A deep-sea underwater target detection method, device, equipment and medium based on networking cooperation

Abstract

The present invention provides a deep-sea underwater target detection method, device, equipment and medium based on networking cooperation, which relates to the field of deep-sea fishing operations. The method includes: establishing a detection network by the coordinated cooperation of multiple fishing boats; releasing a preset number of cross-medium aircraft and capturing the underwater target signals of the underwater targets, and according to the detection position information, making the cross-medium aircraft approach the underwater targets and determining whether the underwater targets are fish group targets and whether the fish group targets are the types of fish groups to be fished; making the cross-medium aircraft continuously track the fish group targets; obtaining the detection signals of the fish group targets and the marine environment information at the locations where the fish group targets are located, and determining whether the fish group targets are suitable for fishing according to the marine environment information and the detection signals; determining the appropriate fishing environment parameters according to the types of the fish group targets to establish a fishing network, and guiding the fishing boats to carry out fishing operations according to the fishing network. The present invention avoids the loss in the underwater target detection process during the single-boat fishing process and improves the efficiency and scientificity of deep-sea fishing.

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 networked collaborative cooperation. Background Art

[0002] Deep - sea fish species usually have the characteristics of long lifespan, low fertility, and slow growth. These deep - sea fish are vulnerable to overfishing. In order to avoid overfishing of deep - sea fish beyond the limit that the marine ecosystem can balance and compensate for, which may lead to the degradation of the entire marine ecosystem, selective fishing is required during deep - sea fishing operations. Therefore, auxiliary equipment that can detect fish species, individual sizes, and fish ages is necessary for assisting fishing. These auxiliary equipment can guide operators or equipment to selectively catch fish groups in the mature stage, avoid catching fish groups in the breeding stage and immature fish groups, which is of profound significance and social value for protecting marine species, maintaining ecological balance, and avoiding overfishing.

[0003] Currently, when using a single - search fishing boat to detect underwater targets, the position coordinates of 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, there are significant limitations for underwater detection of large - area sea areas. When encountering a large sea area, the detection range of a single fishing boat cannot completely cover the exploration area, resulting in detection blind spots, which affect both fishing efficiency and scientific deep - sea fishing.

[0004] Therefore, it is necessary to provide a more efficient and scientific deep - sea fishing method to address the above - mentioned 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 networked collaborative cooperation to solve the problem of the lack of efficiency in current single - boat deep - sea fishing operations.

[0006] The technical solution of the present invention is implemented as follows:

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

[0008] Establish a detection network with multiple fishing boats in collaborative cooperation, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat;

[0009] The fishing boat releases a preset number of cross-media aircraft and captures the underwater target signal of the underwater target. According to the fishing boat corresponding to the obtained 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-media aircraft is commanded to approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught.

[0010] In the case of determining that it is the type of fish school to be caught, the cross-media aircraft is commanded to continuously track the fish school target until the distance from the fish school target is always within the preset range.

[0011] The detection signal of the fish school target and the marine environment information of the location where the fish school target is located are obtained, and according to the marine environment information and the detection signal, it is determined whether the fish school target is suitable for fishing.

[0012] In the case of determining that it is suitable for fishing, the appropriate fishing environment parameters are determined according to the type of the fish school target. The cross-media aircraft cooperates according to the appropriate fishing environment parameters to establish a fishing network, and guides the fishing boat to carry out fishing operations according to the fishing network; the appropriate fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

[0013] Combined with the first aspect, in the first implementation manner of the first aspect, the multi-fishing boats cooperate with each other 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. Specifically, it includes:

[0014] The multi-fishing boats cooperate with each other to establish a detection network, and the fishing boat corresponding to the geometric center of the detection network is used as the central fishing boat.

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

[0016] Combined with the first aspect, in the second implementation manner of the first aspect, the fishing boat releases a preset number of cross-media aircraft and captures the underwater target signal of the underwater target. According to the fishing boat corresponding to the obtained 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-media aircraft is commanded to approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught. Specifically, it includes:

[0017] Each fishing boat releases a preset number of cross-media aircraft and captures the underwater target signal of the underwater target.

[0018] According to the fishing boat corresponding to the obtained 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-media aircraft is commanded to approach the underwater target, and the underwater target is detected by the cross-media aircraft. According to the detection signal obtained by the cross-media aircraft, it is determined whether the underwater target is a fish school target and whether the fish school target is the type of fish school for fishing.

[0020] Combined with the second implementation manner of the first aspect, in the third implementation manner of the first aspect, the detection signal of the fish school target and the marine environment information of the location where the fish school target is located are obtained, and according to the marine environment information and the detection signal, it is determined whether the fish school target is suitable for fishing, specifically including:

[0021] The detection signal of the fish school target and the marine environment information of the location where the fish school target is located are obtained, and the acoustic texture image information of the fish school is extracted from the detection signal obtained by the cross-media aircraft;

[0022] According to the marine environment information and the acoustic texture image information, it is determined whether the fish school target is suitable for fishing.

[0023] Combined with the third implementation manner of the first aspect, in the fourth implementation manner of the first aspect, the determining whether the fish school target is suitable for fishing according to the marine environment information and the acoustic texture image information specifically includes:

[0024] The acoustic texture image information is recognized by a trained acoustic texture image recognition model to obtain the type of the fish school target; the acoustic texture image recognition model uses the sample acoustic texture image information of fish with known target types as the input data for training and the target types of fish as the labels for training, and is trained by using the supervised learning method in machine learning.

[0025] According to the marine environment information and the type, it is determined whether the fish school target is suitable for fishing.

[0026] Combined with the first implementation manner of the first aspect, in the fifth implementation manner of the first aspect, in the case of determining that it is suitable for fishing, the appropriate fishing environment parameters are determined according to the type of the fish school target. The cross-media aircraft responsible for tracking the fish school target searches for an appropriate fishing area that matches the appropriate fishing environment parameters according to the appropriate fishing environment parameters, and the cross-media aircraft released by the fishing boat gathers in the appropriate fishing area and spreads out with the appropriate fishing area as the center until the detection range jointly formed by the cross-media aircraft covers all of the appropriate fishing area, specifically including:

[0027] In the case of determining that it is suitable for fishing, the appropriate fishing environment parameters are determined according to the type of the fish school target;

[0028] The cross-media aircraft responsible for tracking the fish school target searches for an appropriate fishing area that matches the appropriate fishing environment parameters according to the appropriate fishing environment parameters;

[0029] In the case of determining that an appropriate fishing area is found, the cross-media aircraft released by the fishing boat gathers in the appropriate fishing area and spreads out with the appropriate fishing area as the center until the detection range jointly formed by the cross-media aircraft covers all of the appropriate fishing area;

[0030] Obtain the movement trajectory of the fish school target, obtain the predicted trajectory of the fish school target according to the movement trajectory, and determine the fishing boats for fishing operations according to the movement trajectory.

[0031] Combined with the fifth implementation manner of the first aspect, in the sixth implementation manner of the first aspect, the obtaining the movement trajectory of the fish school target, obtaining the predicted trajectory of the fish school target according to the movement trajectory, and determining the fishing boats for fishing operations according to the movement trajectory specifically include:

[0032] Use a cross-media aircraft responsible for tracking the fish school target to obtain the movement trajectory of the fish school target;

[0033] Obtain the second position information of the suitable fishing area in the detection coordinate system, the third position information of the cross-media 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-media aircraft, and the fifth coordinate information of the fish school target relative to the cross-media aircraft in the suitable fishing area. According to the movement trajectory and the second to fifth position information, fit to obtain the predicted trajectory;

[0034] Determine the target fishing boats for fishing operations according to the first position information of each fishing boat and the predicted trajectory.

[0035] According to the second aspect, an embodiment of the present invention further provides a deep-sea underwater target detection device based on networked collaborative cooperation, and the device includes:

[0036] A first networking module, configured to establish a detection network through the collaborative cooperation of multiple fishing boats, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat;

[0037] A fish school detection module, configured to release a preset number of cross-media aircraft through the 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 obtained underwater target signal, and make the cross-media 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 fishing fish school type;

[0038] A fish school tracking module, in the case of determining that it is a fishing fish school type, make the cross-media aircraft continuously track the fish school target until the distance from the fish school target is always within a preset range;

[0039] A fishing judgment module, configured to obtain the detection signal of the fish school target and the marine environment information of the location where the fish school target is located, and determine whether the fish school target is suitable for fishing according to the marine environment information and the detection signal;

[0040] The second networking module is used to determine suitable fishing environment parameters according to the types of fish group targets when it is determined that fishing is suitable. The cross-media aircraft cooperates according to the suitable fishing environment parameters to establish a fishing network, and guides fishing boats to carry out fishing operations according to the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

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

[0042] According to a fourth aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the deep-sea underwater target detection method based on networking cooperation as described in any one of the above are implemented.

[0043] According to a fifth aspect, an embodiment of the present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the deep-sea underwater target detection method based on networking cooperation as described in any one of the above are implemented.

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

[0045] By using multiple fishing boats to cooperate in networking, the loss in the underwater target detection process that may occur in single-boat fishing operations is avoided. The cross-media aircraft with advantages such as high-speed cruising, high maneuverability, long-term endurance, and stealth penetration is used to continuously track the underwater targets detected by the corresponding fishing boats. Then, the cross-media aircraft is used to judge whether the underwater target is a fish group target, whether the fish group target is the type of fish to be caught, and whether the type of fish to be caught is suitable for fishing. And in the above process, first, try to track the underwater targets that may be the fish groups to be caught as much as possible for the first judgment, judge whether it is a fish group target and whether it is the type of fish to be caught. When it is determined that it is the type of fish to be caught, then conduct a second judgment, judge whether it is suitable for fishing. When it is determined that it is suitable for fishing, feedback to the fishing boat to guide the fishing boat to make a fishing decision. Through the networking cooperation of multiple cross-media aircraft to establish a fishing network, and then guide the fishing boat to carry out fishing operations, so as to achieve the goal of fishing as soon as the catchable fish group appears, and the fishing method is for the fishing boat to wait for the fish to come to the trap, which improves the efficiency and scientificity of deep-sea fishing. Description of the Drawings

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0047] Figure 1 Schematic flow chart of the deep-sea underwater target detection method based on networking cooperation of the present invention;

[0048] Figure 2 Another schematic flow chart of the deep-sea underwater target detection method based on networking cooperation of the present invention;

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

[0050] Figure 4 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 Schematic diagram when using a voiceprint image recognition model for species recognition in the deep-sea underwater target detection method based on networking cooperation of the present invention;

[0052] Figure 6 Schematic diagram of finding and covering a suitable fishing area in the deep-sea underwater target detection method based on networking cooperation of the present invention;

[0053] Figure 7 Schematic diagram of predicting the trajectory of a fish school in the deep-sea underwater target detection method based on networking cooperation of the present invention;

[0054] Figure 8 Schematic flow chart of guiding the fishing boat corresponding to the cross-media aircraft responsible for tracking to carry out fishing operations in the deep-sea underwater target detection method based on networking cooperation of the present invention;

[0055] Figure 9 Schematic flow chart of guiding other fishing boats to carry out fishing operations in the deep-sea underwater target detection method based on networking cooperation of the present invention;

[0056] Figure 10 Schematic flow chart of the overall process of guiding fishing boat fishing operations in the deep-sea underwater target detection method based on networking cooperation of the present invention;

[0057] Figure 11 Schematic diagram of the structure of the deep-sea underwater target detection device based on networking cooperation of the present invention;

[0058] Figure 12 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of the present application. Specific embodiments

[0059] Next, in combination with the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0060] Deep-sea fish species usually have the characteristics of long lifespan, low fertility, and slow growth. These deep-sea fish are vulnerable to overfishing. To avoid overfishing of deep-sea fish beyond the limit that the marine ecosystem can balance and compensate for, which may lead to the degradation of the entire marine ecosystem, selective fishing is required during deep-sea fishing operations. Therefore, it is necessary to have auxiliary equipment that can detect the species, individual size, and age of fish schools to assist in fishing. These auxiliary equipment can guide operators or equipment to selectively catch fish schools in the mature stage, avoid catching fish schools in the breeding stage and fish schools that have not yet matured, which is of great significance and social value for protecting marine species, maintaining ecological balance, and avoiding overfishing.

[0061] Currently, when using a single search fishing boat 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, there are significant limitations for underwater detection of large areas of sea areas. When encountering a large sea area, the detection range of a single fishing boat cannot completely cover the exploration area, resulting in detection blind spots, which affect both the 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 situations.

[0063] The deep-sea underwater target detection method provided in this specification can be applied to electronic devices with deep-sea fishing operation capabilities, aiming to cooperate in a network for fishing, avoiding the loss during the single-vessel fishing underwater target detection process, thereby improving the efficiency and scientific nature of deep-sea fishing. The electronic devices can include laptops, desktop computers, smartphones, smart wearable devices (such as virtual reality glasses, smart watches, etc.), tablet computers, and the like. Of course, the deep-sea underwater target detection method provided in this specification can also be applied within application programs running on the above-mentioned electronic devices. For example, this automatic driving control method can be applied to browsers with deep-sea fishing operations, or within corresponding software for deep-sea fishing operations.

[0064] Please refer to Figure 1 , Figure 1 which shows the flowchart of the deep-sea underwater target detection method based on network collaboration according to an embodiment of the present invention. The method may include the following steps:

[0065] S101. Establish a detection network by coordinating multiple fishing boats, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat.

[0066] When using a single fishing boat 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 fishing boat, that is, the detection radius R, is limited, there are significant limitations for underwater detection in large areas of the sea. When encountering a large sea area, the detection range of a single fishing boat cannot fully cover the exploration area, resulting in detection blind spots.

[0067] In this embodiment, in combination with the operation characteristics of multi-boat linkage and collective fishing during fishing by fishermen, multiple fishing boats are used to cooperate in a network for underwater target detection. By grouping multiple fishing boats to establish a detection network and establishing a unified detection coordinate system, underwater target detection and tracking in large areas of water and trajectory prediction in blind spots are completed. The predicted underwater target movement trajectory can guide the fishing boats corresponding to the search areas where the predicted trajectory may pass to strengthen detection in specific areas, so as to catch fish as soon as they appear, and during this process, the fishing boats can remain in a static position until fishing is determined, meeting the requirement of waiting for fish in deep-sea fishing. At the same time, the fishing boats can find the nearest distance point to the predicted path by optimizing the search path, reducing the target loss time.

[0068] S102. A fishing boat releases a preset number of cross-medium aircraft and captures the underwater target signal of the underwater target. According to the fishing boat corresponding to the obtained underwater target signal, 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 detection position information, command the cross-medium aircraft to approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught.

[0069] In this embodiment, a cross-medium aircraft is used as a mobile detection device. The cross-medium aircraft is a new type of aircraft that can freely switch between the air and underwater. It has advantages such as high-speed cruising, high maneuverability, long-term endurance, and stealth penetration. That is, the cross-medium aircraft is an aircraft that combines unmanned aircraft technology and unmanned submersible technology. It can move flexibly in two completely different fluid media, water and air. Relying on its air flight advantage, the cross-medium aircraft can, above the water surface, approach the location of the target at a very high speed through a highly maneuverable flight mode and can also perform cross-medium operation and submerge underwater. The carrying 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. When the cross-medium aircraft is not working, the on-board energy of the fishing boat can be used to supplement its energy for the next batch of operations, realizing the efficient utilization of the cross-medium aircraft.

[0071] By binding the fishing boat and the aircraft it carries, for example, the cross-medium aircraft corresponding to Fishing Boat No. 1 are No. 1-1, No. 1-2, etc., and the numbers of the cross-medium aircraft corresponding to Fishing Boat No. 2 are No. 2-1, No. 2-2, etc., and so on. The numbers of the cross-medium aircraft corresponding to Fishing Boat No. n are No. n-1, No. n-2, etc. During the underwater target detection process of deep-sea fishing operations, when a certain fishing boat obtains an underwater target signal, it will release several cross-medium aircraft it carries 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 the preset range, use this cross-medium aircraft to detect whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught. The other released and submerged cross-medium aircraft will assist in tracking the fish school target that is the type of fish school to be caught and determining the depth information of the fish school target, and timely correct the prediction of the position of the fish school target in terms of depth.

[0072] In this embodiment, the cross-media aircraft is equipped with a height sensor, a depth sensor, a humidity sensor (including a front-end humidity sensor mounted at the front end of the cross-media aircraft and a rear-end humidity sensor at the rear end), a six-component force sensor, a gyroscope sensor, an underwater acoustic sensor, a microgravity sensor, a vibration sensor, a micro-magnetic sensor, an underwater communication device, an air communication module, and a Beidou sensor, etc.

[0073] These sensor components mounted on the cross-media sensor are used to detect underwater targets, so as to determine whether the underwater target is a fish school target and whether the fish school target is a catchable fish species. Fishing operations will only be carried out when the fish school target is determined to be a catchable fish species.

[0074] It should be noted that when the underwater target is not a catchable fish species among the fish school targets, the current underwater target is abandoned for tracking, and instead, the underwater target signal emitted by other newly emerging underwater targets is acquired, and it is determined again whether the underwater target is a fish school target and whether the fish school target is a catchable fish species, so as to carry out continuous deep-sea fishing operations.

[0075] S103. When it is determined to be a catchable fish species, the cross-media aircraft is commanded to continuously track the fish school target until the distance from the fish school target is always within the preset range.

[0076] It can be understood that when the underwater target is a fish school target, they are constantly moving. Therefore, even if the distance between the cross-media aircraft and the underwater target is within the preset range, it is still necessary to continuously move underwater to keep the distance between the cross-media aircraft and the underwater target always within the preset range.

[0077] S104. Obtain the detection signal of the fish school target and the marine environmental information at the location where the fish school target is located, and determine whether the fish school target is suitable for fishing according to the marine environmental information and the detection signal.

[0078] After determining the position of the fish school target of the catchable fish species, since the movement of the fish school is affected by ocean currents, the fish school has living habits such as foraging along the direction of the ocean current for survival and migration. At the same time, since the species of the fish school is detected, the possible movement behaviors of the fish school can be comprehensively analyzed by combining the living habits of the fish and the marine environmental information here, such as temperature, ocean current direction, wind direction, latitude, etc., and the possible movement trajectory of the fish school can be predicted.

[0079] In this embodiment, the marine environmental information can be captured by the cross-media aircraft equipped with various sensors and continuously tracking the fish school target.

[0080] S105. When it is determined that fishing is suitable, determine the appropriate fishing environment parameters according to the type of the fish school target. The cross-medium aircraft coordinates and cooperates according to the appropriate fishing environment parameters to establish a fishing network, and guides the fishing boats to carry out fishing operations according to the fishing network.

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

[0082] According to these appropriate fishing environment parameters, in this embodiment, several cross-medium aircraft already released by the fishing boats will be coordinated and cooperated to obtain a hypothetical regular activity area of the fish school, and this regular activity area of the fish school is the appropriate fishing area. Use this appropriate fishing area to guide the nearby fishing boats to carry out fishing operations in a way of waiting for gains without pains.

[0083] The deep-sea underwater target detection method based on network coordination and cooperation of the present invention uses multiple fishing boats to coordinate and cooperate, avoiding the loss in the underwater target detection process that may exist in single-boat fishing operations. Use cross-medium aircraft with advantages such as high-speed cruising, high maneuverability, long-term endurance, and stealth penetration to continuously track the underwater targets detected by the corresponding fishing boats, and then use the cross-medium aircraft to judge whether the underwater target is a fish school target, whether the fish school target is the type of fish to be caught, and whether the type of fish to be caught is suitable for fishing. And in the above process, first, try to track the underwater targets that may be the fish schools to be caught for the first judgment, judge whether it is a fish school target and whether it is the type of fish to be caught. When it is determined that it is the type of fish to be caught, then conduct the second judgment, judge whether it is suitable for fishing. When it is determined that it is suitable for fishing, feedback to the fishing boat to guide the fishing boat to make a fishing decision. Establish a fishing network through the coordination and cooperation of multiple cross-medium aircraft, and then guide the fishing boat to carry out fishing operations, so as to achieve that as long as the fish school that can be caught appears, it will be caught, and the fishing method is that the fishing boat waits for gains without pains to carry out fishing, improving the efficiency and scientificity of deep-sea fishing.

[0084] Please refer to Figure 2 and Figure 3 , the method may further include the following steps:

[0085] S2011. Use multiple fishing boats to coordinate and cooperate to establish a detection network, and use the fishing boat corresponding to the geometric center of the detection network as the central fishing boat.

[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] Establish a plane rectangular coordinate system (0, 0) with the physical position of the central fishing boat as the origin, the 0° direction of the course, the due north direction to establish the Y-axis, and the due east direction to establish the X-axis. 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 after the sonar and other sensors search for the target often only includes the azimuth and distance, and these azimuth and distance information can be regarded as polar coordinates. Assuming the coordinates of the No. 1 fishing boat are (x1, y1), and the position of the underwater target detected is: distance M, azimuth angle N, then the calculation result of the position of the underwater target is (x1 + MsinN, y1 + McosN).

[0088] S202. The fishing boat releases a preset number of cross-media aircraft and obtains the underwater target signal of the underwater target. According to the fishing boat corresponding to the obtained underwater target signal, 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 detection position information, make the cross-media aircraft approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school for fishing. For specific content, refer to step S102.

[0089] S203. In the case of determining that it is the type of fish school for fishing, make the cross-media aircraft continuously track the fish school target until the distance from the fish school target is always within the preset range. For specific content, refer to step S103.

[0090] S204. Obtain the detection signal of the fish school target and the marine environment information at the location where the fish school target is located, and determine whether the fish school target is suitable for fishing according to the marine environment information and the detection signal. For specific content, refer to step S104.

[0091] S205. In the case of determining that it is suitable for fishing, determine the appropriate fishing environment parameters according to the type of the fish school target. The cross-media aircraft cooperates according to the appropriate fishing environment parameters to establish a fishing network, and guides the fishing boat to carry out fishing operations according to the fishing network. For specific content, refer to step S105.

[0092] Please refer to Figure 4 , the method may further include the following steps:

[0093] S301. 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. For specific content, refer to step S101.

[0094] S3021. Each fishing boat releases a preset number of cross-media aircraft and captures the underwater target signal of the underwater target.

[0095] In order to prevent the fish school from being disturbed by the discovery of other swimming objects approaching the fish school in the water, in this embodiment, the cross-media aircraft is launched on the fishing boat and dives near the fish school for target tracking. Through a low-power detection sensor, the underwater target is detected within a preset range. After detecting the fish school target, the fish school target is tracked by a maneuvering method and becomes a mark of the fish school.

[0096] S3022. According to the fishing boat corresponding to the obtained underwater target signal, determine the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system.

[0097] Through the detection coordinate system constructed by the cooperation of the fishing boats in a network, when a certain fishing boat obtains the 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, it is necessary to update the detection position information of the underwater target in the detection coordinate system in real time.

[0099] The fishing boats equipped with towed detection equipment and the cross-media aircraft of the mobile equipment jointly form a three-dimensional underwater detection space. This underwater detection space can cover detection data at multiple depths and multiple positions, has the ability to detect fish schools at different depths and different positions simultaneously, and completes the coordinate positioning of the underwater target in the depth direction, so as to judge the accurate position of the underwater target through multi-dimensional information combination.

[0100] Since the cross-media aircraft has the functions of tracking, small-range detection, intermittent reply of position and depth information, considering the operation time of the cross-media aircraft, in order to reduce power consumption, at intervals, the cross-media aircraft transmits its own position information to the corresponding fishing boat to assist the fishing boat in correcting the prediction of the movement trend of the fish school.

[0101] S3023. According to the detection position information, command the cross-media aircraft to approach the underwater target, use the cross-media aircraft to detect the underwater target, and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught according to the detection signal obtained by the cross-media aircraft.

[0102] Specifically, by means of sensing components such as gravity sensors and micro-magnetic sensors carried on the cross-media aircraft, the current gravity value obtained by the cross-media aircraft is compared with the gravity value of the gravity field, so as to obtain the positioning information of the cross-media aircraft, that is, the underwater distance between the cross-media aircraft and the underwater target. While obtaining the self-positioning information of the cross-media aircraft, it will also use the cross-media aircraft to detect whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught. The above detection process mainly relies on the vibration sensor carried on the cross-media aircraft to detect the underwater vibration signal, then separate different signal sources, compare them with the signal sources already stored in the database, distinguish the types of different signal sources, and judge whether the signal source is the type of fish school to be caught. If it is the type of fish school to be caught, the position of the underwater target signal generated by the fish school target to be caught will be sent to the signal receiving end of the fishing boat through the underwater communication machine carried on the cross-media aircraft. The signal receiving end completes cross-media communication through the signal cable connected to the ship, so as to realize the detection and continuous tracking of the fish school target to be caught.

[0103] It should be noted that communication links are established between cross-media aircrafts, and the communication links are connected to the corresponding fishing boats for communication. In this way, the data processing center of the fishing boat can receive all the data obtained by the cross-media aircrafts it releases, and perform various data processing on these data according to requirements, so as to realize the sharing and comprehensive processing of the information obtained by the cross-media aircrafts. In this way, not only can the detection and continuous tracking of the fish school target to be caught be carried out by using the cross-media aircraft, but also the detection range of the corresponding fishing boat can be expanded by using the cross-media aircraft, further expanding the detection range during fishing operations.

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

[0105] Through such a tracking method, after the underwater target is positioned based on the detection coordinate system, the two-dimensional coordinates of the cross-media aircraft and the underwater target are overlapped through navigation. After the positions are close, an entry action is taken. The detector carried on the cross-media aircraft detects the sound and vibration signals emitted by the underwater target, continuously descends in depth. When reaching the approximate depth predicted by, for example, a towed sensing device, the low-power device is turned on to detect in a small range. Since the cross-media aircraft is closer to the underwater target than the fishing boat and the relative position relationship is more accurate, the relative position relationship coordinates between the underwater target and the cross-media aircraft and the detailed position coordinates between the cross-media aircraft and the fishing boat are superimposed to obtain more accurate position information of the underwater target.

[0106] Meanwhile, considering the comprehensive utilization of the energy of the cross-medium aircraft, in this embodiment, only one of the cross-medium aircraft will be used to detect and track one of the underwater targets. For example, if Fishing Vessel No. 1 detects three underwater target signals, the 1-1 cross-medium aircraft will be ordered to track the underwater target corresponding to the first underwater target signal, the 1-2 cross-medium aircraft will be ordered to track the underwater target corresponding to the second underwater target signal, and the 1-3 cross-medium aircraft will be ordered to track the underwater target corresponding to the last underwater target signal. Other cross-medium aircraft released by Fishing Vessel No. 1 will perform cruise tasks, and these cross-medium aircraft can assist the 1-1, 1-2, and 1-3 cross-medium aircraft in tracking underwater targets and assist the fishing vessel in accurately positioning underwater targets.

[0107] S303. In the case of determining the type of fish school to be caught, order the cross-medium aircraft to continuously track the fish school target until the distance from the fish school target is always within the preset range. For specific content, refer to step S103.

[0108] S304. Obtain the detection signal of the fish school target and the marine environment information at the location where the fish school target is located, and determine whether the fish school target is suitable for fishing according to the marine environment information and the detection signal. For specific content, refer to step S104.

[0109] S305. In the case of determining that it is suitable for fishing, determine the appropriate fishing environment parameters according to the type of the fish school target. The cross-medium aircraft cooperate according to the appropriate fishing environment parameters to establish a fishing network, and guide the fishing vessel to carry out fishing operations according to the fishing network. For specific content, refer to step S105.

[0110] Please refer to Figure 5 , the method may further include the following steps:

[0111] S401. Establish a detection network through the cooperation of multiple fishing vessels, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel. For specific content, refer to step S101.

[0112] S402. The fishing vessel releases a preset number of cross-medium aircraft and captures the underwater target signals of the underwater targets. According to the fishing vessel corresponding to the obtained underwater target signal, 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 detection position information, order the cross-medium aircraft to approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught. For specific content, refer to step S102.

[0113] S403. In the case of determining the type of fish school to be caught, order the cross-medium aircraft to continuously track the fish school target until the distance from the fish school target is always within the preset range. For specific content, refer to step S103.

[0114] S4041. Obtain the detection signal of the fish school target and the marine environment information of the location where the fish school target is located, and extract the acoustic image information of the fish school from the detection signal obtained from the cross-medium aircraft.

[0115] In this embodiment, the acoustic image information is the acoustic feature information of the fish school. Since the sound types and frequencies of different fish species are different, their corresponding sound signals will also be different. By judging the sound emitted by the fish school as the feature information, information such as the size and age of the fish in the fish school can be judged. That is, it can be judged whether the fish school target, which is the type of fish school to be caught, is suitable for catching.

[0116] S4042. Determine whether the fish school target is suitable for catching according to the marine environment information and the acoustic image information.

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

[0118] In this embodiment, the above recognition process is performed by a trained acoustic image recognition model. First, the fish of known target species and the corresponding sample acoustic image information are marked correspondingly and used as a database for training to form an acoustic image recognition model based on a neural network. When the cross-medium aircraft collects the detection signal underwater and extracts the subsequent acoustic image information, the acoustic image recognition model is used to recognize the acoustic image information to judge what kind of signal source the acoustic image belongs to, and further judge the type of the signal source.

[0119] The acoustic image recognition model is trained based on the sample acoustic image information of the fish of known target species. More specifically, first obtain the sample acoustic images of the fish of known target species, use the sample image acoustic information as the input data for training, and use the target species of the fish as the label for training. The supervised learning method in machine learning is used for training to obtain the acoustic image recognition model.

[0120] Specifically, if the voiceprint image recognition model fails to identify the type of signal source, according to specific task requirements, the cross-medium aircraft can be commanded to record the voiceprint, track the unknown data source, complete the type recognition and transmit it back, and further train the voiceprint image recognition model. At the same time, considering that new marine species may have emerged, in this case, the cross-medium aircraft is commanded to continuously track the fish school target of the position data source and conduct continuous monitoring.

[0121] In this embodiment, deep-sea fish have their corresponding distributions and habits. For example, tuna feed on large zooplankton and various fish. Tuna usually move forward in the surface sea at a speed of 3-8 nautical miles per hour. There are often large sharks following behind the fish school to hunt them. When the fish school is frightened, they often jump out of the water to escape enemies. Since adult tuna have the habit of appearing on the surface at night, the fishing condition is best under the moonlight at present. According to the voiceprint image information and the marine environment information, the type and individual size of the fish school can be accurately judged.

[0122] For example, if it is determined that the fish school target is adult tuna, the surface waters with a temperature of 22°C can be searched near 30° north latitude in the Pacific Ocean at night as the fishing area.

[0123] S405. When it is determined that it is suitable for fishing, determine the appropriate fishing environment parameters according to the type of the fish school target. The cross-medium aircraft cooperates according to the appropriate fishing environment parameters to establish a fishing network, and guides the fishing boat to carry out fishing operations according to the fishing network. For specific content, refer to step S105.

[0124] Please refer to 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 cooperating with each other, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat. For specific content, refer to step S101.

[0126] S502. The fishing boat releases a preset number of cross-medium aircraft and captures the underwater target signal of the underwater target. According to the fishing boat corresponding to the obtained underwater target signal, 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 detection position information, command the cross-medium aircraft to approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school for fishing. For specific content, refer to step S102.

[0127] S503. When it is determined that it is the type of fish school for fishing, command the cross-medium aircraft to continuously track the fish school target until the distance from the fish school target is always within the preset range. For specific content, refer to step S103.

[0128] S504. Obtain the detection signal of the fish school target and the marine environmental information of the location where the fish school target is located, and determine whether the fish school target is suitable for fishing according to the marine environmental information and the detection signal. For specific content, refer to step S104.

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

[0130] S5052. The cross-media aircraft responsible for tracking the fish school target searches for an appropriate fishing area that matches the appropriate fishing environmental parameters according to the appropriate fishing environmental parameters.

[0131] For example, through the water temperature parameter in the appropriate fishing environmental parameters, the cross-media aircraft determines the seawater depth corresponding to the appropriate temperature, and the cross-media aircraft continuously expands the depth range to the shallow surface layer and the deep layer to find the appropriate depth range for fishing. Combining parameters such as the ocean current direction and longitude and latitude, it judges the relative position of the appropriate water temperature area detected by the aircraft in the area where tuna appear, and then searches for an appropriate fishing area that matches the appropriate fishing environmental parameters.

[0132] S5053. When it is determined that an appropriate fishing area has been found, the cross-media aircraft released by the fishing boat gathers to the appropriate fishing area and spreads out centered on the appropriate fishing area until the detection range jointly formed by the cross-media aircraft covers the entire appropriate fishing area.

[0133] After the cross-media aircraft responsible for tracking the fish school target finds the appropriate fishing area, the corresponding fishing boats, such as fishing boat No. 1 and other already released cross-media aircraft, will gather to the area of the aircraft that has found the appropriate fishing area and spread out centered on this appropriate fishing area until the detection range jointly formed by the cross-media aircraft covers the entire appropriate fishing area, determining a suitable space area. The length, width, and depth range of this suitable space area are determined by the appropriate fishing area. Using the appropriate fishing area formed by the networking and collaborative cooperation of the cross-media aircraft to guide the fishing boat to carry out fishing operations. At the same time, since the detection range jointly formed by the cross-media aircraft covers the entire appropriate fishing area, it can better track the fish school and assist in fishing.

[0134] S5054. Obtain the movement trajectory of the fish school target, obtain the predicted trajectory of the fish school target according to the movement trajectory, and determine the fishing boat for carrying out fishing operations according to the movement trajectory.

[0135] Specifically, first, the cross-media aircraft responsible for tracking the fish school target is used to obtain the movement trajectory of the fish school target. Then, the second position information of the suitable fishing area in the detection coordinate system, the third position information of the cross-media 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-media aircraft, and the fifth coordinate information of the fish school target relative to the cross-media aircraft in the suitable fishing area are obtained. According to the movement trajectory and the second to fifth position information, a predicted trajectory is fitted.

[0136] After that, in combination with the first position information of each fishing boat, the target fishing boat for fishing operations is determined, that is, which fishing boat will specifically carry out the fishing operations is determined.

[0137] The following will be specifically described through different scenarios. For example, Figure 9 As shown, when the suitable fishing area is within the detection range of the fishing boat corresponding to the currently responsible cross-media aircraft, such as Fishing Boat No. 1 (that is, within the fishing operation area of Fishing Boat No. 1), after first obtaining the second position information of the suitable fishing area in the detection coordinate system, then the third position information of the cross-media 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-media aircraft, and the fifth coordinate information of the fish school target relative to the cross-media aircraft in the suitable fishing area are comprehensively processed to obtain a comprehensive position information. This comprehensive position information can better reflect the detected real-time fish school area compared to a single position information parameter. 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 current fish school is located at the center or the edge of the suitable fishing area. Since the fish school target has the cross-media aircraft that has been continuously responsible for tracking it, at this time, according to the movement trajectory of the fish school target obtained by the cross-media 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 move out of the suitable fishing area or move into the suitable fishing area. When it is determined that the fish school target will move within the suitable fishing area, Fishing Boat No. 1 is guided to carry out corresponding fishing operations. When it is determined that the fish school target will move out of the suitable fishing area, the process shown in Figure 10 is entered. As shown in Figure 10As shown in the figure, when it is determined that the fish school target of a certain cross-media aircraft released by Fishing Boat No. 1 will deviate from the suitable fishing area, other fishing boats in the deviation direction are notified according to the predicted trajectory of the fish school target. For example, if it is found that the movement trajectory of the fish school target has a northward movement trend, fishing boats near the northward area can be notified to move in the direction of the fish school's movement, and fishing operations are prepared in the entire northward area. When the fish school disappears from the detection range of a fishing boat, the system predicts its movement route and predicts where it will appear in the monitoring range of which fishing boat next, and tries to master the coming direction and speed of the fish school as much as possible to provide sufficient preparation time for the fishing boat. By judging the movement trend of the fish school to assist fishing, and because the cross-media aircraft with underwater networking can achieve intermittent precise positioning, through the information association between different positioning points, fishing boats in the forward direction of the fish school are guided to approach actively for precise fishing operations.

[0138] The device provided by the embodiment of the present invention will be described below, and the device described below can be correspondingly referred to the method described above.

[0139] Please refer to Figure 11 , Figure 11 shows a schematic structural diagram of a deep-sea underwater target detection device based on networking cooperation according to an embodiment of the present invention. The device may include:

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

[0141] When detecting an underwater target with a single fishing boat, the position coordinates of the underwater target are marked with the fishing boat itself as the coordinate system. However, since the detection range of a single fishing boat, that is, the detection radius R, is limited, there are great limitations for underwater detection in a large area of sea area. 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.

[0142] In this embodiment, in combination with the operation characteristics of multi-boat linkage and collective fishing during fishing by fishermen, the detection of underwater targets is carried out by the cooperation of multiple fishing boats networking. By grouping multiple fishing boats to establish a detection network and establishing a unified detection coordinate system, the detection and tracking of underwater targets in a large area of water area of the network and the trajectory prediction in the blind area are completed. The predicted movement trajectory of the underwater target can guide the fishing boats corresponding to the search areas where the predicted trajectory may pass to strengthen the detection of specific areas, so that fish schools can be caught as soon as they appear, and the fishing boats can always remain in a static position during this process to meet the needs of waiting for fish in deep-sea fishing. At the same time, the fishing boats can find the nearest distance point to the predicted path by optimizing the search path to reduce the target loss time.

[0143] The fish school detection module 20 is used to release a preset number of cross-media aircraft from a fishing boat and capture the underwater target signal of the underwater target. According to the fishing boat corresponding to the obtained 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-media aircraft is commanded to approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught.

[0144] In this embodiment, a cross-media aircraft is used as a mobile detection device. The cross-media aircraft is a new type of aircraft that can freely switch between the air and underwater. It has advantages such as high-speed cruising, high maneuverability, long-term endurance, and stealth penetration. That is, the cross-media aircraft is an aircraft that combines unmanned aircraft technology and unmanned submersible technology. It can move flexibly in two completely different fluid media, water and air. Relying on its air flight advantage, the cross-media aircraft can approach the location where the target is located at a very high speed through a highly maneuverable flight mode above the water surface and can also perform cross-media operations and submerge underwater. The carrying platform of the cross-media aircraft is a fishing boat. Each fishing boat is equipped with at least one cross-media aircraft, and each cross-media aircraft also has a corresponding fishing boat.

[0145] Among them, each fishing boat can carry multiple cross-media aircraft. When the cross-media aircraft is not working, the on-board energy of the fishing boat can be used to supplement its energy for the next batch of operations, realizing the efficient utilization of the cross-media aircraft.

[0146] By binding the fishing boat and the aircraft it carries, for example, the cross-media aircraft corresponding to Fishing Boat No. 1 are No. 1-1, No. 1-2, etc., and the numbers of the cross-media aircraft corresponding to Fishing Boat No. 2 are No. 2-1, No. 2-2, etc., and so on. The numbers of the cross-media aircraft corresponding to Fishing Boat No. n are No. n-1, No. n-2, etc. During the underwater target detection process of deep-sea fishing operations, when a certain fishing boat obtains an underwater target signal, it will release several cross-media aircraft carried on it to approach the underwater target at the source of the underwater target signal. When the distance between a cross-media aircraft and the underwater target is within the preset range, the cross-media aircraft is used to detect whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught. The other released and underwater cross-media aircraft assist in tracking the fish school target that is the type of fish school to be caught and determining the depth information of the fish school target, and timely correcting the prediction of the position of the fish school target in terms of depth.

[0147] In this embodiment, the cross-media aircraft is equipped with a height sensor, a depth sensor, a humidity sensor (including a front-end humidity sensor mounted at the front end of the cross-media aircraft and a rear-end humidity sensor at the rear end), a six-component force sensor, a gyroscope sensor, an underwater acoustic sensor, a microgravity sensor, a vibration sensor, a micro-magnetic sensor, an underwater communication device, an air communication module, and a Beidou sensor, etc.

[0148] These sensor components mounted on the cross-media sensor are used to complete the detection of underwater targets, so as to determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school for fishing. Fishing operations will only be carried out when it is determined that the fish school target is the type of fish school for fishing.

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

[0150] The fish school tracking module 30 is used to make the cross-media aircraft continuously track the fish school target until the distance from the fish school target is always within the preset range when it is determined to be the type of fish school for fishing.

[0151] It can be understood that when the underwater target is a fish school target, they are constantly moving. Therefore, even if the distance between the cross-media aircraft and the underwater target is within the preset range, it is still necessary to continuously move underwater to keep the distance between the cross-media aircraft and the underwater target always within the preset range.

[0152] The fishing judgment module 40 is used to acquire the detection signal of the fish school target and the marine environment information at the location of the fish school target, and determine whether the fish school target is suitable for fishing according to the marine environment information and the detection signal.

[0153] After determining the position of the fish school target that is the type of fish school for fishing, due to the movement of the fish school being affected by ocean currents, the fish school has living habits such as foraging along the direction of the ocean current for survival and migration. At the same time, since the type of fish school is detected, the possible movement behaviors of the fish school can be comprehensively analyzed by combining the living habits of the fish and the marine environment information here, such as temperature, ocean current direction, wind direction, latitude, etc., and the possible movement trajectory of the fish school can be predicted.

[0154] In this embodiment, the marine environment information can be captured by the cross-media aircraft equipped with various sensors and continuously tracking the fish school target.

[0155] The second networking module 50 is used to determine suitable fishing environment parameters according to the types of fish group targets when it is determined that fishing is suitable. The cross-media aircraft coordinates and cooperates according to the suitable fishing environment parameters to establish a fishing network, and guides fishing boats to carry out fishing operations according to the fishing network.

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

[0157] According to these suitable fishing environment parameters, in this embodiment, several cross-media aircraft that have been released by the fishing boat will be used to coordinate and cooperate to obtain a hypothetical regular activity area of the fish group, and this regular activity area of the fish group is the suitable fishing area. The fishing boats in the vicinity are guided to carry out fishing operations in a waiting-for-a-catch manner using this suitable fishing area.

[0158] The deep-sea underwater target detection device based on networking coordination and cooperation of the present invention uses multiple fishing boats to coordinate and cooperate, avoiding the loss of underwater target detection that may occur during single-boat fishing operations. It uses cross-media aircraft with advantages such as high-speed cruising, high maneuverability, long-term endurance, and stealth penetration to continuously track the underwater targets detected by the corresponding fishing boats, and then uses the cross-media aircraft to judge whether the underwater target is a fish group target, whether the fish group target is the type of fish to be caught, and whether the type of fish to be caught is suitable for fishing. And in the above process, first, try to track the underwater targets that may be the fish groups to be caught as much as possible for the first judgment, judging whether it is a fish group target and whether it is the type of fish to be caught. When it is determined that it is the type of fish to be caught, then conduct the second judgment, judging whether it is suitable for fishing. When it is determined that it is suitable for fishing, it is fed back to the fishing boat to guide the fishing boat to make a fishing decision. By coordinating and cooperating multiple cross-media aircraft to establish a fishing network, and then guiding the fishing boat to carry out fishing operations, it is possible to achieve fishing as soon as the catchable fish group appears, and the fishing method is for the fishing boat to wait for a catch, improving the efficiency and scientific nature of deep-sea fishing.

[0159] Figure 12 An example of the physical structure diagram of an electronic device is shown as Figure 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. Among them, the processor 1210, the communication interface 1220, and the memory 1230 communicate with each other through the communication bus 1240. The processor 1210 can call the logical commands in the memory 830 to execute the deep-sea underwater target detection method based on networking coordination and cooperation. The method includes:

[0160] Establish a detection network by coordinating multiple fishing boats, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat;

[0161] The fishing boat releases a preset number of cross-media aircraft and captures the underwater target signal of the underwater target. According to the fishing boat corresponding to the obtained underwater target signal, 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 detection position information, make the cross-media aircraft approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school to be caught;

[0162] When it is determined to be the type of fish school to be caught, make the cross-media aircraft continuously track the fish school target until the distance from the fish school target is always within the preset range;

[0163] Obtain the detection signal of the fish school target and the marine environment information at the location where the fish school target is located, and determine whether the fish school target is suitable for fishing according to the marine environment information and the detection signal;

[0164] When it is determined to be suitable for fishing, determine the appropriate fishing environment parameters according to the type of the fish school target. The cross-media aircraft coordinates and cooperates to establish a fishing network according to the appropriate fishing environment parameters, and guides the fishing boat to carry out fishing operations according to the fishing network; the appropriate fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

[0165] In addition, when the logical instructions in the above-mentioned memory 1230 are implemented in the form of software function units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. And the foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memor), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0166] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the deep-sea underwater target detection method based on network coordination and cooperation provided by the above-mentioned various methods. The method includes:

[0167] Establish a detection network through the coordinated cooperation of multiple fishing boats, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat;

[0168] The fishing boats release a preset number of cross-medium aircraft and capture the underwater target signals of underwater targets. According to the fishing boats corresponding to the obtained underwater target signals, determine the detection position information of the underwater targets at the source of the underwater target signals in the detection coordinate system. According to the detection position information, order the cross-medium aircraft to approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school for fishing;

[0169] When it is determined to be the type of fish school for fishing, order the cross-medium aircraft to continuously track the fish school target until the distance from the fish school target is always within the preset range;

[0170] Obtain the detection signals of the fish school target and the marine environment information at the location where the fish school target is located, and determine whether the fish school target is suitable for fishing according to the marine environment information and the detection signals;

[0171] When it is determined to be suitable for fishing, determine the appropriate fishing environment parameters according to the type of the fish school target. The cross-medium aircraft cooperate to establish a fishing network according to the appropriate fishing environment parameters, and guide the fishing boats to carry out fishing operations according to the fishing network; the appropriate fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

[0172] On the other hand, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is used to execute the above-provided deep-sea underwater target detection method based on networked cooperation, and the method includes:

[0173] Establish a detection network through the coordinated cooperation of multiple fishing boats, determine the central fishing boat of the detection network, and establish a detection coordinate system with the central fishing boat;

[0174] The fishing boats release a preset number of cross-medium aircraft and capture the underwater target signals of underwater targets. According to the fishing boats corresponding to the obtained underwater target signals, determine the detection position information of the underwater targets at the source of the underwater target signals in the detection coordinate system. According to the detection position information, order the cross-medium aircraft to approach the underwater target and determine whether the underwater target is a fish school target and whether the fish school target is the type of fish school for fishing;

[0175] When it is determined to be the type of fish school for fishing, order the cross-medium aircraft to continuously track the fish school target until the distance from the fish school target is always within the preset range;

[0176] Obtain the detection signals of the fish school target and the marine environment information at the location where the fish school target is located, and determine whether the fish school target is suitable for fishing according to the marine environment information and the detection signals;

[0177] When it is determined that fishing is suitable, the appropriate fishing environment parameters are determined according to the types of fish group targets. The cross-media aircraft cooperates according to the appropriate fishing environment parameters to establish a fishing network, and guides fishing boats to carry out fishing operations according to the fishing network; the appropriate 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate 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 fish target; 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 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; 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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