WO2023225898A1

WO2023225898A1 - Fishing method, fishing apparatus, fishing ship, fishing system and readable storage medium

Info

Publication number: WO2023225898A1
Application number: PCT/CN2022/094926
Authority: WO
Inventors: 陈观富; 刘章华; 万小康
Original assignee: 广东逸动科技有限公司
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2023-11-30
Also published as: CN115151132B; CN115151132A

Abstract

Disclosed in the embodiments of the present application are a fishing method and apparatus, a fishing ship, a fishing system and a storage medium. The method is applied to a support ship in a fishing system, the fishing system comprises a support ship and a mother ship, and the fishing method comprises: detecting fish schools in a preset water area range; when the fish schools are detected, throwing fish school clustering substances into the detected fish schools; and sending a detection result of the fish schools to the mother ship, so that the mother ship performs fishing operation on the fish schools on the basis of the detection result.

Description

Fishing methods, fishing devices, fishing boats, fishing systems and readable storage media

Technical field

This application relates to the field of fishery fishing technology, and in particular to a fishing method, fishing device, fishing boat, fishing system and readable storage medium.

Background technique

When fishermen fish, they usually rely on years of accumulated fishing experience to identify which waters may have more fish schools, and then drive their boats to the corresponding waters when fishing.

In related technologies, fishing boats can be equipped with fishing sonar. When the fishing boat is sailing on the water, the fishing sonar detects and searches fish schools in real time. When the fish schools are searched and the location of the fish schools is determined, the fishing boat is driven to the corresponding location. location for fishing. However, for large ocean-going fishing vessels, it is less efficient to equip fishing sonar on the ocean-going fishing vessels for fish fishing.

Contents of the invention

This application provides a fishing method, fishing device, fishing boat, fishing system and readable storage medium to solve the problem of low fish fishing efficiency in related technologies and effectively improve the efficiency of ship fishing operations.

In a first aspect, embodiments of the present application provide a fishing method, which is applied to a sub-ship in a fishing system. The fishing system includes a sub-ship and a mother ship. The fishing method includes:

Detect fish schools within preset water areas;

When a fish school is detected, a fish clustering substance is released to the detected fish school;

The detection results of the fish school are sent to the mother ship, so that the mother ship performs fishing operations on the fish school based on the detection results.

In a second aspect, embodiments of the present application also provide a fishing device, which includes:

Fish detection module, used to detect fish within the preset water range;

A fish clustering material delivery module is used to deliver fish clustering materials to the detected fish schools when a fish school is detected;

The detection result sending module is used to send the detection results of the fish school to the mother ship, so that the mother ship can perform fishing operations on the fish school based on the detection results.

In a third aspect, embodiments of the present application also provide a fishing boat, which includes: a detection device, a fish clustering material delivery device and a communication module; wherein,

The detection device is used to detect fish schools within a preset water area;

The fish clustering substance delivery device is configured to deliver fish clustering substances to the detected fish clusters when a fish cluster is detected;

The communication module is configured to send the detection results of the fish school to a mother ship, so that the mother ship can perform fishing operations on the fish school based on the detection results.

In a fourth aspect, embodiments of the present application also provide a fishing system, including: a mother ship and a daughter ship, the daughter ship being detachably loaded on the mother ship; wherein,

The sub-ship is used to detect fish schools within a preset water range. When a fish school is detected, the detection results of the fish schools are sent to the mother ship, and the detected fish schools are Fish aggregation material release;

The mother ship is configured to receive the detection results sent by the daughter ship, and perform fishing operations on the fish school based on the detection results.

In a fifth aspect, embodiments of the present application also provide another fishing method applied to a fishing system. The fishing system includes a mother ship and a daughter ship. The fishing method includes:

The sub-vessel detects fish schools within a preset water area;

When a fish school is detected, the sub-vessel releases fish clustering materials to the detected fish school;

The daughter ship sends the detection results of the fish school to the mother ship;

The mother ship receives the detection results and performs fishing operations on the fish group based on the detection results.

In a sixth aspect, embodiments of the present application further provide a computer-readable storage medium that stores computer instructions, and the computer instructions are used to implement any of the embodiments of the present application when executed by a processor. described fishing methods.

The technical solution of the embodiment of the present application is that while the mother ship is waiting to catch fish groups, the fish groups are first detected through the sub-ship, and fish clustering substances are released to the detected fish groups to keep the fish groups at the predetermined level. Within the set range, it is convenient for mother ship fishing, solves the problem of low fish fishing efficiency in related technologies, and effectively improves the efficiency of ship fishing operations.

Description of the drawings

Figure 1 is a flow chart of a fishing method provided according to an embodiment of the present application;

Figure 2 is a flow chart of another fishing method provided according to an embodiment of the present application;

Figure 3 is a schematic structural diagram of a fishing device provided according to an embodiment of the present application;

Figure 4 is a schematic structural diagram of a fishing boat provided according to an embodiment of the present application;

Figure 5 is a schematic structural diagram of a fishing system provided according to an embodiment of the present application;

Figure 6 is a schematic flow chart of another fishing method provided according to an embodiment of the present application.

Detailed ways

In order to enable those in the technical field to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. The described embodiments are only for the purpose of this application. Apply for some of the embodiments, not all of them.

Figure 1 is a schematic flow chart of a fishing method provided by an embodiment of the present application. The embodiment of the present application is applicable to situations where fishing boats are used to fish in waters. The method can be performed by a fishing device, and the device can be It is implemented in the form of software and/or hardware, optionally, through electronic equipment. The electronic equipment can be a ship, a mobile terminal, a PC or a server, etc.

As shown in Figure 1, the fishing method is a sub-ship in the fishing system. The fishing system includes a mother ship and the aforementioned daughter ships. Fishing methods include:

S110. Detect fish schools within the preset water area.

Among them, the sub-ship is a fishing boat that can be mounted on the mother ship, the sub-ship can be unloaded from the mother ship, and communication can be carried out between the mother ship and the sub-ship.

Specifically, the sub-ship can detect fish schools within the preset water range through the fish school detection device configured on the ship; for example, fishing sonar is used to detect fish schools. In this embodiment, the waters may include but are not limited to artificially cultivated ponds, oceans and other waters. The preset water range can be actually set according to the sonar detection range, such as within 1000 meters. Optionally, the sub-vessel can detect fish schools by itself, or can detect fish schools after receiving detection instructions sent by the mother ship, which is not limited in this embodiment.

S120. When a fish school is detected, release a fish clustering substance to the detected fish school.

In the embodiment of the present application, the detection results of the fish detection device installed on the sub-ship are received. Specifically, the detection results can be automatically fed back when fish schools are detected; detection results can also be fed back at preset intervals. The detection results can include but are not limited to no fish schools detected and fish schools detected. Of course, the detection results of fish schools can also be received based on other forms, which is not limited in this embodiment.

In this embodiment, fish clustering substances can be understood as substances that make fish clusters together. Specifically, fish clustering substances can include but are not limited to feeding pheromones, safety pheromones, fish food and other substances; wherein, Feeding pheromone can be understood as a steroid substance with a special smell secreted by the body of fish when they eat. Fish that are far away from the surroundings will follow the smell of the feeding pheromone secreted by the fish. Eating together allows fish to gather together for easier fishing. Safety pheromone can be understood as a steroid substance with a special smell released from the body of fish when they are in an area that they think is safe and comfortable. When nearby similar species smell the smell of safety pheromone, they will quickly This area gathers so that schools of fish can gather together for easy fishing.

Optionally, the detection results include the types of fish in the fish school; accordingly, fish clustering substances are released to the detected fish schools, including: fish clustering substances that determine the target type based on the species; and the target type of fish is released. and/or, the detection result includes the number of fish in the fish school; accordingly, the fish clustering material is released to the detected fish school, including: determining the amount of fish clustering material based on the quantity, Put the fish aggregation material in the amount you put in.

Specifically, when a fish group is detected, information such as the type and number of fish of the detected fish group can be obtained based on the detection results, and the detected fish group can be analyzed based on the type, number and other information of the fish. Group material is released to better maintain fish schools within a preset range.

S130. Send the detection results of the fish school to the mother ship, so that the mother ship can fish the fish school based on the detection results.

In the embodiment of the present application, after the detection results are sent to the mother ship, the position of the mother ship can be obtained, and the daughter ship can be sailed to the mother ship based on the position of the mother ship, so that the mother ship can fish the fish school based on the detection results; of course, It is also possible to not move at the current position, so that the mother ship sails to the fish school based on the position of the fish school in the detection result to carry out fishing operations on the fish school. Of course, on the basis of the above embodiments, the sub-vessel can also be used to fish the fish schools by itself. This embodiment does not limit how to fish the fish schools.

It should be noted that the execution order of the steps of placing fish clustering substances on the detected fish schools and the steps of sending the detection results of the fish schools to the mother ship is not limited, and they can be executed at the same time or one after another.

It is understandable that when ocean-going fishing vessels are equipped with sonar for fish fishing, the ocean-going fishing vessels need to sail to multiple locations in the water area to detect fish schools. This requires a lot of energy consumption; in addition, ocean-going fishing vessels usually With larger size and higher tonnage, the speed and mobility of offshore fishing boats are limited. During the period from when the fishing boat detects the fish school to when the fishing boat sails to the location of the fish school to catch the fish, , the school of fish may have swam away. Combining the above two factors, it can be seen that the fishing operation efficiency of offshore fishing vessels equipped with sonar for fishing schools is low. As for the technical solution of the embodiment of the present application, while the mother ship is waiting to catch the fish group, the fish group is first detected through the sub-ship, and fish clustering substances are put into the detected fish group to keep the fish group at the same level. Within the preset range, it is convenient for the mother ship to fish. Since the daughter ship has high flexibility and low energy consumption, using the child ship to detect fish schools and release fish clustering materials can not only solve the energy required by the mother ship to detect fish schools. It solves the problem of high consumption and can maintain the position of fish schools, solves the problem of low fish fishing efficiency in related technologies, and effectively improves the efficiency of ship fishing operations.

Figure 2 is a flow chart of another fishing method provided by the embodiment of the present application. This embodiment is based on any optional technical solution in the embodiment of the present application. Optionally, the detection results include fish schools of fish. Position, and release fish clustering materials to the detected fish schools, including step S220 and step S230.

The explanations of terms that are the same as or corresponding to the above embodiments will not be repeated here. Referring to Figure 2, the fishing method provided by this embodiment specifically includes:

S210. Detect fish schools within the preset water area.

S220. When a fish school is detected, receive the mother ship position sent by the mother ship, and determine the distance between the mother ship and the fish school based on the mother ship position and the fish school position.

S230. Determine the delivery parameters of the fish clustering material based on the distance, and deliver the fish clustering material to the detected fish based on the delivery parameters.

S240. Send the detection results of the fish school to the mother ship, so that the mother ship can fish the fish school based on the detection results.

In the embodiment of the present application, the delivery parameters include delivery frequency. Correspondingly, determining the delivery parameters for fish clustering material delivery based on distance includes: receiving the mother ship speed sent by the mother ship; determining the mother ship movement time of the mother ship based on the distance and the mother ship speed; The movement time of the mother ship determines the dropping frequency; accordingly, fish clustering substances are dropped into the detected fish groups based on the dropping parameters, including: during the navigation of the mother ship, fish clustering substances are dropped at the dropping frequency; correspondingly, The detection results of the fish school are sent to the mother ship, so that the mother ship can fish the fish school based on the detection results, including: sending the position of the fish school to the mother ship, so that the mother ship moves to the position of the fish school for fishing operations.

Specifically, when the sub-ship sends the detection results of the fish school to the mother ship, when the mother ship receives the information sent by the sub-vessel, it can send its current position to the sub-ship and directly drive to the location reported by the sub-ship to perform operations. . During the period from the position of the mother ship when receiving the information to the position reported by the sub-ship, the sub-ship remains at the location of the fish school and puts fish clustering substances into the water to keep the fish school at all times. Near the location of the sub-ship. Specifically, after receiving the feedback information from the mother ship, the daughter ship can calculate the distance between the mother ship and the fish school based on the position information of the mother ship and the fish school, and further calculate the time required for the mother ship to reach the position of the fish school. Subsequently, the frequency of putting the fish clustering material is calculated based on this time, and the fish clustering material is put in according to the calculated frequency to ensure that the fish keep moving near the sub-boat. The mother ship sails directly to the location reported by the daughter ship to carry out operations.

Optionally, on the basis of the above embodiments, the delivery parameters include delivery frequency. Correspondingly, determining the delivery parameters for fish clustering material delivery based on distance also includes: obtaining the speed of the sub-vessel; based on the distance and the sub-vessel The speed determines the movement time of the sub-ship; the delivery frequency is determined based on the movement time of the sub-vessel; accordingly, fish clustering materials are released to the detected fish groups based on the release parameters, including: during the navigation of the sub-vessel, The fish clustering material is released at the frequency of release; accordingly, the detection results of the fish schools are sent to the mother ship, so that the mother ship can fish the fish schools based on the detection results, including: sending the information of successfully detecting the fish schools to the mother ship, so as to Keep the mother ship in its current position and wait for the fish to be harvested.

Specifically, when the child ship sends the detection results of the fish school to the mother ship, when the mother ship receives the information sent by the child ship, it can send its current position to the child ship. After the child ship receives the feedback from the mother ship, it starts to move towards the mother ship. Return to the location of the mother ship, and put fish aggregation materials into the water on the way back to attract fish to swim to the location of the mother ship, so that the mother ship can carry out operations. Specifically, after the sub-ship receives the feedback information from the mother ship, it can calculate the distance between the mother ship and the fish school based on the position information of the mother ship and the fish school, and further calculate the time required for the sub-ship to reach the position of the mother ship. Then , based on this time, calculate the frequency of releasing fish clustering materials, and release fish clustering materials according to the calculated frequency to ensure that fish schools keep moving near the sub-boat.

On the basis of the above embodiments, the detection results include the number of fish in the fish group; correspondingly, the fishing method also includes: judging whether the number is greater than the preset quantity threshold; correspondingly, performing fish grouping on the detected fish groups. The release of similar substances includes: when the number is greater than the preset quantity threshold, the fish clustering substances are released to the fish during the voyage of the mother ship; accordingly, the detection results of the fish are sent to the mother ship so that the mother ship can detect the fish based on the detection results. As a result, fishing operations are performed on the fish school, including: sending the fish school position of the fish school to the mother ship, so that the mother ship moves to the fish school position for fishing operations.

Specifically, when a fish school is detected, the number of detected fish is determined. If the number of fish is greater than the preset quantity threshold, the mother ship is controlled to sail to the location of the fish school for fishing. Specifically, when the mother ship receives the information sent by the child ship, it can send its current position to the child ship. After receiving the information, the child ship calculates the distance between the mother ship and the fish school based on the current position of the mother ship and the location of the fish school, and It further calculates the time required for the mother ship to reach the location of the fish school, and then calculates the delivery frequency of the fish clustering material based on this time, and releases the fish clustering material according to the calculated delivery frequency to ensure that the fish The swarm always keeps moving near the sub-ship. Therefore, when the number of fish is large, the mother ship will move to the location of the fish school to fish to ensure the fishing quantity.

Optionally, on the basis of the above embodiments, when the number is less than the preset quantity threshold, during the navigation of the sub-ship, fish clustering substances are released to the fish; accordingly, the detection results of the fish are sent to the mother ship, so that the mother ship can fish the fish school based on the detection results, including: sending information on the successful detection of the fish school to the mother ship, so that the mother ship can maintain the current position and wait for the fish school to be fished.

Specifically, if the number of fish is less than the preset quantity threshold, the sub-ship is controlled to sail to the location of the mother ship, and the detected fish groups are fished based on the mother ship. Specifically, after the sub-ship receives the feedback information from the mother ship, it can calculate the distance between the mother ship and the fish school based on the position information of the mother ship and the fish school, and further calculate the time required for the sub-ship to reach the position of the mother ship. Subsequently, based on this time, the amount of fish clustering material and the number of times (or the distance interval of the injection) are calculated, and the amount of the fish clustering material is calculated according to the calculated amount and the number of times (or the distance interval of the injection). Release to ensure that the fish schools continue to move with the sub-boat. Therefore, when the number of fish is small, the sub-ship guides the fish to swim to the position of the mother ship, and then the mother ship catches the fish, which can catch fish with lower energy consumption.

The technical solution of the embodiment of the present application is to catch the detected fish group by controlling the navigation of the sub-ship or the mother ship while the mother ship is waiting to catch the fish group, thereby solving the problem of low fish fishing efficiency in related technologies. problems and effectively improve the efficiency of ship fishing operations.

Figure 3 is a schematic structural diagram of a fishing device provided by an embodiment of the present application. As shown in Figure 3, the device includes: a fish group detection module 310, a fish group clustering material delivery module 320 and a detection result sending module 330; wherein ,

The fish detection module 310 is used to detect fish within the preset water range;

The fish clustering material delivery module 320 is used to deliver fish clustering materials to the detected fish schools when a fish school is detected;

The detection result sending module 330 is used to send the detection results of the fish school to the mother ship, so that the mother ship can fish the fish school based on the detection results.

Based on the above embodiments, optionally, the detection results include the fish position of the fish school, and the fish clustering material delivery module 320 includes:

The mother ship position receiving sub-module is used to receive the mother ship position sent by the mother ship;

The distance determination submodule is used to determine the distance between the mother ship and the fish school based on the position of the mother ship and the fish school;

The release parameter determination sub-module is used to determine the release parameters of fish clustering substances based on distance;

The first delivery sub-module is used to deliver fish clustering substances to the detected fish groups based on the delivery parameters.

Based on the above embodiments, optionally, the delivery parameters include delivery frequency. Correspondingly, the delivery parameter determination sub-module includes:

The mother ship speed receiving unit is used to receive the mother ship speed sent by the mother ship;

The mother ship movement time determination unit is used to determine the mother ship movement time of the mother ship based on the distance and the mother ship speed;

The first delivery frequency determination unit is used to determine the delivery frequency based on the movement time of the mother ship;

Correspondingly, the first delivery sub-module includes:

The first delivery unit is used to release fish clustering materials at a delivery frequency during the navigation of the mother ship;

Correspondingly, the detection result sending module 330 includes:

The first detection result sending sub-module is used to send the position of the fish school to the mother ship, so that the mother ship moves to the position of the fish school for fishing operations.

The sub-ship speed acquisition unit is used to obtain the sub-ship speed of the sub-ship;

The sub-ship movement time determination unit is used to determine the sub-ship movement time of the sub-ship based on the distance and the sub-ship speed;

The second delivery frequency determination unit is used to determine the delivery frequency based on the movement time of the sub-ship;

Correspondingly, the first delivery sub-module includes:

The second delivery unit is used to release fish clustering materials at a delivery frequency during the navigation of the sub-ship;

Correspondingly, the detection result sending module 330 includes:

The second detection result sending submodule is used to send the information of successfully detecting the fish school to the mother ship, so that the mother ship maintains the current position and waits for fishing operations on the fish school.

Based on the above embodiments, optionally, the detection results include the types of fish in the fish school; accordingly, the fish clustering material delivery module 320 includes:

The fish clustering material determination submodule is used to determine the target type of fish clustering material based on species;

The second delivery sub-module is used to deliver target type of fish clustering substances.

Based on the above embodiments, optionally, the detection result includes the number of fish in the fish school; accordingly, the fish school clustering material delivery module 320 includes:

The dosage determination sub-module is used to determine the dosage of fish clustering substances based on quantity;

The third delivery sub-module is used to deliver fish clustering substances at the delivery amount.

Based on the above embodiments, optionally, the detection result includes the number of fish in the fish school; accordingly, the device also includes:

Quantity judgment module, used to judge whether the quantity is greater than the preset quantity threshold;

Correspondingly, the fish clustering material delivery module 320 includes:

The fourth delivery sub-module is used to release fish clustering substances to fish schools during the navigation of the mother ship when the number is greater than the preset quantity threshold;

Correspondingly, the detection result sending module 330 includes:

The third detection result sending sub-module is used to send the fish school position of the fish school to the mother ship, so that the mother ship moves to the fish school position for fishing operations.

Based on the above embodiments, optionally, the fish clustering material delivery module 320 includes:

The fourth delivery unit is used to release fish clustering substances to fish schools during the navigation of the sub-ship when the number is less than the preset quantity threshold;

Correspondingly, the detection result sending module 330 includes:

The fourth detection result sending sub-module is used to send information on successful detection of fish schools to the mother ship, so that the mother ship remains at the current position and waits for fishing operations on the fish schools.

The fishing device provided by the embodiments of this application can execute the fishing method provided by any embodiment of this application, and has corresponding functional modules and beneficial effects for executing the method.

It is worth noting that the various units and modules included in the above-mentioned devices are only divided according to functional logic, but are not limited to the above-mentioned divisions, as long as they can achieve the corresponding functions; in addition, the specific names of each functional unit are just In order to facilitate mutual differentiation, it is not used to limit the protection scope of the embodiments of the present application.

Figure 4 is a schematic structural diagram of a fishing boat provided by an embodiment of the present application. The fishing boat can be used for fishing in waters. Referring to Figure 4, the fishing vessel includes: a detection device 410, a fish clustering material delivery device 420 and a communication module 430; wherein,

The detection device 410 is used to detect fish schools within the preset water area;

The fish school clustering material delivery device 420 is used to deliver fish school clustering substances to the detected fish schools when a fish school is detected;

The communication module 430 is used to send the detection results of the fish school to the mother ship, so that the mother ship can fish the fish school based on the detection results.

On the basis of the above embodiments, the detection results include the fish position of the fish school. The communication module 430 is also used to receive the mother ship position sent by the mother ship. The fishing boat also includes a processing circuit, which is used to determine the distance between the mother ship and the fish school based on the position of the mother ship and the fish school, and determine the delivery parameters of the fish clustering material based on the distance. The fish clustering substance releasing device 420 is also used to drop fish clustering substances into the detected fish groups based on the dropping parameters.

Based on the above embodiments, optionally, the delivery parameters include delivery frequency. The communication module 430 is also used to receive the speed of the mother ship sent by the mother ship. The fishing vessel's processing circuit is also used to determine the mother ship's movement time based on distance and mother ship speed, and determine the release frequency based on the mother ship's movement time. The fish clustering substance dispensing device 420 is also used to launch fish clustering substances at a dropping frequency during the navigation of the mother ship. The communication module 430 is also used to send the position of the fish school to the mother ship, so that the mother ship moves to the position of the fish school for fishing operations.

Based on the above embodiments, optionally, the delivery parameters include delivery frequency. Fishing vessels also include speed detectors. The speed detector is used to obtain the speed of the sub-ship. The processing circuit of the fishing boat is also used to determine the sub-ship movement time of the sub-vessel based on the distance and sub-vessel speed, and determine the release frequency based on the sub-vessel movement time. The fish clustering material dispensing device 420 is also used to launch fish clustering materials at a dispensing frequency during the navigation of the sub-ship. The communication module 430 is also used to send information on successful detection of fish schools to the mother ship, so that the mother ship remains at the current position and waits for fishing operations on the fish schools.

Based on the above embodiments, optionally, the detection results include the types of fish in the fish school. Fishing vessel processing circuits are also used to target fish clustering substances based on species. The fish clustering substance dispensing device 420 is also used to launch fish clustering substances of a target type.

Based on the above embodiments, optionally, the detection result includes the number of fish in the fish school. The fishing vessel's processing circuit is also used to determine the amount of fish aggregation material to be released based on the population. The fish school clustering substance dispensing device 420 is also used to launch the fish school clustering substance in an amount.

Based on the above embodiments, optionally, the detection result includes the number of fish in the fish school. The processing circuit of the fishing vessel is also used to determine whether the quantity is greater than the preset quantity threshold. The fish clustering substance releasing device 420 is also used to drop fish clustering substances into the fish during the navigation of the mother ship when the quantity is greater than the preset quantity threshold. The communication module 430 is also used to send the fish school position of the fish school to the mother ship, so that the mother ship moves to the fish school position for fishing operations.

On the basis of the above embodiments, optionally, the fish clustering material dispensing device 420 is also used to release fish clustering substances to the fish during the navigation of the sub-ship when the quantity is less than the preset quantity threshold. . The communication module 430 is also used to send information on successful detection of fish schools to the mother ship, so that the mother ship remains at the current position and waits for fishing operations on the fish schools.

Figure 5 is a schematic structural diagram of a fishing system provided by an embodiment of the present application. As shown in Figure 5, the system includes: a mother ship 520 and a sub-ship 510. The sub-ship 510 can be detachably loaded on the mother ship 520; wherein,

The sub-ship 510 is used to detect fish schools within the preset water range. When a fish school is detected, the detection results of the fish schools are sent to the mother ship 520, and fish clustering materials are released to the detected fish schools. ;

The mother ship 520 is used to receive the detection results sent by the daughter ship 510, and to fish the fish based on the detection results.

The technical solution of the embodiment of the present application is that while the mother ship 520 is waiting to catch fish groups, the fish groups are first detected through the sub-ship 510, and fish clustering substances are released to the detected fish groups to keep the fish groups. Within the preset range, this facilitates fishing by the mother ship 520, solves the problem of low fish fishing efficiency in related technologies, and effectively improves the efficiency of ship fishing operations.

Based on the above embodiments, optionally, the detection result includes the fish position of the fish school. The mother ship 520 is also used to send the mother ship position to the daughter ship 510 . The sub-ship 510 is also used to: receive the mother ship position sent by the mother ship 520; determine the distance between the mother ship 520 and the fish school based on the mother ship position and the fish school position; determine the delivery parameters of the fish school clustering material based on the distance; Fish clustering substances are released to the detected fish schools.

Based on the above embodiments, optionally, the delivery parameters include delivery frequency. The mother ship 520 is also used to send the mother ship speed to the daughter ship 510. The sub-ship 510 is also used to: receive the mother ship speed sent by the mother ship 520; determine the mother ship movement time of the mother ship 520 based on the distance and the mother ship speed; determine the release frequency based on the mother ship movement time; during the navigation of the mother ship 520, release fish at the release frequency. Clustering material; sending fish location to mother ship 520. The mother ship 520 is also used to receive the position of the fish school and move to the fish school position to perform fishing operations.

Based on the above embodiments, optionally, the delivery parameters include delivery frequency. The sub-ship 510 is also used to: obtain its own sub-ship speed; determine the sub-ship movement time of the sub-ship 510 based on the distance and sub-ship speed; determine the delivery frequency based on the sub-ship movement time; during the navigation of the sub-ship 510, to release Frequently dropping fish clustering substances; sending information on successfully detecting fish schools to the mother ship 520. The mother ship 520 is also used to receive the information sent by the daughter ship 510 that the fish school has been successfully detected, and to maintain the current position to wait for fishing operations on the fish school.

Based on the above embodiments, optionally, the detection results include the types of fish in the fish school. The sub-ship 510 is also used to determine a target type of fish aggregation material based on species and release the target type of fish aggregation material.

Based on the above embodiments, optionally, the detection result includes the number of fish in the fish school. The sub-ship 510 is also used to determine the amount of fish aggregation material to be put in based on the quantity, and to put the fish aggregation material in the amount.

Based on the above embodiments, optionally, the detection result includes the number of fish in the fish school. The sub-ship 510 is also used to determine whether the quantity is greater than the preset quantity threshold. When the quantity is greater than the preset quantity threshold, during the navigation of the mother ship 520, fish clustering substances are released to the fish; and the fish location of the fish is sent. To mother ship 520. The mother ship 520 is also used to receive the fish school position sent by the daughter ship 510 and move to the fish school position to perform fishing operations.

On the basis of the above embodiments, optionally, the sub-vessel 510 is also used to release fish clustering substances to fish schools during the navigation of the sub-vessel 510 when the number is less than the preset quantity threshold, and will successfully The information of detected fish schools is sent to the mother ship 520. The mother ship 520 is also used to receive the information sent by the daughter ship 510 that the fish school has been successfully detected, and maintain the current position to wait for fishing operations on the fish school.

Figure 6 is a schematic flowchart of another fishing method provided by an embodiment of the present application. This method can be executed by a fishing system, which includes a mother ship and a daughter ship. As shown in Figure 6, the method includes:

S610, the sub-ship detects fish schools within the preset water range;

S620. When a fish school is detected, the sub-ship releases fish clustering materials to the detected fish school:

S630. The daughter ship sends the fish detection results to the mother ship;

S640. The mother ship receives the detection results and carries out fishing operations for the fish based on the detection results.

Based on the above embodiments, optionally, the detection result includes the fish position of the fish school. The fishing method also includes: the mother ship sends the position of the mother ship to the daughter ship. The sub-ship releases fish aggregation materials to the detected fish schools, including:

The daughter ship receives the position of the mother ship sent by the mother ship;

The daughter ship determines the distance between the mother ship and the fish school based on the position of the mother ship and the fish school;

The sub-ship determines the parameters for placing fish clustering materials based on distance;

The sub-vessel releases fish clustering substances to the detected fish schools based on the release parameters.

Based on the above embodiments, optionally, the delivery parameters include delivery frequency. The fishing method also includes: the mother ship sends the speed of the mother ship to the daughter ship. Correspondingly, the sub-vessel determines the parameters for placing fish clustering substances based on distance, including:

The daughter ship receives the speed of the mother ship sent by the mother ship;

The daughter ship determines the mother ship's mother ship movement time based on the distance and the mother ship's speed;

The daughter ship determines the delivery frequency based on the movement time of the mother ship;

Correspondingly, the sub-vessel releases fish clustering materials to the detected fish groups based on the release parameters, including:

During the navigation of the mother ship, the daughter ship releases fish aggregation materials at a delivery frequency;

Correspondingly, the daughter ship sends the fish detection results to the mother ship, including:

The daughter ship sends the position of the fish school to the mother ship;

The mother ship receives the detection results and carries out fishing operations for the fish based on the detection results, including:

The mother ship receives the position of the fish school and moves to the position of the fish school to carry out fishing operations.

On the basis of the above embodiments, optionally, the delivery parameters include the delivery frequency. Correspondingly, the sub-ship determines the delivery parameters for the fish clustering material delivery based on the distance, which also includes:

The sub-ship obtains the sub-ship speed of the sub-ship;

The sub-ship determines the sub-ship movement time of the sub-ship based on the distance and speed of the sub-ship;

The sub-ship determines the delivery frequency based on the movement time of the sub-ship;

During the navigation of the sub-vessel, the sub-vessel releases fish aggregation materials at a delivery frequency;

The daughter ship sends information on successfully detecting fish schools to the mother ship;

The mother ship receives the information sent by the daughter ship that the fish school has been successfully detected, and remains at the current position to wait for fishing operations on the fish school.

Based on the above embodiments, optionally, the detection results include the types of fish in the fish schools; accordingly, the sub-ship releases fish clustering materials to the detected fish schools, including:

The sub-ship determines the target type of fish clustering material based on species;

The sub-vessel releases fish aggregation substances of the target type.

Based on the above embodiments, optionally, the detection results include the number of fish in the fish school; accordingly, the sub-ship releases fish clustering materials to the detected fish schools, including:

The sub-ship determines the amount of fish aggregation material released based on the quantity;

The sub-ship releases the fish aggregation material at the released amount.

Based on the above embodiments, optionally, the detection result includes the number of fish in the fish school; correspondingly, the fishing method also includes:

The sub-ship determines whether the quantity is greater than the preset quantity threshold;

Correspondingly, the sub-ship releases fish clustering materials to the detected fish schools, including:

When the number is greater than the preset quantity threshold, the sub-ship releases fish clustering substances to the fish during the navigation of the mother ship;

The daughter ship sends the fish position of the fish school to the mother ship;

The mother ship receives the position of the fish school and moves to the fish school position for fishing operations.

On the basis of the above embodiments, optionally, the sub-ship can release fish clustering materials to the detected fish groups, including:

When the number is less than the preset quantity threshold, during the navigation of the sub-ship, the sub-ship releases fish clustering substances to the fish;

Embodiments of the present application also provide a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute the fishing method described in any of the foregoing embodiments.

Optionally, the computer-executable instructions, when executed by the computer processor, may be used to perform the following fishing method applied to the sub-vessel in the fishing system:

Detect fish schools within preset water areas;

When a fish school is detected, fish clustering substances are released to the detected fish school;

The detection results of the fish school are sent to the mother ship, so that the mother ship can fish the fish school based on the detection results.

Optionally, the computer-executable instructions, when executed by the computer processor, may be used to perform the following fishing methods applied to the fishing system:

Control the sub-vessel to detect fish schools within the preset water range;

When a fish school is detected, the sub-vessel is controlled to release fish clustering materials to the detected fish school;

Control the daughter ship to send the fish detection results to the mother ship;

The mother ship is controlled to receive the detection results and carry out fishing operations for the fish based on the detection results.

Through the above description of the implementation, those skilled in the art can clearly understand that the present application can be implemented with the help of software and necessary general hardware. Of course, it can also be implemented with hardware, but in many cases the former is a better implementation. . Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence or that contributes to related technologies. The computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, Read-Only Memory (ROM), Random Access Memory (RAM), FLASH, hard disk or optical disk, etc., including a number of instructions to make a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various embodiments of this application.

It is worth noting that in the above embodiments of the search device, the various units and modules included are only divided according to functional logic, but are not limited to the above divisions, as long as the corresponding functions can be realized; in addition, each function The specific names of the units are only for the convenience of distinguishing each other and are not used to limit the protection scope of the present application.

Furthermore, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desired results. Additionally, the processes depicted in the figures do not necessarily require the specific order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain implementations.

Claims

A fishing method, which is applied to a sub-ship in a fishing system, the fishing system includes the sub-ship and a mother ship, the fishing method includes:

Detect fish schools within preset water areas;

When a fish school is detected, a fish clustering substance is released to the detected fish school;

The detection results of the fish school are sent to the mother ship, so that the mother ship performs fishing operations on the fish school based on the detection results.
The method according to claim 1, wherein the detection result includes the fish position of the fish group, and the placing of fish clustering materials on the detected fish group includes:

Receive the position of the mother ship sent by the mother ship;

Determine the distance between the mother ship and the fish school based on the position of the mother ship and the fish school;

Determine the delivery parameters of the fish clustering material based on the distance;

The fish clustering material is injected into the detected fish group based on the injection parameters.
The method according to claim 2, wherein the delivery parameters include delivery frequency, and accordingly, the delivery parameters for determining the delivery of the fish clustering material based on the distance include:

Receive the mother ship speed sent by the mother ship;

Determine the mother ship movement time of the mother ship based on the distance and the mother ship speed;

Determine the delivery frequency based on the movement time of the mother ship;

Correspondingly, the method of placing the fish clustering material on the detected fish group based on the placement parameters includes:

During the navigation of the mother ship, the fish clustering material is released at the delivery frequency;

Correspondingly, sending the detection results of the fish school to the mother ship so that the mother ship can fish the fish school based on the detection results includes:

The position of the fish school is sent to the mother ship, so that the mother ship moves to the position of the fish school for fishing operations.
The method according to claim 2, wherein the delivery parameters include delivery frequency, and accordingly, the delivery parameters for determining the delivery of the fish clustering material based on the distance further include:

Get the sub-ship speed of the sub-ship;

Determine the sub-ship movement time of the sub-ship based on the distance and the speed of the sub-ship;

Determine the delivery frequency based on the movement time of the sub-ship;

Correspondingly, the method of placing the fish clustering material on the detected fish group based on the placement parameters includes:

During the navigation of the sub-ship, the fish clustering material is released at the delivery frequency;

Correspondingly, sending the detection results of the fish school to the mother ship so that the mother ship can fish the fish school based on the detection results includes:

Information that the fish school is successfully detected is sent to the mother ship, so that the mother ship remains at the current position and waits for fishing operations on the fish school.
The method according to any one of claims 1 to 4, wherein the detection result includes the type of fish in the fish group; correspondingly, the fish group clustering material is used for the detected fish group. Delivery, including:

Determine a target type of fish clustering material based on the species;

Release of fish aggregating material of the stated target type; and/or,

The detection results include the number of fish in the fish group; correspondingly, the dropping of fish clustering materials to the detected fish groups includes:

Determine the dosage of the fish aggregation substance based on the quantity;

The fish clustering material is put in the amount.
The method according to claim 1, wherein the detection result includes the number of fish in the fish group; correspondingly, the fishing method further includes:

Determine whether the quantity is greater than a preset quantity threshold;

Correspondingly, the method of releasing fish clustering substances to the detected fish groups includes:

When the quantity is greater than the preset quantity threshold, during the navigation of the mother ship, the fish clustering material is released to the fish group;

Correspondingly, sending the detection results of the fish school to the mother ship so that the mother ship can fish the fish school based on the detection results includes:

The fish school position of the fish school is sent to the mother ship, so that the mother ship moves to the fish school position to perform fishing operations.
The method according to claim 6, wherein said placing fish clustering substances on the detected fish groups includes:

When the number is less than the preset quantity threshold, during the navigation of the sub-ship, the fish clustering material is released to the fish school;

Correspondingly, sending the detection results of the fish school to the mother ship so that the mother ship can fish the fish school based on the detection results includes:

Information that the fish school is successfully detected is sent to the mother ship, so that the mother ship remains at the current position and waits for fishing operations on the fish school.
A fishing device, which includes:

Fish detection module, used to detect fish within the preset water range;

A fish clustering material delivery module is used to deliver fish clustering materials to the detected fish schools when a fish school is detected;

The detection result sending module is used to send the detection results of the fish school to the mother ship, so that the mother ship can perform fishing operations on the fish school based on the detection results.
A fishing boat, wherein the fishing boat includes: a detection device, a fish clustering material delivery device and a communication module; wherein,

The detection device is used to detect fish schools within a preset water area;

The fish clustering substance delivery device is configured to deliver fish clustering substances to the detected fish clusters when a fish cluster is detected;

The communication module is used to send the detection results of the fish school to a mother ship, so that the mother ship can fish the fish school based on the detection results.
A fishing system, which includes: a mother ship and a daughter ship, the daughter ship being detachably loaded on the mother ship; wherein,

The sub-ship is used to detect fish schools within a preset water range. When a fish school is detected, the detection results of the fish schools are sent to the mother ship, and the detected fish schools are Fish aggregation material release;

The mother ship is configured to receive the detection results sent by the daughter ship, and perform fishing operations on the fish school based on the detection results.
A fishing method, which is applied to a fishing system, the fishing system includes a mother ship and a daughter ship, and the fishing method includes:

The sub-vessel detects fish schools within a preset water area;

When a fish school is detected, the sub-vessel releases fish clustering materials to the detected fish school;

The daughter ship sends the detection results of the fish school to the mother ship;

The mother ship receives the detection results and performs fishing operations on the fish group based on the detection results.
A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the fishing method according to any one of claims 1-7 when executed by a processor, And/or, the fishing method according to claim 11.