Underwater fishing net detection method based on forward-looking sonar image and AUV platform

Abstract

The invention discloses an underwater fishing net detection method based on a forward-looking sonar image and an AUV platform. The method comprises the following steps: collecting and acquiring a forward-looking sonar original data packet through a multi-beam forward-looking sonar carried on an AUV; analyzing the obtained sonar original data packet in real time to obtain an original sonar data matrix, and then interpolating sonar data to obtain a complete fan-shaped forward-looking sonar image; transmitting the obtained forward-looking sonar image to the AUV platform, and inputting the forward-looking sonar image into a target detection model trained in advance to carry out fishing net detection in real time; and converting the detection result into a corresponding system instruction and feeding back to an AUV main control module, and allowing the AUV to make a corresponding obstacle avoidance decision according to the detection result. According to the scheme, the problems of complexalgorithm implementation, low detection accuracy, poor real-time performance and the like in the prior art are solved, the autonomous survival ability of the AUV is improved, the AUV can master the information of the sea area ahead in real time, and an underwater fishing net can be autonomously detected and avoided.

Description

technical field [0001] The invention relates to an underwater fishing net detection method based on a forward-looking sonar image and an AUV platform, and belongs to the technical field of forward-looking sonar image target detection. Background technique [0002] Autonomous underwater vehicles (AUVs) are an important tool for human exploration of the ocean. It can be widely used in marine survey, resource exploration and military fields. Inspired by the human visual system, the visual system of underwater robots mainly relies on sonar, and forward looking sonar (FLS) is one of the main sensors for AUVs to detect underwater targets. The scene detected by forward-looking sonar can be visualized as a forward-looking sonar image. In this way, AUV can identify and detect targets from sonar images and perform various marine tasks such as path planning, underwater archaeology, fish identification, etc. Therefore, we can let AUV utilize FLS images to detect and locate underwater ...

AI Technical Summary

Problems solved by technology

[0010] Aiming at the deficiencies of existing target detection algorithms, the present invention proposes an efficient and accurate target detection algorithm suitable for forward-looking sonar images. The algorithm can be embedded in the AUV system to overcome the real-time detection and autonomous survivability of existing AUVs. In the complex underwater environment, it can effectively improve the detection efficiency, achieve real-time performance, and also have high detection accuracy, so as to realize the real-time detection of underwater fishing nets by AUV in complex sea areas, and provide guarantee for AUV obstacle avoidance decision-making

Images