CN105035287A - Underwater remain exploring method based on data communication - Google Patents
Underwater remain exploring method based on data communication Download PDFInfo
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- CN105035287A CN105035287A CN201510444287.1A CN201510444287A CN105035287A CN 105035287 A CN105035287 A CN 105035287A CN 201510444287 A CN201510444287 A CN 201510444287A CN 105035287 A CN105035287 A CN 105035287A
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Abstract
The invention relates to an underwater remain exploring method based on data communication. The method comprises the steps that 1, an underwater remain exploring system based on data communication is provided and comprises an underwater robot body, a remain detection device and an overwater processing device, and the remain detection device is located on the underwater robot body and used for detecting whether remains exit underwater or not, and remain relevant information is transmitted to the overwater processing device through the underwater robot body when remains are detected; 2, the exploring system is used for exploring remains. By means of the underwater remain exploring method based on data communication, underwater remains can be automatically recognized, and the recognized underwater remains are positioned, so that underwater rescuing difficulty is lowered.
Description
Technical field
The present invention relates to data communication field, particularly relate to a kind of search method of remains under water based on data communication.
Background technology
In prior art, due to the particularity of underwater environment, there is inconvenience in the salvaging for remains under water, main manifestations in the following areas:
1, the remains position depth of water differs, and causes certain danger to the underwater operation of wrecker;
2, the visual field is poor under water, circumstance complication, finds under water that remains are more difficult in the visual field of wrecker;
Even if 3 wreckers find remains under water, but owing to cannot provide the locating data of remains under water for staff on the bank, staff cannot participate in remains and salvages on the bank, and underwater salvage personnel are fighting a lone battle.
For this reason, the present invention proposes a kind of search method of remains under water based on data communication, the artificial mode of operation salvaged can be replaced, adopt under-water robot automatically to identify remains under water and locate, thus improve salvaging efficiency, avoid wrecker to come to harm.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides a kind of search method of remains under water based on data communication, utilize the underwater people of the application specific architecture being applicable to underwater salvage for seeking platform, adopt the high precision image detection technique being applicable to underwater environment, and auxiliary multiple positioning means realizes the accurate location of remains under water, built the communication link under water between aquatic work environment simultaneously, make personnel waterborne also can participate in fishing job, thus improve intelligence degree and the reliability of remains salvaging under water on the whole.
According to an aspect of the present invention, provide a kind of search method of remains under water based on data communication, the method comprises: 1) provide a kind of remains under water based on data communication to seek system, described system of seeking comprises underwater human agent, remains check implement and treatment facility waterborne, described remains check implement is positioned on described underwater human agent, for detecting whether there are remains under water, and send remains relevant information to described treatment facility waterborne by described underwater human agent when remains being detected; 2) seek system to seek described in use.
More specifically, seek in system at the described remains under water based on data communication, also comprise: buoy waterborne, be arranged on the top water surface of described underwater human agent, power equipment supply, be arranged on described buoy waterborne, comprise water-proff packing cover, solar powered device, storage battery, change-over switch and electric pressure converter, described water-proff packing cover is for holding described solar powered device, described storage battery, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described storage battery, dump energy according to storage battery determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage, GPS fixing aid, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for receiving the GPS locating data that gps satellite sends, sonar detection equipment, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for detecting the relative distance of described underwater human agent to described buoy waterborne, and to adjust the distance output as first-phase, ultrasonic ranging equipment, is arranged on described underwater human agent, for measuring the distance of described underwater human agent distance front remains, and to adjust the distance output as second-phase, static storage device, black and white threshold value and threshold number of pixels are prestored, described black and white threshold value is used for performing binary conversion treatment to image, described static storage device has also prestored the humanoid masterplate of gray processing, and the humanoid masterplate of described gray processing obtains for taking obtained human body image execution gray processing process to benchmark human body, picture pick-up device, be positioned on described underwater human agent, comprise semisphere watertight transparent cover, floor light subset and CMOS camera, described semisphere watertight transparent cover is for holding described floor light subset and described CMOS camera, described floor light subset provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead, the underwater information that described treatment facility waterborne is transmitted by cable for receiving described underwater human agent, described treatment facility waterborne is positioned at water craft or position, bank, described underwater human agent comprises driving arrangement, cable and flush bonding processor, described driving arrangement is connected with described treatment facility waterborne with described flush bonding processor and communicates to set up by described cable respectively, described driving arrangement comprises driving governor, larboard DC speed-reducing, starboard DC speed-reducing, sink-float motor, right-handed screw oar, counter propeller, subsidiary screw propeller and coupler, described larboard DC speed-reducing, described starboard DC speed-reducing and described sink-float motor are respectively by described coupler and described right-handed screw oar, described counter propeller is connected with described subsidiary screw propeller, described driving governor receives the drive control signal that described treatment facility waterborne sends, with larboard DC speed-reducing according to the content driven of described drive control signal and described starboard DC speed-reducing to control described right-handed screw oar and described counter propeller respectively, underwater human agent is driven to realize advancing, retreat and left and right action, also for the motor that rises and falls according to the content driven of described drive control signal to control described subsidiary screw propeller, underwater human agent is driven to realize rising and dive action, described remains check implement comprises Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described CMOS camera, strengthen and wavelet filtering process to perform adaptive edge successively to described underwater picture, to obtain pretreated water hypograph, described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described static storage device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture, described column border detects subset and is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns, described row rim detection subset is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines, described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subimage from described binaryzation underwater picture, described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, by described target subimage and the humanoid stencil matching of described gray processing, the match is successful, then export and there is remains signal, it fails to match, then export and there is not remains signal, wherein, described flush bonding processor and described GPS fixing aid, described sonar detection equipment, described ultrasonic ranging equipment, described treatment facility waterborne, described remains check implement is connected respectively with described driving arrangement, for monitoring the driving condition of described driving arrangement, also for receive described there is remains signal time, start described GPS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment are to receive described GPS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance, based on described GPS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance calculates and exports remains GPS locating data, and by cable, described pretreated water hypograph and described remains GPS locating data are transferred to described treatment facility waterborne, described flush bonding processor, when there is not remains signal described in receiving, closes described GPS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment.
More specifically, seek in system at the described remains under water based on data communication: described pretreated water hypograph and described remains GPS locating data are transferred to described treatment facility waterborne and comprise by described flush bonding processor: described pretreated water hypograph is performed MPEG-4 compressed encoding to obtain pressurized water hypograph, described pressurized water hypograph and described remains GPS locating data are transferred to described treatment facility waterborne.
More specifically, seek in system at the described remains under water based on data communication: described treatment facility waterborne also comprises decompression equipment and display subset, described decompression equipment for the described pressurized water hypograph that decompresses to obtain described pretreated water hypograph, described display subset and described decompression equipment connection, for showing described pretreated water hypograph and described remains GPS locating data.
More specifically, seeking in system at the described remains under water based on data communication: described treatment facility waterborne also comprises voice playing equipment, for when receiving described remains GPS locating data, playing described remains GPS locating data.
More specifically, seek in system at the described remains under water based on data communication: described Image semantic classification subset, described binary conversion treatment subset, described column border detect subset, described row rim detection subset, described Target Segmentation subset and described target recognin integration of equipments on one piece of surface-mounted integrated circuit.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram that the remains under water based on data communication illustrated according to an embodiment of the present invention seek system.
Fig. 2 is the block diagram that the remains under water based on data communication illustrated according to an embodiment of the present invention seek the picture pick-up device of system.
Reference numeral: 1 underwater human agent; 2 remains check implements; 3 treatment facilities waterborne; 4 picture pick-up devices; 401 semisphere watertight transparent covers; 402 floor light subsets; 403CMOS camera
Detailed description of the invention
Below with reference to accompanying drawings the embodiment that the remains under water based on data communication of the present invention seek system is described in detail.
Due to the generation of overwater accident, or the reasons such as individual's swimming is drowned, easily cause remains under water, in order to find out the cause of death, seek soil for peace, relevant department waterborne is that under arranging professional wrecker, water searches for remains under water, to the location of remains under water, to facilitate salvaging, review dead reason, comfort wrecked relatives.
But because underwater environment is complicated, search area is comparatively large, artificial mode not only inefficiency of salvaging, and easily brings personal injury to wrecker.
In order to overcome above-mentioned deficiency, the present invention has built a kind of remains under water based on data communication and has sought system, is arranged on by marine salvage equipment on under-water robot, adopts intelligentized search mode, locates remains under water fast, in time.
Fig. 1 is the block diagram that the remains under water based on data communication illustrated according to an embodiment of the present invention seek system, described system of seeking comprises underwater human agent, remains check implement and treatment facility waterborne, described remains check implement is positioned on described underwater human agent, for detecting whether there are remains under water, and send remains relevant information to described treatment facility waterborne by described underwater human agent when remains being detected.
Then, the concrete structure continued the remains under water based on data communication of the present invention seek system is further detailed.
Described system of seeking also comprises: buoy waterborne, is arranged on the top water surface of described underwater human agent.
Described system of seeking also comprises: power equipment supply, be arranged on described buoy waterborne, comprise water-proff packing cover, solar powered device, storage battery, change-over switch and electric pressure converter, described water-proff packing cover is for holding described solar powered device, described storage battery, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described storage battery, dump energy according to storage battery determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage.
Described system of seeking also comprises: GPS fixing aid, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for receiving the GPS locating data that gps satellite sends; Sonar detection equipment, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for detecting the relative distance of described underwater human agent to described buoy waterborne, and to adjust the distance output as first-phase.
Described system of seeking also comprises: ultrasonic ranging equipment, is arranged on described underwater human agent, for measuring the distance of described underwater human agent distance front remains, and to adjust the distance output as second-phase.
Described system of seeking also comprises: static storage device, black and white threshold value and threshold number of pixels are prestored, described black and white threshold value is used for performing binary conversion treatment to image, described static storage device has also prestored the humanoid masterplate of gray processing, and the humanoid masterplate of described gray processing obtains for taking obtained human body image execution gray processing process to benchmark human body.
Described system of seeking also comprises: picture pick-up device, be positioned on described underwater human agent, comprise semisphere watertight transparent cover, floor light subset and CMOS camera, described semisphere watertight transparent cover is for holding described floor light subset and described CMOS camera, described floor light subset provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead.
The underwater information that described treatment facility waterborne is transmitted by cable for receiving described underwater human agent, described treatment facility waterborne is positioned at water craft or position, bank.
Described underwater human agent comprises driving arrangement, cable and flush bonding processor, described driving arrangement is connected with described treatment facility waterborne with described flush bonding processor and communicates to set up by described cable respectively, described driving arrangement comprises driving governor, larboard DC speed-reducing, starboard DC speed-reducing, sink-float motor, right-handed screw oar, counter propeller, subsidiary screw propeller and coupler, described larboard DC speed-reducing, described starboard DC speed-reducing and described sink-float motor are respectively by described coupler and described right-handed screw oar, described counter propeller is connected with described subsidiary screw propeller, described driving governor receives the drive control signal that described treatment facility waterborne sends, with larboard DC speed-reducing according to the content driven of described drive control signal and described starboard DC speed-reducing to control described right-handed screw oar and described counter propeller respectively, underwater human agent is driven to realize advancing, retreat and left and right action, also for the motor that rises and falls according to the content driven of described drive control signal to control described subsidiary screw propeller, underwater human agent is driven to realize rising and dive action.
Described remains check implement comprises Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described CMOS camera, strengthen and wavelet filtering process to perform adaptive edge successively to described underwater picture, to obtain pretreated water hypograph.
Described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described static storage device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture.
Described column border detects subset and is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns.
Described row rim detection subset is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines.
Described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subimage from described binaryzation underwater picture.
Described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, by described target subimage and the humanoid stencil matching of described gray processing, the match is successful, then export and there is remains signal, it fails to match, then export and there is not remains signal.
Described flush bonding processor and described GPS fixing aid, described sonar detection equipment, described ultrasonic ranging equipment, described treatment facility waterborne, described remains check implement is connected respectively with described driving arrangement, for monitoring the driving condition of described driving arrangement, also for receive described there is remains signal time, start described GPS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment are to receive described GPS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance, based on described GPS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance calculates and exports remains GPS locating data, and by cable, described pretreated water hypograph and described remains GPS locating data are transferred to described treatment facility waterborne.
Described flush bonding processor, when there is not remains signal described in receiving, closes described GPS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment.
Alternatively, described pretreated water hypograph and described remains GPS locating data are transferred to described treatment facility waterborne and comprise by described flush bonding processor: described pretreated water hypograph is performed MPEG-4 compressed encoding to obtain pressurized water hypograph, described pressurized water hypograph and described remains GPS locating data are transferred to described treatment facility waterborne; Described treatment facility waterborne also comprises decompression equipment and display subset, described decompression equipment for the described pressurized water hypograph that decompresses to obtain described pretreated water hypograph, described display subset and described decompression equipment connection, for showing described pretreated water hypograph and described remains GPS locating data; Described treatment facility waterborne also comprises voice playing equipment, for when receiving described remains GPS locating data, plays described remains GPS locating data; And described Image semantic classification subset, described binary conversion treatment subset, described column border detect subset, described row rim detection subset, described Target Segmentation subset and described target recognin integration of equipments on one piece of surface-mounted integrated circuit.
In addition, cmos sensor also can be subdivided into passive type element sensor (PassivePixelSensorCMOS) and active pixel sensor (ActivePixelSensorCMOS).
Passive type element sensor (PassivePixelSensor is called for short PPS), be again passive type element sensor, he is made up of a back-biased photodiode and a switching valve.Photodiode is a PN junction be made up of P-type semiconductor and N-type semiconductor in essence, and he can be equivalent to a back-biased diode and a mos capacitance parallel connection.When switching valve is opened, photodiode is communicated with vertical alignment (Columnbus).The charge integration amplifier sensing circuit (Chargeintegratingamplifier) being positioned at alignment end keeps column line voltage to be a constant, when the signal charge of photodiode storage is read out, its voltage is reset to column line voltage level, meanwhile, the electric charge be directly proportional to optical signal is converted to electric charge by charge integration amplifier and exports.
Active pixel sensor (ActivePixelSensor is called for short APS), is again active element sensor.Almost while the invention of CMOSPPS dot structure, people recognize very soon in pixel, to introduce the performance that energy disperser or amplifier can improve pixel, have the amplifier of oneself in CMOSAPS in each pixel.The amplifier transistor being integrated in surface decreases the effective surface area of pixel element, reduces " packaging density ", the incident light of 40% ~ 50% is reflected.Another problem of this sensor is, how to make there is good coupling between the multichannel amplifier of sensor, and this can be realized preferably by the fixed pattern noise reducing residual level.Because each amplifier in CMOSAPS pixel is only excited, so the power dissipation ratio ccd image sensor of CMOSAPS is also little during this reads.
The remains under water based on data communication of the present invention are adopted to seek system, for in prior art under water remains seek that difficulty is large, efficiency is low and dangerous high technical matters, adopt the artificial search platform of underwater, use intelligent image recognition apparatus and fixing aid to realize automatic identification to remains under water and location, thus overcome above-mentioned technical matters.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1., based on the search method of remains under water of data communication, the method comprises:
1) a kind of remains under water based on data communication are provided to seek system, described system of seeking comprises underwater human agent, remains check implement and treatment facility waterborne, described remains check implement is positioned on described underwater human agent, for detecting whether there are remains under water, and send remains relevant information to described treatment facility waterborne by described underwater human agent when remains being detected;
2) seek system to seek described in use.
2., as claimed in claim 1 based on the search method of remains under water of data communication, it is characterized in that, described in seek system and also comprise:
Buoy waterborne, is arranged on the top water surface of described underwater human agent;
Power equipment supply, be arranged on described buoy waterborne, comprise water-proff packing cover, solar powered device, storage battery, change-over switch and electric pressure converter, described water-proff packing cover is for holding described solar powered device, described storage battery, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described storage battery, dump energy according to storage battery determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage,
GPS fixing aid, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for receiving the GPS locating data that gps satellite sends;
Sonar detection equipment, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for detecting the relative distance of described underwater human agent to described buoy waterborne, and to adjust the distance output as first-phase;
Ultrasonic ranging equipment, is arranged on described underwater human agent, for measuring the distance of described underwater human agent distance front remains, and to adjust the distance output as second-phase;
Static storage device, black and white threshold value and threshold number of pixels are prestored, described black and white threshold value is used for performing binary conversion treatment to image, described static storage device has also prestored the humanoid masterplate of gray processing, and the humanoid masterplate of described gray processing obtains for taking obtained human body image execution gray processing process to benchmark human body;
Picture pick-up device, be positioned on described underwater human agent, comprise semisphere watertight transparent cover, floor light subset and CMOS camera, described semisphere watertight transparent cover is for holding described floor light subset and described CMOS camera, described floor light subset provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead;
The underwater information that described treatment facility waterborne is transmitted by cable for receiving described underwater human agent, described treatment facility waterborne is positioned at water craft or position, bank;
Described underwater human agent comprises driving arrangement, cable and flush bonding processor, described driving arrangement is connected with described treatment facility waterborne with described flush bonding processor and communicates to set up by described cable respectively, described driving arrangement comprises driving governor, larboard DC speed-reducing, starboard DC speed-reducing, sink-float motor, right-handed screw oar, counter propeller, subsidiary screw propeller and coupler, described larboard DC speed-reducing, described starboard DC speed-reducing and described sink-float motor are respectively by described coupler and described right-handed screw oar, described counter propeller is connected with described subsidiary screw propeller, described driving governor receives the drive control signal that described treatment facility waterborne sends, with larboard DC speed-reducing according to the content driven of described drive control signal and described starboard DC speed-reducing to control described right-handed screw oar and described counter propeller respectively, underwater human agent is driven to realize advancing, retreat and left and right action, also for the motor that rises and falls according to the content driven of described drive control signal to control described subsidiary screw propeller, underwater human agent is driven to realize rising and dive action,
Described remains check implement comprises Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described CMOS camera, strengthen and wavelet filtering process to perform adaptive edge successively to described underwater picture, to obtain pretreated water hypograph; Described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described static storage device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture; Described column border detects subset and is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns; Described row rim detection subset is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines; Described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subimage from described binaryzation underwater picture; Described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, by described target subimage and the humanoid stencil matching of described gray processing, the match is successful, then export and there is remains signal, it fails to match, then export and there is not remains signal;
Wherein, described flush bonding processor and described GPS fixing aid, described sonar detection equipment, described ultrasonic ranging equipment, described treatment facility waterborne, described remains check implement is connected respectively with described driving arrangement, for monitoring the driving condition of described driving arrangement, also for receive described there is remains signal time, start described GPS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment are to receive described GPS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance, based on described GPS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance calculates and exports remains GPS locating data, and by cable, described pretreated water hypograph and described remains GPS locating data are transferred to described treatment facility waterborne,
Wherein, described flush bonding processor, when there is not remains signal described in receiving, closes described GPS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment.
3., as claimed in claim 2 based on the search method of remains under water of data communication, it is characterized in that:
Described pretreated water hypograph and described remains GPS locating data are transferred to described treatment facility waterborne and comprise by described flush bonding processor: described pretreated water hypograph is performed MPEG-4 compressed encoding to obtain pressurized water hypograph, described pressurized water hypograph and described remains GPS locating data are transferred to described treatment facility waterborne.
4., as claimed in claim 3 based on the search method of remains under water of data communication, it is characterized in that:
Described treatment facility waterborne also comprises decompression equipment and display subset, described decompression equipment for the described pressurized water hypograph that decompresses to obtain described pretreated water hypograph, described display subset and described decompression equipment connection, for showing described pretreated water hypograph and described remains GPS locating data.
5., as claimed in claim 2 based on the search method of remains under water of data communication, it is characterized in that:
Described treatment facility waterborne also comprises voice playing equipment, for when receiving described remains GPS locating data, plays described remains GPS locating data.
6., as claimed in claim 2 based on the search method of remains under water of data communication, it is characterized in that:
Described Image semantic classification subset, described binary conversion treatment subset, described column border detect subset, described row rim detection subset, described Target Segmentation subset and described target recognin integration of equipments on one piece of surface-mounted integrated circuit.
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