CN110745218A - Bionic fish for inducing and monitoring fish school migration - Google Patents
Bionic fish for inducing and monitoring fish school migration Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- A01K61/00—Culture of aquatic animals
- A01K61/10—Culture of aquatic animals of fish
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/60—Fishing; Aquaculture; Aquafarming
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Abstract
The invention discloses a bionic fish for inducing and monitoring fish school migration. The external structure of the bionic fish simulates a fish shape, and a power module, an identification module, a communication module and a fish luring and driving module are integrated in the fish-shaped structure; the invention adopts the design of an independent control power module, which comprises a pectoral fin, a tail fin and a dorsal fin power module, and has flexible movement; identifying the type of the fish school through infrared image fusion to generate a movement route and a fish luring mode; the fish luring module comprises sound, light and smell parts which can generate sound waves with different frequencies and sizes, the waterproof LED light emitting parts are made into fish scale shapes and are provided with different colors, and the smell luring module slowly discharges bait along with water in the bionic fish swimming process to realize fish luring; control and information transmission are achieved through remote information conduction, and the bionic fish charging is achieved through the solar charging pile. The bionic fish provided by the invention has a light, sound and smell release system, can freely approach a migration fish school, induces and monitors a fish school migration route, and realizes ecological natural migration of the fish school.
Description
Technical Field
The invention belongs to the technical field of underwater robot design, and particularly relates to a bionic fish for inducing and monitoring fish school migration.
Background
Migration is a special ecological activity of the way fish live, and is the movement of some fishes with the characteristics of initiative, periodicity, orientation and clustering. For various research results at present, the method commonly used for researching the migration route of fishes is mainly a mark releasing method. The artificial young fish or the captured fish is attached to the body of the artificial young fish or the captured fish by using a specially-made label or label, and is released into a natural water area. When the marker fish is recaptured, various data during releasing and recapturing are compared to analyze the change rule of fish migration.
The methods can detect the migration routes of fishes, but the methods not only damage the fishes to a great extent, but also can be realized only by collecting specimens and marking and releasing the specimens, the survival rate of the specimens after releasing cannot be guaranteed, the experimental time is long, the recapture rate is low, inconvenience is caused for researching the migration routes of the fishes, and the migration routes of the fishes of different population types cannot be distinguished. And meanwhile, active induction and intervention cannot be performed on a migratory fish route.
On the other hand, with the progress of social economy and the development of hydroelectric resources, the influence of the development of hydroelectric construction on aquatic organisms is more serious, and the urgency of protecting the aquatic organisms is more prominent. In order to solve the problem, numerous protective measures are proposed, such as building fish facilities, carrying out artificial propagation and releasing, building artificial spawning sites, implementing reservoir ecological dispatching, building fish protection areas and the like. The main protection measure adopted in China at present is artificial propagation and releasing. However, long-term practice has shown that: the artificial propagation releasing has certain disadvantages, such as unobvious releasing effect, reduced population diversity, incapability of completely replacing natural fish dam-crossing, and the like. The fish-passing facility is an important means for solving the above problems, and the research and development of the fish-passing facility are increasingly emphasized.
The fish passing facility refers to an artificial passage and a facility for passing the fish through the barrier. At present, the main application types of fishways at home and abroad are partition plate types, and the fishways can be divided into four types, namely overflow weir types (also called step types and step types), submerged hole opening types, vertical seam types and combined types according to the shapes and the positions of fish passing holes of the partition plates. Although fishways are built at home and abroad, the fishways which are really successful are rare. The foreign scholars carry out summary analysis on the most common failure reasons of the fish facilities of dams in north america, europe, latin america, africa, new zealand, asia and the like, and the established fishway has the following defects:
the fish passing facility is unattractive due to poor fishway position or insufficient water flow at the fish passing facility inlet caused by water channel flow.
The design of the fish passing facility is not enough for considering the upstream and downstream water level changes in migration seasons, so that the water quantity of the fishway is too small or too large, and the water level falling amplitude at the entrance of the fishway is too large. The main reason is that in the engineering planning stage, the factors such as the change amplitude of upstream and downstream water levels or the subsequent changes of upstream and downstream water levels (the changes caused by the use of the dam, the water level changes caused by the erosion of the downstream riverbed of the dam, and the like) are not considered sufficiently.
The ship lock is a box-shaped hydraulic structure which ensures that ships smoothly pass through a concentrated water level drop on a channel, is a navigation structure with the widest application, and has a large-volume communicated water body, so that the ship lock has the possibility of becoming a fish channel.
The fish are induced to enter the fishway or the ship lock by light, sound, smell and other modes, so that the hydraulic dam with the ship lock system can possibly become a hydraulic building with double functions of fish passing and navigation, the dam-like problem in a hydraulic junction without fish passing facilities can be solved, and a selection method can be provided for solving the problems of large building occupation, difficult arrangement, high cost, complex operation and management and the like of the fish passing facilities in the design, construction and management of the hydraulic junction in future.
Disclosure of Invention
The invention discloses a bionic fish for inducing and monitoring fish school migration according to the defects of the prior art. The invention aims to provide an intelligent machine bionic fish which is provided with a light, sound and smell release system and can freely approach a migration fish swarm, induce and monitor a migration route of the fish swarm and realize ecological natural migration of the fish swarm.
The invention is realized by the following technical scheme:
a bionical fish for shoal migration is induced and is monitored, bionical fish external structure simulation fish shape, its characterized in that: the simulated fish-shaped structure is integrated with a power module, an identification module, a communication module and a fish attracting and driving module;
the power module adopts an independent power control design and is provided with three power systems, namely two groups of pectoral fin power systems, one group of tail fin power systems and one group of dorsal fin systems; each power system consists of a micro motor and a transmission device which are independent of each other;
the identification module comprises an infrared obstacle avoidance system and an information identification system; the infrared obstacle avoidance system is composed of infrared sensors arranged on the surfaces of the fish-shaped simulation parts; the information identification system is composed of an infrared camera arranged on the simulated fish-shaped eye; recognizing the environment around the bionic fish through an infrared sensor, extracting an infrared image through an infrared camera, transmitting the infrared image to a data processing center, recognizing the type of the fish school through an infrared image fusion technology, and generating a movement route and a fish luring mode;
the fish attracting and driving module comprises a fish attracting system with three parts of sound, light and smell; the sound fish luring system is generated by a sound wave generator, and induces fish schools according to sound waves with different frequencies and sizes generated by different fishes; the light fish luring system is formed by manufacturing a waterproof LED light emitting component into a fish scale shape and arranging the waterproof LED light emitting component on the surface of a simulated fish shape, and the LED light emitting component is controlled by a single chip microcomputer to set different colors according to fish; the smell fish luring system consists of an electronic fish luring device positioned at the rear part of the fish belly, wherein baits are filled in the electronic fish luring device and are slowly discharged along with water in the swimming process of the bionic fish;
the communication module adopts a wireless information transmission mode.
The bionic fish adopts a submarine type floating and sinking structure; the motor controls the movement of the piston of the air cylinder, so that the volume of air in the air cylinder is changed, and the floating and sinking of the bionic fish are realized.
The bionic fish adopts a wireless solar charging pile technology, the solar charging piles are arranged at intervals of a preset migration channel, and the wireless charging end is arranged to suspend in a charging pile to realize charging in the bionic fish migration.
The transmission device comprises gears at all levels, the gears are meshed with each other, the swing rods connected with the fins are driven to slide left and right through the rotation of the gears, the motion of the tail fins and the motion of the pectoral fins are respectively realized, and the balance, the steering and the advancing of the bionic fish are controlled.
The bionic fish tail fin is provided with an LED light-emitting component for enhancing the attraction of fish along with the swinging of the tail fin.
The bionic fish provided by the invention has the advantages that the frightened degree of the fish is greatly reduced based on the shape of the fish, and the damage to the fish by migration detection in the mode is reduced.
The invention adopts the design of an independent control power module, and three parts of power systems are arranged, namely two groups of pectoral fin power modules, one group of tail fin power modules and one group of dorsal fins. Each power module is composed of a micro motor and a transmission device which are independent. The gears are meshed with each other, and when the gears rotate, the swing rods connected with the fins are driven to slide left and right, so that the motion of tail fins and pectoral fins is realized, and the balance, steering and advancing of the bionic fish are controlled.
The invention adopts an infrared obstacle avoidance technology and an information identification technology. The infrared obstacle avoidance sensor identifies the environment around the bionic fish, and the infrared camera extracts an infrared image. And the generated images are transmitted to a data processing center, and the types of fish schools are identified through an infrared image fusion technology to generate a movement route and a fish luring mode.
The invention utilizes multiple fish luring factors to induce the fish. The fish luring module comprises three parts of sound, light and smell. The sound is generated by a sound wave generator, and sound waves with different frequencies and sizes can be generated according to different fishes, so that the fish shoal is induced to approach. The light is generated by the LED light emitting component with good waterproof effect, and can change different colors. The bionic fish body is wrapped by the LED luminous components, can change specific colors under the control of the single chip microcomputer, and imitates fishes to achieve the purpose of color change induction of the fishes. The LED luminous component embedded in the tail fin enhances the luring effect on fishes along with the swinging of the tail fin. The electronic fish luring device is filled with bait, is positioned at the rear part of the fish belly, and can be slowly discharged along with water in the swimming process of the bionic fish so as to achieve the effect of luring the fish.
The invention adopts the remote information transmission technology. The identified information is transmitted to a remote data processing system through a communication module existing in the fish, and finally the remote data processing system guides the movement of the bionic fish, namely the process that the local area network transmits the bionic fish to a wide area network and then transmits the bionic fish back to the local area network. The problem of information long distance transmission difficulty is solved.
The invention adopts the solar charging pile technology. And calculating the distance traveled when the energy consumption of the bionic fish is reduced to a certain standard through power calculation of the known bionic fish. Every interval this distance sets up solar charging stake, has solved the low short problem of usable time of bionical fish energy.
The invention adopts submarine type floating and sinking design. The motor controls the movement of the piston in the cylinder, so that the amount of air in the cylinder is changed, and the floating and sinking of the bionic fish are realized.
Drawings
FIG. 1 is a schematic diagram of the arrangement of a bionic fish body.
FIG. 2 is a schematic view of the state of FIG. 1, shown in detail as A.
FIG. 3 is a schematic view of the structure of the bionic fish skeleton of the present invention.
Fig. 4 is a schematic diagram of the power transmission arrangement of the bionic fish of the invention.
Fig. 5 is a schematic view of an infrared sensor arrangement of the present invention.
Fig. 6 is a block diagram of the system architecture of the present invention.
Fig. 7 is a control circuit diagram of the present invention.
Fig. 8 is a simulation diagram of the Proteus of the LED color lamp set of the invention.
In the figure, 1 is a bionic fish body, 2 is a dorsal fin, 3 is a caudal fin, 4 is a pectoral fin, 5 is an abdominal fin, 6 is a hip fin, 7 is an infrared camera, 8 is a sound wave generator, 9 is a power and information module, 10 is a pectoral fin driver, 11 is a caudal fin driver, 12 is a movable condyle, 13 is a skeleton, 14 is a front infrared sensor, 15 is a right infrared sensor, 16 is a top infrared sensor, 17 is a rear infrared sensor, 18 is a bottom infrared sensor, and 19 is a left infrared sensor.
Detailed Description
The present invention is further described below in conjunction with the following detailed description, which is intended to further illustrate the principles of the invention and is not intended to limit the invention in any way, but is equivalent or analogous to the present invention without departing from its scope.
With reference to the attached drawings.
As shown in the figure, FIG. 1 is a schematic diagram of a main body part of the bionic fish, and shows the whole internal structure of the bionic fish. Fig. 2 is a schematic view of a part a of the colored lamp in fig. 1, showing a part of details of the LED lamp under the guidance of the single chip microcomputer, wherein the LED lamp is represented by black and white scales, and can be replaced or changed according to different characteristics of fish in practical application. FIG. 3 is a schematic view of the bionic fishbone structure of the invention, which is a movable universal joint structure. FIG. 4 is a schematic diagram of the power transmission layout of the bionic fish of the invention, which simulates the moving mode of fish and adopts the motion structure of tail fin swing and pectoral fin swimming. Fig. 5 is a schematic diagram of a floating and sinking module, showing a concrete operation mode of the floating and sinking module of the bionic fish. Fig. 6 is a schematic layout diagram of the infrared sensor of the bionic fish, and shows the specific arrangement of the infrared obstacle avoidance system of the bionic fish.
The bionic fish comprises a power module, an identification module, a communication module and a fish luring module. The power module comprises a tail fin, a dorsal fin and a pectoral fin. As shown in fig. 4, the three parts are composed of independent micro-motors and transmission devices. The gears are meshed with each other, and when the gears rotate, the swing rods connected with the fins are driven to slide left and right, so that the motion of tail fins and pectoral fins is realized, and the balance, steering and advancing of the bionic fish are controlled. The identification module consists of an infrared obstacle avoidance sensor and an infrared camera, as shown in fig. 1. The component diagram of the bionic fish infrared obstacle avoidance system is shown in fig. 5. The communication module carries out signal transmission based on the wireless data transmission module. The fish luring module is mainly used for inducing fish schools. The fish luring module comprises three parts of sound, light and smell.
When the bionic fish enters water, as shown in fig. 7, three motors are used for coordinately swinging to fit the body fluctuation of the fish body movement. The moving and controlling algorithm is controlled by the speed direction. The steering engine drives the two pectoral fins to paddle, and the effects of keeping balance, advancing and turning are achieved; the direct current motor drives the tail fin to swing left and right, and forward power is provided for the bionic robot fish. The piston is controlled by the motor to move, so that the air pressure in the air cylinder is changed, and the floating and sinking of the fish body are controlled. When the fish dives, the piston can move to the right, and the cylinder space diminishes, and atmospheric pressure grow to offset water pressure's effect. When the fish floats upwards, the water pressure is reduced, the piston moves leftwards and is relaxed, the space of the cylinder is enlarged, and the air pressure is reduced. In addition, floating and submerging of the robot fish can be assisted by changing the swing angle of the pectoral fins. When floating upwards, the fins of the robot fish are pressed downwards; when the robot fish dives, the fins of the robot fish are lifted upwards. The infrared obstacle avoidance sensor identifies the environment around the bionic fish, as shown in fig. 6, the infrared camera serves as a vision system to transmit the global image in the water area to the decision-making host, the decision-making host performs image processing on the acquired image through an infrared image fusion technology, identifies the type of the fish school and the position and direction of the bionic fish, starts a control algorithm according to a control command given by the remote control end, and generates a movement route and a fish luring mode. According to different fishes, the sound wave generator generates sound waves with different frequencies and sizes; as shown in fig. 8, the single chip microcomputer controls the LED color lamps embedded in the bionic fish body and tail fins to have good waterproof effect to change different colors; meanwhile, the bait in the electronic fish luring device positioned at the rear part of the fish belly is slowly discharged along with water in the swimming process of the bionic fish. Thus, the sound, light and color are combined to lure fish. At the moment, the bionic fish and the remote client terminal adopt an asynchronous communication mode to send real-time environment and behavior information to the client terminal, the server runs a control program of the local bionic fish after receiving the command, the behavior command is input into the algorithm module to obtain a motion control command of the bionic fish, and the motion control command is sent to the bionic fish through a serial port of the local server by adopting infinite communication to enable the bionic fish to swim in an appointed track. The camera collects swimming images of the bionic fish in real time, the local server processes the collected images, extracts position coordinates, motion directions and coordinates of target points of the bionic fish, draws the position coordinates, the motion directions and the coordinates of the target points, and sends the position coordinates, the motion directions and the coordinates of the target points to the client through the network. Finally, drawing a migration route.
During the fish migration period, a large amount of migratory fish gather downstream and often cannot migrate due to the dam barrier. At this time, the bionic fish device of the invention is thrown into the water.
After the bionic fish body is placed in water, the infrared camera and the infrared obstacle avoidance system analyze the surrounding environment and identify fish, and information is transmitted to the remote data processing center through the communication module to be processed. And processing the information obtained by the central nervous system analysis, making a corresponding instruction, and transmitting a communication module to guide the corresponding change of the bionic fish body.
And guiding the motion of the bionic fish body by transmitting the information back to the communication module. The motion instruction is transmitted to each part of the power module, the dorsal fins mainly keep the self balance of the fish body, the tail fins mainly provide power for the forward movement of the fish body, and the tail fins are matched with the pectoral fins to achieve the purpose of steering.
Through the information of passing back communication module, guide control LED luminous component colour and arrange the singlechip for the bionic fish main part becomes the colour similar with surrounding shoal of fish, reaches the purpose of mixing into wherein.
The electronic fish luring device and the sound wave generator are controlled to be used by returning information of the communication module, and the purpose of luring fish is achieved under the combined action of multiple modes.
Through a GPS positioning system in the communication module, the moving path of the bionic fish main body can be recorded and then transmitted to a remote terminal processing system for storage, and therefore migration data can be stored.
Claims (5)
1. The utility model provides a bionical fish for shoal migration is induced and is monitored, bionical fish external structure simulation fish shape, its characterized in that: the simulated fish-shaped structure is integrated with a power module, an identification module, a communication module and a fish attracting and driving module;
the power module adopts an independent power control design, and is provided with three groups of power systems, namely two groups of pectoral fin power systems and one group of tail fin power systems; each power system consists of an independent micro motor and a transmission device;
the identification module comprises an infrared obstacle avoidance system and an information identification system; the infrared obstacle avoidance system is composed of infrared sensors arranged on the surfaces of the fish-shaped simulation parts; the information identification system is composed of an infrared camera arranged on the simulated fish-shaped eye; recognizing the environment around the bionic fish through an infrared sensor, extracting an infrared image through an infrared camera, transmitting the infrared image to a data processing center, recognizing the type of the fish school through an infrared image fusion technology, and generating a movement route and a fish luring mode;
the fish attracting and driving module comprises a fish attracting system with three parts of sound, light and smell; the sound fish luring system consists of a sound wave generator and is used for generating sound waves with different frequencies and sizes according to different fishes to induce fish schools; the light fish luring system is formed by manufacturing a waterproof LED light emitting component into a fish scale shape and arranging the waterproof LED light emitting component on the surface of a simulated fish shape, wherein the LED light emitting component is controlled by a single chip microcomputer and is used for setting different colors according to fish; the smell fish luring system consists of an electronic fish luring device positioned at the rear part of the fish belly, wherein baits are filled in the electronic fish luring device and are slowly discharged along with water in the swimming process of the bionic fish;
the communication module adopts a wireless information transmission mode.
2. The biomimetic fish for population migration induction and monitoring according to claim 1, wherein: the bionic fish adopts a submarine type floating and sinking structure; the motor controls the movement of the piston of the air cylinder, so that the volume of air in the air cylinder is changed, and the floating and sinking of the bionic fish are realized.
3. The biomimetic fish for population migration induction and monitoring according to claim 1, wherein: the bionic fish adopts a wireless solar charging pile technology, solar charging piles are arranged at preset migration channel intervals, and a wireless charging end is arranged to be paused in a charging pile to realize charging in the bionic fish migration.
4. The biomimetic fish for population migration induction and monitoring according to claim 1, wherein: the transmission device comprises gears at all levels, the gears are meshed with each other, the swing rods connected with the fins are driven to slide left and right through the rotation of the gears, the motion of the tail fins and the motion of the pectoral fins are respectively realized, and the balance, the steering and the advancing of the bionic fish are controlled.
5. The biomimetic fish for population migration induction and monitoring according to claim 1, wherein: the bionic fish tail fin is provided with an LED light-emitting component for enhancing the attraction of fish along with the swinging of the tail fin.
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| CN201911036833.2A CN110745218A (en) | 2019-10-29 | 2019-10-29 | Bionic fish for inducing and monitoring fish school migration |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111265893A (en) * | 2020-02-19 | 2020-06-12 | 青岛新起点文化科技有限公司 | Bionic robot device based on internet |
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| CN114287408A (en) * | 2022-01-19 | 2022-04-08 | 苏州市职业大学 | Adjustable quivering-sinking type bionic bait |
| CN115230925A (en) * | 2022-05-30 | 2022-10-25 | 黄兴中 | Numerical control variable-waveform multi-joint flexible underwater bionic thruster and control method thereof |
| CN115230925B (en) * | 2022-05-30 | 2023-12-12 | 黄兴中 | Numerically controlled variable waveform multi-joint flexible underwater bionic propeller and control method thereof |
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