43 results about "Imaging sonar" patented technology

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.

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.

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.

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 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 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.

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.

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.

The utility model discloses underwater sonar equipment with an adjustable support, which belongs to the technical field of underwater sonar and comprises a telescopic rod, a waterproof layer is arranged in the telescopic rod, a plurality of first threaded holes are formed in the telescopic rod, a fixing frame is mounted on the telescopic rod through a bolt, and the fixing frame is provided with a plurality of second threaded holes. And a threaded rod is fixedly connected to the interior of the waterproof layer. According to the underwater sonar equipment with the adjustable bracket, a movable rod is pulled through a grip, so that the movable rod slides in a hollow column and a spring is stretched, a gear block can be separated from an embedding groove along with movement of the movable rod, and at the moment, an adjusting bracket can rotate on the hollow column, so that the angle between a mounting plate and an image sonar device is adjusted; and then a grip is loosened, so that a spring pulls a movable rod to move, a gear block is promoted to be embedded into an embedding groove, and therefore the adjusting frame is fixed, operation is easy, adjustment is convenient, the detection efficiency is improved, and a worker can fasten connection by screwing bolts into a guide groove and a second threaded hole.

The application belongs to the field of underwater target recognition by sonar, and particularly relates to a target material classification method based on a time-frequency dual-path attention fusion network, which comprises a data acquisition module, an original echo data acquisition module based on an image sonar system; a preprocessing module, which pre-processes the original echo data; and a TF-CTAM-InceptionTime model, which outputs after processing the input pre-processed data. The application applies time-domain multi-scale convolution and frequency-domain FFT feature extraction to sonar target classification, fully utilizes the complementary information of time-domain waveform details and frequency-domain spectral structure, adopts a double attention mechanism to adaptively focus on the key frequency components and important moments of sonar echoes, enhances the distinguishing ability of target materials, introduces residual connection and bottleneck structure on the basis of InceptionTime to improve the stability of deep network training and accelerate convergence, avoids information loss caused by image-level processing, retains complete amplitude and phase information, and realizes efficient recognition and classification of target shape and material.

This invention discloses a method for detecting seabed tilt angle based on three-dimensional imaging sonar point cloud coordinates, relating to the technical field of underwater tilt angle detection. The method includes: estimating the position of the seabed plane using motion measurement data as a reference; fitting multiple planes based on three-dimensional point cloud data generated by three-dimensional imaging sonar, selecting the optimal plane as the output plane based on the distribution of the three-dimensional point cloud and the reference plane; calculating the tilt angle of the output plane relative to the sonar coordinate system, and then performing angle correction based on the tilt angle of the sonar in the vertical plane to solve for the tilt angle of the output plane relative to the geodetic coordinate system; dividing the fitted plane into a grid of fixed size, projecting all interior points onto the fitted plane, filtering all grids containing the interior point projections, calculating the total area of ​​the filtered grids as the interior point projection area, and selecting the fitted plane with the largest interior point projection area.

The present application relates to the technical field of aquaculture equipment, in particular to a sonar imaging system suitable for fry breeding period, which comprises a breeding pond, a fixing frame fixed at the middle top of the breeding pond and a first storage tank fixed at the middle top of the fixing frame, through the setting of quantitative adjustment feeding assembly and buffer assembly, the sonar imaging system can respond to the fry behavior characteristic data fed back by the sonar detection module during use, realize precise feeding through control box regulation, the clean water pumped by the water pump in the buffer assembly is sent into the limiting box through the shunt box and the first stretchable hose, the water flow drives the hollow shaft and the blade to rotate, which not only disperses the artemia to avoid caking, but also realizes uniform mixing of feed and water, the mixed flow is precisely transported to the corresponding area through the second stretchable hose, the discharge pipe and the porous discharge pipe, which gets rid of the dependence on manual operation, realizes partitioned quantitative feeding under data driving, reduces feed waste and water pollution, and guarantees the uniformity of fry feeding.

This invention relates to the field of fish monitoring technology, and discloses a fish monitoring method, device, electronic equipment, storage medium, and program product. The fish monitoring method includes: acquiring the ultrasonic encoded signal of the target fish when it enters a preset detection range; verifying the ultrasonic encoded signal; when the verification result is successful, controlling the image sonar device and optical camera array to start; locating the target fish using the image sonar device to obtain sonar image data; acquiring image data of the target fish using the optical camera array; associating the sonar image data and the image data to obtain a target association result; and monitoring the target fish based on the target association result. This invention improves the accuracy of fish monitoring by using ultrasonic detection of fish and monitoring the fish using a camera and sonar device when the fish are detected.

Aiming at the problem of detection blind area caused by strong direct wave interference in bistatic imaging sonar system, a narrow-band filtering method based on fractional Fourier transform domain is proposed. The characteristic of linear frequency modulation signal is that it appears as an impulse in the fractional Fourier transform domain at its best transform order. The fractional Fourier transform of the best order is performed on the element domain signal to separate the direct wave from the echo. Then the direct wave is eliminated in the fractional Fourier transform domain. Finally, the forward scattering time domain signal of the seabed is reconstructed by fractional inverse Fourier transform. Further, the acoustic imaging processing is performed on the signal processed by fractional filtering, and the acoustic imaging result after direct wave suppression is obtained. Compared with the traditional bistatic sonar imaging, the method can effectively suppress the direct wave, reduce the direct wave masking area in the bistatic acoustic imaging, and improve the detection blind area problem caused by the direct wave in the traditional bistatic sonar imaging.

The invention provides an underwater surveying and mapping system and method based on a rotary scanning type three-dimensional imaging sonar. The surveying and mapping system comprises a water surface moving platform (unmanned ship), an underwater scanning unit (three-dimensional imaging sonar), a pose and coordinate measuring unit (RTK / IMU), a data processing and converting unit and a remote display and control unit. The surveying and mapping method specifically comprises the following steps: controlling the unmanned ship to move to the center of each sub-region; a sonar is started to plot the sub-regions to obtain underwater three-dimensional point clouds of the underwater terrain and the underwater creatures; based on the position information and the attitude information of the underwater surveying and mapping system, the coordinates of the underwater three-dimensional point cloud are converted into an east-north-sky rectangular coordinate system, and the final coordinates of the underwater three-dimensional point cloud are obtained; and on the basis of the underwater three-dimensional point clouds of the sub-regions, a complete underwater three-dimensional point cloud of the region to be measured is generated through fusion. The method is suitable for underwater topographic surveying and mapping and dynamic target monitoring of rivers, lakes and offshore waters, the measurement efficiency is high, data processing is convenient, and the method does not depend on platform tracks and measuring lines.

This invention belongs to the field of multi-sensor fusion technology and discloses a method for obtaining the extrinsic parameters of an imaging sonar relative to an optical camera. The method includes: fixing and maintaining the relative pose of the imaging sonar and the optical camera; establishing a marker array and coordinate system within the field of view, and simultaneously acquiring acoustic and optical images of each array element; calculating the coordinates of the marker array in the sonar and camera coordinate systems respectively; and obtaining the rotation matrix and translation vector between the two coordinate systems through the coordinate values, which serve as the extrinsic parameters of the imaging sonar relative to the optical camera. This method physically ensures the spatial alignment of the two types of markers, reducing error accumulation; by standardizing the marker array to constrain the marker coordinates, it effectively compresses the solution space dimension, improving the accuracy, stability, and robustness of obtaining the extrinsic parameters, and is suitable for multimodal underwater sensing systems. This invention also provides a non-transient readable recording medium storing the program of this method and a system containing the medium, which can call the program through processing circuitry to execute the above method.

The application discloses a kind of fishery abnormal retention behavior determination methods for sturgeon breeding pond, comprising the following steps: step S1: obtain the sonar image of fish school by multiple imaging sonar equipment, generate panoramic sonar graph;Step S2: the adaptive threshold segmentation is carried out to the panoramic sonar graph based on echo intensity statistical characteristics, and fish school target area is extracted;Step S3: based on the spatial structure characteristics of sonar echo, extract pool bottom echo boundary line and divide bottom layer area;Step S4: the bottom layer distribution density and movement intensity of fish school are calculated;Step S5: the bottom layer retention time of fish school is calculated;Step S6: bottom layer distribution density, movement intensity and retention time are fused to construct abnormal determination model, realize fish school abnormal retention state detection.The application is suitable for the behavior monitoring of industrialized sturgeon culture, can provide accurate data support for sturgeon health management, effectively improve the detection rate of sturgeon abnormal behavior, provide reliable technical support for intelligent aquaculture system.

The application relates to a deep-sea imaging sonar and a manufacturing method thereof, the deep-sea imaging sonar comprising a control circuit and a piezoelectric ceramic sensing array, the piezoelectric ceramic sensing array comprising, from bottom to top, a PCB circuit board, a backing layer, a piezoelectric layer and an acoustic matching layer. The piezoelectric layer is a 1-3 type composite structure composed of an M*M soft piezoelectric ceramic column array and insulating epoxy resin filled in the joint gap between adjacent soft piezoelectric ceramic columns. The array scale is 24*24 to 48*48, and the deep-sea imaging sonar has excellent transceiving integrated performance. The deep-sea imaging sonar is manufactured by using integrated forming and micro-processing technology, the piezoelectric ceramic sensing array element consistency and yield can be ensured, the high-frequency array assembly time and qualified rate are shortened, and the work efficiency is further improved.

The application relates to a visual base model guided underwater acoustic-optical fusion three-dimensional imaging method, belonging to the field of underwater robot perception and three-dimensional reconstruction. The method comprises single-frame depth scale alignment three-dimensional imaging based on acoustic-optical fusion and continuous scene three-dimensional reconstruction based on cross-frame geometric registration optimization. In the single-frame depth scale alignment three-dimensional imaging part, camera images and imaging sonar data are acquired, a relative depth map is generated by a depth estimation visual base model, and the relative depth map is scaled by combining sonar ranging information to obtain a real scale aligned scene depth map, and then a single-frame scene three-dimensional point cloud is generated. In the continuous scene three-dimensional reconstruction part, multiple single-frame three-dimensional point clouds are geometrically registered and fused in combination with poses to generate a global three-dimensional point cloud of a continuous scene. The method realizes the expansion from single-frame three-dimensional imaging to continuous scene three-dimensional imaging and can be used for real scale three-dimensional perception and reconstruction of underwater scenes.