Data acquisition method and system applied to underwater target side scan sonar image detection

Abstract

The invention relates to the technical field of underwater target detection, and discloses a data acquisition method applied to underwater target side-scan sonar image detection, and the method comprises the steps: recognizing a detection region of an underwater target, and setting a sound wave transmission path of side-scan sonar equipment; identifying an echo signal of the underwater target, extracting signal intensity and delay parameters of the echo signal, and constructing an underwater two-dimensional image of the underwater target; performing quality optimization processing on the underwater two-dimensional image to obtain an optimized image, identifying signal receiving time and receiving position coordinates of the echo signal, and generating image paraphrases of the underwater target; identifying a non-target object of the side-scan sonar device, extracting key features of the non-target object, and setting a beam obstacle avoidance path of the side-scan sonar device; and setting a re-tracking mechanism of the underwater target, and performing data acquisition on the underwater target based on the re-tracking mechanism and the beam obstacle avoidance path to obtain a data acquisition result. According to the invention, the accuracy of underwater target data acquisition can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater target detection, and in particular to a data acquisition method and system for underwater target side-scan sonar image detection. Background Art

[0002] Underwater target side-scan sonar image detection refers to the process of using sound waves to the side to detect images of the underwater environment, and analyzing these images to discover and identify various underwater target objects. With the deepening of human research on marine science and the intensification of marine resource development, the demand for detection and identification of underwater targets is increasing. As an efficient and reliable underwater detection method, side-scan sonar has become an important tool for underwater target detection.

[0003] The existing underwater target detection method is mainly acoustic measurement, which collects information about underwater objects by sending sound waves underwater and receiving their reflected signals. Although this method can obtain underwater target information to a certain extent, the sound waves may be interfered by underwater obstacles or terrain during propagation, affecting the accuracy of data collection. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a data acquisition method and system for underwater target side-scan sonar image detection, which can improve the accuracy of underwater target data acquisition.

[0005] In a first aspect, the present invention provides a data acquisition method for underwater target side-scan sonar image detection, comprising:

[0006] Acquire an underwater target to be detected and its corresponding side-scan sonar device, identify a detection area of ​​the underwater target, and set a sound wave transmission path of the side-scan sonar device based on the detection area;

[0007] Based on the acoustic wave transmission path, the echo signal of the underwater target is identified, and the acoustic wave interference factor of the echo signal is analyzed, the signal strength and delay parameter of the echo signal are extracted, and according to the signal strength and the delay parameter, an underwater two-dimensional image of the underwater target is constructed;

[0008] Performing quality optimization processing on the underwater two-dimensional image to obtain an optimized image, collecting positioning data of the side-scan sonar device, identifying the signal reception time and reception position coordinates of the echo signal according to the positioning data, and combining the signal reception time, the reception position coordinates and the optimized image to generate an image interpretation of the underwater target;

[0009] Based on the image interpretation, non-target objects of the side-scan sonar device are identified, key features of the non-target objects are extracted, and according to the key features and the acoustic interference factors, a beam obstacle avoidance path of the side-scan sonar device is set;

[0010] According to the beam obstacle avoidance path, a re-tracking mechanism of the underwater target is set, and based on the re-tracking mechanism and the beam obstacle avoidance path, data collection is performed on the underwater target to obtain a data collection result.

[0011] In a possible implementation manner of the first aspect, setting a sound wave transmission path of the side scan sonar device based on the detection area includes:

[0012] Identifying a monitoring target in the detection area and identifying property parameters of the monitoring target;

[0013] extracting the reflected beam of the monitoring target according to the property parameter;

[0014] Calculating the sound wave emission angle of the side scan sonar device;

[0015] Determining the sound wave receiving angle of the side scan sonar device to the reflected beam according to the sound wave emission angle;

[0016] identifying a propagation medium in the detection area;

[0017] Analyzing the sound wave propagation distance from the monitoring target to the side scan sonar device;

[0018] The sound wave transmission path of the side scan sonar device is set in combination with the sound wave emission angle, the sound wave receiving angle, the propagation medium and the sound wave propagation distance.

[0019] In a possible implementation manner of the first aspect, analyzing the acoustic wave interference factor of the echo signal based on the acoustic wave transmission path includes:

[0020] Based on the sound wave propagation path, identifying the sound wave propagation medium of the echo signal, and analyzing the water body characteristics of the sound wave propagation medium;

[0021] Identifying obstacles in the acoustic wave transmission path, and identifying the diffraction path of the echo signal based on the obstacles;

[0022] Extracting irrelevant acoustic wave factors in the acoustic wave transmission path;

[0023] The acoustic interference factors of the echo signal are analyzed in combination with the water body characteristics, the diffraction path and the irrelevant acoustic wave factors.

[0024] In a possible implementation manner of the first aspect, constructing an underwater two-dimensional image of the underwater target according to the signal strength and the delay parameter includes:

[0025] Extracting sound velocity parameters of the underwater target;

[0026] Calculating a slant range parameter of the underwater target according to the sound speed parameter and the delay parameter;

[0027] Determining the lateral position of the underwater target based on the slant range parameter;

[0028] According to the signal strength, identifying the pixel gray value of the underwater target;

[0029] Determining the pixel brightness of the underwater target based on the pixel grayscale value;

[0030] The lateral position and the pixel brightness are combined to construct an underwater two-dimensional image of the underwater target.

[0031] In a possible implementation manner of the first aspect, identifying, according to the positioning data, a signal reception time and a reception position coordinate of the echo signal includes:

[0032] Identify a side-scan sonar device corresponding to the positioning data;

[0033] Collecting the sound wave emission time and the instantaneous parameters of the sound wave reflection of the side scan sonar device;

[0034] Determining a signal receiving time of the echo signal based on the acoustic wave emission time and the acoustic wave reflection instantaneous parameter;

[0035] Identifying the instantaneous position coordinates of the side scan sonar device according to the signal reception time;

[0036] Based on the instantaneous position coordinates, the reception position coordinates of the echo signal are determined.

[0037] In a possible implementation manner of the first aspect, combining the signal reception time, the reception position coordinates, and the optimized image to generate an image interpretation of the underwater target includes:

[0038] Based on the optimized image, identifying the activity scene and identity category of the underwater target;

[0039] According to the activity scene and the identity category, identifying surrounding objects of the underwater target;

[0040] Analyzing the mutual influence relationship between the underwater target and the surrounding objects;

[0041] Based on the mutual influence relationship, identifying the specific role of the underwater target in the activity scene;

[0042] Analyzing a behavior pattern of the underwater target according to the signal reception time and the reception position coordinates;

[0043] An image interpretation of the underwater target is generated by combining the identity category, the specific role and the behavior pattern.

[0044] In a possible implementation manner of the first aspect, identifying a non-target object of the side scan sonar device based on the image interpretation includes:

[0045] Based on the image interpretation, extracting the target detection object corresponding to the side scan sonar device;

[0046] Identify the water environment and characteristic parameters of the target detection object;

[0047] Locating the location area of ​​the target detection object in the water environment according to the characteristic parameters;

[0048] Based on the location area, identifying the acoustic wave path between the target detection object and the side scan sonar device;

[0049] analyzing interference factors of the acoustic wave path;

[0050] According to the interference factor, non-target objects of the side scan sonar device are identified.

[0051] In a possible implementation manner of the first aspect, setting a beam obstacle avoidance path of the side scan sonar device according to the key feature and the acoustic wave interference factor includes:

[0052] According to the key features, identifying the structural features of the acoustic interference factors;

[0053] Identifying a beam propagation path of the side scan sonar device;

[0054] Extracting a beam factor of the beam propagation path and analyzing a propagation characteristic of the beam factor;

[0055] Based on the structural characteristics, analyzing the propagation environment of the beam factor;

[0056] Identifying the degree of influence of the propagation environment on the propagation characteristics;

[0057] According to the degree of influence, a beam obstacle avoidance path of the side scan sonar device is set.

[0058] In a possible implementation manner of the first aspect, setting a re-tracking mechanism for the underwater target according to the beam obstacle avoidance path includes:

[0059] Identifying a side-scan sonar device corresponding to the underwater target, and identifying a sonar beam of the side-scan sonar device;

[0060] Extracting acoustic interference factors and emission parameters corresponding to the sonar beam;

[0061] Setting a parameter adjustment mechanism of the transmission parameters according to the beam obstacle avoidance path and the acoustic interference factor;

[0062] Based on the parameter adjustment mechanism and the beam obstacle avoidance path, identifying a target position of the underwater target;

[0063] Based on the target position, a re-tracking mechanism for the underwater target is set.

[0064] In a second aspect, the present invention provides a data acquisition system for underwater target side-scan sonar image detection, characterized in that the system comprises:

[0065] A path setting module, used to obtain an underwater target to be detected and its corresponding side-scan sonar device, identify a detection area of ​​the underwater target, and set a sound wave transmission path of the side-scan sonar device based on the detection area;

[0066] An image construction module, used to identify the echo signal of the underwater target based on the acoustic wave transmission path, analyze the acoustic wave interference factor of the echo signal, extract the signal strength and delay parameter of the echo signal, and construct an underwater two-dimensional image of the underwater target according to the signal strength and the delay parameter;

[0067] An image interpretation module is used to perform quality optimization processing on the underwater two-dimensional image to obtain an optimized image, collect positioning data of the side scan sonar device, identify the signal reception time and reception position coordinates of the echo signal according to the positioning data, and generate an image interpretation of the underwater target by combining the signal reception time, the reception position coordinates and the optimized image;

[0068] A beam obstacle avoidance module, used to identify non-target objects of the side scan sonar device based on the image interpretation, extract key features of the non-target objects, and set a beam obstacle avoidance path of the side scan sonar device according to the key features and the acoustic interference factors;

[0069] The collection result module is used to set the re-tracking mechanism of the underwater target according to the beam obstacle avoidance path, and to collect data of the underwater target based on the re-tracking mechanism and the beam obstacle avoidance path to obtain the data collection result.

[0070] Compared with the prior art, the technical principle and beneficial effects of this solution are:

[0071] The embodiment of the present invention obtains the detection area of ​​the underwater target to be detected, and sets the sound wave transmission path of the side scan sonar device based on the detection area, so as to achieve full coverage scanning of the underwater target and improve the density of data acquisition and measurement efficiency; secondly, the embodiment of the present invention identifies the echo signal of the underwater target based on the sound wave transmission path, extracts the signal strength and delay parameters of the echo signal, and constructs an underwater two-dimensional image of the underwater target, so as to accurately locate the underwater target and construct a visual image of the target to intuitively display the position and characteristics of the underwater target and improve the accuracy and efficiency of detection; thirdly, the embodiment of the present invention generates an image interpretation of the underwater target by combining the signal reception time, the reception position coordinates and the optimized image, so as to match the sonar image with the actual geographical location, improve the readability and interpretability of the image, enhance the accuracy and efficiency of the side scan sonar image detection of the underwater target, and improve the feature extraction capability of the underwater target detection; further, the embodiment of the present invention extracts the key features of the non-target object, and generates an image interpretation of the underwater target, so as to match the sonar image with the actual geographical location, improve the readability and interpretability of the image, enhance the accuracy and efficiency of the side scan sonar image detection of the underwater target, and improve the feature extraction capability of the underwater target detection; further, the embodiment of the present invention extracts the key features of the non-target object, and generates an image interpretation of the underwater target, so as to improve the accuracy and interpretability of the image, enhance the accuracy and efficiency of the side scan sonar image detection of the underwater target, and improve the feature extraction capability of the underwater target detection; According to the key features and the acoustic interference factors, the beam obstacle avoidance path of the side scan sonar device is set, which can reduce unnecessary reflections of acoustic waves on non-target objects, reduce noise levels, and make acoustic waves propagate more effectively to the target area, thereby improving the propagation efficiency and coverage of acoustic waves, and helping to improve the quality of side scan sonar images, making the images clearer and better reflecting the characteristics of the seabed terrain and underwater targets; finally, the embodiment of the present invention collects data on the underwater target based on the re-tracking mechanism and the beam obstacle avoidance path to obtain data collection results, and can better adapt to the appearance changes of the target between different frames through the re-tracking mechanism, thereby achieving continuous and accurate tracking of the underwater target and reducing the false alarm and missed alarm rates. At the same time, the beam obstacle avoidance path helps acoustic waves to bypass obstacles more effectively and reduce signal attenuation, thereby improving the integrity of data collection and the adaptability of the system in different underwater environments. Combined with the re-tracking mechanism and the beam obstacle avoidance path, the sonar system can allocate resources more reasonably and improve the accuracy and comprehensiveness of underwater target data collection. Therefore, the data acquisition method for underwater target side-scan sonar image detection proposed by the present invention can improve the accuracy of underwater target data acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0073] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0074] Figure 1 A schematic flow chart of a data acquisition method for underwater target side-scan sonar image detection provided by an embodiment of the present invention;

[0075] Figure 2 A schematic diagram of a module of a data acquisition system for side-scan sonar image detection of underwater targets provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0076] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0077] The embodiment of the present invention provides a data collection method for underwater target side-scan sonar image detection, and the execution subject of the data collection method for underwater target side-scan sonar image detection includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present invention. In other words, the data collection method for underwater target side-scan sonar image detection can be executed by software or hardware installed in a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0078] See also Figure 1 FIG. 1 is a flow chart of a data collection method for underwater target side-scan sonar image detection provided by an embodiment of the present invention. Figure 1 The data acquisition method described in the application to underwater target side scan sonar image detection includes:

[0079] S1. Acquire an underwater target to be detected and its corresponding side-scan sonar device, identify a detection area of ​​the underwater target, and set a sound wave transmission path of the side-scan sonar device based on the detection area.

[0080] The embodiment of the present invention can provide necessary data support for the detection and identification of underwater targets by acquiring underwater targets to be detected and their corresponding side-scan sonar equipment. The underwater targets refer to various objects or structures located underwater, and the side-scan sonar equipment refers to an acoustic detection equipment that uses the characteristics of sound wave propagation in water to detect and identify underwater objects.

[0081] Furthermore, the embodiment of the present invention can ensure that the side scan sonar can accurately locate and identify the target area of ​​the underwater target by identifying the detection area of ​​the underwater target. The detection area refers to the specific sea area covered by the side scan sonar device when performing a detection mission.

[0082] Optionally, the detection area identification of the underwater target can be determined by utilizing the coverage of a side scan sonar device.

[0083] The embodiment of the present invention can achieve full coverage scanning of underwater targets and improve data collection density and measurement efficiency by setting the sound wave transmission path of the side scan sonar device based on the detection area. The sound wave transmission path refers to the path that the sound waves emitted by the side scan sonar device pass from the transmitting point to the receiving point when performing underwater detection.

[0084] As an embodiment of the present invention, setting the sound wave transmission path of the side scan sonar device based on the detection area includes: identifying the monitoring target of the detection area, and identifying the property parameters of the monitoring target; extracting the reflected beam of the monitoring target according to the property parameters; calculating the sound wave emission angle of the side scan sonar device; determining the sound wave receiving angle of the side scan sonar device to the reflected beam according to the sound wave emission angle; identifying the propagation medium of the detection area; analyzing the sound wave propagation distance from the monitoring target to the side scan sonar device; and setting the sound wave transmission path of the side scan sonar device in combination with the sound wave emission angle, the sound wave receiving angle, the propagation medium and the sound wave propagation distance.

[0085] Among them, the monitoring target refers to an underwater object or structure that requires special attention and detection in side-scan sonar image detection, the property parameter refers to a parameter that describes the physical characteristics of the monitoring target, such as size, shape, material, etc., the reflected beam refers to the sound wave beam reflected back after the sound wave emitted from the side-scan sonar device encounters the underwater target, the sound wave emission angle refers to the angle at which the side-scan sonar device emits the sound wave, the sound wave receiving angle refers to the angle at which the side-scan sonar device receives the reflected sound wave, the propagation medium refers to the environment in which the sound wave propagates, such as water, and the sound wave propagation distance refers to the total distance from the emission to the reception of the sound wave.

[0086] Optionally, the monitoring target identification in the detection area can be obtained by transmitting sound waves and receiving reflected sound waves by a side-scan sonar device, and the property parameter identification of the monitoring target can be achieved by utilizing echo signal characteristics. Based on the property parameters, the reflected beam extraction of the monitoring target can be obtained by a receiver of the side-scan sonar device. Based on the monitoring target, the sound wave emission angle identification of the side-scan sonar device can be determined by utilizing the transducer configuration and emission mechanism of the side-scan sonar device.

[0087] In an optional embodiment of the present invention, the sound wave emission angle of the side scan sonar device is calculated using the following formula:

[0088]

[0089] Among them, θ represents the sound wave emission angle of the side scan sonar device, Q represents the number of transmitting transducers corresponding to the side scan sonar device, r represents the curvature radius of the transducer array corresponding to the side scan sonar device, and D represents the diameter of the transmitting transducer corresponding to the side scan sonar device.

[0090] S2. Based on the acoustic wave transmission path, identify the echo signal of the underwater target, analyze the acoustic wave interference factor of the echo signal, extract the signal strength and delay parameter of the echo signal, and construct an underwater two-dimensional image of the underwater target according to the signal strength and the delay parameter.

[0091] The embodiment of the present invention can accurately locate the underwater target and generate a two-dimensional image of the underwater environment by identifying the echo signal of the underwater target based on the sound wave transmission path and analyzing the sound wave interference factors of the echo signal. The accuracy of data acquisition can be improved by identifying the sound wave interference factors. The echo signal refers to the sound wave signal reflected back after the sound wave emitted by the side scan sonar device encounters the target object during the underwater propagation process. The sound wave interference factor refers to various factors that may affect the quality of the sound wave signal during the sound wave propagation process, such as underwater topography, water flow and tide.

[0092] Optionally, the echo signal identification of the underwater target based on the sound wave transmission path can be obtained by a support vector machine.

[0093] As an embodiment of the present invention, the analysis of the acoustic wave interference factors of the echo signal based on the acoustic wave transmission path includes: identifying the acoustic wave propagation medium of the echo signal based on the acoustic wave propagation path, and analyzing the water body characteristics of the acoustic wave propagation medium; identifying obstacles in the acoustic wave transmission path, and identifying the diffraction path of the echo signal based on the obstacles; extracting irrelevant acoustic wave factors in the acoustic wave transmission path; and analyzing the acoustic wave interference factors of the echo signal in combination with the water body characteristics, the diffraction path and the irrelevant acoustic wave factors.

[0094] Among them, the sound wave propagation medium refers to the substance through which the sound wave passes when it propagates underwater, the water body characteristics refer to the properties of the water body, including water temperature, salinity, pressure, density, etc., the obstacles refer to obstacles that may be encountered in the sound wave propagation path, such as seabed rocks, shipwrecks, organisms, etc., the diffraction path refers to the path where part of the sound wave bypasses the obstacle and continues to propagate when the sound wave encounters an obstacle, and the irrelevant sound wave factor refers to the sound wave component that does not contribute to target detection but may affect the signal quality, such as noise.

[0095] Optionally, obstacle identification in the acoustic wave transmission path can be achieved using a multi-beam sounding system, the diffraction path identification of the echo signal based on the obstacle can be obtained through an acoustic wave diffraction experiment, and the extraction of irrelevant acoustic wave factors in the acoustic wave transmission path can be achieved using filtering technology.

[0096] Furthermore, the embodiments of the present invention can construct a visual image of the target by extracting the signal strength and delay parameters of the echo signal to assist in identifying and classifying underwater targets. The signal strength refers to the amplitude or energy of the echo signal received by the sonar receiver, and the delay parameter refers to the time it takes for the sound wave to be transmitted and received.

[0097] Optionally, the signal strength extraction of the echo signal can be obtained by wavelet transformation, and the delay parameter extraction of the echo signal can be achieved by utilizing the time interval between the emission and reception of the sound wave.

[0098] The embodiment of the present invention constructs an underwater two-dimensional image of the underwater target according to the signal strength and the delay parameter, so as to intuitively display the position and characteristics of the underwater target and improve the accuracy and efficiency of detection. The underwater two-dimensional image refers to a planar image generated by side-scan sonar technology, which displays the underwater environment and the target.

[0099] As an embodiment of the present invention, constructing an underwater two-dimensional image of the underwater target based on the signal strength and the delay parameter includes: extracting the sound speed parameter of the underwater target; calculating the slant range parameter of the underwater target based on the sound speed parameter and the delay parameter; determining the lateral position of the underwater target based on the slant range parameter; identifying the pixel grayscale value of the underwater target based on the signal strength; determining the pixel brightness of the underwater target based on the pixel grayscale value; and constructing the underwater two-dimensional image of the underwater target in combination with the lateral position and the pixel brightness.

[0100] Among them, the sound speed parameter refers to the propagation speed of the sound wave emitted by the side scan sonar device and reflected back after encountering the underwater target, the slant range parameter refers to half of the straight-line distance of the sound wave emitted from the sonar device and reflected back after encountering the target, the lateral position refers to the horizontal position of the underwater target in the sonar image, the pixel grayscale value refers to the measure of the brightness or brightness of each pixel in the image, and the pixel brightness refers to the grayscale value or color intensity of the pixel corresponding to the underwater target in the side scan sonar image.

[0101] Optionally, the sound speed parameter extraction of the underwater target can be achieved using a sonic velocity meter, the lateral position determination of the underwater target based on the slant range parameter can be obtained by converting the slant range into the lateral position in the image through the geometric configuration of the sonar equipment, and the underwater two-dimensional image construction of the underwater target based on the signal strength, combined with the lateral position and the pixel brightness can be achieved using image processing software, such as QPS QI NSy software.

[0102] In an optional embodiment of the present invention, the slant range parameter of the underwater target is calculated using the following formula according to the sound speed parameter and the delay parameter:

[0103]

[0104] Wherein, h represents the slant range parameter of the underwater target, c' represents the sound velocity parameter corresponding to the underwater target, and t' represents the delay parameter corresponding to the underwater target.

[0105] S3, performing quality optimization processing on the underwater two-dimensional image to obtain an optimized image, collecting the positioning data of the side-scan sonar device, identifying the signal reception time and the receiving position coordinates of the echo signal according to the positioning data, and combining the signal reception time, the receiving position coordinates and the optimized image to generate an image interpretation of the underwater target.

[0106] The embodiment of the present invention obtains an optimized image by performing quality optimization processing on the underwater two-dimensional image, which can reduce noise and blur in the image, improve the readability and interpretability of the image, and enhance the accuracy and efficiency of underwater target side-scan sonar image detection. The optimized image refers to an image improved using various image processing technologies.

[0107] Optionally, the quality optimization processing of the underwater two-dimensional image can be implemented by using Fledermaus image processing software.

[0108] Furthermore, the embodiment of the present invention can match the sonar image with the actual geographical location by collecting the positioning data of the side-scan sonar device, ensure the consistency of the sonar image and the time and space information of the side-scan sonar device, and improve the accuracy and reliability of data collection. The positioning data refers to navigation data used to determine the precise position and posture of the sonar device in an underwater environment.

[0109] Optionally, the positioning data collection of the side-scan sonar device can be achieved by using a navigation system built into the side-scan sonar device.

[0110] Furthermore, the embodiments of the present invention can accurately locate underwater targets and correctly indicate the positions of underwater targets on sonar images by identifying the signal reception time and reception position coordinates of the echo signal according to the positioning data. The signal reception time refers to the specific time point when the sonar device receives the echo signal, and the reception position coordinates refer to the geographical location of the sonar device when the echo signal is received, including longitude, latitude and water depth.

[0111] As an embodiment of the present invention, identifying the signal reception time and reception position coordinates of the echo signal according to the positioning data includes: identifying the side scan sonar device corresponding to the positioning data; collecting the sound wave emission time and the instantaneous parameters of the sound wave reflection of the side scan sonar device; determining the signal reception time of the echo signal based on the sound wave emission time and the instantaneous parameters of the sound wave reflection; identifying the instantaneous position coordinates of the side scan sonar device according to the signal reception time; and determining the reception position coordinates of the echo signal based on the instantaneous position coordinates.

[0112] Among them, the sound wave emission time refers to the specific moment when the sonar device emits sound waves to detect underwater targets, the sound wave reflection instantaneous parameters refer to the parameters recorded at the moment the sound wave encounters the underwater target and reflects back, including the intensity and timestamp of the echo signal, and the instantaneous position coordinates refer to the specific geographical location of the echo signal recorded by the sonar device at the moment it encounters the echo signal.

[0113] Optionally, the acquisition of instantaneous parameters of the sound wave emission time and sound wave reflection of the side-scan sonar device can be achieved by recording with the control system of the sonar device, and the identification of the instantaneous position coordinates of the side-scan sonar device based on the signal reception time can be achieved using a Doppler speedometer.

[0114] The embodiment of the present invention generates an image interpretation of the underwater target by combining the signal reception time, the reception position coordinates and the optimized image, thereby improving the accuracy of underwater target detection and feature extraction capability. The image interpretation refers to the explanation of the image content of the underwater target.

[0115] As an embodiment of the present invention, the generation of an image interpretation of the underwater target by combining the signal reception time, the reception position coordinates and the optimized image includes: identifying the activity scene and identity category of the underwater target based on the optimized image; identifying the surrounding objects of the underwater target according to the activity scene and the identity category; analyzing the mutual influence relationship between the underwater target and the surrounding objects; based on the mutual influence relationship, identifying the specific role of the underwater target in the activity scene; analyzing the behavior pattern of the underwater target according to the signal reception time and the reception position coordinates; and generating an image interpretation of the underwater target by combining the identity category, the specific role and the behavior pattern.

[0116] Among them, the activity scene refers to the specific environment or background in which the underwater target is located, such as coral reef areas, deep-sea trenches, shipwreck sites, seabed plains, etc. The identity category refers to the specific type or classification of the underwater target, such as fish, man-made objects (such as submarines, shipwrecks), seabed geological structures, etc. The mutual influence relationship refers to the interaction and influence between the underwater target and its surrounding environment or other targets. The surrounding objects refer to other objects or organisms near or around the underwater target. The specific role refers to the specific function or role of the underwater target in its activity scene, such as as a predator, prey, cleaner, habitat provider, etc. The behavior pattern refers to the behavioral characteristics of the underwater target, including movement path, speed, acceleration, behavioral habits, etc.

[0117] Optionally, based on the optimized image, the activity scene and identity category recognition of the underwater target can be achieved using a deep learning model, the identification of the surrounding objects of the underwater target based on the activity scene and the identity category can be determined by image segmentation technology, and based on the signal reception time and the receiving position coordinates, the behavior pattern analysis of the underwater target can be obtained by target tracking technology.

[0118] S4. Based on the image interpretation, identify the non-target objects of the side-scan sonar device, extract the key features of the non-target objects, and set the beam obstacle avoidance path of the side-scan sonar device according to the key features and the sound wave interference factors.

[0119] The embodiment of the present invention helps to distinguish target objects from irrelevant objects by identifying non-target objects of the side-scan sonar device based on the image interpretation, thereby improving the accuracy of underwater target detection. The non-target objects refer to objects or phenomena surrounding the underwater targets that affect the data collection of the side-scan sonar device, such as fish, corals, shipwrecks, etc.

[0120] As an embodiment of the present invention, the identifying non-target objects of the side-scan sonar device based on the image interpretation includes: extracting the target detection object corresponding to the side-scan sonar device based on the image interpretation; identifying the water environment and characteristic parameters of the target detection object; locating the position area of ​​the target detection object in the water environment based on the characteristic parameters; identifying the sound wave path of the target detection object and the side-scan sonar device based on the position area; analyzing the interference factor of the sound wave path; and identifying the non-target objects of the side-scan sonar device based on the interference factor.

[0121] Among them, the target detection object refers to the specific object or target detected by the side scan sonar equipment in the underwater environment, the water environment refers to the water environment where the underwater target is located, the characteristic parameters refer to the parameters that describe the characteristics of the target detection object, such as size, shape, material, echo intensity, etc., the position area refers to the specific position of the target detection object in the water environment, the sound wave path refers to the path of the sound wave emitted from the side scan sonar equipment to the underwater target and then reflected back to the receiver, and the interference factor refers to various factors that may affect the propagation and reception of sound waves on the sound wave path, such as obstacles.

[0122] Optionally, the water environment identification of the target detection object can be obtained by remote sensing inversion spectral characteristics of water quality parameters. Based on the characteristic parameters, the position area positioning of the target detection object in the water environment can be achieved using the positioning algorithm of the sonar equipment, and the interference factor analysis of the sound wave path can be determined by an acoustic model.

[0123] Furthermore, the embodiments of the present invention help to distinguish target signals from background clutter, thereby improving the accuracy of sonar echo detection by extracting key features of the non-target objects. The key features refer to attributes or parameters that can significantly distinguish target detection objects from non-target objects, such as waveform features.

[0124] Optionally, the key feature extraction of the non-target object can be implemented using a YOLOv8s network model.

[0125] The embodiment of the present invention sets the beam obstacle avoidance path of the side scan sonar device according to the key features and the sound wave interference factors, thereby reducing unnecessary reflections of sound waves on non-target objects, lowering the noise level, and allowing sound waves to propagate more effectively to the target area, thereby improving the propagation efficiency and coverage of sound waves, and helping to improve the quality of side scan sonar images, making the images clearer and better reflecting the characteristics of the seabed terrain and underwater targets. The beam obstacle avoidance path refers to the path along which the sound waves are emitted from the sonar device and adjusted after encountering an obstacle.

[0126] As an embodiment of the present invention, setting the beam obstacle avoidance path of the side-scan sonar device according to the key features and the acoustic interference factors includes: identifying the structural features of the acoustic interference factors according to the key features; identifying the beam propagation path of the side-scan sonar device; extracting the beam factor of the beam propagation path, and analyzing the propagation characteristics of the beam factor; analyzing the propagation environment of the beam factor based on the structural features; identifying the degree of influence of the propagation environment on the propagation characteristics; and setting the beam obstacle avoidance path of the side-scan sonar device according to the degree of influence.

[0127] Among them, the structural characteristics refer to the physical and geometric characteristics of the sound wave interference factors, such as the shape, size, material, etc. of the obstacles; the beam propagation path refers to the path of the sound waves emitted by the side scan sonar equipment in the water body; the beam factor refers to a limited and directional sound wave energy factor formed in space by the sound waves emitted by the sonar equipment; the propagation characteristics refer to the propagation behavior of the sound waves in the medium, including the speed, attenuation, reflection, refraction and diffraction of the sound waves; the propagation environment refers to the external conditions for the propagation of sound waves, including water depth, water quality, water temperature, water flow, seabed topography, etc.; the degree of influence refers to the specific influence of the propagation environment on the sound wave propagation characteristics, including the degree of sound wave attenuation, the angles of reflection and refraction, the effect of diffraction, etc.

[0128] Optionally, according to the key features, the structural feature identification of the acoustic interference factor can be achieved by using a matching pursuit method, and the propagation characteristic analysis of the beam factor can be obtained by a finite difference time domain (FDTD) simulation tool.

[0129] In an optional embodiment of the present invention, the following formula is used to identify the influence of the propagation environment on the propagation characteristics:

[0130]

[0131] Where W represents the influence of the propagation environment on the propagation characteristics, n represents the total number of factors affecting the propagation characteristics, i represents the index number of the influencing factor, and A i represents the score value of the i-th influencing factor in the propagation environment, C i represents the weight coefficient of the i-th influencing factor in the propagation environment, m represents the total number of propagation characteristics, j represents the category index corresponding to the propagation characteristic, and D j Represents the adjustment coefficient corresponding to the j-th propagation characteristic.

[0132] S5. According to the beam obstacle avoidance path, a re-tracking mechanism of the underwater target is set, and based on the re-tracking mechanism and the beam obstacle avoidance path, data collection is performed on the underwater target to obtain a data collection result.

[0133] The embodiment of the present invention can enhance the accuracy of target tracking and identification by setting up the re-tracking mechanism of the underwater target according to the beam obstacle avoidance path, and can adapt to complex underwater environments, reduce false alarms and missed alarms caused by environmental interference or target similarity, and improve the reliability of data collection. The re-tracking mechanism refers to a technology for continuously tracking a detected underwater target.

[0134] As an embodiment of the present invention, the re-tracking mechanism of the underwater target is set according to the beam obstacle avoidance path, including: identifying the side-scan sonar device corresponding to the underwater target, and identifying the sonar beam of the side-scan sonar device; extracting the acoustic interference factor and the transmission parameter corresponding to the sonar beam; setting the parameter adjustment mechanism of the transmission parameter according to the beam obstacle avoidance path and the acoustic interference factor; identifying the target position of the underwater target based on the parameter adjustment mechanism and the beam obstacle avoidance path; and setting the re-tracking mechanism of the underwater target based on the target position.

[0135] Among them, the sonar beam refers to the specific area formed when the sound waves emitted by the side-scan sonar equipment propagate underwater, the emission parameters refer to the frequency, power, pulse width, beam width and other parameters when the sonar equipment emits sound waves, the parameter adjustment mechanism refers to the strategy of dynamically adjusting the emission parameters of the sonar equipment according to the underwater environment and target characteristics, and the target position refers to the specific coordinates of the underwater target in three-dimensional space, including depth, horizontal position, etc.

[0136] Optionally, according to the beam obstacle avoidance path and the acoustic interference factor, the parameter adjustment mechanism setting of the transmission parameters can be obtained by controlling the sonar array, and based on the parameter adjustment mechanism and the beam obstacle avoidance path, the target position identification of the underwater target can be achieved by utilizing the reflection and reception of the sonar beam.

[0137] Furthermore, the embodiment of the present invention collects data on the underwater target based on the re-tracking mechanism and the beam obstacle avoidance path to obtain data collection results. The re-tracking mechanism can better adapt to the appearance changes of the target between different frames, achieve continuous and accurate tracking of the underwater target, and reduce false alarm and missed alarm rates. At the same time, the beam obstacle avoidance path helps sound waves to bypass obstacles more effectively and reduce signal attenuation, thereby improving the integrity of data collection and the adaptability of the system in different underwater environments. Combined with the re-tracking mechanism and the beam obstacle avoidance path, the sonar system can allocate resources more reasonably and improve the accuracy and comprehensiveness of underwater target data collection. The data collection results refer to a series of information and data obtained after detecting and tracking underwater targets through side-scan sonar equipment, including the target's location data, feature data, behavior data, etc.

[0138] It can be seen that the embodiment of the present invention can achieve full coverage scanning of underwater targets and improve the density and measurement efficiency of data acquisition by obtaining the detection area of ​​the underwater target to be detected and setting the sound wave transmission path of the side scan sonar device based on the detection area; secondly, the embodiment of the present invention can accurately locate the underwater target and construct a visual image of the target by identifying the echo signal of the underwater target based on the sound wave transmission path, extracting the signal strength and delay parameters of the echo signal, and constructing an underwater two-dimensional image of the underwater target, so as to intuitively display the position and characteristics of the underwater target and improve the accuracy and efficiency of detection; thirdly, the embodiment of the present invention can match the sonar image with the actual geographical location by combining the signal reception time, the reception position coordinates and the optimized image, improve the readability and interpretability of the image, enhance the accuracy and efficiency of the side scan sonar image detection of underwater targets, and improve the feature extraction capability of underwater target detection; further, the embodiment of the present invention can extract the relevant information of the non-target object by generating the image interpretation of the underwater target. Key features, according to the key features and the acoustic interference factors, setting the beam obstacle avoidance path of the side scan sonar device can reduce unnecessary reflections of acoustic waves on non-target objects, reduce noise levels, and make acoustic waves more effectively propagate to the target area, thereby improving the propagation efficiency and coverage of acoustic waves, and helping to improve the quality of side scan sonar images, making the images clearer and better reflecting the characteristics of the seabed topography and underwater targets; finally, the embodiment of the present invention collects data on the underwater target based on the re-tracking mechanism and the beam obstacle avoidance path to obtain data collection results, and can better adapt to the appearance changes of the target between different frames through the re-tracking mechanism, thereby achieving continuous and accurate tracking of the underwater target and reducing the false alarm and missed alarm rates. At the same time, the beam obstacle avoidance path helps acoustic waves to bypass obstacles more effectively and reduce signal attenuation, thereby improving the integrity of data collection and the adaptability of the system in different underwater environments. Combined with the re-tracking mechanism and the beam obstacle avoidance path, the sonar system can allocate resources more reasonably and improve the accuracy and comprehensiveness of underwater target data collection. Therefore, the data acquisition method for underwater target side-scan sonar image detection proposed by the present invention can improve the accuracy of underwater target data acquisition.

[0139] like Figure 2 As shown, it is a system functional module diagram of data acquisition for underwater target side-scan sonar image detection applied to the present invention.

[0140] The data acquisition system 200 for underwater target side-scan sonar image detection of the present invention can be installed in an electronic device. According to the functions to be implemented, the data acquisition system for underwater target side-scan sonar image detection can include a path setting module 201, an image construction module 202, an image interpretation module 203, a beam obstacle avoidance module 204, and a collection result module 205. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0141] In the embodiment of the present invention, the functions of each module / unit are as follows:

[0142] The path setting module 201 is used to obtain an underwater target to be detected and its corresponding side-scan sonar device, identify a detection area of ​​the underwater target, and set a sound wave transmission path of the side-scan sonar device based on the detection area;

[0143] An image construction module 202 is used to identify the echo signal of the underwater target based on the acoustic wave transmission path, analyze the acoustic wave interference factor of the echo signal, extract the signal strength and delay parameter of the echo signal, and construct an underwater two-dimensional image of the underwater target according to the signal strength and the delay parameter;

[0144] The image interpretation module 203 is used to optimize the quality of the underwater two-dimensional image to obtain an optimized image, collect the positioning data of the side scan sonar device, identify the signal reception time and reception position coordinates of the echo signal according to the positioning data, and generate an image interpretation of the underwater target by combining the signal reception time, the reception position coordinates and the optimized image;

[0145] A beam obstacle avoidance module 204 is used to identify non-target objects of the side scan sonar device based on the image interpretation, extract key features of the non-target objects, and set a beam obstacle avoidance path of the side scan sonar device according to the key features and the acoustic interference factors;

[0146] The collection result module 205 is used to set a re-tracking mechanism for the underwater target according to the beam obstacle avoidance path, and to collect data for the underwater target based on the re-tracking mechanism and the beam obstacle avoidance path to obtain a data collection result.

[0147] In detail, each module in the data acquisition system 200 for underwater target side-scan sonar image detection in the embodiment of the present invention is used in the same manner as described above. Figure 1 The data acquisition method for underwater target side-scan sonar image detection described in the text is the same as the technical means and can produce the same technical effects, so it will not be repeated here.

[0148] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A data acquisition method for underwater target side-scan sonar image detection, characterized in that: The method comprises: Acquire an underwater target to be detected and its corresponding side-scan sonar device, identify a detection area of ​​the underwater target, and set a sound wave transmission path of the side-scan sonar device based on the detection area; Based on the acoustic wave transmission path, the echo signal of the underwater target is identified, and the acoustic wave interference factor of the echo signal is analyzed, the signal strength and delay parameter of the echo signal are extracted, and according to the signal strength and the delay parameter, an underwater two-dimensional image of the underwater target is constructed; Performing quality optimization processing on the underwater two-dimensional image to obtain an optimized image, collecting positioning data of the side-scan sonar device, identifying the signal reception time and reception position coordinates of the echo signal according to the positioning data, and combining the signal reception time, the reception position coordinates and the optimized image to generate an image interpretation of the underwater target; Based on the image interpretation, non-target objects of the side-scan sonar device are identified, key features of the non-target objects are extracted, and according to the key features and the acoustic interference factors, a beam obstacle avoidance path of the side-scan sonar device is set; According to the beam obstacle avoidance path, a re-tracking mechanism of the underwater target is set, and based on the re-tracking mechanism and the beam obstacle avoidance path, data collection is performed on the underwater target to obtain a data collection result.

2. The method according to claim 1, characterized in that The step of setting a sound wave transmission path of the side scan sonar device based on the detection area includes: Identifying a monitoring target in the detection area and identifying property parameters of the monitoring target; extracting the reflected beam of the monitoring target according to the property parameter; Calculating the sound wave emission angle of the side scan sonar device; Determining the sound wave receiving angle of the side scan sonar device to the reflected beam according to the sound wave emission angle; identifying a propagation medium in the detection area; Analyzing the sound wave propagation distance from the monitoring target to the side scan sonar device; The sound wave transmission path of the side scan sonar device is set in combination with the sound wave emission angle, the sound wave receiving angle, the propagation medium and the sound wave propagation distance.

3. The method according to claim 1, characterized in that The analyzing the acoustic wave interference factor of the echo signal based on the acoustic wave transmission path includes: Based on the sound wave propagation path, identifying the sound wave propagation medium of the echo signal, and analyzing the water body characteristics of the sound wave propagation medium; Identifying obstacles in the acoustic wave transmission path, and identifying the diffraction path of the echo signal based on the obstacles; Extracting irrelevant acoustic wave factors in the acoustic wave transmission path; The acoustic interference factors of the echo signal are analyzed in combination with the water body characteristics, the diffraction path and the irrelevant acoustic wave factors.

4. The method according to claim 1, characterized in that: The step of constructing an underwater two-dimensional image of the underwater target according to the signal strength and the delay parameter comprises: Extracting sound velocity parameters of the underwater target; Calculating a slant range parameter of the underwater target according to the sound speed parameter and the delay parameter; Determining the lateral position of the underwater target based on the slant range parameter; According to the signal strength, identifying the pixel gray value of the underwater target; Determining the pixel brightness of the underwater target based on the pixel grayscale value; The lateral position and the pixel brightness are combined to construct an underwater two-dimensional image of the underwater target.

5. The method according to claim 1, characterized in that The step of identifying the signal receiving time and receiving position coordinates of the echo signal according to the positioning data comprises: Identify a side-scan sonar device corresponding to the positioning data; Collecting the sound wave emission time and the instantaneous parameters of the sound wave reflection of the side scan sonar device; Determining a signal receiving time of the echo signal based on the acoustic wave emission time and the acoustic wave reflection instantaneous parameter; Identifying the instantaneous position coordinates of the side scan sonar device according to the signal reception time; Based on the instantaneous position coordinates, the reception position coordinates of the echo signal are determined.

6. The method according to claim 1, characterized in that The combining the signal receiving time, the receiving position coordinates and the optimized image to generate the image interpretation of the underwater target includes: Based on the optimized image, identifying the activity scene and identity category of the underwater target; According to the activity scene and the identity category, identifying surrounding objects of the underwater target; Analyzing the mutual influence relationship between the underwater target and the surrounding objects; Based on the mutual influence relationship, identifying the specific role of the underwater target in the activity scene; Analyzing a behavior pattern of the underwater target according to the signal reception time and the reception position coordinates; An image interpretation of the underwater target is generated by combining the identity category, the specific role and the behavior pattern.

7. The method according to claim 1, characterized in that The identifying non-target objects of the side scan sonar device based on the image interpretation includes: Based on the image interpretation, extracting the target detection object corresponding to the side scan sonar device; Identify the water environment and characteristic parameters of the target detection object; Locating the location area of ​​the target detection object in the water environment according to the characteristic parameters; Based on the location area, identifying the acoustic wave path between the target detection object and the side scan sonar device; analyzing interference factors of the acoustic wave path; According to the interference factor, non-target objects of the side scan sonar device are identified.

8. The method according to claim 1, characterized in that The step of setting a beam obstacle avoidance path of the side scan sonar device according to the key features and the acoustic interference factors includes: According to the key features, identifying the structural features of the acoustic interference factors; Identifying a beam propagation path of the side scan sonar device; Extracting a beam factor of the beam propagation path and analyzing a propagation characteristic of the beam factor; Based on the structural characteristics, analyzing the propagation environment of the beam factor; Identifying the degree of influence of the propagation environment on the propagation characteristics; According to the degree of influence, a beam obstacle avoidance path of the side scan sonar device is set.

9. The method according to claim 1, characterized in that: The step of setting a re-tracking mechanism for the underwater target according to the beam obstacle avoidance path includes: Identifying a side-scan sonar device corresponding to the underwater target, and identifying a sonar beam of the side-scan sonar device; Extracting acoustic interference factors and emission parameters corresponding to the sonar beam; Setting a parameter adjustment mechanism of the transmission parameters according to the beam obstacle avoidance path and the acoustic interference factor; Based on the parameter adjustment mechanism and the beam obstacle avoidance path, identifying a target position of the underwater target; Based on the target position, a re-tracking mechanism for the underwater target is set.

10. A data acquisition system for underwater target side-scan sonar image detection, characterized in that: The system comprises: A path setting module, used to obtain an underwater target to be detected and its corresponding side-scan sonar device, identify a detection area of ​​the underwater target, and set a sound wave transmission path of the side-scan sonar device based on the detection area; An image construction module, used to identify the echo signal of the underwater target based on the acoustic wave transmission path, analyze the acoustic wave interference factor of the echo signal, extract the signal strength and delay parameter of the echo signal, and construct an underwater two-dimensional image of the underwater target according to the signal strength and the delay parameter; An image interpretation module is used to perform quality optimization processing on the underwater two-dimensional image to obtain an optimized image, collect positioning data of the side scan sonar device, identify the signal reception time and reception position coordinates of the echo signal according to the positioning data, and generate an image interpretation of the underwater target by combining the signal reception time, the reception position coordinates and the optimized image; A beam obstacle avoidance module, used to identify non-target objects of the side scan sonar device based on the image interpretation, extract key features of the non-target objects, and set a beam obstacle avoidance path of the side scan sonar device according to the key features and the acoustic interference factors; The collection result module is used to set the re-tracking mechanism of the underwater target according to the beam obstacle avoidance path, and to collect data of the underwater target based on the re-tracking mechanism and the beam obstacle avoidance path to obtain the data collection result.

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