65 results about "Sonar imaging" patented technology

The invention discloses a complex underwater side-scan sonar exploration detection method and device based on a multi-dimensional attention collaborative lightweight anti-noise detection framework, and the device comprises an underwater side-scan sonar imaging device which is used for obtaining a sonar image of a detected target; the computer is connected with the underwater side-scan sonar imaging equipment and comprises a backbone feature extraction network module which is used for processing an input sonar image through a multi-scale edge refining module and outputting a three-scale feature map; the check feature fusion network module is used for realizing cross-channel and cross-space information fusion through the focusing space adaptive local attention module, performing adaptive modulation and deep information aggregation on multi-scale features through a channel frequency aggregation and attention mechanism, and outputting three enhanced feature maps; and the YOLOhead detection head module is used for generating a target detection frame according to the enhanced feature map, and outputting a detection result after non-maximum suppression processing.

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 squint synthetic aperture sonar imaging method based on a dynamic slant-range space-variant model, and relates to the technical field of synthetic aperture sonar imaging, and the method comprises the steps: constructing a dynamic slant-range model; inputting the converted data into the dynamic oblique variation model to obtain a residual space-variant distance bending amount, and compensating the space-variant distance bending amount by using a first filter; according to the dynamic slope distance model, expanding the azimuth time offset into an azimuth frequency modulation factor; based on the azimuth frequency modulation factor and the azimuth time offset, designing a second filter by using an improved extended nonlinear frequency modulation scaling algorithm, and filtering the corrected data by using the second filter; and carrying out Fourier transform on the filtered data, compressing the transformed data by using a third filter, and then carrying out inverse Fourier transform to obtain a focused synthetic aperture sonar image. According to the invention, the imaging performance and stability of the imaging algorithm in a low signal-to-noise ratio and strong multipath interference environment can be improved.

The invention belongs to the field of acoustic target automatic identification in ocean engineering, and particularly relates to a side-scan sonar target sample image generation method, which comprises the following steps of: 1) segmenting a target sample image to generate a target mask image; 2) carrying out local distortion deformation on the segmented target sample image, and simulating disturbance during side-scan sonar imaging; 3) normalizing the brightness; 4) performing superposition fusion on the distorted target sample image and the real sonar background image through a Poisson fusion method; 5) according to a side-scan sonar imaging mechanism, generating a shadow effect conforming to a physical law at the edge of the target sample image; 6) filtering and noise adding processing; and generating a target sample image similar to the real side-scan sonar data for training and verification of a deep learning model. The sample data generated by the method is highly vivid, covers multiple disturbance scenes, can be directly used for training a deep learning model, and remarkably improves the detection accuracy and recall rate of underwater targets (such as sunken ships and preset objects).

The invention relates to the technical field of sonar imaging, and discloses a marine organism distribution detection system and method based on sonar imaging, and the method comprises the steps: setting a plurality of depth layers, and collecting an acoustic echo signal of each depth layer; marine organism block sparse observation is carried out based on the three-dimensional acoustic echo signals, an observation matrix is obtained, and an effective biological signal block set is calculated; calculating space coordinates and reflection intensity of each biological target according to the effective biological signal block set, obtaining biological positioning data of each depth layer, and obtaining a three-dimensional acoustic image of each depth layer through three-dimensional imaging; the biological density index, the Shannon-Vaniner diversity index and the vertical migration speed of the scattering coefficient in each ecological layer are calculated, the biological detection result of each depth layer is output, data collection is carried out on the multiple depth layers, the detection reliability in the low-signal-to-noise-ratio marine environment is improved, and the detection efficiency is improved. And marine organism populations and distribution characteristics of different depth layers can be accurately identified.

The invention discloses a sonar image geometric correction method based on image optimization, and relates to the technical field of underwater sonar imaging, and the method comprises the steps: collecting a multi-source underwater observation data packet including sonar image original data, platform motion state data and underwater environment data, and carrying out the preprocessing; extracting sonar image original data from the multi-source underwater observation data packet, performing geometric coarse correction to obtain a pre-corrected sonar image, and performing motion compensation on the obtained pre-corrected sonar image to generate a motion corrected sonar image; constructing a joint optimization objective function, carrying out geometric fine tuning on the motion correction sonar image by adopting a sliding time window strategy, and outputting a geometric fine correction sonar image; geometric distortion caused by non-uniform motion of a platform, attitude disturbance and acoustic propagation distortion is effectively eliminated, inter-frame consistency and submarine topography continuity of sonar images are remarkably improved, and the method is suitable for high-precision operation scenes such as underwater surveying and mapping, target recognition and three-dimensional reconstruction.

An example system for a watercraft includes an outer shaft, an inner shaft, and a motor. The outer shaft is attached to a first sonar device. The inner shaft is disposed within the outer shaft and is rotatable with respect to the outer shaft. The inner shaft is attached to a second sonar device so as to enable directional control of a facing direction of the second sonar device relative to the outer shaft. The motor is coupled to the inner shaft and configured to operate to cause rotation of the inner shaft to cause rotation of the facing direction of the second sonar device. The first sonar device may be a 360-degree sonar imaging device, and the second sonar device may be a live sonar imaging device. The system may be mounted to a trolling motor or to the watercraft without mounting to the trolling motor.

The present invention relates to the field of underwater acoustic information processing technology, and provides a method for normalizing active sonar imaging data, comprising: S1, constructing an azimuth-distance matrix: obtaining azimuth-distance data through a sonar system and storing it in a polar coordinate system; S2, smoothing the data: after constructing the azimuth-distance matrix, smoothing each row of data to reduce the impact of noise; S3, calculating expected echo intensity: after completing the smoothing process, calculating the expected echo intensity of each detection point using a data-driven method; normalizing each row of data according to the corresponding expected echo intensity; S4, coordinate system conversion: after the normalization process, converting the processed azimuth-distance matrix data from a polar coordinate system to a rectangular coordinate system. The present invention can reduce the interference of background reverberation and noise on the detection of small targets at long distances.

The AUV shallow stratum sonar imaging analyzer comprises a protection head machine body, one end of the protection head machine body is provided with an adapter, the interior of the adapter is rotatably connected with an air-blowing rotating core, the outer side wall of the protection head machine body is provided with an exhaust port, and the opening of the exhaust port is provided with a bionic gill grating. Front fan blades are arranged on the outer wall of the rotating position of the air-blowing rotating core, and side fan blades are arranged at an inlet of the air-blowing rotating core. The air inlet connector is connected with an air supply device on a ship body through an air pipe, air enters the protection head machine body and is guided out along the exhaust port, the bionic gill grating arranged at the opening of the exhaust port guides and sends the air to the rear side, the ejected air can rapidly generate a layer of buffer space, and therefore the safety of the ship is improved. And a machine body is effectively prevented from impacting a hard body in a rapid movement process.

A sonar target enhancement system and method are provided for consumer fish finder live sonar image processing. The system and method identify and enhance the visualization of specific targets, such as fish and lures, detected by such live sonar imaging systems. A sonar image enhancement pipeline utilizes a target enhancement kernel sized in accordance with the subject targets to provide enhancement thereof without also enhancing other sonar return data. The output of the enhancement pipeline is combined with the sonar data from the normal image filtering pipeline to produce a sonar image for display on the consumer fish finder that greatly increases the visibility of the targets without affecting the non-target sonar returns for, e.g., the bottom and structure in the water column.

The invention discloses a three-dimensional sonar phase self-correction method, and relates to the technical field of underwater acoustic engineering and array signal process.The method comprises the steps that a three-dimensional sonar image is generated through sonar original multi-channel signals, a plurality of strong display point targets which can be separated from the three-dimensional sonar image are extracted, and the signal-to-noise ratio of the strong display point targets is higher than a threshold value; sound path distance difference phase compensation is carried out on echo signals of each strong display point target, a channel common phase deviation is estimated by using a compensated residual complex signal, then an image entropy and a target peak value are set as convergence criteria, the criteria are deeply combined with an iterative reweighting mechanism, step-by-step optimization is carried out to obtain the phase deviation estimation precision, and the estimation precision of the channel common phase deviation is improved. And finally, obtaining an optimal inherent phase deviation, and carrying out global phase correction on the multi-channel echo signal by using the optimal inherent phase deviation. According to the invention, real-time online self-correction can be realized, the problem of imaging blur caused by phase inconsistency between channels is effectively compensated, and the contrast ratio of three-dimensional sonar imaging and the target visualization quality are remarkably improved.

The present application relates to the technical field of sonar imaging, and particularly relates to a multi-beam sonar compressed imaging method and system based on depth unfolding, which comprises the following steps: a multi-beam sonar system is used to emit sound waves to the seabed, and a receiving device is used to receive reflected echo signals to obtain multi-channel digital time sequence echo signals; an observation matrix is constructed to compress and sample the multi-channel digital time sequence echo signals to obtain a low-dimensional measurement matrix; the low-dimensional measurement matrix is input into a trained depth unfolding beamforming network to output a reconstructed beamforming spectrum, and a sonar sounding image is generated according to the beamforming spectrum. The present application can greatly improve the imaging speed and support real-time applications such as underwater obstacle avoidance and online monitoring.

A marine data instrument mounting apparatus supports various components of a marine data instrument, for example a fishfinder or a chartplotter, on a portable frame for use in different environments. The apparatus has a frame that adjustably supports a display screen of the marine data instrument thereon so that height and / or angle of the screen is adjustable and that also supports a battery for powering the instrument. When the instrument is capable of sonar imaging, a sonar module for communicating sonar signals from a transducer head can also be supported on the frame together with the display unit and battery. A separate transducer mounting assembly suspends the transducer head from a pole in several different modes in cooperation with an indicator at an opposing end of the pole to indicate the selected mode of the transducer head.

The application provides a sonar image three-dimensional reconstruction method based on target shadow and gray scale, which comprises the following steps: Step 1, converting the original sonar image into a gray scale image; Step 2, carrying out denoising treatment on the image; Step 3, carrying out shadow edge calibration; Step 4, segmenting a target region; Step 5, eliminating small target regions; Step 6, solving the pitch angle of the target region; and Step 7, reconstructing the target region. The application uses the multi-beam forward-looking sonar imaging principle as a research object, analyzes the transmission, reflection and reception process of sound waves, realizes a reverse reasoning using sound propagation, and obtains the three-dimensional reconstruction of the target object in the sonar image.

This invention provides a three-dimensional sonar imaging method based on acoustic orbital angular momentum and Bessel compensation. The method performs initial elevation and azimuth beamforming on multimodal OAM echoes to obtain preliminary three-dimensional sonar imaging results. The elevation angle is extracted and a Bessel compensation factor is obtained to correct signal distortion and suppress sidelobes in the time domain. Secondary beamforming is then performed using modal-dimensional azimuth matching vectors to improve azimuth resolution. Finally, a high-resolution, high-contrast three-dimensional image is output. This invention accurately compensates for amplitude and phase distortion of multimodal OAM echo signals by using a compensation factor obtained based on the target elevation angle and the characteristics of the Bessel function. This significantly reduces signal errors caused by wavefront bending, modal coupling, and non-ideal scattering, restores the orthogonality between different OAM modes, and improves imaging fidelity. This invention effectively compensates for OAM mode propagation and scattering distortion and suppresses modal coupling, making it suitable for various high-precision three-dimensional sonar imaging scenarios.

The invention relates to the technical field of topographic surveying and mapping, in particular to an irregular water area underwater topographic surveying and mapping method, which comprises the following steps of: 1, performing field investigation and data collection, namely collecting water area meteorological, hydrological and historical topographic data and evaluating measurement difficulties; 2, covering a wide water area through a multi-beam depth finder carried by an unmanned ship, and generating a high-resolution three-dimensional terrain model; and step 3, the side-scan sonar carried by the unmanned ship performs imaging to generate an underwater topographic image. The unmanned ship carries the multi-beam depth sounder to cover a wide water area and generate a high-resolution three-dimensional terrain model, the side-scan sonar carried by the unmanned ship carries out scanning imaging and generates an underwater topographic image, the unmanned aerial vehicle is adopted for aerial survey, and the unmanned ship is matched to realize water surface and underwater integrated surveying and mapping, so that the unmanned ship can carry out underwater surveying and mapping. The collected data is preprocessed through special software, and a digital model is constructed, so that the method has the advantages of high surveying and mapping efficiency, good safety, time saving and labor saving, and a large amount of manpower is avoided.

The invention belongs to the technical field of underwater sonar imaging and intelligent identification, and relates to a virtual sonar image generation method and system. The method comprises the following steps: mapping a real optical target image into a virtual sonar target image by adopting a vision-text fusion network; embedding the virtual sonar target image into the real sonar background image to generate a combined image; and background compensation and texture consistency adjustment are carried out on the combined image by using a virtual sonar image background reconstruction network to obtain a virtual sonar image with a background. According to the invention, the bottleneck that real sonar data acquisition is limited by environment, cost and equipment conditions is broken through; meanwhile, the target type and number can be flexibly expanded, and the problems that sonar samples are insufficient in category and unbalanced in distribution are effectively solved.

This invention discloses a shipwreck detection method, system, electronic device, and storage medium, relating to the field of target detection. The method includes: constructing a style transfer dataset; the style transfer dataset includes a content image dataset and a style image dataset, wherein the content images in the content image dataset are side-scan sonar images of the shipwreck in well-labeled waters, and the style images in the style image dataset are side-scan sonar images of the shipwreck in turbid waters without labeling; using a style transfer network model to generate simulated side-scan sonar images of the shipwreck labeled in turbid waters from the content images in the content image dataset; training a target detection network based on the style transfer dataset and the simulated side-scan sonar images to obtain a target detection model; and inputting the side-scan sonar images of the waters to be detected into the target detection model to obtain the shipwreck detection result. This invention achieves shipwreck detection using side-scan sonar imaging in turbid waters.

The invention relates to the technical field of underwater acoustic image processing, in particular to an underwater acoustic image super-resolution enhancement method based on space-time two-dimensional deconvolution, which comprises the following steps of: performing matched filtering on a simulation signal and a received signal, converting the simulation signal and the received signal into a frequency domain through FFT (Fast Fourier Transform), searching in an azimuth-frequency domain to generate a two-dimensional CBF (Customer Broadband Function) result, obtaining a time delay-azimuth two-dimensional spectrum through iFFT, and obtaining a time delay-azimuth two-dimensional spectrum through iFFT; and calculating two-dimensional deconvolution by using an R-L algorithm to obtain a high-resolution spectrum. The method can be combined with a circumferential synthetic aperture technology to be used for underwater target high-resolution imaging, and can also be applied to multi-beam squint sonar imaging. Lake tests and pool experiments verify that time delay and azimuth resolution can be effectively improved, side lobes are inhibited, high-quality image information is provided for underwater target detection and recognition, and the method has important application value.

The invention discloses an underwater target detection method for generating a virtual sonar based on a physical model and an optical image. The underwater target detection method comprises the following steps: acquiring the optical image; based on a physical model of sonar imaging and an imaging principle, generating a virtual sonar image from the optical image; multi-modal feature extraction is carried out; carrying out multi-modal feature fusion; and performing target detection on the multi-modal fusion feature map by using a deep learning model, and outputting a target detection result. According to the invention, the technical problems of high system cost and difficult deployment of a traditional multi-modal detection method are effectively solved, the detection effect of optical and sonar multi-modal fusion can be achieved only by using a common optical camera, the hardware cost and the application threshold are greatly reduced, and the detection efficiency is improved. According to the method, the target detection accuracy and the robustness in a complex and changeable environment can be remarkably improved, the detection operation is simple, rapid and real-time detection can be realized, the generalization ability is relatively high, and the method has extremely high application value and economic benefits for underwater target detection.

The invention provides a sonar image synthesis method and device, electronic equipment and a storage medium, and relates to the technical field of computers. The sonar image synthesis method comprises the following steps: converting a basic optical image into an overhead view angle image and a depth map according to a preset view angle conversion model; according to contribution degrees of different features in the aerial view angle image and the depth image to sonar imaging, determining weights of the different features, and based on the weights, performing multi-scale feature extraction on the aerial view angle image and the depth image to determine a corresponding hierarchical fusion image; according to the aerial view angle image, the depth map, a predefined acoustic material library and the hierarchical fusion map, determining a sound wave reflection intensity map and a sonar shadow area of the surface of the underwater object, and based on the sound wave reflection intensity map and the sonar shadow area, fusing and determining a sonar shadow feature map; and converting the sonar shadow feature map into a real sonar style image based on a preset gradual denoising mode. According to the invention, the conversion effect from the optical image to the sonar image is improved.

A kind of shipboard solar tracking and hull stability device and water unmanned ship, it is related to unmanned ship design field, to solve the problem that how to prolong the operation time of unmanned ship when side scan sonar is carried on unmanned ship, and improve the imaging stability of side scan sonar again.The present application includes for adjusting the pitch angle of photovoltaic panel pitch adjusting support mechanism and for adjusting the position of pitch adjusting support mechanism longitudinal sliding drive mechanism, pitch adjusting support mechanism supports and can adjust the pitch angle of photovoltaic panel, when the altitude angle of sunlight changes, the incidence angle of sunlight relative to photovoltaic panel can be adjusted;Longitudinal sliding drive mechanism is installed to water unmanned ship, longitudinal sliding drive mechanism supports and can drive pitch adjusting support mechanism and photovoltaic panel reciprocating movement along the bow stern direction of water unmanned ship, when water unmanned ship is disturbed by wind and wave and shakes and oscillates, the longitudinal displacement of pitch adjusting support mechanism and photovoltaic panel is used to change the bow inclination characteristics of water unmanned ship, to resist wind and wave disturbance.

The invention relates to the technical field of underwater acoustic transducers, in particular to a composite material for improving directional fluctuation of an arc-shaped transmitting array and a manufacturing method, a radiating surface of the piezoelectric composite material is of a special-shaped structure, and the number of effective piezoelectric particles of the piezoelectric composite material is uniformly decreased from the center to the edge. The manufacturing method comprises the following steps: cutting the front side and the back side of the piezoelectric ceramic and filling a flexible material to form an independent particle supporting structure; carrying out bending forming and filling a rigid material for shaping; and finally, precisely finishing the edge of the radiating surface along the specific ellipsoid curve. According to the invention, distribution of active materials of the radiating surface is structurally adjusted, complex circuit weighting is not needed, edge directivity intensity can be effectively inhibited, directivity fluctuation of a transmitted wave beam is obviously reduced, sonar imaging quality is improved, and the method has the advantages of simple process and good consistency.

The utility model discloses an underwater geomembrane defect detection device belongs to geomembrane defect detection field, the utility model discloses a waterproof shell, power mechanism and detection mechanism, waterproof shell includes sealed connection's upper waterproof shell and lower waterproof shell, power mechanism fixedly connected in the lower waterproof shell tail part, detection mechanism includes the multibeam sonar imaging device fixedly connected in the lower waterproof shell bottom, the upper waterproof shell is assembled with power supply and infrared probe, and the detection end of infrared probe is worn and comes out the upper waterproof shell, and the water surface condition is detected in real time, the lower waterproof shell is assembled with engine, data processing center module and radio remote control system, multibeam sonar imaging device detects and identifies geomembrane breakage situation, and signal transmission to data processing center module carries out analysis processing. The technical problem that the current underwater geomembrane cannot be high -efficient fast real -time detection, possibly can not lead to the timely discovery geomembrane leakage situation.

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.

A fish target recognition method based on an underwater sound image comprises the steps that fish biomorphology is discretized into a plurality of scattering units, and a large-scale individual and group fish sound image data set containing accurate position, posture and size labels is generated in a simulation mode through combination of sound scattering field calculation and a multi-beam sonar imaging model; the simulated and actually measured sound images are preprocessed, the preprocessed sound images serve as input, corresponding target bounding boxes, categories and body length information serve as labels, a depth target detection network fused with an attention mechanism is trained, and a fish target recognition model is obtained; and inputting a to-be-recognized underwater acoustic image of the natural water area into the trained depth target detection network, and determining position bounding boxes, confidence coefficients and estimated body lengths of all fish targets in the acoustic image. According to the method, dynamic fish targets in different image frames can be effectively accepted and rejected, and the number of the fish targets is scientifically counted.

A method for stitching forward-looking sonar images while retaining information is provided. In this application, forward-looking sonar is used as underwater detection equipment and acquired forward-looking sonar images are stitched together. A phase correlation method is employed for estimating displacements between images to determine the position of each single forward-looking sonar image within the stitched image. A method based on local statistics is used for image blending to obtain a stitched forward-looking sonar image that retains information. The method for stitching forward-looking sonar images proposed in this application adapts to intra-frame and inter-frame artifacts caused by non-ideal sonar imaging configurations, overcoming the drawbacks of image quality degradation due to the intra-frame and inter-frame artifacts. The method enhances the amount of information contained in the stitched image, which can assist observers in conducting rapid underwater exploration.

In order to overcome the problems of high cost and low resolution of traditional side-scan sonar imaging methods, the present invention proposes a low-cost and high-resolution side-scan sonar imaging method. This method first designs a low-cost array that can be used for side-scan sonar imaging; then uses the designed low-cost array to perform high-resolution side-scan imaging on a single survey line; then continuously moves the side-scan sonar along the forward direction, and continuously repeats the transmission and reception processes to obtain K single-survey line imaging results, and then splices the K single-survey line imaging results to obtain the final side-scan sonar imaging result. Compared with traditional side-scan sonar imaging methods, the method proposed by the present invention can improve the imaging resolution of side-scan sonar while significantly reducing the number of receiving array elements, that is, significantly reducing the cost, by reasonably arranging the transmitting array and the receiving array.

The utility model discloses an ROV position and posture adjusting device for offshore wind power underwater detection, which relates to the technical field of wind power detection and comprises a detection equipment body, lifting propellers are mounted on the front and back of the left and right sides of the detection equipment body, and front and back propellers are mounted on the left and right of the rear side of the detection equipment body. The upper side of the rear part of the detection equipment body is fixedly provided with a steady flow seat, the upper side of the steady flow seat is rotatably connected with a round seat, and the upper side of the round seat is fixedly provided with a vertical rudder wing. The rudder wing driving module, the flow direction sensing module and the attitude control unit are integrated, the incident flow angle is adjusted in real time through transmission linkage of the cross-shaped rudder wing and the gear, the attitude stability of the ROV in different water flow environments is ensured, and compared with a traditional multi-propeller scheme, the device remarkably reduces energy consumption and reduces cost. And through the synergistic effect of passive adjustment and active propulsion of the rudder wings, water turbidity caused by disturbance of the propellers is reduced, the optical camera shooting and sonar imaging definition is improved, and therefore it is guaranteed that the posture of the ROV is rapidly adjusted under the dynamic water flow, and tasks are stably executed.

The application belongs to the technical field of underwater sonar imaging and intelligent identification, and relates to a virtual sonar image generation method and system. The method comprises: mapping a real optical target image to a virtual sonar target image by using a vision-text fusion network; embedding the virtual sonar target image into a real sonar background image to generate a combined image; and performing background compensation and texture consistency adjustment on the combined image by using a virtual sonar image background reconstruction network to obtain a virtual sonar image with a background. The application breaks through the bottleneck of real sonar data collection being limited by environment, cost and equipment conditions; at the same time, the target type and quantity can be flexibly expanded, effectively solving the problems of insufficient sonar sample categories and unbalanced distribution.