CN117169940A - Primary and secondary aquatic animal positioning and habitat obtaining device and application method thereof - Google Patents
Primary and secondary aquatic animal positioning and habitat obtaining device and application method thereof Download PDFInfo
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- CN117169940A CN117169940A CN202311454404.3A CN202311454404A CN117169940A CN 117169940 A CN117169940 A CN 117169940A CN 202311454404 A CN202311454404 A CN 202311454404A CN 117169940 A CN117169940 A CN 117169940A
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- 241001465754 Metazoa Species 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 51
- 238000000926 separation method Methods 0.000 claims abstract description 29
- 239000000523 sample Substances 0.000 claims description 24
- 238000007667 floating Methods 0.000 claims description 14
- 238000005070 sampling Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 11
- 238000003306 harvesting Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 4
- 229930002875 chlorophyll Natural products 0.000 claims description 4
- 235000019804 chlorophyll Nutrition 0.000 claims description 4
- ATNHDLDRLWWWCB-AENOIHSZSA-M chlorophyll a Chemical compound C1([C@@H](C(=O)OC)C(=O)C2=C3C)=C2N2C3=CC(C(CC)=C3C)=[N+]4C3=CC3=C(C=C)C(C)=C5N3[Mg-2]42[N+]2=C1[C@@H](CCC(=O)OC\C=C(/C)CCC[C@H](C)CCC[C@H](C)CCCC(C)C)[C@H](C)C2=C5 ATNHDLDRLWWWCB-AENOIHSZSA-M 0.000 claims description 4
- 230000005855 radiation Effects 0.000 claims description 4
- 230000002285 radioactive effect Effects 0.000 claims description 4
- 239000002131 composite material Substances 0.000 claims 1
- 238000013500 data storage Methods 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 3
- 238000004891 communication Methods 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 description 12
- 241000251468 Actinopterygii Species 0.000 description 9
- 241000124008 Mammalia Species 0.000 description 9
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 3
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000005339 levitation Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 241000252335 Acipenser Species 0.000 description 1
- 241001125840 Coryphaenidae Species 0.000 description 1
- 241000283257 Eschrichtius robustus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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- 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
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Abstract
The utility model provides a primary and secondary formula aquatic animal location and habitat acquisition device, including female module, a plurality of submodule piece, female module is including dismantling the female casing that sets up on aquatic animal, the submodule piece is including dismantling the son casing that sets up on female casing, female casing internally mounted has the controller, data transmission ware, female power, install the habitat detector on its one side outer wall, son casing internally mounted has data transmitter, the subsidiary power, data storage, controller signal output part is connected with the habitat detector, separation module signal input part, the habitat detector signal output part is connected with data storage signal input part through data transmission ware, data storage signal output part is connected with data transmitter signal input part. The device adopts a separable sub-master module type design, and the sub-module is released to float to the water surface and then resumes communication with the Beidou satellite navigation system, and the Beidou satellite navigation system is utilized to transmit the habitat parameters from underwater, especially deep sea.
Description
Technical Field
The invention belongs to the technical field of ecological environment protection, and particularly relates to a primary and secondary aquatic animal positioning and habitat obtaining device and a using method thereof, which are suitable for transmitting habitat parameters from underwater, particularly deep sea, by using a Beidou satellite navigation system.
Background
Aquatic mammals/fish (e.g. whales, dolphins, sturgeons) are marine flagship species whose state of survival and habitat may represent marine, especially shallow, deep sea, ecological environments, how regularly their habitat parameters are obtained is of vital importance for marine ecological environmental protection. The Beidou satellite navigation system transmits the target position and related data carrying the Beidou navigation module to the ground client through the Beidou satellite and the Beidou satellite navigation system, and is widely applied to the traffic, logistics and ecological environment fields such as vehicle-mounted navigation and shipborne navigation. However, beidou navigation technology has difficulty in directly positioning and transmitting relevant habitat data of underwater, especially aquatic mammals/fish in deep sea.
Disclosure of Invention
The invention aims at solving the problems in the prior art and provides a primary and secondary aquatic animal positioning and habitat acquiring device capable of transmitting parameters from underwater, particularly deep sea habitat by using a Beidou satellite navigation system and a using method thereof.
In order to achieve the above object, the technical scheme of the present invention is as follows:
the positioning and habitat acquisition device comprises a mother module and a plurality of sub-modules, wherein the mother module comprises a mother shell detachably arranged on the aquatic animal, and the sub-modules comprise sub-shells detachably arranged on the mother shell;
the controller and the data transmitter are arranged in the main shell, the habitat detector is arranged on the outer wall of one side of the main shell, and the data transmitter and the data memory are arranged in the sub shell;
the controller is used for controlling the habitat detector to collect habitat parameters of the surrounding environment of the aquatic animal according to a preset sampling interval and controlling each sub-module to release one by one according to respective preset release time;
the data transmitter is used for transmitting the habitat parameters acquired by the habitat detector to a data memory in the sub-module to be released;
the data transmitter is used for transmitting the habitat parameters stored in the data memory to the ground receiving end through the Beidou satellite navigation system after the released submodule floats to the water surface.
A navigation module is also arranged in the sub-shell;
the navigation module is used for obtaining positioning information from the Beidou satellite navigation system after the released sub-module floats to the water surface and sending the positioning information to the data transmitter;
the data transmitter is used for transmitting the positioning information and the habitat parameters stored in the data memory to the Beidou satellite navigation system after the released submodule floats to the water surface, and the Beidou satellite navigation system transmits the positioning information and the habitat parameters of the released submodule to the ground receiving end.
The positioning and habitat acquisition device further comprises a separation module and a fixing module;
the controller controls each sub-module to release one by one according to respective preset release time through the separation module;
the controller is also used for controlling the mother shell to be separated from the aquatic animals according to the preset separation time through the fixed module.
The separation module comprises a mounting block, the bottom of the mounting block is fixedly connected with the top of the female shell, a plurality of grooves corresponding to the sub-modules one by one are formed in the top of the mounting block, a plurality of miniature motors corresponding to the sub-modules one by one and a plurality of telescopic column groups corresponding to the sub-modules one by one are arranged in the mounting block, each telescopic column group comprises two telescopic columns connected with the corresponding miniature motor, and the two telescopic columns are respectively in insertion fit with slots formed in two sides of the sub-shell in the corresponding sub-module when extending out.
The fixed module comprises a fixed block, the top of the fixed block is fixedly connected with the bottom of the female shell, a slide way and a second miniature motor are arranged in the fixed block, a plurality of fixed holes which are arranged side by side with the slide way are formed in the fixed block, a soft rope which is used for being bound on aquatic animals is arranged on the fixed holes in a penetrating mode, a blade which is connected with the second miniature motor is arranged on the slide way, and the blade can slide along the slide way to cut the soft rope.
The inside female power that still is provided with for whole female module power supply of female casing, the inside electronic power that still is provided with for whole submodule piece power supply of submodule piece, integrated water temperature test probe, salinity test probe, chlorophyll test probe, degree of depth test probe, velocity of flow test probe, radioactive radiation value test probe on the habitat detector.
A method of using a primary and secondary aquatic animal positioning and habitat harvesting device, the method of using comprising:
s1, presetting a sampling interval of a habitat detector and release time of each sub-module through a controller, and then fixing the whole device on aquatic animals by using a fixing module and performing field release;
s2, the habitat detector collects habitat parameters of surrounding environments of aquatic animals at fixed time according to preset sampling intervals, and the collected habitat parameters are input into a data memory in a sub-module to be released through a data transmitter for storage;
s3, when the release interval of the sub-module to be released is reached, the controller controls the sub-module to be released, and the data transmitter inputs the habitat parameters acquired by the habitat detector into a data memory in the next sub-module to be released for storage;
s4, circularly repeating the steps S2 to S3 until all the sub-modules are released;
and S5, after the submodule is released and floats to the water surface, the data transmitter transmits the habitat parameters stored in the data memory to the ground receiving end through the Beidou satellite navigation system.
A navigation module is also arranged in the sub-shell;
in step S5, after the released sub-module floats to the water surface, the navigation module obtains positioning information from the beidou satellite navigation system and sends the positioning information to the data transmitter, and the data transmitter transmits the positioning information and the habitat parameters stored in the data memory to the ground receiving end through the beidou satellite navigation system.
The positioning and habitat acquisition device further comprises a separation module and a fixing module;
in step S3, when the release interval of the sub-modules to be released is reached, the controller controls each sub-module to release one by one according to respective preset release time through the separation module;
in step S4, after all the sub-modules are released, the controller controls the mother shell to be separated from the aquatic animals according to the preset separation time through the fixed module.
The using method further comprises the step S6 of:
s6, the ground receiving end calculates the release position of the released sub-module based on the positioning information of the released sub-module and the habitat parameters stored in the data memory thereof、/>) The calculation formula is as follows:
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；
；
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in the above-mentioned method, the step of,、/>respectively the horizontal and vertical coordinates when the submodule is released; />、/>Respectively the horizontal coordinate and the vertical coordinate of the sub-modules when the sub-modules float to the water surface; />、/>The time after the submodule floats to the water surface is +.>Horizontal and vertical coordinates of the time;for the underwater flow rate when the submodule is released, < >>Is Von Karman empirical constant, +.>For the water depth when the submodule is released, < +.>Is the roughness of the river bed or sea bed, +.>For shear flow rate>For the average horizontal offset speed of the submodule during the floating process +.>For the time that the submodule takes from being released to floating up to the water surface,/for the submodule>For horizontal offset distance of submodule during floating>For horizontal offset angle of submodule during floating up, +.>For the speed of movement of the submodule on the water surface,is the included angle between the direction of the underwater ocean current when the submodule is released and the moving direction of the submodule on the water surface, and is->Is an intermediate variable.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a primary and secondary aquatic animal positioning and habitat obtaining device which comprises a primary module and a plurality of secondary modules, wherein the primary module comprises a primary shell detachably arranged on an aquatic animal, the secondary module comprises a secondary shell detachably arranged on the primary shell, a controller and a data transmitter are arranged in the primary shell, a habitat detector is arranged on the outer wall of one side of the primary shell, and a data transmitter and a data memory are arranged in the secondary shell; the device comprises the working processes that a sampling interval of a habitat detector and release time of each sub-module are preset through a controller, a mother shell is fixed on aquatic animals for field release, the habitat detector collects habitat parameters of surrounding environments of the aquatic animals at fixed time according to the preset sampling interval, the collected habitat parameters are input into a data storage in the sub-module to be released through a data transmitter for storage, the controller controls the sub-module to be released when the release time of the sub-module to be released is reached, the data transmitter inputs the habitat parameters collected by the habitat detector into a data storage in the next sub-module to be released for storage until all the sub-modules are released, and after the sub-modules are released and floated to the water surface, the data transmitter transmits the habitat parameters stored by the data storage to a ground receiving end through a Beidou satellite navigation system; the device has adopted separable son master module formula design, and the submodule piece is released the back come-up to the surface of water, can resume the communication with big dipper satellite navigation system, utilizes big dipper navigation system to transmit the habitat parameter who acquires from master module department to ground receiving terminal, has overcome the problem that is difficult to utilize big dipper navigation system to carry out data transmission under water, especially deep sea environment. The invention thus enables the acquisition of habitat parameters of the underwater, in particular deep sea, aquatic mammal/fish surroundings.
2. In the primary and secondary aquatic animal positioning and habitat obtaining device, a navigation module is also arranged in the secondary shell; when the navigation system is in actual work, after the released submodule floats to the water surface, the navigation module obtains positioning information from the Beidou satellite navigation system and sends the positioning information to the data transmitter, and the data transmitter transmits the positioning information and the habitat parameters stored by the data memory to the ground receiving end through the Beidou satellite navigation system, so that the problem that underwater, particularly deep-sea aquatic mammals/fishes are difficult to position by using the Beidou navigation system is solved, researchers can obtain the habitat information, time and space information, and a data basis is better provided for protecting the aquatic mammals/fishes and marine environment. Therefore, the invention can obtain the habitat information and the space-time information at the same time, and better provides a data base for protecting aquatic mammals/fishes and marine environment.
3. The invention relates to a primary and secondary aquatic animal positioning and habitat obtaining device, which also comprises a separating module and a fixing module, wherein the separating module comprises a mounting block, the bottom of the mounting block is fixedly connected with the top of a mother shell, the top of the mounting block is provided with a plurality of grooves which are in one-to-one correspondence with the sub-modules, the inside of the mounting block is provided with a plurality of first micro motors which are in one-to-one correspondence with the sub-modules, a plurality of telescopic column groups which are in one-to-one correspondence with the sub-modules, each telescopic column group comprises two telescopic columns which are connected with the corresponding first micro motor, the two telescopic columns are respectively inserted and matched with slots arranged on two sides of the sub-shell in the corresponding sub-module when extending out, the fixing module comprises a fixing block, the top of the fixing block is fixedly connected with the bottom of the mother shell, a slide way and a second micro motor are arranged in the fixing block, a plurality of fixing holes which are arranged side by side with the slide way, soft ropes which are used for being bound on aquatic animals are penetrated on the fixing holes, blades which are connected with the second micro motors, and the blades can cut the soft ropes in a sliding way; when the telescopic column is in actual work, the telescopic column is inserted into the slot to be matched with the sub-module to fix the sub-module, when the sub-module needs to be released, the controller controls the telescopic column corresponding to the sub-module to retract, the telescopic column withdraws from the slot to enable the sub-module to be released and float upwards, and after all the sub-modules are released, the controller controls the blade to slide along the slideway to cut all the soft ropes, so that the main module can be separated from the aquatic animals; according to the design, all the sub-modules and the main module can be separated successively according to the set time through the separation module and the fixing module, and the structure is simple and reliable. Therefore, all the sub-modules and the main module can be separated successively according to the set time through the separating module and the fixing module, and the invention has simple and reliable structure.
4. According to the primary and secondary aquatic animal positioning and habitat obtaining method, the ground receiving end calculates the released position of the released submodule based on the positioning information of the released submodule and the habitat parameters stored in the data memory of the released submodule, so that the positioning error of the submodule is reduced. Therefore, the invention can reduce the positioning error of the sub-module.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic diagram of a neutron module according to the present invention.
Fig. 3 is a schematic structural view of a fixing module in the present invention.
Fig. 4 is a schematic structural view of a separation module according to the present invention.
In the above figures, a master module 1, a master housing 11, a controller 12, a data transmitter 13, a master power supply 14, a habitat detector 15, a sub-module 2, a sub-housing 21, a slot 211, a data transmitter 22, a sub-power supply 23, a data storage 24, a navigation module 25, a separation module 3, a mounting block 31, a groove 32, a telescopic column 33, a first micro motor 34, a fixing module 4, a fixing block 41, a slide 42, a blade 43, a fixing hole 44, a rope 45, and a second micro motor 46.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and the accompanying drawings.
Referring to fig. 1 to 4, a primary and secondary aquatic animal positioning and habitat acquiring device includes a primary module 1 and a plurality of secondary modules 2, the primary module 1 includes a primary housing 11 detachably disposed on an aquatic animal, and the secondary modules 2 include a secondary housing 21 detachably disposed on the primary housing 11;
the controller 12 and the data transmitter 13 are arranged in the main shell 11, the habitat detector 15 is arranged on the outer wall of one side of the main shell, and the data transmitter 22 and the data memory 24 are arranged in the sub shell 21;
the controller 12 is used for controlling the habitat detector 15 to collect habitat parameters of the surrounding environment of the aquatic animal at preset sampling intervals and controlling each sub-module 2 to release one by one according to respective preset release time;
the data transmitter 13 is configured to transmit the habitat parameters collected by the habitat detector 15 to the data memory 24 in the sub-module 2 to be released;
the data transmitter 22 is configured to transmit the habitat parameter stored in the data memory 24 to the ground receiving end through the beidou satellite navigation system after the released sub-module 2 floats to the water surface.
A navigation module 25 is also installed in the sub-shell 21;
the navigation module 25 is used for obtaining positioning information from the Beidou satellite navigation system after the released sub-module 2 floats to the water surface and sending the positioning information to the data transmitter 22;
the data transmitter 22 is configured to transmit the positioning information and the habitat parameters stored in the data storage 24 to the beidou satellite navigation system after the released submodule 2 floats to the water surface, and the beidou satellite navigation system transmits the positioning information and the habitat parameters of the released submodule 2 to the ground receiving end.
The positioning and habitat acquisition device further comprises a separation module 3 and a fixing module 4;
the controller 12 controls each sub-module 2 to release one by one according to respective preset release time through the separation module 3;
the controller 12 is also used for controlling the separation of the mother shell 11 from the aquatic animals according to a preset separation time through the fixing module 4.
The separation module 3 comprises a mounting block 31, the bottom of the mounting block 31 is fixedly connected with the top of the mother shell 11, a plurality of grooves 32 corresponding to the sub-modules 2 one by one are formed in the top of the mounting block 31, a plurality of first micro motors 34 corresponding to the sub-modules 2 one by one and a plurality of plug-in column groups corresponding to the sub-modules 2 one by one are arranged in the mounting block 31, each plug-in column group comprises two telescopic columns 33 connected with the corresponding first micro motors 34, and the two telescopic columns 33 are respectively in insertion fit with the slots 211 formed in two sides of the sub-shell 21 in the corresponding sub-modules 2 when extending.
The fixing module 4 comprises a fixing block 41, the top of the fixing block 41 is fixedly connected with the bottom of the female shell 11, a slide way 42 and a second miniature motor 46 are arranged inside the fixing block 41, a plurality of fixing holes 44 which are arranged side by side with the slide way 42 are formed in the fixing block 41, soft ropes 45 which are used for being bound on aquatic animals are arranged on the fixing holes 44 in a penetrating mode, a blade 43 connected with the second miniature motor 46 is arranged on the slide way 42, and the blade 43 can slide along the slide way 42 to cut the soft ropes 45.
The inside female power 14 that still is provided with for whole female module 1 power supply of female casing 11, the inside sub-power 23 that still is provided with for whole sub-module 2 power supply of sub-casing 21, integrated water temperature test probe, salinity test probe, chlorophyll test probe, degree of depth test probe, velocity of flow test probe, radioactive radiation value test probe on the habitat probe 15.
A method of using a primary and secondary aquatic animal positioning and habitat harvesting device, the method of using comprising:
s1, presetting a sampling interval of a habitat detector 15 and release time of each sub-module 2 through a controller 12, and then fixing the whole device on aquatic animals by using a fixing module 4 and releasing the device in the wild;
s2, the habitat detector 15 collects habitat parameters of surrounding environments of aquatic animals at fixed time according to preset sampling intervals, and the collected habitat parameters are input into a data memory 24 in the submodule 2 to be released through a data transmitter 13 and stored;
s3, when the release interval of the sub-module 2 to be released is reached, the controller 12 controls the sub-module 2 to be released, and the data transmitter 13 inputs the habitat parameters acquired by the habitat detector 15 into the data memory 24 in the next sub-module 2 to be released for storage;
s4, circularly repeating the steps S2 to S3 until all the sub-modules 2 are released;
s5, after the submodule 2 is released and floats to the water surface, the data transmitter 22 transmits the habitat parameters stored in the data memory 24 to the ground receiving end through the Beidou satellite navigation system.
A navigation module 25 is also installed in the sub-shell 21;
in step S5, after the released sub-module 2 floats to the water surface, the navigation module 25 obtains the positioning information from the beidou satellite navigation system and sends the positioning information to the data transmitter 22, and the data transmitter 22 transmits the positioning information and the habitat parameters stored in the data memory 24 to the ground receiving end through the beidou satellite navigation system.
The positioning and habitat acquisition device further comprises a separation module 3 and a fixing module 4;
in step S3, when the release interval of the sub-modules 2 to be released is reached, the controller 12 controls each sub-module 2 to be released one by one according to the respective preset release time through the separation module 3;
in step S4, after all the sub-modules 2 are released, the controller 12 controls the mother housing 11 to be separated from the aquatic animals according to a preset separation time through the fixing module 4.
The using method further comprises the step S6 of:
s6, the ground receiving end calculates the release position of the released sub-module based on the positioning information of the released sub-module and the habitat parameters stored in the data memory thereof、/>) The calculation formula is as follows:
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in the above-mentioned method, the step of,、/>respectively the abscissa and the ordinate of the submodule 2 when released; />、/>Respectively the horizontal and vertical coordinates of the submodule 2 when the submodule floats to the water surface; />、/>Respectively, the time after the submodule 2 floats to the water surface +.>Horizontal and vertical coordinates of the time;for the underwater flow rate when the submodule 2 is released, < >>Is Von Karman empirical constant, +.>For the water depth when the submodule 2 is released, < ->Is the roughness of the river bed or sea bed, +.>For shear flow rate>For the average horizontal offset speed of sub-module 2 during levitation +.>For the time that the submodule 2 takes from being released to floating up to the water surface, +.>For a horizontal offset distance of sub-module 2 during floating up,/->For the horizontal offset angle of sub-module 2 during floating up, +.>For the speed of movement of the submodule 2 on the water surface, -a.sub.module 2 is moved on the water surface>Is the included angle between the direction of the underwater ocean current when the submodule 2 is released and the moving direction of the submodule 2 on the water surface, and is->Is an intermediate variable.
Example 1:
referring to fig. 1 to 4, a primary and secondary aquatic animal positioning and habitat obtaining device comprises a primary module 1, a separation module 3, a fixing module 4 and a plurality of secondary modules 2, wherein the primary module 1 comprises a primary shell 11, the secondary modules 2 comprise a secondary shell 21, the separation module 3 comprises a mounting block 31, the bottom of the mounting block 31 is fixedly connected with the top of the primary shell 11, a plurality of grooves 32 which are in one-to-one correspondence with the secondary modules 2 are formed in the top of the mounting block 31, a plurality of first micro motors 34 which are in one-to-one correspondence with the secondary modules 2 and a plurality of plug-in column groups which are in one-to-one correspondence with the secondary modules 2 are arranged in the mounting block 31, the plug-in column groups comprise two telescopic columns 33 which are connected with the corresponding first micro motors 34, the two telescopic columns 33 are respectively in plug-in fit with slots 211 formed in two sides of the secondary shell 21 in the corresponding secondary module 2 when being extended, the fixing module 4 comprises a fixing block 41, the top of the fixing block 41 is fixedly connected with the bottom of the primary shell 11, a plurality of micro motors 42 are arranged in the fixing block 41, a plurality of micro-type motors 46 are arranged in the fixing block 42, a plurality of micro-type blades 45 are arranged on the two micro-type blades 45 and are arranged on the two micro-type blades 42 and are arranged on the two micro-type blades 43, and the two micro-type blades 45 are arranged on the two micro-type blades 43 and can be fixedly connected with the two micro-type blades 43;
the controller 12, the data transmitter 13 and the mother power supply 14 are arranged in the mother shell 11, the habitat detector 15 is arranged on the outer wall of one side of the mother shell 11, the mother power supply 14 supplies power to the whole mother module 1, the water temperature detection probe, the salinity detection probe, the chlorophyll detection probe, the depth detection probe and the radioactive radiation value detection probe are integrated on the habitat detector 15, the data transmitter 22, the subsidiary power supply 23, the data memory 24 and the navigation module 25 are arranged in the subsidiary shell 21, and the subsidiary power supply 23 supplies power to the whole subsidiary module 2;
the application method of the primary and secondary aquatic animal positioning and habitat obtaining device is carried out sequentially according to the following steps:
s1, connecting a ground receiving end with a controller 12, presetting a sampling interval of a habitat detector 15 and release time of each sub-module 2 through the controller 12, and fixing the whole device on living aquatic mammals/fishes (weight is not lower than 10 kg) by using a fixing module 4 to carry out field release;
s2, the habitat detector 15 collects the habitat parameters of the surrounding environment of the aquatic animal in a certain period of time at preset sampling intervals (different from minutes to days and can be specifically set according to practical conditions), the collected habitat parameters are stored in the controller 12 and are input into the data memory 24 in the sub-module 2 to be released through the data transmitter 13 for storage;
s3, when the release time of the sub-module 2 to be released is reached, the controller 12 controls the telescopic column 33 in the separation module 3 to retract and withdraw from the slot 211, the sub-module 2 to be released is released, and meanwhile, the data transmitter 13 inputs the habitat parameters acquired by the habitat detector 15 in the next time period into the data memory 24 in the next sub-module 2 to be released for storage;
s4, circularly repeating the steps S2 to S3 until all the sub-modules 2 are released, and after all the sub-modules 2 are released, controlling the blades 43 in the fixed module 4 to cut the soft ropes 45 by the controller 12 so as to separate the mother shell 11 from aquatic mammals/fishes;
s5, as the specific gravity of the sub-module 2 is smaller than that of seawater, the sub-module 2 is released and floats to the water surface, the navigation module 25 receives positioning information from the Beidou satellite, the positioning information and the habitat parameters stored by the data memory 24 are transmitted to the Beidou satellite by the data transmitter 22, the positioning information of the released sub-module 2 and the stored habitat parameters are transmitted to a ground receiving end by the Beidou satellite, and therefore the ground receiving end can obtain the habitat parameters of the released aquatic mammals/fishes in a specific time period and a specific area, and the ground receiving end can be a fixed client or a mobile client for supporting receiving Beidou satellite data;
s6, the ground receiving end calculates the release position of the released submodule 2 based on the positioning information of the released submodule 2 and the habitat parameters stored in the data memory of the released submodule 2、/>) To reduce the positioning error, the calculation formula is:
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in the above-mentioned method, the step of,、/>respectively the abscissa and the ordinate of the submodule 2 when released; />、/>Respectively the horizontal and vertical coordinates of the submodule 2 when the submodule floats to the water surface; />、/>Respectively, the time after the submodule 2 floats to the water surface +.>Horizontal and vertical coordinates of the time;for the underwater flow rate when the submodule 2 is released, < >>The value of Von Karman empirical constant is 0.4,/for>For the water depth when the submodule 2 is released, < ->Is the roughness of the river bed or sea bed, +.>For shear flow rate>For the average horizontal offset speed of sub-module 2 during levitation +.>For the time that the submodule 2 takes from being released to floating up to the water surface, +.>For a horizontal offset distance of sub-module 2 during floating up,/->For the horizontal offset angle of sub-module 2 during floating up, +.>For the speed of movement of the submodule 2 on the water surface, -a.sub.module 2 is moved on the water surface>Is the included angle between the direction of the underwater ocean current when the submodule 2 is released and the moving direction of the submodule on the water surface, and is->Is an intermediate variable.
Claims (10)
1. Primary and secondary formula aquatic animal location and habitat acquisition device, its characterized in that:
the positioning and habitat obtaining device comprises a mother module (1) and a plurality of sub-modules (2), wherein the mother module (1) comprises a mother shell (11) which is detachably arranged on an aquatic animal, and the sub-modules (2) comprise sub-shells (21) which are detachably arranged on the mother shell (11);
the controller (12) and the data transmitter (13) are arranged in the main shell (11), the habitat detector (15) is arranged on the outer wall of one side of the main shell, and the data transmitter (22) and the data memory (24) are arranged in the sub shell (21);
the controller (12) is used for controlling the habitat detector (15) to collect habitat parameters of the surrounding environment of the aquatic animal according to preset sampling intervals and controlling each sub-module (2) to release one by one according to respective preset release time;
the data transmitter (13) is used for transmitting the habitat parameters acquired by the habitat detector (15) to a data memory (24) in the sub-module (2) to be released;
the data transmitter (22) is used for transmitting the habitat parameters stored in the data memory (24) to the ground receiving end through the Beidou satellite navigation system after the released submodule (2) floats to the water surface.
2. The device of claim 1, wherein the device comprises:
a navigation module (25) is also arranged in the sub-shell (21);
the navigation module (25) is used for acquiring positioning information from the Beidou satellite navigation system after the released sub-module (2) floats to the water surface and sending the positioning information to the data transmitter (22);
the data transmitter (22) is used for transmitting the positioning information and the habitat parameters stored in the data memory (24) to the Beidou satellite navigation system after the released submodule (2) floats to the water surface, and the Beidou satellite navigation system transmits the positioning information and the habitat parameters of the released submodule (2) to the ground receiving end.
3. A primary and secondary aquatic animal positioning and habitat harvesting device according to claim 1 or 2, wherein:
the positioning and habitat acquisition device further comprises a separation module (3) and a fixing module (4);
the controller (12) controls each sub-module (2) to release one by one according to respective preset release time through the separation module (3);
the controller (12) is also used for controlling the mother shell (11) to be separated from the aquatic animals according to the preset separation time through the fixed module (4).
4. A primary and secondary aquatic animal positioning and habitat acquisition device as claimed in claim 3 wherein:
the separation module (3) comprises a mounting block (31), the bottom of the mounting block (31) is fixedly connected with the top of the mother shell (11), a plurality of grooves (32) corresponding to the sub-modules (2) one by one are formed in the top of the mounting block (31), a plurality of miniature motors (34) corresponding to the sub-modules (2) one by one and a plurality of telescopic column groups corresponding to the sub-modules (2) one by one are arranged in the mounting block (31), each telescopic column group comprises two telescopic columns (33) connected with the corresponding miniature motor (34), and the two telescopic columns (33) are respectively matched with slots (211) formed in two sides of the sub-shell (21) in the corresponding sub-module (2) in an inserting mode when extending.
5. A primary and secondary aquatic animal positioning and habitat acquisition device as claimed in claim 3 wherein:
the utility model provides a fixing module (4) including fixed block (41), the top of fixed block (41) and the bottom fixed connection of female casing (11), inside slide (42), no. two micro motor (46) of being provided with of fixed block (41), set up a plurality of fixed orifices (44) that set up side by side with slide (42) on fixed block (41), wear to be equipped with on fixed orifices (44) to be used for binding rope (45) on aquatic animal, be provided with blade (43) that are connected with No. two micro motor (46) on slide (42), blade (43) can follow slide (42) and slide in order to cut rope (45).
6. A primary and secondary aquatic animal positioning and habitat harvesting device according to claim 1 or 2, wherein:
the novel ecological environment detector is characterized in that a mother power supply (14) for supplying power to the whole mother module (1) is further arranged inside the mother shell (11), a child power supply (23) for supplying power to the whole child module (2) is further arranged inside the child shell (21), and a water temperature detection probe, a salinity detection probe, a chlorophyll detection probe, a depth detection probe, a flow velocity detection probe and a radioactive radiation value detection probe are integrated on the ecological environment detector (15).
7. A method of using the composite aquatic animal positioning and habitat harvesting device of claim 1, wherein:
the using method comprises the following steps:
s1, presetting a sampling interval of a habitat detector (15) and release time of each sub-module (2) through a controller (12), and then fixing the whole device on aquatic animals by using a fixing module (4) and releasing the device in the wild;
s2, the habitat detector (15) collects habitat parameters of surrounding environments of aquatic animals at fixed time according to preset sampling intervals, and the collected habitat parameters are input into a data memory (24) in the sub-module (2) to be released through a data transmitter (13) and stored;
s3, when the release interval of the sub-module (2) to be released is reached, the controller (12) controls the sub-module (2) to be released, and the data transmitter (13) inputs the habitat parameters acquired by the habitat detector (15) into a data memory (24) in the next sub-module (2) to be released for storage;
s4, circularly repeating the steps S2 to S3 until all the sub-modules (2) are released;
s5, after the submodule (2) is released and floats to the water surface, the data transmitter (22) transmits the habitat parameters stored by the data memory (24) to the ground receiving end through the Beidou satellite navigation system.
8. The method of claim 7, wherein the step of using the apparatus comprises:
a navigation module (25) is also arranged in the sub-shell (21);
in step S5, after the released sub-module (2) floats to the water surface, the navigation module (25) obtains positioning information from the beidou satellite navigation system and sends the positioning information to the data transmitter (22), and the data transmitter (22) transmits the positioning information and the habitat parameters stored in the data memory (24) to the ground receiving end through the beidou satellite navigation system.
9. A method of using a parent aquatic animal positioning and habitat harvesting device of claim 7 or 8, wherein:
the positioning and habitat acquisition device further comprises a separation module (3) and a fixing module (4);
in the step S3, when the release interval of the sub-modules (2) to be released is reached, the controller (12) controls each sub-module (2) to be released one by one according to the respective preset release time through the separation module (3);
in step S4, after all the sub-modules (2) are released, the controller (12) controls the mother shell (11) to separate from the aquatic animals according to a preset separation time through the fixing module (4).
10. A method of using a parent aquatic animal positioning and habitat harvesting device of claim 7 or 8, wherein:
the using method further comprises the step S6 of:
s6, the ground receiving end is based on the released sonThe location information of the module (2) and the habitat parameters stored in the data memory (24) thereof are calculated to obtain the release position of the released sub-module (2)、/>) The calculation formula is as follows:
；
；
；
；
；
；
；
；
in the above-mentioned method, the step of,、/>respectively the horizontal and vertical coordinates of the submodule (2) when released; />、/>Respectively the horizontal and vertical coordinates of the submodule (2) when the submodule floats to the water surface; />、/>Respectively, the time after the submodule (2) floats to the water surface is +.>Horizontal and vertical coordinates of the time; />For the underwater flow rate when the submodule (2) is released,/->Is Von Karman empirical constant, +.>For the water depth when the submodule (2) is released,/->Is the roughness of the river bed or sea bed, +.>For shear flow rate>Is the average level deviation of the submodule (2) in the floating processSpeed of movement (I)>For the time that the submodule (2) takes from being released to floating up to the water surface,/the submodule (2)>For the horizontal offset distance of the submodule (2) during the floating process, < >>For the horizontal offset angle of the submodule (2) during the floating process, < >>For the speed of movement of the submodule (2) on the water surface,/->Is the included angle between the direction of the underwater ocean current when the submodule (2) is released and the moving direction of the submodule (2) on the water surface, and is->Is an intermediate variable.
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