72 results about "Imaging sonar" patented technology

The invention discloses a multi-camera radar-inertia-visual odometer method fusing a sonar image, and belongs to the technical field of robot perception and navigation. According to the method, environment perception is realized through cooperative work of multiple sensors; in the air, a multi-camera system and a conventional laser radar are taken as main modes; in water, an active imaging sonar and an underwater laser radar are used as main modes. The system detects the medium of the aircraft according to the resistivity, dynamically switches the main mode and fuses the auxiliary mode information. Through a tight coupling optimization framework, observation data of vision, sonar, laser radar and an inertial measurement unit are uniformly modeled as residual constraints, a nonlinear least square problem is constructed and solved, and efficient fusion of multi-source information is realized. The method has robustness in low-texture, low-illumination and underwater turbid environments, and the positioning precision and stability in a cross-medium scene are remarkably improved.

The invention provides a synchronous positioning and mapping method for underwater pipeline detection, and belongs to the technical field of underwater robot navigation and positioning. In order to solve the problems of limited illumination, strong echo interference, high structural repeatability and the like in a seawater pipeline environment, the invention provides a factor graph optimization-based tight coupling pose estimation framework fusing a two-dimensional imaging sonar, a Doppler velocity meter DVL and an inertial measurement unit IMU. Through joint constraint and optimization of multi-source sensing information, the method can realize high-precision positioning and continuous mapping of the ROV in an environment with extremely low visibility and a complex pipeline structure, and effectively improves autonomy and data reliability of an underwater inspection process. The method is clear in structure, easy and convenient to implement, high in calculation efficiency, capable of stably running on a conventional ROS platform and suitable for various types of underwater pipeline detection and inspection tasks.

The invention discloses a multi-mode dam crack detection method based on acoustics-optics, and belongs to the technical field of underwater target recognition. According to the method, an underwater camera and an imaging sonar sensor are utilized to perform joint detection on cracks possibly existing on the surface of a dam: firstly, an optical image and a sonar image are respectively acquired, and crack feature extraction and preliminary recognition are performed in respective modes; and then, mapping detection results of the two modes to the same coordinate system through coordinate transformation, fusing optical detection information and acoustic detection information based on spatial consistency, and confirming the position and range of a crack target. According to the method, the complementary advantages that optical imaging definition is high and sonar penetrates through a turbid water body are brought into full play, the high crack detection rate and precision can still be kept in the underwater environment with extremely low visibility, compared with a single sensor, missing detection and false detection can be remarkably reduced, and reliable and automatic recognition of underwater dam structure cracks is achieved.

The application provides an underwater three-dimensional reconstruction method for a single sonar image, which can be applied to the technical field of image sonar perception. The method reconstructs the point cloud structure of a target object by using a pseudo front-view depth map of a single sonar image, trains a sonar image segmentation network by using a sonar image obtained in a simulation environment and a corresponding depth map true value, fully utilizes the true value of the inverse depth and the characteristics of a sonar imaging principle to improve the estimation accuracy of the pseudo front-view depth map, simultaneously uses a weight loss function constructed according to the sonar imaging principle, and simultaneously uses a scale-invariant logarithmic loss function to train the sonar image segmentation network. The application further provides an underwater three-dimensional reconstruction device for a single sonar image, equipment and a storage medium.

The invention discloses a detection device and a detection method for structural defects of a full-water drainage pipeline. The detection device comprises a ground operation unit and an underground detection unit, wherein the ground operation unit comprises a handheld flow velocity display and a sonar operation feedback platform, and the handheld flow velocity display and the sonar operation feedback platform are in signal connection with the underground detection unit through a flow velocity meter data transmission line and a sonar data transmission line respectively; the underground detection unit comprises a Doppler current meter, a two-dimensional surface real-time image sonar and a cross-shaped fixed rod head, the cross-shaped fixed rod head is used for integrating and fixing the Doppler current meter and the two-dimensional surface real-time image sonar, and the detection unit is deployed in a full-water operation drainage system; the two-dimensional surface real-time image sonar can adjust the sound wave frequency, identifies the structural defect of the pipeline through the sound wave reflection difference, and transmits the defect information to the sonar operation feedback platform; the Doppler current meter is used for collecting flow velocity and flow data in the pipeline and transmitting the data to the handheld flow velocity display, and the defect position is checked in an auxiliary mode through multi-well-position data comparison.

The invention relates to a preparation method of a receiving sensing array, the receiving sensing array and an imaging sonar, and the method comprises the steps: enabling a first matching layer to block the matching layer slurry in a process that the matching layer slurry is solidified to form a second matching layer, so as to prevent the matching layer slurry from entering a positioning hole through the permeation of a conductive adhesive tape. The first matching layer and the second matching layer jointly form the matching layer, and the situation that the thickness of the matching layer on the surface of the conductive adhesive tape is insufficient is effectively avoided by ensuring the thickness of the second matching layer.

This invention provides a method for fish passage behavior recognition based on a multimodal large model. First, imaging sonar image sequences and underwater optical video sequences of fish passing through fish passages or facilities are simultaneously acquired, and the multimodal data are aligned through time stamp synchronization and spatial calibration. Then, fish target detection, segmentation, and feature extraction are performed on the sonar image sequences and optical video sequences respectively to obtain the fish's spatial location, body length, water depth, motion state, morphological structure, and posture features. The obtained acoustic and optical features are input into a multimodal coding and fusion model based on the Transformer architecture, and a unified fish behavior representation vector is constructed through a cross-modal attention mechanism. During the training phase, model parameters are adjusted through a multi-task learning approach using cross-entropy loss, mean squared error loss, and contrastive learning loss, ultimately achieving fish passage behavior category recognition and prediction of individual and group passage difficulty scores.

The invention relates to the technical field of ocean engineering, and discloses a special-shaped steel pipe pile combined structure for complex seabed terrains, which comprises a plurality of steel pipe pile bodies and a seabed detector, and lock catch connecting mechanisms are arranged on the side surfaces of the plurality of steel pipe pile bodies; the lock catch connecting mechanisms are used for connecting and locking every two of the multiple steel pipe pile bodies, purlin frames are arranged on the inner sides of the multiple steel pipe pile bodies, a detection system is arranged in the seabed detector, and the detection system comprises a multi-beam sounding module used for obtaining three-dimensional topographic data of the seabed; the acoustic disturbance transmitting module is used for transmitting an acoustic disturbance pulse to a target point of the seabed; and the tracking imaging sonar module is used for collecting a seabed dynamic response image sequence triggered by the acoustic disturbance pulse. According to the method, in-situ fine investigation and structure differentiation design are combined, engineering materials are distributed according to needs, and on the premise that the structure safety is guaranteed, the engineering cost is reduced, and the construction efficiency is improved.

The application discloses a multi-sub-aperture high-frequency underwater acoustic imaging method, device and system based on phase recovery. The method comprises the following steps: acquiring multi-sub-aperture echo signals of a target to be tested collected by an imaging sonar; performing two-dimensional Fourier transform on the echo signals, multiplying a reference function to perform matched filtering, and then performing Stolt interpolation operation to obtain preprocessed multi-sub-aperture spectra of the target to be tested; then, a window function is constructed in combination with each sub-aperture position, and inverse Fourier transform is performed on each sub-aperture spectrum to obtain a corresponding low-resolution image; finally, a phase recovery algorithm is used to synthesize high-resolution target reconstruction images from the low-resolution images corresponding to the multiple sub-apertures. According to the embodiment of the application, the reconstruction resolution of the underwater target can be improved, and the calculation accuracy can be improved through iterative optimization, so that the actual application requirements of high-frequency imaging in complex water areas can be met.

The utility model discloses a kind of submarine hydrothermal plume acoustic imaging simulation devices, it is related to marine detection technical field, including simulation bin, the simulation bin is set to cylindrical structure, the top of the simulation bin is fixedly provided with fixed seat, the middle part of the fixed seat is fixedly provided with imaging sonar, the outside wall of the simulation bin is penetrated and is provided with two groups of liquid inlet pipes.The utility model is set to two groups of liquid inlet pipes outside the simulation bin, and two groups of liquid inlet pipes are set at the tangent of simulation bin, one end of liquid inlet pipe is provided with movable spray head, and the simulation fluid for simulating hydrothermal plume can be injected into simulation bin through liquid inlet pipe and movable spray head, and collide in simulation bin to achieve the simulation of hydrothermal plume, in this process, by controlling movable spray head up and down movement, the collision angle of two groups of simulation fluid can be controlled, to improve the simulation range of device.

1. The name of the design product: offshore net cage 3D scanning imaging sonar. 2. The use of the design product: for offshore net cage fish monitoring, counting, and underwater structure observation and mapping. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The invention relates to a multi-degree-of-freedom desilting and obstacle clearing operation track planning and control method, and belongs to the technical field of desilting and obstacle clearing operation. The method comprises the following steps: dividing an underwater image collected by a multi-beam image sonar into a plurality of sub-images, carrying out two-dimensional Fourier transform on each sub-image to obtain a frequency domain signal after Fourier transform, and denoising to obtain a denoised underwater image; performing color compensation on the denoised underwater image to obtain a compensated underwater image, and training a deep learning model to obtain a sludge recognition model; and using the sludge identification model to detect the sludge in the water at the target dredging position so as to complete the dredging operation. According to the method, the deep learning model is trained by using the denoised underwater image, the sludge identification model for the sludge features is constructed, and compared with a traditional image processing method based on threshold segmentation, edge detection and the like, deep features of the sludge in multiple dimensions such as texture, color, shape and the like can be adaptively extracted; and high-precision detection and segmentation of the sludge area are realized.

1. The name of the design product: front imaging sonar. 2. The use of the design product: sonar equipment for detecting, positioning and perceiving underwater targets by using underwater acoustic waves. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: design 1 perspective view 1. 5. Design 1 is designated as the basic design.

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.

The utility model discloses a kind of narrow main lobe and low side lobe effect's robust high-resolution beamforming device, including host computer rack, the top of host computer rack is fixedly installed with host computer body, the side of host computer body is equipped with processing equipment, the top of mounting plate is fixedly installed with Jetson Xavier NX development board kit, a kind of narrow main lobe and low side lobe effect's robust high-resolution beamforming device of the utility model, by setting Jetson Xavier NX development board kit, to improve active acoustic imaging resolution capability, on the basis of establishing active detection space-time two-dimensional convolution model, joint azimuth and space two-dimensional deconvolution processing means, realize in angle and time two dimensions on the resolution capability and interference suppression capability of active detection sonar to target are improved;By setting host computer body and processing equipment, array detection software system platform based on CPU and GPU collaborative architecture is constructed, to meet the demand of high-performance computing of complex algorithm for high-resolution imaging sonar beamforming.

1. The name of the design product: front imaging sonar (315). 2. The use of the design product: sonar equipment for detecting, positioning and sensing underwater targets by using underwater acoustic waves. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

A system and method for generating three-dimensional (3D) images using sonar technology comprises a circular phased array to create 3D point clouds from the echoes of a single sonar ping and may be configured to measure Doppler shift. The circular phased array is a circular receiver array that is combined with a single, wide opening angle projector that transmits at least one pulse of acoustic energy. The echoes from this pulse are received by the circular array. The signals from the receiver elements are combined using Delay and Sum beamforming processes to perform spatial filtering with resolution as discussed above. The system and method combine advantages of Mills Cross systems and square arrays, providing high-resolution, instantaneous 3D imaging employing a 1D array, leading to a more efficient and scalable design.

The utility model provides an underwater robot capable of being used for bridge detection, which belongs to the technical field of underwater robots and comprises a top layer plate, an interlayer plate, a bottom layer plate, a left side plate, a right side plate, a multi-beam imaging sonar, a laser range finder, an electronic sealing buoyancy providing cabin, a water link DVL and a sonar altimeter. The left side plate and the right side plate are partially hollowed out in appearance and are divided into a combined frame type structure, the side face of the robot utilizes the stability of triangles, a plurality of triangular hollows are adopted, and it is guaranteed that the robot keeps stable under strong water flow impact; the electronic sealing buoyancy providing cabin is arranged, the electronic sealing buoyancy providing cabin serves as a waterproof device for protecting the circuit board and also serves as a buoyancy device to replace a traditional buoyancy device, and the operation resistance of the robot in water can be effectively reduced in combination with the semicircular spherical cover.

The invention discloses a multi-mode aperture imaging sonar method and system, and the method and system achieve synthetic aperture imaging through the processes of orthogonal demodulation, pulse compression, intra-frame beam forming and inter-frame synthetic aperture, and expand the processes of single-beam real aperture imaging and multi-beam real aperture imaging in parallel on the basis of synthetic aperture imaging. Wherein the single-beam imaging data is acquired in a manner of performing channel superposition and resolution equalization on the pulse compression data, the multi-beam imaging data is acquired in a manner of performing azimuth matching on the intra-frame beam forming result data, and finally, the output of three acoustic diagrams is realized; according to the technical scheme of the invention, the single-beam imaging method, the multi-beam imaging method and the synthetic aperture imaging method are compatible in a manner of reasonably configuring the parallel data path and module cooperative relationship of each imaging process, the advantages of each imaging method are integrated, and the resource utilization rate is improved. And the adaptability of the sonar system to the imaging mode and the coverage of the sonar system to the application scene are expanded.

The application provides a kind of multi-modal pier damage detection method and system based on image sonar adjustment, it is related to image processing method and system, system includes: holder, for carrying image sonar;And receive step adjustment signal, according to preset step angle adjustment sonar detection angle;Image sonar, for collecting sonar image;Quality evaluation module, for evaluating and obtaining at least one image index of sonar image;Adjustment strategy module, for gradually adjusting sonar detection angle in angle adjustment range with set step angle;And obtain all sonar images in angle adjustment range and corresponding image index;And select the sonar image of image index or image index weighted sum maximum;Image processing module, for processing sonar image breakage identification module, for pier breakage identification to the sonar image after processing, complete the damage detection of pier.

The invention relates to a multi-beam data screening optimization processing method based on image sonar. Aiming at the problems of weak target signal annihilation and insufficient image sharpness caused by a traditional arithmetic average method, the method adopts a maximum value screening strategy to carry out multi-beam data fusion. The method comprises the following specific steps: carrying out preprocessing and TVG compensation on sonar original echo data; obtaining a plurality of beam data through parallel beam forming; for each distance unit, traversing and comparing the signal intensity of all beams, and selecting the maximum value as the final pixel value of the unit; and then median filtering noise reduction and configurable point picking processing are carried out. According to the method, the detection probability of a weak target and a point target can be remarkably improved, a sonar image with high contrast and high sharpness is generated, and meanwhile, different detection tasks are flexibly adapted by integrating multiple fusion and point selection modes. The method is efficient in calculation, is easy to realize on embedded platforms such as a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array) and the like, and has good engineering application value.

1. Name of the product in this design: Image Sonar (Ultra-wide-angle multi-beam acoustic sensor). 2. Purpose of this design: A sonar system used to detect, locate, and sense underwater targets using sound waves in water. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The invention provides a multi-modal bridge pier damage detection method and system based on image sonar adjustment, and relates to an image processing method and system.The system comprises a holder used for carrying an image sonar; and receiving a stepping adjustment signal, and adjusting a sonar detection angle according to a preset stepping angle, the image sonar is used for collecting sonar images; the quality evaluation module is used for evaluating and obtaining at least one image index of the sonar image; the adjusting strategy module is used for gradually adjusting the sonar detection angle within the angle adjusting range according to a set stepping angle; all sonar images and corresponding image indexes in the angle adjustment range are obtained; selecting a sonar image with the image index or the maximum weighted sum of the image indexes; and the image processing module is used for processing the sonar image, and the damage identification module is used for carrying out bridge pier damage identification on the processed sonar image so as to complete bridge pier damage detection.

The application provides a simultaneous localization and mapping method for underwater pipeline detection, and belongs to the technical field of underwater robot navigation and positioning; aiming at the problems of limited light, strong echo interference and high structure repeatability in the seawater pipeline environment, a tightly coupled pose estimation framework based on factor graph optimization is proposed by fusing a two-dimensional imaging sonar, a Doppler velocity log (DVL) and an inertial measurement unit (IMU). Through joint constraint and optimization of multi-source sensing information, the method can realize high-precision positioning and continuous mapping of the ROV in an environment with extremely low visibility and complex pipeline structure, effectively improving the autonomy and data reliability of the underwater inspection process. The method has clear structure, simple implementation and high calculation efficiency, can stably run on a conventional ROS platform, and is suitable for various types of underwater pipeline detection and inspection tasks.

A system and method for generating three-dimensional (3D) images using sonar technology comprises a circular phased array to create 3D point clouds from the echoes of a single sonar ping and may be configured to measure Doppler shift. The circular phased array is a circular receiver array that is combined with a single, wide opening angle projector that transmits at least one pulse of acoustic energy. The echoes from this pulse are received by the circular array. The signals from the receiver elements are combined using Delay and Sum beamforming processes to perform spatial filtering with resolution as discussed above. The system and method combine advantages of Mills Cross systems and square arrays, providing high-resolution, instantaneous 3D imaging employing a 1D array, leading to a more efficient and scalable design.

Disclosed are a method and device for docking control of an underwater vehicle based on sonar imaging, belonging to the field of vehicle automatic control technology. The present disclosure decomposes docking control of the underwater vehicle into depth tracking control and horizontal plane docking control, designs corresponding reinforcement learning cost functions to train deep network-based depth tracking controller and servo docking controller, designs nonlinear weight to balance position error and field of view in the cost function, and uses reinforcement learning to make the controller learn optimized control strategy, quickly eliminate position error and maintain recovery device features in the imaging sonar field of view. The present disclosure may effectively avoid docking failure caused by loss of target features and improve docking success rate.

The application discloses an unmanned ship underwater target intelligent identification method based on an imaging sonar, and relates to the fields of unmanned operation platforms and target identification. The application is aimed at the requirements of unmanned ship navigation and tasks, considers the task characteristics of the unmanned ship, and specifically adopts a forward-looking sonar to perform target ranging positioning and accurate identification, and based on machine learning and, realizes thorough water area perception, target detection and accurate identification for underwater targets. The application can improve the underwater target identification performance of the unmanned ship.

A split type AUV system, including an autonomous underwater robot system and a buoy system, the autonomous underwater robot system includes an electric control sealed cabin, a multi-beam imaging sonar module, a magnetic attraction fixer, a visual positioning module, an ultra-short baseline (USBL) transponder beacon, a single beam wave sonar module, a depth module, an underwater laser range finder, a battery sealed cabin and a driving unit; the buoy system includes an ultra-short baseline (USBL) beacon, a floating platform, a cable reel motor, a cable reel, a satellite positioning module, a buoy system electric control cabin, a side scan sonar, an Aruco two-dimensional code plate, a driving unit, a permanent magnet block and a battery cabin; the purpose of the present application is to provide a split type AUV underwater navigation positioning system, which assists in obtaining the accurate position of the underwater robot.

The application provides a biomass estimation method and device for aquaculture water and electronic equipment. The method comprises the following steps: acquiring a continuous dynamic sonar image sequence collected by an imaging sonar; performing signal enhancement preprocessing on the sequence; inputting the enhanced sequence into a deep learning detection model to identify and output fish body targets and their positions in each frame; based on the detection results of multiple continuous frames, performing cross-frame association and tracking on the fish body targets, and using a time-weighted fusion strategy for deduplication to obtain time-series fish school data; based on the time-series data, performing regional fish school quantity statistics on the aquaculture water, and fusing and estimating the global fish school quantity; finally, based on the fish school quantity and the fish body individual mass estimation result, the total biomass of the aquaculture water is calculated. The application realizes non-contact and automatic global estimation of the fish school biomass of the aquaculture water, which is beneficial to improving the refinement and decision-making efficiency of aquaculture management.