines in one section is achieved, and the distribution rule of early resource quantity of the lower fish eggs in the river is facilitated to be known.
Further, as a specific implementation mode of the propeller, the propeller comprises a steering engine electrically connected with the central controller, and a propeller is connected to an output shaft of the steering engine; 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.
Further, the top of the main cabin body is provided with a floating control unit, and the floating control unit comprises a closed cylinder body and a water guide piston, wherein the water guide piston is used for injecting or discharging water into the closed cylinder body; the floating and submerging control unit controls the air volume of the closed cylinder body to realize the sinking and submerging of the submarine, and the principle is that the sinking and submerging principle of the submarine is the same; the anti-flow self-locking floating stop module is electrically connected with the central controller, and can realize underwater fixed-point hovering by matching with the sensing system and the control system.
Further, the fish egg collecting net cage is detachably connected with the main cabin body. After the fish egg sampling is finished, the submersible floats upwards to detach the fish egg collecting net cage, the collected samples are stored, and meanwhile, the fish egg collection of the next sampling point can be carried out after the replacement of another group of fish egg collecting net cage is finished, so that the sample fixing work and the new group of sample sampling work can be synchronously carried out, and the efficiency of the fish egg collection work is improved.
Further, as a specific setting mode of the fish egg collecting net cage, the fish egg collecting net cage comprises a net cage frame, wherein 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 mouth is arranged on the fish egg net positioned at the side of the net cage frame near the front end of the main cabin body.
Further, the flow velocity instrument is an acoustic Doppler flow velocity profiler, the flow velocity instrument main body is arranged in the main cabin body, and the detection end of the flow velocity instrument is positioned at the net mouth of the fish egg net.
Further, a supporting foot rest is arranged at the bottom of the net cage frame.
The beneficial effects of the invention are as follows: 1. the intelligent roe collecting and early resource amount monitoring and estimating device can freely move underwater and hover fixedly at a set depth position point, so that flexible and convenient roe collecting operation is realized.
2. The intelligent fish egg collection and early resource quantity monitoring and estimating device can collect fish eggs at a designated water depth position, monitor the fish egg density of a plurality of vertical measuring lines on the same section, realize the collection of fish egg sample sides at the lower layer in a river, and is beneficial to more accurately estimating the early resource quantity of fish.
3. The image sensor in the intelligent fish egg collecting and early-stage resource quantity monitoring and estimating device is used for recording the fish egg collecting process image in real time by the camera and transmitting the fish egg collecting process image to the central controller, the central controller transmits the fish egg collecting process image back to the ground software system through the signal module, and the ground software system can rapidly calculate the fish egg density through the image recognition technology, so that the fish early-stage resource quantity can be estimated more accurately.
4. The design of detachable fish egg collection net cage in the intelligent fish egg collection and early resource quantity monitoring and estimating device ensures that sample fixing work and a new group of sample sampling work can be synchronously carried out, thereby improving the efficiency of fish egg collection work.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent roe collection and early resource amount monitoring and estimation device.
Fig. 2 is a structural cross-sectional view of an intelligent roe collecting and early resource amount monitoring and estimating device.
1, a sensing module; 2. a main cabin body; 3. a supporting foot rest, 4, a propeller 5, a camera; 6. a flow rate meter; 7. the control system, 8, the power supply system, 9 and the floating and submerging control unit; 10. a fish egg collecting net cage; 101. a cage frame; 102. fish egg net.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate 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 all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
Example 1
As shown in fig. 1-2, the invention provides an intelligent roe collecting and early-stage resource quantity monitoring and estimating 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 roe collecting net box 10 is arranged at the bottom, a net opening of the roe collecting net box 10 is positioned in front of the submersible, a flow velocity meter 6 is arranged at the net opening of the roe collecting net box 10, and the flow velocity meter 6 is fixedly connected with the submersible; a camera 5 electrically connected with the perception module 1 is arranged right in front of the net mouth of the fish egg collecting net cage 10.
Specifically, the flow rate meter 6 is an acoustic Doppler flow rate profiler of ADCP model, the main body of the flow rate meter 6 is arranged inside the main cabin body 2, and the detection end of the flow rate meter 6 is positioned at the net mouth of the fish egg collecting net cage 10.
In the embodiment, the sensing module 1 realizes stable posture of the submersible, and the submersible is provided with the fish egg collecting net box 10, so that the submersible can drive the fish egg collecting net box 10 to randomly appoint water depth under a plurality of vertical measuring lines in one section, thereby being beneficial to understanding the distribution rule of early resource quantity of the lower layer fish eggs in a river, and the submersible drives the fish egg collecting net box 10 to freely move under water and hover at a set depth position point, and realizing flexible, convenient and efficient fish egg collecting operation; meanwhile, the fish eggs enter the fish egg collecting net cage 10 along with water flow from the net mouth, the flow velocity meter 6 can record river hydrologic 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, images in the fish egg collecting net cage 10 are shot at set time intervals, evaluation of the fish egg density at any appointed water depth position is achieved, and more accurate estimation of early fish resource quantity is facilitated.
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 mouth 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, a control system 7 is arranged in the main cabin body 2, and the rear end of the main cabin body 2 is provided with a power supply system 8 and a propeller 4.
The sensing module 1, the illustrated control system 7 and the propeller 4 are all electrically connected with a power supply system 8. The power supply system 8 is arranged at the periphery of the control system 7, and a lithium battery is arranged in the power supply system 8 and supplies power to the sensing module 1, the control system 7 and the propeller 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 triaxial gyroscope are arranged in the shell; the camera 5 is electrically connected with the image sensor.
The control system 7 is arranged in the main cabin body 2, the control system 7 comprises a central controller and a signal module electrically connected with the central controller, the central controller can select a singlechip with the model 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 4 are all electrically connected with the central controller.
The image sensor is used for recording the image of the fish egg collecting process in real time by the camera 5 and transmitting the image to the central controller, the central controller transmits the image of the fish egg collecting process back to the ground software system through the signal module, and the ground software system can rapidly calculate the density of the fish eggs through the image recognition technology, so that the early resource quantity of the fish can be estimated more accurately.
The speed sensor is used for monitoring speed information of the submersible in real time, the electronic compass is used for monitoring azimuth information of the submersible in real time, the three-axis gyroscope is used for monitoring running posture information of the submersible in real time, the information is transmitted to the central controller, the central controller controls the propeller 4 to run, the fish egg collecting work of the submersible for driving the fish egg collecting net cage 10 to randomly assign water depths under a plurality of vertical measuring lines in one section is achieved, and the distribution rule of early resource quantity of the lower fish eggs in a river is facilitated to be known.
The propeller 4 comprises a steering engine electrically connected with the central controller, and a propeller is connected to an output shaft of the steering engine; the central controller controls the rotating speed and the rotating angle of the steering engine, so that the submersible drives the fish egg collecting net cage 10 to move in water.
In this embodiment, the connection relationship and selection between the electrical components are existing mature technologies, so the circuit structure and working principle between the electrical components are not described here.
Example 2
As shown in fig. 1-2, this embodiment is further defined on the basis of embodiment 1, and a specific improvement is that a submersible is provided with a submersible control unit, and other parts not mentioned, please refer to embodiment 1 or the prior art.
The top of the main cabin body 2 is provided with a floating control unit 9, and the floating control unit 9 comprises a closed cylinder body and a water guide piston, wherein the water guide piston is used for injecting or discharging water into 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 submerging of the submarine, and the principle is that the sinking and submerging principles of the submarine are the same; the anti-flow self-locking floating stop module electrically connected with the central controller is further arranged on the floating and diving control unit 9, the anti-flow self-locking floating stop module is matched with the sensing system and the control system 7 to realize underwater fixed-point hovering, the position can be always kept in a complex water area, the interference of underwater hidden current is avoided, and efficient and safe operation is realized.
The anti-flow self-locking floating stop module is divided into two models of system coupling parameter identification and self-adaptive hover decoupling response. The system coupling parameter identification model provides real-time input data by a sensing system, considers the underwater fixed point hovering process of the submersible as a Markov process, establishes a partial differential equation of free response of floating and pitching motion, and carries out system identification on parameters in the equation through a multi-layer sensor to obtain a transient motion state. The submersible dynamics and equations of motion are as follows:
the method comprises the steps of establishing a three-axis coordinate system by taking a floating center of a submersible as an origin, wherein a 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 respectively; x is x c 、y c 、z c Is the center of mass coordinates of the submersible; f (f) x 、f y 、f 2 And M x 、M y 、M 2 Three components of external force f and moment M applied to the submersible respectively; m is the submersible mass.
The rotational kinematics equation of the submersible consists of the relationship between angular velocity and attitude angle:
wherein θ is a pitch angle; psi is the yaw angle;is a roll angle.
The self-adaptive hover decoupling response model obtains transient state signals through a filter, approximates a dynamic system under 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 by the controller, controls the drainage and injection of a closed cylinder body to generate vertical force to eliminate unbalanced moment of underwater dark current in the hover process, and realizes balance adjustment of underwater hover.
Example 3
As shown in fig. 1 and 2, this embodiment is further defined on the basis of embodiment 1 or embodiment 2, and a specific improvement is how to arrange the fish egg collection net cage 10, and other parts not mentioned, please refer to embodiment 1 or embodiment 2 or the prior art.
Specifically, the fish egg collecting net cage 10 is detachably connected with the main cabin body 2. The fish egg collecting net cage 10 comprises a net cage frame 101, wherein the net cage frame 101 is of a quadrangular frustum 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, the periphery of the net cage frame 101 is provided with a fish egg net 102, and the density and the diameter of meshes of the fish egg net 102 are flexibly set according to actual fish egg sampling requirements; a net mouth is arranged on the fish egg net 102 positioned on the net cage frame 101 side near the front end of the main cabin body 2. The bottom of the net cage frame 101 is provided with a supporting foot rest 3. After the fish egg sampling is finished, the submersible floats upwards to detach the fish egg collecting net cage 10, samples are collected and stored, and meanwhile, the fish egg collection of the next sampling point can be carried out after the replacement of another group of fish egg collecting net cage 10 is finished, so that the sample fixing work and the new group of sample sampling work can be synchronously carried out, and the efficiency of the fish egg collection work is improved.
The setting of support foot rest 3 is convenient for place whole ovum collection box with a net 10, and simultaneously ovum collection box with a net 10 is when following the submersible and remove in the aquatic, can avoid ovum collection box with a net 10 and aquatic submerged reef direct contact, plays the effect of protection ovum collection box with a net 10, can avoid appearing the circumstances that leads to ovum collection box with a net 10 ovum loss because of the collision damage of ovum collection box with a net 10, has improved the accuracy of ovum density count in the current sampling.
Example 4
As shown in fig. 1 and 2, embodiment 4 mainly provides a method for using an intelligent roe collection and early resource amount monitoring and estimation device, which comprises the following steps:
step 1: determining transverse and vertical sampling intervals on a selected fish egg sampling section, drawing fish egg section sampling points, assembling meshes of a suitable fish egg collecting net cage 10 according to actual fish egg sampling requirements, and moving a submersible to a preset sampling point for fixed hovering;
step 2: in the process of fish egg sampling, fish eggs enter a fish egg collecting net cage 10 along with water flow, a camera 5 records images of a fish egg collecting process in real time, images in the fish egg collecting net cage 10 are shot at set time intervals, the acquired images are transmitted to a central controller through an image sensor, the central controller transmits the fish egg collecting process images back to a ground software system through a signal module, the ground software system can rapidly calculate the fish egg density through an image recognition technology, and the early resource quantity of fish can be estimated more accurately;
step 3: after the sampling of the current sample point fish eggs is finished, the central controller controls the propeller 4 and the floating and submerging control unit 9 to enable the submersible to float upwards, the fish egg collecting net cage 10 is detached from the bottom of the main cabin body 2, and the fish egg samples in the fish egg collecting net cage 10 are collected and stored; and meanwhile, after the replacement of another group of fish egg collecting net cage 10 is completed, the fish egg collecting work of the next sampling point can be performed.
Claims (8)
1. The intelligent fish egg collection and early resource quantity monitoring and estimation device is characterized by comprising a submersible, wherein a sensing module is arranged in front of the submersible, the sensing module is used for monitoring the running state of the submersible, a fish egg collecting net box is arranged at the bottom of the submersible, a net mouth of the fish egg collecting net box is positioned in front of the submersible, a flow velocity meter is arranged at the net mouth of the fish egg collecting net box, and the flow velocity meter is fixedly connected with the submersible; a camera electrically connected with the sensing module is arranged right in front of the net mouth of the fish egg collecting net cage;
the diving device comprises a main cabin body, wherein the fish egg collecting net cage is arranged below the main cabin body, and a net opening of the fish egg collecting net cage is arranged in the forward movement direction of the diving device;
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;
the sensing module, the control system and the propeller 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;
the main cabin body is internally provided with a control system, 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 triaxial gyroscope and the propeller are electrically connected with the central controller;
the top of the main cabin body is provided with a floating control unit, the floating control unit comprises a closed cylinder body and a water guide piston, and the water guide piston is used for injecting or discharging water into the closed cylinder body;
the floating and diving control unit is also provided with an anti-flow self-locking floating and stopping module which is electrically connected with the central controller;
the anti-flow self-locking floating stop module is matched with the sensing system and the control system (7) to realize underwater fixed-point hovering, so that the position can be always kept in a complex water area, the interference of underwater hidden flows is avoided, and the efficient and safe operation is realized;
the anti-flow self-locking floating stop module is divided into two models of system coupling parameter identification and self-adaptive hover decoupling response; the system coupling parameter identification model provides real-time input data by a sensing system, a Markov process is considered in consideration of the underwater fixed point hovering process of the submersible, a partial differential equation of free response of floating and pitching motion is established, and the parameters in the equation are subjected to system identification through a multi-layer sensor to obtain a transient motion state; the submersible dynamics and equations of motion are as follows:
the method comprises the steps of establishing a three-axis coordinate system by taking a floating center of a submersible as an origin, wherein a kinetic equation of the submersible is as follows:
in the formula, v x 、v y 、v z And omega x 、ω y 、ω z Three components of the motion speed and the angular speed of the submersible respectively; x is x c 、y c 、z c Is the center of mass coordinates of the submersible; f (f) x 、f y 、f z And M x 、M y 、M z Three components of external force f and moment M applied to the submersible respectively; m is the mass of the submersible;
the rotational kinematics equation of the submersible consists of the relationship between angular velocity and attitude angle:
wherein θ is a pitch angle; psi is the yaw angle;is a roll angle;
the self-adaptive hover decoupling response model obtains transient state signals through a filter, approximates a dynamic system under 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 by the controller, controls the drainage and injection of a closed cylinder body to generate vertical force to eliminate unbalanced moment of underwater dark current in the hover process, and realizes balance adjustment of underwater hover.
2. The intelligent roe collecting and early resource amount monitoring and estimating device according to claim 1, characterized in that the submersible comprises a main cabin body, the roe collecting net cage is arranged below the main cabin body, and a net opening 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;
the sensing module, the control system and the propeller 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;
the main cabin body is internally provided with a control system, 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 triaxial gyroscope and the propeller are all electrically connected with the central controller.
3. The intelligent roe collecting and early resource amount monitoring and estimating device according to claim 2, characterized in that said propeller comprises a steering engine electrically connected with said central controller, and a propeller is connected to an output shaft of said steering engine.
4. The intelligent fish egg collection and early resource amount monitoring and estimation device according to claim 2, wherein a floating control unit is arranged at the top of the main cabin body, and comprises a closed cylinder and a water guide piston, wherein the water guide piston is used for injecting or discharging water into the closed cylinder;
and the floating and diving control unit is also provided with an anti-flow self-locking floating and stopping module electrically connected with the central controller.
5. The intelligent roe collecting and early resource amount monitoring and estimating device according to claim 2, characterized in that said roe collecting net cage is detachably connected with said main tank body.
6. The intelligent roe collecting and early resource amount monitoring and estimating device according to claim 5, characterized in that the roe collecting box comprises a box frame, the box frame is in a quadrangular frustum pyramid structure with a big upper end and a small lower end, the top of the box frame is detachably connected with the bottom of the main cabin, and roe nets are arranged around the box frame; a net mouth is arranged on the fish egg net positioned at the side of the net cage frame near the front end of the main cabin body.
7. The intelligent roe collecting and early resource amount monitoring and estimating device according to claim 6, characterized in that the flow velocity meter is an acoustic Doppler flow velocity profiler, a flow velocity meter main body is arranged in the main cabin body, and a detection end of the flow velocity meter is positioned at a net mouth of the roe net.
8. The intelligent roe collecting and early resource amount monitoring and estimating device according to claim 6, characterized in that a supporting foot stand is arranged at the bottom of the cage frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211434680.9A CN115892399B (en) | 2022-11-16 | 2022-11-16 | Intelligent fish egg collection and early resource quantity monitoring and estimating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211434680.9A CN115892399B (en) | 2022-11-16 | 2022-11-16 | Intelligent fish egg collection and early resource quantity monitoring and estimating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115892399A CN115892399A (en) | 2023-04-04 |
| CN115892399B true CN115892399B (en) | 2023-08-11 |
Family
ID=86477336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211434680.9A Active CN115892399B (en) | 2022-11-16 | 2022-11-16 | Intelligent fish egg collection and early resource quantity monitoring and estimating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115892399B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117176756B (en) * | 2023-09-07 | 2024-04-02 | 青岛海洋地质研究所 | Visual biological trawl system based on underwater vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040014611A (en) * | 2004-01-14 | 2004-02-14 | 대한민국(관리부서:국립수산과학원) | Submersible fish cage system using underwater motor |
| KR101448808B1 (en) * | 2013-10-02 | 2014-10-14 | 대한민국 | Submersible and mobile fish cage for open-sea cultivation |
| CN107499480A (en) * | 2017-09-15 | 2017-12-22 | 中国水产科学研究院渔业机械仪器研究所 | A kind of underwater robot and its method of work for being used to collect suspension |
| US10099759B1 (en) * | 2016-11-08 | 2018-10-16 | X Development Llc | Autonomous submersible structure |
| CN208803449U (en) * | 2018-09-22 | 2019-04-30 | 高本龙 | A kind of over-water floats collection device |
| CN213422243U (en) * | 2020-09-30 | 2021-06-11 | 南京农业大学 | Underwater movable type multifunctional fish school liveness detection device |
-
2022
- 2022-11-16 CN CN202211434680.9A patent/CN115892399B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040014611A (en) * | 2004-01-14 | 2004-02-14 | 대한민국(관리부서:국립수산과학원) | Submersible fish cage system using underwater motor |
| KR101448808B1 (en) * | 2013-10-02 | 2014-10-14 | 대한민국 | Submersible and mobile fish cage for open-sea cultivation |
| US10099759B1 (en) * | 2016-11-08 | 2018-10-16 | X Development Llc | Autonomous submersible structure |
| CN107499480A (en) * | 2017-09-15 | 2017-12-22 | 中国水产科学研究院渔业机械仪器研究所 | A kind of underwater robot and its method of work for being used to collect suspension |
| CN208803449U (en) * | 2018-09-22 | 2019-04-30 | 高本龙 | A kind of over-water floats collection device |
| CN213422243U (en) * | 2020-09-30 | 2021-06-11 | 南京农业大学 | Underwater movable type multifunctional fish school liveness detection device |
Non-Patent Citations (1)
| Title |
|---|
| 基于自抗扰控制的载人潜水器动力定位仿真研究;赵俊波;翁震平;魏纳新;;计算机测量与控制(08);第87-89页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115892399A (en) | 2023-04-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021012914A1 (en) | Bionic flexible cable-driven manta ray based on underwater environment detection of marine ranching | |
| CN103310610B (en) | Mobile ocean observation net based on intelligent buoy and intelligent submersible vehicle | |
| CN106719230B (en) | Automatic aquaculture unmanned aerial vehicle | |
| CN103786838A (en) | Multifunctional rudder-free aquaculture workboat | |
| CN115892399B (en) | Intelligent fish egg collection and early resource quantity monitoring and estimating device | |
| CN200957883Y (en) | Water body and its environment investigation measuring apparatus | |
| CN206579799U (en) | A kind of unmanned boat and unmanned boat system | |
| CN109733574A (en) | A kind of self-tolerant acoustic information detection system based on underwater glider | |
| JP2001247086A (en) | Automatic guided submarine and position holding control method thereof | |
| CN108382552A (en) | A kind of small underwater aerodone suitable for basin test | |
| CN113192404B (en) | Self-navigation towing simulator and simulation method of deep sea mining system suitable for natural water body | |
| CN204037874U (en) | Measurement type unmanned boat | |
| CN106094829A (en) | A kind of autonomous type Stichopus japonicus fishes for robot system and method | |
| CN113432656A (en) | Coral reef ecological environment monitoring system | |
| CN110745218A (en) | Bionic fish for inducing and monitoring fish school migration | |
| CN106719487B (en) | Remote control underwater small-specification biological collector | |
| CN111474547A (en) | System and method for measuring underwater topography of complex water area of inland river | |
| CN206629757U (en) | Aquatic products cultivates unmanned plane automatically | |
| Caddy | A method of surveying scallop populations from a submersible | |
| CN102440212B (en) | Bait throwing device capable of automatically patroling shrimp pond and bait throwing method | |
| CN114046777A (en) | Underwater optical imaging system and method suitable for large-range shallow sea coral reef drawing | |
| CN108196086B (en) | Measuring device for measuring surface flow velocity of water body by using probe of inverted Doppler current meter and using method of measuring device | |
| CN110116785B (en) | Positioning sinking-floating type ocean detection device and detection positioning platform positioning method thereof | |
| CN207985156U (en) | A kind of small underwater aerodone suitable for basin test | |
| CN106371100A (en) | Maritime real-time measuring system for fish acoustic target strength |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |