Comprehensive acquisition device based on multi-beam image sonar and underwater optical image fusion

Abstract

The invention discloses a multi-beam image sonar and underwater optical image fusion-based comprehensive acquisition device, belongs to the field of underwater acoustic detection, and aims to solve the problem that the cooperative work accuracy of an existing multi-beam image sonar and an underwater optical image device is affected due to the fact that the working frequency of the existing multi-beam image sonar and the working focal length of the underwater optical image device are difficult to achieve ideal adaptation. The system comprises a sonar mechanism, an image acquisition mechanism, a calibration mechanism, a front end fixing block and a horizontal range finder. A wiring pipe is arranged in the center of the front end of the underwater propeller, and one end of the wiring pipe communicates with the interior of the underwater propeller; the front-end fixing block is mounted at the other end of the wiring pipe, and a horizontal range finder is mounted on the front side of the front-end fixing block; the sonar mechanism, the image acquisition mechanism and the calibration mechanism are arranged around the front-end fixing block at equal angles in the circumferential direction, the sonar mechanism and the image acquisition mechanism are both installed on the front-end fixing block, and the calibration mechanism is installed on the wiring pipe in a sleeving mode. The device is mainly used for collecting data of a target object during underwater detection.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of underwater acoustic detection, and particularly relates to a kind of based on multi-beam image sonar and underwater optical image fusion integrated acquisition device. BACKGROUND

[0002] In the field of underwater detection, there are two commonly used detection methods, one is to use sonar to detect underwater objects by emitting and receiving sound waves, and the other is to use optical equipment to directly collect images of underwater objects. Both have their own advantages and disadvantages, multi-beam image sonar is widely used in seabed topography mapping, underwater target detection and other scenes due to its ability to penetrate water and effectively work in complex environments such as turbidity. However, the resolution of multi-beam image sonar is relatively low, making it difficult to obtain fine textures and color information of underwater targets. Underwater optical imaging has the advantages of high resolution and can present rich details and real colors, but is limited by water transparency, lighting conditions and other factors, resulting in poor imaging results in turbid and deep water environments, and limited detection distance. Therefore, many scholars have tried to combine acoustic detection and optical detection methods to improve the accuracy and comprehensiveness of underwater detection, but when multi-beam image sonar and underwater optical image equipment work together, the water environment is complex, and there is a lack of suitable calibration objects in the detection area, making it difficult for the working frequency of the multi-beam image sonar and the working focal length of the underwater optical image equipment to achieve ideal adaptation, thereby affecting the accuracy of their collaborative work. Therefore, it is very practical to develop a kind of based on multi-beam image sonar and underwater optical image fusion integrated acquisition device to overcome the above-mentioned defects. SUMMARY

[0003] The present application is to solve the problem that the working frequency of the existing multi-beam image sonar and the working focal length of the underwater optical image equipment are difficult to achieve ideal adaptation, thereby affecting the accuracy of their collaborative work, and further provides a kind of based on multi-beam image sonar and underwater optical image fusion integrated acquisition device;

[0004] A kind of based on multi-beam image sonar and underwater optical image fusion integrated acquisition device, the acquisition device includes underwater propeller, underwater propeller as power source drives acquisition device to move underwater;

[0005] The acquisition device further includes sonar mechanism, image acquisition mechanism, calibration mechanism, front end fixed block and horizontal range finder;

[0006] The front end center of the underwater propeller is provided with a wiring tube, one end of the wiring tube is in communication with the inside of the underwater propeller;

[0007] The front end fixed block is installed on the other end of the wiring tube, and the horizontal range finder is installed on the front side of the front end fixed block;

[0008] The sonar mechanism, the image acquisition mechanism and the calibration mechanism are arranged at equal angles along the circumference of the front end fixed block, and the sonar mechanism and the image acquisition mechanism are both mounted on the front end fixed block, and the calibration mechanism is sleeved on the wiring pipe;

[0009] The underwater thruster is internally integrated with a battery and a data processor, the battery is used for powering each component in the acquisition device, the sonar mechanism and the image acquisition mechanism are both in communication connection with the data processor, the underwater thruster and the data processor are both in communication connection with the upper computer, and the data processor is used for collecting and processing the data transmitted by the sonar mechanism and the image acquisition mechanism and transmitting the processed data to the upper computer;

[0010] Further, the sonar mechanism comprises a first linear module and a sonar assembly, one end of the first linear module is fixedly connected with the outer wall of the front end fixed block, and the sonar assembly is arranged on the side of the first linear module away from the underwater thruster and is fixedly connected with the sliding block in the first linear module;

[0011] Further, the sonar assembly comprises a sonar mounting plate and a multi-beam image sonar, the sonar mounting plate is fixedly connected with the sliding block in the first linear module, and a sonar mounting seat is arranged on the side of the sonar mounting plate away from the underwater thruster, and the multi-beam image sonar is mounted on the sonar mounting plate through the sonar mounting seat;

[0012] Further, the image acquisition mechanism comprises a second linear module and an underwater high-definition camera, one end of the second linear module is fixedly connected with the outer wall of the front end fixed block, and the underwater high-definition camera is arranged on the side of the second linear module away from the underwater thruster and is fixedly connected with the sliding block in the second linear module;

[0013] Further, four underwater fill lights are equidistantly arranged along the circumference of the underwater high-definition camera;

[0014] Further, the calibration mechanism comprises a fixed frame, an oscillating motor, an oscillating rod and a calibration plate, the fixed frame is sleeved on the wiring pipe, the oscillating motor is mounted on the side of the fixed frame away from the underwater thruster, the power output shaft of the oscillating motor extends to the lower side of the front end fixed block, and the axis of the power output shaft of the oscillating motor is arranged perpendicularly to the axis of the wiring pipe, the top end of the oscillating rod is sleeved on the power output shaft of the oscillating motor, and the calibration plate is fixedly connected to the bottom end of the oscillating rod;

[0015] Further, the calibration plate is an acoustic and optical composite target plate, triangular grooves, cross-shaped grooves, rectangular grooves and circular grooves are machined on the calibration side of the calibration plate, and the triangular grooves, the cross-shaped grooves, the rectangular grooves and the circular grooves are arranged in a matrix, and different color layers are coated on the inner walls of the triangular grooves, the cross-shaped grooves, the rectangular grooves and the circular grooves respectively;

[0016] The beneficial effects of the present application relative to the prior art are:

[0017] The present application provides a multi-beam image sonar and underwater optical image fusion comprehensive acquisition device and a defect identification method. Compared with the traditional underwater detection equipment, the present application innovatively combines the multi-beam image sonar and the underwater optical image equipment, uses the multi-beam image sonar to obtain the position and depth information of the target, uses the underwater optical image equipment to capture clear underwater target images, and through the combination of the two, the detection and defect detection capabilities of the detection equipment on the underwater target are greatly improved, the secondary misjudgment of personnel on the data is reduced to the greatest extent, and the recognition efficiency and accuracy of the underwater defects are improved.

[0018] Meanwhile, in order to ensure that the underwater optical image equipment can still perform good image acquisition work in turbid water, the present application further integrates a light supplementing device in the underwater optical image equipment, which improves the brightness, color temperature and other parameters of the water environment to obtain the best imaging effect.

[0019] The present application provides a multi-beam image sonar and underwater optical image fusion comprehensive acquisition device, which further comprises a calibration mechanism. The calibration mechanism can assist the multi-beam image sonar and the underwater optical image equipment to adjust parameters in the water area near the measured target. The core of the calibration mechanism is a composite target plate composed of different colors and different grooves. The different colors are used to assist the underwater optical image equipment to determine the working focal length and the light supplementing intensity in the water area near the measured target. The different color grooves are used to assist the multi-beam image sonar to determine the working frequency in the water area near the measured target. By determining the working focal length of the underwater optical image equipment and the working frequency of the multi-beam image sonar, the accuracy of the detection and acquisition of the measured target by the acquisition device can be further ensured. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a front view schematic diagram of the acquisition device described in the present application.

[0021] Figure 2 It is a side view schematic diagram of the acquisition device described in the present application.

[0022] Figure 3 It is a distribution schematic diagram of the sonar mechanism, the image acquisition mechanism and the calibration mechanism in the acquisition device described in the present application.

[0023] Figure 4 It is an installation schematic diagram of the calibration mechanism and the wiring tube in the acquisition device described in the present application.

[0024] Figure 5The working schematic diagram of the calibration mechanism in the collection device described in the present application (the calibration plate and the working plane formed by the sonar mechanism and the image collection mechanism form a 60° angle state);

[0025] Figure 6 The working schematic diagram of the calibration mechanism in the collection device described in the present application (the calibration plate and the working plane formed by the sonar mechanism and the image collection mechanism form a 45° angle state);

[0026] Figure 7 The internal schematic diagram of the underwater thruster in the collection device described in the present application;

[0027] In the figure, 1 is an underwater thruster, 1-1 is a wire tube, 2 is a front end fixed block, 3 is a first linear module, 4 is a second linear module, 5 is a sonar module, 5-1 is a sonar mounting plate, 5-2 is a multi-beam image sonar, 6 is an underwater high-definition camera, 7 is a mounting bracket, 8 is a swing motor, 9 is a swing arm, 10 is a calibration plate, 11 is a horizontal range finder, 12 is a power supply, and 13 is a data processor. DETAILED DESCRIPTION

[0028] Specific implementation one: combined Figures 1 to 7 In this embodiment, a multi-beam image sonar and underwater optical image fusion comprehensive collection device is provided. The collection device includes an underwater thruster 1, which serves as a power source to drive the collection device to move underwater;

[0029] The collection device also includes a sonar mechanism, an image collection mechanism, a calibration mechanism, a front end fixed block 2, and a horizontal range finder 11.

[0030] A wire tube 1-1 is provided at the center of the front end of the underwater thruster 1, and one end of the wire tube 1-1 is in communication with the interior of the underwater thruster 1.

[0031] The front end fixed block 2 is installed on the other end of the wire tube 1-1, and the horizontal range finder 11 is installed on the front side of the front end fixed block 2.

[0032] The sonar mechanism, the image collection mechanism, and the calibration mechanism are arranged at equal angles around the front end fixed block 2 in the circumferential direction, and the sonar mechanism and the image collection mechanism are both installed on the front end fixed block 2, and the calibration mechanism is sleeved on the wire tube 1-1.

[0033] The underwater thruster 1 has a battery 12 and a data processor 13 integrated inside, the battery 12 is used to power each component in the collection device, the sonar mechanism and the image collection mechanism are both in communication connection with the data processor 13, the underwater thruster 1 and the data processor 13 are both in communication connection with the upper computer, and the data processor 13 is used to collect and process the data transmitted by the sonar mechanism and the image collection mechanism and transmit the processed data to the upper computer.

[0034] The underwater thruster 1 in this embodiment adopts existing technology, such as the underwater robot disclosed in the publication No. CN209972747U, which has several groups of thrusters installed on the robot body, and the thrusters can provide driving force in at least three directions to realize control of the position and posture of the underwater robot, full-angle hovering control, and movement control.

[0035] In this embodiment, the underwater thruster 1 is used as a propulsion device of the collection system, which learns from the structure of the existing underwater thruster. The difference from the existing underwater thruster is that a wiring pipe 1-1 is added to the front end of the underwater thruster 1, through which the power lines and transmission lines of the sonar mechanism, image collection mechanism, and calibration mechanism are introduced into the underwater thruster 1. The underwater thruster 1 also integrates a battery 12 and a data processor 13. The battery 12 is used to power each part of the collection device, and the data processor 13 is used to receive remote control instructions to control each part of the collection device to act synchronously, and on the other hand, it is used to store the data collected by the sonar mechanism and image collection mechanism, and transmit them to the remote computer wirelessly for image comparison and analysis by the staff.

[0036] The sonar mechanism is used to obtain the position and depth information of the target by emitting and receiving sound waves, the image collection mechanism is used to take pictures of the target to obtain image information of the target, and the calibration mechanism is used to adjust the working parameters of the sonar mechanism and image collection mechanism according to the water environment characteristics of the measured target. Through the combination of the three, the accuracy of collecting image information of underwater targets in turbid water areas can be ensured. It is worth noting that under normal circumstances, the sonar mechanism, image collection mechanism, and calibration mechanism are arranged in a "pin" shape. When calibration is needed, the calibration mechanism will actively enter the collection area of the sonar mechanism and image collection mechanism to assist the staff in adjusting the working frequency, working focal length, and working brightness of the sonar mechanism and image collection mechanism. After calibration is completed, the calibration mechanism returns to the original position to ensure that it does not interfere with the sonar mechanism and image collection mechanism during subsequent information collection of underwater targets.

[0037] Specific implementation method two: combined with Figures 1 to 7 This embodiment is a further limitation of the sonar mechanism in specific implementation method one. The sonar mechanism includes a linear module 3 and a sonar assembly 5. One end of the linear module 3 is fixedly connected to the outer wall of the front fixed block 2, and the sonar assembly 5 is arranged on the side of the linear module 3 away from the underwater thruster 1 and is fixedly connected to the sliding block in the linear module 3. The other components and connection methods are the same as those in specific implementation method one.

[0038] Specific implementation method three: combined with Figures 1 to 7To illustrate the embodiment, the embodiment is a further limitation of the sonar assembly 5 in the second specific embodiment. The sonar assembly 5 includes a sonar mounting plate 5-1 and a multi-beam image sonar 5-2. The sonar mounting plate 5-1 is fixedly connected with the sliding block in the first linear module 3. The side of the sonar mounting plate 5-1 away from the underwater thruster 1 is provided with a sonar mounting seat. The multi-beam image sonar 5-2 is mounted on the sonar mounting plate 5-1 through the sonar mounting seat. The other components and connection modes are the same as those in the second specific embodiment.

[0039] In combination with the second and third specific embodiments, the first linear module 3 adopts a CFX10 type fully enclosed sliding table module to adjust the working position of the multi-beam image sonar 5-2. The sonar mounting plate 5-1 is used to fix the multi-beam image sonar 5-2 to ensure its stability during work. The multi-beam image sonar 5-2 adopts a high-precision multi-beam transducer array, which can emit and receive sound wave signals in different directions, realize the detection of a large range of underwater area, and obtain the position, depth and other information of the target. At the same time, the multi-beam transducer array can ensure the directivity of sound wave emission and the sensitivity of reception, and ensure the accuracy of detection data.

[0040] Specific embodiment four: in combination with Figures 1 to 7 To illustrate the embodiment, the embodiment is a further limitation of the image acquisition mechanism in the first specific embodiment. The image acquisition mechanism includes a second linear module 4 and an underwater high-definition camera 6. One end of the second linear module 4 is fixedly connected with the outer wall of the front end fixed block 2. The underwater high-definition camera 6 is arranged on the side of the second linear module 4 away from the underwater thruster 1 and is fixedly connected with the sliding block in the second linear module 4. The other components and connection modes are the same as those in the first specific embodiment.

[0041] Specific embodiment five: in combination with Figures 1 to 7 To illustrate the embodiment, the embodiment is a further limitation of the underwater high-definition camera 6 in the fourth specific embodiment. The underwater high-definition camera 6 is circumferentially arranged with four underwater fill-in lights. The other components and connection modes are the same as those in the fourth specific embodiment.

[0042] In combination with the fourth and fifth specific embodiments, the second linear module 4 also adopts a CFX10 type fully enclosed sliding table module to adjust the working position of the underwater high-definition camera 6. The underwater high-definition camera 6 adopts a high-resolution underwater camera, and a lighting system is arranged around it. The underwater camera has high pixels, wide dynamic range and other characteristics, and can capture clear images. The lighting system adopts adaptive fill-in lights, which can automatically adjust the brightness, color temperature and other parameters of the light source according to the illumination intensity and turbidity of the water environment, to obtain the best imaging effect. At the same time, a protection device against dirt and water mist is arranged outside the underwater high-definition camera 6 to ensure the cleanliness and normal work of the lens.

[0043] Specific implementation six: combined Figures 1 to 7 To illustrate this embodiment, the calibration mechanism in this embodiment is further limited in specific implementation one, and the calibration mechanism comprises a fixing frame 7, an oscillating motor 8, an oscillating rod 9, and a calibration plate 10. The fixing frame 7 is sleeved on the wiring pipe 1-1. The oscillating motor 8 is installed on the side of the fixing frame 7 away from the underwater thruster 1. The power output shaft of the oscillating motor 8 extends to the lower side of the front end fixed block 2. The axis of the power output shaft of the oscillating motor 8 is arranged perpendicularly to the axis of the wiring pipe 1-1. The top end of the oscillating rod 9 is sleeved on the power output shaft of the oscillating motor 8. The calibration plate 10 is fixed to the bottom end of the oscillating rod 9. The other components and connection modes are the same as those in specific implementation one.

[0044] Specific implementation seven: combined Figures 1 to 7 To illustrate this embodiment, the calibration mechanism in this embodiment is further limited in specific implementation six. The calibration plate 10 is an acoustic and optical composite target plate. Triangular grooves, cross-shaped grooves, rectangular grooves, and circular grooves are processed on the calibration side of the calibration plate 10. The triangular grooves, the cross-shaped grooves, the rectangular grooves, and the circular grooves are arranged in a matrix. Different color layers are coated on the inner walls of the triangular grooves, the cross-shaped grooves, the rectangular grooves, and the circular grooves, respectively. The other components and connection modes are the same as those in specific implementation six.

[0045] In combination with specific implementation six and specific implementation seven, in order to make the calibration structure not affect the influence of the subsequent acquisition device on the target, the calibration structure in this application adopts a swingable design. The swing structure takes the oscillating motor 8 as a power source. When calibration work is needed, the oscillating motor 8 drives the oscillating rod 9 to swing normally until the calibration plate 10 enters the working range of the sonar mechanism and the image acquisition mechanism. The acoustic / optical calibration under different distances and different angles is completed through the linear module. The information of the current water body can be better obtained. The working frequency of the sonar mechanism and the working focal length of the image acquisition mechanism are determined according to the water body information. The specific calibration process is as follows:

[0046] Step a: based on the underwater detection experience of the conventional water body, the working frequency of the sonar mechanism and the working focal length of the image acquisition mechanism are preset. Usually, the working frequency preset value of the sonar mechanism is 1.2 MHz, and the working focal length preset value of the image acquisition mechanism is 2.8 mm. The acquisition device with the preset value is sunk to the underwater, and the underwater thruster 1 drives the acquisition device to move towards the target object;

[0047] Step b, stop hovering at a distance of 3m from the target object by horizontal range finder 11, at the same time drive the swing rod 9 upward to 60° angle between the plane where the sonar mechanism and image acquisition mechanism are located by swing motor 8, at this time adjust the working position of sonar assembly 5 on the first linear module 3, and synchronously adjust the working position of underwater high-definition camera 6 on the second linear module 4, and keep the single-time adjustment amount of sonar assembly 5 and underwater high-definition camera 6 consistent, for example, the length of the first linear module 3 and the second linear module 4 are both 50cm, when the swing rod 9 is swung into place, the sonar assembly 5 and the underwater high-definition camera 6 will first be synchronized to perform the first calibration at a distance of 10cm from the front fixed block, then synchronized to perform the first calibration at a distance of 20cm from the front fixed block, then synchronized to perform the third calibration at a distance of 30cm from the front fixed block, then synchronized to perform the fourth calibration at a distance of 40cm from the front fixed block, and finally synchronized to perform the fifth calibration at a distance of 40cm from the front fixed block, after the five calibration ends, the five calibration data collected by the sonar assembly 5 and the underwater high-definition camera 6 are sent to the remote host computer by the data processor 13, and the working staff arranges and fuses them into five calibration image samples, respectively marked as calibration sample 1, calibration sample 2, calibration sample 3, calibration sample 4 and calibration sample 5;

[0048] Step c, drive the swing rod 9 upward to 45° angle between the plane where the sonar mechanism and image acquisition mechanism are located by swing motor 8, at this time readjust the working position of sonar assembly 5 on the first linear module 3, and synchronously adjust the working position of underwater high-definition camera 6 on the second linear module 4, and keep the single-time adjustment amount of sonar assembly 5 and underwater high-definition camera 6 consistent, repeat the calibration process in the above step b, get new five calibration image samples, respectively marked as calibration sample 6, calibration sample 7, calibration sample 8, calibration sample 9 and calibration sample 10;

[0049] Step d, drive the swing rod 9 upward to 30° angle between the plane where the sonar mechanism and image acquisition mechanism are located by swing motor 8, at this time readjust the working position of sonar assembly 5 on the first linear module 3, and synchronously adjust the working position of underwater high-definition camera 6 on the second linear module 4, and keep the single-time adjustment amount of sonar assembly 5 and underwater high-definition camera 6 consistent, repeat the calibration process in the above step b, get new five calibration image samples, respectively marked as calibration sample 11, calibration sample 12, calibration sample 13, calibration sample 14 and calibration sample 15;

[0050] Step e, the remote staff adjusts the working frequency of the sonar mechanism and the working focal length of the image acquisition mechanism and the brightness of the light compensation lamp based on the preset values of the working frequency of the sonar mechanism and the working focal length of the image acquisition mechanism, so as to improve the working adaptation of the sonar mechanism and the image acquisition mechanism, and then ensure the accuracy of the collected information when the target object is collected subsequently.

[0051] The present application has been disclosed in the preferred embodiments as above, however, not for limiting the present application, any person skilled in the art can make some changes or modifications to the equivalent embodiments within the scope of the technical solutions of the present application without departing from the technical solutions of the present application, but any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application shall still fall within the scope of the technical solutions of the present application.

[0052] Working principle

[0053] The collection device provided in the present application works according to the following steps when working:

[0054] Step 1: the collection device is moved underwater by the underwater propeller 1 and approaches the target object, when the collection device is 2-3 m away from the target object 2, the underwater propeller 1 stops working and the sonar mechanism and the image acquisition mechanism are calibrated by the calibration mechanism, so as to assist the staff to determine the working frequency of the sonar mechanism and the working focal length of the image acquisition mechanism in the underwater environment;

[0055] Step 2: after the working frequency of the sonar mechanism and the working focal length of the image acquisition mechanism are determined in step 1, the underwater propeller 1 continues to drive the collection device to approach the target object 1 m away, and when the image acquisition area is reached, the collection device collects information of the target through the sonar mechanism and the image acquisition mechanism, and in the collection process, the collection device is moved along the object contour by the underwater propeller 1, and the sonar assembly 5 and the underwater high-definition camera 5 are moved on the first linear module 3 and the second linear module 4 to adjust the collection area;

[0056] Step 3: after the information of the target is collected by the sonar mechanism and the image acquisition mechanism in step 2, the collected information is preprocessed by the data processor 13, for the sonar data, the noise interference is removed by filtering, and the resolution of the image is improved by beamforming technology; for the optical data, color correction, contrast enhancement and other processing are performed to improve the visual effect of the image;

[0057] Step 4: The pretreated sonar data and optical data in step 3 are sent to the upper computer, and the sonar data and optical data are extracted by a remote worker using a convolutional neural network (CNN) based feature extraction technology to extract deep features, and the extracted features are fused to form a fusion image;

[0058] Step 5: The worker judges whether the target object has defects based on the fusion image provided in step 4 as a reference.

Claims

1. A multi-beam image sonar and underwater optical image fusion integrated acquisition device based on, the acquisition device comprising an underwater propeller (1) as a power source to drive the acquisition device to move underwater; characterized in that The acquisition device further comprises a sonar mechanism, an image acquisition mechanism, a calibration mechanism, a front end fixed block (2) and a horizontal range finder (11); A wiring tube (1-1) is arranged at the front end center of the underwater propeller (1), and one end of the wiring tube (1-1) is in communication with the inside of the underwater propeller (1); The front end fixed block (2) is installed on the other end of the wiring tube (1-1), and the horizontal range finder (11) is installed on the front side of the front end fixed block (2); The sonar mechanism, the image acquisition mechanism and the calibration mechanism are arranged at equal angles around the front end fixed block (2) in the circumferential direction, and the sonar mechanism and the image acquisition mechanism are both installed on the front end fixed block (2), and the calibration mechanism is sleeved on the wiring tube (1-1); The inside of the underwater propeller (1) is integrated with a storage battery (12) and a data processor (13), the storage battery (12) is used for power supply to each component in the acquisition device, the sonar mechanism and the image acquisition mechanism are both in communication connection with the data processor (13), the underwater propeller (1) and the data processor (13) are both in communication connection with an upper computer, and the data processor (13) is used for collecting and processing data transmitted by the sonar mechanism and the image acquisition mechanism and transmitting the processed data to the upper computer.

2. The integrated acquisition device based on multi-beam image sonar and underwater optical image fusion according to claim 1, characterized in that: The sonar mechanism comprises a first linear module (3) and a sonar assembly (5), one end of the first linear module (3) is fixedly connected with the outer wall of the front end fixed block (2), and the sonar assembly (5) is arranged on the side, away from the underwater propeller (1), of the first linear module (3) and is fixedly connected with the sliding block in the first linear module (3).

3. The device according to claim 2, characterized in that it comprises: The sonar assembly (5) comprises a sonar mounting plate (5-1) and a multi-beam image sonar (5-2), the sonar mounting plate (5-1) is fixedly connected with the sliding block in the first linear module (3), and a sonar mounting seat is arranged on the side, away from the underwater propeller (1), of the sonar mounting plate (5-1), and the multi-beam image sonar (5-2) is installed on the sonar mounting plate (5-1) through the sonar mounting seat.

4. The integrated acquisition device based on multi-beam image sonar and underwater optical image fusion according to claim 3, characterized in that: The image acquisition mechanism comprises a second linear module (4) and an underwater high-definition camera (6), one end of the second linear module (4) is fixedly connected with the outer wall of the front end fixed block (2), and the underwater high-definition camera (6) is arranged on the side, away from the underwater propeller (1), of the second linear module (4) and is fixedly connected with the sliding block in the second linear module (4).

5. The integrated acquisition device based on multi-beam image sonar and underwater optical image fusion according to claim 4, characterized in that: Four underwater fill light lamps are arranged at equal distances in the circumferential direction of the underwater high-definition camera (6).

6. The multi-beam image sonar and underwater optical image fusion integrated acquisition device according to claim 5, characterized in that: The calibration mechanism comprises a fixing frame (7), an oscillating motor (8), an oscillating rod (9) and a calibration plate (10), the fixing frame (7) is sleeved on the wiring pipe (1-1), the oscillating motor (8) is installed on the side of the fixing frame (7) away from the underwater propeller (1), the power output shaft of the oscillating motor (8) extends to the lower side of the front end fixed block (2), the axis of the power output shaft of the oscillating motor (8) is perpendicular to the axis of the wiring pipe (1-1), the top end of the oscillating rod (9) is sleeved on the power output shaft of the oscillating motor (8), and the calibration plate (10) is fixed on the bottom end of the oscillating rod (9).

7. The multi-beam image sonar and underwater optical image fusion integrated acquisition device according to claim 6, characterized in that: The calibration plate (10) is an acoustic and optical composite target plate.

8. The integrated acquisition device based on multi-beam image sonar and underwater optical image fusion according to claim 7, characterized in that: The calibration side of the calibration plate (10) is processed with triangular grooves, cross-shaped grooves, rectangular grooves and circular grooves, and the triangular grooves, the cross-shaped grooves, the rectangular grooves and the circular grooves are distributed in a matrix, and the inner walls of the triangular grooves, the cross-shaped grooves, the rectangular grooves and the circular grooves are respectively coated with different color layers.

Images