CN112230182B - Tracking and positioning system for finless porpoise - Google Patents
Tracking and positioning system for finless porpoise Download PDFInfo
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- CN112230182B CN112230182B CN202010843514.9A CN202010843514A CN112230182B CN 112230182 B CN112230182 B CN 112230182B CN 202010843514 A CN202010843514 A CN 202010843514A CN 112230182 B CN112230182 B CN 112230182B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a tracking and positioning system for a finless porpoise, which comprises a signal transmitting terminal, at least three base stations and a position calculating module, wherein the signal transmitting terminal is used for transmitting signals to the finless porpoise; the signal transmitting terminal communicates with the base station through wireless signals; the signal transmitting terminal is arranged on a monitoring target body, and the base stations are arranged on the shore or the water surface of a monitoring water area, so that each point on the water surface of the monitoring water area is within the signal receiving range of at least three base stations; and all the base stations are synchronized in time and are in communication connection with the position calculation module. The system of the invention overcomes the problem that the traditional tracking and positioning system cannot ensure that aquatic animals such as finless porpoise have short water outlet time and are difficult to position. By the system and the method, the tracking equipment can be installed on the finless porpoise or other aquatic animals in a non-invasive manner, the target animals can be safely tracked in a positioning way for a long time, and the predation habit, territory and migration dynamics of the finless porpoise can be monitored, so that a basis is provided for the protection and research of the finless porpoise or other aquatic animals.
Description
Technical Field
The invention relates to the field of environment and animal protection, in particular to a tracking and positioning system for finless porpoise.
Background
Aquatic animal protection is one of the key and difficult problems in water environment protection. Yangtze river finless porpoise is a small freshwater whale, and an adult individual is about 1.5 meters long and has no dorsal fins. The finless porpoise is a unique fresh water whale population in the middle and lower water systems of the Yangtze river, is one of important components of the Yangtze river, and belongs to the national secondary protection animal. In recent years, with the destruction of habitats, the deterioration of water environment and the interference of human activities, the number of finless porpoises is sharply reduced, and the protection status of finless porpoises can be upgraded from secondary protection animals to primary protection animals. Therefore, the protection of finless porpoise is already imminent. In order to reasonably define a protection area and a navigation channel and further perfect the protection of the finless porpoise, it is very important to monitor the behavior pattern, the movement law and the position of the habitat. The scientific proposition corresponding to the problems is the migration activity rule of the Changjiang river finless porpoise, namely, the positioning and tracking research is needed.
People started to record the diving time and depth of south-pole wedgelet as early as 1963 using a mechanical time-depth recorder (TDR), and only 1h of seal activity was recorded. By the 70's of the 20 th century, a modified TDR was used to record antarctic fur sea lions for 14 days. In the 80 s, with the development of microprocessor technology, the original mechanical recording mode of the recorder was replaced by the electronic digital recording mode. Although the recording time is not greatly broken and is still limited to 2-3 weeks, the miniaturization technology greatly reduces the volume and the weight of the recorder, increases the storage capacity and can record more measurement variables simultaneously. In the 90 s, the novel TDR can continuously collect data for several months and record each diving activity of the Nanxiang seal in the whole migration period.
Although there are great advances in the design and manufacturing techniques of recorders, there are only a few breakthrough advances in the fixing techniques of recorders. In fact, the fixed position and the fixed firmness of the recorder have a very important influence on the continuous sampling time and on the quality of the data obtained. Therefore, there is a need for a device to install a beacon on a finless porpoise in a non-invasive manner and to provide an effective sloughing mechanism.
In addition, currently, the mainstream positioning beacons are all positioned by adopting a GPS or beidou satellite system, and data transmission is carried out by adopting an ARGOS satellite system or a mobile phone communication network system in france. The communication time of the satellite beacon positioning equipment is 2-3 seconds, and the satellite calibration is carried out by exposing the satellite beacon positioning equipment to the air for a long time at intervals, so that the positioning precision can be ensured. The average water outlet interval of the Yangtze river finless porpoise is only 0.81 second, and theoretically, the current satellite positioning equipment cannot finish accurate water outlet positioning of the finless porpoise. Meanwhile, due to the limited satellite coverage, data can be effectively transmitted only at a fixed time every day. If the satellite encounters cloud layers, the communication of the satellite is greatly influenced, and the data transmission effect is poor.
The other mode is to use a communication satellite for positioning and utilize a mature mobile phone communication network for data transmission, and the mode has low use cost and high transmission efficiency and can even realize real-time positioning transmission. However, this solution has two problems, the coverage of the communication network and the authentication of the communication base station. On one hand, effective positioning can be carried out only in a place with good communication network signals; on the other hand, the finless porpoise has short water outlet time, but the signal and the communication base station need to carry out information verification when the finless porpoise is discharged every time to complete positioning, and the positioning is difficult to realize.
Therefore, a new signal transmitting-receiving system is needed for finless porpoise to realize effective positioning of finless porpoise.
Disclosure of Invention
In order to solve the above problems, the present invention provides a tracking and positioning system for aquatic mammals or fishes, comprising a signal transmitting terminal, at least three base stations and a position calculating module;
the signal transmitting terminal broadcasts a positioning data packet to the base station;
the signal transmitting terminal is arranged on a monitoring target body, and the base stations are arranged on the shore or the water surface of a water area to be monitored, so that each point on the water surface of the monitoring water area is within the signal receiving range of at least three base stations;
and all the base stations are synchronized in time and are in communication connection with the position calculation module.
The location system of the present invention is preferably a location system based on a LORA communication network. Preferably, there are at least 3 base stations within a radius of 6km, which keeps the signal transmitting terminal as the center.
In a specific embodiment, the data packet broadcast by the signal transmitting terminal comprises identification information and verification information.
In a specific embodiment, the system further comprises a sensor disposed on the signal transmitting terminal.
In a particular embodiment, the sensor is a temperature sensor, a heartbeat sensor, or a velocity sensor. Preferably, the weight of the signal transmitting terminal is not more than 100g, and the large weight of the signal transmitting terminal can cause the floating buoyancy assembly of the carrier to be large, so that the activity of the finless porpoise is influenced.
In a specific embodiment, the base station is provided with a reader for analyzing the received signal transmitted by the signal transmitting terminal.
In one embodiment, the base stations synchronize time via satellite time services.
In a specific embodiment, the base station is communicatively connected to the location calculation module via a cellular communication network.
In a preferred embodiment, the signal transmitting terminal is mounted on a monitoring target body through a wearable carrier, the wearable carrier comprises a body and a buoyancy assembly, the body is in a cylindrical shape with two open ends, and two fin holes are formed in the side face of the body;
the back of the body is provided with a buoyancy component fixing part, and the buoyancy component is fixed in the buoyancy component fixing part;
the back of the body is provided with a communication component fixing part, and the signal transmitting terminal is installed in the communication component fixing part;
the wearable carrier is sewed through the water soluble thread, so that the wearable carrier falls off from the finless porpoise body after the water soluble thread is dissolved.
The buoyancy component is fixed on the back instead of the abdomen, so that the influence on the movement of the finless porpoise is small. The main part of the carrier body can be made of elastic hydrophilic gauze fabric, and the size of the fin hole is attached to the ventral fin of the finless porpoise as much as possible, so that the carrier is prevented from being curled, the carrier is close-fitting, soft and good in water permeability, and the finless porpoise cannot feel uncomfortable. The water soluble wire is selected from wires which are completely dissolved in the field water body for about 3 months, so that after the monitoring is finished, the wires are dissolved, the carrier body falls off from the finless porpoise body after being unfolded, and the carrier body floats to the surface of the river due to the buoyancy of the buoyancy assembly to be beneficial to recovery.
In a preferred embodiment, the communication assembly fixing portion includes a spacer fixedly connected to the body, a fixing mechanism, and a communication device container mounted on the spacer by the fixing mechanism.
Preferably, the spacer is made of a flexible material having a thickness. The communicator receptacle may be made of a water-impermeable flexible material (e.g., plastic) that encases the signal-emitting terminal and exposes its antenna to facilitate capture of signals from the signal-emitting terminal by the base station. The gasket has certain thickness and rough surface, prevents that communication setting from producing the scratch to the finless porpoise to prevent to take place to slide.
In a preferred embodiment, the buoyancy module fixing portions are disposed at both sides of the gasket or below the gasket.
In a preferred embodiment, the buoyancy module is an expandable module, the buoyancy module fixing portion includes a receiving frame having an opening and a detachable stopper, and encloses a space for receiving the buoyancy module and limiting expansion of the buoyancy module, and after the stopper is detached, expansion of the buoyancy module is not limited by the stopper. In the initial state, the buoyancy assembly is arranged in the space and is in a non-expansion state due to the action of the limiting piece, the size of the buoyancy assembly is small, the buoyancy effect is not generated, and the obstruction to the motion of the finless porpoise can be reduced to the maximum extent. When the limiting piece is detached, the internal pressure of the buoyancy assembly makes the buoyancy assembly expand, so that buoyancy is generated. In this embodiment, the containment frame is fixedly attached to the buoyancy module. When the stopper 123 is detached, the buoyancy module still maintains the connection with the receiving frame.
Preferably, the locating part is sewed at the opening of the accommodating frame through the water soluble thread to block the opening of the accommodating frame. When the water soluble line is dissolved, the buoyancy assembly is not pressed by the limiting piece and begins to expand, so that buoyancy is generated.
In a preferred embodiment, the buoyancy module fixing portion further comprises an expansion member, which may be made of an elastic material or an inelastic material but may have a certain expansion space, and is connected to the outside of the limiting member, wherein in an initial state of a region covering the limiting member, the buoyancy module is fixed in a space surrounded by the accommodating frame and the limiting member, and after the limiting member is detached, the buoyancy module fixing portion starts to expand until being limited by the expansion member. The space enclosed by the expansion piece and the containing frame is larger than the space, so that buoyancy is formed. Preferably, the material of the extension piece is a water permeable material. The expansion piece can keep the buoyancy assembly not to be separated from the carrier, an additional connecting mechanism is not needed, and the arrangement of the carrier is simplified. Meanwhile, the expansion of the buoyancy assembly can be limited, so that the buoyancy assembly can generate enough buoyancy for the wearable carrier to float on the water surface, and excessive buoyancy can not be generated, and the situation that the motion of the finless porpoise is influenced in case that the limit part is disassembled before the wearable carrier falls off from the finless porpoise is prevented.
In a preferred embodiment, the buoyancy module comprises an airtight elastomeric container and a gas releasing matrix contained within the elastomeric container. Preferably, the gas releasing matrix has the property of releasing gas and absorbing the released gas. Preferably, the density of the gas-releasing matrix is 0.9 to 1.1 times the density of water. For example, the gas release matrix may be soda water, which has a density similar to that of river water, and is packed in a latex bag having elasticity to form a buoyancy member, which is installed in the buoyancy member fixing portion. The initial state, buoyancy module's density is about the same with water, does not produce the buoyancy effect, and when the locating part is dismantled because of water-soluble line dissolves the back, the inside pressure of plastic bag reduces, and soda begins to release carbon dioxide gas, makes the plastic bag inflation, and buoyancy module produces the buoyancy effect, takes wearable carrier to the surface of water on.
When the positioning system is used, the base station is installed along the shore of a moving water area of the finless porpoise or on the water surface, then the finless porpoise is captured, a carrier is worn on the finless porpoise, a signal transmitting terminal is installed, and the finless porpoise is placed in the moving water area. The base station continuously monitors radio frequency signals of a specific frequency through the antenna. When a finless porpoise carrying a signal transmitting terminal appears in a coverage area of a base station, a data packet broadcasted by the finless porpoise is received by the base station, the base station records a timestamp and terminal ID information of the received data packet as position calculation information, then the position calculation information is sent to a position calculation module through a satellite communication network (such as a 4G/5G network), and the position calculation module calculates the position of the finless porpoise, namely the position of the finless porpoise, when the signal transmitting terminal broadcasts the positioning data packet according to the position calculation information aiming at the same positioning data packet sent by three base stations by combining the corresponding positions (such as longitude and latitude) of the three base stations.
The system of the invention overcomes the problem that the traditional tracking and positioning system cannot ensure that aquatic animals such as finless porpoise have short water outlet time and are difficult to position. By the system and the method, the tracking equipment can be installed on the finless porpoise or other aquatic animals in a non-invasive way, the target animals can be safely positioned and tracked for a long time (more than 3 months), and the predation habit, territory and migration dynamics of the finless porpoise can be monitored, so that a basis is provided for the protection and research of the finless porpoise or other aquatic animals.
Drawings
FIG. 1 is a schematic view of the system positioning of the present invention;
fig. 2 and 3 are schematic views of the finless porpoise wearing the carrier of embodiment 1 after being unfolded;
fig. 4 is a schematic view of the carrier of embodiment 1 after deployment;
fig. 5 is a schematic view of the buoyancy module and the buoyancy module fixing portion of the vehicle of embodiment 2;
fig. 6 is a schematic view of the buoyancy module and the buoyancy module fixing portion of the vehicle according to embodiment 3;
fig. 7 is a schematic view of the buoyancy assembly of the vehicle of embodiment 4.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises a body, 11, a fin hole, 12, a buoyancy component fixing part, 121, an accommodating frame, 122, a space, 123, a limiting part, 124, an expansion part, 125, a first connecting head, 13, a communication component fixing part, 131, a gasket, 132, a buckle, 133, a binding band, 14, a detachable connecting part, 15, a water-soluble thread sewing connection, 2, a buoyancy component, 21, an elastic container, 22, a gas release substrate, 23, gas, 24, a second connecting head, 3 and a signal transmitting terminal.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the positioning system of the present embodiment includes a signal transmitting terminal, at least three base stations, and a position calculating module;
the signal transmitting terminal broadcasts a positioning data packet to the base station;
the signal transmitting terminal is arranged on a monitoring target body, and the base station is arranged on the shore or the water surface of a water area to be monitored, so that each point on the water surface of the monitored water area is within the signal receiving range of at least three base stations;
and all the base stations are synchronized in time and are in communication connection with the position calculation module.
The location system of the present invention is preferably a location system based on a LORA communication network. Preferably, there are at least 3 base stations within a radius of 6km, which keeps the signal transmitting terminal as the center.
In a specific embodiment, the data packet broadcast by the signal transmitting terminal comprises identification information and verification information.
In a specific embodiment, the system further comprises a sensor disposed on the signal transmitting terminal.
In a particular embodiment, the sensor is a temperature sensor, a heartbeat sensor, or a velocity sensor. Preferably, the weight of the signal transmitting terminal is not more than 100g, and the large weight of the signal transmitting terminal can cause the floating buoyancy assembly of the carrier to be large, so that the activity of the finless porpoise is influenced.
In a specific embodiment, the base station is provided with a reader for analyzing the received signal transmitted by the signal transmitting terminal.
In one embodiment, the base stations synchronize time via satellite timing.
In a specific embodiment, the base station is in communication connection with the position calculation module through a mobile phone communication network.
As shown in fig. 2-4, the carrier comprises a body 1 and a buoyancy assembly 2, wherein the body 1 is cylindrical with two open ends, and two fin holes 11 are arranged on the side surface; the back of the body 1 is provided with a communication component fixing part 13.
The communication component fixing part 13 includes a spacer 131, a fixing mechanism, and a communication device container. The spacer 131 is sewn to the body 1, preferably of a flexible material having a thickness. The fixing mechanism may be a grommet 132 provided at the periphery of the gasket 131, and a strap 133 passing through the grommet 132. The gasket has certain thickness and rough surface, prevents that communication setting from producing the scratch to the finless porpoise to prevent to take place to slide.
The signal transmitting terminal 3 is wrapped by the communication device container (the antenna is exposed to facilitate the signal transmitted by the signal transmitting terminal to be captured by the base station) and then is mounted on the gasket 131 through a fixing mechanism. For example, may be secured to the spacer 131 by a clasp 132 and strap 133. The communicator receptacle may be made of a water-impermeable flexible material, such as plastic. After being worn, the signal transmitting terminal 3 is close to the air hole of the finless porpoise.
The back of the body 1 is provided with a buoyancy assembly fixing part 12, and the buoyancy assembly 2 is fixed in the buoyancy assembly fixing part 12. In this embodiment, the buoyancy module 2 is a flexible buoyancy sheet, and the buoyancy module fixing portions 12 are provided at both sides of the signal transmitting terminal, and are sewn pockets for fixing the buoyancy sheet therein. In another embodiment, a buoyancy sheet and a buoyancy module may be provided to be fixed below the communication module fixing portion 13, and the number of buoyancy modules should not be construed as a limitation of the present invention.
The wearable carrier is sewed through the water soluble thread, so that the wearable carrier falls off from the finless porpoise body after the water soluble thread is dissolved. For example, the fin holes may be joined by water-soluble thread seams 15 on both sides of one fin hole, by water-soluble thread seams 15 on one side of the other fin hole, and by a common thread or integrated into one piece. After about three months, the water soluble line dissolves, the connection positions of the three water soluble lines at the fin holes are disconnected, and the connection positions of the common wires are still connected, so that the wearable carrier falls off from the finless porpoise body, but still floats on the water surface as a whole.
In one embodiment, the wearable carrier further includes a detachable connection 14 to facilitate donning the carrier on a finless porpoise. For example, the detachable connection portion 14 may be a hook and loop fastener. Before wearing, the wearable carrier is the slice of expansion, during the wearing, puts the finless porpoise on the wearable carrier, makes finless porpoise's abdominal fin pass the fin hole, then links together through pasting the magic, makes wearable carrier form the tube-shape of laminating finless porpoise health curved surface to make communication assembly fixed part 13 be located the back of finless porpoise, and be close to finless porpoise's gas pocket.
Example 2
On the basis of example 1, we have improved the buoyancy module 2 and buoyancy module securing portion 12. As shown in fig. 5, the buoyancy module 2 is configured as an expandable module, the buoyancy module fixing portion 12 includes an accommodating frame 121 having an opening and a detachable stopper 123, and encloses a space for accommodating the buoyancy module 2 and limiting expansion of the buoyancy module 2, and after the stopper 123 is detached, expansion of the buoyancy module 2 is not limited by the stopper 123. In this embodiment, the buoyancy module 2 and the accommodating frame 121 are provided with a connecting mechanism, for example, a first connecting head 125 is provided in the accommodating frame 121, a second connecting head 24 is provided on the buoyancy module 2, and the first connecting head 125 and the second connecting head 24 can be fixedly connected. When the stopper 123 is removed, the buoyancy module 2 still maintains the connection with the receiving frame 121.
When the toy finless porpoise is in an initial state, the buoyancy assembly is arranged in the compression area and is in a non-expansion state due to the action of the limiting piece, the size of the buoyancy assembly is small, the buoyancy effect is not generated, and the obstruction to finless porpoise movement can be reduced to the maximum extent. When the limiting piece is detached, the internal pressure of the buoyancy assembly expands the buoyancy assembly, so that buoyancy is generated.
In a specific embodiment, the stopper 123 is sewn to the opening of the receiving frame 121 using a water soluble thread, and the opening of the receiving frame 121 is blocked, so that the buoyancy module 2 is in a non-expanded state. After the water soluble line is dissolved, the connection between the limiting member 123 and the accommodating frame 121 is released, the limiting effect on the buoyancy assembly 2 is lost, the buoyancy assembly 2 begins to expand, buoyancy is generated, and the carrier is brought to the water surface.
Example 3
The present embodiment is an improvement made on the basis of embodiment 2, and other features are similar. As shown in fig. 6, the difference is that the buoyancy module fixing portion 12 further includes an expanding member 124, the expanding member 124 may be made of an elastic material, or may be made of a non-elastic material but may have a certain expanding space, and is connected to the outside of the stopper 123 to cover the region of the stopper 123, and after the stopper 123 is detached, the expanding member 124 and the receiving frame 121 may enclose a space larger than the space 122.
In the initial state, the buoyancy module 2 is fixed in the space 122 defined by the accommodating frame 121 and the stopper 123. After the stopper 123 is removed, it starts to expand until it is restricted by the expanding member 124. The space enclosed by the expansion member 124 and the receiving frame 121 is larger than the space 122, thereby creating buoyancy. The expansion member 124 can keep the buoyancy module 2 from being separated from the vehicle, and an additional connecting mechanism is not needed, so that the vehicle is simplified. Meanwhile, the expansion of the buoyancy component 2 can be limited, so that the buoyancy sufficient for floating the wearable carrier on the water surface can be generated, and excessive buoyancy cannot be generated, thereby preventing the influence on the activity of the finless porpoise under the condition that the wearable carrier falls off from the finless porpoise in advance in case of disassembling the limiting part.
Example 4
The present embodiment is designed for the buoyancy module 2, as shown in fig. 6, the buoyancy module 2 includes an airtight elastic container 21 and a gas releasing matrix 22 contained in the elastic container 21. Preferably, the gas releasing matrix 22 has the property of releasing gas 23 and absorbing the released gas. Preferably, the density of the gas-releasing matrix is 0.9 to 1.1 times the density of water. For example, the gas releasing matrix may be soda water, which has a density similar to that of river water, which is packed in a latex bag having elasticity to form a buoyancy member, which is installed in the space 122, and the stopper 123 and the expansion member 124 are installed. During initial state, buoyancy module's density is about the same with water, does not produce buoyancy efficiency, and after the locating part was dismantled because of water-soluble line dissolves, the inside pressure of plastic bag reduced, and soda begins to release carbon dioxide gas, makes the plastic bag inflation, and buoyancy module produces buoyancy effect to on taking wearable carrier to the surface of water. The expansion members may prevent the buoyancy module from over-expanding.
The above description is only a preferred embodiment of the present invention and should not be taken as limiting the invention. Although the present invention is applied to finless porpoise, the scope of protection is not limited thereto, and the present invention can be applied to aquatic mammals and fishes. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A tracking and positioning system for aquatic mammals or fishes is characterized by comprising a signal transmitting terminal, at least three base stations and a position calculating module;
the signal transmitting terminal communicates with the base station through wireless signals;
the signal transmitting terminal is arranged on a monitoring target body, and the base stations are arranged on the shore or the water surface of a monitoring water area, so that each point on the water surface of the monitoring water area is within the signal receiving range of at least three base stations;
the time of all the base stations is synchronous and is in communication connection with the position calculation module;
the signal transmitting terminal is mounted on the target body through a wearable carrier;
the wearable carrier comprises a body (1) and a buoyancy assembly (2), wherein the body (1) is in a cylindrical shape with two open ends;
the back of the body (1) is provided with a buoyancy component fixing part (12), and the buoyancy component is fixed in the buoyancy component fixing part (12);
a communication component fixing part (13) is arranged on the back of the body (1), and the signal transmitting terminal is installed in the communication component fixing part (13);
the wearable carrier is sewn through a water soluble thread so that the wearable carrier falls off from the finless porpoise after the water soluble thread is dissolved;
the buoyancy component (2) is an expandable component, the buoyancy component fixing part (12) comprises an accommodating frame (121) and a detachable limiting part (123), the accommodating frame (121) and the limiting part (123) are made of non-elastic materials and enclose a space (122) for accommodating the buoyancy component (2) and limiting expansion of the buoyancy component (2), after the limiting part (123) is detached, expansion of the buoyancy component (2) is not limited by the limiting part (123), the limiting part (123) is sewn at an opening of the accommodating frame (121) through a hydrosol line to block the opening of the accommodating frame (121),
the buoyancy module fixing portion (12) further comprises an expansion member (124), wherein the expansion member (124) is connected to the outside of the stopper (123), and a space larger than the space (122) can be formed between the expansion member (124) and the accommodating frame (121).
2. The tracking and positioning system of claim 1, wherein the signal transmitting terminal transmits a signal containing identification information and verification information.
3. The tracking and positioning system of claim 1, further comprising a sensor disposed on said signal transmitting terminal arrangement.
4. The tracking and locating system of claim 3, wherein the sensor is a temperature sensor, a heartbeat sensor or a velocity sensor.
5. The tracking and positioning system of claim 1, wherein the base station is provided with a reader for analyzing the received signal transmitted by the signal transmitting terminal.
6. The tracking and positioning system of claim 1, wherein the base stations synchronize time via satellite timing.
7. The tracking and positioning system of claim 1, wherein the base station is communicatively coupled to the position calculation module via a cellular communications network.
8. The tracking and positioning system of claim 1, wherein the positioning system is a LORA communication network based positioning system.
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| CN109131785A (en) * | 2018-09-10 | 2019-01-04 | 青岛华高墨烯科技股份有限公司 | A kind of seawater battery operated type automatic help life jacket |
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| JP2006214933A (en) * | 2005-02-04 | 2006-08-17 | Seiko Epson Corp | Positioning system, terminal device, control method and program of terminal device, and computer readable recording medium having recorded control program of terminal device |
| CN103823205B (en) * | 2014-02-28 | 2017-01-18 | 上海交通大学 | Underwater locating navigation system and method |
| CN106912006A (en) * | 2017-04-01 | 2017-06-30 | 成都精位科技有限公司 | A kind of wisdom swimming exercise system and the method for realizing Sport Administration |
| CN108490467A (en) * | 2018-04-16 | 2018-09-04 | 集美大学 | Marine monitoring system and its laying based on LoRa technologies and monitoring method |
| CN208850434U (en) * | 2018-08-11 | 2019-05-14 | 中国科学院水生生物研究所 | A kind of wearable vest for applying to monitor black finless porpoise track |
| CN209946380U (en) * | 2019-05-08 | 2020-01-14 | 湖南省水产科学研究所 | Real-time monitoring device for Changjiang river finless porpoise |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109131785A (en) * | 2018-09-10 | 2019-01-04 | 青岛华高墨烯科技股份有限公司 | A kind of seawater battery operated type automatic help life jacket |
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