Design And Implementation Of A Fish Aggregating Device Based On Bionic Robotic Squid

With the continuous development of modernization and intelligence in the field of marine fisheries and aquaculture,new requirements are put forward for fisheries equipment and facilities,and the advantages of ecologically symbiotic equipment for fish and the environment are more prominent.Improve production efficiency is the key to fisheries operations production,in the traditional fisheries monitoring equipment and methods of environmental disturbance,energy consumption,noise,low efficiency and other deficiencies,and based on bionic technology to achieve a set of fish aggregating devices can achieve dynamic,mobile aggregating and real-time monitoring of the underwater operating environment.As a new type of underwater vehicle or underwater operation equipment,the advantages of bionic robotic fish are high environmental cointegration,low energy consumption,high efficiency,and good fish proximity.It has potential applications and development prospects in the field of marine fishing and aquaculture.To this end,this study takes stemmed soft fish as the bionic object,combines marine biology,morphometry,fluid mechanics,engineering design,artificial intelligence and other multidisciplinary,bionic simulation from morphological bionic,structural bionic,and motor behavior bionic in many aspects,and uses the bionic robotic squid prototype for field set fish aggregating test analysis,verifies the feasibility of bionic fishing equipment in production operations such as aggregating,underwater monitoring,for realize the automation,intelligence and dynamics of fishing gear operation equipment to provide new ideas.The main research results are as follows:(1)Implementation of morphological bionomics measurement technique and establishment of morphological features.The basic contour of the image is extracted using Canny algorithm,and the sample contour optimized image is obtained by filtering the noise region around the sample in the image through Gaussian filtering;the method of double-threshold edge detection is used,and the best contour image is found by experimenting the interconstraint relationship between the standard deviationσand the threshold range in the Gaussian filter function;the pixel coordinates of the edge contour image are obtained by the iterative scanning method to obtain the biomorphological external morphological The pixel coordinates of edge contour images were obtained by iterative scanning method to obtain the values of biomorphological parameters and characterize the fish morphological parameters.The automatic measurement of morphological parameter indexes of the stemmer fish is achieved;the values used to calculate the morphological parameters of the stemmer fish can be obtained using the two-dimensional coordinates of each feature point;the numerical characterization of the features can be performed based on the measurement results of the morphological parameters,and the application of computer vision to the study of fish morphology can improve the efficiency of the study,and also provide new experimental ideas and methods for subsequent studies to provide a reference for the evaluation of resources Methods.(2)Hydrodynamic characteristics analysis of the bionic squid model.Using the parametric model obtained from morphometric measurements,the model was analyzed by computational fluid dynamics methods for the resistance of the outflow field at different stroke angles;the wrist posture during the swimming process of the squid has a guiding and rectifying effect on the swimming behavior,and the hydrodynamic characteristics of the soft-bodied antennal in different postures were analyzed.The results show that the squid has very low morphological resistance under this parametric model,and it has a certain effect on the improvement of hydrodynamic performance under different postures of the soft-bodied antennal wrist.(3)Design and fabrication of the bionic robotic squid fish collection and lure device.The device includes control system,communication system and sensor part, which can realize the functions of swimming control,cable communication,underwater video transmission and underwater LED fish collection light carrying.For the uniqueness of squid swimming behavior,the bionic robotic squid composite propulsion method is realized,the dynamics model is constructed and the motion control scheme of six degrees of freedom is realized.(4)Bionic robot squid set lure fish and fish co-integration test and analysis.Based on the different colors of robot fish to explore the different degree of fish response to color.In this study,different colors(white,red,yellow,green,and blue)of bionic squid were placed in the breeding pond to observe the change of carp response to different colors of robot fish in the pond,and the change pattern of carp population within 1m radius of the robot fish was obtained by using computer vision technology.The results of the study showed that(1)the average amount of change in the dominance of different colors of machine fish to carp,the white machine fish had the highest attraction to the fish population,and the fish population had rejection to the blue machine fish;(2)the social distance of different colors of machine fish to the fish population,the white machine fish had the strongest friendliness to the fish population,and the fish population had some social distance to the red machine fish.In summary,the morphological parameter measurement and parameter model construction using computer vision technology realized the morphological mimicry of the bionic robotic squid;the hydrodynamic characteristics of morphological resistance and swimming behavior of the parameter model were verified and analyzed using computational fluid dynamics method,and the feasibility of morphological and attitude control was verified;the co-integration of fish in the field test environment was realized using the self-researched and self-made bionic robotic squid prototype The feasibility of the fish aggregating scheme was verified.The research results provide a more reliable technical support for the realization of underwater mobile aggregating and underwater dynamic monitoring.