Deep sea underwater target detection method, device and equipment based on networking cooperation and medium

Abstract

The invention provides a deep sea underwater target detection method, device and equipment based on networking cooperation, and a medium, and relates to the field of deep sea fishing operation, and the method comprises the steps: building a detection network through cooperation of a plurality of fishing boats; flying a preset number of cross-medium aircrafts, capturing underwater target signals of the underwater target, enabling the cross-medium aircrafts to approach the underwater target according to the detection position information, and determining whether the underwater target is a fish school target or not and whether the fish school target is a fishing fish school type or not; enabling the cross-medium aircraft to continuously track the fish school target; acquiring a detection signal of the fish school target and marine environment information of the position of the fish school target, and determining whether the fish school target is suitable for fishing according to the marine environment information and the detection signal; determining proper fishing environment parameters according to the types of the fish school targets, establishing a fishing network, and guiding the fishing boat to perform fishing operation according to the fishing network. According to the method, the loss of the underwater target detection process in the single-ship fishing process is avoided, and the deep sea fishing efficiency and scientificity are improved.

Description

Technical Field

[0001] The present invention relates to the field of deep-sea fishing operations, and in particular to a deep-sea underwater target detection method, device, equipment and medium based on networking and coordination. Background Art

[0002] Deep-sea fish species are usually characterized by long lifespan, low fertility and slow growth, and these deep-sea fish are susceptible to overfishing. In order to avoid overfishing of deep-sea fish, exceeding the limit that the marine ecosystem can balance and compensate, and thus leading to the degradation of the entire marine ecosystem, selective fishing is required during deep-sea fishing operations. Therefore, auxiliary equipment that can detect the type of fish, individual size and age of fish and assist fishing is necessary. These auxiliary equipment can guide operators or equipment to selectively catch mature fish, avoid catching fish in the breeding period and fish that have not yet matured, which has far-reaching significance and social value for protecting marine species, maintaining ecological balance and avoiding overfishing.

[0003] At present, when a single search fishing boat is used to detect underwater targets, the position coordinates of the underwater targets are marked with the fishing boat itself as the coordinate system. However, due to the limited detection range of a single search fishing boat, underwater detection in large sea areas has great limitations. When the sea area is large, the detection range of a single fishing boat cannot completely cover the exploration area, resulting in detection blind spots, which affects both fishing efficiency and scientific deep-sea fishing.

[0004] Therefore, it is necessary to provide a more efficient and scientific deep-sea fishing method that can cope with the above situation. Summary of the invention

[0005] In view of this, the present invention proposes a deep-sea underwater target detection method, device, equipment and medium based on networking and coordination to solve the problem of lack of efficiency in deep-sea fishing operations performed by a single vessel.

[0006] The technical solution of the present invention is achieved in this way:

[0007] According to a first aspect, an embodiment of the present invention provides a deep-sea underwater target detection method based on networking collaboration, the method comprising:

[0008] Establish a detection network with multiple fishing vessels working together, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel;

[0009] The fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information to determine whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught;

[0010] When the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the target fish until the distance to the target fish is always within a preset range;

[0011] Obtaining detection signals of fish school targets and ocean environment information of the location of the fish school targets, and determining whether the fish school targets are suitable for fishing based on the ocean environment information and the detection signals;

[0012] When it is determined to be suitable for fishing, suitable fishing environment parameters are determined according to the type of fish target, and the cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides fishing vessels to carry out fishing operations based on the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

[0013] In combination with the first aspect, in the first implementation of the first aspect, the method of establishing a detection network by cooperating with multiple fishing vessels, determining a central fishing vessel of the detection network, and establishing a detection coordinate system with the central fishing vessel specifically includes:

[0014] A detection network is established by cooperating with multiple fishing vessels, and the fishing vessel corresponding to the geometric center of the detection network is used as the central fishing vessel;

[0015] A detection coordinate system is established with the physical position of the central fishing boat as the origin, and the first position information of each fishing boat in the detection coordinate system is determined.

[0016] In combination with the first aspect, in a second implementation of the first aspect, the fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information and determines whether the underwater target is a fish school target and whether the fish school target is a catchable fish species, specifically including:

[0017] Each fishing vessel releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets;

[0018] According to the fishing boat corresponding to the underwater target signal, the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system is determined;

[0019] According to the detection position information, the cross-medium aircraft is ordered to approach the underwater target, and the underwater target is detected by the cross-medium aircraft. According to the detection signal obtained by the cross-medium aircraft, it is determined whether the underwater target is a fish school target and whether the fish school target is a catchable fish species.

[0020] In combination with the second implementation of the first aspect, in the third implementation of the first aspect, obtaining the detection signal of the fish school target and the ocean environment information of the location of the fish school target, and determining whether the fish school target is suitable for fishing based on the ocean environment information and the detection signal specifically includes:

[0021] Acquire the detection signal of the fish school target and the ocean environment information where the fish school target is located, and extract the soundprint image information of the fish school from the detection signal acquired by the cross-medium aircraft;

[0022] Determine whether the fish school target is suitable for fishing based on the marine environment information and voiceprint image information.

[0023] In combination with the third implementation of the first aspect, in the fourth implementation of the first aspect, determining whether the fish school target is suitable for fishing based on the marine environment information and the voiceprint image information specifically includes:

[0024] The trained voiceprint image recognition model is used to identify the voiceprint image information and obtain the type of the fish target. The voiceprint image recognition model is obtained by using the sample voiceprint image information of fish of known target species as the input data for training and the target species of fish as the label for training, and is trained using the supervised learning method in machine learning.

[0025] Determine whether the target fish school is suitable for fishing based on marine environmental information and species.

[0026] In combination with the first embodiment of the first aspect, in the fifth embodiment of the first aspect, when determining that it is suitable for fishing, determining suitable fishing environment parameters according to the type of fish target, the cross-medium aircraft cooperates to establish a fishing network according to the suitable fishing environment parameters, and guiding the fishing boat to perform fishing operations according to the fishing network, specifically includes:

[0027] When it is determined that the area is suitable for fishing, determine the appropriate fishing environment parameters based on the type of fish target;

[0028] The cross-medium aircraft responsible for tracking the fish school targets searches for a suitable fishing area that matches the suitable fishing environment parameters according to the suitable fishing environment parameters;

[0029] When a suitable fishing area is found, the cross-medium aircraft released by the fishing vessel gathers to the suitable fishing area and disperses with the suitable fishing area as the center until the detection range formed by the cross-medium aircraft covers the entire suitable fishing area;

[0030] The motion trajectory of the fish school target is obtained, and the predicted trajectory of the fish school target is obtained based on the motion trajectory, and the fishing boat for fishing operation is determined based on the motion trajectory.

[0031] In combination with the fifth implementation of the first aspect, in the sixth implementation of the first aspect, obtaining the motion trajectory of the fish school target, obtaining the predicted trajectory of the fish school target according to the motion trajectory, and determining the fishing boat performing the fishing operation according to the motion trajectory specifically includes:

[0032] The movement trajectory of the fish school target is obtained by using a cross-medium aircraft responsible for tracking the fish school target;

[0033] Obtaining second position information of a suitable fishing area in a detection coordinate system, third position information of a cross-medium aircraft responsible for tracking fish school targets in the detection coordinate system, fourth position information of the fish school targets relative to the cross-medium aircraft, and fifth coordinate information of the fish school targets relative to the cross-medium aircraft in the suitable fishing area, and fitting a predicted trajectory based on the motion trajectory and the second to fifth position information;

[0034] Based on the first position information and predicted trajectory of each fishing vessel, a target fishing vessel for fishing operations is determined.

[0035] According to the second aspect, an embodiment of the present invention further provides a deep-sea underwater target detection device based on networking collaboration, the device comprising:

[0036] The first networking module is used to establish a detection network with multiple fishing vessels in coordination, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel;

[0037] The fish school detection module is used to release a preset number of cross-medium aircraft through fishing boats and capture underwater target signals of underwater targets, determine the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and make the cross-medium aircraft approach the underwater target according to the detection position information and determine whether the underwater target is a fish school target and whether the fish school target is a catchable fish species;

[0038] The fish school tracking module, when determining the type of fish school to be caught, causes the cross-medium aircraft to continuously track the fish school target until the distance to the fish school target is always within a preset range;

[0039] The fishing judgment module is used to obtain the detection signal of the fish school target and the marine environment information where the fish school target is located, and determine whether the fish school target is suitable for fishing based on the marine environment information and the detection signal;

[0040] The second networking module is used to determine suitable fishing environment parameters according to the type of fish target when it is determined that it is suitable for fishing. The cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides fishing vessels to carry out fishing operations based on the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

[0041] According to the third aspect, an embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the deep-sea underwater target detection method based on networking collaboration as described in any one of the above are implemented.

[0042] According to the fourth aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described deep-sea underwater target detection methods based on networking collaboration.

[0043] According to the fifth aspect, an embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the deep-sea underwater target detection method based on networking collaboration as described in any of the above items.

[0044] The deep-sea underwater target detection method, device, equipment and medium based on networking collaboration of the present invention have the following beneficial effects compared with the prior art:

[0045] By using a network of multiple fishing vessels to coordinate and cooperate, the loss of underwater target detection process that may occur in single-vessel fishing operations is avoided. A cross-medium aircraft with advantages such as high-speed cruising, high maneuverability, long-term endurance, and concealed penetration is used to continuously track the underwater targets detected by the corresponding fishing vessels. The cross-medium aircraft is then used to determine whether the underwater target is a fish school target, whether the fish school target is a species of fish to be caught, and whether the species of fish to be caught is suitable for fishing. In the above process, underwater targets that may be fish schools to be caught are tracked as much as possible for the first judgment. It determines whether it is a fish school target and whether it is the type of fish to be fished. If it is determined to be the type of fish to be fished, it will make a second judgment to determine whether it is suitable for fishing. If it is determined to be suitable for fishing, it will provide feedback to the fishing boat to guide the fishing boat to make a decision on fishing. Through the coordinated cooperation of multiple cross-media aircraft networks, a fishing network is established to guide the fishing boat to carry out fishing operations, so as to achieve the goal of catching fish as soon as they appear, and the fishing method is for the fishing boat to wait for the opportunity to catch, which improves the efficiency and scientificity of deep-sea fishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 It is a flow chart of a method for detecting deep-sea underwater targets based on networking and coordination according to the present invention;

[0048] Figure 2 Another schematic diagram of the process of the deep-sea underwater target detection method based on networking and coordination of the present invention;

[0049] Figure 3 A schematic diagram of constructing a detection coordinate system in the deep-sea underwater target detection method based on networking and coordination of the present invention;

[0050] Figure 4 It is a schematic diagram of obtaining underwater target position information in the deep sea underwater target detection method based on networking cooperation of the present invention;

[0051] Figure 5 It is a schematic diagram of using a voiceprint image recognition model to perform type recognition in the deep-sea underwater target detection method based on networking collaboration of the present invention;

[0052] Figure 6 It is a schematic diagram of searching and covering suitable fishing areas in the deep-sea underwater target detection method based on networking and coordination of the present invention;

[0053] Figure 7 A schematic diagram of predicting fish school trajectories in a deep-sea underwater target detection method based on networking and coordination according to the present invention;

[0054] Figure 8 It is a schematic diagram of a process of guiding a fishing boat corresponding to a cross-medium aircraft responsible for tracking to perform fishing operations in the deep-sea underwater target detection method based on networking coordination of the present invention;

[0055] Fig. 9 It is a schematic diagram of the process of guiding other fishing boats to perform fishing operations in the deep-sea underwater target detection method based on networking and coordination of the present invention;

[0056] Fig.10 It is a schematic diagram of the overall process of guiding fishing boats to fish in the deep-sea underwater target detection method based on networking and coordination of the present invention;

[0057] Fig.11 It is a structural schematic diagram of a deep-sea underwater target detection device based on networking and coordination according to the present invention;

[0058] Fig.12 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Deep-sea fish species are usually characterized by long lifespan, low fertility and slow growth, and these deep-sea fish are susceptible to overfishing. In order to avoid overfishing of deep-sea fish, exceeding the limit that the marine ecosystem can balance and compensate, and thus leading to the degradation of the entire marine ecosystem, selective fishing is required during deep-sea fishing operations. Therefore, auxiliary equipment that can detect the type of fish, individual size and age of fish and assist fishing is necessary. These auxiliary equipment can guide operators or equipment to selectively catch mature fish, avoid catching fish in the breeding period and fish that have not yet matured, which has far-reaching significance and social value for protecting marine species, maintaining ecological balance and avoiding overfishing.

[0061] At present, when a single search fishing boat is used to detect underwater targets, the position coordinates of the underwater targets are marked with the fishing boat itself as the coordinate system. However, due to the limited detection range of a single search fishing boat, underwater detection in large sea areas has great limitations. When the sea area is large, the detection range of a single fishing boat cannot completely cover the exploration area, resulting in detection blind spots, which affects both fishing efficiency and scientific deep-sea fishing.

[0062] Therefore, it is necessary to provide a more efficient and scientific deep-sea fishing method that can cope with the above situation.

[0063] The deep-sea underwater target detection method based on networking and coordination provided in this specification can be applied to electronic devices with deep-sea fishing operation capabilities, aiming to carry out fishing through networking and coordination, avoiding the loss of underwater target detection process of single-boat fishing, thereby improving the efficiency and scientificity of deep-sea fishing. The electronic device may include a notebook, a desktop computer, a smart phone, an intelligent wearable device (virtual reality glasses, smart watches, etc.), a tablet computer, etc. Of course, the deep-sea underwater target detection method based on networking and coordination provided in this specification can also be applied to applications running in the above-mentioned electronic devices. For example, the control method of the automatic driving can be applied to a browser with deep-sea fishing operations, and can also be applied to the corresponding deep-sea fishing operation software.

[0064] See also Figure 1 , Figure 1 A flowchart of a deep-sea underwater target detection method based on networking collaboration according to an embodiment of the present invention is shown. The method may include the following steps:

[0065] S101. Establish a detection network by cooperating with multiple fishing vessels, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel.

[0066] When a single-search fishing boat is used to detect underwater targets, the position coordinates of the underwater targets are marked with the fishing boat itself as the coordinate system. However, since the detection range of a single-search fishing boat, that is, the detection range R is limited, it has great limitations for underwater detection in large sea areas. When the sea area is large, the detection range of a single fishing boat cannot completely cover the exploration area, resulting in a detection blind spot.

[0067] In this embodiment, in combination with the multi-boat linkage and collective fishing operations of fishermen, multiple fishing boats are networked and coordinated to detect underwater targets. By grouping multiple fishing boats to establish a detection network and a unified detection coordinate system, the detection and tracking of underwater targets in a large area of ​​water and the trajectory prediction in the blind area of ​​the network are completed. The predicted underwater target motion trajectory can guide the fishing boats corresponding to the fishing boat search area that may pass through the predicted trajectory to strengthen the detection of specific areas, so that the fishing species can be caught as soon as they appear, and the fishing boat can remain in a static position until the fishing is confirmed, so as to meet the needs of deep-sea fishing. At the same time, the fishing boat can find the closest point to the predicted path by optimizing the search path, thereby reducing the target loss time.

[0068] S102. The fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets. The detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system is determined based on the fishing boat corresponding to the underwater target signal. The cross-medium aircraft is ordered to approach the underwater target based on the detection position information and determine whether the underwater target is a fish school target and whether the fish school target is a catchable fish species.

[0069] In this embodiment, a cross-medium aircraft is used as a swimming detection equipment. The cross-medium aircraft is a new type of aircraft that can switch freely in the air and underwater. It has the advantages of high-speed cruising, high maneuverability, long-term endurance, and concealed penetration. That is, the cross-medium aircraft is an aircraft that combines unmanned aerial vehicle technology and unmanned submarine technology. It can move flexibly in water and air, two completely different fluid media. The cross-medium aircraft relies on its aerial flight advantage to approach the target position at a very fast speed above the water surface through a highly maneuverable flying method, and can dive underwater in cross-medium operations. The carrier platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft also has a corresponding fishing boat.

[0070] Among them, each fishing boat can carry multiple cross-medium aircraft, and when the cross-medium aircraft is not working, it can be replenished by the onboard energy of the fishing boat to carry out the next batch of operations, thereby realizing efficient utilization of the cross-medium aircraft.

[0071] By binding fishing boats and the aircrafts they carry, for example, the cross-medium aircrafts corresponding to fishing boat No. 1 are No. 1-1, No. 1-2, etc., the cross-medium aircrafts corresponding to fishing boat No. 2 are No. 2-1, No. 2-2, etc., and so on, the cross-medium aircrafts corresponding to fishing boat No. n are No. n-1, No. n-2, etc. In the underwater target detection process of deep-sea fishing operations, when a fishing boat obtains an underwater target signal, it will release several cross-medium aircrafts on board to approach the underwater target at the source of the underwater target signal. When the distance between a cross-medium aircraft and the underwater target is within a preset range, the cross-medium aircraft is used to detect whether the underwater target is a fish school target and whether the fish school target is a fish school species to be fished. Other cross-medium aircrafts released and put into the water assist in completing the tracking of the fish school target as a fish school species to be fished and determining the depth information with the fish school target, and timely correct the prediction of the depth position of the fish school target.

[0072] In this embodiment, the cross-media aircraft is equipped with an altitude sensor, a depth sensor, a humidity sensor (including a front humidity sensor at the front end of the cross-media aircraft and a rear humidity sensor at the rear end), a six-component force sensor, a gyroscope sensor, an hydroacoustic sensor, a microgravity sensor, a vibration sensor, a micromagnetic sensor, an underwater communicator, an aerial communication module, and a Beidou sensor, etc.

[0073] The sensor components carried by the cross-media sensor are used to detect underwater targets, so as to determine whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught. Fishing will only be carried out if the school of fish is determined to be a school of fish to be caught.

[0074] It should be noted that when the underwater target is not a school of fish species, the tracking of the current underwater target is abandoned, and the underwater target signals emitted by other newly appeared underwater targets are obtained, and it is determined again whether the underwater target is a school of fish target and whether the school of fish target is a school of fish species, so as to carry out continuous deep-sea fishing operations.

[0075] S103: When it is determined that the fish species is to be caught, the cross-medium aircraft is instructed to continuously track the fish target until the distance to the fish target is always within a preset range.

[0076] It is understandable that when the underwater targets are schools of fish, they are constantly moving. Therefore, even if the distance between the cross-medium aircraft and the underwater target is within the preset range, it is still necessary to continue to move underwater to keep the distance between the cross-medium aircraft and the underwater target always within the preset range.

[0077] S104, obtaining a detection signal of the fish school target and ocean environment information of the location of the fish school target, and determining whether the fish school target is suitable for fishing based on the ocean environment information and the detection signal.

[0078] After determining the location of the target fish species, since the movement of fish is affected by ocean currents, fish have the habit of survival and migration, such as foraging along the direction of ocean currents. At the same time, since the species of fish is detected, the possible movement behavior of the fish can be comprehensively analyzed through the living habits of the fish and combined with the local marine environment information, such as temperature, current direction, wind direction, latitude, etc., to predict the possible movement trajectory of the fish.

[0079] In this embodiment, the ocean environment information can be captured by a cross-media aircraft that is equipped with various sensors and continuously tracks fish school targets.

[0080] S105. When it is determined that the area is suitable for fishing, suitable fishing environment parameters are determined according to the type of fish target, and the cross-medium aircraft cooperates with each other to establish a fishing network according to the suitable fishing environment parameters, and guides the fishing boat to perform fishing operations according to the fishing network.

[0081] In this embodiment, the suitable fishing environment parameters include: water depth, water temperature, longitude and latitude, and ocean current environment, etc. Based on the living habits of the known target fish species and the actual geographical environment, the suitable fishing environment parameters corresponding to each fish are generated, and a fish suitable living and activity area environment database can be established to store the generated suitable fishing environment parameters.

[0082] According to these suitable fishing environment parameters, in this embodiment, a network of several cross-medium aircrafts released by fishing boats is used to coordinate and cooperate to obtain a hypothetical regular activity area of ​​fish schools, which is a suitable fishing area. The suitable fishing area is used to guide nearby fishing boats to perform fishing operations in a wait-and-see manner.

[0083] The deep-sea underwater target detection method based on networking and coordination of the present invention utilizes the networking and coordination of multiple fishing vessels to avoid the loss of underwater target detection process that may exist in single-boat fishing operations, and utilizes a cross-medium aircraft with the advantages of high-speed cruising, high maneuverability, long-term endurance, concealed penetration, etc. to continuously track the underwater target detected by the corresponding fishing vessel, and then utilizes the cross-medium aircraft to determine whether the underwater target is a fish school target, whether the fish school target is a type of fish school to be caught, and whether the type of fish school to be caught is suitable for fishing. In the above process, the fish school that may be to be caught is tracked as much as possible. The system makes a first judgment on the underwater target to determine whether it is a fish school target and whether it is the type of fish to be caught. If it is determined to be the type of fish to be caught, it makes a second judgment to determine whether it is suitable for fishing. If it is determined to be suitable for fishing, it provides feedback to the fishing boat to guide the fishing boat to make a fishing decision. Through the coordinated cooperation of multiple cross-media aircraft networks, a fishing network is established to guide the fishing boat to carry out fishing operations, so as to achieve the goal of catching fish as soon as they appear, and the fishing method is for the fishing boat to wait for the opportunity to catch, which improves the efficiency and scientificity of deep-sea fishing.

[0084] See also Figure 2 and Figure 3 , the method may further include the following steps:

[0085] S2011. A detection network is established by cooperating with multiple fishing vessels, and the fishing vessel corresponding to the geometric center of the detection network is used as the central fishing vessel.

[0086] S2022: Establish a detection coordinate system with the physical position of the central fishing boat as the origin, and determine the first position information of each fishing boat in the detection coordinate system. The first position information is the position information of a certain fishing boat relative to the central fishing boat.

[0087] A plane rectangular coordinate system (0, 0) is established with the physical position of the central fishing boat as the origin, the heading is 0°, the Y axis is established in the north, and the X axis is established in the east. In this way, the position coordinates of the remaining fishing boats are (x1, y1), (x2, y2), (x3, y3), (x4, y4), etc. Since the position information obtained by sensors such as sonar after searching for targets often only contains azimuth and distance, these azimuth and distance information can be regarded as polar coordinates. Assuming that the coordinates of fishing boat No. 1 are (x1, y1), the position of the underwater target detected is: distance M, azimuth N, then the position calculation result of the underwater target is (x1+MsinN, y1+McosN).

[0088] S202, the fishing boat releases a preset number of cross-medium aircraft and obtains underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information and determines whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught. For details, refer to step S102.

[0089] S203: If the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the school of fish until the distance to the school of fish is always within a preset range. For details, refer to step S103.

[0090] S204, obtaining the detection signal of the fish school target and the ocean environment information of the location of the fish school target, and determining whether the fish school target is suitable for fishing based on the ocean environment information and the detection signal. For details, refer to step S104.

[0091] S205: When it is determined that the fishing is suitable, suitable fishing environment parameters are determined according to the type of the fish school target, and the cross-medium aircraft cooperates to establish a fishing network according to the suitable fishing environment parameters, and guides the fishing boat to perform fishing operations according to the fishing network. For details, refer to step S105.

[0092] See also Figure 4 , the method may further include the following steps:

[0093] S301, multiple fishing boats cooperate to establish a detection network, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat. For details, refer to step S101.

[0094] S3021. Each fishing vessel releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets.

[0095] In order to prevent the fish from being disturbed by other swimming objects in the water approaching the school of fish, in this embodiment, the cross-medium aircraft is released from a fishing boat and dives into the water near the school of fish to track the target. Through a low-power detection sensor, it detects underwater targets within a preset range. After detecting that the target is a school of fish, it tracks the target of the school of fish in a maneuverable manner and becomes a mark of the school of fish.

[0096] S3022. Determine the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal.

[0097] Through the detection coordinate system constructed by the collaborative cooperation of fishing boats, when a fishing boat obtains an underwater target signal, it can determine the specific coordinate position of the underwater target at the source of the underwater target signal in the detection coordinate system, and then obtain the detection position information.

[0098] It should be noted that, since the fish school is constantly moving, the detection position information of the underwater target in the detection coordinate system needs to be updated in real time.

[0099] Fishing boats equipped with towed detection equipment and cross-media aircraft equipped with swimming equipment form a three-dimensional underwater detection space. This underwater detection space can cover multi-depth and multi-position detection data, has the ability to simultaneously detect fish schools at different depths and positions, and complete the coordinate positioning of underwater targets in the depth direction, thereby determining the precise position of underwater targets through a combination of multi-dimensional information.

[0100] Since the cross-medium aircraft has the functions of tracking, small-range detection and intermittently replying position and depth information, and considering the operating time of the cross-medium aircraft, in order to reduce power consumption, the cross-medium aircraft transmits its own position information to the corresponding fishing boat once at intervals to assist the fishing boat in completing the correction of the predicted trend of fish movement.

[0101] S3023. Order the cross-medium aircraft to approach the underwater target according to the detection position information, use the cross-medium aircraft to detect the underwater target, and determine whether the underwater target is a fish school target and whether the fish school target is a catchable fish species according to the detection signal obtained by the cross-medium aircraft.

[0102] Specifically, by using the gravity sensor and micro-magnetic sensor and other sensor components carried by the cross-medium aircraft, the current gravity value obtained by the cross-medium aircraft is compared with the gravity value of the gravity field, so that the positioning information of the cross-medium aircraft, that is, the underwater distance between the cross-medium aircraft and the underwater target, can be obtained. While obtaining the positioning information of the cross-medium aircraft itself, the cross-medium aircraft is also used to detect whether the underwater target is a fish school target and whether the fish school target is a fishing fish species. The above detection process mainly relies on the vibration sensor carried by the cross-medium aircraft to detect the underwater vibration signal, and then separate different signal sources, compare with the signal sources already stored in the database, distinguish the types of different signal sources, and judge whether the signal source is a fishing fish species. If it is a fishing fish species, the underwater communication device carried by the cross-medium aircraft sends the position of the underwater target signal generated by the fishing fish target to the signal receiving end of the fishing boat. The signal receiving end completes the cross-medium communication through the signal cable connected to the ship, and realizes the detection and continuous tracking of the fishing fish target.

[0103] It should be noted that cross-media aircraft establish communication links with each other, and the communication links are connected to the corresponding fishing boats, so that the data processing center of the fishing boat can receive all the data acquired by the cross-media aircraft it releases, and perform various data processing on these data according to needs, so as to realize the sharing and comprehensive processing of the information acquired by the cross-media aircraft. In this way, cross-media aircraft can be used to detect and continuously track the fishing fish targets, and cross-media aircraft can also be used to expand the detection range of the corresponding fishing boats, further expanding the detection range during fishing operations.

[0104] The process of the above-mentioned cross-medium aircraft approaching the underwater target is: through the detection position information of the underwater target updated in real time by the fishing boat, the cross-medium aircraft enters the water from above the underwater target, and quickly adjusts the distance between them to within the preset range after entering the water.

[0105] Through such tracking method, after completing the positioning of the underwater target based on the detection coordinate system, the two-dimensional coordinates of the cross-medium aircraft and the underwater target are overlapped through navigation. When the positions are close, the cross-medium aircraft is taken into water, and the sound and vibration signals emitted by the underwater target are detected by the detector carried by the cross-medium aircraft. The depth is continuously descended. When the approximate depth predicted by the towed sensor equipment is reached, the low-power equipment is turned on to detect in a small range. Because the cross-medium aircraft is closer to the underwater target than the fishing boat, the relative position relationship is more accurate. The relative position relationship coordinates between the underwater target and the cross-medium aircraft and the detailed position coordinates between the cross-medium aircraft and the fishing boat are superimposed to obtain more accurate position information of the underwater target.

[0106] At the same time, taking into account the comprehensive utilization of the energy of cross-media aircraft, in the present embodiment, only one of the cross-media aircraft will be ordered to detect and track one of the underwater targets. For example, fishing boat No. 1 detects three underwater target signals, and cross-media aircraft No. 1-1 is ordered to track the underwater target corresponding to the first underwater target signal, and cross-media aircraft No. 1-2 is ordered to track the underwater target corresponding to the second underwater target signal, and cross-media aircraft No. 1-3 is ordered to track the underwater target corresponding to the last underwater target signal. The other cross-media aircraft released by fishing boat No. 1 perform cruising missions. These cross-media aircraft can assist cross-media aircraft No. 1-1, No. 1-2 and No. 1-3 in tracking underwater targets and assist the fishing boat in accurately locating underwater targets.

[0107] S303: If the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the school of fish until the distance to the school of fish is always within a preset range. For details, refer to step S103.

[0108] S304, obtaining the detection signal of the fish school target and the ocean environment information of the location of the fish school target, and determining whether the fish school target is suitable for fishing based on the ocean environment information and the detection signal. For details, refer to step S104.

[0109] S305: When it is determined that it is suitable for fishing, suitable fishing environment parameters are determined according to the type of fish target, and the cross-medium aircraft cooperates to establish a fishing network according to the suitable fishing environment parameters, and guides the fishing boat to perform fishing operations according to the fishing network. For details, refer to step S105.

[0110] See also Figure 5 , the method may further include the following steps:

[0111] S401, establish a detection network with multiple fishing boats in coordination, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat. For details, refer to step S101.

[0112] S402, the fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information and determines whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught. For details, refer to step S102.

[0113] S403: If the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the school of fish until the distance to the school of fish is always within a preset range. For details, refer to step S103.

[0114] S4041. Acquire the detection signal of the fish school target and the ocean environment information where the fish school target is located, and extract the voiceprint image information of the fish school from the detection signal acquired by the cross-medium aircraft.

[0115] In this embodiment, the voiceprint image information is the acoustic characteristic information of the fish school. Different fish have different sound types and sound frequencies, and their corresponding sound signals will also be different. By judging the sound emitted by the fish school as characteristic information, the size and age of the fish in the fish school can be judged, that is, whether the fish school target as the fishing fish species is suitable for fishing.

[0116] S4042. Determine whether the fish school target is suitable for fishing based on the marine environment information and the voiceprint image information.

[0117] Step S402 is used to track each underwater target that may be a school of fish to be caught. Considering the calculation process and the actual fishing operation, it is necessary to track the underwater targets that may be the school of fish to be caught as much as possible in step S402. In step S4042, it is necessary to determine whether it is suitable for fishing. Different from determining whether the fish school target is a type of fish to be caught in step S402, step S4041 is an accurate judgment based on the detection signal. More specifically, first determine the type of the detection signal, for example, whether the detection signal is a marine noise signal, a regular vibration signal, an irregular vibration signal or other signals, and eliminate the noise signal in the detection signal. In this way, voiceprint image information will be obtained. Then, by comparing the extracted voiceprint image information with the data source sound signal in the database, the type of the data source is determined, and then the type of marine biological target that sends the signal is distinguished.

[0118] In this embodiment, the above recognition process is performed through the trained voiceprint image recognition model. First, the known target species of fish and the corresponding sample voiceprint image information are marked and trained as a database to form a voiceprint image recognition model based on a neural network. When the cross-medium aircraft collects detection signals underwater and extracts the rear voiceprint image information, the voiceprint image information is recognized using the voiceprint image recognition model to determine what kind of signal source the voiceprint image belongs to, and then determine the type of signal source.

[0119] The voiceprint image recognition model is trained based on sample voiceprint image information of known target species of fish. More specifically, sample voiceprint images of known target species of fish are first obtained, the sample image voiceprint information is used as input data for training, and the target species of fish are used as labels for training. Supervised learning methods in machine learning are used for training to obtain a voiceprint image recognition model.

[0120] In particular, if the voiceprint image recognition model fails to identify the type of signal source, according to specific mission requirements, the cross-media aircraft can be ordered to record the voiceprint, track the unknown data source, complete the type identification and transmit it back, and further train the voiceprint image recognition model. At the same time, considering the possible emergence of new marine species, in this case, the cross-media aircraft is ordered to continuously track the fish school target of the location data source and conduct continuous monitoring.

[0121] In this embodiment, deep-sea fish have their corresponding distribution and habits. For example, tuna feed on large zooplankton and various fish. Tuna usually move in the surface sea at a speed of 3-8 nautical miles per hour. Large sharks often follow the school of fish to hunt them. When the school of fish is frightened, it often jumps out of the water to escape from the enemy. Since adult tuna have the habit of appearing on the surface at night, the best fishing conditions are currently on moonlit nights. Based on the voiceprint image information and the marine environment information, the type and individual size of the school of fish can be accurately determined.

[0122] For example, if the target fish is determined to be adult tuna, you can focus on the waters where tuna are found near 30° north latitude in the Pacific Ocean at night, and look for surface waters with a temperature of 22°C as the fishing area.

[0123] S405: When it is determined that the fishing is suitable, suitable fishing environment parameters are determined according to the type of the fish school target, and the cross-medium aircraft cooperates to establish a fishing network according to the suitable fishing environment parameters, and guides the fishing boat to perform fishing operations according to the fishing network. For details, refer to step S105.

[0124] See also Figure 6 , Figure 7 and Figure 8 , the method may further include the following steps:

[0125] S501, establish a detection network with multiple fishing boats in coordination, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat. For details, refer to step S101.

[0126] S502, the fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information and determines whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught. For details, refer to step S102.

[0127] S503: If the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the school of fish until the distance to the school of fish is always within a preset range. For details, refer to step S103.

[0128] S504, obtaining the detection signal of the fish school target and the ocean environment information of the location of the fish school target, and determining whether the fish school target is suitable for fishing based on the ocean environment information and the detection signal. For details, refer to step S104.

[0129] S5051. When it is determined that the fishing environment is suitable, determine the appropriate fishing environment parameters according to the type of target fish.

[0130] S5052. The cross-medium aircraft responsible for tracking the fish school target searches for a suitable fishing area that matches the suitable fishing environment parameters based on the suitable fishing environment parameters.

[0131] For example, through the water temperature parameters in the suitable fishing environment parameters, the cross-medium aircraft determines the sea water depth corresponding to the suitable temperature, and the cross-medium aircraft continuously expands the depth range to the shallow surface layer and the deep layer to find the depth range suitable for fishing. Combined with the direction of ocean currents, longitude and latitude and other parameters, it is judged that the suitable water temperature area detected by the aircraft is in the relative position of the tuna infestation area, and then finds the suitable fishing area that matches the suitable fishing environment parameters.

[0132] S5053. When it is determined that a suitable fishing area has been found, the cross-medium aircraft released by the fishing vessel gather in the suitable fishing area and disperse with the suitable fishing area as the center until the detection range formed by the cross-medium aircraft together covers the entire suitable fishing area.

[0133] After the cross-medium aircraft responsible for tracking the fish school target finds a suitable fishing area, the corresponding fishing boats, such as other cross-medium aircraft that have been released by fishing boat No. 1, will gather to the aircraft area that has found a suitable fishing area, and spread out with this suitable fishing area as the center until the detection range formed by the cross-medium aircraft together covers all suitable fishing areas, and a suitable spatial area is determined. The length, width and depth range of the suitable spatial area are determined by the suitable fishing area, and the suitable fishing area formed by the coordinated cooperation of the cross-medium aircraft network is used to guide the fishing boats to carry out fishing operations. At the same time, because the detection range formed by the cross-medium aircraft together covers all suitable fishing areas, it can better track the fish school and assist in fishing.

[0134] S5054: Obtain the motion trajectory of the fish school target, and obtain the predicted trajectory of the fish school target based on the motion trajectory, and determine the fishing boat for fishing operations based on the motion trajectory.

[0135] Specifically, the motion trajectory of the fish target is first obtained by using a cross-medium aircraft responsible for tracking the fish target, and then the second position information of the suitable fishing area in the detection coordinate system, the third position information of the cross-medium aircraft responsible for tracking the fish target in the detection coordinate system, the fourth position information of the fish target relative to the cross-medium aircraft, and the fifth coordinate information of the fish target relative to the cross-medium aircraft in the suitable fishing area are obtained. According to the motion trajectory and the second to fifth position information, the predicted trajectory is fitted.

[0136] Afterwards, the target fishing vessel for the fishing operation is determined in combination with the first position information of each fishing vessel, that is, which fishing vessel is to be used for the fishing operation is determined.

[0137] The following are actual explanations through different scenarios, such as Fig. 9 As shown, when the suitable fishing area is within the detection range of the fishing boat corresponding to the cross-medium aircraft currently responsible for tracking, such as fishing boat No. 1 (that is, the fishing operation area of ​​fishing boat No. 1), the second position information of the suitable fishing area in the detection coordinate system is first obtained, and then the third position information of the cross-medium aircraft responsible for tracking the fish school target in the detection coordinate system, the fourth position information of the fish school target relative to the cross-medium aircraft, and the fifth coordinate information of the fish school target relative to the cross-medium aircraft in the suitable fishing area are comprehensively processed to obtain a comprehensive position information, which can better reflect the area of ​​the detected real-time fish school than a single position information parameter, and then Then, the second position information is compared with the comprehensive position information, and the relative position relationship between the coordinate information is compared to infer whether the fish school is currently located in the center or the edge of the suitable fishing area. Since the fish school target has a cross-medium aircraft that it has been responsible for continuously tracking, at this time, according to the movement trajectory of the fish school target obtained by the cross-medium aircraft, it is judged where the fish school target located at the center will move or whether the fish school target located at the edge will leave the suitable fishing area or move into the suitable fishing area. When it is determined that the fish school target will move in the suitable fishing area, fishing boat No. 1 is guided to perform corresponding fishing operations. When it is determined that the fish school target will leave the suitable fishing area, the operation is carried out as follows. Fig.10 The process shown is as follows Fig.10As shown in the figure, if the fish school target of a cross-medium aircraft released by fishing boat No. 1 is judged to be out of the suitable fishing area, other fishing boats in the direction of departure are notified according to the predicted trajectory of the fish school target. For example, if the movement trajectory of the fish school target is found to have a trend of moving northward, the fishing boats near the northward area can be notified to move in the direction of the fish school. In the entire northward area, fishing operations are prepared. When the fish school disappears from the detection range of a ship, the system predicts its movement route and predicts which fishing boat will appear in the monitoring range next time. The direction and speed of the fish school are grasped as much as possible, providing the fishing boats with sufficient preparation time. By judging the movement trend of the fish school, fishing is assisted. Since the cross-medium aircraft of the underwater network can achieve intermittent precise positioning, the information association between different positioning points can guide the fishing boats in the direction of the fish school to actively approach and carry out precise fishing operations.

[0138] The following describes an apparatus provided by an embodiment of the present invention. The apparatus described below and the method described above can refer to each other.

[0139] See also Fig.11 , Fig.11 The schematic diagram of the structure of a deep-sea underwater target detection device based on networking cooperation according to an embodiment of the present invention is shown. The device may include:

[0140] The first networking module 10 is used to establish a detection network with multiple fishing boats cooperating with each other, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat.

[0141] When a single-search fishing boat is used to detect underwater targets, the position coordinates of the underwater targets are marked with the fishing boat itself as the coordinate system. However, since the detection range of a single-search fishing boat, that is, the detection range R is limited, it has great limitations for underwater detection in large sea areas. When the sea area is large, the detection range of a single fishing boat cannot completely cover the exploration area, resulting in a detection blind spot.

[0142] In this embodiment, in combination with the multi-boat linkage and collective fishing operations of fishermen, multiple fishing boats are networked and coordinated to detect underwater targets. By grouping multiple fishing boats to establish a detection network and a unified detection coordinate system, the detection and tracking of underwater targets in a large area of ​​water and the trajectory prediction in the blind area of ​​the network are completed. The predicted motion trajectory of the underwater target can guide the fishing boats corresponding to the fishing boat search area that may pass through the predicted trajectory to strengthen the detection of specific areas, so that the fishing species can be caught as soon as they appear, and the fishing boats can remain static during the process to meet the needs of deep-sea fishing. At the same time, the fishing boats can find the closest point to the predicted path by optimizing the search path, thereby reducing the target loss time.

[0143] The fish school detection module 20 is used to release a preset number of cross-medium aircraft through a fishing boat and capture the underwater target signal of the underwater target, determine the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and make the cross-medium aircraft approach the underwater target according to the detection position information to determine whether the underwater target is a fish school target and whether the fish school target is a catchable fish species.

[0144] In this embodiment, a cross-medium aircraft is used as a swimming detection equipment. The cross-medium aircraft is a new type of aircraft that can switch freely in the air and underwater. It has the advantages of high-speed cruising, high maneuverability, long-term endurance, and concealed penetration. That is, the cross-medium aircraft is an aircraft that combines unmanned aerial vehicle technology and unmanned submarine technology. It can move flexibly in water and air, two completely different fluid media. The cross-medium aircraft relies on its aerial flight advantage to approach the target position at a very fast speed above the water surface through a highly maneuverable flying method, and can dive underwater in cross-medium operations. The carrier platform of the cross-medium aircraft is a fishing boat, each fishing boat is equipped with at least one cross-medium aircraft, and each cross-medium aircraft also has a corresponding fishing boat.

[0145] Among them, each fishing boat can carry multiple cross-medium aircraft, and when the cross-medium aircraft is not working, it can be replenished by the onboard energy of the fishing boat to carry out the next batch of operations, thereby realizing efficient utilization of the cross-medium aircraft.

[0146] By binding fishing boats and the aircrafts they carry, for example, the cross-medium aircrafts corresponding to fishing boat No. 1 are No. 1-1, No. 1-2, etc., the cross-medium aircrafts corresponding to fishing boat No. 2 are No. 2-1, No. 2-2, etc., and so on, the cross-medium aircrafts corresponding to fishing boat No. n are No. n-1, No. n-2, etc. In the underwater target detection process of deep-sea fishing operations, when a fishing boat obtains an underwater target signal, it will release several cross-medium aircrafts on board to approach the underwater target at the source of the underwater target signal. When the distance between a cross-medium aircraft and the underwater target is within a preset range, the cross-medium aircraft is used to detect whether the underwater target is a fish school target and whether the fish school target is a fish school species to be fished. Other cross-medium aircrafts released and put into the water assist in completing the tracking of the fish school target as a fish school species to be fished and determining the depth information with the fish school target, and timely correct the prediction of the depth position of the fish school target.

[0147] In this embodiment, the cross-media aircraft is equipped with an altitude sensor, a depth sensor, a humidity sensor (including a front humidity sensor at the front end of the cross-media aircraft and a rear humidity sensor at the rear end), a six-component force sensor, a gyroscope sensor, an hydroacoustic sensor, a microgravity sensor, a vibration sensor, a micromagnetic sensor, an underwater communicator, an aerial communication module, and a Beidou sensor, etc.

[0148] The sensor components carried by the cross-media sensor are used to detect underwater targets, so as to determine whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught. Fishing will only be carried out if the school of fish is determined to be a school of fish to be caught.

[0149] It should be noted that when the underwater target is not a school of fish species, the tracking of the current underwater target is abandoned, and the underwater target signals emitted by other underwater targets are obtained instead, and it is determined again whether the underwater target is a school of fish target and whether the school of fish target is a school of fish species, so as to carry out continuous deep-sea fishing operations.

[0150] The fish school tracking module 30 is used to make the cross-medium aircraft continuously track the fish school target when it is determined that the fish school is a fishing species, until the distance to the fish school target is always within a preset range.

[0151] It is understandable that when the underwater targets are schools of fish, they are constantly moving. Therefore, even if the distance between the cross-medium aircraft and the underwater target is within the preset range, it is still necessary to continue to move underwater to keep the distance between the cross-medium aircraft and the underwater target always within the preset range.

[0152] The fishing judgment module 40 is used to obtain the detection signal of the fish school target and the ocean environment information where the fish school target is located, and determine whether the fish school target is suitable for fishing based on the ocean environment information and the detection signal.

[0153] After determining the location of the target fish species, since the movement of fish is affected by ocean currents, fish have the habit of survival and migration, such as foraging along the direction of ocean currents. At the same time, since the species of fish is detected, the possible movement behavior of the fish can be comprehensively analyzed through the living habits of the fish and combined with the local marine environment information, such as temperature, current direction, wind direction, latitude, etc., to predict the possible movement trajectory of the fish.

[0154] In this embodiment, the ocean environment information can be captured by a cross-media aircraft that is equipped with various sensors and continuously tracks fish school targets.

[0155] The second networking module 50 is used to determine suitable fishing environment parameters according to the type of fish target when it is determined that it is suitable for fishing. The cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides the fishing boat to perform fishing operations based on the fishing network.

[0156] In this embodiment, suitable fishing environment parameters include: water depth, water temperature, longitude and latitude, and ocean current environment, etc.

[0157] According to these suitable fishing environment parameters, in this embodiment, a network of several cross-medium aircrafts released by fishing boats is used to coordinate and cooperate to obtain a hypothetical regular activity area of ​​fish schools, which is a suitable fishing area. The suitable fishing area is used to guide nearby fishing boats to perform fishing operations in a wait-and-see manner.

[0158] The deep-sea underwater target detection device based on networking and coordination of the present invention utilizes the networking and coordination of multiple fishing vessels to avoid the loss of underwater target detection process that may exist in single-boat fishing operations, and utilizes a cross-medium aircraft with the advantages of high-speed cruising, high maneuverability, long-term endurance, and concealed penetration to continuously track the underwater target detected by the corresponding fishing vessel, and then utilizes the cross-medium aircraft to determine whether the underwater target is a fish school target, whether the fish school target is a type of fish school to be fished, and whether the type of fish school to be fished is suitable for fishing. In the above process, the fish school that may be to be fished is tracked as much as possible. The system makes a first judgment on the underwater target to determine whether it is a fish school target and whether it is the type of fish to be caught. If it is determined to be the type of fish to be caught, it makes a second judgment to determine whether it is suitable for fishing. If it is determined to be suitable for fishing, it provides feedback to the fishing boat to guide the fishing boat to make a fishing decision. Through the coordinated cooperation of multiple cross-media aircraft networks, a fishing network is established to guide the fishing boat to carry out fishing operations, so as to achieve the goal of catching fish as soon as they appear, and the fishing method is for the fishing boat to wait for the opportunity to catch, which improves the efficiency and scientificity of deep-sea fishing.

[0159] Fig.12 An example of a physical structure diagram of an electronic device is shown in FIG. Fig.12 As shown, the electronic device may include: a processor 1210 (processor), a communication interface 1220 (Communications Interface), a memory 1230 (memory) and a communication bus 1240, wherein the processor 1210, the communication interface 1220, and the memory 1230 communicate with each other through the communication bus 1240. The processor 1210 may call the logic command in the memory 830 to execute a deep-sea underwater target detection method based on networking collaboration, the method comprising:

[0160] Establish a detection network with multiple fishing vessels working together, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel;

[0161] The fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information to determine whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught;

[0162] When the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the target fish until the distance to the target fish is always within a preset range;

[0163] Obtaining detection signals of fish school targets and ocean environment information of the location of the fish school targets, and determining whether the fish school targets are suitable for fishing based on the ocean environment information and the detection signals;

[0164] When it is determined to be suitable for fishing, suitable fishing environment parameters are determined according to the type of fish target, and the cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides fishing vessels to carry out fishing operations based on the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

[0165] In addition, the logic instructions in the above-mentioned memory 1230 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memor), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk.

[0166] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer can execute the deep-sea underwater target detection method based on networking collaboration provided by the above methods, the method comprising:

[0167] Establish a detection network with multiple fishing vessels working together, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel;

[0168] The fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information to determine whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught;

[0169] When the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the target fish until the distance to the target fish is always within a preset range;

[0170] Obtaining detection signals of fish school targets and ocean environment information of the location of the fish school targets, and determining whether the fish school targets are suitable for fishing based on the ocean environment information and the detection signals;

[0171] When it is determined to be suitable for fishing, suitable fishing environment parameters are determined according to the type of fish target, and the cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides fishing vessels to carry out fishing operations based on the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

[0172] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the above-mentioned methods for detecting deep-sea underwater targets based on networking collaboration, the method comprising:

[0173] Establish a detection network with multiple fishing vessels working together, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel;

[0174] The fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information to determine whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught;

[0175] When the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the target fish until the distance to the target fish is always within a preset range;

[0176] Obtaining detection signals of fish school targets and ocean environment information of the location of the fish school targets, and determining whether the fish school targets are suitable for fishing based on the ocean environment information and the detection signals;

[0177] When it is determined to be suitable for fishing, suitable fishing environment parameters are determined according to the type of fish target, and the cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides fishing vessels to carry out fishing operations based on the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

[0178] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A deep-sea underwater target detection method based on networking and coordination, characterized in that: The method comprises: Establish a detection network with multiple fishing vessels working together, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel; The fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information to determine whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught; When the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the target fish until the distance to the target fish is always within a preset range; Obtaining detection signals of fish school targets and ocean environment information of the location of the fish school targets, and determining whether the fish school targets are suitable for fishing based on the ocean environment information and the detection signals; When it is determined to be suitable for fishing, suitable fishing environment parameters are determined according to the type of fish target, and the cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides fishing vessels to carry out fishing operations based on the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

2. The deep-sea underwater target detection method based on networking and coordination as claimed in claim 1, characterized in that: The method of establishing a detection network by cooperating with multiple fishing vessels, determining a central fishing vessel of the detection network, and establishing a detection coordinate system with the central fishing vessel specifically includes: A detection network is established by cooperating with multiple fishing vessels, and the fishing vessel corresponding to the geometric center of the detection network is used as the central fishing vessel; A detection coordinate system is established with the physical position of the central fishing boat as the origin, and the first position information of each fishing boat in the detection coordinate system is determined.

3. The deep-sea underwater target detection method based on networking and coordination as claimed in claim 1, characterized in that: The fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines detection position information of underwater targets at the source of underwater target signals in a detection coordinate system according to the fishing boat corresponding to the underwater target signals, and makes the cross-medium aircraft approach the underwater targets according to the detection position information and determines whether the underwater targets are fish school targets and whether the fish school targets are types of fish schools to be caught, specifically including: Each fishing vessel releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets; According to the fishing boat corresponding to the underwater target signal, the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system is determined; According to the detection position information, the cross-medium aircraft is ordered to approach the underwater target, and the underwater target is detected by the cross-medium aircraft. According to the detection signal obtained by the cross-medium aircraft, it is determined whether the underwater target is a fish school target and whether the fish school target is a catchable fish species.

4. The deep-sea underwater target detection method based on networking and coordination as claimed in claim 3 is characterized in that: The obtaining of the detection signal of the fish school target and the ocean environment information of the location of the fish school target, and determining whether the fish school target is suitable for fishing based on the ocean environment information and the detection signal, specifically includes: Acquire the detection signal of the fish school target and the ocean environment information where the fish school target is located, and extract the soundprint image information of the fish school from the detection signal acquired by the cross-medium aircraft; Determine whether the fish school target is suitable for fishing based on the marine environment information and voiceprint image information.

5. The deep-sea underwater target detection method based on networking and coordination as claimed in claim 4 is characterized in that: Determining whether the fish school target is suitable for fishing based on the marine environment information and the voiceprint image information specifically includes: The trained voiceprint image recognition model is used to identify the voiceprint image information and obtain the type of the fish target. The voiceprint image recognition model is obtained by using the sample voiceprint image information of fish of known target species as the input data for training and the target species of fish as the label for training, and is trained using the supervised learning method in machine learning. Determine whether the target fish school is suitable for fishing based on marine environmental information and species.

6. The deep-sea underwater target detection method based on networking and coordination as claimed in claim 2, characterized in that: In the case of determining that it is suitable for fishing, determining suitable fishing environment parameters according to the type of fish target, the cross-medium aircraft cooperates to establish a fishing network according to the suitable fishing environment parameters, and guiding the fishing boat to perform fishing operations according to the fishing network, specifically including: When it is determined that the area is suitable for fishing, determine the appropriate fishing environment parameters based on the type of target fish; The cross-medium aircraft responsible for tracking the fish school targets searches for a suitable fishing area that matches the suitable fishing environment parameters according to the suitable fishing environment parameters; When a suitable fishing area is found, the cross-medium aircraft released by the fishing vessel gathers to the suitable fishing area and disperses with the suitable fishing area as the center until the detection range formed by the cross-medium aircraft covers the entire suitable fishing area; The motion trajectory of the fish school target is obtained, and the predicted trajectory of the fish school target is obtained based on the motion trajectory, and the fishing boat for fishing operation is determined based on the motion trajectory.

7. The deep-sea underwater target detection method based on networking and coordination as claimed in claim 6 is characterized in that: The obtaining of the motion trajectory of the fish school target, obtaining the predicted trajectory of the fish school target according to the motion trajectory, and determining the fishing boat for fishing according to the motion trajectory specifically includes: The movement trajectory of the fish school target is obtained by using a cross-medium aircraft responsible for tracking the fish school target; Obtaining second position information of a suitable fishing area in a detection coordinate system, third position information of a cross-medium aircraft responsible for tracking fish school targets in the detection coordinate system, fourth position information of the fish school targets relative to the cross-medium aircraft, and fifth coordinate information of the fish school targets relative to the cross-medium aircraft in the suitable fishing area, and fitting a predicted trajectory based on the motion trajectory and the second to fifth position information; Based on the first position information and predicted trajectory of each fishing vessel, a target fishing vessel for fishing operations is determined.

8. A deep-sea underwater target detection device based on networking and coordination, characterized in that: The device comprises: The first networking module is used to establish a detection network with multiple fishing vessels in coordination, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel; The fish school detection module is used to release a preset number of cross-medium aircraft through fishing boats and capture underwater target signals of underwater targets, determine the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and make the cross-medium aircraft approach the underwater target according to the detection position information and determine whether the underwater target is a fish school target and whether the fish school target is a catchable fish species; The fish school tracking module, when the fish school is determined to be a catchable species, causes the cross-medium aircraft to continuously track the fish school target until the distance to the fish school target is always within a preset range; The fishing judgment module is used to obtain the detection signal of the fish school target and the marine environment information where the fish school target is located, and determine whether the fish school target is suitable for fishing based on the marine environment information and the detection signal; The second networking module is used to determine suitable fishing environment parameters according to the type of fish target when it is determined that it is suitable for fishing. The cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides fishing vessels to carry out fishing operations based on the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the deep-sea underwater target detection method based on networking collaboration are implemented as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of the deep-sea underwater target detection method based on networking collaboration are implemented as described in any one of claims 1 to 7.

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