Monitoring system and monitoring method for whale dolphin

Abstract

The invention discloses a whale and dolphin monitoring system and monitoring method, and relates to the field of marine organism monitoring, and the whale and dolphin monitoring system comprises an intelligent monitoring buoy and a land monitoring base station. The intelligent monitoring buoy comprises a buoy carrier, an electronic bin and an acoustic monitoring subsystem. The land monitoring base station comprises a land monitoring base station electric cabinet, a pan-tilt controller and a pan-tilt camera; the electronic bin is arranged on the buoy carrier; the acoustic monitoring subsystem is arranged at the bottom of the electronic bin; the acoustic monitoring subsystem is used for collecting underwater sound information of a target monitoring area; the electronic bin is used for identifying whale and guinea chirp according to the underwater sound information and estimating a sound source position by adopting a time difference positioning algorithm based on the whale and guinea chirp; the pan-tilt controller is used for adjusting the position of the pan-tilt camera based on the sound source position; the PTZ camera is used for acquiring image information at the sound source position; and the land monitoring base station electric cabinet is used for identifying the whale and guinea pig images according to the image information. According to the application, continuous monitoring of whale and guinea pigs can be accurately realized.

Description

Technical Field

[0001] The present application relates to the field of marine biological monitoring, and in particular to a cetacean monitoring system and a monitoring method. Background Art

[0002] Cetaceans play an important role in the ecosystem. By capturing images of the activities of cetaceans in the monitoring area and observing their numbers, behaviors and living habits, and through long-term data recording, we can better understand information such as their habitat selection and migration routes, thereby providing a scientific basis for formulating conservation strategies.

[0003] The relevant monitoring methods mainly include the following: First, set up artificial observation points in areas where cetaceans are active, and arrange observers to monitor the dynamics of cetaceans and riverside environments in the area all year round. This method can directly obtain information such as the number and behavior of cetaceans, but it is affected by weather, sight, etc., and the accuracy and continuity of the observation data are low. The second is to use an unmanned aerial vehicle monitoring system to achieve monitoring. This method can quickly reach the designated location for shooting and obtain real-time images, but the drone has a short battery life and a limited monitoring range. Third, when cetaceans are active in the water, they will leave body fluids, shed skin, excrement, etc. Through DNA amplification and sequencing analysis, it can be determined whether there are cetaceans in the water. The advantage of this method is that even if the cetaceans do not appear in the field of vision, traces of cetaceans can be detected. The disadvantage is that less information is obtained and the accuracy is easily affected by the environment.

[0004] In summary, how to accurately achieve continuous monitoring of cetaceans has become a problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of this application is to provide a cetacean monitoring system and a monitoring method, which can accurately realize continuous monitoring of cetaceans.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a cetacean monitoring system, including: an intelligent monitoring buoy and a land monitoring base station;

[0008] The intelligent monitoring buoy includes a buoy carrier, an electronic warehouse and an acoustic monitoring subsystem; the land monitoring base station includes: a land monitoring base station electric cabinet, a pan-tilt controller and a pan-tilt camera;

[0009] The electronic warehouse is arranged on the buoy carrier; the acoustic monitoring subsystem is arranged at the bottom of the electronic warehouse; the acoustic monitoring subsystem is used to collect underwater sound information of the target monitoring area; the electronic warehouse is used to identify the cetacean call sound according to the underwater sound information, and estimate the sound source position based on the cetacean call sound by using the time difference positioning algorithm;

[0010] The pan-tilt controller is respectively connected to the electronic warehouse, the land monitoring base station electrical cabinet and the pan-tilt camera; the pan-tilt controller adjusts the position of the pan-tilt camera based on the sound source position so that the viewing direction of the pan-tilt camera is aligned with the sound source position; the pan-tilt camera is used to obtain image information at the sound source position; the land monitoring base station electrical cabinet is used to identify cetacean images based on the image information.

[0011] Optionally, the intelligent monitoring buoy further comprises: a water quality sensor;

[0012] The water quality sensor is arranged at the bottom of the electronic warehouse and connected to the electronic warehouse; the water quality sensor is used to collect the water temperature and dissolved oxygen in the target monitoring area, and send the water temperature and dissolved oxygen to the electronic warehouse; the electronic warehouse is connected to the land monitoring base station electrical cabinet; the electronic warehouse is used to send the water temperature and dissolved oxygen to the land monitoring base station electrical cabinet.

[0013] Optionally, the intelligent monitoring buoy further comprises: a weather station;

[0014] The meteorological station is arranged on the buoy carrier and connected to the electronic warehouse; the meteorological station is used to collect meteorological data and send the meteorological data to the electronic warehouse; the electronic warehouse is used to send the meteorological data to the land monitoring base station electrical cabinet.

[0015] Optionally, the cetacean monitoring system further comprises: an optoelectronic composite cable;

[0016] The electronic warehouse is connected to the electric cabinet of the land monitoring base station through the photoelectric composite cable.

[0017] Optionally, the acoustic monitoring subsystem includes: a plurality of hydrophones; the electronic warehouse includes: a data processing unit;

[0018] The data processing unit comprises:

[0019] A noise identification subunit, used to perform constant false alarm detection on the underwater sound information collected by any of the hydrophones to determine whether the underwater sound information is noise information;

[0020] The cetacean call recognition subunit is used to extract characteristic information of the underwater sound information when the underwater sound information collected by any of the hydrophones is not noise information, and judge whether the underwater sound information is a cetacean call according to the characteristic information; the characteristic information includes: pulse signal length characteristics and spectral centroid characteristics;

[0021] The arrival time difference calculation subunit is used to perform cross-correlation and cross-spectrum calculation on the underwater sound information collected by all the hydrophones to obtain the arrival time difference when the underwater sound information collected by any of the hydrophones is the sound of whales and dolphins calling;

[0022] The sound source position determination subunit is used to estimate the sound source position by using a time difference positioning algorithm according to the arrival time difference.

[0023] Optionally, the land monitoring base station electrical cabinet includes: a POE switch, a data processor, a hard disk recorder and a mobile communication module;

[0024] The POE switch is connected to the PTZ camera, the data processor and the hard disk recorder respectively; the mobile communication module is connected to the data processor;

[0025] The POE switch is used to send the image information at the sound source position obtained by the PTZ camera to the data processor and the hard disk recorder; the data processor is used to identify the image information using a target recognition algorithm to obtain a cetacean image; the hard disk recorder is used to store the image information; and the mobile communication module is used to send the cetacean image to a cloud server.

[0026] Optionally, the intelligent monitoring buoy further comprises: an electronic compass;

[0027] The electronic warehouse is connected to the pan-tilt controller through the electronic compass; the electronic compass is used to determine the base array direction of the acoustic monitoring subsystem, and to perform coordinate transformation on the sound source position according to the base array direction to obtain the target direction; the pan-tilt controller adjusts the position of the pan-tilt camera according to the target direction so that the viewing angle direction of the pan-tilt camera is aligned with the sound source position.

[0028] Optionally, the intelligent monitoring buoy further comprises: a communication interface;

[0029] The electronic warehouse is connected to the optoelectronic composite cable via the communication interface.

[0030] Optionally, the intelligent monitoring buoy further comprises: a communication antenna;

[0031] The electronic warehouse is connected to the land monitoring base station electric cabinet and the pan / tilt controller respectively through the communication antenna.

[0032] In a second aspect, the present application provides a cetacean monitoring method, which is used in the above-mentioned cetacean monitoring system, and the cetacean monitoring method comprises:

[0033] Obtain underwater sound information of the target monitoring area;

[0034] Identifying cetacean calls based on the underwater sound information;

[0035] Based on the cetacean call sound, a time difference localization algorithm is used to estimate the sound source position;

[0036] Adjust the position of the pan / tilt camera based on the sound source position so that the viewing angle of the pan / tilt camera is aligned with the sound source position;

[0037] Acquiring image information at the location of the sound source;

[0038] A cetacean image is identified according to the image information.

[0039] According to the specific embodiments provided in this application, this application has the following technical effects:

[0040] The present application provides a cetacean monitoring system and method, which realizes all-weather operation by setting up intelligent monitoring buoys, and can continuously monitor the cetacean calls. By setting up a land monitoring base station equipped with a pan-tilt camera, it is ensured that the river surface at the sound source location in the target monitoring area is continuously and stably observed, and the cetacean images can be accurately identified. Therefore, the present application can accurately realize continuous monitoring of cetaceans. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A schematic diagram of the structure of a cetacean monitoring system provided in one embodiment of the present application;

[0043] Figure 2 A schematic diagram of the structure of a buoy carrier provided in one embodiment of the present application;

[0044] Figure 3 A layout diagram of four hydrophones in an acoustic monitoring subsystem provided in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of the structure of a land monitoring base station electrical cabinet provided in an embodiment of the present application;

[0046] Figure 5 This is a flow chart of a cetacean monitoring method provided in another embodiment of the present application.

[0047] Figure numerals: intelligent monitoring buoy-1, land monitoring base station electrical cabinet-2, pan-tilt camera-3, optoelectronic composite cable-4, buoy carrier-5, electronic warehouse-6, water quality sensor-7, meteorological station-8, hydrophone-9, communication interface-10, communication antenna-11. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0050] See also Figure 1 and Figure 2 The embodiment of the present application provides a cetacean monitoring system, including: an intelligent monitoring buoy 1 and a land monitoring base station. The intelligent monitoring buoy 1 includes a buoy carrier 5, an electronic compartment 6 and an acoustic monitoring subsystem; the land monitoring base station includes: a land monitoring base station electric cabinet 2, a pan-tilt controller and a pan-tilt camera 3.

[0051] The electronic warehouse 6 is arranged on the buoy carrier 5; the acoustic monitoring subsystem is arranged at the bottom of the electronic warehouse 6; the acoustic monitoring subsystem is used to collect underwater sound information of the target monitoring area; the electronic warehouse 6 is used to identify the cetacean calls according to the underwater sound information, and based on the cetacean calls, use the time difference of arrival algorithm (TDOA) to estimate the sound source position.

[0052] The pan-tilt controller is respectively connected to the electronic warehouse 6, the land monitoring base station electric cabinet 2 and the pan-tilt camera 3; the pan-tilt controller adjusts the position of the pan-tilt camera 3 based on the sound source position so that the viewing direction of the pan-tilt camera 3 is aligned with the sound source position; the pan-tilt camera 3 is used to obtain image information at the sound source position; the land monitoring base station electric cabinet 2 is used to identify cetacean images based on the image information.

[0053] In another exemplary embodiment of the present application, please refer to Figure 2The intelligent monitoring buoy 1 also includes: a water quality sensor 7; the water quality sensor 7 is arranged at the bottom of the electronic warehouse 6 and connected to the electronic warehouse 6; the water quality sensor 7 is used to collect the water temperature and dissolved oxygen in the target monitoring area, and send the water temperature and dissolved oxygen to the electronic warehouse 6; the electronic warehouse 6 is connected to the land monitoring base station electrical cabinet 2; the electronic warehouse 6 is used to send the water temperature and dissolved oxygen to the land monitoring base station electrical cabinet 2.

[0054] In another exemplary embodiment of the present application, please refer to Figure 2 The intelligent monitoring buoy 1 further includes: a weather station 8; the weather station 8 is arranged on the buoy carrier 5 and connected to the electronic warehouse 6; the weather station 8 is used to collect weather data and send the weather data to the electronic warehouse 6; the electronic warehouse 6 is used to send the weather data to the land monitoring base station electric cabinet 2. The weather data includes light and the like.

[0055] In another exemplary embodiment of the present application, please refer to Figure 1 The whale and dolphin monitoring system also includes: an optoelectronic composite cable 4; the electronic warehouse 6 is connected to the land monitoring base station electrical cabinet 2 through the optoelectronic composite cable 4.

[0056] In another exemplary embodiment of the present application, please refer to Figure 2 The acoustic monitoring subsystem includes: a plurality of hydrophones 9; the electronic warehouse 6 includes: a data processing unit and a communication module. The data processing unit includes:

[0057] The noise identification subunit is used to perform constant false alarm detection on the underwater sound information collected by any of the hydrophones 9 to determine whether the underwater sound information is noise information.

[0058] The cetacean call recognition subunit is used to extract characteristic information of the underwater sound information when the underwater sound information collected by any of the hydrophones 9 is not noise information, and determine whether the underwater sound information is a cetacean call based on the characteristic information; the characteristic information includes: pulse signal length characteristics and spectral centroid characteristics.

[0059] The arrival time difference calculation subunit is used to perform cross-correlation and cross-spectrum calculation on the underwater sound information collected by all the hydrophones 9 to obtain the arrival time difference when the underwater sound information collected by any of the hydrophones 9 is the sound of whales and dolphins.

[0060] The sound source position determination subunit is used to estimate the sound source position by using a time difference positioning algorithm according to the arrival time difference.

[0061] The communication module is connected to the data processing unit, and the communication module is connected to the photoelectric composite cable 4 ; the communication module is used to send the water temperature, the dissolved oxygen and the meteorological data to the land monitoring base station cabinet 2 through the photoelectric composite cable 4 .

[0062] In another exemplary embodiment of the present application, the intelligent monitoring buoy 1 also includes: an electronic compass; the electronic warehouse 6 is connected to the pan-tilt controller through the electronic compass; the electronic compass is used to determine the array direction of the acoustic monitoring subsystem, and to perform coordinate transformation on the sound source position according to the array direction to obtain the target direction; the pan-tilt controller adjusts the position of the pan-tilt camera 3 according to the target direction so that the viewing direction of the pan-tilt camera 3 is aligned with the sound source position.

[0063] The communication module is also connected to the electronic compass, and the electronic compass is connected to the pan / tilt controller. The communication module is also used to send the sound source position to the electronic compass to determine the target direction.

[0064] Figure 3 Four hydrophones 9 are shown, and the four hydrophones 9 are fixed to the bottom of the electronic compartment 6 through a disc. The four hydrophones 9 are evenly spaced on the disc, and the four hydrophones 9 form a square. The four hydrophones 9 constitute an acoustic monitoring subsystem to collect underwater sound information in order to identify the location of the sound source. There are four synchronous channels in the data processing unit, and the underwater sound information collected by the four hydrophones 9 is synchronously acquired at a sampling rate of 500kSPS and an accuracy of 16bit. After the underwater sound information is amplified by a 40dB low-pass filter, the cetacean call sound is identified by the pulse signal length feature and the spectral center of gravity feature, and the arrival time difference is calculated by cross-correlation and cross-spectrum, and then the sound source position is estimated according to the array element position and the arrival time difference. The electronic compass is used to obtain the base array direction, and the target direction is obtained after coordinate transformation. The pan-tilt controller controls the pan-tilt camera 3 to automatically turn to the target direction to achieve the shooting of the sound source position.

[0065] In another exemplary embodiment of the present application, see Figure 4 The land monitoring base station electrical cabinet 2 includes: a POE switch, a data processor, a hard disk recorder and a mobile communication module.

[0066] The POE switch is connected to the PTZ camera 3, the data processor and the hard disk recorder respectively; the mobile communication module is connected to the data processor. The POE switch is used to send the image information at the sound source position obtained by the PTZ camera 3 to the data processor and the hard disk recorder; the data processor is used to use a target recognition algorithm (such as the YOLO algorithm) to identify the image information to obtain a cetacean image; the hard disk recorder is used to store the image information; the mobile communication module is used to send the cetacean image, the water temperature, the dissolved oxygen and the meteorological data to the cloud server.

[0067] In actual application, the PTZ camera 3 in the land monitoring base station is installed on the top of the monitoring pole, connected to the POE switch via an Ethernet cable, and powered by POE. The rest of the equipment is installed in the stainless steel electrical cabinet of the base station. The electrical cabinet is connected to the intelligent monitoring buoy 1 through a zero-buoyancy optoelectronic composite cable 4. The data processor in the electrical cabinet collects, stores, processes and forwards data. The land monitoring base station uses the fishery monitoring network for communication, and the mobile communication module is used as a backup communication means.

[0068] In another exemplary embodiment of the present application, please refer to Figure 4 The land monitoring base station electrical cabinet 2 also includes: a power supply; the power supply is respectively connected to the POE switch, the hard disk recorder and the mobile communication module.

[0069] In another exemplary embodiment of the present application, please refer to Figure 2 The intelligent monitoring buoy 1 further comprises: a communication interface 10; the electronic compartment 6 is connected to the photoelectric composite cable 4 via the communication interface 10. The communication interface 10 comprises a power supply interface and an Ethernet interface.

[0070] In another exemplary embodiment of the present application, please refer to Figure 2 The intelligent monitoring buoy 1 further includes: a communication antenna 11. The electronic compass is connected to the pan / tilt controller via the communication antenna 11. The communication antenna 11 is used as a backup for the photoelectric composite cable 4, and the electronic warehouse 6 is connected to the land monitoring base station electric cabinet 2 via the communication antenna 11. The communication antenna 11 may be a WIFI communication antenna.

[0071] In another exemplary embodiment of the present application, the intelligent monitoring buoy 1 adopts a fixed-point monitoring layout on the water surface and is fixed by a water surface pier. The land monitoring base station is arranged on high ground on the riverside, and the pan-tilt camera 3 is installed on the existing monitoring mounting pole. The land monitoring base station equipment is integrated into the land monitoring base station electrical cabinet 2. The land monitoring base station electrical cabinet 2 is connected to the intelligent monitoring buoy 1 through an optoelectronic composite cable to provide power to the intelligent monitoring buoy 1 and receive buoy data. The cetacean monitoring system is powered by 24V DC, and the overall design is modular, which is convenient for transportation and later maintenance and repair. The cetacean monitoring system can be powered by a nearby power grid, and the data connection is provided by the fishery monitoring network.

[0072] When the above-mentioned cetacean detection system performs real-time cetacean intelligent monitoring, a specific implementation step is as follows:

[0073] Step 1: Power the intelligent monitoring buoy 1, the PTZ controller and the PTZ camera 3 through the land monitoring base station power cabinet 2.

[0074] Step 2: After power is turned on, the water quality sensor 7 and the weather station 8 of the intelligent monitoring buoy 1 start to operate, collecting data such as water temperature, dissolved oxygen, and light; further, the acoustic monitoring subsystem starts to operate, and the underwater sound information is collected through the acoustic monitoring subsystem (hydrophone array), and the target is judged through constant false alarm detection, and whether it is the sound of the porpoise is judged by the pulse signal length characteristics and the spectral center of gravity characteristics. The signal arrival time difference is calculated using the subarray signal cross-correlation and cross-spectrum, and the time difference positioning algorithm is used to estimate the sound source position. The electronic compass carried by the buoy is used to obtain the base array direction, and the target direction is obtained after coordinate transformation, and the target direction is sent to the pan-tilt controller.

[0075] Step 3: The PTZ controller of the land monitoring base station receives the target position in step 2, rotates and adjusts the PTZ camera 3 so that the viewing direction of the PTZ camera 3 is aligned with the direction of the sound source, obtains the image information at the sound source, and uses the YOLO algorithm to perform image recognition of cetaceans, and records the current cetacean image, water temperature, dissolved oxygen, light and other data to provide data support for the behavior research of cetaceans.

[0076] The cetacean monitoring system of this embodiment consists of an intelligent monitoring buoy 1 and a land monitoring base station. The intelligent monitoring buoy 1 adopts a fixed-point monitoring layout on the water surface and operates around the clock, which can continuously monitor the calls of finless porpoises, navigation noise, environment and other data. The land monitoring base station is installed at a high position on the riverside where it is easy to observe the river surface, and is equipped with a pan-tilt camera 3 with high-definition image quality to ensure continuous and stable observation of the river surface. The land monitoring base station and the intelligent monitoring buoy 1 are connected by an optoelectronic composite cable, and the land monitoring base station provides power to the intelligent monitoring buoy 1 and receives the data monitored by the intelligent monitoring buoy 1. The land monitoring base station is equipped with a high-performance processor to realize data storage, identification and transmission. In the future, through the cetacean monitoring system, bioacoustic and ecological research will be carried out to grasp the population of finless porpoises at the site and adjacent waters, the underwater noise conditions of ship navigation, and the impact of noise on finless porpoises.

[0077] Based on the same inventive concept, the embodiment of the present application also provides a cetacean monitoring method for implementing the cetacean monitoring system involved above. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the above system, so the specific limitations in one or more cetacean monitoring method embodiments provided below can refer to the limitations on the cetacean monitoring system above, and will not be repeated here.

[0078] In an exemplary embodiment, Figure 5 As shown, a cetacean monitoring method is provided, comprising:

[0079] Step 501, obtaining underwater sound information of a target monitoring area.

[0080] Step 502: Identify cetacean calls based on the underwater sound information.

[0081] Step 503: Based on the cetacean call sound, a time difference localization algorithm is used to estimate the sound source position.

[0082] Step 504: adjust the position of the pan / tilt camera 3 based on the sound source position so that the viewing angle direction of the pan / tilt camera 3 is aligned with the sound source position.

[0083] Step 505: Acquire image information at the sound source position.

[0084] Step 506: Identify a cetacean image based on the image information.

[0085] The cetacean monitoring system and monitoring method provided in the embodiments of the present application have the following advantages:

[0086] Whales and dolphins make calls when navigating, hunting, and interacting underwater. The recognition of calls and hydroacoustic positioning can be used to monitor and track the positions of whales and dolphins in open waters. By controlling the shore-based PTZ controller, rotating and automatically adjusting the viewing angle of the PTZ camera 3, it is possible to capture and identify images of whales and dolphins, and effectively monitor their behaviors and activities.

[0087] Using underwater acoustic positioning and long-distance image capture, it will not interfere with the natural activities of cetaceans. The acoustic monitoring subsystem provides real-time and accurate positioning information, allowing the PTZ camera 3 to quickly aim at the target. It works stably around the clock without human intervention, greatly improving monitoring efficiency. The integration of acoustic, visual, and environmental data helps to improve the accuracy of cetacean identification and the depth of behavioral analysis, providing more reliable data support for scientific research.

[0088] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A cetacean monitoring system, characterized in that: The cetacean monitoring system comprises: an intelligent monitoring buoy and a land monitoring base station; The intelligent monitoring buoy includes a buoy carrier, an electronic warehouse and an acoustic monitoring subsystem; the land monitoring base station includes: a land monitoring base station electric cabinet, a pan-tilt controller and a pan-tilt camera; The electronic warehouse is arranged on the buoy carrier; the acoustic monitoring subsystem is arranged at the bottom of the electronic warehouse; the acoustic monitoring subsystem is used to collect underwater sound information of the target monitoring area; the electronic warehouse is used to identify the cetacean call sound according to the underwater sound information, and estimate the sound source position based on the cetacean call sound by using the time difference positioning algorithm; The pan-tilt controller is respectively connected to the electronic warehouse, the land monitoring base station electrical cabinet and the pan-tilt camera; the pan-tilt controller is used to adjust the position of the pan-tilt camera based on the sound source position so that the viewing direction of the pan-tilt camera is aligned with the sound source position; the pan-tilt camera is used to obtain image information at the sound source position; the land monitoring base station electrical cabinet is used to identify cetacean images based on the image information.

2. The cetacean monitoring system according to claim 1, characterized in that: The intelligent monitoring buoy also includes: a water quality sensor; The water quality sensor is arranged at the bottom of the electronic warehouse and connected to the electronic warehouse; the water quality sensor is used to collect the water temperature and dissolved oxygen in the target monitoring area, and send the water temperature and dissolved oxygen to the electronic warehouse; the electronic warehouse is connected to the land monitoring base station electrical cabinet; the electronic warehouse is used to send the water temperature and dissolved oxygen to the land monitoring base station electrical cabinet.

3. The cetacean monitoring system according to claim 2, characterized in that: The intelligent monitoring buoy also includes: a weather station; The meteorological station is arranged on the buoy carrier and connected to the electronic warehouse; the meteorological station is used to collect meteorological data and send the meteorological data to the electronic warehouse; the electronic warehouse is used to send the meteorological data to the land monitoring base station electrical cabinet.

4. The cetacean monitoring system according to claim 2, characterized in that: The cetacean monitoring system further comprises: an optoelectronic composite cable; The electronic warehouse is connected to the electric cabinet of the land monitoring base station through the photoelectric composite cable.

5. The cetacean monitoring system according to claim 1, characterized in that: The acoustic monitoring subsystem includes: a plurality of hydrophones; the electronic warehouse includes: a data processing unit; The data processing unit comprises: A noise identification subunit, used to perform constant false alarm detection on the underwater sound information collected by any of the hydrophones to determine whether the underwater sound information is noise information; The cetacean call recognition subunit is used to extract characteristic information of the underwater sound information when the underwater sound information collected by any of the hydrophones is not noise information, and judge whether the underwater sound information is a cetacean call according to the characteristic information; the characteristic information includes: pulse signal length characteristics and spectral centroid characteristics; The arrival time difference calculation subunit is used to perform cross-correlation and cross-spectrum calculation on the underwater sound information collected by all the hydrophones to obtain the arrival time difference when the underwater sound information collected by any of the hydrophones is the sound of whales and dolphins calling; The sound source position determination subunit is used to estimate the sound source position by using a time difference positioning algorithm according to the arrival time difference.

6. The cetacean monitoring system according to claim 1, characterized in that: The electric cabinet of the land monitoring base station includes: a POE switch, a data processor, a hard disk recorder and a mobile communication module; The POE switch is connected to the PTZ camera, the data processor and the hard disk recorder respectively; the mobile communication module is connected to the data processor; The POE switch is used to send the image information at the sound source position obtained by the PTZ camera to the data processor and the hard disk recorder; the data processor is used to identify the image information using a target recognition algorithm to obtain a cetacean image; the hard disk recorder is used to store the image information; and the mobile communication module is used to send the cetacean image to a cloud server.

7. The cetacean monitoring system according to claim 1, characterized in that: The intelligent monitoring buoy also includes: an electronic compass; The electronic warehouse is connected to the pan-tilt controller through the electronic compass; the electronic compass is used to determine the base array direction of the acoustic monitoring subsystem, and to perform coordinate transformation on the sound source position according to the base array direction to obtain the target direction; the pan-tilt controller adjusts the position of the pan-tilt camera according to the target direction so that the viewing angle direction of the pan-tilt camera is aligned with the sound source position.

8. The cetacean monitoring system according to claim 4, characterized in that: The intelligent monitoring buoy also includes: a communication interface; The electronic warehouse is connected to the optoelectronic composite cable via the communication interface.

9. The cetacean monitoring system according to claim 2, characterized in that: The intelligent monitoring buoy also includes: a communication antenna; The electronic warehouse is connected to the land monitoring base station electric cabinet and the pan / tilt controller respectively through the communication antenna.

10. A method for monitoring cetaceans, characterized in that: The cetacean monitoring method is used in the cetacean monitoring system according to any one of claims 1 to 9, and the cetacean monitoring method comprises: Obtain underwater sound information of the target monitoring area; Identifying cetacean calls based on the underwater sound information; Based on the cetacean call sound, a time difference localization algorithm is used to estimate the sound source position; Adjust the position of the pan / tilt camera based on the sound source position so that the viewing angle of the pan / tilt camera is aligned with the sound source position; Acquiring image information at the location of the sound source; A cetacean image is identified according to the image information.

Images