86 results about "Sonar sensor" patented technology

A sonar transducer mount and aiming system for attachment to an electric trolling motor, which includes a rotary actuator assembly and a rotating shaft. The rotary actuator assembly includes a housing that is secured to the electric trolling motor and a rotating coupler is rotationally driven. The rotating shaft is connected to and rotates with the rotating coupler and includes a sonar transducer mounting point. The rotating shaft of the sonar transducer mount and aiming system and the electric trolling motor shaft have a common axis of rotation and are configured to rotate independently from one another about the common axis of rotation.

A sonar transducer mount and aiming system for attachment to an electric trolling motor, which includes a rotary actuator assembly and a rotating shaft. The rotary actuator assembly includes a housing that is secured to the electric trolling motor and a rotating coupler is rotationally driven. The rotating shaft is connected to and rotates with the rotating coupler and includes a sonar transducer mounting point. The rotating shaft has a tubular shape with a through bore that is configured to receive at least a portion of an electric trolling motor shaft in a co-axial arrangement. The size and shape of the through bore is designed so that the electric trolling motor shaft may be positioned within the through bore in clearance fit such that the rotating shaft of the sonar transducer mount and aiming system is free to rotate independently of the electric trolling motor shaft.

The invention relates to the technical field of channel monitoring, and discloses an unmanned aerial vehicle water depth monitoring method for channel inspection. The method comprises the following steps: deploying an unmanned aerial vehicle to a target channel area, initializing a carried sonar sensor, a camera and a positioning module, and planning a flight path to cover a to-be-detected point according to a preset algorithm; water depth and image data are collected in real time during flight, position information is obtained, multi-modal monitoring data are formed through space-time alignment, a water depth fusion model is input to generate a channel water depth distribution diagram, an abnormal area is recognized through an abnormal detection model, and finally the position and water depth data of the abnormal area are encrypted and transmitted to a ground control terminal. The method improves the efficiency and accuracy of channel water depth monitoring, can timely discover the abnormality, guarantees the safety and smoothness of the channel, and provides an effective technical means for channel management.

A system for generating live sonar images is provided having a first and second sonar transducer assembly. The sonar transducer assemblies each have sonar transducer elements configured to transmit sonar beam(s) into an underwater environment to form respective coverage volumes. The sonar transducer assemblies each define a respective facing direction. The system includes bracket(s) having alignment feature(s). The bracket(s) are configured to mount the sonar transducer assemblies to a watercraft, and the alignment feature(s) are configured to position the sonar transducer assemblies so that the facing directions are different and relative to each other so as to create continuous coverage of the underwater environment. Continuous coverage has an overall coverage volume that is greater than either of the coverage volumes individually. Sonar return data from the sonar transducer elements is used to form a live sonar image representative of sonar returns received from the overall coverage volume.

A steerable sonar mounting system comprises a sonar transducer, a gesture remote, and a motorized steering unit. The gesture remote includes a sensor, a memory, and a processor coupled to both the memory and the sensor. The processor is configured to receive a user command for repositioning the sonar transducer based on the movement of the gesture remote, determine a corresponding gesture movement using data from the sensor, and transmit an indication of the gesture movement. The motorized steering unit is coupled to the sonar transducer and communicatively linked to the gesture remote, where the motorized steering unit is configured to move the sonar transducer in response to receiving the transmitted indication of the gesture movement.

The invention discloses a dredging method of a robot for a nuclear power seawater pump room, the robot, a storage medium and a program product, and the method comprises the steps: receiving a task instruction corresponding to a dredging task of the nuclear power seawater pump room, and collecting environment image data through an image collection device arranged on the robot, environmental sonar data are collected through a sonar sensor; according to the task instruction, the environment image data, the environment sonar data and a task planning model, determining a plurality of sub-tasks and environment feature data corresponding to the dredging task; and determining associated feature data according to the plurality of sub-tasks, the environment feature data and a feature fusion model, and determining a target dredging path corresponding to the dredging task according to the associated feature data, a preset constraint condition of the robot and a path planning model. According to the technical scheme, the safety, efficiency and intelligent level of the dredging operation of the robot in the nuclear power seawater pump room can be effectively improved.

The invention discloses a noise suppression method in line spectrum feature extraction based on double singular value decomposition. Relates to a method for suppressing noise of a target in water. Strong background noise interference of a target in water can be suppressed, and line spectrum features can be extracted. The method comprises the following steps: carrying out segmentation processing on data received by a sonar sensor, solving a frequency spectrum matrix and a normalized frequency spectrum matrix for the data, respectively carrying out singular value decomposition on the frequency spectrum matrix and the normalized frequency spectrum matrix, constructing a weighting coefficient by utilizing a maximum singular value and a minimum singular value, and weighting a Welch method power spectrum to suppress noise. The method provided by the invention has the capability of resisting strong noise interference, and can extract the line spectrum characteristics under strong background noise interference; the operation is simple, and the method has good self-adaptability to noise suppression in line spectrum feature extraction; the calculation amount is small, and the engineering application value is high; the method is suitable for detection and identification of underwater targets.

Sonar steering systems offering improved functionality and ease of use for an operator (e.g., an angler) are provided. A sonar steering system is configured to automatically adjust the directional coverage volume of the sonar system in a hands-free manner to allow the operator to focus on other tasks. Some such sonar steering systems are configured to adjust the directional coverage volume of the sonar transducers to maintain a target such as an area of interest (AOI) within the sonar display despite movement of the watercraft relative to the target. Accordingly, the coverage volume may be automatically adjusted to maintain the aim of the sonar transducers at a target that is moving through the water, such as a school of fish.

The invention discloses a hydraulic structure superficial defect identification method for an underwater robot, and belongs to the technical field of underwater robots, and the method comprises the steps: respectively obtaining first distance information and second distance information, fed back by a sonar sensor and a laser sensor, between the underwater robot and a hydraulic structure superficial defect in the moving process, image information, fed back by the binocular camera, of superficial defects of the hydraulic structure is obtained; inputting the obtained first distance information, the second distance information and the image information into a pre-trained deep learning network model to obtain a superficial defect identification result of the hydraulic structure; on one hand, the problems that a traditional underwater robot is low in hydraulic structure defect recognition and evaluation efficiency and low in accuracy are solved; and on the other hand, the influence of the underwater complex environment on diagnosis is reduced, and the robustness and stability of the system are improved.

In various examples, associating object detections for sensor data processing for autonomous and semi-autonomous systems and applications is described herein. Systems and methods described herein may group object detections (e.g., echoes, etc.) that are detected using multiple sensors (e.g., ultrasonic sensors, sonar sensors, etc.) and then use the groupings to process the object detections to perform one or more tasks, such as object or feature detection. In some examples, the object detections are grouped using one or more configurations, such as an order associated with analyzing sensor data generated using the sensors and / or threshold distances associated with determining that object detections are associated with the same object. Additionally, a respective group may be generated for one or more (e.g., each) detected object such that the locations of the object surrounding the machine may be determined.

The invention relates to the technical field of image processing, and discloses a fish school target tracking and cruise calculation method based on a sonar image, and the method comprises the steps: obtaining a sonar video set and a parameter set collected by a sonar sensor array, and carrying out the equal-time-interval frame decoding processing, and obtaining a first video frame set; performing screening and denoising to obtain a second video frame set; based on the second video frame set, the parameter set and a pre-trained identification model, determining position data and fish school type data of a target fish school; performing identification frame labeling on each video frame image in the second video frame set; and extracting target data of the recognition frame, and calculating the swimming speed of the target fish school. Through the implementation of the method and the device, comprehensive and accurate data acquisition, high-quality image processing and accurate target identification and tracking are realized, and the problems that related technologies are not perfect, targets are easy to lose or misjudge when multi-target tracking is processed, and the requirement of accurate measurement of the fish school speed cannot be met are solved.

The invention discloses an underwater target tracking method based on multivariable deflection Laplace distribution modeling, and the method comprises the steps: collecting the motion state data of an underwater target through a sonar sensor, and obtaining the target position measurement information through a coordinate system conversion mode; the method comprises the following steps: establishing a motion model of an underwater target, determining a state-space equation of the underwater target, analyzing mathematical characteristics of underwater noise, and establishing a measurement model of the target under non-Gaussian noise; the method comprises the following steps: modeling non-Gaussian noise on the basis of multivariable skew lapace distribution, solving a mixed parameter, a shape parameter and a scale matrix of the noise under a variational Bayesian framework, iteratively updating a target state and a noise covariance matrix, iteratively updating an estimated target motion state by using Kalman filtering, and after the number of iterations is reached, calculating the target motion state according to the estimated target motion state. And outputting the estimated values of the underwater target position and speed and the estimated value of the covariance matrix. The method has better robustness and estimation precision, does not need to select a degree-of-freedom parameter, and can be better applied to target tracking.

The invention relates to the technical field of underwater detection and monitoring, and discloses an intelligent form monitoring sonar device and system for an underwater net bag, and the device comprises a data collection module, a signal processing module, a state judgment module, a communication transmission module, and a regulation and control module. Morphological and biological behavior data are collected through a sonar sensor unit arranged on a net bag framework, parameters such as width variation and posture offset are generated, and the working mode is adjusted in a self-adaptive mode in combination with environment information. And when an abnormal state is detected, triggering a cleaning, flow reduction or alarm instruction. According to the invention, the form change and the internal biological distribution of the net bag can be monitored in real time, an intelligent regulation and control means is provided, the technical problem of lack of comprehensive monitoring in a complex underwater environment is solved, and the working efficiency and reliability of the underwater net bag are improved.

The invention relates to a fluid section scanning device and an application method, and belongs to the technical field of water flow detection. According to the technical scheme, a second magnet on a rotating disc is matched with a first magnet on a magnet support through magnetic coupling, the magnet support outside the front side wall of a waterproof shell and a sliding shaft sleeve are driven to rotate around a fixed shaft, and a sensor on the sliding shaft sleeve rotates along with the magnet support; the sensor comprises a sonar sensor which floats under the water surface, a stepping motor rotates in a forward and reverse alternating discontinuous mode within the range of larger than 180 degrees and smaller than 360 degrees, and the sensor conducts forward and reverse alternating rotating scanning in the range of larger than 180 degrees and smaller than 360 degrees within the water passing section. The device has the advantages that winding damage of a sensor cable is avoided, magnetic coupling is adopted to replace a conductive slip ring, only waterproof sealing needs to be carried out on the driving motor and the control module, the sensor does not need to be sealed, reliability is improved, and cost is reduced.

The invention relates to an unmanned aerial vehicle towed body positioning attitude measurement method based on binocular vision positioning, and relates to the technical field of computer processing, and the method comprises the following steps: S01, constructing a measurement system which comprises an unmanned aerial vehicle and a towed body connected with the unmanned aerial vehicle through a cable; the unmanned aerial vehicle carries a GNSS module, an IMU module and a binocular camera, and the upper surface of the towed body is provided with a coding pattern and carries a sonar sensor; s02, establishing a towed body coordinate system by taking the acoustic center of the sonar sensor as an original point, obtaining three-dimensional coordinates of feature points on the towed body in the towed body coordinate system, and generating a three-dimensional space model operation simulation model of the towed body; and S03, the binocular camera is calibrated. According to the invention, the problem of underwater topographic survey of a near-shore high-flow-velocity turbid water area is solved, and high-efficiency, low-cost and high-precision surveying and mapping operation is realized.

A maritime drone as uncrewed surface vessel is provided. The maritime drone has a control and a monohull. The control is configured such that a movement and / or an operation of the maritime drone is autonomously controlled by the control. The monohull has a casing which encloses an interior volume of the maritime drone. The maritime drone comprises at least one sonar sensor which is coupled to the control and is configured for detecting underwater objects. The at least one sonar sensor is arranged within the maritime drone. The maritime drone has furthermore compact dimensions, namely a maximum length of 200 cm, a maximum width of 60 cm, a maximum height of 60 cm and a maximum weight that the maritime drone can be transported by a single person. The maritime drone comprises a self-righting functionality, which is based at least on a shape of the monohull and a weight distribution of the maritime drone.

The application discloses a kind of autonomous operation methods of deep-sea mining car, and mining car is equipped with sonar sensor, camera sensor and control unit.Through sonar, three-dimensional point cloud information of seabed operation area is obtained, and synchronous positioning and map construction are carried out in combination with vehicle pose, to form global point cloud map;Based on the map, cubic surface fitting is carried out on seabed topography, to generate continuous three-dimensional curved surface model;Through camera, seabed image is collected and sulfide target is identified, in combination with camera calibration parameter, vehicle real-time pose and curved surface model, two-dimensional target information is mapped to global coordinate system, to obtain target three-dimensional space position;Construct the grid map containing sulfide target distribution and operation state mark, generate target-oriented mining operation path, and control mining car to execute mining operation;After operation is completed, detection and identification are carried out again using sonar and camera, and operation completion state is updated.The application improves target positioning accuracy, path planning efficiency and autonomous operation ability in deep-sea mining.

The disclosure relates to associating object detection for sensor data processing in autonomous systems and applications. In various examples, sensor data processing is described herein that associates object detection for autonomous and semi-autonomous systems and applications. Systems and methods described herein may group object detection (e.g., echo, etc.) detected using multiple sensors (e.g., ultrasonic sensors, sonar sensors, etc.), and then process the object detection using the grouping to perform one or more tasks, such as object or feature detection. In some examples, object detections are grouped using one or more configurations, such as an order associated with analyzing sensor data generated using sensors and / or a threshold distance associated with determining that object detections are associated with the same object. Further, respective groups may be generated for one or more (e.g., each) detected objects so that the locations of the objects around the machine may be determined.

The invention discloses a high-viscosity material experimental molding and rheological parameter measurement method considering both a supergravity environment and a constant gravity environment. Comprising the following steps: firstly, placing a high-viscosity material in a closed space provided with a sonar sensor, and enabling the closed space to be in a constant-gravity or supergravity environment; pressurizing the closed space to a preset high air pressure for a period of time, then releasing the pressure to a preset low air pressure for a period of time, repeating pressurizing and pressure releasing for preset times, and collecting the volumetric strain of the high-viscosity material at any preset high air pressure or preset low air pressure through a sonar sensor in the repeating process; and after the operation is repeated for preset times, bubbles in the high-viscosity material reach the preset discharge efficiency, and in-situ leveling and molding of the high-viscosity material are completed. The device and the method have the beneficial effects that the material bubbles of the high-viscosity material are efficiently discharged and the rheological parameters of the high-viscosity material are measured in a constant-gravity and supergravity experimental environment.

The application relates to the technical field of image processing, and discloses a fish school target tracking and swimming speed calculation method based on a sonar image, which comprises the following steps: acquiring a sonar video set and a parameter set collected by a sonar sensor array, performing isochronous interval frame processing to obtain a first video frame set, performing screening and denoising to obtain a second video frame set, determining position data and fish school type data of a target fish school based on the second video frame set, the parameter set, a pre-trained identification model, performing identification frame marking on each video frame image in the second video frame set, extracting target data of the identification frame, and calculating the swimming speed of the target fish school. Through implementation of the application, from comprehensive and accurate data collection to high-quality image processing, accurate target identification and tracking are realized, and the problems that related technologies are not perfect, target loss or misjudgment is prone to occurring when multiple targets are tracked, and the demand for accurate measurement of fish school speed cannot be met are solved.

A synchronization wire for synchronizing sonar ping transmissions from sonar transducer elements or arrays is provided. The synchronization wire includes first and second connection points. The first connection point is configured to connect the synchronization wire to a first sonar module that is configured to control transmission of a first sonar ping from a first sonar transducer. The second connection point is configured to connect the synchronization wire to a second sonar module that is configured to control transmission of a second sonar ping from a second sonar transducer. The synchronization wire is configured to transfer an electrical current between the first and second sonar modules. The synchronization wire is configured to enable synchronization of the first and second sonar modules through the use of the electrical current. Processing circuitry in sonar modules may cause or prevent transmission of sonar pings based on the voltage level on the synchronization wire.

The invention discloses a method for accurately identifying stratum rock soil by combining controllable rail directional drilling and comprehensive logging, belongs to the field of geological exploration and underground engineering construction, and solves the problems of low exploration precision and poor exploration and construction collaboration of an existing subway tunnel. The method comprises an earlier-stage exploration stage and a shield tunneling exploration stage: arranging traction pipes along a preset path in the earlier stage to form a space detection array, arranging a built-in mobile detection device for cooperative detection, and inverting stratum parameters and adjusting drilling parameters through data processing; in the tunneling-following stage, phased array sonar sensors are installed on a shield cutterhead, front strata are scanned by 360 degrees, after data are processed, a three-dimensional distribution diagram is generated by means of multi-sensor fusion and a geological interpretation model and is fed back to a shield main control system to adjust tunneling parameters, and a self-adaptive optimization step is further arranged to improve the recognition accuracy. The technology is high in exploration precision, high in construction collaboration, suitable for complex environments and capable of guaranteeing safety and high efficiency of subway tunnel shield construction.

The utility model provides an offshore oil platform settlement inclination monitoring device which comprises a base frame assembly and a winding mechanism, and the base frame assembly comprises a clamping frame, a machine shell and a sliding frame; wherein the machine shell is connected to the interior of the clamping frame in a sliding mode, and the sliding frame is connected to the outer side of the clamping frame in a sliding mode; according to the utility model, the housing is integrally limited on an offshore oil platform by using the clamping frame, then the monitoring mechanism is released by rotating the rolling mechanism, so that the storage box is integrally sunk into the sea, and the counterweight cone is matched with the traction rope to provide a downward traction force for the storage box in the sea water, so that the sonar sensor can directly face the seabed, and the detection accuracy is improved. In the monitoring process, the sonar sensor can send out a sound wave signal to detect the seabed, and the distance between the sonar sensor and the seabed is calculated according to the reflection time and the wave pattern, so that the overall vertical settlement of the offshore oil platform is effectively detected based on the distance, and the detection effect is ensured.

The invention provides an adaptive space calibration method and device, an underwater robot and electronic equipment, and the method comprises the steps: carrying out the multi-view image collection of a first feature of a target object through a visual sensor, obtaining a first feature image set, carrying out the point cloud extraction of a first feature image in the first feature image set, and generating a first point cloud; performing image acquisition on a second feature of the target object through a sonar sensor to obtain a second feature image set, and performing point cloud extraction on a second feature image in the second feature image set to generate a second point cloud; and performing dynamic matching on the first point cloud and the second point cloud according to the visibility of the water area so as to realize adaptive space calibration of the camera vision sensor and the sonar sensor. Through a three-dimensional reconstruction method, space coordinate calibration of a visual sensor and a sonar sensor is adaptively completed, and correct fusion of point cloud data of at least two sets of different sensors is guaranteed in multiple imaging modes.

This invention relates to a biomimetic brain-like synchronous localization and environmental perception method for underwater robots. The invention addresses the problems of poor visual odometry, insufficient robustness, and low accuracy in loop closure detection in existing underwater robot navigation systems. The robot first acquires environmental feature information through sonar sensors and its own motion information through navigation sensors. A local scene template is obtained by processing the sonar data using an acoustic-visual processing method. The sensor data undergoes pre-integration processing, and the processed data is used as input to a convolutional neural network to output motion displacement, thus forming the robot's perception of its own position. Finally, an empirical map integrates the above information, and loop closure detection updates the empirical map, reducing drift during robot movement and completing the construction of the empirical map. This invention belongs to the fields of bionics and motion navigation technology.

The invention belongs to the technical field of voltage type pre-amplifiers. The invention provides a fully differential rail-to-rail voltage type preamplifier for a sonar sensor. According to the embodiment of the invention, the two rail-to-rail input stages and the shared four-input dual-output node output stage are integrated, so that a unique signal processing structure is formed. By means of the flexibility of multiple input nodes, differential signal amplification and additional input common-mode control nodes can be achieved in the preamplifier, and therefore output common-mode level can be accurately adjusted, and the good active common-mode rejection capacity is achieved. Under the condition that the linearity is ensured, the input and output range of the circuit is remarkably widened, the common-mode rejection capability of the circuit is effectively improved, and a high-performance solution is provided for the multichannel sonar array.

The utility model provides a precise silt flushing transmission mechanism which comprises Y-axis moving guide rails symmetrically installed on the inner wall of a water collecting well, a Y-axis driving gearbox is installed on the Y-axis moving guide rails, and a Y-axis servo motor used for providing walking power is installed on the Y-axis driving gearbox. An X-axis moving guide rail is installed between the two sets of Y-axis driving gear boxes, the X-axis moving guide rail stretches over the water collecting well, an X-axis driving gear box is installed on the X-axis moving guide rail, an X-axis servo motor used for providing walking power is installed on the X-axis driving gear box, and a Z-axis servo transmission mechanism is installed on the outer wall of the X-axis driving gear box; the Z-axis servo transmission mechanism is provided with a sonar sensor and a silt flushing pipeline. The mechanism can be used for cleaning sediments of different types of water wells of a hydropower station, automatic silt flushing can be achieved, the traditional manual silt flushing process is replaced, and the silt flushing precision and quality are improved.

A ground assembly for wireless charging of electric vehicles according to an embodiment of the present invention includes: a transmitting coil; a power supply unit capable of supplying power to the transmitting coil; a detection sensor unit capable of detecting foreign matter in an external matter detection area surrounding the transmitting coil; and a control unit for detecting foreign matter using the detection sensor unit, measuring the distance to the detected foreign matter, determining the presence of foreign matter in the foreign matter detection area based on the measured distance, and controlling the power supplied to the transmitting coil based on the determination result. The detection sensor unit includes at least one of a sonar sensor, a lidar, and a camera device. The foreign matter detection area can be within a predetermined distance from the edge of the transmitting coil in a direction parallel to the ground surface, and can be within a predetermined distance from the upper part of the transmitting coil in a direction perpendicular to the ground surface.

To provide a sensor structure for an electric vehicle which can suppress a damage to a sensor even when the electric vehicle crashes against an obstacle.SOLUTION: A sensor attachment structure of an electric vehicle 1 includes a vehicle body member 10 having a left front wheel 21L, a right front wheel, a left rear wheel 22L, and a right rear wheel, and a rear-side lifting handle 37 provided on the left rear wheel 22L and the left rear wheel side. On the vehicle body member 10, a sonar sensor 59 for detecting the state on the rear side of the vehicle body member 10 is attached. In a side view of the electric vehicle 1, the sonar sensor 59 is positioned above the left rear wheel 22L and the right rear wheel, and positioned on a front side of a virtual plane 43 made by linking the rear end part 22a of the left rear wheel 22L and the rear end part of the right rear wheel with a rear end part 37a of the rear-side lifting handle 37.SELECTED DRAWING: Figure 2

The invention discloses a full-simulation class volume accumulation and calculation integrated chip and a cross-medium multi-mode detection method thereof, and belongs to the field of computer vision. The optical sensor array is used for capturing an optical image signal and directly outputting a voltage signal through an analog circuit; the sonar sensor array is used for receiving acoustic signals and converting the acoustic signals into corresponding electric signals; and the shared and reusable convolution-like hybrid storage calculation unit is used for executing weight storage and analog calculation. The invention aims to solve the problems of high delay, high resource consumption and analog-to-digital conversion bottleneck in cross-media detection.