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CN-122004178-A - Active driving netting system for intelligent fishing operation

CN122004178ACN 122004178 ACN122004178 ACN 122004178ACN-122004178-A

Abstract

The active driving netting system for the intelligent fishing operation belongs to the technical field of active driving netting for the intelligent fishing operation and is characterized by comprising a planar flexible net sheet, an outer side frame, a plurality of thin steel wires, a sensing and control integrated intelligent sensor, a horizontal propelling propeller and a vertical propelling propeller, wherein the planar flexible net sheet is connected with the outer side frame through the thin steel wires, the sensing and control integrated intelligent sensor is arranged on the outer side frame, the horizontal propelling propeller and the vertical propelling propeller are respectively connected with the left and right rear edges and the front end of the outer side frame, and a sealed module is arranged inside the sensing and control integrated intelligent sensor.

Inventors

  • Yu Songchen
  • WANG NING

Assignees

  • 大连海事大学

Dates

Publication Date
20260512
Application Date
20260130

Claims (7)

  1. 1. The active driving netting system for intelligent fishing operation is characterized by comprising a planar flexible net sheet (1), an outer side frame (2), a plurality of thin steel wires (3), a sensing and control integrated intelligent sensor (4), a horizontal propulsion propeller (5) and a vertical propulsion propeller (6), wherein the planar flexible net sheet (1) is connected with the outer side frame (2) through the thin steel wires (3), the sensing and control integrated intelligent sensor (4) is arranged on the outer side frame (2), and the horizontal propulsion propeller (5) and the vertical propulsion propeller (6) are respectively connected with the left and right rear edges and the front end of the outer side frame (2).
  2. 2. The active driving netting system for intelligent fishing operation according to claim 1, wherein the sensing and control integrated intelligent sensor (4) is internally provided with a sealed module.
  3. 3. The active driving netting system for intelligent fishing operation according to claim 1, wherein the thin steel wires (3) are uniformly distributed along the periphery of the planar flexible net sheet (1).
  4. 4. The active driving netting system for intelligent fishing operation according to claim 2, wherein the sensing and control integrated intelligent sensor (4) comprises a signal acquisition module, a data preprocessing module, a fish swarm identification module, a decision and control module and a control output module, wherein the signal acquisition module is used for acquiring space distribution information and motion state information of fish swarms in a net cage, and the data preprocessing module is used for filtering, denoising, coordinate conversion and time synchronization processing of raw data acquired by the signal acquisition module.
  5. 5. The intelligent fishing operation-oriented active driving netting system of claim 4, wherein the fish school recognition module is used for recognizing and clustering fish school targets, and the fish school centroid position is as follows: overall swimming direction of fish shoal: , wherein, Is the first A position vector of the individual fish school objects in three-dimensional space, Representing the current number of identified fish school objects, Representing the overall spatial position characteristics of the fish school, Represent the first A motion direction vector or a velocity vector of the individual fish-shoal object, Indicating the overall swimming direction characteristics of the fish school.
  6. 6. The intelligent fishing operation-oriented active driving netting system as set forth in claim 4, wherein said decision and control module is configured to determine a spatial position characteristic of a fish population according to the fish population identification module And integral walk direction feature In combination with a preset target gathering area position Calculating the propulsion control quantity of the active driving netting, wherein the propulsion control quantity can be calculated by the following general control law: , wherein, In order to aggregate the regions for the targets, Is a location guide; in order for the exercise coordination terms to be compatible, 、 To control the gain factor.
  7. 7. The intelligent fishing operation oriented active driving netting system as set forth in claim 4, wherein the control output module is configured to convert the propulsion control command into a corresponding electrical signal or control signal and output the electrical signal or control signal to the horizontal propulsion propeller 5 and the vertical propulsion propeller 6, wherein the mapping of the propulsion force to the propeller command is written as , wherein, The control input for the propulsion propeller.

Description

Active driving netting system for intelligent fishing operation Technical Field The invention belongs to the technical field of rotation driving netting appliances for intelligent fishing, and particularly relates to an active driving netting system for intelligent fishing operation. Background The method has the advantages that the method is low in automation degree, limited in operation efficiency, difficult to flexibly adjust according to the real-time behaviors of the shoal of fish, easy to cause stress and damage of the fish, high in manual participation degree in a deep sea environment, high in operation safety risk, and poor in continuity and stability of the fishing process due to the fact that the existing purse net equipment is difficult to cooperatively control with the fish sucking pump. Disclosure of Invention The invention aims to provide an active driving netting system for intelligent fishing operation, which realizes real-time sensing and identification of fish shoal distribution and motion state by integrating a sensing and control integrated intelligent sensor on a netting structure, and forms a guiding situation which is favorable for the operation of a fish suction pump by the active driving netting, thereby realizing low-stress and high-efficiency automatic fishing, and the technical scheme is as follows: The active driving netting system for intelligent fishing operation is characterized by comprising a planar flexible net sheet1, an outer side frame 2, a plurality of thin steel wires 3, a sensing and control integrated intelligent sensor 4, a horizontal propulsion propeller 5 and a vertical propulsion propeller 6, wherein the planar flexible net sheet1 is connected with the outer side frame 2 through the thin steel wires 3, the sensing and control integrated intelligent sensor 4 is arranged on the outer side frame 2, the horizontal propulsion propeller 5 and the vertical propulsion propeller 6 are respectively connected with the left and right rear edges and the front end of the outer side frame 2, the inside of the sensing and control integrated intelligent sensor 4 is provided with a sealing type module, the thin steel wires 3 are uniformly distributed along the periphery of the planar flexible net sheet1, the sensing and control integrated intelligent sensor 4 comprises a signal acquisition module, a data preprocessing module, a fish swarm identification module, a decision and control module and a control output module, wherein the signal acquisition module is used for acquiring space distribution information and motion state information of a fish swarm in a net box, the data preprocessing module is used for carrying out noise removal, conversion and time synchronization on raw data obtained by the signal acquisition module, and the fish swarm coordinate processing and the data and the fish swarm identification module is used for carrying out mass center analysis and object mass center analysis: overall swimming direction of fish shoal: , wherein, Is the firstA position vector of the individual fish school objects in three-dimensional space,Representing the current number of identified fish school objects,Representing the overall spatial position characteristics of the fish school,Represent the firstA motion direction vector or a velocity vector of the individual fish-shoal object,The decision and control module is used for representing the integral swimming direction characteristics of the fish shoal, and the decision and control module is used for outputting the integral space position characteristics of the fish shoal according to the fish shoal identification moduleAnd integral walk direction featureIn combination with a preset target gathering area positionCalculating the propulsion control quantity of the active driving netting, wherein the propulsion control quantity can be calculated by the following general control law: , wherein, In order to aggregate the regions for the targets,Is a location guide; in order for the exercise coordination terms to be compatible, 、For controlling the gain factor, the control output module is used for converting the propulsion control instruction into a corresponding electric signal or control signal and outputting the corresponding electric signal or control signal to the horizontal propulsion propeller 5 and the vertical propulsion propeller 6, and the mapping of the propulsion force to the propulsion instruction can be written as, wherein,The control input for the propulsion propeller. The fish shoal sensing, identifying and propelling control integrated on a single module is compact in structure and high in system reliability through the sensing and controlling integrated design, a flexible and adjustable guide flow field is formed through an active driving mode, forced blocking of a traditional purse net is avoided, fish body stress is obviously reduced, cooperation with the operation process of a fish suction pump can be formed, fis