CN106802419B - It is a kind of that oily recognition methods and system are sunk to the bottom based on sonar image feature - Google Patents
It is a kind of that oily recognition methods and system are sunk to the bottom based on sonar image feature Download PDFInfo
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- CN106802419B CN106802419B CN201710051007.XA CN201710051007A CN106802419B CN 106802419 B CN106802419 B CN 106802419B CN 201710051007 A CN201710051007 A CN 201710051007A CN 106802419 B CN106802419 B CN 106802419B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Oily recognition methods and system are sunk to the bottom based on sonar image feature this application discloses a kind of, the described method includes: being investigated and analysed to the distributed areas of detection target, according to the requirement to the distribution and detection accuracy that sink to the bottom oil, specific sonar and sample frequency are selected, the sonar signal of search coverage is acquired；According to the collection result of sonar signal, sonar data is read out, extracts sonar data, to carry out signal processing and imaging；It the situation that rise and fall respectively from the acquisition size of sonar data field angle, sea-floor relief to the imaging of sonar signal and sinks to the bottom that seabed caused by oil is smooth or degree of roughness changes three aspects and is analyzed and processed, sinks to the bottom oily distributed areas to identify.It is correctly recognized and accurate description the invention has the advantages that can effectively realize to sinking to the bottom oil, have the characteristics that identification accurately and operates convenient, cleared up in the later period for oil spilling with huge application potential and broad application prospect.
Description
Technical field
The invention belongs to marine environmental protection technical field, it is related to a kind of sinking to the bottom oily identification side based on sonar image feature
Method.
Background technique
With the continuous development of Exploration of Oil And Gas and Exploitation degree, the development of the transport service of petroleum grows stronger day by day, transport
Mode includes railway transportation, marine transportation, three kinds of pipeline transportation.In addition to railway transportation, marine transportation and pipeline transportation are all
The main reason for generating marine oil overflow accident, while being also the principal element for leading to marine environmental pollution.As offshore oil " fortune
Laying range of the oil pipeline of defeated lifeline " in seabed constantly increases, these oil pipelines during use, due to setting
The influence of the hydrodynamisms such as standby aging, seawater corrosion, wave and tide, crude oil caused by pipe leakage, perforation and rupture are let out
Leakage, brings huge challenge to the safety problem of marine environment.The laying of submarine transport oil pipeline needs certain buried depth, inspection
It looks into and maintenance has difficulties, generate point source from oil pipeline water clock or the crude oil leaked out and continuously spread, at leakage initial stage and sea
The deposits such as bed mud, sand mixing, the later period with following three state presence, respectively emersion sea, be diffused in water body, formed sink to the bottom
Oil.Wherein, is formationed for sinking to the bottom oil includes: that density ratio receives the obvious big crude oil quality of water body and can directly sink to seabed, is formed and is sunk
Base oil；The partial density few crude oil quality and refinery oil big with water body is received is initially in drifting state, after slacking
Density increases, and partially sinks to seabed and is mixed to form with deposit and sinks to the bottom oil.Currently, there is " echo reflection spy due to sinking to the bottom oil
Levy relatively weak and prominent without obvious shadow region " the characteristics of, the prior art can not the simple and effective accurate knowledge realized to oil is sunk to the bottom
It not and detects, therefore, using upper extremely inconvenient.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide a kind of to sink to the bottom oily identification side based on sonar image feature
Method, it is easy to use, it can effectively identify and clear up and sink to the bottom oil.
To achieve the goals above, the technical solution adopted by the present invention are as follows: a kind of that oil is sunk to the bottom based on sonar image feature
Recognition methods characterized by comprising the distributed areas of detection target are investigated and analysed, according to the distribution to oil is sunk to the bottom
The requirement of range and detection accuracy selects specific sonar and sample frequency, adopts to the sonar signal of search coverage
Collection；According to the collection result of sonar signal, sonar data is read out, extracts sonar data, to carry out at sonar signal
Reason and imaging；The shape to rise and fall respectively from the size of acquisition sonar data field angle, sea-floor relief to the imaging of the sonar signal
It condition and sinks to the bottom that seabed caused by oil is smooth or degree of roughness changes three aspects and is analyzed and processed, sinks to the bottom oil to identify
Distributed areas.
Oily identifying system is sunk to the bottom based on sonar image feature another object of the present invention is to provide a kind of, feature exists
In, comprising: acquisition unit is investigated and analysed for the distributed areas to detection target, according to the distribution for sinking to the bottom oil
With the requirement of detection accuracy, specific sonar and sample frequency are selected, the sonar signal of search coverage is acquired；Place
Reason unit is read out sonar data for the collection result according to sonar signal, sonar data is extracted, to carry out sound
Receive signal processing and imaging；Recognition unit, for the imaging to the sonar signal respectively from acquisition sonar data field angle
Situation that size, sea-floor relief rise and fall and sink to the bottom that seabed caused by oil is smooth or degree of roughness changes three aspects and analyzed
Processing, to identify the distributed areas for sinking to the bottom oil.
The invention has the benefit that
It realizes simply, it is special according to the sonar response for sinking to the bottom oil based on the present invention is acquired by sonar data, read and handled
Sign, recognizes according to sonar image to oil is sunk to the bottom.According to the feature for sinking to the bottom oil, the sonar of suitable type and suitable is selected
Frequency acquisition detection target is acquired, be to grind with sonar image according to the signal processing and processing result image of data
Study carefully object, according to sink to the bottom oil sonar response characteristic identified and described to oil is sunk to the bottom, can be realized to sinking to the bottom oil carry out just
Really identification and accurate description have the characteristics that identification is accurate and it is convenient to operate.In the later period cleaning for oil spilling, marine environmental monitoring
With the technical field of protection, there is huge application potential and broad application prospect.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the flow diagram of the invention that sink to the bottom oily recognition methods based on sonar image feature；
Fig. 2 is the embodiment schematic diagram of recognition methods of the invention；
Fig. 3 is the structural schematic diagram of the invention that sink to the bottom oily identifying system based on sonar image feature；
Fig. 4 is the influence test effect figure of echo reflection feature of the invention to reflected energy；
Fig. 5 is the sonar image test effect figure of different frequency of the invention.
Specific embodiment
As used some vocabulary to censure specific components in the specification and claims.Those skilled in the art answer
It is understood that hardware manufacturer may call the same component with different nouns.This specification and claims are not with name
Mode of the difference of title as differentiation component, but using the difference of component functionally as the criterion distinguished.Such as said in the whole text
The "comprising" of bright book and claim mentioned in is an open language, therefore should be construed to " including but not limited to ".It is " big
Cause " refer within the acceptable error range, those skilled in the art can solve the technology within a certain error range and ask
Topic, basically reaches the technical effect.Specification subsequent descriptions are to implement the better embodiment of the application, and so description is
For the purpose of the rule for illustrating the application, it is not intended to limit the scope of the present application.The protection scope of the application is when view institute
Subject to attached as defined in claim.
Fig. 1 is please referred to, it is of the invention that oily recognition methods is sunk to the bottom based on sonar image feature, comprising: step S101, to spy
The distributed areas for surveying target are investigated and analysed, and according to the requirement to the distribution and detection accuracy that sink to the bottom oil, are selected specific
Sonar and sample frequency, the sonar signal of search coverage is acquired；Step S102, according to the acquisition of sonar signal
As a result, being read out to sonar data, sonar data is extracted, to carry out signal processing and imaging；Step S103, to institute
It states situation that the imaging of sonar signal rises and falls from the acquisition size of sonar data field angle, sea-floor relief respectively and sinks to the bottom oil and draw
The seabed risen is smooth or degree of roughness changes three aspects and is analyzed and processed, to identify the distributed areas for sinking to the bottom oil.
Preferably, the acoustic response signal characteristic for sinking to the bottom oil is acquired, i.e., using side-scan sonar, multi-beam sonar etc.
Sonar takes different forms according to test environment, for example, the mode of boat-carrying is taken under marine environment, anechoic tank ring
The mode etc. that towing is taken under border is acquired the acoustic response characteristics signal of research object.
Preferably, under the premise of sonar data effectively acquires, the principle of sonar and characteristic are analyzed first.
Wherein, the sonar sweeps sonar (> 350kHz) using high frequency side, good with rapid Cover detection area, offer
Good sinks to the bottom the advantages of oily detection result sinks to the bottom oil detection with realization small area.
Preferably, the sonar uses high frequency, multiple beam sonar (> 350kHz), and having can provide sea-floor relief
Pseudo- color image, can provide sounding chart for sink to the bottom oil detection the advantages of.
Preferably, the selection height of the frequency acquisition is inversely proportional with the distribution size for sinking to the bottom oil.
Preferably, sample frequency is low frequency < 350kHz, its advantage is that sonar image wave beam angular width, realizes large area
Sink to the bottom oily sonar detection.
Preferably, sample frequency is high-frequency > 350kHz, its advantage is that sonar image quality is preferable, realizes facet deposition
The precise measurement of base oil.
Preferably, it is analyzed and processed in terms of the size of acquisition sonar data field angle, specifically: increase with field angle
Greatly, echo reflection weakened, shown on sonar color image it is dimmed, tests prove that, recognition accuracy is 85.3%.
Preferably, it is analyzed and processed in terms of the situation that sea-floor relief rises and falls, specifically: the area to rise and fall with sea-floor relief
Domain, in raised position, there are highlight bars and zero area, and in recessed location, there are zero area and shadow regions, rise and fall in sea-floor relief
Little flat site, echo reflection intensity then changes with the variation of seabed degree of roughness, bright on equally distributed chromaticity diagram
Aobvious, lofty existing dark areas, it may be possible to the distributed areas of oil are sunk to the bottom, tests prove that, recognition accuracy reaches 80%.
Preferably, it is analyzed and processed from sinking to the bottom in terms of seabed caused by oil is smooth or degree of roughness changes, specifically: with
The variation of sea-floor relief degree of roughness, smooth and soft seabed, echo reflection intensity are weaker；Coarse and hard seabed, is returned
Wave reflection intensity is stronger, tests prove that, recognition accuracy is 88.3%.
As specific embodiment, the method comprise the steps that the first step, for the distribution and feature for sinking to the bottom oil,
The sonar signal of search coverage is acquired using the Klein3000 type of Klein company digital double frequency side-scan sonar equipment.
The region of 400m*400m of the investigative range centered on detecting target, survey line spacing are 50m；Second step, in sonar frequency band
Within the scope of, sonar data is acquired using the low frequency of 100kHz and the high-frequency of 500kHz；Third step, to sonar number
According to being read out and handle.During sonar data is read, the data for needing selective analysis are intercepted.Handle sonar number
During, sound intensity data are filtered and interpolation is handled,
Preferably, the extraction sonar data includes then successively being filtered, interpolation using filtering processing first
Processing, compensation deals and sea-floor relief Processing for removing.
Preferably, the imaging of the sonar signal is analyzed and processed including successively carrying out image preprocessing, image point
It cuts, the identification of feature extraction and image classification.
Referring to figure 2. and Fig. 3, of the invention that oily identifying system is sunk to the bottom based on sonar image feature, comprising: acquisition unit
101, it is investigated and analysed for the distributed areas to detection target, according to wanting to the distribution and detection accuracy for sinking to the bottom oil
It asks, selects specific sonar and sample frequency, the sonar signal of search coverage is acquired；Processing unit 102, is used for
According to the collection result of sonar signal, sonar data is read out, extracts sonar data, with carry out signal processing and
Imaging；Recognition unit 103, for the imaging to the sonar signal respectively from size, the seabed for acquiring sonar data field angle
The situation of hypsography and sink to the bottom that seabed caused by oil is smooth or degree of roughness changes three aspects and is analyzed and processed, to know
The distributed areas of oil Chu not sunk to the bottom.
Firstly, choosing the low frequency of 100kHz and the high-frequency of 500kHz for the distribution and feature that sink to the bottom oil, adopting
It is acquired with sonar signal of the side-scan sonar equipment to search coverage.
In next step, sonar data is read.According to sonar detection as a result, being read out to sonar data, to carry out sonar
Signal processing and imaging are intercepted to comprising the part sonar data including target.
In next step, sonar data is handled.It is successively as follows to the processing method of sound intensity data: sound intensity data are filtered and
Interpolation processing compensates processing for signal and energy loss, carries out sea-floor relief Processing for removing.
In next step, sonar image is handled.According to the display of sonar data as a result, successively carrying out image preprocessing, image point
It cuts, feature extraction and image recognition, thus obtains the acoustics imaging characteristic for sinking to the bottom oil.Further according to the sonar chart for sinking to the bottom oil
Picture carries out image enhancement and image edge acuity, more accurately to carry out feature extraction and image recognition.
In next step, it analyzes to sinking to the bottom oily sonar image feature.According to echo reflection feature to the sonar chart for sinking to the bottom oil
As feature is analyzed (Fig. 4): the presence for sinking to the bottom oil can cause the variation of seabed degree of roughness, in the region for sinking to the bottom oil distribution,
Echo reflection energy dropoff, pseudo- color image is characterized by gray scale is dimmed；Because of landform protrusion or concave formation zero region, because heavy
The presence of base oil may change topography and landform character, and it is therefore possible to form the sonar image feature of weak energy reflection；With wave
Beam angle becomes larger, the phenomenon that will appear decrease on sinking to the bottom oily sonar image.
In next step, it explains and identifies to oil is sunk to the bottom to according to sonar image.Divide according to oily sonar image feature is sunk to the bottom
Analysis is as a result, explain and identify (Fig. 5) to oil is sunk to the bottom respectively using the sonar image of high and low frequency as research object.Wherein,
It is shown as sinking to the bottom region existing for oil because energy dies down, gray scale is dimmed in high-frequency sonar image, it be in combination with all-bottom sound
Image of receiving is recognized, and high-frequency sonar image is thus avoided to explain the presence of illusion, guarantees the certainty for sinking to the bottom oily sonar image.
Based on this, the boundary intensity feature, geometrical characteristic and the textural characteristics that sink to the bottom oily sonar image are extracted and is analyzed, passed through
The sonar image after image enhancement and image edge acuity is crossed, has sedimentary rock boundary obvious, the stronger feature of gray feature,
Textural characteristics are unobvious.
Preferably, the sonar image feature extraction of sample includes: to go out boundary intensity spy to sonar image sample extraction respectively
Sign, geometrical characteristic and textural characteristics, the scrambling presented in regional area according to the grey scale change of sonar image and part
The regularity of appearance extracts the boundary intensity feature and geometrical characteristic of sample, since change of properties is smaller inside single sample,
There is variation between sample and between sample and substrate, therefore, the textural characteristics variation of sample less, and has regularity.
Preferably, explain that sonar image includes: with sound intensity image mutually as goal in research, to sea-floor relief and oil-containing deposit
It explains.
Preferably, the selection height of the frequency acquisition is related to the recognition accuracy and fidelity for sinking to the bottom oil.
Preferably, the processing unit includes Second processing module, for extracting sound intensity data, first using at filtering
Reason, is then determined sound intensity sampling location, finally carries out interpolation processing to sound intensity data.
Preferably, the recognition unit connects storage unit, successively carries out for storing the imaging to the sonar signal
The acoustics imaging characteristic obtained after image preprocessing, image segmentation, feature extraction and image classification identification.
Test:
Anechoic tank bottom flat, the crude oil and sludge mixture, crude oil and sandstone mixture being arranged successively in pallet become silted up
It is unobvious to be followed successively by Dark grey (partially deep), Dark grey (partially shallow) and light gray, textural characteristics for mud and sandstone mixture.
Test effect: it according to oil-containing deposit recognition result, in conjunction with sonar image sample database, under test conditions, eliminates the noise
In the flat environment of bottom of gullet, crude oil can divide with sludge mixture, crude oil and sandstone mixture, mud and sandstone mixture
Differentiate Chu, accuracy rate 90%.
The invention has the benefit that
It realizes simply, it is special according to the sonar response for sinking to the bottom oil based on the present invention is acquired by sonar data, read and handled
Sign, recognizes according to sonar image to oil is sunk to the bottom.According to the feature for sinking to the bottom oil, the sonar of suitable type and suitable is selected
Frequency acquisition detection target is acquired, be to grind with sonar image according to the signal processing and processing result image of data
Study carefully object, according to sink to the bottom oil sonar response characteristic identified and described to oil is sunk to the bottom, can be realized to sinking to the bottom oil carry out just
Really identification and accurate description have the characteristics that identification is accurate and it is convenient to operate.In the later period cleaning for oil spilling, marine environmental monitoring
With the technical field of protection, there is huge application potential and broad application prospect.
Above description shows and describes several preferred embodiments of the present application, but as previously described, it should be understood that the application
Be not limited to forms disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations,
Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through in application contemplated scope described herein
It is modified.And changes and modifications made by those skilled in the art do not depart from spirit and scope, then it all should be in this Shen
It please be in the protection scope of appended claims.
Claims (7)
1. a kind of sink to the bottom oily recognition methods based on sonar image feature characterized by comprising
To detection target distributed areas investigate and analyse, according to sink to the bottom oil distribution and detection accuracy requirement,
Specific sonar and sample frequency are selected, the sonar signal of search coverage is acquired；
According to the collection result of sonar signal, sonar data is read out, extracts sonar data, to carry out at sonar signal
Reason and imaging, obtain sonar image；
The sonar image is analyzed and processed, to identify the distributed areas for sinking to the bottom oil；
Wherein, the sonar image is analyzed and processed, to identify the distributed areas for sinking to the bottom oil, comprising: to the sonar
Image successively carries out image preprocessing, image segmentation, feature extraction and image classification identification, obtains the acoustics imaging spy for sinking to the bottom oil
Levy data；It explains and identifies to oil is sunk to the bottom according to the acoustics imaging characteristic, to identify the distributed area for sinking to the bottom oil
Domain；Wherein, the feature extraction, comprising: boundary intensity feature, geometrical characteristic and texture are extracted to the sonar image respectively
Feature；Wherein, the scrambling presented in regional area according to the grey scale change of sonar image and the regularity locally occurred,
Extract the boundary intensity feature and the geometrical characteristic.
2. according to claim 1 sink to the bottom oily recognition methods based on sonar image feature, which is characterized in that the acquisition
The selection height of frequency is related to the resolution ratio and fidelity for sinking to the bottom oily sonar image.
3. according to claim 1 sink to the bottom oily recognition methods based on sonar image feature, which is characterized in that
The extraction sonar data includes successively being filtered to carry out signal processing, interpolation processing, transmitting signal
The Processing for removing that compensation deals and sea-floor relief with energy loss influence.
4. a kind of sink to the bottom oily identifying system based on sonar image feature characterized by comprising
Acquisition unit is investigated and analysed for the distributed areas to detection target, according to the distribution and spy for sinking to the bottom oil
The requirement for surveying precision, selects specific sonar and sample frequency, is acquired to the sonar signal of search coverage；
Processing unit is read out sonar data for the collection result according to sonar signal, extracts sonar data, with
Signal processing and imaging are carried out, sonar image is obtained；
Recognition unit, for successively carrying out image preprocessing, image segmentation, feature extraction and image classification to the sonar image
Identification obtains the acoustics imaging characteristic for sinking to the bottom oil, and is solved according to the acoustics imaging characteristic to oil is sunk to the bottom
It releases and identifies, to identify the distributed areas for sinking to the bottom oil；Wherein, the feature extraction, comprising: the sonar image is mentioned respectively
Take out boundary intensity feature, geometrical characteristic and textural characteristics；Wherein, it is in regional area according to the grey scale change of sonar image
Existing scrambling and the regularity locally occurred extract the boundary intensity feature and the geometrical characteristic.
5. according to claim 4 sink to the bottom oily identifying system based on sonar image feature, which is characterized in that the acquisition
The selection height of frequency is related to the resolution ratio and fidelity for sinking to the bottom oily sonar image.
6. according to claim 4 sink to the bottom oily identifying system based on sonar image feature, which is characterized in that the processing
Unit includes first processing module, for selecting different frequency according to the preliminary judgement to identification target, is carried out to sonar data
Acquisition.
7. according to claim 4 sink to the bottom oily identifying system based on sonar image feature, which is characterized in that the processing
Unit includes Second processing module, for being filtered to sonar data, interpolation processing, transmitting signal and energy loss
The Processing for removing that compensation deals and sea-floor relief influence.
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| CN107632305B (en) * | 2017-09-11 | 2021-04-09 | 河海大学 | Autonomous sensing method and device for local submarine topography based on profile sonar scanning technology |
| CN110907937B (en) * | 2018-09-18 | 2022-01-11 | 中国科学院声学研究所 | Buried object synthetic aperture three-dimensional imaging method based on T-shaped array |
| CN111652149A (en) * | 2020-06-04 | 2020-09-11 | 青岛理工大学 | Deep convolutional neural network-based benthonic oil sonar detection image identification method |
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| CN104991288A (en) * | 2015-07-09 | 2015-10-21 | 大连海事大学 | Marine submergent oil detection system and method based on sonar and electromagnetic cooperative detection technology |
| CN204731434U (en) * | 2015-07-09 | 2015-10-28 | 大连海事大学 | Stay under water oily pick-up unit in a kind of ocean of working in coordination with Detection Techniques based on sonar electromagnetism |
| CN105699956A (en) * | 2016-03-17 | 2016-06-22 | 天津海之星海洋科技发展有限公司 | Chirp sonar hardware structure |
| CN106093955A (en) * | 2016-07-12 | 2016-11-09 | 李颖 | A kind of stay under water oil apparatus and method based on microwave modulation laser acquisition |
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| US7652952B2 (en) * | 2004-08-02 | 2010-01-26 | Johnson Outdoors Inc. | Sonar imaging system for mounting to watercraft |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991288A (en) * | 2015-07-09 | 2015-10-21 | 大连海事大学 | Marine submergent oil detection system and method based on sonar and electromagnetic cooperative detection technology |
| CN204731434U (en) * | 2015-07-09 | 2015-10-28 | 大连海事大学 | Stay under water oily pick-up unit in a kind of ocean of working in coordination with Detection Techniques based on sonar electromagnetism |
| CN105699956A (en) * | 2016-03-17 | 2016-06-22 | 天津海之星海洋科技发展有限公司 | Chirp sonar hardware structure |
| CN106093955A (en) * | 2016-07-12 | 2016-11-09 | 李颖 | A kind of stay under water oil apparatus and method based on microwave modulation laser acquisition |
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