WO2021136357A1

WO2021136357A1 - Fish finder, fish finding system, and fish finding method

Info

Publication number: WO2021136357A1
Application number: PCT/CN2020/141313
Authority: WO
Inventors: 犹云; 罗杰; 刘威; 王哲; 王思奥
Original assignee: 深圳潜行创新科技有限公司
Priority date: 2019-12-31
Filing date: 2020-12-30
Publication date: 2021-07-08
Also published as: CN111011318A

Abstract

A fish finder, a fish finding system, and a fish finding method therefor. The fish finder comprises an underwater probe (1), a water surface positioning buoy (2), and a communication cable (3); the underwater probe (1) and the water surface positioning buoy (2) are connected by means of the communication cable (3); a camera (11) and a control circuit board (12) are installed in the interior of the underwater probe, and a first gyroscope and a first electronic compass are provided on the control circuit board; an upper housing (21) and a lower housing (23) of the water surface positioning buoy (2) are fixedly connected, and a watertight accommodating space is formed therebetween; a battery pack (22) is detachably assembled on an outer side wall of the water surface positioning buoy; a top portion inner side wall of the water surface positioning buoy is provided with a GPS module, a wireless communication module, and a control mainboard, a microprocessor, an electronic compass, and a gyroscope being provided on the control mainboard; a plurality of thrusters (25) are equally distributed on a lower portion of an outer side wall of the lower housing, and a winding device (24) is fixed in the interior of the lower housing; and the battery pack is electrically connected to the control mainboard, the GPS module, the wireless communication module, and the winding device.

Description

探鱼器、探鱼***及探鱼方法Fish finder, fish finding system and fish finding method

本申请要求在2019年12月31日提交中国专利局、申请号为201911421785.9的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office with an application number of 201911421785.9 on December 31, 2019. The entire content of this application is incorporated into this application by reference.

技术领域Technical field

本申请涉及探鱼设备技术领域，例如涉及一种探鱼器、探鱼***及探鱼方法。This application relates to the technical field of fish finding equipment, for example, to a fish finding device, a fish finding system and a fish finding method.

背景技术Background technique

市场上探鱼器产品种类繁多，各式的功能也很多，从探鱼器的工作原理上来看基本可以分为两类。There are many types of fish finder products on the market, and there are many kinds of functions. According to the working principle of fish finder, it can be basically divided into two categories.

一类探鱼器是使用声呐定位技术，通过声波传输原理实现探鱼目的。探鱼器在发出声波后依靠声波碰触物体回传的时间来测量距离，通过反射的声波信号，探鱼器可辨认出鱼的信息。这种探鱼器通过水面上带有声呐发生器的探头对声呐信号进行采集，再通过微处理器计算获得鱼的信息并显示给用户。另一类探鱼器是使用水下摄像原理，主要包括防水摄像机及水上显示器，并用线缆或者无线网络进行连接，通过显示设备观察水下的情况，从而发现鱼类。One type of fish finder uses sonar positioning technology to achieve the purpose of fish finding through the principle of sound wave transmission. After the fish finder emits sound waves, the distance is measured by the return time of the sound waves touching the object. Through the reflected sound wave signals, the fish finder can recognize the fish information. This fish finder collects sonar signals through a probe with a sonar generator on the water surface, and then obtains fish information through a microprocessor calculation and displays it to the user. Another type of fish finder uses the principle of underwater photography, which mainly includes waterproof cameras and water displays, which are connected by cables or wireless networks, and observe underwater conditions through display devices to find fish.

上述探鱼器中声呐探鱼器的成本高昂，结构复杂，体积大且质量重，使用不便。声呐探鱼的范围是全深度，而不是水中特定深度的范围，采集的大量信息中大部分是无效信息。声呐探鱼器在小型水库、河流、湖泊岸边找鱼时力不从心，主要原因是岸边地形复杂，水草丛生，超声波的探鱼器呈现回波杂乱，利用超声波技术的探鱼器在岸边探鱼的效果会大打折扣。而水下摄像原理的探鱼器仅能实现水下摄像，无法检测水下其他信息，且防水摄像机的下水位置与实际观察位置存在较大偏差，无法准确定位，实用意义不大。因此开发一款既能准确定位鱼群又能捕捉鱼群图像信息、甚至具备追踪鱼群的探鱼器成为亟待解决的技术问题。Among the above-mentioned fish finder, the sonar fish finder has high cost, complicated structure, large volume and heavy weight, and is inconvenient to use. The range of sonar fish hunting is the full depth, not the range of a specific depth in the water, and most of the large amount of information collected is invalid information. Sonar fish finder is incapable of finding fish on the banks of small reservoirs, rivers, and lakes. The main reason is that the shore terrain is complex and the water and grass are overgrown. The ultrasonic fish finder presents echoes in disorder. The fish finder using ultrasonic technology is used to find fish on the shore. The effect of fish will be greatly reduced. The fish finder based on the principle of underwater photography can only realize underwater photography and cannot detect other underwater information. Moreover, the launching position of the waterproof camera has a large deviation from the actual observation position, and cannot be accurately positioned, which is of little practical significance. Therefore, the development of a fish finder that can accurately locate a school of fish, capture the image information of the school of fish, and even track the school of fish has become an urgent technical problem to be solved.

发明内容Summary of the invention

本申请提供一种探鱼器、探鱼***及探鱼方法，解决探鱼器无法准确定位鱼群、追踪鱼群的问题。The present application provides a fish finder, a fish finder system and a fish finder method to solve the problem that the fish finder cannot accurately locate and track the fish school.

本申请采用以下技术方案：一种探鱼器，包括水下探头、水面定位浮标及通讯线缆，水下探头和水面定位浮标通过通讯线缆连接；所述水下探头内部安装有摄像头和控制电路板，摄像头与控制电路板电连接，控制电路板与通讯线缆的第一端电连接；控制电路板上设置有第一陀螺仪和第一电子罗盘；所述水面定位浮标包括上壳体、电池组、下壳体、绕线装置和控制主板，上壳体和下壳体固定连接，且上壳体和下壳体之间形成水密容纳空间，水面定位浮标的外侧壁上可拆卸地装配有电池组；所述上壳体内设置有GPS模块、无线通讯模块和控制主板，其中，GPS模块和无线通讯模块均与控制主板连接，控制主板上设置有微处理器、第二电子罗盘、第二陀螺仪；所述下壳体的外侧壁下部对称分布有多个推进器，所述多个推进器与所述控制主板连接，下壳体的内部固定有绕线装置，通讯线缆的第二端通过绕线装置与控制主板电连接；所述电池组与控制主板、GPS模块、以及无线通讯模块、绕线装置电连接。This application adopts the following technical solutions: a fish finder, including an underwater probe, a water surface positioning buoy, and a communication cable. The underwater probe and the water surface positioning buoy are connected by a communication cable; a camera and a control are installed inside the underwater probe A circuit board, the camera is electrically connected to the control circuit board, and the control circuit board is electrically connected to the first end of the communication cable; the control circuit board is provided with a first gyroscope and a first electronic compass; the water surface positioning buoy includes an upper shell , Battery pack, lower casing, winding device and control main board, upper casing and lower casing are fixedly connected, and a watertight accommodating space is formed between the upper casing and lower casing, and the outer wall of the water surface positioning buoy is detachable Equipped with a battery pack; the upper casing is provided with a GPS module, a wireless communication module and a control main board, wherein the GPS module and the wireless communication module are both connected to the control main board, and the control main board is provided with a microprocessor, a second electronic compass, The second gyroscope; a plurality of thrusters are symmetrically distributed on the lower part of the outer side wall of the lower shell, the multiple thrusters are connected with the control board, and the winding device is fixed inside the lower shell, and the communication cable The second end is electrically connected with the control main board through the winding device; the battery pack is electrically connected with the control main board, the GPS module, the wireless communication module, and the winding device.

可选地，所述上壳体地顶部向下凹形成凹槽或下壳体的底部向上凹形成凹槽，凹槽底部设置有第一水密插接件，电池组的底部设置有插座，插座插接在第一水密插接件的第一端的插头上，第一水密插接件的第二端通过线缆与控制主板电连接。Optionally, the top of the upper casing is recessed downward to form a groove or the bottom of the lower casing is recessed upward to form a groove, the bottom of the recess is provided with a first watertight connector, and the bottom of the battery pack is provided with a socket. The plug is inserted into the first end of the first watertight connector, and the second end of the first watertight connector is electrically connected to the control main board through a cable.

可选地，所述水面定位浮标上设置有电源开关，电源开关与电池组电连接，电源开关为按钮式开关或者感应开关。Optionally, a power switch is provided on the water surface positioning buoy, and the power switch is electrically connected to the battery pack, and the power switch is a button switch or an induction switch.

可选地，所述绕线装置包括电机和绕线轮，绕线轮包括同轴设置的定子轮和转子轮，定子轮的中间固定有轴，轴的外侧壁上套接有导电滑环定子，导电滑环定子套接有导电滑环转子，导电滑环转子套接有转子轮，转子轮的外侧壁设置有传动轴，电机驱动传动轴转动；所述轴上开设有通孔，转子轮上开设有出线孔，通讯线缆在导电滑环处分为两段；其中第一段通讯线缆的第一端与控制主板连接，第二端从轴上通孔***并与导电滑环定子连接；第二段通讯线缆的第一端与导电滑环转子连接，第二端穿过出线孔通过转子轮与水下探头连接。Optionally, the winding device includes a motor and a winding wheel. The winding wheel includes a stator wheel and a rotor wheel that are coaxially arranged. A shaft is fixed in the middle of the stator wheel, and a conductive slip ring stator is sleeved on the outer side wall of the shaft. , The conductive slip ring stator is sleeved with a conductive slip ring rotor, the conductive slip ring rotor is sleeved with a rotor wheel, the outer side wall of the rotor wheel is provided with a transmission shaft, and the motor drives the transmission shaft to rotate; the shaft is provided with a through hole, and the rotor wheel There is an outlet hole on the top, and the communication cable is divided into two sections at the conductive slip ring; the first end of the first section of the communication cable is connected to the control board, and the second end is inserted through the through hole on the shaft and connected to the conductive slip ring stator ; The first end of the second section of the communication cable is connected to the conductive slip ring rotor, and the second end is connected to the underwater probe through the rotor wheel through the outlet hole.

可选地，所述水下探头包括探头外壳和探头密封盖，探头外壳的内部依次固定有透镜、摄像头、控制电路板，探头密封盖的顶部设置有深度传感器、以及温度传感器，深度传感器和温度传感器均与控制电路板连接，探头密封盖的顶部中间设置有第二水密插接件，第二水密插接件的第一端的插头与通讯线缆连接，第二端通过线缆与控制电路板连接。Optionally, the underwater probe includes a probe housing and a probe sealing cover. A lens, a camera, and a control circuit board are sequentially fixed inside the probe housing. A depth sensor, a temperature sensor, and a temperature sensor are arranged on the top of the probe sealing cover. The sensors are all connected to the control circuit board, a second watertight connector is arranged in the middle of the top of the probe sealing cover, the first end of the second watertight connector is connected to the communication cable, and the second end is connected to the control circuit through the cable板连接。 Board connection.

可选地，所述水下探头的外侧壁上设置有吊耳，通讯线缆上设置有第一牵引绳和第二牵引绳，第一牵引绳的自由端与吊耳连接，第二牵引绳的末端上悬挂有配重块。Optionally, a lifting lug is provided on the outer side wall of the underwater probe, a first traction rope and a second traction rope are provided on the communication cable, the free end of the first traction rope is connected with the lifting lug, and the second traction rope A counterweight is hung on the end of the.

可选地，所述探头外壳上设置有多个照明灯，所述多个照明灯均匀分布在摄像头周围。Optionally, a plurality of illuminating lamps are arranged on the probe housing, and the plurality of illuminating lamps are evenly distributed around the camera.

可选地，所述多个推进器的数量范围为2-6个且所述多个推进器排列在同一圆周上。Optionally, the number of the multiple thrusters ranges from 2 to 6 and the multiple thrusters are arranged on the same circle.

可选地，所述上壳体的顶部设置有指示灯、WIFI天线，下壳体的底部设置有诱鱼灯。Optionally, an indicator light and a WIFI antenna are arranged on the top of the upper casing, and a fish attracting light is arranged on the bottom of the lower casing.

本申请还提供一种探鱼***，包括移动终端和上述技术方案中任一项所述的探鱼器，移动终端与无线通信模块电连接。The present application also provides a fish finder system, including a mobile terminal and the fish finder according to any one of the above technical solutions, and the mobile terminal is electrically connected with the wireless communication module.

本申请还提供一种探鱼方法，应用于所述探鱼***。探鱼方法包括如下步骤：用户将探鱼器放到水里，将探鱼器连接移动终端，控制主板记录水面定位浮标的初始位置，遥控水面定位浮标至目测钓点，GPS模块获取水面定位浮标的位置信息，控制主板控制水面定位浮标在距离目测钓点1米的范围内相对静止；绕线装置释放水下探头至水下，摄像头传送数据以观察水底鱼情，在数据为目标鱼群的情况下，微处理器解算水下探头相对于水面定位浮标的相对位置，得出并保存鱼群的窝点位置；在数据为非目标鱼群的情况下，多个推进器驱动水面定位浮标去下一个目测钓点，重复GPS模块获取水面定位浮标的位置信息，控制主板控制水面定位浮标在距离目测钓点1米的范围内相对静止；保存多个窝点位置后，探鱼器自动航行到每个窝点位置巡视鱼情，用户通过移动终端确定最佳钓点后，通过移动终端发布一键返航指令，控制主板接收一键返航指令，控制电机高速收线，水面定位浮标自动返航至初始位置或指定位置。The application also provides a fish detection method, which is applied to the fish detection system. The fish finding method includes the following steps: the user puts the fish finder in the water, connects the fish finder to the mobile terminal, controls the main board to record the initial position of the water surface positioning buoy, remotely controls the water surface positioning buoy to the visual fishing point, and the GPS module obtains the water surface positioning buoy Control the main board to control the water surface positioning buoy to be relatively static within 1 meter from the visual fishing point; the winding device releases the underwater probe to the water, the camera transmits data to observe the underwater fish situation, and the data is the target fish In this case, the microprocessor calculates the relative position of the underwater probe relative to the surface positioning buoy, and obtains and saves the nest position of the fish school; when the data is a non-target fish school, multiple propellers drive the surface positioning buoy to For the next visual fishing point, repeat the GPS module to obtain the position information of the water surface positioning buoy, and control the main board to control the water surface positioning buoy to be relatively static within 1 meter from the visual fishing point; after saving multiple nest positions, the fish finder will automatically sail to each position. The location of the fish is patrolled in the fish. After the user determines the best fishing spot through the mobile terminal, the user issues a one-key return instruction through the mobile terminal, controls the main board to receive the one-key return instruction, controls the motor to take up the line at high speed, and the surface positioning buoy automatically returns to the initial position or Specify the location.

可选地，在绕线装置释放水下探头至水下之前，还包括：用户通过调节第一牵引绳穿过吊耳的长度，使水下探头在水下成一定倾斜角；移动终端发送转动指令至控制主板，控制主板根据转动指令控制多个推进器驱动水面定位浮标在原地转动，带动水下探头在水下转动探测；微处理器通过水下探头内的第一陀螺仪与第一电子罗盘反馈的信息，解算并记录水下探头的朝向及角度信息。Optionally, before the winding device releases the underwater probe underwater, the method further includes: the user adjusts the length of the first towing rope through the lifting lug to make the underwater probe at a certain angle of inclination underwater; the mobile terminal sends a rotation The command is sent to the control main board, and the control main board controls multiple thrusters to drive the water surface positioning buoy to rotate in situ according to the rotation command, driving the underwater probe to rotate and detect underwater; the microprocessor uses the first gyroscope and the first electronics in the underwater probe The information fed back by the compass is used to calculate and record the orientation and angle information of the underwater probe.

附图说明Description of the drawings

图1为本申请实施例中探鱼器的结构示意图；Figure 1 is a schematic diagram of the structure of a fish finder in an embodiment of the application;

图2为本申请实施例中水面定位浮标的结构示意图；Figure 2 is a schematic structural diagram of a water surface positioning buoy in an embodiment of the application;

图3为本申请实施例中水面定位浮标的内部结构示意图；Figure 3 is a schematic diagram of the internal structure of the water surface positioning buoy in an embodiment of the application;

图4为本申请实施例中电池组的装配示意图；4 is a schematic diagram of the assembly of the battery pack in the embodiment of the application;

图5为本申请实施例中绕线轮的内部结构示意图；Figure 5 is a schematic diagram of the internal structure of the reel in an embodiment of the application;

图6为本申请实施例中水下探头的结构示意图；Fig. 6 is a schematic structural diagram of an underwater probe in an embodiment of the application;

图7为本申请实施例中水下探头的内部结构示意图；FIG. 7 is a schematic diagram of the internal structure of an underwater probe in an embodiment of the application;

图8为本申请实施例中水下探头的装配示意图。Figure 8 is a schematic diagram of the assembly of the underwater probe in an embodiment of the application.

图中：1-水下探头，11-摄像头，12-控制电路板，13-探头外壳，14-探头密封盖，15-透镜，16-第二水密插接件，17-照明灯，18-温度传感器，19-吊耳，2-水面定位浮标，21-上壳体，211-凹槽，212-第一水密插接件，22-电池组，221-电源开关，23-下壳体，24-绕线装置，241-电机，242-绕线轮，2421-定子轮，2422-转子轮，2423-轴，2424-导电滑环定子，2425-导电滑环转子，2426-传动轴，25-推进器，3-通讯线缆，31-第一牵引绳，32-第二牵引绳，4-配重块。In the picture: 1-underwater probe, 11-camera, 12-control circuit board, 13-probe housing, 14-probe sealing cover, 15-lens, 16-second watertight connector, 17-lighting, 18- Temperature sensor, 19-lifting lug, 2-water surface positioning buoy, 21-upper shell, 211-groove, 212-first watertight connector, 22-battery pack, 221-power switch, 23-lower shell, 24-winding device, 241-motor, 242-winding wheel, 2421-stator wheel, 2422-rotor wheel, 2423-shaft, 2424-conductive slip ring stator, 2425-conductive slip-ring rotor, 2426-drive shaft, 25 -Propeller, 3-communication cable, 31-first traction rope, 32-second traction rope, 4-counterweight.

具体实施方式Detailed ways

以下结合附图及实施例，对本申请进行说明。应当理解，此处所描述的实施例仅仅用以解释本申请，并不用于限定本申请。The application will be described below in conjunction with the drawings and embodiments. It should be understood that the embodiments described here are only used to explain the application, and are not used to limit the application.

实施例1Example 1

图1为本申请实施例中探鱼器的结构示意图，图2为本申请实施例中水面定位浮标的结构示意图；图3为本申请实施例中水面定位浮标的内部结构示意图；图4为本申请实施例中电池组的装配示意图；图5为本申请实施例中绕线轮的内部结构示意图；图6为本申请实施例中水下探头的结构示意图；图7为本申请实施例中水下探头的内部结构示意图；图8为本申请实施例中水下探头的装配示意图。Figure 1 is a schematic diagram of the structure of a fish finder in an embodiment of this application, Figure 2 is a schematic diagram of the structure of a water surface positioning buoy in an embodiment of this application; Figure 3 is a schematic diagram of the internal structure of a water surface positioning buoy in an embodiment of this application; Fig. 5 is a schematic diagram of the internal structure of the reel in the embodiment of the application; Fig. 6 is a schematic diagram of the structure of the underwater probe in the embodiment of the application; A schematic diagram of the internal structure of the lower probe; FIG. 8 is a schematic diagram of the assembly of the underwater probe in an embodiment of the application.

图1示出了一种探鱼器，探鱼器包括水下探头1、水面定位浮标2及通讯线缆3，水下探头1和水面定位浮标2通过通讯线缆3连接。Figure 1 shows a fish finder. The fish finder includes an underwater probe 1, a water surface positioning buoy 2 and a communication cable 3. The underwater probe 1 and the water surface positioning buoy 2 are connected by a communication cable 3.

参见图7，所述水下探头1的内部安装有摄像头11和控制电路板12，摄像头11与控制电路板12电连接，控制电路板12与通讯线缆3的第一端电连接；控制电路板12上设置有第一陀螺仪和第一电子罗盘。Referring to Fig. 7, a camera 11 and a control circuit board 12 are installed inside the underwater probe 1, the camera 11 is electrically connected to the control circuit board 12, and the control circuit board 12 is electrically connected to the first end of the communication cable 3; the control circuit The board 12 is provided with a first gyroscope and a first electronic compass.

参见图2-4，所述水面定位浮标2包括上壳体21、电池组22、下壳体23、绕线装置24和控制主板，上壳体21和下壳体23固定连接，且上壳体21和下壳体23之间形成水密容纳空间，水面定位浮标2的外侧壁上可拆卸地装配有电池组22。Referring to Figures 2-4, the water surface positioning buoy 2 includes an upper shell 21, a battery pack 22, a lower shell 23, a winding device 24, and a control main board. The upper shell 21 and the lower shell 23 are fixedly connected, and the upper shell A watertight accommodating space is formed between the body 21 and the lower shell 23, and a battery pack 22 is detachably mounted on the outer side wall of the water surface positioning buoy 2.

所述上壳体21内设置有全球定位***(Global Positioning System，GPS)模块、无线通讯模块和控制主板，控制主板上设置有微处理器、第二电子罗盘、第二陀螺仪。控制主板、GPS模块、无线通讯模块均密封装配，控制主板分别与GPS模块、无线通讯模块通过水密插接件进行电连接，避免水进入设备内损坏设备。The upper housing 21 is provided with a Global Positioning System (GPS) module, a wireless communication module and a control main board, and the control main board is provided with a microprocessor, a second electronic compass, and a second gyroscope. The control main board, GPS module, and wireless communication module are all sealed and assembled, and the control main board is electrically connected with the GPS module and the wireless communication module through watertight connectors to prevent water from entering the equipment and damaging the equipment.

所述下壳体23的外侧壁下部对称分布有多个推进器25，多个推进器与控制主板连接。推进器25的数量范围为2-6个且多个推进器25排列在同一圆周上，下壳体23的内部固定有绕线装置24，通讯线缆3的第二端通过绕线装置24与控制主板电连接。A plurality of propellers 25 are symmetrically distributed on the lower part of the outer side wall of the lower shell 23, and the plurality of propellers are connected with the control main board. The number of thrusters 25 ranges from 2 to 6 and multiple thrusters 25 are arranged on the same circumference. A winding device 24 is fixed inside the lower housing 23. The second end of the communication cable 3 is connected to the second end of the communication cable 3 through the winding device 24. Control the electrical connection of the main board.

所述电池组22与控制主板、GPS模块、无线通讯模块、绕线装置24电连接。The battery pack 22 is electrically connected with the control board, the GPS module, the wireless communication module, and the winding device 24.

上述探鱼器结合移动终端使用，移动终端通常为安装有应用软件的手机、平板电脑等客户端。使用时，将探鱼器投放到水面上，水面定位浮标2因浮力作用漂浮在水面上，水下探头1在自身重力且通过绕线装置24放线，在通讯线缆3的牵引下向水下运动。The above-mentioned fish finder is used in combination with a mobile terminal, which is usually a client terminal such as a mobile phone or a tablet computer with application software installed. When in use, the fish finder is placed on the water surface, the water surface positioning buoy 2 floats on the water surface due to buoyancy, the underwater probe 1 is under its own gravity and the wire is released through the winding device 24, and is drawn to the water under the traction of the communication cable 3. Down exercise.

水面定位浮标2内的GPS模块接收卫星信号，微处理器实时解算水面定位浮标2的位置信息，通过驱动推进器25，使水面定位浮标2在目标位置的微小范围(误差不超过1米)内相对固定。The GPS module in the surface positioning buoy 2 receives satellite signals, and the microprocessor calculates the position information of the surface positioning buoy 2 in real time. By driving the thruster 25, the surface positioning buoy 2 is within a small range of the target position (the error is not more than 1 meter) Relatively fixed inside.

水下探头1内部的摄像头11通过控制主板将采集的图像反馈给移动终端，操作人员通过图像获取鱼群大小、种类信息，判断鱼群是否为目标鱼群。若鱼群是目标鱼群，通过水面定位浮标2的绝对位置信息、水下探头1搭载的陀螺仪和电子罗盘解算水下探头1相对水面定位浮标2的相对位置信息，得出并记录鱼群的精准位置。若鱼群不是目标鱼群，则通过移动终端给出控制信号，通过推进器25驱动水面定位浮标2移动，在水面继续进行鱼群寻找和定位。操作人员可通过观察到的鱼群信息来制定钓鱼策略。The camera 11 inside the underwater probe 1 feeds back the collected images to the mobile terminal through the control main board, and the operator obtains the fish school size and type information through the image, and judges whether the fish school is the target fish school. If the school of fish is the target school of fish, use the absolute position information of the surface positioning buoy 2, the gyroscope and the electronic compass carried by the underwater probe 1 to calculate the relative position information of the underwater probe 1 relative to the surface positioning buoy 2, and obtain and record the fish The precise location of the group. If the school of fish is not the target school of fish, a control signal is given through the mobile terminal, and the water surface positioning buoy 2 is driven to move through the propeller 25, and the fish school is searched and positioned on the water surface. Operators can formulate fishing strategies based on the observed fish school information.

上壳体21为水面定位浮标2提供足够的浮力，上壳体21搭载的GPS模块、微处理器、陀螺仪及电子罗盘，有效记录定位浮标2的位置信息；无线通讯模块与移动终端进行远距离通讯、数据传输。The upper shell 21 provides sufficient buoyancy for the surface positioning buoy 2. The GPS module, microprocessor, gyroscope and electronic compass carried on the upper shell 21 can effectively record the position information of the positioning buoy 2. The wireless communication module communicates with the mobile terminal remotely. Distance communication, data transmission.

下壳体23上的推进器25和绕线装置24，有效降低水面定位浮标2的重心，保证推进器25有效吃水，使水面定位浮标2具有较好的静态稳定性和航行稳定性。The propeller 25 and the winding device 24 on the lower shell 23 effectively reduce the center of gravity of the surface positioning buoy 2 to ensure the effective draught of the propeller 25, so that the surface positioning buoy 2 has better static stability and navigation stability.

所述上壳体21的顶部设置有指示灯、无线保真(Wireless Fidelity，WIFI)天线，下壳体23的底部设置有诱鱼灯。指示灯使得可在距离较远及夜间明确浮标的位置，诱鱼灯可实现诱鱼。The top of the upper housing 21 is provided with an indicator light and a wireless fidelity (Wireless Fidelity, WIFI) antenna, and the bottom of the lower housing 23 is provided with a fish trap light. The indicator light makes it possible to clarify the position of the buoy at a long distance and at night, and the fish lure lamp can achieve fish lure.

实施例2Example 2

如图3所示，在实施例1中的技术方案的基础上，本实施例中所述上壳体21的顶部向下凹形成凹槽211，凹槽211的底部设置有第一水密插接件212，电池组22的底部设置有插座，插座插接在第一水密插接件212的第一端的插头上，第一水密插接件212的第二端通过线缆与控制主板电连接。As shown in FIG. 3, on the basis of the technical solution in Embodiment 1, the top of the upper housing 21 in this embodiment is recessed downward to form a groove 211, and the bottom of the groove 211 is provided with a first watertight plug A socket is provided at the bottom of the battery pack 22. The socket is inserted into the plug at the first end of the first watertight connector 212, and the second end of the first watertight connector 212 is electrically connected to the control board through a cable .

可选地，其余组件(GPS模块、绕线装置、推进器等)分别与控制主板电连接，电池组通过控制主板向其余组件供电。Optionally, the remaining components (GPS module, winding device, thruster, etc.) are respectively electrically connected to the control main board, and the battery pack supplies power to the remaining components through the control main board.

如图2和图3所示，使用探鱼器时将充满电的电池组22插接在位于凹槽211的底部的第一水密插接件212上，按动电源开关221，探鱼器的多个电器元件均得电，可进行探鱼作业。同时为方便拆装，电池组22的外侧壁顶部向内凹成台阶状，便于抓取。通过电池组22的快速拆装，可实现电源的快速切换，在使用过程中电池组22电量不足时，可快速切换成备用电源，大大提升了客户体验感。As shown in Figures 2 and 3, when using the fish finder, plug the fully charged battery pack 22 into the first watertight connector 212 at the bottom of the groove 211, press the power switch 221, the fish finder Multiple electrical components are energized and can be used for fish detection operations. At the same time, in order to facilitate disassembly and assembly, the top of the outer side wall of the battery pack 22 is recessed inwardly into a step shape, which is convenient for grasping. Through the quick disassembly and assembly of the battery pack 22, the power supply can be quickly switched. When the battery pack 22 has insufficient power during use, it can be quickly switched to a backup power supply, which greatly improves the customer experience.

同样的结构也可以用在下壳体23上，如图4所示，所述下壳体23的底部向上凹形成凹槽211，凹槽211的底部设置有第一水密插接件212，电池组22的底部设置有插座，插座插接在第一水密插接件212的第一端的插头上，第一水密插接件212的第二端通过线缆与控制主板电连接。电池组22安装在下壳体23上可使水面定位浮标2的重心下降，使水面定位浮标2运行更平稳。The same structure can also be used on the lower casing 23. As shown in FIG. 4, the bottom of the lower casing 23 is concave upward to form a groove 211, and the bottom of the groove 211 is provided with a first watertight connector 212, and the battery pack A socket is provided at the bottom of 22, and the socket is inserted into the plug at the first end of the first watertight connector 212, and the second end of the first watertight connector 212 is electrically connected to the control board through a cable. The battery pack 22 is installed on the lower shell 23 to lower the center of gravity of the water surface positioning buoy 2 and make the water surface positioning buoy 2 run more smoothly.

为方便探鱼器的开启，在所述水面定位浮标2上设置有电源开关，电源开关与电池组22电连接，电源开关为按钮式开关或者感应开关。按钮式开关一般可以安装在壳体的表面，感应开关如红外感应开关、水感开关等更多的安装在壳体的内部。In order to facilitate the opening of the fish finder, a power switch is provided on the water surface positioning buoy 2. The power switch is electrically connected to the battery pack 22, and the power switch is a button switch or an induction switch. Push-button switches can generally be installed on the surface of the housing, and inductive switches such as infrared sensors and water switches are more often installed inside the housing.

实施例3Example 3

如图3和图5所示，在实施例1中的技术方案的基础上，本实施例中所述绕线装置24包括电机241和绕线轮242，绕线轮242包括同轴设置的定子轮2421和转子轮2422，定子轮2421的中间固定有轴2423，轴2423的外侧壁上套接有导电滑环定子2424，导电滑环定子2424套接有导电滑环转子2425，转子轮2422套接在导电滑环转子2425上，转子轮2422的外侧壁设置有传动轴2426，电机241驱动传动轴2426转动。如图3和图5所示，电机241、定子轮2421通过支架等固定在下壳体23的内侧壁上，转子轮2422的辊轮中间是空心的，定子轮2421的轴2423上套接有导电滑环，且轴2423插接在转子轮2422的辊轮中心。转子轮2422与定子轮2421、定子轮2421与轴2423之间的装配间隙通过密封圈等进行密封，以满足在水下条件使用导电滑环。As shown in Figures 3 and 5, on the basis of the technical solution in Embodiment 1, the winding device 24 in this embodiment includes a motor 241 and a winding wheel 242, and the winding wheel 242 includes a coaxially arranged stator. Wheel 2421 and rotor wheel 2422. A shaft 2423 is fixed in the middle of the stator wheel 2421. A conductive slip ring stator 2424 is sleeved on the outer side wall of the shaft 2423. The conductive slip ring stator 2424 is sleeved with a conductive slip ring rotor 2425, and the rotor wheel 2422 is sleeved. Connected to the conductive slip ring rotor 2425, the outer side wall of the rotor wheel 2422 is provided with a transmission shaft 2426, and the motor 241 drives the transmission shaft 2426 to rotate. As shown in Figures 3 and 5, the motor 241 and the stator wheel 2421 are fixed on the inner side wall of the lower housing 23 through brackets, etc. The roller of the rotor wheel 2422 is hollow, and the shaft 2423 of the stator wheel 2421 is sleeved with conductive Slip ring, and the shaft 2423 is inserted in the roller center of the rotor wheel 2422. The assembly gap between the rotor wheel 2422 and the stator wheel 2421, the stator wheel 2421 and the shaft 2423 is sealed by a sealing ring or the like to satisfy the use of conductive slip rings under underwater conditions.

所述轴2423上开设有通孔，转子轮2422上开设有出线孔，通讯线缆3在导电滑环处分为两段。第一段通讯线缆的第一端与控制主板连接，第二端从轴2423上通孔***并与导电滑环定子2424连接。可选择焊接方式，将通讯线缆3与导电滑环定子2424固定在一起，同时通讯线缆3与轴2423之间的通孔间隙用环氧树脂胶水等进行密封。The shaft 2423 is provided with a through hole, the rotor wheel 2422 is provided with an outlet hole, and the communication cable 3 is divided into two sections at the conductive slip ring. The first end of the first section of the communication cable is connected to the control main board, and the second end is inserted through the through hole on the shaft 2423 and connected to the conductive slip ring stator 2424. A welding method can be selected to fix the communication cable 3 and the conductive slip ring stator 2424 together, and at the same time, the through hole gap between the communication cable 3 and the shaft 2423 is sealed with epoxy resin glue or the like.

第二段通讯线缆的第一端与导电滑环转子2425连接，第二端穿过出线孔，在转子轮2422的辊轮外侧壁上进行绕线，最后从下壳体23底部的出线孔穿出与水下探头1连接。可选择焊接方式，将通讯线缆3与导电滑环转子2422固定在一起，同时通讯线缆3与转子轮2422上的出线孔之间的间隙用环氧树脂胶水等进行密封。The first end of the second piece of communication cable is connected to the conductive slip ring rotor 2425, and the second end passes through the outlet hole, and is wound on the outer side wall of the roller of the rotor wheel 2422, and finally from the outlet hole at the bottom of the lower housing 23 Pass out and connect with underwater probe 1. A welding method can be selected to fix the communication cable 3 and the conductive slip ring rotor 2422 together, and at the same time, the gap between the communication cable 3 and the outlet hole on the rotor wheel 2422 is sealed with epoxy resin glue or the like.

这样，通讯线缆3的第一段通讯线缆与定子轮2421保持相对静止，第二段通讯线缆与转子轮2422保持相对静止，导电滑环实现在绕线时不间断第一段通讯线缆与第二段通讯线缆两者之间的信号传输，绕线时也不会出现因定子轮2421和转子轮2422的相对运动导致通讯线缆3缠线扭曲甚至被拉断的问题。In this way, the first section of the communication cable of the communication cable 3 and the stator wheel 2421 remain relatively stationary, the second section of the communication cable and the rotor wheel 2422 remain relatively stationary, and the conductive slip ring realizes the uninterrupted first section of the communication line during winding. The signal transmission between the cable and the second section of the communication cable will not cause the communication cable 3 to be twisted or even broken due to the relative movement of the stator wheel 2421 and the rotor wheel 2422 during winding.

电机241转轴可以通过皮带传动、齿轮传动等传动方式驱动传动轴2426转动，也可以直接将电机241装配在传动轴2426上直接驱动传动轴2426转动。The rotating shaft of the motor 241 can drive the transmission shaft 2426 to rotate through belt transmission, gear transmission, etc., or directly mount the motor 241 on the transmission shaft 2426 to directly drive the transmission shaft 2426 to rotate.

实施例4Example 4

如图6-8所示，在实施例1中的技术方案的基础上，本实施例中所述水下探头1包括探头外壳13和探头密封盖14，探头外壳13的内部依次固定有透镜15、摄像头11、控制电路板12，探头密封盖14的顶部设置有深度传感器、温度传感器18，深度传感器和温度传感器均与控制电路板连接，探头密封盖14的顶部中间设置有第二水密插接件16，第二水密插接件16的第一端的插头与通讯线缆3连接，第二端通过线缆与控制电路板12连接。所述探头外壳13上设置有多个照明灯17，所述多个照明灯17均匀分布在摄像头11的周围。As shown in Figs. 6-8, on the basis of the technical solution in embodiment 1, the underwater probe 1 in this embodiment includes a probe housing 13 and a probe sealing cover 14. The inside of the probe housing 13 is sequentially fixed with a lens 15 , Camera 11, control circuit board 12, the top of the probe sealing cover 14 is provided with a depth sensor, a temperature sensor 18, the depth sensor and temperature sensor are connected to the control circuit board, the probe sealing cover 14 is provided with a second watertight plug in the middle of the top The plug at the first end of the second watertight connector 16 is connected to the communication cable 3, and the second end is connected to the control circuit board 12 through the cable. A plurality of illuminating lamps 17 are arranged on the probe housing 13, and the plurality of illuminating lamps 17 are evenly distributed around the camera 11.

如图6和图7所示，探头外壳13与探头密封盖14通过密封圈等实现密封装配，通讯线缆3通过第二水密插接件16与水下探头1连接，有效防止水下探头1进水。深度传感器将水下探头1的深度信息反馈至水面定位浮标2，定位鱼群深度。温度传感器18将水温等信息也反馈给客户端。同时照明灯17还可满足在水下光线不理想的情况下进行探鱼，提升客户体验感。As shown in Figures 6 and 7, the probe housing 13 and the probe sealing cover 14 are sealed and assembled through a sealing ring, etc., and the communication cable 3 is connected to the underwater probe 1 through the second watertight connector 16, which effectively prevents the underwater probe 1 Water in. The depth sensor feeds back the depth information of the underwater probe 1 to the surface positioning buoy 2 to locate the depth of the fish school. The temperature sensor 18 also feeds back information such as water temperature to the client. At the same time, the illuminating lamp 17 can also meet the needs of fish hunting when the underwater light is not ideal, and enhance the customer experience.

如图8所示，所述水下探头1的外侧壁上设置有吊耳19，通讯线缆3上设置有第一牵引绳31和第二牵引绳32，第一牵引绳31的自由端与吊耳19连接，第二牵引绳32的末端上悬挂有配重块4。As shown in Figure 8, the outer side wall of the underwater probe 1 is provided with lifting lugs 19, the communication cable 3 is provided with a first traction rope 31 and a second traction rope 32, the free end of the first traction rope 31 and The lifting lugs 19 are connected, and a counterweight 4 is hung on the end of the second traction rope 32.

如图8所示，通过调节第一牵引绳31穿过吊耳19的长度，配合配重块4，可使水下探头1在水中与水平面保持一定的角度来进行观测，可更直观的看到鱼的大小。水面定位浮标2的转动可带动水下探头1转动，实现多方位多角度对鱼群进行观测，可更直观的看到鱼的大小。As shown in Figure 8, by adjusting the length of the first traction rope 31 passing through the lifting lugs 19, in conjunction with the counterweight 4, the underwater probe 1 can be observed at a certain angle in the water with the horizontal plane, which can be seen more intuitively. To the size of a fish. The rotation of the water surface positioning buoy 2 can drive the rotation of the underwater probe 1 to realize multi-directional and multi-angle observation of fish schools, and the size of the fish can be seen more intuitively.

配重块4沉入水底后可以有效的锚住探鱼器，一方面可以使水下探头1的位置固定不会随水流晃动，另一方面还可以减小水面定位浮标2在水面的波动范围，在定点观察钓点情况时可以关闭推进器***，达到省电的目的。The counterweight 4 can effectively anchor the fish finder after sinking into the bottom. On the one hand, the position of the underwater probe 1 can be fixed and will not shake with the current, and on the other hand, it can also reduce the fluctuation range of the water surface positioning buoy 2 on the water surface. , The thruster system can be turned off when observing the situation of the fishing spot at a fixed point to achieve the purpose of saving electricity.

实施例5Example 5

一种探鱼方法，应用于上述实施例中的探鱼***，探鱼***包括移动终端和上述实施例中的探鱼器，其中，移动终端与无线通信模块电连接。探鱼方法包括如下步骤。A fish finding method is applied to the fish finding system in the above embodiment. The fish finding system includes a mobile terminal and the fish finding device in the above embodiment, wherein the mobile terminal is electrically connected with a wireless communication module. The fish detection method includes the following steps.

1)用户将探鱼器放到水里，并将探鱼器连接移动终端，控制主板记录水面定位浮标2的初始位置，遥控水面定位浮标2至目测钓点，GPS模块获取水面定位浮标2的位置信息，控制主板控制水面定位浮标2在距离目测钓点1米的范围内相对静止。初始位置为探鱼器的入水位置，通过GPS模块接收的卫星信号可得。目测钓点由操作人员目测或者根据水下探头1反馈的信息推断所得，水下探头1的位置信息由微处理器结合GPS信号、陀螺仪和电子罗盘解算所得，控制主板具有记忆功能。1) The user puts the fish finder in the water, connects the fish finder to the mobile terminal, controls the main board to record the initial position of the surface positioning buoy 2, and remotely controls the surface positioning buoy 2 to the visual fishing point, and the GPS module obtains the position of the surface positioning buoy 2. Position information, the control main board controls the water surface positioning buoy 2 to be relatively stationary within 1 meter from the visual fishing point. The initial position is the entry position of the fish finder, which can be obtained through the satellite signal received by the GPS module. The visual fishing point is visually observed by the operator or inferred from the information fed back by the underwater probe 1. The position information of the underwater probe 1 is calculated by the microprocessor combined with GPS signals, gyroscope and electronic compass, and the control board has a memory function.

2)绕线装置24释放水下探头1至水下，摄像头11传送数据以观察水底鱼情，若数据为目标鱼群，微处理器解算水下探头1相对于水面定位浮标2的相对位置，得出并保存鱼群的窝点位置；若数据非目标鱼群，多个推进器驱动水面定位浮标2去下一个目测钓点，重复步骤GPS模块获取水面定位浮标2的位置信息，控制主板控制水面定位浮标2在距离目测钓点1米的范围内相对静止。目标鱼群由操作人员根据水下探头1反馈的图像信息，根据鱼群大小、种类来判断，窝点位置由微处理器根据水下探头1搭载的陀螺仪和电子罗盘反馈的相对位置信息解算而来，可通过移动终端保存多个窝点位置。2) The winding device 24 releases the underwater probe 1 to underwater, and the camera 11 transmits data to observe the underwater fish situation. If the data is the target fish school, the microprocessor calculates the relative position of the underwater probe 1 relative to the water surface positioning buoy 2 , Obtain and save the location of the fish school; if the data is not the target fish school, multiple propellers drive the surface positioning buoy 2 to the next visual fishing point, repeat the steps to obtain the position information of the surface positioning buoy 2 by the GPS module, and control the main board control The surface positioning buoy 2 is relatively stationary within a range of 1 meter from the visual fishing point. The target fish school is judged by the operator according to the image information fed back by the underwater probe 1 and the size and type of the fish school. The nest position is calculated by the microprocessor based on the relative position information fed back by the gyroscope and electronic compass on the underwater probe 1 In the meantime, the location of multiple dens can be saved through the mobile terminal.

还可以调节第一牵引绳31穿过吊耳的长度，使水下探头1在水下成一定倾斜角，通过驱动水面定位浮标2在原地转动，带动水下探头1在水下转动探测；通过水下探头1内的第一陀螺仪与第一电子罗盘反馈的信息，微处理器解算并记录水下探头1的朝向及角度信息，实现多方位多角度对鱼群进行观测，可更直观的看到鱼的大小。It is also possible to adjust the length of the first traction rope 31 passing through the lifting lugs, so that the underwater probe 1 is at a certain inclination angle underwater, and by driving the surface positioning buoy 2 to rotate in situ, the underwater probe 1 is driven to rotate underwater for detection; The information fed back by the first gyroscope and the first electronic compass in the underwater probe 1, the microprocessor calculates and records the orientation and angle information of the underwater probe 1, so as to achieve multi-directional and multi-angle observation of the fish school, which can be more intuitive See the size of the fish.

3)保存多个窝点位置后，探鱼器自动航行到每个窝点位置巡视鱼情，通过移动终端确定最佳钓点后，发布一键返航指令，电机241高速收线，水面定位浮标2自动返航至初始位置或者指定位置。探鱼器具备自动巡航以及一键返航功能，方便钓点的选择以及设备的快速回收。3) After saving multiple nest locations, the fish finder will automatically navigate to each nest location to inspect the fish situation. After determining the best fishing spot through the mobile terminal, it will issue a one-key return command, the motor 241 will take up the line at high speed, and the water surface positioning buoy 2 will automatically Return to the initial position or the designated position. The fish finder has automatic cruise and one-key return to home function, which is convenient for the selection of fishing spots and the rapid recovery of equipment.

可选的，用户将探鱼器放到水里，并将探鱼器连接移动终端，移动终端接收记录指令，并将记录指令发送至控制主板，控制主板接收记录指令，获取水面定位浮标的当前位置，保存当前位置为水面定位浮标的初始位置，并发送水面定位浮标的当前位置至移动终端；移动终端接收目测钓点的位置信息，并发送移动指令至控制主板，移动指令包括目测钓点的位置信息，控制主板接收移动指令并根据移动指令控制多个推进器驱动水面定位浮标至目测钓点；GPS模块获取水面定位浮标的位置信息并将水面定位浮标的位置信息发送至控制主板，控制主板根据水面定位浮标的位置信息保持水面定位浮标在距离目测钓点1米的范围内。Optionally, the user puts the fish finder in the water and connects the fish finder to the mobile terminal. The mobile terminal receives the recording instruction and sends the recording instruction to the control main board. The control main board receives the recording instruction and obtains the current position of the water surface positioning buoy. Position, save the current position as the initial position of the water surface positioning buoy, and send the current position of the water surface positioning buoy to the mobile terminal; the mobile terminal receives the position information of the visual fishing point and sends a movement instruction to the control board. The movement instruction includes the position of the visual fishing point Position information, the control main board receives the movement instruction and controls multiple thrusters to drive the surface positioning buoy to the visual fishing point according to the movement instruction; the GPS module obtains the position information of the surface positioning buoy and sends the position information of the surface positioning buoy to the control main board, which controls the main board According to the position information of the water surface positioning buoy, the water surface positioning buoy is kept within 1 meter from the visual fishing point.

控制主板控制绕线装置释放水下探头至水下，摄像头传送数据至控制电路板，控制电路板通过控制主板将所述数据发送至移动终端以使得用户观察水底鱼情，在移动终端接收到确认所述数据为目标鱼群的指令的情况下，移动终端发送解算指令至主板，控制主板接收到解算指令后，控制微处理器解算水下探头相对于水面定位浮标的相对位置，得出鱼群的窝点位置，控制主板保存窝点位置，并将鱼群的窝点位置发送至移动终端，移动终端接收并保存鱼群的窝点位置；在移动终端接收到目测钓点的位置信息的情况下，移动终端重复执行发送移动指令至控制主板的步骤。The control main board controls the winding device to release the underwater probe to the water, the camera transmits data to the control circuit board, and the control circuit board sends the data to the mobile terminal through the control main board so that the user can observe the underwater fish situation, and the mobile terminal receives the confirmation In the case that the data is an instruction of the target fish school, the mobile terminal sends a solution instruction to the main board, and after the control main board receives the solution instruction, it controls the microprocessor to calculate the relative position of the underwater probe relative to the positioning buoy on the water surface, and obtain Out of the fish school’s den location, control the motherboard to save the den location, and send the fish’s den location to the mobile terminal. The mobile terminal receives and saves the fish’s den location; in the case that the mobile terminal receives the location information of the fishing spot visually , The mobile terminal repeats the steps of sending the movement instruction to the control main board.

移动终端保存多个窝点位置后，可发送最佳钓点寻找指令至控制主板，或在接收到最佳钓点寻找指令后，将最佳钓点寻找指令发送至控制主板，控制主板接收最佳钓点寻找指令并根据多个窝点位置控制探鱼器自动航行到每个窝点位置巡视鱼情，或者，在控制主板保存多个窝点位置后，控制主板根据多个窝点位置控制探鱼器自动航行到每个窝点位置巡视鱼情；在移动终端接收到确认寻找到最佳钓点的指令的情况下，发布一键返航指令至控制主板，控制主板接收一键返航指令，控制电机高速收线，水面定位浮标自动返航至初始位置或指定位置。After the mobile terminal saves multiple nest positions, it can send the best fishing spot search command to the control main board, or after receiving the best fishing spot search command, send the best fishing spot search command to the control main board, and the control main board receives the best Finding instructions for fishing spots and controlling the fish finder to automatically navigate to each den location to inspect the fish situation according to the positions of multiple dens, or, after the control board saves multiple dens positions, the control board controls the fish finder to automatically navigate according to the locations of multiple dens Go to each nest to inspect the fish situation; when the mobile terminal receives the instruction to confirm the search for the best fishing spot, it will issue a one-key return instruction to the control main board, and the control main board will receive the one-key return instruction, and control the motor to take up the line at a high speed. The surface positioning buoy automatically returns to the initial position or the designated position.

探鱼***的工作原理：将探鱼器投放到水面上，水面定位浮标内的GPS模块接收卫星信号，微处理器实时解算水面定位浮标的位置信息，通过驱动推进器，使水面定位浮标在目标位置的微小范围内相对固定。The working principle of the fish-finding system: Put the fish-finder on the water surface, the GPS module in the surface positioning buoy receives satellite signals, and the microprocessor calculates the position information of the surface positioning buoy in real time. By driving the propeller, the surface positioning buoy is placed on the surface. The target position is relatively fixed within a small range.

水下探头在通讯线缆的牵引下运动，且在绕线装置的控制下上下运动，水下探头内部的摄像头将采集的图像反馈给移动终端，操作人员通过图像判断鱼群是否为目标鱼群。若鱼群是目标鱼群，通过水面定位浮标的绝对位置信息、水下探头搭载的陀螺仪和电子罗盘解算水下探头相对于水面定位浮标的相对位置信息，结合深度传感器反馈的深度信息，得出并记录鱼群的精准位置。若鱼群不是目标鱼群，则通过移动终端驱动水面定位浮标在水面进行鱼群寻找和定位。操作人员可通过观察到的鱼群信息来制定钓鱼策略。The underwater probe moves under the traction of the communication cable and moves up and down under the control of the winding device. The camera inside the underwater probe feeds back the collected images to the mobile terminal, and the operator judges whether the fish school is the target fish school through the image . If the school of fish is the target school of fish, use the absolute position information of the water surface positioning buoy, the gyroscope and the electronic compass carried by the underwater probe to calculate the relative position information of the underwater probe relative to the water surface positioning buoy, combined with the depth information fed back by the depth sensor, Find and record the precise position of the fish school. If the fish school is not the target fish school, the mobile terminal drives the water surface positioning buoy to search and locate the fish school on the water surface. Operators can formulate fishing strategies based on the observed fish school information.

通过调节第一牵引绳穿过吊耳的长度，使水下探头在水下成一定倾斜角，通过驱动水面定位浮标在原地转动，带动水下探头在水下转动探测；通过水下探头内的第一陀螺仪与第一电子罗盘反馈的信息，微处理器解算并记录水下探头的朝向及角度信息。By adjusting the length of the first traction rope passing through the lifting lug, the underwater probe is at a certain inclination angle under the water, and the underwater probe is driven to rotate underwater to detect by driving the water surface positioning buoy to rotate in situ; Based on the information fed back from the first gyroscope and the first electronic compass, the microprocessor calculates and records the orientation and angle information of the underwater probe.

与相关技术相比，本申请可以：Compared with related technologies, this application can:

1.上壳体为浮标提供足够的浮力，上壳体搭载的GPS模块、微处理器、陀螺仪及电子罗盘，有效记录浮标的位置信息；无线通讯模块与移动终端进行远距离通讯、数据传输。1. The upper shell provides sufficient buoyancy for the buoy. The GPS module, microprocessor, gyroscope and electronic compass on the upper shell can effectively record the position information of the buoy; the wireless communication module conducts long-distance communication and data transmission with the mobile terminal .

2.下壳体上的推进器和绕线装置，有效降低浮标的重心，保证推进器有效吃水，使浮标具有较好的静态稳定性和航行稳定性。2. The thruster and winding device on the lower shell can effectively reduce the center of gravity of the buoy, ensure the effective draught of the thruster, and make the buoy have better static stability and navigation stability.

3.水下探头的摄像头有效将捕捉到的画面传送回来，结合陀螺仪及电子罗盘解算出水下探头相对于浮标的位置信息，精准定位鱼群。3. The camera of the underwater probe effectively transmits the captured images back, combining the gyroscope and electronic compass to calculate the position information of the underwater probe relative to the buoy, and accurately locate the fish.

4.电池组的快速拆卸结构可实现电池的快速更换，方便电池充电，也避免使用过程中因电池没电又无法快速切换备用电源，影响体验感。4. The quick disassembly structure of the battery pack can realize the rapid replacement of the battery, which is convenient for battery charging, and also avoids the inability to quickly switch the backup power due to the dead battery during use, which affects the sense of experience.

5.通过将导电滑环密封装配在绕线轮定子轮与转子轮的装配间隙中，使得绕线装置可以在水下环境使用；同时将通讯线缆的一段固定在导电滑环定子上，另一段固定在导电滑环转子上，实现了绕线的时候不影响通讯线缆的信号传输，绕线时转子轮与导电滑环转子同步转动，避免通讯线缆因转子轮和定子轮的相对运动产生缠线扭曲甚至将线缆拉断的现象。5. By sealingly assemble the conductive slip ring in the assembly gap between the winding wheel stator wheel and the rotor wheel, the winding device can be used in an underwater environment; at the same time, a section of the communication cable is fixed on the conductive slip ring stator, and the other A section is fixed on the conductive slip ring rotor, which does not affect the signal transmission of the communication cable when winding. The rotor wheel and the conductive slip ring rotor rotate synchronously during winding to avoid the relative movement of the communication cable due to the rotor wheel and the stator wheel. The phenomenon of twisting and even breaking the cable occurs.

6.水下探头的深度传感器可以反馈水下探头的深度信息，温度传感器可反馈水温信息，结合上述特点，使探鱼器可以精确探查水下鱼群种类、大小、水温、深度等位置信息，提升客户体验满意度。6. The depth sensor of the underwater probe can feed back the depth information of the underwater probe, and the temperature sensor can feed back the water temperature information. Combined with the above characteristics, the fish finder can accurately detect the position information of the underwater fish species, size, water temperature, depth, etc. Improve customer experience satisfaction.

7.控制牵引绳穿过吊耳的长度，配合配重块，可使水下探头在水中与水平面保持一定的角度来进行观测，同时可通过浮标的转动实现多方位多角度对鱼群进行观测，可更直观的看到鱼的大小。配重块沉入水底后可以有效的锚住探鱼器，一方面可以使探头位置固定不会随水流晃动，另一方面还可以减小浮标在水面的波动范围，在定点观察钓点情况时可以关闭浮标推进器***，达到省电的目的。7. Control the length of the traction rope passing through the lifting lugs, and cooperate with the counterweight, so that the underwater probe can be observed at a certain angle in the water and the horizontal plane. At the same time, the fish can be observed in multiple directions and multiple angles through the rotation of the buoy. , You can see the size of the fish more intuitively. The counterweight can effectively anchor the fish finder after sinking into the water. On the one hand, the probe position can be fixed and will not sway with the water flow. On the other hand, it can also reduce the fluctuation range of the buoy on the water surface. When observing the fishing point at a fixed point The buoy thruster system can be turned off to save electricity.

8.照明灯使得探鱼器在光线昏暗的环境下仍可以工作，指示灯使得可在距离较远及夜间明确浮标位置，诱鱼灯可实现诱鱼。8. The illuminating light makes the fish finder still work in a dimly lit environment, the indicator light makes it possible to clarify the position of the buoy at a long distance and at night, and the fish lure light can achieve fish lure.

9.探鱼器具备自动巡航以及一键返航功能，方便钓点的选择以及设备的快速回收。9. The fish finder has the functions of automatic cruise and one-key return to home, which is convenient for the selection of fishing spots and the rapid recovery of equipment.

Claims

一种探鱼器，包括：水下探头(1)、水面定位浮标(2)及通讯线缆(3)，其中，所述水下探头(1)和所述水面定位浮标(2)通过所述通讯线缆(3)连接；A fish finder, comprising: an underwater probe (1), a water surface positioning buoy (2) and a communication cable (3), wherein the underwater probe (1) and the water surface positioning buoy (2) pass through The communication cable (3) connection;

所述水下探头(1)的内部安装有摄像头(11)和控制电路板(12)，所述摄像头(11)与所述控制电路板(12)电连接，所述控制电路板(12)与所述通讯线缆(3)的第一端电连接；所述控制电路板(12)上设置有第一陀螺仪和第一电子罗盘；A camera (11) and a control circuit board (12) are installed inside the underwater probe (1), the camera (11) is electrically connected to the control circuit board (12), and the control circuit board (12) Electrically connected to the first end of the communication cable (3); the control circuit board (12) is provided with a first gyroscope and a first electronic compass;

所述水面定位浮标(2)包括上壳体(21)、电池组(22)、下壳体(23)、绕线装置(24)和控制主板，所述上壳体(21)和所述下壳体(23)固定连接，且所述上壳体(21)和所述下壳体(23)之间形成水密容纳空间，所述水面定位浮标(2)的外侧壁上可拆卸地装配有所述电池组(22)；The water surface positioning buoy (2) includes an upper shell (21), a battery pack (22), a lower shell (23), a winding device (24) and a control main board, the upper shell (21) and the The lower shell (23) is fixedly connected, and a watertight accommodating space is formed between the upper shell (21) and the lower shell (23), and the outer side wall of the water surface positioning buoy (2) is detachably assembled There is the battery pack (22);

所述上壳体(21)内设置有全球定位***GPS模块、无线通讯模块和所述控制主板，其中，所述GPS模块和所述无线通讯模块均与所述控制主板连接，控制主板上设置有微处理器、第二电子罗盘、第二陀螺仪；The upper casing (21) is provided with a global positioning system GPS module, a wireless communication module, and the control main board, wherein the GPS module and the wireless communication module are both connected to the control main board, and the control main board is installed Has a microprocessor, a second electronic compass, and a second gyroscope;

所述下壳体(23)的外侧壁下部对称分布有多个推进器(25)，所述多个推进器与所述控制主板连接；所述下壳体(23)的内部固定有所述绕线装置(24)，所述通讯线缆(3)的第二端通过所述绕线装置(24)与所述控制主板电连接；A plurality of pushers (25) are symmetrically distributed on the lower part of the outer side wall of the lower shell (23), and the plurality of pushers are connected with the control main board; the lower shell (23) is fixed with the A winding device (24), the second end of the communication cable (3) is electrically connected to the control main board through the winding device (24);

所述电池组(22)与所述控制主板、所述GPS模块、所述无线通讯模块、以及所述绕线装置(24)电连接。The battery pack (22) is electrically connected with the control main board, the GPS module, the wireless communication module, and the winding device (24).
根据权利要求1所述的探鱼器，其中，所述上壳体(21)的顶部向下凹形成凹槽(211)或所述下壳体(23)的底部向上凹形成凹槽(211)，所述凹槽(211)的底部设置有第一水密插接件(212)，所述电池组(22)的底部设置有插座，所述插座插接在所述第一水密插接件(212)的第一端的插头上，所述第一水密插接件(212)的第二端通过线缆与所述控制主板电连接。The fish finder according to claim 1, wherein the top of the upper shell (21) is recessed downward to form a groove (211) or the bottom of the lower shell (23) is recessed upward to form a groove (211) ), the bottom of the groove (211) is provided with a first watertight connector (212), the bottom of the battery pack (22) is provided with a socket, and the socket is inserted into the first watertight connector On the plug at the first end of (212), the second end of the first watertight connector (212) is electrically connected to the control main board through a cable.
根据权利要求1所述的探鱼器，其中，所述水面定位浮标(2)上设置有电源开关，所述电源开关与所述电池组(22)电连接，所述电源开关为按钮式开关或者感应开关。The fish finder according to claim 1, wherein a power switch is provided on the water surface positioning buoy (2), the power switch is electrically connected to the battery pack (22), and the power switch is a button switch Or inductive switch.
根据权利要求1所述的探鱼器，其中，所述绕线装置(24)包括电机(241)和绕线轮(242)，所述绕线轮(242)由同轴设置的定子轮(2421)和转子轮(2422)构成，所述定子轮(2421)的中间固定有轴(2423)，所述轴(2423)的外侧壁上套接有导电滑环定子(2424)，所述导电滑环定子(2424)套接有导电滑环转子(2425)，所述导电滑环转子(2425)套接有所述转子轮(2422)，所述转子轮(2422)的外侧壁设置有传动轴(2426)，所述电机(241)驱动所述传动轴(2426)转动；The fish finder according to claim 1, wherein the winding device (24) comprises a motor (241) and a winding wheel (242), and the winding wheel (242) consists of a coaxially arranged stator wheel ( 2421) and a rotor wheel (2422). A shaft (2423) is fixed in the middle of the stator wheel (2421). A conductive slip ring stator (2424) is sleeved on the outer side wall of the shaft (2423). The slip ring stator (2424) is sleeved with a conductive slip ring rotor (2425), the conductive slip ring rotor (2425) is sleeved with the rotor wheel (2422), and the outer side wall of the rotor wheel (2422) is provided with a transmission Shaft (2426), the motor (241) drives the transmission shaft (2426) to rotate;

所述轴(2423)上开设有通孔，所述转子轮(2422)上开设有出线孔，所述通讯线缆(3)在导电滑环处分为两段；The shaft (2423) is provided with a through hole, the rotor wheel (2422) is provided with an outlet hole, and the communication cable (3) is divided into two sections at the conductive slip ring;

其中通讯线缆(3)的第一段通讯线缆的第一端与所述控制主板连接，所述第一段通讯线缆的第二端从所述轴(2423)上的通孔***并与所述导电滑环定子(2424)连接；所述通讯线缆(3)的第二段通讯线缆的第一端与所述导电滑环转子(2425)连接，所述第二段通讯线缆的第二端穿过所述出线孔通过所述转子轮(2422)与所述水下探头(1)连接。The first end of the first communication cable of the communication cable (3) is connected to the control board, and the second end of the first communication cable is inserted into the through hole on the shaft (2423) and Connected to the conductive slip ring stator (2424); the first end of the second section of the communication cable of the communication cable (3) is connected to the conductive slip ring rotor (2425), and the second section of communication line The second end of the cable passes through the outlet hole and is connected to the underwater probe (1) through the rotor wheel (2422).
根据权利要求1所述的探鱼器，其中，所述水下探头(1)包括探头外壳(13)和探头密封盖(14)，所述探头外壳(13)的内部依次固定有透镜(15)、所述摄像头(11)、所述控制电路板(12)，所述探头密封盖(14)的顶部设置有深度传感器、以及温度传感器(18)，所述深度传感器和所述温度传感器均与所述控制电路板连接，所述探头密封盖(14)的顶部中间设置有第二水密插接件(16)，所述第二水密插接件(16)的第一端的插头与所述通讯线缆(3)连接，所述第二水密插接件(16)的第二端通过线缆与所述控制电路板(12)连接。The fish finder according to claim 1, wherein the underwater probe (1) comprises a probe housing (13) and a probe sealing cover (14), and a lens (15) is sequentially fixed inside the probe housing (13). ), the camera (11), the control circuit board (12), a depth sensor and a temperature sensor (18) are arranged on the top of the probe sealing cover (14), the depth sensor and the temperature sensor are both Connected to the control circuit board, a second watertight connector (16) is arranged in the middle of the top of the probe sealing cover (14), and the plug at the first end of the second watertight connector (16) is connected to the The communication cable (3) is connected, and the second end of the second watertight connector (16) is connected with the control circuit board (12) through a cable.
根据权利要求1所述的探鱼器，其中，所述水下探头(1)的外侧壁上设置有吊耳(19)，所述通讯线缆(3)上设置有第一牵引绳(31)和第二牵引绳(32)，所述第一牵引绳(31)的自由端与所述吊耳(19)连接，所述第二牵引绳(32)的末端上悬挂有配重块(4)。The fish finder according to claim 1, wherein a lifting lug (19) is provided on the outer side wall of the underwater probe (1), and a first traction rope (31) is provided on the communication cable (3). ) And a second traction rope (32), the free end of the first traction rope (31) is connected to the lifting lugs (19), and the end of the second traction rope (32) is suspended with a counterweight ( 4).
根据权利要求6或7所述的探鱼器，其中，所述探头外壳(13)上设置有多个照明灯(17)，所述多个照明灯(17)均匀分布在所述摄像头(11)的周围。The fish finder according to claim 6 or 7, wherein a plurality of illuminating lamps (17) are arranged on the probe housing (13), and the plurality of illuminating lamps (17) are evenly distributed on the camera (11). ) Around.
根据权利要求1所述的探鱼器，其中，所述多个推进器(25)的数量范围为2-6个且所述多个推进器(25)排列在同一圆周上。The fish finder according to claim 1, wherein the number of the plurality of propellers (25) ranges from 2-6 and the plurality of propellers (25) are arranged on the same circle.
根据权利要求1所述的探鱼器，其中，所述上壳体(21)的顶部设置有指示灯、无线保真WIFI天线，所述下壳体(23)的底部设置有诱鱼灯。The fish finder according to claim 1, wherein the top of the upper housing (21) is provided with an indicator light and a wireless fidelity WIFI antenna, and the bottom of the lower housing (23) is provided with a fish attracting light.
一种探鱼***，包括移动终端和权利要求1-9任一项所述的探鱼器，其中，所述移动终端与所述无线通信模块电连接。A fish-finding system, comprising a mobile terminal and the fish-finder according to any one of claims 1-9, wherein the mobile terminal is electrically connected with the wireless communication module.
一种探鱼方法，应用于权利要求10所述的探鱼***，其特征在于包括如下步骤：A fish-finding method applied to the fish-finding system of claim 10, characterized in that it comprises the following steps:

用户将所述探鱼器放到水里，将所述探鱼器连接所述移动终端，控制主板记录所述水面定位浮标(2)的初始位置，遥控所述水面定位浮标(2)至目测钓点，所述GPS模块获取所述水面定位浮标(2)的位置信息，控制主板控制所述水面定位浮标(2)在距离所述目测钓点1米的范围内相对静止；The user puts the fish finder in the water, connects the fish finder to the mobile terminal, controls the main board to record the initial position of the water surface positioning buoy (2), and remotely controls the water surface positioning buoy (2) to visual inspection For fishing spots, the GPS module obtains the position information of the water surface positioning buoy (2), and controls the main board to control the water surface positioning buoy (2) to be relatively stationary within a range of 1 meter from the visual fishing point;

所述绕线装置(24)释放所述水下探头(1)至水下，所述摄像头(11)传送数据以观察水底鱼情，在数据为目标鱼群的情况下，所述微处理器解算所述水下探头(1)相对于所述水面定位浮标(2)的相对位置，得出并保存鱼群的窝点位置；在数据为非目标鱼群的情况下，所述多个推进器驱动所述水面定位浮标(2)去下一个目测钓点，重复所述GPS模块获取所述水面定位浮标(2)的位置信息，所述控制主板控制所述水面定位浮标(2)在距离所述目测钓点1米的范围内相对静止；The winding device (24) releases the underwater probe (1) to underwater, and the camera (11) transmits data to observe the underwater fish situation. When the data is the target fish school, the microprocessor Calculate the relative position of the underwater probe (1) with respect to the water surface positioning buoy (2), obtain and save the nest position of the fish school; in the case that the data is a non-target fish school, the multiple propulsion The controller drives the water surface positioning buoy (2) to the next visual fishing spot, repeats the GPS module to obtain the position information of the water surface positioning buoy (2), and the control main board controls the water surface positioning buoy (2) to be at a distance The visual fishing point is relatively stationary within a range of 1 meter;

保存多个窝点位置后，所述探鱼器自动航行到每个窝点位置巡视鱼情，用户通过所述移动终端确定最佳钓点后，通过移动终端发布一键返航指令，所述控制主板接收所述一键返航指令，控制所述电机(241)高速收线，所述水面定位浮标(2)自动返航至所述初始位置或指定位置。After storing multiple nest positions, the fish finder automatically navigates to each nest position to inspect the fish situation. After the user determines the best fishing spot through the mobile terminal, the mobile terminal issues a one-key return instruction, and the control main board receives The one-key return to home instruction controls the motor (241) to take up the wire at high speed, and the surface positioning buoy (2) automatically returns to the initial position or the designated position.
根据权利要求11所述的探鱼方法，其中，在所述绕线装置(24)释放所述水下探头(1)至水下之前，还包括：用户通过调节所述第一牵引绳(31)穿过所述吊耳的长度，使所述水下探头(1)在水下成一定倾斜角；移动终端发送转动指令至控制主板，所述控制主板根据转动指令控制所述多个推进器驱动所述水面定位浮标(2)在原地转动，带动所述水下探头(1)在水下转动探测；所述微处理器通过所述水下探头(1)内的第一陀螺仪与第一电子罗盘反馈的信息，解算并记录所述水下探头(1)的朝向及角度信息。The fish hunting method according to claim 11, wherein before the winding device (24) releases the underwater probe (1) underwater, it further comprises: a user adjusts the first towing rope (31) ) Pass through the length of the lifting lugs to make the underwater probe (1) at a certain angle of inclination underwater; the mobile terminal sends a rotation instruction to the control main board, and the control main board controls the multiple thrusters according to the rotation instruction Drive the water surface positioning buoy (2) to rotate in situ, and drive the underwater probe (1) to rotate and detect underwater; the microprocessor passes through the first gyroscope and the first gyroscope in the underwater probe (1) The information fed back by an electronic compass is used to calculate and record the orientation and angle information of the underwater probe (1).