Underwater search and rescue object data sample acquisition platform and method

Abstract

The invention provides an underwater search and rescue object data sample acquisition platform and method, relates to the technical field of water area emergency rescue, and particularly relates to a method for acquiring underwater image data in real time through a side-scan sonar towed fish, and a sonar control box acquires position information of a boat in real time; then the position information and the collected underwater image data are transmitted to a computer in the ashore end data collection integration unit, the computer performs real-time mapping display on the received image data, a waterfall plot is generated to visually reproduce the underwater condition, and if a certain target object is found to be a suspected target on the waterfall plot in the searching process, the target object is found to be the suspected target. The position information of the suspected target object is generated by using a side-scan sonar acquisition unit, and an operator locks a searched target range according to the position information, controls a boat to sail in a water area of the range, scans the suspected target object at different angles, and further determines whether the suspected target object is a drowning person to be searched.

Description

Technical Field

[0001] The present invention relates to the technical field of water emergency rescue, and particularly relates to an underwater search object data sample collection platform and method. Background Art

[0002] With the increasing demand for underwater detection, underwater target recognition has become one of the very active research fields in recent years. It has been widely applied in fields such as water environment bathymetry and modeling, seabed modeling and mapping, subsea pipeline detection, underwater target positioning and recognition, and detection of underwater targets such as mines and submarines. However, the following problems have emerged in the detection and search of underwater search objects:

[0003] First, the domestic underwater search object target sample data set is missing. For example, the open-source underwater waste sonar image data set contains 2,000 sonar images, mainly of 9 different types of waste (such as plastic bottles, metal cans, tires, etc.). Another data set is the original data set of fishery acoustic observations, from which the original dual-frequency identification sonar acoustic data of 8 types of fish has been obtained through expert analysis and identification. There is no relevant data set research and collection report in China.

[0004] Second, the collection of underwater search object target sample data lacks platform support. Currently, the recognition of underwater targets at home and abroad mainly relies on sonar devices, including forward-looking sonar, side-scan sonar, and synthetic aperture sonar, etc. Generally, the target detection is achieved by continuously transmitting and receiving sonar signals during navigation. The detection sonar detects the underwater target morphology based on the principle of backscattering of incident sound waves by the target object and can intuitively provide the acoustic imaging of the underwater target object morphology. However, how to improve the efficiency of underwater missing person target recognition urgently requires relevant target sample data collection and collection work. Facing the complex water environment, how to better improve the efficiency of underwater search object target sample data collection urgently requires effective data collection platform and experimental collection method technical support.

[0005] In view of the above-mentioned related problems in underwater sonar image collection and underwater search object target sample data collection currently faced in China, it is urgent to develop an underwater search object data sample collection platform. The research results will bring the latest research results to the field of underwater sonar image collection and recognition, leading and driving the research and future development of related fields. Summary of the Invention

[0006] In view of the deficiencies of the prior art, the present invention provides an underwater search object data sample collection platform and method; the collection platform consists of a side-scan sonar fish carrier, an unmanned boat, a sonar control box, an onshore data collection integration unit on the water surface, and data collection software, etc. The underwater search object data sample collection platform is an efficient and accurate underwater search tool with broad application prospects and development potential.

[0007] An underwater search and rescue object data sample collection platform, including a side-scan sonar fish-carrying device, a boat, a sonar control box, an onshore data collection integrated unit, and a data collection unit;

[0008] The boats include manned boats and unmanned boats, wherein the unmanned boats control the navigation route through the remote controller, and the operator controls the unmanned boats to navigate in the waters through the remote controller on the shore; the side-scan sonar fish-holding is used to collect underwater image data in real time, and a satellite positioning system is arranged in the sonar control box to obtain the position information of the boat in real time, and then the position information and the collected underwater image data are transmitted to the computer in the data acquisition integrated unit on the shore through the wireless data transmission module in the sonar control box, and the computer is installed with a side-scan sonar acquisition unit and a data acquisition unit, and the received image data is displayed in real time. The side-scan sonar acquisition unit is the acquisition software of the side-scan sonar towfish. If a target is found to be a suspected target on the waterfall chart during the search, the position information located by the satellite positioning system is converted into the position information of the side-scan sonar towfish, and the position information of the suspected target is generated by the side-scan sonar acquisition unit. The operator locks the target range for the search based on the position information, controls the boat to navigate in the waters within the range, scans the suspected target at different angles, and collects images at different angles to further determine whether the suspected target is the drowning person to be searched.

[0009] The side-scan sonar deck unit is provided on the boat to power the side-scan sonar towfish, and receives acoustic data and posture information of the side-scan sonar towfish, and sends the data acquisition unit uplink through Ethernet, and can send control commands to the side-scan sonar towfish downlink; the side-scan sonar towfish is a high-resolution dual-frequency side-scan sonar;

[0010] The water-shore data acquisition integrated unit is composed of a computer, a network bridge and a mobile power supply, and is used to complete the underwater sonar data acquisition, image, data transmission and display functions;

[0011] The data acquisition unit is used to display, receive, and record the data of the side-scan sonar fish in real time, and can transmit the data remotely in different working modes, and automatically detect and identify the targets in the side-scan sonar image data through the image processing algorithm;

[0012] The working models specifically include two types: the manned boat working mode and the unmanned boat working mode. The manned boat mode is the mode used when the data acquisition unit runs on the PC connected by wire to the side-scan sonar towfish on a manned boat, and the data is directly transmitted. The unmanned boat working mode is the mode used when the data acquisition unit runs on a computer on the shore connected to the side-scan sonar towfish on the unmanned boat through a wireless video transmission device, and the data is transmitted through wireless video transmission. The working mode has a data playback function.

[0013] The data acquisition unit includes a data monitoring module, a status monitoring module, an image recognition module, a map positioning module, and a data recording module.

[0014] The data monitoring module is used to display the data information returned by the side-scan sonar towfish, and can also display the data information in the form of a line chart in the secondary menu.

[0015] The status monitoring module monitors whether the underwater search and rescue object data sample collection platform is running normally through the status bar, and displays the working mode where the data acquisition unit is located.

[0016] The image recognition module performs image recognition on the image returned by the side-scan sonar towfish, identifies the suspected target object, marks it on the picture, and outputs the marked image and the GPS coordinates of the location where the suspected target object is located.

[0017] The map positioning module displays the map of the current area through a web control, marks the location of the identified suspected object on the map according to the data output by the image recognition module, and displays the marked picture on the secondary interface.

[0018] The data recording module records the data returned by the side-scan sonar towfish and the information output by the image recognition module.

[0019] Based on the foregoing underwater search and rescue object data sample collection platform, an underwater search and rescue object data sample collection method is realized, which specifically includes the following steps:

[0020] Step 1: Coarse scanning stage: The side-scan sonar towfish scans in the accident area, initially determines the range of the rescued object, and marks the suspicious positions, obtaining underwater terrain data and water depth information.

[0021] Step 2: Fine scanning stage: Accurately scan the suspicious positions marked in the coarse scanning stage of the side-scan sonar towfish, and judge whether the suspected target object is the rescued object through the transmitted acoustic image.

[0022] Step 3: Positioning stage: Through the coarse scanning stage and the fine scanning stage, when approaching within the set radius range of the rescued object, sit on the bottom, determine the accurate position of the target through the satellite positioning system, and release a marker.

[0023] Step 4: Salvage stage: After the marker is placed, the rescue personnel select the salvage tool according to the size of the object to be rescued and the difficulty of hooking, approach the object to be rescued again based on the marker placed during the positioning stage, and finally salvage the target to the shore.

[0024] The beneficial effects of adopting the above technical solutions are as follows:

[0025] The present invention provides an underwater search and rescue object data sample collection platform and method, which realizes the system integration of current single devices, provides a convenient collection method for the search and rescue of underwater missing persons, and greatly improves the efficiency and accuracy of underwater search and rescue. Through this platform, key underwater environment data and search and rescue target information can be quickly and accurately collected, providing real-time and detailed data support for the search and rescue team, thus effectively shortening the search and rescue time, increasing the search and rescue success rate, and at the same time accumulating valuable data resources for subsequent underwater research and applications. Brief Description of the Drawings

[0026] Figure 1 It is the overall structure diagram of the underwater search and rescue object data sample collection platform of the present invention;

[0027] Figure 2 It is the composition diagram of the side-scan sonar towfish of the present invention;

[0028] Figure 3 It is the system block diagram of the working principle of the side-scan sonar of the present invention;

[0029] Figure 4 It is the schematic diagram of the onshore data collection integration unit of the present invention;

[0030] Figure 5 It is the interface diagram of the side-scan sonar collection unit of the present invention;

[0031] Figure 6 It is the schematic diagram of the structure of the data collection unit of the present invention;

[0032] Figure 7 It is the schematic diagram of the status monitoring module of the present invention;

[0033] Figure 8 It is the sonar image recognized by the image recognition module;

[0034] Figure 9 It is the execution flowchart of the data monitoring module of the present invention;

[0035] Figure 10 It is the execution flowchart of the image recognition module of the present invention. Detailed Embodiments

[0036] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0037] An underwater search and rescue data sample collection platform includes a side-scan sonar fish holder, a boat, a sonar control box, a water-side data collection integrated unit, and a data collection unit. The overall structure is shown in the figure Figure 1 shown.

[0038] The boats include manned boats and unmanned boats, wherein the unmanned boats control the navigation route through the remote controller, and the operator on the shore controls the unmanned boats to navigate in the waters through the remote controller; the side-scan sonar fish-carrying device is used to collect underwater image data in real time, and a satellite positioning system is arranged in the sonar control box to obtain the position information of the unmanned boat in real time, and then the position information and the collected underwater image data are transmitted to a computer in the data acquisition integrated unit on the shore through the wireless data transmission module in the sonar control box, and the computer is installed with a side-scan sonar acquisition unit and a data acquisition unit, and the received image data is displayed in real time, and a waterfall diagram is generated to intuitively reproduce the underwater situation, wherein the side-scan sonar acquisition unit is the acquisition software that comes with the side-scan sonar fish-carrying device; by changing the navigation direction of the unmanned boat through the remote controller, image data can be collected from multiple angles.

[0039] During the search process, if a target object is found on the waterfall chart as a suspected target (such as searching for a drowning person), the position information located by the satellite positioning system is converted into the position information of the side-scan sonar towfish, and the position information of the suspected target object is generated by the side-scan sonar acquisition unit. The operator locks the search target range based on the position information, controls the boat to navigate in the waters of the range, scans the suspected target object at different angles, and collects images at different angles to further determine whether the suspected target object is the drowning person to be searched;

[0040] The side-scan sonar towfish is a high-resolution dual-frequency side-scan sonar; in this embodiment, an existing side-scan sonar towfish is used, model SS-900F. The biggest feature of this product is that it uses variable aperture zoom matching technology, which effectively improves the depth of field of the image, making both the distant and near images clearly visible at the same time. At the same time, the hardware system uses 1-3 composite material transducers, 24bit ultra-high precision A / D converters and high-performance FPGA+DSP combined signal processing platforms, and innovatively uses hardware and software combined image equalization processing technology to fully present high-definition landforms.

[0041] This product organically combines existing mature underwater sonar search technology, satellite positioning technology, wireless communication technology, and surface remote control navigation platforms. Taking the surface remote control self-propelled platform commonly used in the current rescue field as the carrier, it integrates a miniaturized side-scan sonar, GPS, and wireless data transmission module to achieve remote underwater detection and target positioning. Among them, the side-scan sonar is used to collect underwater image data and transmit the image data to the computer; GPS is used to locate the position information of the satellite positioning system itself and transmit it to the computer; the wireless data transmission module is used to transmit wireless signals; the computer is used to generate a waterfall diagram of the image data and visually display underwater objects, etc.

[0042] The working frequencies of this product are 300 kHz and 600 kHz, the minimum horizontal beam width is 0.2°, the vertical beam width is 50°, the highest image resolution can reach 1 cm, and it is also equipped with an attitude meter inside, which can accurately measure information such as the heading, roll, and pitch of the underwater towed fish, providing real-time attitude correction for data processing. It is most suitable for underwater small target search.

[0043] The characteristics of this product are wide low-frequency sweep width and high high-frequency resolution, suitable for various application fields of side-scan sonar, especially suitable for application fields such as underwater target search and recognition, and fine imaging of underwater objects. The side-scan sonar towed fish is the transmitting and receiving unit of the side-scan sonar acoustic signal. It emits high-frequency acoustic pulses at fixed intervals, and after the acoustic pulses encounter underwater or other reflectors, they return to the towed fish receiving unit. The components of the side-scan sonar are as Figure 2 shown, and the system block diagram of the working principle of the side-scan sonar is as Figure 3 shown.

[0044] The above-mentioned onshore data acquisition integration unit consists of a computer, a bridge, and a mobile power supply, as Figure 4 shown. It is used to complete functions such as underwater sonar data acquisition, image, data transmission, and display.

[0045] The side-scan sonar deck unit is set on the unmanned boat to supply power to the side-scan sonar towed fish, and at the same time receive the acoustic data and attitude information of the side-scan sonar towed fish, and send it to the data acquisition unit via Ethernet uplink. At the same time, control commands can be sent down to the side-scan sonar towed fish.

[0046] The side-scan sonar acquisition unit is the HydroSonar full Chinese control software, and the software has functions such as control, display, navigation, data acquisition and storage, and playback. The sonar data is transmitted to the side-scan sonar acquisition unit through the Ethernet protocol TCP / IP. In addition, the positioning information is also directly connected to the side-scan sonar acquisition unit through the serial port; the interface diagram of the side-scan sonar acquisition unit is as Figure 5 shown.

[0047] To improve the efficiency and ability of underwater rescue and search, a data acquisition software is designed. The data acquisition unit is used to display, receive, send, and record the data of the side-scan sonar fish sled in real time, and can remotely transmit the data in the unmanned mode. Through the image processing algorithm, the targets in the side-scan sonar image data can be automatically detected and identified. This software is mainly used in underwater rescue and search, and uses various types of underwater detection devices to complete the detection work of the underwater area to be searched. Specifically, it includes two working modes: the manned boat working mode and the unmanned boat working mode. The manned boat mode is the mode used when the data acquisition unit runs on the PC connected by wire to the side-scan sonar fish sled on the manned boat, and the data is directly transmitted. The unmanned boat working mode is the mode used when the data acquisition unit runs on the computer on the shore connected to the side-scan sonar fish sled on the unmanned boat through a wireless video transmission device, and the data is transmitted through the wireless video transmission. The working mode has a data playback function.

[0048] The data acquisition unit includes a data monitoring module, a status monitoring module, an image recognition module, a map positioning module, and a data recording module; as Figure 6 shown.

[0049] The data monitoring module is used to display the data information returned by the side-scan sonar fish sled, such as the direction angle, pitch angle, and yaw angle, etc. At the same time, it can also display the data information in the form of a line chart in the secondary menu.

[0050] The status monitoring module monitors whether the underwater search object data sample collection platform is running normally through the status bar, and displays the working mode where the data acquisition unit is located.

[0051] The image recognition module performs image recognition on the image returned by the side-scan sonar fish sled, identifies the suspected target object, marks it on the picture, and outputs the marked image and the GPS coordinates of the location where the suspected target object is located.

[0052] The map positioning module displays the map of the current area through the web control, marks the location of the identified suspected object on the map according to the data output by the image recognition module, and displays the marked picture on the secondary interface.

[0053] The data recording module records the data returned by the side-scan sonar fish sled and the information output by the image recognition module.

[0054] The status monitoring module is located in the status bar at the bottom of the software and is used to monitor the connection status and working mode of each device. Figure 7 This is the status bar. The current working mode is displayed on the far left, which is divided into the manned boat working mode and the unmanned boat working mode; on the right is the connection status display of the acoustic Doppler current profiler ADCP and the underwater communication and positioning device USBL. If the connection is successful, it will display "connected".

[0055] The image recognition module first reads the data of the sidescan sonar, outputs the sonar image, and then recognizes the output image. When an object suspected to be a target is recognized, it is marked with a square box, and the corresponding GPS coordinates of the image and the marked image are output and provided for the map positioning module to use. Figure 8 Is the sonar image to be recognized.

[0056] On the web browser space of MFC, the map service API of Baidu Map is used to display the Baidu Map, and the current position is located through a GPS device. The GPS position returned by the image recognition module is marked on the map, and a secondary menu is set. After clicking, the specific GPS coordinates and the information of the marked picture can be viewed.

[0057] The data recording module can record the data returned by the sidescan sonar, current meter and underwater acoustic communication machine, and only record the decoded data rather than the original data; record the hsf file returned by the sidescan sonar for playback; and can also record the information returned by the image recognition module.

[0058] The devices included in the device of the present invention are shown in the following table:

[0059] Equipment Name Completed Function Side Scan Sonar Fish Holder Underwater Search and Rescue Object Identification and Detection Manned Vessel / Unmanned Vessel Side Scan Sonar Fish Holder, Side Scan Sonar Deck Unit Mounting Side Scan Sonar Deck Unit Sonar Data Information Control and Wireless Transmission Waterborne Shore-End Data Acquisition Integration Unit Sonar Image Data Control, Storage, Display, etc. Data Acquisition Unit Sonar Data Acquisition, Processing and Identification, etc.

[0060] The connection relationship of the device of the present invention is as follows: The sidescan sonar towfish is carried on a manned boat or an unmanned boat, and cooperates with the water-based shore-end data acquisition integration unit and the data acquisition unit through the manned boat working mode and the unmanned boat working mode to complete the search, positioning and acquisition of underwater rescue objects. One way of its data and graphic transmission can be realized through wireless transmission between the sidescan sonar deck unit and the water-based shore-end data acquisition integration unit; another way of its data and graphic transmission can be realized through wired transmission between the data acquisition unit and the sidescan sonar towfish.

[0061] In this embodiment, the top of the software interface of the data acquisition unit is the main toolbar, which includes functions such as starting the sonar program, opening the project, connecting the device, opening the panel, data storage, opening the playback file, mode switching, and map operation. The left side is the display interface and data monitoring tool of the data monitoring module, and the right side is the display interface of the map positioning module. The lower part is the status indicator bar used by the status monitoring module to display.

[0062] The main toolbar includes:

[0063] (1) The button for starting the sonar program can open the external sonar program.

[0064] (2) The project item button and the data storage button can create a new project file and specify the location for storing the project file, which is convenient for viewing the playback later.

[0065] (3) Press the playback button to search for and open the playback data of existing project files. The status bar at the lower right corner will display whether it is in real-time monitoring or playback mode. The play, pause, and end buttons on the right can simply control the playback process, and the advanced control menu is in the control panel.

[0066] (4) The mode switch button can switch between the manned mode and the unmanned mode when all devices are not connected. The status bar at the lower right corner will display the on-board mode and the wireless mode. When in the wireless mode, the wireless connection status will be displayed.

[0067] (5) The map operation button can change the map operation method.

[0068] The map module can use web controls to call up the Baidu Map web page, where the map can be zoomed in and out with the mouse, and the data returned by the map positioning module can be marked and displayed on the map.

[0069] The status bar can be used to display the current data time, working mode, and device connection status returned by the status monitoring module.

[0070] This software uses C++ language as the programming language and is edited, compiled, and debugged using the VS2019 development environment, and finally forms an executable software.

[0071] The data monitoring module is a module that reads the data returned by the device in real-time. After processing the returned data and storing it in an array, several display box control variables are created, and the interface display value of the form is changed by changing the property values of the control variables. The refresh of the control variables is time-driven, that is, the interface variables are refreshed periodically, and the refresh period is 500ms. The flowchart of this module is as Figure 9 shown.

[0072] The status monitoring module is a module that monitors the device status. It confirms whether the device is connected by monitoring whether the serial port is connected, then changes the status bar display, and at the same time changes the working mode display of the status bar according to the current working mode.

[0073] The image recognition module is a module that recognizes and annotates the output sonar images. First, it obtains the data of the side-scan sonar and GPS through the satcenter software, and then processes the obtained data to get the sonar image and the longitude and latitude coordinates. The sonar image is recognized and annotated, and finally the annotated picture and its longitude and latitude data are output together. The flowchart of this module is as Figure 10 shown.

[0074] Implementation of the map positioning module: In the web control, call the htm file containing the Baidu Map web map service API to open the web version of Baidu Map, process the obtained longitude and latitude data to get the coordinates required by Baidu Map, and use the punctuation function to mark points on it.

[0075] The data recording module is used for the data returned by the side-scan sonar, current meter, and underwater acoustic communicator. When receiving the data from the current meter and underwater acoustic communicator, the program calls the data recording module for recording; while the satcenter program can record the data during the operation of the side-scan sonar and save it as an hsf file.

[0076] Based on the aforementioned underwater search and rescue object data sample collection platform, an underwater search and rescue object data sample collection method is implemented, which specifically includes the following steps:

[0077] When an accident occurs in a certain water area, the rescue team should take rapid and efficient rescue measures for that water area to complete the search and rescue work for the wrecked ships, vehicles, or people. When facing an actual rescue task, it is necessary to quickly determine the specific location of the rescued target and use corresponding salvage tools for underwater rescue operations. However, due to the uncertain underwater conditions and poor visibility, it causes great interference to the smooth completion of the rescue task. Moreover, when performing underwater detection and positioning tasks, due to reasons such as equipment accuracy and observation range, the lost object cannot be accurately positioned at one time. Therefore, according to the actual rescue task, the entire rescue process is roughly divided into the following four stages.

[0078] Step 1: Rough scanning stage: That is, large-scale acoustic scanning and marking of suspicious positions. The side-scan sonar sled is used to scan in the accident water area to initially determine the range of the rescued object and mark the suspicious positions to obtain underwater terrain data and water depth information.

[0079] Step 2: Fine scanning stage: That is, near-bottom acoustic imaging and identification of suspicious positions. The suspicious positions marked in the rough scanning stage of the side-scan sonar sled are accurately scanned, and through the transmitted acoustic images, it is judged whether the suspected target object is the rescued object.

[0080] Step 3: Positioning stage: That is, bottom-mounted acoustic precise positioning and marker placement. After the rough scanning stage and the fine scanning stage, when approaching within the set radius range of the rescued object, sit on the bottom, determine the accurate position of the target through the satellite positioning system, and place the marker. In this embodiment, the set radius range is 50 meters.

[0081] Step 4: Salvage stage: That is, close observation and hook salvage or net salvage. After the marker placement is completed, the rescue personnel select the salvage tool according to the size of the rescued object and the difficulty of hooking, approach the rescued object again according to the marker placed in the positioning stage, and finally salvage the target to the shore.

[0082] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with technical features (but not limited to) having similar functions disclosed in the embodiments of the present disclosure.

Claims

1. An underwater search and rescue object data sample collection platform, characterized in that It includes side-scan sonar fish-holding system, boat, sonar control box, water and shore data acquisition integrated unit and data acquisition unit; The boats include manned boats and unmanned boats, wherein the unmanned boats control the navigation route through the remote controller, and the operator controls the unmanned boats to navigate in the waters through the remote controller on the shore; the side-scan sonar fish-holding is used to collect underwater image data in real time, and a satellite positioning system is arranged in the sonar control box to obtain the position information of the boat in real time, and then the position information and the collected underwater image data are transmitted to the computer in the data acquisition integrated unit on the shore through the wireless data transmission module in the sonar control box, and the computer is installed with a side-scan sonar acquisition unit and a data acquisition unit, and the received image data is displayed in real time. The side-scan sonar acquisition unit is the acquisition software that comes with the side-scan sonar towfish. If a target is found to be a suspected target on the waterfall chart during the search process, the position information located by the satellite positioning system is converted into the position information of the side-scan sonar towfish, and the side-scan sonar acquisition unit is used to generate the position information of the suspected target. The operator locks the target range for the search based on the position information, controls the boat to navigate in the waters within the range, scans the suspected target at different angles, and collects images at different angles to further determine whether the suspected target is the drowning person to be searched.

2. The underwater search and rescue object data sample collection platform according to claim 1, wherein The side-scan sonar deck unit is arranged on the boat to supply power to the side-scan sonar towed fish, and at the same time receives acoustic data and posture information of the side-scan sonar towed fish, sends the data acquisition unit uplink via Ethernet, and at the same time can send control commands to the side-scan sonar towed fish downlink; the side-scan sonar towed fish is a high-resolution dual-frequency side-scan sonar.

3. The underwater search and rescue object data sample collection platform according to claim 1, characterized in that The water and shore data acquisition integrated unit is composed of a computer, a network bridge and a mobile power supply, and is used to complete the underwater sonar data acquisition, image, data transmission and display functions.

4. An underwater search and rescue object data sample collection platform according to claim 1, characterized in that, The data acquisition unit is used for real-time display, receiving and sending, and recording of side-scan sonar fish-carrying data, can remotely transmit the data in different working modes, and automatically detect and identify targets in the side-scan sonar image data through image processing algorithms.

5. An underwater search and rescue object data sample collection platform according to claim 4, characterized in that, The working models specifically include two types: manned ship working mode and unmanned ship working mode; the manned ship mode is a mode used when the data acquisition unit is running on a manned boat and is connected to a PC by wire with a side-scan sonar fish-retaining device, and data is directly transmitted; the unmanned ship working mode is a mode used when the data acquisition unit is running on shore and is connected to a computer on an unmanned boat via a wireless image transmission device, and data is transmitted via wireless image transmission; the working mode has a data playback function.

6. The underwater search and rescue object data sample collection platform according to claim 4, characterized in that, The data acquisition unit includes a data monitoring module, a status monitoring module, an image recognition module, a map positioning module, and a data recording module; The data monitoring module is used to display the data information returned by the side scanning sonar, and can also display the data information in the form of a line graph in the secondary menu; The status monitoring module monitors whether the underwater search and rescue object data sample collection platform is operating normally through the status bar, and displays the working mode of the data collection unit; The image recognition module performs image recognition on the images returned by the side-scan sonar fish carrier, identifies suspected targets, marks them on the pictures, and outputs the marked images and the GPS coordinates of the locations where the suspected targets are located. The map positioning module displays the map of the current area through a web control, marks the positions of the identified suspected objects at the corresponding positions on the map according to the data output by the image recognition module, and displays the marked pictures on the secondary interface. The data recording module records the data returned by the side-scan sonar fish carrier and the information output by the image recognition module.

7. A method for collecting underwater search and rescue object data samples, implemented based on the underwater search and rescue object data sample collection platform described in claim 1, characterized in that, Specifically, it includes the following steps: Step 1: Rough scanning stage: The side-scan sonar fish carrier scans in the accident area, preliminarily determines the range of the object to be rescued, and marks the suspicious positions to obtain underwater terrain data and water depth information. Step 2: Fine scanning stage: Accurately scan the suspicious positions marked in the rough scanning stage of the side-scan sonar fish carrier, and judge whether the suspected target is the object to be rescued through the transmitted acoustic images. Step 3: Positioning stage: Through the rough scanning stage and the fine scanning stage, when approaching within the set radius range of the object to be rescued, sit on the bottom, determine the accurate position of the target through the satellite positioning system, and carry out marker placement. Step 4: Salvage stage: After completing the marker placement, the rescue personnel select the salvage tools according to the size of the object to be rescued and the difficulty of hooking, approach the object to be rescued again according to the markers placed in the positioning stage, and finally salvage the target to the shore.

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