CN205770079U - A kind of autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture - Google Patents

Abstract

The utility model discloses a kind of autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture.Connected draining needle tubing, draining steering wheel, crank block and photographic head it is provided with inside fish head；Draining steering wheel is connected with the piston of draining needle tubing by crank block；Draining needle tubing is symmetricly set in inside fish head.Described fish head is connected with fish body by connecting support, is provided with several and drives steering wheel in fish body, drives and is connected by cascade fixture between steering wheel, and the driving steering wheel near fish tail is connected with fish tail by cascade fixture；The eyelid covering framework for supporting eyelid covering it is fixed with on cascade fixture；The steering wheel that drives near fish tail is rotating under the driving driving steering wheel of fish head in the horizontal direction；Described photographic head, draining steering wheel are connected with controller respectively with driving steering wheel.This money machine fish, by increasing travelling speed for the improvement of frame for movement and rational motion planning, improves delivery efficiency.

Description

A kind of autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture

Technical field

This utility model belongs to robot field, is specifically related to a kind of independently pursue the shoal of fish for shoal of fish aquaculture Machine fish.

Background technology

Machine fish, therefore named conceives, and from the machine of the outer image fish that material makes, machine fish is led in water quality monitoring There is quite varied application in territory, and the machine fish of this type is generally equipped with chemical sensor, is used for analyzing in water dirt Dye thing composition etc..This money machine fish is envisaged for culture fishery, for periodically driveing the shoal of fish, makes the shoal of fish periodically swim Dynamic, meat is improved, and improves market efficiency.

The type of drive of current machine fish is often based on bionics, is broadly divided into following three kinds:

A.Anguilliform:(eel shape) moved about, as Anguillar japonica by the fluctuation of overall body muscle

B.Carangiform: moved about by tail fin and the body swing being connected with afterbody, as salmon, gold rifle Fish, sailfish

C.Ostraciifrom: only do not utilized body swing to carry out swimming by the swing of tail fin

But there is following drawback and improvement in current machine fish technology:

1, existing machine fish is used for the fields such as water quality monitoring, relies on accurate chemical sensor etc., and cost is high.

2, limiting due to its application, current machine fish is not added with requirement for its profile and travelling speed, but uses For its travelling speed, there is higher requirement in the machine fish driveing the shoal of fish.

3, the anti-Water flow-path of existing machine fish technology is complicated, and waterproof effect is poor, relatively costly.

Summary of the invention

The purpose of this utility model is to solve problems of the prior art, and provides a kind of foster for the shoal of fish Grow autonomous pursuit shoal of fish machine fish and the control method thereof of industry.

The technical scheme that this utility model is used is as follows:

For the autonomous pursuit shoal of fish machine fish of shoal of fish aquaculture, including being sequentially connected and outer surface parcel eyelid covering Fish head, fish body and fish tail；Connected draining needle tubing, draining steering wheel, crank block it is provided with inside described fish head And photographic head；Described draining steering wheel is connected with the piston of draining needle tubing by crank block, is used for driving piston Motion is to change liquid in pipe quality；Described draining needle tubing quantity is even numbers, is symmetricly set in two-by-two in fish head Portion, and the outlet of syringe needle is positioned at outside fish head；

Described fish head is connected with fish body by connecting support, is provided with several and drives steering wheel, drive rudder in fish body Being connected by cascade fixture between machine, the driving steering wheel near fish tail is connected with fish tail by cascade fixture； The eyelid covering framework for supporting eyelid covering it is fixed with on cascade fixture；The driving steering wheel of close fish tail is near fish head Drive steering wheel driving under rotate in the horizontal direction；

Described photographic head, draining steering wheel are connected with controller respectively with driving steering wheel.

As preferably, described controller is Fructus Rubi group.

As preferably, described eyelid covering uses 3M VHB adhesive tape to carry out waterproof sealing.

As preferably, described controller, draining steering wheel and driving steering wheel are powered by power-supply device, power supply Equipment includes model airplane battery, voltage step-down module and auxiliary circuit

As preferably, described cascade fixture entirety is Z-shape, and upper arm end is cross, passes through screw Being connected with the steering wheel of upper level steering wheel, upper arm top leaves two screwed holes, for being connected with next stage steering wheel, And then complete the function of cascade, and transmit moment of torsion；Upper arm top is provided with floor with lift structure intensity.

As preferably, described controller carries out data interaction by wireless transport module with user.

The control method of this machine fish includes moving up and down and controls and side-to-side movement control；

Described up and down motion rate-determining steps is as follows:

S101: by camera collection shoal of fish image, and sent to service by wireless transport module by controller Device, carries out location recognition at server end to the target shoal of fish in image, and positional information is converted into control refers to Order is transmitted back in controller；

After S102: controller receives control instruction, parse the luffing angle corresponding to this instruction

S103: controller controls draining steering wheel at the uniform velocity anglec of rotation θ within the t time₁, θ₁Draining needle tubing during ＞ 0 The volume of water increases, and θ₁Computing formula as follows:

${\mathrm{\θ}}_1=arctan\left(\frac{J_{1}arctan\frac{z}{y}}{t^2{\mathrm{\ρgAL}}_{1}R}\right)$

In formula:

Y-impact point and the axial distance of fish center of gravity；Z-impact point and the vertical direction distance of fish center of gravity；ρ-liquid Body density；G-acceleration of gravity；The cross-sectional area of A-draining needle tubing；L₁-needle tubing center and fish centroidal distance； R-steering wheel crank block length；J₁-machine fish vertical direction rotary inertia；

The derivation principle of above-mentioned formula is as follows:

The up and down motion of machine fish needs to change machine fish at the angle of pitch radially.For the ease of controlling, we adopt Mode with set time regulation.

First after fish receives rotation order, it is possible to parse instruction luffing anglePass through pitching Angle can obtain at the appointed time in t through following calculating, the angle, θ turned over required for draining steering wheel₁:

By changing anglec of rotation θ of draining steering wheel₁Changing volume delta V of water in draining needle tubing, it is corresponding Relation is as follows:

D=R sin θ₁

Δ V=dA=RAsin θ₁

The change of volume causes the change of machine fish front portion gravity Δ F, and then changes moment of torsion before and after machine fish The size of Δ T:

Δ F=Δ V ρ g=ρ gARsin θ₁

Δ T=2 Δ FL₁=2 ρ gAL₁Rsinθ₁

Moment of torsion Δ T can cause machine fish in rotation radially, can be calculated:

Δ T=J₁β₁

If we require that motion completes in time t, equation below can be obtained:

$\∫\∫{\mathrm{\β}}_{1}dtdt=arctan\frac{z}{y}$

$\∫\∫\frac{2{\mathrm{\ρgSL}}_1{\mathrm{Rsin\θ}}_1}{J_1}dtdt=arctan\frac{z}{y}$

SolveEven make fish at time t intrinsic deflectionAngle, needs Require that rotating steering wheel rotates

D-draining needle tubing piston displacement；Δ V-draining needle tubing displacement of volume；The gravity that Δ F-increases because of Δ V； The torque that Δ T-increases because of Δ V；β₁-machine fish vertical direction rotating angular acceleration；

Y-impact point and the axial distance of fish center of gravity；Z-impact point and the vertical direction distance of fish center of gravity；ρ- Fluid density；G-acceleration of gravity；The cross-sectional area of A-draining needle tubing；L₁-needle tubing center and fish centroidal distance； R-steering wheel crank block length；J₁-machine fish vertical direction rotary inertia；

S104: after completing step S102, is controlled draining steering wheel by controller and recovers to the angle before not rotating；

S105: constantly repeat S101～S104, it is achieved the vertical direction pursuit to the target shoal of fish；

Described side-to-side movement rate-determining steps is as follows:

S201: by camera collection shoal of fish image, and sent to service by wireless transport module by controller Device, carries out location recognition at server end to the target shoal of fish in image, by the position of shoal of fish slip chart inconocenter Put prediction and obtain the angle, θ that machine fish needs to deviate₂, and positional information is converted into control instruction be transmitted back to control In device processed；Motion amplitude according to driving steering wheel limits, and arranges fish tail swing times N, swings back and forth and be designated as 1 Secondary, it is θ ', θ '=θ that single swings the angle making machine fish deviate₂/N；

After S202: controller receives control instruction, parse the bilateral asymmetric rotational angle corresponding to this instruction α and γ；Wherein α and γ is the angle sum that all driving steering wheels rotate, and during α ＞ 0, fish tail with fish head is Initial point rotates counterclockwise；During γ ＞ 0, fish tail rotates clockwise with fish head for initial point；Below α and γ is satisfied about Bundle condition:

τ₁=F_DL₂cos(γ-γ₁)

τ₂=F_DL₂cos(α-α₁)

${\mathrm{\θ}}^{\′}=\frac{{\mathrm{\τ}}_1-{\mathrm{\τ}}_2}{4J_2}{t}^2$

In formula: between bilateral fish tail stress action spot and fish center of gravity, alleged angle is angle [alpha]₁And γ₁；F_DFor tail Total force suffered by portion；L₂Distance between-fish tail center and fish center of gravity；J₂Turning for machine fish horizontal direction Dynamic inertia；τ₁-fish body is with fish head for initial point Moment clockwise；τ₂-fish body fish head is that initial point is counterclockwise Direction Moment；T-is the total time of single swing process；

The derivation principle of above formula is as follows:

Horizontal direction controlled according to two hunting periods of left and right as a secondary control cycle, controlled roughly, often The angle, θ of secondary rotation '.The flow process controlled is:

Receive rotation order, parse direction of rotation.Then afterbody steering wheel is carried out the most right of anglec of rotation direction Claim to control.Finally complete rear fish body and return to original state.

The angle, θ that wherein machine fish rotates every time ' and bilateral asymmetric rotational angle [alpha] and γ between relation such as Under:

Machine fish fish tail received bonding force of fetching water can be calculated by below equation:

$F_D=\frac{1}{2}{C}_d{\mathrm{\ρv}}^{2}S$

Wherein v=ω L₂。

If the angle between left and right is bilateral asymmetric rotational angle [alpha] and γ, bilateral fish tail stress action spot and Between fish center of gravity, alleged angle is angle [alpha]₁And γ₁, then the moment that both sides extreme position is received is:

τ₁=F_D sinγL₂sinγ₁+F_D cosγL₂cosγ₁=F_DL₂cos(γ-γ₁)

τ₂=F_D sinαL₂sinα₁+F_D cosαL₂cosα₁=F_DL₂cos(α-α₁)

Due to the speed of machine fish swing, stress can be approximated, and be considered constant moment of force by we, The angle that then single swing is turned over is:

${\mathrm{\θ}}^{\′}=\frac{{\mathrm{\τ}}_1-{\mathrm{\τ}}_2}{4J}{t}^2$

As a example by altogether swinging twice, so the angle that execution rotation order is turned over is every time:

${\mathrm{\θ}}_2=2{\mathrm{\θ}}^{\′}=\frac{{\mathrm{\τ}}_1-{\mathrm{\τ}}_2}{2J}{t}^2$

Above-mentioned formula relates to parameter be defined as follows:

Total force suffered by afterbody；C_d-resistance coefficient；V-fish tail swing linear velocity； S-fish tail area；L₂-fish tail center and fish centroidal distance；J₂Rotary inertia for horizontal direction；τ₁-fish body is suitable Clockwise Moment；τ₂-fish body counterclockwise Moment；T-is the total time that single swings；γ- Fish tail rotates clockwise angle；γ₁The clockwise angle that-fish tail relative CG turns over；α-fish tail rotates counterclockwise Angle；α₁The counterclockwise angle that-fish tail relative CG turns over.

S203: controller controls to drive steering wheel to rotate, and swings α and γ to both sides successively, and repeats n times；

S204: constantly repeat S201～203, it is achieved the horizontal direction pursuit to the target shoal of fish.

As preferably, described up and down motion control and side-to-side movement control to carry out at the same time or separately or successively.

This utility model in terms of existing technologies, has following technical effect that

(1) mechanical efficiency of machine fish and travelling speed issue

Prior art is used for underwater photography, water quality exploration etc., focuses in the measure of precision of its detector, The travelling speed to machine fish platform does not has high requirement, but this money machine fish is by for frame for movement Improve and rational motion planning increases travelling speed, improve delivery efficiency.

(2) the motion planning problem of machine fish

Conventional machines fish is usually used in constant depth under water, but the application places circumstance complication of this machine fish, Needing multi-motion direction (keep straight on, turn, float, sinking etc.), this kind of machine fish is fixed on by one Drainage arrangement at fish head, changes the weight of fish, and then changes its density, thus realize machine fish in water Float and sink.

(3) waterproof problem of machine fish

The untapped a set of lower-cost waterproof construction of conventional art, this kind of machine fish make use of a kind of elastomeric Material VHB carries out the waterproof of fish body and seals, and had both protected circuit and frame for movement, and had not the most disturbed machine fish The motion of itself.

Accompanying drawing explanation

Fig. 1 is a kind of autonomous vertical view cut-away view pursuing shoal of fish machine fish for shoal of fish aquaculture；

Fig. 2 is the schematic diagram of cascade fixture；A) it is front view；B) left view；C) top view；

Fig. 3 is machine fish side view of the present utility model；

Fig. 4 is the control schematic diagram of machine fish side-to-side movement；

Fig. 5 is draining steering wheel crank block device motion schematic diagram of the present utility model；

Fig. 6 is the control schematic diagram that machine fish moves up and down.

In figure: draining needle tubing 1, draining steering wheel 2, crank block 3, cascade fixture 4, eyelid covering framework 5, Fish tail 6, connection support 7, controller 8 and photographic head 9；

Detailed description of the invention

With detailed description of the invention this utility model it is further elaborated below in conjunction with the accompanying drawings and illustrates.This practicality is new In type, the technical characteristic of each embodiment is not on the premise of colliding with each other, and all can carry out respective combination.

As shown in figs. 1 and 3, a kind of autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture.This machine fish master Body portion is divided into and being sequentially connected and the outer surface parcel fish head of eyelid covering, fish body and fish tail 6.Eyelid covering uses 3M VHB Adhesive tape carries out waterproof sealing, is required for again wrapping up, to ensure the water resistance within machine fish before the most lower water.

Connected draining needle tubing 1, draining steering wheel 2, crank block 3 and photographic head it is provided with inside described fish head 9；Described draining steering wheel 2 is connected with the piston of draining needle tubing 1 by crank block 3, is used for driving piston Motion is to change liquid in pipe quality；Described draining needle tubing 1 quantity is even numbers, is symmetricly set in fish head two-by-two Inside, and the outlet of syringe needle is positioned at outside fish head.In the present embodiment, draining needle tubing 1, draining steering wheel 2 and Crank block 3, as barycenter adjusting module, has 2 sets, symmetrically placed in fish head bottom.Steering wheel drives crank Slide block rotates, and slider-crank mechanism is connected with draining needle tubing inner carrier, thus the rotary motion of steering wheel is converted to The reciprocating motion of piston.

Described fish head is connected with fish body by connecting support 7.In the present embodiment, in fish body, it is provided with 3 drivings Steering wheel, is driven and is connected by cascade fixture 4 between steering wheel, and the driving steering wheel near fish tail 6 passes through cascade Fixture 4 is connected with fish tail 6.Fish tail part first half uses same with steering wheel cascade fixture upper arm parts split-phase Structure, latter half is connected the draining board of a fish tail shape, before promoting fish by the way of fetching water in water Enter.

The eyelid covering framework 5 for supporting eyelid covering it is fixed with on cascade fixture 4.In the present embodiment, eyelid covering framework 5 are divided into size three, ovalize, are fixed on cascade fixture respectively by the way of glue connects, and area is big Small scale is respectively 13:11:7, and every grade of framework is made up of two, the left and right part piled by two, distinguishes up and down It is made up of 1/4 ellipse varied in size, in smoothing junction each other.The driving steering wheel of close fish tail 6 is close Rotate in the horizontal direction under the driving driving steering wheel of fish head.Afterbody chopped-off head steering wheel is fixed by screws in connection On frame 7.As in figure 2 it is shown, cascade fixture 4 is overall Z-shape, upper arm end is cross, passes through spiral shell Nail is connected with the steering wheel of upper level steering wheel, and upper arm top leaves two screwed holes, for being connected with next stage steering wheel, And then complete the function of cascade, and transmit moment of torsion；Upper arm top is provided with floor with lift structure intensity.

Described photographic head 9, draining steering wheel 2 are connected with controller 8 respectively with driving steering wheel.Originally it is embodied as Mode middle controller 8 is for ease of the Fructus Rubi group of exploitation.Fructus Rubi group is arranged on inside machine fish by screw, it is achieved The basic controlling of machine fish.Photographic head uses Fructus Rubi to send supporting special camera, by CSI interface and Fructus Rubi Sending corresponding interface to connect, camera module is fixed on the front portion of fish by support.

Machine fish middle controller 8, draining steering wheel and driving steering wheel are powered by power-supply device, power-supply device bag Include model airplane battery, voltage step-down module and auxiliary circuit.

Mutual in order to realize with remote server, controller 8 carries out data by wireless transport module with user Alternately.

The basic control principle of machine fish is by this utility model:

Horizontal direction controls: after receiving the instruction of server end, Fructus Rubi group can take a series of action, with Complete the position control of machine fish horizontal direction:

Left: to be moved to the left, α > β；In: forward rectilinear moves, α=β；Right: to move right, α < β

Vertical direction controls: after receiving the instruction of server end, Fructus Rubi group can take a series of action, with Complete the position control of machine fish vertical direction.

Above: draining steering wheel rotates, thus drives crank connecting rod apparatus, makes piston move forward, such machine fish is whole Moving after the body weight heart and gravity reduces, reason causes with fish floating on both side.

Under: draining steering wheel rotates, thus drives crank connecting rod apparatus, moves after making piston, such machine fish whole The reach of the body weight heart and gravity increase, and reason causes fish body to sink on both side.

Being additionally provided with auxiliary program in Fructus Rubi group, auxiliary program is primarily used to perform the function of some auxiliary, wherein Including:

Self-balancing controls: by individually changing the anglec of rotation of left and right draining steering wheel, make the overall centroid position of fish body Change, produce certain moment of torsion relative to the geometric center of gravity of machine fish, to ensure the moment of torsion of machine fish self Balance.

Under-voltage protection: when machine fish detects that operating cell voltage is less than certain threshold value, can start low electricity and protect Protect, all of water in syringe make fish tail symmetric motion in row's light barycenter adjusting module, force machine fish emersion The water surface.

Further, based on above-mentioned machine fish, it is also possible to provide a kind of described independently chasing after for shoal of fish aquaculture Catch up with the control method of shoal of fish machine fish, control including moving up and down and side-to-side movement controls.Move up and down control and Side-to-side movement controls can simultaneously according to actual needs, carry out respectively or successively.

As shown in Fig. 5～6, described up and down motion rate-determining steps is as follows:

S101: gather shoal of fish image by photographic head 9, and by controller 8 by wireless transport module send to Server, carries out location recognition at server end to the target shoal of fish in image, and positional information is converted into control Instruction processed is transmitted back in controller 8；

After S102: controller 8 receives control instruction, parse the luffing angle corresponding to this instruction

S103: controller 8 controls draining steering wheel 2 at t₁At the uniform velocity anglec of rotation θ in time₁, θ₁Draining during ＞ 0 The volume of needle tubing 1 water increases, and θ₁Computing formula as follows:

${\mathrm{\&theta;}}_1=arctan\left(\frac{J_{1}arctan\frac{z}{y}}{{t_1}^2{\mathrm{\&rho;gAL}}_{1}R}\right)$

In formula:

Y-impact point and the axial distance of fish center of gravity；Z-impact point and the vertical direction distance of fish center of gravity；ρ-liquid Body density；G-acceleration of gravity；The cross-sectional area of A-draining needle tubing；L₁-needle tubing center and fish centroidal distance； R-steering wheel crank block length；J₁-machine fish vertical direction rotary inertia；

S104: after completing step S102, is controlled draining steering wheel 2 by controller 8 and recovers to the angle before not rotating Degree；

S105: constantly repeat S101～S104, it is achieved the vertical direction pursuit to the target shoal of fish；

As shown in Figure 4, described side-to-side movement rate-determining steps is as follows:

S201: gather shoal of fish image by photographic head 9, and by controller 8 by wireless transport module send to Server, carries out location recognition at server end to the target shoal of fish in image, by shoal of fish slip chart inconocenter Position prediction obtain the angle, θ that machine fish needs at the uniform velocity to deviate₂, and positional information is converted into control instruction It is transmitted back in controller 8；Motion amplitude according to driving steering wheel limits, and arranges fish tail swing times N, back and forth Swing is designated as 1 time, and it is θ ', θ '=θ that single swings the angle making machine fish deviate₂/N；

After S202: controller 8 receives control instruction, parse the bilateral asymmetric rotational angle corresponding to this instruction Degree α and γ；Wherein α and γ is the angle sum that all driving steering wheels rotate, and during α ＞ 0, fish tail is with fish head Rotate counterclockwise for initial point；During γ ＞ 0, fish tail rotates clockwise with fish head for initial point；Below α and γ meets Constraints:

τ₁=F_DL₂cos(γ-γ₁)

τ₂=F_DL₂cos(α-α₁)

${\mathrm{\&theta;}}^{\&prime;}=\frac{{\mathrm{\&tau;}}_1-{\mathrm{\&tau;}}_2}{4J_2}{t_2}^2$

In formula: between bilateral fish tail stress action spot and fish center of gravity, alleged angle is angle [alpha]₁And γ₁；F_DFor tail Total force suffered by portion；L₂Distance between-fish tail center and fish center of gravity；J₂Turning for machine fish horizontal direction Dynamic inertia；τ₁-fish body is with fish head for initial point Moment clockwise；τ₂-fish body fish head is that initial point is counterclockwise Direction Moment；t₂-for total time of single swing process；

S203: controller 8 controls to drive steering wheel to rotate, and swings α and γ to both sides successively, and repeats n times；

S204: constantly repeat S201～203, it is achieved the horizontal direction pursuit to the target shoal of fish.

Embodiment described above is one of the present utility model preferably scheme, so itself and be not used to limit this Utility model.About the those of ordinary skill of technical field, without departing from spirit and scope of the present utility model In the case of, it is also possible to make a variety of changes and modification.The most all mode institutes taking equivalent or equivalent transformation The technical scheme obtained, all falls within protection domain of the present utility model.

Claims (6)

1. the autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture, it is characterised in that include being sequentially connected and the outer surface parcel fish head of eyelid covering, fish body and fish tail (6)；Connected draining needle tubing (1), draining steering wheel (2), crank block (3) and photographic head (9) it is provided with inside described fish head；Described draining steering wheel (2) is connected with the piston of draining needle tubing (1) by crank block (3), is used for driving piston movement to change liquid in pipe quality；Described draining needle tubing (1) quantity is even numbers, is symmetricly set in inside fish head two-by-two, and the outlet of syringe needle is positioned at outside fish head；

Described fish head is connected with fish body by connecting support (7), it is provided with several in fish body and drives steering wheel, driving and be connected by cascade fixture (4) between steering wheel, the driving steering wheel near fish tail (6) is connected with fish tail (6) by cascade fixture (4)；The eyelid covering framework (5) for supporting eyelid covering it is fixed with on cascade fixture (4)；The steering wheel that drives near fish tail (6) is rotating under the driving driving steering wheel of fish head in the horizontal direction；

Described photographic head (9), draining steering wheel (2) are connected with controller (8) respectively with driving steering wheel.

2. the autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture as claimed in claim 1, it is characterised in that described controller (8) is Fructus Rubi group.

3. the autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture as claimed in claim 1, it is characterised in that described eyelid covering uses 3M VHB adhesive tape to carry out waterproof sealing.

4. the autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture as claimed in claim 1, it is characterized in that, described controller (8), draining steering wheel and driving steering wheel are powered by power-supply device, and power-supply device includes model airplane battery, voltage step-down module and auxiliary circuit.

5. the autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture as claimed in claim 1, it is characterized in that, described cascade fixture (4) is overall Z-shape, upper arm end is cross, being connected by the steering wheel of screw with upper level steering wheel, upper arm top leaves two screwed holes, for being connected with next stage steering wheel, and then complete the function of cascade, and transmit moment of torsion；Upper arm top is provided with floor with lift structure intensity.

6. the autonomous pursuit shoal of fish machine fish for shoal of fish aquaculture as claimed in claim 1, it is characterised in that described controller (8) carries out data interaction by wireless transport module with user.