WO2021136357A1 - Détecteur de poissons, système de détection de poissons et procédé de détection de poissons - Google Patents

Détecteur de poissons, système de détection de poissons et procédé de détection de poissons Download PDF

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Publication number
WO2021136357A1
WO2021136357A1 PCT/CN2020/141313 CN2020141313W WO2021136357A1 WO 2021136357 A1 WO2021136357 A1 WO 2021136357A1 CN 2020141313 W CN2020141313 W CN 2020141313W WO 2021136357 A1 WO2021136357 A1 WO 2021136357A1
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WO
WIPO (PCT)
Prior art keywords
fish
surface positioning
water surface
underwater
probe
Prior art date
Application number
PCT/CN2020/141313
Other languages
English (en)
Chinese (zh)
Inventor
犹云
罗杰
刘威
王哲
王思奥
Original Assignee
深圳潜行创新科技有限公司
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Application filed by 深圳潜行创新科技有限公司 filed Critical 深圳潜行创新科技有限公司
Publication of WO2021136357A1 publication Critical patent/WO2021136357A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • 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

Definitions

  • This application relates to the technical field of fish finding equipment, for example, to a fish finding device, a fish finding system and a fish finding method.
  • fish finder products there are many types of fish finder products on the market, and there are many kinds of functions. According to the working principle of fish finder, it can be basically divided into two categories.
  • One type of fish finder uses sonar positioning technology to achieve the purpose of fish finding through the principle of sound wave transmission. After the fish finder emits sound waves, the distance is measured by the return time of the sound waves touching the object. Through the reflected sound wave signals, the fish finder can recognize the fish information. This fish finder collects sonar signals through a probe with a sonar generator on the water surface, and then obtains fish information through a microprocessor calculation and displays it to the user.
  • Another type of fish finder uses the principle of underwater photography, which mainly includes waterproof cameras and water displays, which are connected by cables or wireless networks, and observe underwater conditions through display devices to find fish.
  • the sonar fish finder has high cost, complicated structure, large volume and heavy weight, and is inconvenient to use.
  • the range of sonar fish hunting is the full depth, not the range of a specific depth in the water, and most of the large amount of information collected is invalid information.
  • Sonar fish finder is incapable of finding fish on the banks of small reservoirs, rivers, and lakes. The main reason is that the shore terrain is complex and the water and grass are overgrown.
  • the ultrasonic fish finder presents echoes in disorder.
  • the fish finder using ultrasonic technology is used to find fish on the shore. The effect of fish will be greatly reduced.
  • the fish finder based on the principle of underwater photography can only realize underwater photography and cannot detect other underwater information.
  • the launching position of the waterproof camera has a large deviation from the actual observation position, and cannot be accurately positioned, which is of little practical significance. Therefore, the development of a fish finder that can accurately locate a school of fish, capture the image information of the school of fish, and even track the school of fish has become an urgent technical problem to be solved.
  • the present application provides a fish finder, a fish finder system and a fish finder method to solve the problem that the fish finder cannot accurately locate and track the fish school.
  • a fish finder including an underwater probe, a water surface positioning buoy, and a communication cable.
  • the underwater probe and the water surface positioning buoy are connected by a communication cable;
  • a camera and a control are installed inside the underwater probe A circuit board, the camera is electrically connected to the control circuit board, and the control circuit board is electrically connected to the first end of the communication cable;
  • the control circuit board is provided with a first gyroscope and a first electronic compass;
  • the water surface positioning buoy includes an upper shell , Battery pack, lower casing, winding device and control main board, upper casing and lower casing are fixedly connected, and a watertight accommodating space is formed between the upper casing and lower casing, and the outer wall of the water surface positioning buoy is detachable Equipped with a battery pack;
  • the upper casing is provided with a GPS module, a wireless communication module and a control main board, wherein the GPS module and the wireless communication module are both connected to the control main board, and the control main board is provided with
  • the top of the upper casing is recessed downward to form a groove or the bottom of the lower casing is recessed upward to form a groove, the bottom of the recess is provided with a first watertight connector, and the bottom of the battery pack is provided with a socket.
  • the plug is inserted into the first end of the first watertight connector, and the second end of the first watertight connector is electrically connected to the control main board through a cable.
  • a power switch is provided on the water surface positioning buoy, and the power switch is electrically connected to the battery pack, and the power switch is a button switch or an induction switch.
  • the winding device includes a motor and a winding wheel.
  • the winding wheel includes a stator wheel and a rotor wheel that are coaxially arranged.
  • a shaft is fixed in the middle of the stator wheel, and a conductive slip ring stator is sleeved on the outer side wall of the shaft.
  • the conductive slip ring stator is sleeved with a conductive slip ring rotor, the conductive slip ring rotor is sleeved with a rotor wheel, the outer side wall of the rotor wheel is provided with a transmission shaft, and the motor drives the transmission shaft to rotate; the shaft is provided with a through hole, and the rotor wheel There is an outlet hole on the top, and the communication cable is divided into two sections at the conductive slip ring; the first end of the first section of the communication cable is connected to the control board, and the second end is inserted through the through hole on the shaft and connected to the conductive slip ring stator ; The first end of the second section of the communication cable is connected to the conductive slip ring rotor, and the second end is connected to the underwater probe through the rotor wheel through the outlet hole.
  • the underwater probe includes a probe housing and a probe sealing cover.
  • a lens, a camera, and a control circuit board are sequentially fixed inside the probe housing.
  • a depth sensor, a temperature sensor, and a temperature sensor are arranged on the top of the probe sealing cover.
  • the sensors are all connected to the control circuit board, a second watertight connector is arranged in the middle of the top of the probe sealing cover, the first end of the second watertight connector is connected to the communication cable, and the second end is connected to the control circuit through the cable ⁇ Board connection.
  • a lifting lug is provided on the outer side wall of the underwater probe, a first traction rope and a second traction rope are provided on the communication cable, the free end of the first traction rope is connected with the lifting lug, and the second traction rope A counterweight is hung on the end of the.
  • a plurality of illuminating lamps are arranged on the probe housing, and the plurality of illuminating lamps are evenly distributed around the camera.
  • the number of the multiple thrusters ranges from 2 to 6 and the multiple thrusters are arranged on the same circle.
  • an indicator light and a WIFI antenna are arranged on the top of the upper casing, and a fish attracting light is arranged on the bottom of the lower casing.
  • the present application also provides a fish finder system, including a mobile terminal and the fish finder according to any one of the above technical solutions, and the mobile terminal is electrically connected with the wireless communication module.
  • the application also provides a fish detection method, which is applied to the fish detection system.
  • the fish finding method includes the following steps: the user puts the fish finder in the water, connects the fish finder to the mobile terminal, controls the main board to record the initial position of the water surface positioning buoy, remotely controls the water surface positioning buoy to the visual fishing point, and the GPS module obtains the water surface positioning buoy Control the main board to control the water surface positioning buoy to be relatively static within 1 meter from the visual fishing point; the winding device releases the underwater probe to the water, the camera transmits data to observe the underwater fish situation, and the data is the target fish
  • the microprocessor calculates the relative position of the underwater probe relative to the surface positioning buoy, and obtains and saves the nest position of the fish school; when the data is a non-target fish school, multiple propellers drive the surface positioning buoy to For the next visual fishing point, repeat the GPS module to obtain the position information of the water surface positioning buoy, and control the main board to control the water surface positioning buoy to be relatively static within 1 meter from the visual fishing point
  • the location of the fish is patrolled in the fish. After the user determines the best fishing spot through the mobile terminal, the user issues a one-key return instruction through the mobile terminal, controls the main board to receive the one-key return instruction, controls the motor to take up the line at high speed, and the surface positioning buoy automatically returns to the initial position or Specify the location.
  • the method further includes: the user adjusts the length of the first towing rope through the lifting lug to make the underwater probe at a certain angle of inclination underwater; the mobile terminal sends a rotation The command is sent to the control main board, and the control main board controls multiple thrusters to drive the water surface positioning buoy to rotate in situ according to the rotation command, driving the underwater probe to rotate and detect underwater; the microprocessor uses the first gyroscope and the first electronics in the underwater probe The information fed back by the compass is used to calculate and record the orientation and angle information of the underwater probe.
  • Figure 1 is a schematic diagram of the structure of a fish finder in an embodiment of the application
  • Figure 2 is a schematic structural diagram of a water surface positioning buoy in an embodiment of the application
  • Figure 3 is a schematic diagram of the internal structure of the water surface positioning buoy in an embodiment of the application.
  • FIG. 4 is a schematic diagram of the assembly of the battery pack in the embodiment of the application.
  • Figure 5 is a schematic diagram of the internal structure of the reel in an embodiment of the application.
  • Fig. 6 is a schematic structural diagram of an underwater probe in an embodiment of the application.
  • FIG. 7 is a schematic diagram of the internal structure of an underwater probe in an embodiment of the application.
  • Figure 8 is a schematic diagram of the assembly of the underwater probe in an embodiment of the application.
  • Figure 1 is a schematic diagram of the structure of a fish finder in an embodiment of this application
  • Figure 2 is a schematic diagram of the structure of a water surface positioning buoy in an embodiment of this application
  • Figure 3 is a schematic diagram of the internal structure of a water surface positioning buoy in an embodiment of this application
  • Fig. 5 is a schematic diagram of the internal structure of the reel in the embodiment of the application
  • Fig. 6 is a schematic diagram of the structure of the underwater probe in the embodiment of the application
  • FIG. 8 is a schematic diagram of the assembly of the underwater probe in an embodiment of the application.
  • FIG. 1 shows a fish finder.
  • the fish finder includes an underwater probe 1, a water surface positioning buoy 2 and a communication cable 3.
  • the underwater probe 1 and the water surface positioning buoy 2 are connected by a communication cable 3.
  • a camera 11 and a control circuit board 12 are installed inside the underwater probe 1, the camera 11 is electrically connected to the control circuit board 12, and the control circuit board 12 is electrically connected to the first end of the communication cable 3; the control circuit
  • the board 12 is provided with a first gyroscope and a first electronic compass.
  • the water surface positioning buoy 2 includes an upper shell 21, a battery pack 22, a lower shell 23, a winding device 24, and a control main board.
  • the upper shell 21 and the lower shell 23 are fixedly connected, and the upper shell A watertight accommodating space is formed between the body 21 and the lower shell 23, and a battery pack 22 is detachably mounted on the outer side wall of the water surface positioning buoy 2.
  • the upper housing 21 is provided with a Global Positioning System (GPS) module, a wireless communication module and a control main board, and the control main board is provided with a microprocessor, a second electronic compass, and a second gyroscope.
  • GPS Global Positioning System
  • the control main board, GPS module, and wireless communication module are all sealed and assembled, and the control main board is electrically connected with the GPS module and the wireless communication module through watertight connectors to prevent water from entering the equipment and damaging the equipment.
  • a plurality of propellers 25 are symmetrically distributed on the lower part of the outer side wall of the lower shell 23, and the plurality of propellers are connected with the control main board.
  • the number of thrusters 25 ranges from 2 to 6 and multiple thrusters 25 are arranged on the same circumference.
  • a winding device 24 is fixed inside the lower housing 23.
  • the second end of the communication cable 3 is connected to the second end of the communication cable 3 through the winding device 24. Control the electrical connection of the main board.
  • the battery pack 22 is electrically connected with the control board, the GPS module, the wireless communication module, and the winding device 24.
  • the above-mentioned fish finder is used in combination with a mobile terminal, which is usually a client terminal such as a mobile phone or a tablet computer with application software installed.
  • a mobile terminal which is usually a client terminal such as a mobile phone or a tablet computer with application software installed.
  • the fish finder When in use, the fish finder is placed on the water surface, the water surface positioning buoy 2 floats on the water surface due to buoyancy, the underwater probe 1 is under its own gravity and the wire is released through the winding device 24, and is drawn to the water under the traction of the communication cable 3. Down exercise.
  • the GPS module in the surface positioning buoy 2 receives satellite signals, and the microprocessor calculates the position information of the surface positioning buoy 2 in real time. By driving the thruster 25, the surface positioning buoy 2 is within a small range of the target position (the error is not more than 1 meter) Relatively fixed inside.
  • the camera 11 inside the underwater probe 1 feeds back the collected images to the mobile terminal through the control main board, and the operator obtains the fish school size and type information through the image, and judges whether the fish school is the target fish school. If the school of fish is the target school of fish, use the absolute position information of the surface positioning buoy 2, the gyroscope and the electronic compass carried by the underwater probe 1 to calculate the relative position information of the underwater probe 1 relative to the surface positioning buoy 2, and obtain and record the fish The precise location of the group. If the school of fish is not the target school of fish, a control signal is given through the mobile terminal, and the water surface positioning buoy 2 is driven to move through the propeller 25, and the fish school is searched and positioned on the water surface. Operators can formulate fishing strategies based on the observed fish school information.
  • the upper shell 21 provides sufficient buoyancy for the surface positioning buoy 2.
  • the GPS module, microprocessor, gyroscope and electronic compass carried on the upper shell 21 can effectively record the position information of the positioning buoy 2.
  • the wireless communication module communicates with the mobile terminal remotely. Distance communication, data transmission.
  • the propeller 25 and the winding device 24 on the lower shell 23 effectively reduce the center of gravity of the surface positioning buoy 2 to ensure the effective draught of the propeller 25, so that the surface positioning buoy 2 has better static stability and navigation stability.
  • the top of the upper housing 21 is provided with an indicator light and a wireless fidelity (Wireless Fidelity, WIFI) antenna, and the bottom of the lower housing 23 is provided with a fish trap light.
  • the indicator light makes it possible to clarify the position of the buoy at a long distance and at night, and the fish lure lamp can achieve fish lure.
  • the top of the upper housing 21 in this embodiment is recessed downward to form a groove 211, and the bottom of the groove 211 is provided with a first watertight plug
  • a socket is provided at the bottom of the battery pack 22. The socket is inserted into the plug at the first end of the first watertight connector 212, and the second end of the first watertight connector 212 is electrically connected to the control board through a cable .
  • the remaining components are respectively electrically connected to the control main board, and the battery pack supplies power to the remaining components through the control main board.
  • the fish finder when using the fish finder, plug the fully charged battery pack 22 into the first watertight connector 212 at the bottom of the groove 211, press the power switch 221, the fish finder Multiple electrical components are energized and can be used for fish detection operations.
  • the top of the outer side wall of the battery pack 22 is recessed inwardly into a step shape, which is convenient for grasping.
  • the power supply can be quickly switched.
  • the battery pack 22 has insufficient power during use, it can be quickly switched to a backup power supply, which greatly improves the customer experience.
  • the bottom of the lower casing 23 is concave upward to form a groove 211, and the bottom of the groove 211 is provided with a first watertight connector 212, and the battery pack A socket is provided at the bottom of 22, and the socket is inserted into the plug at the first end of the first watertight connector 212, and the second end of the first watertight connector 212 is electrically connected to the control board through a cable.
  • the battery pack 22 is installed on the lower shell 23 to lower the center of gravity of the water surface positioning buoy 2 and make the water surface positioning buoy 2 run more smoothly.
  • a power switch is provided on the water surface positioning buoy 2.
  • the power switch is electrically connected to the battery pack 22, and the power switch is a button switch or an induction switch.
  • Push-button switches can generally be installed on the surface of the housing, and inductive switches such as infrared sensors and water switches are more often installed inside the housing.
  • the winding device 24 in this embodiment includes a motor 241 and a winding wheel 242, and the winding wheel 242 includes a coaxially arranged stator. Wheel 2421 and rotor wheel 2422.
  • a shaft 2423 is fixed in the middle of the stator wheel 2421.
  • a conductive slip ring stator 2424 is sleeved on the outer side wall of the shaft 2423.
  • the conductive slip ring stator 2424 is sleeved with a conductive slip ring rotor 2425, and the rotor wheel 2422 is sleeved.
  • the outer side wall of the rotor wheel 2422 is provided with a transmission shaft 2426, and the motor 241 drives the transmission shaft 2426 to rotate.
  • the motor 241 and the stator wheel 2421 are fixed on the inner side wall of the lower housing 23 through brackets, etc.
  • the roller of the rotor wheel 2422 is hollow, and the shaft 2423 of the stator wheel 2421 is sleeved with conductive Slip ring, and the shaft 2423 is inserted in the roller center of the rotor wheel 2422.
  • the assembly gap between the rotor wheel 2422 and the stator wheel 2421, the stator wheel 2421 and the shaft 2423 is sealed by a sealing ring or the like to satisfy the use of conductive slip rings under underwater conditions.
  • the shaft 2423 is provided with a through hole
  • the rotor wheel 2422 is provided with an outlet hole
  • the communication cable 3 is divided into two sections at the conductive slip ring.
  • the first end of the first section of the communication cable is connected to the control main board, and the second end is inserted through the through hole on the shaft 2423 and connected to the conductive slip ring stator 2424.
  • a welding method can be selected to fix the communication cable 3 and the conductive slip ring stator 2424 together, and at the same time, the through hole gap between the communication cable 3 and the shaft 2423 is sealed with epoxy resin glue or the like.
  • the first end of the second piece of communication cable is connected to the conductive slip ring rotor 2425, and the second end passes through the outlet hole, and is wound on the outer side wall of the roller of the rotor wheel 2422, and finally from the outlet hole at the bottom of the lower housing 23 Pass out and connect with underwater probe 1.
  • a welding method can be selected to fix the communication cable 3 and the conductive slip ring rotor 2422 together, and at the same time, the gap between the communication cable 3 and the outlet hole on the rotor wheel 2422 is sealed with epoxy resin glue or the like.
  • the first section of the communication cable of the communication cable 3 and the stator wheel 2421 remain relatively stationary
  • the second section of the communication cable and the rotor wheel 2422 remain relatively stationary
  • the conductive slip ring realizes the uninterrupted first section of the communication line during winding.
  • the signal transmission between the cable and the second section of the communication cable will not cause the communication cable 3 to be twisted or even broken due to the relative movement of the stator wheel 2421 and the rotor wheel 2422 during winding.
  • the rotating shaft of the motor 241 can drive the transmission shaft 2426 to rotate through belt transmission, gear transmission, etc., or directly mount the motor 241 on the transmission shaft 2426 to directly drive the transmission shaft 2426 to rotate.
  • the underwater probe 1 in this embodiment includes a probe housing 13 and a probe sealing cover 14.
  • the inside of the probe housing 13 is sequentially fixed with a lens 15 , Camera 11, control circuit board 12,
  • the top of the probe sealing cover 14 is provided with a depth sensor, a temperature sensor 18, the depth sensor and temperature sensor are connected to the control circuit board,
  • the probe sealing cover 14 is provided with a second watertight plug in the middle of the top
  • the plug at the first end of the second watertight connector 16 is connected to the communication cable 3, and the second end is connected to the control circuit board 12 through the cable.
  • a plurality of illuminating lamps 17 are arranged on the probe housing 13, and the plurality of illuminating lamps 17 are evenly distributed around the camera 11.
  • the probe housing 13 and the probe sealing cover 14 are sealed and assembled through a sealing ring, etc., and the communication cable 3 is connected to the underwater probe 1 through the second watertight connector 16, which effectively prevents the underwater probe 1 Water in.
  • the depth sensor feeds back the depth information of the underwater probe 1 to the surface positioning buoy 2 to locate the depth of the fish school.
  • the temperature sensor 18 also feeds back information such as water temperature to the client.
  • the illuminating lamp 17 can also meet the needs of fish hunting when the underwater light is not ideal, and enhance the customer experience.
  • the outer side wall of the underwater probe 1 is provided with lifting lugs 19, the communication cable 3 is provided with a first traction rope 31 and a second traction rope 32, the free end of the first traction rope 31 and The lifting lugs 19 are connected, and a counterweight 4 is hung on the end of the second traction rope 32.
  • the underwater probe 1 can be observed at a certain angle in the water with the horizontal plane, which can be seen more intuitively.
  • the rotation of the water surface positioning buoy 2 can drive the rotation of the underwater probe 1 to realize multi-directional and multi-angle observation of fish schools, and the size of the fish can be seen more intuitively.
  • the counterweight 4 can effectively anchor the fish finder after sinking into the bottom.
  • the position of the underwater probe 1 can be fixed and will not shake with the current, and on the other hand, it can also reduce the fluctuation range of the water surface positioning buoy 2 on the water surface.
  • the thruster system can be turned off when observing the situation of the fishing spot at a fixed point to achieve the purpose of saving electricity.
  • a fish finding method is applied to the fish finding system in the above embodiment.
  • the fish finding system includes a mobile terminal and the fish finding device in the above embodiment, wherein the mobile terminal is electrically connected with a wireless communication module.
  • the fish detection method includes the following steps.
  • Position information the control main board controls the water surface positioning buoy 2 to be relatively stationary within 1 meter from the visual fishing point.
  • the initial position is the entry position of the fish finder, which can be obtained through the satellite signal received by the GPS module.
  • the visual fishing point is visually observed by the operator or inferred from the information fed back by the underwater probe 1.
  • the position information of the underwater probe 1 is calculated by the microprocessor combined with GPS signals, gyroscope and electronic compass, and the control board has a memory function.
  • the winding device 24 releases the underwater probe 1 to underwater, and the camera 11 transmits data to observe the underwater fish situation.
  • the microprocessor calculates the relative position of the underwater probe 1 relative to the water surface positioning buoy 2 , Obtain and save the location of the fish school; if the data is not the target fish school, multiple propellers drive the surface positioning buoy 2 to the next visual fishing point, repeat the steps to obtain the position information of the surface positioning buoy 2 by the GPS module, and control the main board control
  • the surface positioning buoy 2 is relatively stationary within a range of 1 meter from the visual fishing point.
  • the target fish school is judged by the operator according to the image information fed back by the underwater probe 1 and the size and type of the fish school.
  • the nest position is calculated by the microprocessor based on the relative position information fed back by the gyroscope and electronic compass on the underwater probe 1 In the meantime, the location of multiple dens can be saved through the mobile terminal.
  • the microprocessor calculates and records the orientation and angle information of the underwater probe 1, so as to achieve multi-directional and multi-angle observation of the fish school, which can be more intuitive See the size of the fish.
  • the fish finder After saving multiple nest locations, the fish finder will automatically navigate to each nest location to inspect the fish situation. After determining the best fishing spot through the mobile terminal, it will issue a one-key return command, the motor 241 will take up the line at high speed, and the water surface positioning buoy 2 will automatically Return to the initial position or the designated position.
  • the fish finder has automatic cruise and one-key return to home function, which is convenient for the selection of fishing spots and the rapid recovery of equipment.
  • the user puts the fish finder in the water and connects the fish finder to the mobile terminal.
  • the mobile terminal receives the recording instruction and sends the recording instruction to the control main board.
  • the control main board receives the recording instruction and obtains the current position of the water surface positioning buoy. Position, save the current position as the initial position of the water surface positioning buoy, and send the current position of the water surface positioning buoy to the mobile terminal; the mobile terminal receives the position information of the visual fishing point and sends a movement instruction to the control board.
  • the movement instruction includes the position of the visual fishing point Position information
  • the control main board receives the movement instruction and controls multiple thrusters to drive the surface positioning buoy to the visual fishing point according to the movement instruction
  • the GPS module obtains the position information of the surface positioning buoy and sends the position information of the surface positioning buoy to the control main board, which controls the main board According to the position information of the water surface positioning buoy, the water surface positioning buoy is kept within 1 meter from the visual fishing point.
  • the control main board controls the winding device to release the underwater probe to the water, the camera transmits data to the control circuit board, and the control circuit board sends the data to the mobile terminal through the control main board so that the user can observe the underwater fish situation, and the mobile terminal receives the confirmation
  • the mobile terminal sends a solution instruction to the main board, and after the control main board receives the solution instruction, it controls the microprocessor to calculate the relative position of the underwater probe relative to the positioning buoy on the water surface, and obtain Out of the fish school’s den location, control the motherboard to save the den location, and send the fish’s den location to the mobile terminal.
  • the mobile terminal receives and saves the fish’s den location; in the case that the mobile terminal receives the location information of the fishing spot visually ,
  • the mobile terminal repeats the steps of sending the movement instruction to the control main board.
  • the mobile terminal After the mobile terminal saves multiple nest positions, it can send the best fishing spot search command to the control main board, or after receiving the best fishing spot search command, send the best fishing spot search command to the control main board, and the control main board receives the best Finding instructions for fishing spots and controlling the fish finder to automatically navigate to each den location to inspect the fish situation according to the positions of multiple dens, or, after the control board saves multiple dens positions, the control board controls the fish finder to automatically navigate according to the locations of multiple dens Go to each nest to inspect the fish situation; when the mobile terminal receives the instruction to confirm the search for the best fishing spot, it will issue a one-key return instruction to the control main board, and the control main board will receive the one-key return instruction, and control the motor to take up the line at a high speed.
  • the surface positioning buoy automatically returns to the initial position or the designated position.
  • the working principle of the fish-finding system Put the fish-finder on the water surface, the GPS module in the surface positioning buoy receives satellite signals, and the microprocessor calculates the position information of the surface positioning buoy in real time. By driving the propeller, the surface positioning buoy is placed on the surface. The target position is relatively fixed within a small range.
  • the underwater probe moves under the traction of the communication cable and moves up and down under the control of the winding device.
  • the camera inside the underwater probe feeds back the collected images to the mobile terminal, and the operator judges whether the fish school is the target fish school through the image . If the school of fish is the target school of fish, use the absolute position information of the water surface positioning buoy, the gyroscope and the electronic compass carried by the underwater probe to calculate the relative position information of the underwater probe relative to the water surface positioning buoy, combined with the depth information fed back by the depth sensor, Find and record the precise position of the fish school. If the fish school is not the target fish school, the mobile terminal drives the water surface positioning buoy to search and locate the fish school on the water surface. Operators can formulate fishing strategies based on the observed fish school information.
  • the underwater probe By adjusting the length of the first traction rope passing through the lifting lug, the underwater probe is at a certain inclination angle under the water, and the underwater probe is driven to rotate underwater to detect by driving the water surface positioning buoy to rotate in situ; Based on the information fed back from the first gyroscope and the first electronic compass, the microprocessor calculates and records the orientation and angle information of the underwater probe.
  • this application can:
  • the upper shell provides sufficient buoyancy for the buoy.
  • the GPS module, microprocessor, gyroscope and electronic compass on the upper shell can effectively record the position information of the buoy; the wireless communication module conducts long-distance communication and data transmission with the mobile terminal .
  • the thruster and winding device on the lower shell can effectively reduce the center of gravity of the buoy, ensure the effective draught of the thruster, and make the buoy have better static stability and navigation stability.
  • the camera of the underwater probe effectively transmits the captured images back, combining the gyroscope and electronic compass to calculate the position information of the underwater probe relative to the buoy, and accurately locate the fish.
  • the quick disassembly structure of the battery pack can realize the rapid replacement of the battery, which is convenient for battery charging, and also avoids the inability to quickly switch the backup power due to the dead battery during use, which affects the sense of experience.
  • the winding device can be used in an underwater environment; at the same time, a section of the communication cable is fixed on the conductive slip ring stator, and the other A section is fixed on the conductive slip ring rotor, which does not affect the signal transmission of the communication cable when winding.
  • the rotor wheel and the conductive slip ring rotor rotate synchronously during winding to avoid the relative movement of the communication cable due to the rotor wheel and the stator wheel. The phenomenon of twisting and even breaking the cable occurs.
  • the depth sensor of the underwater probe can feed back the depth information of the underwater probe, and the temperature sensor can feed back the water temperature information.
  • the fish finder can accurately detect the position information of the underwater fish species, size, water temperature, depth, etc. Improve customer experience satisfaction.
  • the counterweight can effectively anchor the fish finder after sinking into the water.
  • the probe position can be fixed and will not sway with the water flow.
  • it can also reduce the fluctuation range of the buoy on the water surface.
  • the illuminating light makes the fish finder still work in a dimly lit environment, the indicator light makes it possible to clarify the position of the buoy at a long distance and at night, and the fish lure light can achieve fish lure.
  • the fish finder has the functions of automatic cruise and one-key return to home, which is convenient for the selection of fishing spots and the rapid recovery of equipment.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Environmental Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Multimedia (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Détecteur de poissons, système de détection de poissons et procédé de détection de poissons associé. Le détecteur de poissons comprend une sonde sous-marine (1), une bouée de positionnement de surface d'eau (2) et un câble de communication (3) ; la sonde sous-marine (1) et la bouée de positionnement de surface d'eau (2) sont reliées au moyen du câble de communication (3) ; une caméra (11) et une carte de circuit imprimé de commande (12) sont installées à l'intérieur de la sonde sous-marine, et un premier gyroscope et une première boussole électronique sont disposés sur la carte de circuit de commande ; un boîtier supérieur (21) et un boîtier inférieur (23) de la bouée de positionnement de surface d'eau (2) sont reliés de manière fixe, et un espace de réception étanche à l'eau est formé entre eux ; un bloc-batterie (22) est assemblé de manière amovible sur une paroi latérale externe de la bouée de positionnement de surface d'eau ; une paroi latérale interne de partie supérieure de la bouée de positionnement de surface d'eau comprend un module GPS, un module de communication sans fil et une carte mère de commande, un microprocesseur, une boussole électronique et un gyroscope étant disposés sur la carte mère de commande ; une pluralité de propulseurs (25) est répartie de manière égale sur une partie inférieure d'une paroi latérale externe du boîtier inférieur, et un dispositif d'enroulement (24) est fixé à l'intérieur du boîtier inférieur ; et le bloc-batterie est électriquement connecté à la carte mère de commande, au module GPS, au module de communication sans fil et au dispositif d'enroulement.
PCT/CN2020/141313 2019-12-31 2020-12-30 Détecteur de poissons, système de détection de poissons et procédé de détection de poissons WO2021136357A1 (fr)

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CN201911421785.9 2019-12-31

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CN111011318A (zh) * 2019-12-31 2020-04-17 深圳潜行创新科技有限公司 一种可精确定位的可视探鱼器、探鱼系统及其探鱼方法
CN111735495A (zh) * 2020-07-02 2020-10-02 中国水产科学研究院珠江水产研究所 一种渔业资源监测与评估智能探测装置
CN113747054A (zh) * 2021-07-22 2021-12-03 东莞市易源实业有限公司 一种水中稳定摄影设备及水中稳定摄影方法
CN114223622B (zh) * 2021-12-16 2023-05-05 中国水产科学研究院淡水渔业研究中心 一种锚定式弶网采集装置
CN114670213A (zh) * 2021-12-30 2022-06-28 深圳潜行创新科技有限公司 一种泳池清洗机器人多清洗模式的控制系统
CN116076460B (zh) * 2022-12-28 2024-05-17 山东郓信发展集团有限公司 一种水下自动捕鱼设备及工作方法

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