104 results about "Imaging sonar" patented technology

The seabed imaging sonar comprises a receiving transduction module, the receiving transduction module comprises a receiving plate, an annular sealing block, a socket and a front cover, a first mounting opening is formed in the middle of the front cover, the annular sealing block is arranged at the edge of the first mounting opening, and the receiving plate is arranged at the first mounting opening; the annular sealing block is at least partially attached to the inner side face and the side edge of the receiving plate. The socket is arranged on the inner side face of the receiving plate and located in the middle of the annular sealing block. The shell is internally provided with a pressure balance cavity, the pressure balance cavity is filled with a compressible fluid medium, the side wall of the shell is provided with a second installation opening, the front cover is installed at the second installation opening, and the socket is located in the pressure balance cavity; and the piston assembly comprises a piston cylinder and a piston, the piston is movably arranged in the piston cylinder, and one end of the piston cylinder communicates with the pressure balance cavity so as to allow the compressible fluid medium to enter the piston cylinder.

The invention provides a preparation technology of a three-dimensional camera shooting sonar sparse sensing array, and the method comprises the following steps: forming a patterned electrode on a PVDF or P (VDF-TrFE) piezoelectric film through vacuum adsorption and silk-screen printing according to sparse array element coordinates, and arranging a virtual transition array element at the periphery; performing laser etching on the edge contour and the exhaust hole of the piezoelectric film; designing a bonding positioning auxiliary tool, combining an ultrathin double-sided adhesive tape and a single-sided mask adhesive tape, and utilizing conductive silver paste to realize accurate electric connection between the array element and the PCB bonding pad; designing a polytetrafluoroethylene-metal flattening module, and laminating the array in a vacuum environment for curing and bonding; the matching layer is made of a low-impedance sound transmission material, glue filling and vacuum defoaming are performed from the back side in batches, and the sparse sensing array is prepared in combination with a polyimide film and a metal super-flat plate. The preparation problem of the large-aperture high-frequency imaging sonar on the sensing array is solved, and the array element position accuracy, the array element consistency and the imaging resolution can be improved.

The invention provides an underwater target three-dimensional reconstruction method and system based on a three-dimensional imaging sonar image, and the method comprises the steps: collecting the three-dimensional imaging sonar data of an underwater target, segmenting the sonar point cloud data through employing an optimized point cloud segmentation model, and extracting a specific target point cloud; and performing sparse reconstruction and dense reconstruction on the target point cloud in sequence, and finally realizing high-precision three-dimensional reconstruction of the target. The system comprises a data acquisition module, a preprocessing module, a reconstruction algorithm module and a visualization module, and is suitable for underwater target surveying, mapping and monitoring. The invention aims to solve the problem of insufficient reconstruction precision and efficiency of a traditional method in a complex underwater environment.

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 discloses a sensor calibration test system and a calibration test method for UUV intelligent perception, belongs to the technical field of underwater robots, and aims to solve the problems that the capability evaluation of the UUV intelligent perception system is difficult to realize, the credibility, the reliability and the accuracy are poor, and the UUV intelligent perception system cannot be fully matched with the actual application environment and cannot be optimized due to the existing underwater multi-mode comprehensive perception calibration mode. And the development and improvement of the intelligence of the UUV are directly influenced. The sensor calibration test system can simulate various motion modes of the underwater vehicle and the underwater target in navigation, so that a large number of calibration samples are formed, the three-dimensional imaging sonar, the underwater camera and the magnetometer can realize calibration of working parameters based on the underwater acousto-optic magnetic comprehensive beacon arranged on the underwater target, and the calibration precision is improved. After sensor calibration is completed, the system can be used for testing the calibration effect of the sensor, and the number of times and cost of sea test calibration are effectively reduced.

The invention provides an image sonar small target detection method and system based on an improved attention mechanism, and the method is realized based on YOLOv8, and the method comprises the steps: inserting the following process in the tenth layer of a backbone network of YOLOv8: carrying out the up-sampling of an original image, sequentially carrying out the 5 * 5 point convolution, vertical convolution and horizontal convolution, and finally obtaining data F'through an activation function; performing down-sampling on an original image, then performing 1 * 1 point convolution, horizontal convolution and vertical convolution in sequence, and finally obtaining data F ''through an activation function; and carrying out dot product on the data F ', the data F' 'and the original image data, and splicing with the original image data to obtain a final output result. Compared with the prior art, the method has the advantages that the model learns image features of different dimensions through up-down sampling, convergence is accelerated through aggregation in the horizontal direction and the vertical direction and finally residual connection, a more refined result can be output, background interference is reduced, and calculation overhead is reduced.

The invention provides an acousto-optic fusion guiding system and method for AUV underwater dynamic docking, and belongs to the technical field of autonomous underwater robot docking, and a first inertial navigation system and a second inertial navigation system are respectively used for measuring absolute positions, postures and speeds of an AUV and a docking station; the USBL array, the USBL beacon, the multi-beam foresight imaging sonar and the camera are used for measuring the measurement information of the AUV in different guiding stages; and the combined filtering module is used for carrying out filtering fusion by adopting a federated Kalman filter and a maneuvering observer based on the relative motion state at the initial moment and the actual measurement information of the AUV acquired by the USBL array, the multi-beam forward-looking imaging sonar and the camera in real time, so as to acquire the global state estimation information of the AUV. Compared with a traditional estimation method, the method is higher in motion state estimation precision, better in robustness and more suitable for underwater dynamic docking.

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 an image sonar gain adaptive control method based on an FPGA. The method comprises the following steps: an upper computer sends a control message carrying a manual gain parameter to a sonar signal processing board based on an Ethernet UDP protocol so as to execute manual gain control; a codeword gain and voltage gain cooperative control architecture is provided; pID closed-loop feedback control is carried out based on beam pattern characteristics, and when a manual gain value changing message issued by the Ethernet is received, the adaptive gain compensation value and the PID historical state are cleared, and the manual gain code is switched to an instruction specified value. According to the invention, conflict-free switching between a self-adaptive mode and a manual mode can be realized, and in addition, the quality of sonar images and the stability of gain regulation and control are improved while large dynamic range and high-precision adjustment of time-varying gain are realized.

A split type AUV system comprises an autonomous underwater robot system and a buoy system, the autonomous underwater robot system comprises an electric control sealed cabin, a multi-beam imaging sonar module, a magnetic attraction fixing device, a visual positioning module, an ultra-short baseline USBL transponder beacon, a single-beam sonar module, a depth module, an underwater laser range finder, a battery sealed cabin and a driving unit; the buoy system comprises an ultra-short base line 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 invention aims to provide an underwater navigation positioning system of a split type AUV (Autonomous Underwater Vehicle), which assists in acquiring the accurate position of an underwater robot.

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 invention relates to the technical field of image sonar signal processing, in particular to an image sonar arc array wave beam digital correction method. The image sonar signal arc array beam directivity correction method is achieved through a digital method, numerical compensation is carried out on IQ orthogonal signals of all elements of an arc array, beam directivity errors caused by sound velocity changes during beam forming operation are reduced, the method has certain universality, and the method is suitable for popularization and application. The method is especially suitable for the field of small high-frequency image sonar signal processing, and can effectively relieve the difficulty of correcting the orientation precision in the later period. Meanwhile, the correction method adopted by the invention is simple and effective, can be realized by using hardware with limited resources, and is high in portability; according to the design method, the influence of the sound velocity change on the arc array beam directivity is effectively reduced, so that the image sonar orientation error caused by the sound velocity change is reduced.

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 present invention discloses a near-field fast beamforming method based on a sub-region model and non-uniform Fourier transform, comprising the following steps: rotating the coordinate system of the observation range clockwise by 45°, and uniformly dividing it into a plurality of sub-regions; simplifying the near-field time-delay parameters of each sub-region, and weighting the simplified parameters by using the least squares method; performing the non-uniform Fourier transform (NUFFT) method on the array response signals generated by the two-dimensional transducer array, and calculating the beams in each sub-region in parallel; remapping the coordinates of the beams to obtain a high-precision beam pattern. The present invention effectively expands the near-field detection range of the phased array three-dimensional imaging sonar system while maintaining a low computational burden, and improves the imaging quality and detection performance of the three-dimensional imaging sonar system.

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 invention discloses a preparation method of a piezoelectric sensing array of a multi-frequency imaging sonar. According to the method, a PVDF or P (VDF-TrFE) piezoelectric film is adopted as a core material, automatic coating, spin-coating thinning, laser etching, silk-screen printing, magnetron sputtering, pattern masking, vacuum packaging and other processes are integrated, a square orthogonal array smaller than or equal to 8 inches can be prepared, and the method can be used for multi-frequency multi-beam three-dimensional acoustic imaging with the broadband larger than or equal to 300 kHz. An array electrode forms a patterned electrode through a magnetron sputtering method, a silk-screen printing method or a combination of the magnetron sputtering method and the silk-screen printing method, one-time forming of a high-density array element is achieved, the laser etching and alignment technology is combined, the array size and the array element position precision are ensured, and the interlayer bonding strength is enhanced through epoxy resin and the vacuum packaging technology. The sensing array has electrical consistency and array element abnormal rate lt; the system can stably work in high pressure difference and high pressure environments, the imaging distance is larger than or equal to ten meters, and the system is suitable for submarine landform detection and target identification.

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.