CN107561545B - Fish shoal detection method and device and detector - Google Patents
Fish shoal detection method and device and detector Download PDFInfo
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Abstract
The embodiment of the disclosure provides a fish school detection method, which comprises the following steps: acquiring and displaying detection fish school information of a target fish school in a preset detection direction, wherein the fish school information comprises position information and size information; collecting and identifying images of a target fish school, and acquiring a corresponding identification result; the identification result comprises identification fish swarm information of the target fish swarm; and when the fish information which is not contained in the detected fish information is determined to be contained in the identified fish information, displaying the fish information which is not contained in the detected fish information in the identified fish information. The fish school detection method provided by the embodiment of the disclosure acquires and displays the detection fish school information of a target fish school in a preset detection direction, and can display the position information and the size information of the target fish school; and then, by identifying the image of the target fish school, fish school information which is not contained in the detected fish school information can be determined and displayed, so that the detected fish school information displayed in front is supplemented and displayed, and more accurate target fish school information can be acquired.
Description
Technical Field
The embodiment of the disclosure relates to the field of underwater detection, in particular to a fish shoal detection method, a fish shoal detection device and a fish shoal detection detector.
Background
With the development of science and technology, the development of fishery by means of modern equipment becomes an inaudible trend. At present, instruments for finding fishing objects, improving and developing fishing methods, improving fishing efficiency and fishing production, estimating the quantity of the fishing objects, determining marine organism resources, reasonably developing fishery resources in the open sea part of the world and the like are all called fishing-assistant instruments.
In the prior art, a sonar technology is frequently used in the fishing aid, and is used for determining the distance and the shape of an object, detecting and identifying the object and the outline in water through sound transmission and radiation. However, only the approximate contour of the target fish school can be obtained through the sonar technology, and accurate target fish school information cannot be obtained.
Disclosure of Invention
The embodiment of the disclosure provides a fish school detection method, a fish school detection device and a fish school detector, which can acquire accurate target fish school information.
The embodiment of the invention provides a fish school detection method, which comprises the following steps:
acquiring and displaying detection fish school information of a target fish school in a preset detection direction, wherein the fish school information comprises position information and size information;
acquiring and identifying images of the target fish school, and acquiring a corresponding identification result; wherein the identification result comprises identification fish swarm information of a target fish swarm;
and when determining that the fish images contained in the images can be matched with the fish images stored in a preset database, displaying classification information corresponding to the fish images contained in the images, wherein the preset database is used for storing the corresponding relation between the fish images and the classification information.
Optionally, the identification result further includes classification information of a target fish school, and the fish school detection method further includes:
and when the fish swarm information which is not contained in the detection fish swarm information is determined to be contained in the identification fish swarm information, displaying the fish swarm information which is not contained in the detection fish swarm information in the identification fish swarm information.
Optionally, a control instruction for determining whether to display the classification information is received, and when the control instruction for determining not to display the classification information is received, the classification information is closed to be displayed.
Optionally, the obtaining of the detection fish school information of the target fish school in the preset detection direction includes:
three-dimensional position information of the target fish school is obtained through a sonar technology, and size information of the target fish school is estimated according to the echo intensity of sonar signal reflection and scattering.
Optionally, the obtaining of the three-dimensional position information of the target fish school by the sonar technology includes:
determining the distance between a target fish school and a detection source according to the time difference between the emission and the reception of the sonar signals;
obtaining the direction of a target fish school distance detection source by using a scanning sonar or an array sonar;
and acquiring the three-dimensional position information of the target fish school according to the distance and the direction of the target fish school from the detection source.
Optionally, the displaying of the detection fish school information of the target fish school in the preset detection direction includes: and displaying the detection fish information of the target fish school in the preset detection direction in a two-dimensional or three-dimensional mode.
Optionally, the displaying, in a two-dimensional or three-dimensional manner, the detection fish school information of the target fish school in the preset detection direction includes: and drawing a two-dimensional or three-dimensional fish swarm image corresponding to the detected fish swarm information, and displaying the fish swarm image.
Optionally, the drawing the two-dimensional fish school map corresponding to the detection fish school information includes:
the method comprises the steps of representing the position of a target fish school by taking a local geographic coordinate system with a detection source as an origin as reference and the position of a fish-shaped sketch map, and drawing a two-dimensional fish school map corresponding to detection fish school information; the placement position of the fish-shaped sketch map is used for indicating the horizontal position of the detection source detection fish school in the local geographic coordinate system, and the number of the fish-shaped sketch map is used for indicating the number of the fish in the target fish school detected by the position.
Optionally, the drawing the three-dimensional fish school map corresponding to the detection fish school information includes:
establishing a preset observation coordinate system according to a preset observation position and a preset observation angle;
determining projection coordinates of the three-dimensional position information of the target fish school to an imaging plane according to the corresponding relation between a preset observation coordinate system and a local geographical coordinate system;
placing a fish-shaped sketch at the projection coordinates to form a projection image; in the projection image, the placement position of the fish-shaped sketch is used for representing the position of the target fish school relative to a preset observation position, and the number of the fish-shaped sketch is used for representing the number of the fishes in the target fish school detected by the position.
In addition, the present invention provides a fish shoal detecting apparatus comprising:
the detection unit is used for acquiring detection fish school information of a target fish school in a preset detection direction, wherein the fish school information comprises position information and size information;
the display unit is used for displaying the detection fish school information of the target fish school in the preset detection direction;
the acquisition unit is used for acquiring the image of the target fish school;
the identification unit is used for identifying the image of the target fish school and acquiring a corresponding identification result; wherein the identification result comprises identification fish swarm information of a target fish swarm; and controlling the display unit to display the classification information corresponding to the fish images contained in the images when determining that the fish images contained in the images can be matched with the fish images stored in a preset database.
In addition, the present invention provides a fish finder comprising:
a memory;
one or more processors; and
one or more modules stored in the memory and configured to be controlled by the one or more processors, the one or more modules to execute instructions for:
acquiring and displaying detection fish school information of a target fish school in a preset detection direction, wherein the fish school information comprises position information and size information;
acquiring and identifying images of the target fish school, and acquiring a corresponding identification result; wherein the identification result comprises identification fish swarm information of a target fish swarm;
and when determining that the fish images contained in the images can be matched with the fish images stored in a preset database, displaying classification information corresponding to the fish images contained in the images, wherein the preset database is used for storing the corresponding relation between the fish images and the classification information. The fish school detection method provided by the embodiment of the disclosure acquires and displays the detection fish school information of a target fish school in a preset detection direction, and can display the position information and the size information of the target fish school; and then, by identifying the image of the target fish school, fish school information which is not contained in the detected fish school information can be determined and displayed, so that the detected fish school information displayed in front is supplemented and displayed, and more accurate target fish school information can be acquired.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.
Fig. 1-1 is a schematic flow chart of a fish detection method according to some embodiments of the present disclosure;
fig. 1-2 are schematic diagrams of a process for obtaining position information of a target fish school according to some embodiments of the disclosure;
FIG. 2-1 is a schematic diagram of a two-dimensional display of a target fish school provided by certain embodiments of the present disclosure;
FIG. 2-2 is a schematic diagram of a two-dimensional display of a target fish school according to another embodiment of the present disclosure
FIG. 3 is a schematic diagram illustrating a three-dimensional display of a target fish school according to certain embodiments of the present disclosure;
FIG. 4 is a schematic flow chart of a fish detection method according to certain other embodiments of the present disclosure;
FIG. 5 is a schematic illustration of a display of a target fish school provided in certain other embodiments of the present disclosure;
FIG. 6 is a schematic flow chart of a fish detection method according to certain embodiments of the present disclosure;
fig. 7 is a schematic structural diagram of a fish detection device according to some embodiments of the present disclosure;
fig. 8 is a schematic structural diagram of a fish finder according to some embodiments of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The embodiment of the disclosure provides a fish school detection method, which comprises the following steps:
acquiring and displaying detection fish school information of a target fish school in a preset detection direction, wherein the fish school information comprises position information and size information;
acquiring and identifying images of the target fish school, and acquiring a corresponding identification result; wherein the identification result comprises identification fish swarm information of a target fish swarm;
and when the fish swarm information which is not contained in the detection fish swarm information is determined to be contained in the identification fish swarm information, displaying the fish swarm information which is not contained in the detection fish swarm information in the identification fish swarm information.
The fish school detection method provided by the embodiment of the disclosure acquires and displays the detection fish school information of a target fish school in a preset detection direction, and can display the position information and the size information of the target fish school; and then, by identifying the image of the target fish school, fish school information which is not contained in the detected fish school information can be determined and displayed, so that the detected fish school information displayed in front is supplemented and displayed, and more accurate target fish school information can be acquired.
Referring to fig. 1-1, a flow chart of a fish school detection method according to some embodiments is shown, and a specific implementation manner may be as follows.
102, acquiring and displaying detection fish information of a target fish school in a preset detection direction, wherein the fish school information comprises position information and size information.
In an optional embodiment, in step 102, the fish finder obtains detected fish information of a target fish in a preset detection direction, and displays the detected fish information through a display device of the fish finder. In another alternative embodiment, step 102 may also display the detected fish information through a display connected to the fish finder. Optionally, the fish finder may be mounted on a surface device or an underwater device, and the preset detection direction may be a central axis direction of the fish finder or a mounting direction of the fish finder.
And 106, matching the displayed detected fish swarm information according to the identification result, and displaying the fish swarm information which is not contained in the detected fish swarm information in the identified fish swarm information when the identified fish swarm information is determined to contain the fish swarm information which is not contained in the detected fish swarm information.
The fish school detection method provided by the embodiment of the disclosure acquires and displays the detection fish school information of a target fish school in a preset detection direction, and can display the position information and the size information of the target fish school; and then, by identifying the image of the target fish school, fish school information which is not contained in the detected fish school information can be determined and displayed, so that the detected fish school information displayed in front is supplemented and displayed, and more accurate target fish school information can be acquired.
In some optional embodiments described above, in step 102, the detected fish information of the target fish school is obtained by using a sonar technology, in optional step 102, the three-dimensional position information of the target fish school is obtained by using the sonar technology, and the size information of the target fish school is estimated according to the echo intensity reflected and scattered by the sonar signals. As shown in fig. 1-2, in an alternative embodiment, the obtaining of the three-dimensional position information of the target fish school by sonar technology may include the following.
1021. And determining the distance between the target fish school and the detection source according to the time difference between the emission and the reception of the sonar signals. Here, the detection source may be a sonar source. For example: the emission time of sonar signals is 10 a.m.: 00: 00, the time of receiving sonar signals is 10 a.m.: 00: 05, the time difference between the transmission time and the reception time is 5 s. Assuming that the transmission speed of the sonar signal is 340m/s, the distance between the target fish school and the detection source can be determined to be 850m (i.e. 340 multiplied by 5 divided by 2).
1022. And obtaining the direction of the target fish school from the detection source by using a scanning sonar or an array sonar.
In an alternative embodiment, the direction of the detection source for obtaining the distance between the target fish school and the scanning sonar may be: one beam is scanned at a time, the scanning space covered by one beam can be observed in one transceiving process, and if a fixed area is detected, the beam can be rotated by a mechanical method to be scanned step by step and cover the whole area. The direction of the single scan beam is the target direction, which includes the azimuth and the pitch.
In another alternative embodiment, the direction of the detection source for obtaining the distance between the target fish school and the detection source through the array sonar can be as follows: each sonar detection unit can observe the scanning space covered by one wave beam. A plurality of sonar detection units form a circular array, and target fish shoal conditions in different directions in a circular area can be detected simultaneously. The position of each sonar detection unit corresponds to the target direction of the target fish school relative to the array sonar, and the target direction comprises an azimuth angle and a pitch angle.
The target direction obtained by the above embodiment is the direction of the target fish school from the detection source.
1023. For example, if the front lower right is a body coordinate system, the calculation method is the following formula, wherein the front lower right coordinate system refers to the positive direction of an x axis by the front of the body, the positive direction of a y axis by the right of the body, and the positive direction of a z axis by the lower of the body.
Detector attitude matrix obtained by general navigation means
The three-dimensional coordinate P of the fish school position under the local geographic coordinate system (such as the local northeast coordinate system) with the detection source as the origin can be obtainedt。
Wherein x, y and z respectively represent an x axis, a y axis and a z axis,
three components of three-dimensional coordinates of fish school positions, b refers to a coordinate system of a machine body, t refers to a local geographic coordinate system, P represents the coordinate system which the coordinate system is referred to by the upper right corner b/t,
representing the attitude matrix between the b system and the t system. Optionally, in some embodiments of the present disclosure, the detection fish school information of the target fish school in the preset detection direction is displayed in a two-dimensional or three-dimensional manner. When the detected fish information is displayed in a two-dimensional manner, certain embodiments of the present disclosure may display the detected fish information in the following manner: and drawing a two-dimensional fish school map corresponding to the detected fish school information, and displaying the fish school map. Optionally, the drawing the two-dimensional fish school map corresponding to the detection fish school information includes: the method comprises the steps of representing the position of a target fish school by taking a local geographic coordinate system with a detection source as an origin as reference and the position of a fish-shaped sketch map, and drawing a two-dimensional fish school map corresponding to detection fish school information; the placement position of the fish-shaped sketch map is used for indicating the horizontal position of the detection source detection fish school in the local geographic coordinate system, and the number of the fish-shaped sketch map is used for indicating the number of the fish in the target fish school detected by the position. It should be understood that, in the above embodiment, the position information of the target fish school may be represented by the position of the target fish school, and the size information of the target fish school may be represented by the number of fish in the target fish school.
In some possible embodiments, step 102 displays the detected fish-swarm graph in a two-dimensional manner, which may be as shown in fig. 2-1, where the center of fig. 2-1 is a detection source, such as a sonar source, the position of the fish-shaped sketch is used to indicate the position of the target fish-swarm, the position direction and the distance of the fish-swarm are used to indicate the preset detection direction of the detection source for detecting fish, and the distance of the fish-swarm is used to indicate the distance of the target fish-swarm from the detection source. The number of the fish-shaped diagrams is used for indicating the number of the fishes in the target fish school detected at the position, optionally, a single fish-shaped diagram is used for indicating the target fish school detection result with a small number, and a plurality of fish-shaped diagrams are used for indicating the target fish school detection result with a large number at the position.
In some possible embodiments, when step 106 matches the displayed detected fish information according to the recognition result. If it is determined that the recognized fish information is consistent with the detected fish information, the display result of step 102 is not changed. And if the identification fish school information contains fish school information which is not contained in the detection fish school information, the detection fish school information displayed in the step 102 is additionally displayed. Optionally, step 106 also displays the fish information not included in the detected fish information in a two-dimensional manner, and in conjunction with fig. 2-1, step 106 may be as shown in fig. 2-2, and the fish-shaped diagram at mark a is a supplementary display to fig. 2-1.
In some alternative embodiments described above, steps 102 and 106 may display the herd map in three dimensions. When the detected fish information is displayed in a three-dimensional manner, certain embodiments of the present disclosure may display the detected fish information in the following manner: and drawing a three-dimensional fish school map corresponding to the detection fish school information, and displaying the fish school map. Optionally, the drawing the three-dimensional fish school map corresponding to the detection fish school information includes:
establishing a preset observation coordinate system according to a preset observation position and a preset observation angle;
determining projection coordinates of the three-dimensional position information of the target fish school to an imaging plane according to the corresponding relation between a preset observation coordinate system and a local geographical coordinate system;
placing a fish-shaped sketch at the projection coordinates to form a projection image; in the projection image, the placement position of the fish-shaped sketch is used for representing the position of the target fish school relative to a preset observation position, and the number of the fish-shaped sketch is used for representing the number of the fishes in the target fish school detected by the position.
Obtaining an observation coordinate system and local geographic coordinates from a preset observation position and a preset observation angleThe transition matrix between the systems is
The projection coordinates of the three-dimensional position information of the target fish school in the projection coordinate system are as follows:
wherein c represents an observation coordinate system.
In the projection image, the placement position of the fish-shaped diagram is used to indicate the position of the target fish school relative to the "preset observation position
The number of the fish-shaped sketch map is used for indicating the number of the fishes in the target fish group detected at the position. The 'preset observation position' comprises three-dimensional position information, and the preset observation position can be specifically set according to needs and can be optionally set through a received user interaction instruction. It should be understood that the "preset observation angle" can also be specifically set according to needs, and optionally can be set through received user interaction instructions.
Optionally, the initial effect of the three-dimensional fish swarm map may be the same as that of the two-dimensional fish swarm map, that is, the "preset observation position" takes the detection source as the initial position, and the "preset observation angle" takes azimuth north and pitch vertical downward as the initial angle.
In some embodiments, the shoal image is displayed in three dimensions as shown in fig. 3, and optionally, in addition to being able to display the effects as shown in fig. 2-1 and 2-2, the displayed shoal image may be moved, rotated, zoomed in, and zoomed out so that the user may understand and observe the detected object from different perspectives.
Referring to fig. 4, in some optional embodiments, the recognition result further includes classification information of the target fish school, and the fish school detection method further includes step 108: and when determining that the fish images contained in the images can be matched with the fish images stored in a preset database, displaying classification information corresponding to the fish images contained in the images, wherein the preset database is used for storing the corresponding relation between the fish images and the classification information. The specific display effect can be as shown in fig. 5. Some embodiments of the present disclosure shown in fig. 4-5 can display classification information corresponding to various types of fish in a target fish school, provide richer fish school information, and provide richer, objective, and accurate data for fishery development. Optionally, the preset database may be established as follows: taking a certain amount of fish images with finished classification information labeling as a training set, acquiring image features corresponding to all the fish images in the training set, and establishing a corresponding relation or an internal model between the image features and the classification information labeling, wherein the corresponding relation or the internal model can be regarded as the preset database. The corresponding classification information label of the fish image can be determined by utilizing the corresponding relation or the internal model.
Referring to fig. 6, in some optional embodiments, the fish detection method further includes step 110: and receiving a control instruction for determining whether to display the classified information, and closing to display the classified information when receiving the control instruction for determining not to display the classified information. In an alternative embodiment, the graphical user interface for displaying the classification information may include a control for receiving a control instruction or a button for closing the display of the classification information.
The fish school detection method provided by the embodiment of the disclosure can display the position information and the size information of the detected target fish school, and can determine and display fish school information which is not included in the detected fish school information by identifying the image of the target fish school, so as to perform supplementary display on the detected fish school information displayed in the front, thereby acquiring more accurate target fish school information. The fish finder system is more intelligent and wider in application due to the effective combination of the detection means and the fish information obtained by the visual means. Furthermore, the fish school information of the target fish school can be displayed in a two-dimensional or three-dimensional mode, and richer and more vivid content can be displayed. In addition, the classification information corresponding to various fishes in the target fish school can be determined, whether the classification information is displayed or not can be determined according to needs, more blank and intelligent content display can be provided for modern scientific fishery, and the development of the modern fishery can be accelerated.
Referring to fig. 7, an embodiment of the present disclosure provides a fish detection device, which includes a detection unit 700, a display unit 702, a collection unit 703, and an identification unit 704. The detection unit 700 is configured to obtain detection fish school information of a target fish school in a preset detection direction, where the fish school information includes position information and size information. A display unit 702, configured to display detected fish information of a target fish in a preset detection direction. The collecting unit 703 is configured to collect an image of the target fish school. The identification unit 704 is used for identifying the image of the target fish school and acquiring a corresponding identification result; wherein the identification result comprises identification fish swarm information of a target fish swarm; and when the fish information which is not included in the detection fish information is determined to be included in the identification fish information, controlling the display unit to display the fish information which is not included in the detection fish information in the identification fish information.
In an alternative embodiment, the detection unit 700 may be a fish finder including a detection source, which may be a sonar source. The display unit 702 may be a display, which may be a separate display connected to the detection unit 702, or a display provided in the detection unit 702 itself. The acquisition unit 703 may be a video camera or a camera, and the recognition unit 704 may be a program unit of the video camera or the camera, or a program unit connected to the acquisition unit 703. Optionally, the fish finder may be mounted on a surface device or an underwater device, and the preset detection direction may be a central axis direction of the fish finder or a mounting direction of the fish finder.
The fish school detection device provided by the embodiment of the disclosure acquires and displays detection fish school information of a target fish school in a preset detection direction, and can display position information and size information of the target fish school; and then, by identifying the image of the target fish school, fish school information which is not contained in the detected fish school information can be determined and displayed, so that the detected fish school information displayed in front is supplemented and displayed, and more accurate target fish school information can be acquired.
Referring to fig. 8, an embodiment of the present disclosure provides a fish finder, including:
a memory 800;
one or more processors 803; and
one or more modules 801 stored in the memory and configured to be controlled by the one or more processors, the one or more modules operable to execute instructions for:
acquiring and displaying detection fish school information of a target fish school in a preset detection direction, wherein the fish school information comprises position information and size information;
acquiring and identifying images of the target fish school, and acquiring a corresponding identification result; wherein the identification result comprises identification fish swarm information of a target fish swarm;
and when the fish swarm information which is not contained in the detection fish swarm information is determined to be contained in the identification fish swarm information, displaying the fish swarm information which is not contained in the detection fish swarm information in the identification fish swarm information.
The fish school detection method provided by the embodiment of the disclosure acquires and displays the detection fish school information of a target fish school in a preset detection direction, and can display the position information and the size information of the target fish school; and then, by identifying the image of the target fish school, fish school information which is not contained in the detected fish school information can be determined and displayed, so that the detected fish school information displayed in front is supplemented and displayed, and more accurate target fish school information can be acquired.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort. Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (10)
1. A fish shoal detection method, comprising:
acquiring and displaying detection fish school information of a target fish school in a preset detection direction, wherein the detection fish school information comprises position information and size information of the fish school;
acquiring and identifying images of the target fish school, and acquiring a corresponding identification result; wherein the identification result comprises identification fish swarm information of a target fish swarm;
matching the displayed detection fish swarm information according to the identification result, not changing the displayed detection fish swarm information when the identification fish swarm information is determined to be consistent with the detection fish swarm information, and displaying the fish swarm information which is not included in the detection fish swarm information in the identification fish swarm information when the identification fish swarm information is determined to include the fish swarm information which is not included in the detection fish swarm information;
and matching the fish images stored in a preset database according to the images, and displaying classification information corresponding to the fish images contained in the images when the fish images contained in the images are determined to be matched with the fish images stored in the preset database, wherein the preset database is used for storing the corresponding relation between the fish images and the classification information.
2. The fish finder method of claim 1, further comprising: and receiving a control instruction for determining whether to display the classified information, and closing to display the classified information when receiving the control instruction for determining not to display the classified information.
3. The fish finder method of claim 1, wherein obtaining the detected fish information of the target fish in the preset detection direction comprises:
three-dimensional position information of the target fish school is obtained through a sonar technology, and size information of the target fish school is estimated according to the echo intensity of sonar signal reflection and scattering.
4. The fish school detection method according to claim 3, wherein the acquiring three-dimensional position information of the target fish school by sonar technology comprises:
determining the distance between a target fish school and a detection source according to the time difference between the emission and the reception of the sonar signals;
obtaining the direction of a target fish school distance detection source by using a scanning sonar or an array sonar;
and acquiring the three-dimensional position information of the target fish school according to the distance and the direction of the target fish school from the detection source.
5. The fish finder method of any one of claims 1 to 4, wherein the displaying the detected fish information of the target fish in the preset detection direction comprises: and displaying the detection fish information of the target fish school in the preset detection direction in a two-dimensional or three-dimensional mode.
6. The fish school detection method according to claim 5, wherein the displaying the detected fish school information of the target fish school in the preset detection direction in a two-dimensional or three-dimensional manner comprises: and drawing a two-dimensional or three-dimensional fish swarm image corresponding to the detected fish swarm information, and displaying the fish swarm image.
7. The fish school detection method according to claim 6, wherein the step of drawing a two-dimensional fish school map corresponding to the detected fish school information comprises:
the method comprises the steps of representing the position of a target fish school by taking a local geographic coordinate system with a detection source as an origin as reference and the position of a fish-shaped sketch map, and drawing a two-dimensional fish school map corresponding to detection fish school information; the placement position of the fish-shaped sketch map is used for indicating the horizontal position of the detection source detection fish school in the local geographic coordinate system, and the number of the fish-shaped sketch map is used for indicating the number of the fish in the target fish school detected by the position.
8. The fish school detection method according to claim 6, wherein the step of drawing a three-dimensional fish school map corresponding to the detected fish school information comprises:
establishing a preset observation coordinate system according to a preset observation position and a preset observation angle;
determining projection coordinates of the three-dimensional position information of the target fish school to an imaging plane according to the corresponding relation between a preset observation coordinate system and a local geographical coordinate system;
placing a fish-shaped sketch at the projection coordinates to form a projection image; in the projection image, the placement position of the fish-shaped sketch is used for representing the position of the target fish school relative to a preset observation position, and the number of the fish-shaped sketch is used for representing the number of the fishes in the target fish school detected by the position.
9. A shoal of fish detection device, comprising:
the detection unit is used for acquiring detection fish school information of a target fish school in a preset detection direction, wherein the detection fish school information comprises position information and size information of the fish school;
the display unit is used for displaying the detection fish school information of the target fish school in the preset detection direction;
the acquisition unit is used for acquiring the image of the target fish school;
the identification unit is used for identifying the image of the target fish school and acquiring a corresponding identification result; wherein the identification result comprises identification fish swarm information of a target fish swarm;
the identification unit matches the displayed detection fish swarm information according to the identification result, does not change the displayed detection fish swarm information when the identification fish swarm information is determined to be consistent with the detection fish swarm information, and displays the fish swarm information which is not included in the detection fish swarm information in the identification fish swarm information when the identification fish swarm information is determined to include the fish swarm information which is not included in the detection fish swarm information;
the identification unit matches fish images stored in a preset database according to the images, and controls the display unit to display classification information corresponding to the fish images contained in the images when the fish images contained in the images are determined to be matched with the fish images stored in the preset database.
10. A fish finder, comprising:
a memory;
one or more processors; and
one or more modules stored in the memory and configured to be controlled by the one or more processors, the one or more modules to execute instructions for:
acquiring and displaying detection fish school information of a target fish school in a preset detection direction, wherein the detection fish school information comprises position information and size information of the fish school;
acquiring and identifying images of the target fish school, and acquiring a corresponding identification result; wherein the identification result comprises identification fish swarm information of a target fish swarm;
matching the displayed detection fish swarm information according to the identification result, not changing the displayed detection fish swarm information when the identification fish swarm information is determined to be consistent with the detection fish swarm information, and displaying the fish swarm information which is not included in the detection fish swarm information in the identification fish swarm information when the identification fish swarm information is determined to include the fish swarm information which is not included in the detection fish swarm information;
and matching the fish images stored in a preset database according to the images, and displaying classification information corresponding to the fish images contained in the images when the fish images contained in the images are determined to be matched with the fish images stored in the preset database, wherein the preset database is used for storing the corresponding relation between the fish images and the classification information.
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| CN108520511A (en) * | 2018-03-19 | 2018-09-11 | 中国海洋大学 | A kind of underwater fish target detection and identification method based on fish finder |
| JP7021025B2 (en) * | 2018-07-31 | 2022-02-16 | 古野電気株式会社 | Echo signal processing device, echo signal processing system, and echo signal processing method |
| CN109031324A (en) * | 2018-07-31 | 2018-12-18 | 河北工业大学 | A kind of removable shoal of fish sonar detection topological structure based on wind, light complementation |
| CN109146947B (en) * | 2018-09-04 | 2021-09-28 | 清华-伯克利深圳学院筹备办公室 | Marine fish three-dimensional image acquisition and processing method, device, equipment and medium |
| EP3761057A1 (en) * | 2019-07-03 | 2021-01-06 | Furuno Electric Co., Ltd. | Systems and methods for generating training dataset for discrimination of fish species |
| CN114185031A (en) * | 2020-09-15 | 2022-03-15 | Oppo广东移动通信有限公司 | Fish shoal positioning method and related device |
| CN112465778A (en) * | 2020-11-26 | 2021-03-09 | 江苏国和智能科技有限公司 | Underwater fish shoal observation device and method |
| CN113484867B (en) * | 2021-06-25 | 2023-10-20 | 山东航天电子技术研究所 | Method for detecting density of fish shoal in closed space based on imaging sonar |
| CN113875670B (en) * | 2021-10-08 | 2022-10-18 | 武汉理工大学 | Intelligent aquatic product accurate feeding platform and feeding method based on sonar array and visual identification |
| CN114019519B (en) * | 2022-01-05 | 2022-03-29 | 视丰达科技（深圳）有限公司 | Track recording method and equipment of leveling ranging fish finder |
| CN114076949B (en) * | 2022-01-07 | 2022-05-20 | 视丰达科技（深圳）有限公司 | Fish finder data identification processing method and device |
| CN117576839B (en) * | 2024-01-17 | 2024-05-10 | 深圳市雷铭科技发展有限公司 | Fishing ground state monitoring method and related device for electroless region |
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