70 results about "Sonar imaging" patented technology

A sector-scanning sonar imaging system with at least one sonar imaging element housed within a transducer housing coupled to a self-reciprocating mechanism, and a drive mechanism housed within a waterproof housing. The oscillating motion of the transducer housing produces a highly-detailed, photo like sector scan sonar image of the bottom and other objects surrounding the boat on which it is mounted. The drive mechanism housing may be rigidly attached to either a boat hull or to a trolling motor. The sonar imaging element housing may be removably attached to the drive mechanism, and shielded by an acoustically transparent shroud to protect the elements from damage. The sector-scanning sonar imaging system connects to a control head with display either directly, or through some other communications protocol, such as a wireless protocol.

Provided are method, system, and computer program product for imaging an underwater environment. The method may include receiving sonar returns and converting the sound energy of the sonar returns into sonar return data, and generating first beam data associated with a first beam having at least one first main lobe oriented in a first direction. Generating the first beam data may include: forming the sonar return data in the first direction; applying a first predetermined window to the sonar return data to define a first weighted return data; applying a second predetermined window to the sonar return data to define a second weighted return data; comparing a first power of the first weighted return data to a second power of the second weighted return data; and defining, when the first power is less than the second power, the first beam data based upon the first weighted return data.

A multi-beam sounding sonar water body imaging beamforming algorithm relates to the field of signal processing. The multi-beam sounding sonar water body imaging beamforming algorithm mainly comprises:compensating for the propagation loss of the acoustic wave according to a time gain curve in each detection sampling time, and obtaining a background noise level of the current detected water area after time averaging; performing near-field focusing beamforming on the signal and estimating the number of sources under the current snapshot sequence number according to the current background noise level; performing covariance matrix estimation on a signal vector with a snapshot number of 1, and obtaining a new pseudo covariance matrix by reconstructing the data covariance matrix after the forward and backward smoothness; performing singular value decomposition on the pseudo-covariance matrix, using conventional beamforming output results and an array manifold to construct a spatial spectralfunction, and obtaining a multi-beam sounding sonar water body imaging result. The algorithm can be widely applied to the multi-beam sounding sonar water body imaging function, can effectively suppress the background noise of the multi-beam sounding sonar water body imaging, and can improve the sonar imaging quality.

The invention relates to a fusion imaging device and method for a sonar and binocular vision imaging system. The fusion imaging device for the sonar and binocular vision imaging system comprises a rigid support, a sonar imaging system, a binocular vision imaging system and an image signal fusion imaging processing system which connects and fuses the sonar imaging system and the binocular vision imaging system. The sonar imaging system gives out sonar to detect a target object and the rigid support the close to the target object when the target object is discovered; when the distance between the rigid support and the target object achieves the set distance, the binocular vision imaging system is started, and the sonar imaging system and the binocular vision imaging system respectively collect image signals; the fusion imaging processing system fuses the collected image signals to form into a fusion image. The fusion imaging device for the sonar and binocular vision imaging system can effectively detect specific profiles, surface information and depth information of underwater objects, solves the problem that underwater, especially deep-water object perception is difficult, and a powerful solution is provided for underwater, especially deep-water related work.

The invention discloses a trinocular underwater detection method based on acousto-optic imaging. The method comprises the following steps: a forward-looking sonar imaging device and two visible lightcameras are installed in the front of a detector in a parallel trinocular form; whether a target exists in the range of the sonar imaging is automatically analyzed, if yes, a target image is automatically segmented, and a target distance and a direction are estimated; according to the target distance and the direction, the navigation direction, the speed and the distance of the detector are set, and an optical image is acquired; optical left and right views are subjected to image restoration and saliency detection, and a foreground and a background are distinguished; the detected foreground isused as a target, optimal search domain stereo matching is carried out on the left and right views, and world coordinates of a reference image are calculated; and the length, the width, the height and the distance of the target are estimated and are displayed and annotated in a result form, and detection is completed. Underwater optical and sonar images are acquired automatically, the distance and the size of the underwater target are determined, and intuitive, convenient and accurate monitoring data are provided for underwater operation.

A method for recognising a target in a sonar image, the method comprising: normalising a sonar image; using / defining multiple test objects; rotating each test object between multiple positions; using a projection of each test object in each position as a template, so that multiple templates are provided for each test object, each template corresponding to a different rotational position; applying the multiple templates for the multiple test objects to the normalised image; and creating at least one feature vector for the image for use in target recognition.

Sonar imaging data obtained by sending multiple sonar pings towards an object is reduced by assigning values measured by each sonar ping to bins, where each bin is fixed in World Space, and calculating the opacity of each bin to produce an image of the object. A normal vector associated with each bin is used to calculate the light reflected from a model constructed from the data. The most preferred normal vector is calculated from the vector sum of normals calculated from each ping.

The invention relates to a hyperfine three-dimensional imaging method based on acoustic orbital angular momentum. The method is characterized by comprising the following steps of: constructing an acoustic orbital angular momentum hyperfine three-dimensional imaging sonar; emitting a vortex sound field by the acoustic orbital angular momentum hyperfine three-dimensional imaging sonar and receivingecho signals reflected by a remote target; respectively carrying out primary beam forming on a pitch angle and an azimuth angle to obtain a series of two-dimensional sonar image slices in the area, and synthesizing the series of slices in the distance direction to obtain three-dimensional sonar imaging; and respectively carrying out secondary beam forming on the pitch angle and the azimuth angle to obtain a hyperfine image. The method is reasonable in design, utilizes the vortex sound field carrying the acoustic orbital angular momentum for detection, can provide richer echo information compared with plane wave or spherical wave detection, and the imaging resolution can be remarkably improved while the number of array elements is greatly reduced.

The invention discloses a three-dimensional sonar imaging system based on a graph processor and a three-dimensional image method thereof. The three-dimensional sonar imaging system comprises a signal down-sampling module and the like which are sequentially connected. The signal down-sampling module is used for transferring an underwater acoustic signal received by an underwater acoustic sensor from high frequency to low frequency and converting the underwater acoustic signal into a digital signal convenient to process by a computer. A high-speed buffer module is used for storing multi-channel sampling data received from the signal down-sampling module. A parallel beam forming module based on an image processor reads multi-channel echo data from the high-speed buffer module. A wideband pulse compression module based on the image processor processes frequency domain signals output by the parallel beam forming module in different spatial angle directions. A three-dimensional display module receives output information of a beam forming module based on the image processor and output information of the wideband pulse compression module based on the image processor. The system and the method have the advantages of being low in cost, high in performance, strong in expansibility and the like.

The invention relates to a low-frequency remote three-dimensional imaging method based on acoustic orbital angular momentum. The method comprises the following steps of: constructing an acoustic orbital angular momentum super-resolution three-dimensional imaging sonar; emitting a vortex sound field which is non-uniformly distributed in the circumferential direction by the acoustic orbital angularmomentum super-resolution three-dimensional imaging sonar and receiving echo signals reflected by a remote target; respectively carrying out primary beam forming on a pitch angle and an azimuth angleto obtain a series of two-dimensional sonar image slices in the area, and synthesizing the series of slices in the distance direction to obtain three-dimensional sonar imaging; and respectively carrying out secondary beam forming on the pitch angle and the azimuth angle to obtain a super-resolution three-dimensional image. According to the invention, high detection precision can be generated by using low detection sound wave frequency, the imaging resolution can be improved, and the difficulty of short detection distance caused by the condition that the higher the detection sound wave frequency is and the faster the attenuation of the detection sound wave in water is can be overcome.

The invention discloses a super-resolution image reconstruction-based synthetic aperture sonar imaging method, which comprises: expanding aperture according to an original sonar aperture array; dividing the expanded aperture into sub apertures; estimating the round trip time of detecting acoustic waves; orthogonally encoding transmission acoustic waves and detecting a target water area; and imaging the target water area with a super resolution. In the invention, a high-resolution sonar image is obtained by combining super-resolution image reconstruction technology and SAS processing technology. Compared with synthetic aperture sonar before expansion, the expanded synthetic aperture sonar has improved resolution in terms of direction and distance; and compared with the conventional synthetic aperture sonar technology of the same aperture, the expanded synthetic aperture sonar has improved resolution in terms of direction and distance.

The invention provides a method and a system for side-scan sonar imaging reverberation suppressing. The method comprises the following steps of estimating the statistical characteristics of reverberation according to historic information; and separating reverberation and signals in a feature field according to acquired reverberation statistical characteristics. A combined diagonalization method is adopted for estimating a separating matrix adopted during separation processes. Separation of reverberation from targets is achieved in a statistical domain by using the feature that reverberation is different from the target echo statistical characteristics. The reverberation suppressing aim is further achieved. During a concrete realization process, signals inside one time window serve as a group of observation signals. Separation of echoes and reverberation is achieved by making signals independent of each other to the maximum. Target echoes without reverberation are acquired. The time window then slides to achieve reverberation suppressing of all time frame signals. Clean target echoes for target detection identification are finally provided.

The invention provides an underwater pier disease identification method based on deep learning and sonar imaging, and the method comprises the steps: obtaining a prepared underwater pier scanning picture through employing underwater side sonar equipment, wherin the underwater pier scanning picture comprises a disease and no-disease picture; increasing the number of data sets by using an image enhancement method; marking the data set, marking a disease area with a rectangular frame, and storing coordinate information; dividing the data set into a training test set, a verification set and a testset; establishing a yolov3 model in the deep learning target detection network, and performing training to obtain a training model; and controlling side sonar equipment to scan along the underwater pier part on the water surface to obtain a scanning picture, and performing automatic underwater pier disease identification by using the trained yolov3 model. The method is high in efficiency and lowin cost, and has more obvious advantages of automation and real-time performance compared with a traditional manual diving method and a sonar manual screening method.

The invention discloses a far field distributed parallel sub-array wave beam formation method. The method comprises the following steps: (1), dividing the full array of an energy transducer into a plurality of primary sub arrays, wherein each primary sub array is taken as a basic unit, and all the primary sub arrays form a secondary sub array; (2), performing parallel wave beam formation on all the primary sub arrays; and (3), taking the wave beam formation result of each primary sub array as a basic element of the secondary sub array, and after wave beam extraction, performing secondary sub array wave beam formation. By using the far field distributed parallel sub-array wave beam formation method provided by the invention, a wave beam directional diagram which is close to the main lobe width and the sidelobe peak value of a direct wave beam formation algorithm can be obtained under the condition that a time delay parameter storage space and a calculating load are reduced, the calculating efficiency is greatly improved, and the real-time demand for underwater three-dimensional sonar imaging is satisfied.

The invention discloses a multifunctional detecting, desilting and repairing robot for a drainage system. The multifunctional detecting, desilting and repairing robot for the drainage system comprisesa travelling mechanism, a seal chamber, a video system, a detection system, a front desilting mechanism, a tail blockage removing mechanism and grabbing mechanism, wherein the travelling mechanism isinstalled on the seal chamber, the video system comprises a front camera and a rear camera which are installed on the seal chamber, the detection system comprises an underwater sonar imaging system and an overwater laser radar imaging system which are installed at the front part of the seal chamber, the front desilting mechanism comprises a bucket connected with the front part of the seal chamberthrough a connecting mechanism, a crushing roller knife is arranged in the bucket, a gear box and a driving motor are installed on one side of the bucket, the tail blockage removing mechanism and grabbing mechanism comprises a tail installing base installed at the tail part of the seal chamber, a rotary driving motor and a tail base, the rotary driving motor drives the tail base to rotate, a mechanical arm is installed on the tail base, a working part conversion motor is fixed at the tail end of the mechanical arm, and a shearing and grabbing working part and a crushing working part are installed on the working part conversion motor. According to the multifunctional detecting, desilting and repairing robot for the drainage system, operation under complex working conditions can be met.

The invention discloses an unmanned ship inspection system for an offshore wind power plant and a working method of the unmanned ship inspection system, and belongs to the technical field of offshorewind power operation and maintenance. The system comprises an unmanned ship terminal, a shore-based base station and a remote command center. The unmanned ship terminal comprises a control system, a power supply module, a power system, sonar imaging inspection equipment, a motion detection module and a communication module. The control system is connected with the power supply module, the power system, the sonar imaging inspection equipment, the motion detection module and the communication module. The unmanned ship terminal is in communication connection with the shore-based base station through the communication module, and the shore-based base station is in communication connection with the remote command center. The space and the energy utilization efficiency of the ship are improved;the time investment and risk investment of sailors are reduced, intelligent scheduling management of an operation and maintenance plan can be realized, the existing passive operation and maintenance mode of manual detection, periodic maintenance and troubleshooting is improved to an active operation and maintenance mode based on state maintenance, and the inspection efficiency and economic benefits are greatly improved.

The invention provides a multi-beam synthetic aperture sonar three-dimensional imaging algorithm, which virtually synthesizes a large-aperture array in the track direction through the movement of a carrier according to a multi-beam synthetic aperture sonar transducer array structure, and distinguishes the echo arrival direction in the horizontal direction by using a multi-receiving array element structure. Through the motion of the carrier, the detection area is irradiated to different track direction positions, coherent compensation accumulation is carried out on received echo signals, and three-dimensional sonar image output under a track-slant distance-angle coordinate system can be obtained. And converting the sonar image into a three-dimensional sonar image which is easier to observeunder a horizontal track-to-depth coordinate system by utilizing coordinate transformation. According to the method, the mechanism limitation of multi-beam sounding sonar and conventional synthetic aperture sonar is broken through, constant imaging resolution is obtained in the track direction, high imaging resolution is obtained in the horizontal direction and the depth direction, and refined sonar imaging in the three-dimensional space is achieved.

A method of tracking a known object is presented, wherein a sonar image of an object which is distorted by an artifact associated with sonar imaging is compared with an image generated from a model of the object, and at least one of the two images is modified to reduce differences between them.

The invention belongs to the field of sonar imaging, and provides portable three-dimensional imaging sonar and an imaging method and system thereof. According to the method and system, a shear mapping-deformation technology is applied to the imaging process of the portable three-dimensional imaging sonar. The method comprises the steps that first, an object space is projected into a shear mapping space through shear mapping transformation, an intermediate image is synthetized, the observation direction of the intermediate image is parallel to the Z-axis direction, then the intermediate image is deformed to a preset image space, and a final three-dimensional result image is obtained. By the aid of the intermediate image perpendicular to the Z-axis direction, the re-sampling process of three-dimensional space is converted to be the sampling process of a two-dimensional plane, calculation is greatly reduced, the requirement of the system for hardware performance is lowered, the real-time performance of display can be improved, and the imaging method and system are particularly suitable for the portable three-dimensional imaging sonar.

The invention provides a wireless fish finder system based on Android. The wireless fish finder system based on Android is a combined type sonar system having the imaging function. An upper computer of the wireless fish finder system is an Android intelligent handheld device, such as an Android tablet personal computer and an Android mobile phone. The wireless fish finder system based on Android integrates the Android technology, the Bluetooth communication technology, the GPS technology, the Google Map technology and the like, comprises a sonar imaging system, a fish density recognizing system, a fishery resource GIS system and the like and can provide the information such as the position of fishes, the appearance frequency of fishes in the same area, unit density, underwater topographies and environment analysis. A user obtains the data such as the scale of a fish school, the temperature of a water area and the range of motion of the fish school by running software in the intelligent handheld device. The data and the data about the position, obtained through GPS positioning, of the fish school can be uploaded to a fishery resource GIS server, and then an information service is supplied to fishermen for selection of a fishing position, a fishing occasion and a fishing mode.

The invention discloses a whole-circle observation method for identifying a fixed point of a sonar imaging system. The whole-circle observation method for identifying the fixed point of the sonar imaging system is characterized by comprising the steps of arranging an acoustic lens on a rotary rod; relative to a water surface, vertically inserting the rotary rod to a side surface of a ship which is anchored and fixed in an imaging to-be-detected area; rotating the rotary rod for an angle of 20 degrees at each time so as to perform 360-degree whole-circle observation and camera shooting for an underwater target; splicing all the images into a complete underwater target image map; then identifying and interpreting the image map; calculating a specific surface area and a number of detected targets within an imaging range; and finishing quantified analysis of detection of the underwater targets. In comparison with the prior art, the whole-circle observation method for identifying the fixed point of the sonar imaging system achieves 360-degree whole-circle observation and continuous camera shooting, a generated photo covers a big area, and the working efficiency is 15 times that of single imaging; and the specific surface area and the number of the detected targets within the imaging range are calculated through a sight distance and the number of the detected targets in the image, so that quantified statistic analysis of underwater detection is realized, and the accuracy is greatly improved.

The invention provides an underwater pier component segmentation method based on deep learning and sonar imaging. The underwater pier component segmentation method comprises: using underwater side sonar equipment for obtaining a prepared underwater pier scanning picture; increasing the number of data sets by using an image enhancement method; marking the data set, carrying out polygon marking on the pier, the pile foundation and the riverbed by using different colors, and recording polygon vertex coordinates; dividing the data set into a training and verification set: establishing a Mask RCNNmodel in a deep learning semantic segmentation network, and performing training to obtain a training model; and controlling side sonar equipment to scan along the underwater pier part on the water surface to obtain a scanning picture, and performing automatic component segmentation on the underwater pier by utilizing the trained Mask RCNN model. The method is high in efficiency and low in cost, and compared with a traditional manual diving method and a sonar manual screening method, the method has the obvious advantages of automation, high efficiency and accuracy.

The invention provides a submarine pipeline press cake release combined hanging bracket. The submarine pipeline press cake release combined hanging bracket mainly comprises a long hanging bracket body, a short hanging bracket body, an outer source unhooking type hanging hook, a hydraulic system and a sonar imaging system. According to different task environments, the long hanging bracket body and the short hanging bracket body can be riveted and jointed through bolts, and the aim of variable structure press cake hanging work is achieved. The hook on the hanging bracket has the functions of loading and automatically releasing press cakes, and the press cakes are used for protecting submarine pipelines. A hydraulic drive manner is used for press cake unhooking on the hanging bracket, and transportation of the hanging bracket is completed under submarine oil pipe position imaging, observing and positioning through the sonar system. By means of the hanging bracket, the press cakes can be loaded and released, and are used for protecting the submarine pipelines. The hydraulic drive manner is used for press cake unhooking on the hanging bracket, so that safety and reliability are achieved.

The invention discloses an ocean sonar imaging device and a using method thereof, and the device comprises an underwater host and a waterproof casing. A display screen is disposed on the front surfaceof the underwater host. A remote control button is disposed on the lower side of the display screen. A digital signal processor and a data memory are disposed inside the underwater host. A fiber optic data receiver is disposed at the lower end of the underwater host. A connection cable is disposed on the optical fiber data receiver. A hoist is disposed on the connection cable. A waterproof casingis disposed at the other end of the connection cable. A rear thruster is disposed on both sides of the rear end of the waterproof casing. The beneficial effects of the ocean sonar imaging device andthe using method thereof are as follows: 1. the detection is performed by dragging and dropping, or by active moving, so the accuracy of the detection is improved; 2. the comparison may be performed with biological information stored in the data memory to conveniently and quickly analyze the underwater biological information; 3. the underwater scene can be photographed or recorded by taking pictures to facilitate a clear understanding of the underwater situation.

The invention relates to a multi-orthogonal emission front-view sonar. The front-view sonar employs two or more emission arrays having different phase centers, mutual orthogonal signals are emitted, M orthogonal emission signals are synthesized, and a reception array aperture is M times as large as a single emission array aperture. The front-view sonar is advantaged in that on the condition that the array dimension is fixed, the front-view sonar imaging resolution can be effectively improved, on the condition that the resolution is fixed, the reception array dimension and a channel number can be reduced, and system complexity is reduced.

The invention, which belongs to the technical field of sonar emitter array, discloses a method for reducing the directivity fluctuation of an arc array. The method comprises: setting weight coefficients of base elements at both ends of an arc array to be 0.3 to 0.5. The elements needing weighting and the weight coefficient are found out; the voltage dividing effect is obtained based on element series connection, so that the needed weight coefficient is obtained; the directivity of the arc array is improved; the process difficulty is reduced; and the sonar imaging imaging quality and detectioncapability are enhanced.

The invention relates to a multi-beam sonar high-precision imaging method based on motion compensation, and aims to overcome the defect of insufficient imaging precision due to factors such as motion errors, limited number of sub-arrays and noise in sonar imaging of an existing beam forming method. The method comprises the following steps of: firstly, performing time delay error compensation on an echo signal by using a motion compensation method in beam forming; after actual echo delay is obtained, carrying out two-dimensional Fourier transform on echo signals, and completing beam forming; performing pulse compression processing with upward distance on the signal after beam forming; carrying out modulus on the compressed signal, performing squaring and then carrying out noise reduction post-processing; and finally, performing interpolation processing on the signal after noise reduction processing in an angle domain, thereby realizing multi-beam sonar high-precision imaging.