CN114429160A - Echo detection-based artificial fish reef distribution characteristic analysis method - Google Patents
Echo detection-based artificial fish reef distribution characteristic analysis method Download PDFInfo
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- 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
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Abstract
The invention discloses an echo detection-based artificial fish reef distribution characteristic analysis method, which belongs to the technical field of marine monitoring and comprises the steps of obtaining echo detection data of artificial fish reefs in a sea area to be detected, converting the echo detection data into a two-dimensional matrix form, and drawing an echo diagram; filtering noise data points which do not belong to the water depth range of the sea area to be measured; binarizing the backscattering intensity data after the noise data points are filtered out to obtain a binarization matrix; eliminating the interference signals to obtain a binary matrix of the artificial fish reef pile; summing the binary matrixes of the artificial fish reef pile according to columns to obtain the thickness of a seabed echo layer in each pulse sound wave, and performing median filtering; setting a threshold value, and extracting sound wave pulses appearing in the artificial fish reef pile according to the threshold value; and drawing the artificial fish reef pile distribution diagram in the sea area to be tested by utilizing the longitude and latitude coordinates. The method can fully mine the echo detection data of the artificial fish reef pile, is simple to use, has extremely strong interpretability and is intuitive, and has high application value.
Description
Technical Field
The invention relates to the technical field of ocean monitoring, in particular to an echo detection-based artificial fish reef distribution characteristic analysis method.
Background
The artificial fish reef is a structure artificially arranged in the sea, and plays a role in protecting and recovering fishery resources by improving the marine ecological environment and building a marine organism habitat. According to different sea area characteristics and reef building purposes, the artificial fish reefs are different in types and arrangement modes, and common materials comprise natural stones, cement prefabricated parts, waste ships and the like. The relation between the distribution of the fish resource quantity in the artificial fish reef area and the reef body layout is of great importance to the construction and management of the artificial fish reef area.
The echo scattering ability of sea bed and fish is stronger than that of sea water, and it shows higher backscattering intensity, so that sea bed and fish school can be separated from echo signal, which is the basic condition for sea bed habitat and fishery echo detection. The fish reef detection is carried out by adopting a multi-beam or side-scan sonar, so that the instrument cost is high, the data processing algorithm is more complex, and ships need to be additionally configured for sailing; when the fish detector is used for detecting fish signals in the reef area, the reef position swept by the survey line is synchronously extracted, so that the additional material and time costs can be reduced. The invention patent of China with application number 202110046963.5 discloses a marine ranching seabed telemetering and identifying method based on acoustic data, which can identify seabed conditions, but can not accurately and effectively identify and analyze artificial fish reefs, and causes complex subsequent data processing.
At present, although the method for classifying the seabed sediment by using single-beam or split-beam echo detection is available, the existing method mainly depends on the difference of the waveform characteristics of the seabed echo signals, and the algorithm has high complexity and poor intuitive interpretability.
In view of the above, it is necessary to provide a new technical solution to solve the above problems.
Disclosure of Invention
In order to solve the technical problem, the application provides a reef pile distribution rule analysis method based on echo detection, which can be used for carrying out artificial fish reef pile detection by taking a two-dimensional image as a visual field, and is simple to use, extremely strong in interpretability and intuitive.
An echo detection-based method for analyzing distribution characteristics of an artificial fish reef pile comprises the following steps:
acquiring echo detection data of the artificial fish reef pile in the sea area to be detected, wherein the echo detection data comprises backscattering intensity, water depth and longitude and latitude coordinates;
converting the backscattering intensity data into a two-dimensional matrix form, and drawing an echo map;
filtering noise data points which do not belong to the water depth range of the sea area to be measured;
binarizing the backscattering intensity data in the form of a two-dimensional matrix after the noise data points are filtered out to obtain a binarized matrix;
carrying out connected domain detection on the binarization matrix of the backscattering intensity data, and eliminating interference signals to obtain a binarization matrix of the artificial fish reef pile;
summing the binary matrixes of the artificial fish reef pile according to columns to obtain the thickness of a seabed echo layer in each pulse sound wave, and performing median filtering;
setting a thickness threshold of a seabed echo layer, and extracting sound wave pulses appearing in the artificial fish reef pile according to the threshold;
and drawing the artificial fish reef pile distribution diagram in the sea area to be tested by utilizing the longitude and latitude coordinates.
Preferably, the method for acquiring echo sounding data of the artificial fish reef pile in the sea area to be tested, which comprises the backscatter intensity, the depth of water and the longitude and latitude coordinates, specifically comprises the following steps: and performing sailing type vertical detection on the sea area to be detected by using a single-beam or split-beam echo detector to obtain the echo detection data of the artificial fish reef pile.
Preferably, the columns of the two-dimensional matrix form backscatter intensity data correspond to data of each pulsed acoustic wave, and the rows of the two-dimensional matrix form backscatter intensity data correspond to different water depth data.
Preferably, the filtering out noise data points that do not belong to the water depth range of the sea area to be measured specifically includes:
and acquiring the water depth range and the submarine echo intensity threshold value of the sea area to be detected by browsing the echo map, and modifying the numerical value of the noise data point which does not belong to the water depth range of the sea area to be detected to be smaller than the submarine echo intensity threshold value.
Preferably, the binarizing the backscatter intensity data from which the noise data points are filtered to obtain a binarization matrix specifically includes:
and according to the submarine echo intensity threshold value, assigning the data which is larger than the submarine echo intensity threshold value in the two-dimensional matrix type backscatter intensity data to be 1, and assigning the residual backscatter intensity data to be 0.
Preferably, the connected domain detection is performed on the binarization matrix of the backscattering intensity data, the interference signal is eliminated, and the obtaining of the binarization matrix of the artificial fish reef pile specifically comprises:
carrying out connected domain detection on the binary matrix of the backscattering intensity data to obtain width size data of each connected domain;
classifying each connected domain according to the width size data;
setting a threshold value according to the classification result;
and filtering out the connected domains with the width sizes smaller than the threshold value to obtain a binary matrix of the artificial fish reef pile.
Compared with the prior art, the application has at least the following beneficial effects:
(1) compared with the conventional method which takes the waveform characteristics of the submarine echo signals as the classification principle, the method takes the two-dimensional image as the visual field to detect the artificial fish reef pile, and has clear principle, strong interpretability and intuition.
(2) The parameters related in the invention can be set without complex statistics and machine learning basis, and the method is simple and convenient to use.
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Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a general flow diagram of the present invention;
fig. 2 is an echo diagram obtained by visualizing acquired backscatter intensity data according to the embodiment of the present invention;
FIG. 3 is a histogram of the communication field width according to an embodiment of the present invention;
FIG. 4 is a diagram of the filtered redundant seafloor echoes of an embodiment of the present invention;
FIG. 5 is a graph of the thickness of an echo layer on the sea floor in an embodiment of the present invention;
FIG. 6 is a diagram of an artificial fish reef stack that is mistakenly detected in an embodiment of the present invention;
fig. 7 is a diagram of the artificial fish reef after the false detection data is filtered out in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The applicant finds that the seabed topography of the sediment bottom is flat and the bottom is uniform during fishery acoustic investigation in the artificial fish reef area, the thickness of the seabed echo layer is basically consistent, the thickness of the seabed strong echo layer at the place where the artificial fish reef is put in can be obviously thickened, and by utilizing the characteristics, the artificial fish reef pile in the collected echo detection data can be rapidly identified by manually checking the echo diagram, but when the fishery acoustic investigation fairway is long and the number of the artificial fish reef piles is large, an automatic data analysis method is urgently needed. Based on the situation, the invention discloses an artificial fish reef pile distribution characteristic analysis method based on echo detection, which takes an integral echo diagram as a visual field, adopts a two-dimensional image processing thought to detect the artificial fish reef pile and performs artificial fish reef pile distribution characteristic analysis according to the detection, and the establishment of the method has stronger application value for fully mining echo detection data and analyzing the relation between fish distribution and artificial fish reef pile layout, and simultaneously, a single-beam or split-beam echo detection instrument is also used for automatically extracting the coordinates of the artificial fish reef pile, so that the manpower and time consumption caused by introducing multiple beams or side scan sonar is avoided.
As shown in fig. 1-7, a method for analyzing distribution characteristics of an artificial fish reef based on echo detection comprises the following steps:
s100, acquiring echo detection data of the artificial fish reef pile in the sea area to be detected, wherein the echo detection data comprise the backscattering intensity, the depth of water and longitude and latitude coordinates.
Specifically, a single-beam or split-beam echo detector is used for carrying out navigation type vertical detection in the sea area to be detected, the backscattering intensity data in the echo detection data of the artificial fish reef pile are synchronously stored with longitude and latitude coordinates, and the water depth of the recorded echo data exceeds the seabed depth of the investigation sea area, so that the data of all the seabed of the investigation sea area can be acquired.
Preferably, a Simrad EY60 split beam echo detector is used for carrying out navigation type vertical detection in the sea area of the artificial fish reef pile to be researched, and the backscattering intensity data and the corresponding water depth data and longitude and latitude coordinates are synchronously stored. By checking the chart, the water depth of the sea area is about 4-25 m, the maximum height of the thrown natural stone artificial fish reef pile is not more than 3 m, and therefore the data storage set water depth is 60 m to ensure that the first echo signals of all the seabed of the sea area under investigation can be completely recorded.
And S200, converting the backscattering intensity data into a two-dimensional matrix form, and drawing an echo map. The columns of the two-dimensional matrix backscatter intensity data correspond to data for each pulsed acoustic wave, and the rows of the two-dimensional matrix backscatter intensity data correspond to each water depth data. The backscatter intensity data is converted into a two-dimensional matrix form for further analysis using image processing concepts.
Preferably, the echo map is generated using existing conventional echo sounding data post-processing software echo view or sonar5 software. Meanwhile, existing conventional echo sounding data post-processing software echoview or sonar5 software is used for extracting the back scattering intensity data of each pulse sound wave, corresponding water depth data and longitude and latitude coordinates. The backscattering intensity data are arranged into a two-dimensional matrix form and recorded as a matrix Sv, and the columns and the rows of the matrix Sv are respectively data of different pulse sound waves and different water depths. A total of 82597 pulses of valid echo data were collected for the survey. Visualization is performed by normalizing the matrix Sv to the (0,255) interval.
As shown in fig. 2, the first time of the sea bottom echo is obviously stronger than the second time and the third time, and the sea bottom echo at the place where the artificial fish reef is put is also obviously higher than the sediment bottom area from the thickness.
S300, filtering noise data points which do not belong to the water depth range of the sea area to be measured.
Specifically, the water depth range of the sea area to be detected is obtained by browsing the echo map, and the value of the noise data point which does not belong to the water depth range of the sea area to be detected is modified to be smaller than the sea floor echo intensity threshold value, so as to remove the second sea floor echo and other noises.
Preferably, the approximate water depth distribution range of the sea area to be detected is obtained by browsing the echo map, and the comparison with the sea map shows that the water depth distribution of the sea area to be detected based on the acoustic detection is basically consistent with the sea map, so that the accuracy and the usability of the data based on the acoustic detection are proved. And (3) properly expanding the water depth range to 2-30 meters as the range of the submarine echo layer extraction, and modifying data points which are not in the water depth range in the matrix Sv to-99 dB.
S400, binarizing the backscattering intensity data in the two-dimensional matrix form after the noise data points are filtered out to obtain a binarized matrix.
Specifically, a threshold value is set, the backscattering intensity data larger than the threshold value in the two-dimensional matrix form is assigned as 1, and the remaining backscattering intensity data is assigned as 0.
Preferably, since the submarine echo intensity is usually greater than-35 dB, the threshold is set to-35 dB, the matrix Sv is binarized with-35 dB as the threshold, the backscatter intensity data greater than-35 dB is assigned as 1, and the rest is 0. The generated binary matrix is denoted as Sv1, and the sea floor echo level in Sv1 should be 1.
As shown in fig. 4, by visualizing part of the sound waves of the matrix Sv1, the sea bottom is detected completely, and a small amount of noise and secondary sea bottom echo are also detected.
S500, connected domain detection is carried out on the binarization matrix of the backscattering intensity data, interference signals are removed, and the binarization matrix of the artificial fish reef pile is obtained.
Specifically, the method comprises the following specific steps:
s501, carrying out connected domain detection on a binarization matrix of the backscattering intensity data to obtain width size data of each connected domain;
s502, classifying each connected domain according to the width size data;
s503, setting a threshold value according to the classification result;
s504, filtering out the connected domains with the width sizes smaller than the threshold value to obtain a binary matrix of the artificial fish reef pile.
Preferably, the connected component detection is performed on the binarization matrix Sv1 to obtain a circumscribed rectangle of each connected component, and the width of the connected component is expressed by the width of the circumscribed rectangle. The width data of the connected component is sorted from small to large. The specific width data of the connected domain sequentially comprises from small to large: fish school and bubble, seabed secondary echo, real seabed. Setting the width threshold of the connected domain as w, and deleting the connected domain with the width smaller than w to eliminate the interference of fish school, air bubble, submarine secondary or multiple echo signals and the like. The setting of the width threshold w of the connected domain requires manual setting and adjustment by looking up the detection graph of the submarine echo layer.
As shown in fig. 3 and with reference to fig. 4, the sorted width data of the connected component is classified and counted, and is visually displayed in the form of histogram distribution. Since the number of connected components smaller than 10000 is large, the threshold w is set to 10000 as viewed through an echo diagram. And deleting the connected domain with the width less than w to eliminate the interference of fish swarm, bubbles, secondary or multiple echo signals on the seabed and the like, and recording the generated binary matrix of the artificial fish reef pile as Sv 2.
S600, summing the binary matrixes of the artificial fish reef pile according to columns to obtain the thickness of the seabed echo layer in each pulse sound wave, and performing median filtering.
Preferably, the matrix Sv2 is summed by column to obtain the thickness of the sea floor echo layer in each pulsed acoustic wave, and median filtered, denoted as vector T.
S700, setting a thickness threshold of the seabed echo layer, and extracting sound wave pulses appearing in the artificial fish reef pile according to the threshold.
As shown in fig. 5, a seabed echo layer thickness curve is drawn, the seabed echo layer thickness of the artificial fish reef pile throwing point is checked, the seabed echo layer thickness threshold value is set to be 0.7 m, and the sound wave pulse number appearing in the artificial fish reef pile is extracted.
And if two pulses in the detected sound wave pulses of the artificial fish reef pile are adjacent, the two pulses are considered to be echo signals of the same artificial fish reef pile, the sound wave pulses detected in the previous step are divided into different artificial fish reef piles, and the width of each artificial fish reef pile, namely the number of the sound wave pulses occupied by each reef pile, is calculated. Manually checking the width of the artificial fish reef pile, setting the threshold value to be 50, and deleting the artificial fish reef pile with the width smaller than the threshold value, as shown in fig. 6 and 7.
S800, drawing an artificial fish reef pile distribution map in the sea area to be tested by utilizing the longitude and latitude coordinates.
Preferably, the distribution map of the artificial fish reef pile on the investigated route is drawn according to the longitude and latitude of the position where the artificial fish reef pile appears.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An echo detection-based method for analyzing distribution characteristics of an artificial fish reef pile is characterized by comprising the following steps:
acquiring echo detection data of the artificial fish reef pile in the sea area to be detected, wherein the echo detection data comprises backscattering intensity, water depth and longitude and latitude coordinates;
converting the backscattering intensity data into a two-dimensional matrix form, and drawing an echo map;
filtering noise data points which do not belong to the water depth range of the sea area to be measured;
binarizing the backscattering intensity data in the form of a two-dimensional matrix after the noise data points are filtered out to obtain a binarized matrix;
carrying out connected domain detection on the binarization matrix of the backscattering intensity data, and eliminating interference signals to obtain a binarization matrix of the artificial fish reef pile;
summing the binary matrixes of the artificial fish reef pile according to columns to obtain the thickness of a seabed echo layer in each pulse sound wave, and performing median filtering;
setting a thickness threshold of a seabed echo layer, and extracting sound wave pulses appearing in the artificial fish reef pile according to the threshold;
and drawing the artificial fish reef pile distribution diagram in the sea area to be tested by utilizing the longitude and latitude coordinates.
2. The method for analyzing the distribution characteristics of the artificial fish reef based on echo sounding as claimed in claim 1, wherein the obtaining of the echo sounding data of the artificial fish reef including the backscatter intensity, the depth of water and the latitude and longitude coordinates in the sea area to be measured specifically includes: and performing sailing type vertical detection on the sea area to be detected by using a single-beam or split-beam echo detector to obtain the echo detection data of the artificial fish reef pile.
3. The method for analyzing distribution characteristics of artificial fish reef in accordance with claim 1, wherein the two-dimensional matrix form of the back scattering intensity data has a column corresponding to the data of each pulsed acoustic wave and a row corresponding to the data of different water depths.
4. The method of claim 1, wherein the step of filtering noise data points that do not fall within the depth range of the sea area to be measured comprises:
and acquiring the water depth range and the submarine echo intensity threshold value of the sea area to be detected by browsing the echo map, and modifying the numerical value of the noise data point which does not belong to the water depth range of the sea area to be detected to be smaller than the submarine echo intensity threshold value.
5. The method for analyzing the distribution characteristics of the artificial fish reef pile based on the echo sounding as claimed in claim 4, wherein the binarizing the backscattering intensity data after the noise data points are filtered out to obtain the binarizing matrix specifically comprises:
and according to the submarine echo intensity threshold value, assigning the data which is larger than the submarine echo intensity threshold value in the two-dimensional matrix type backscatter intensity data to be 1, and assigning the residual backscatter intensity data to be 0.
6. The method for analyzing distribution characteristics of an artificial fish reef based on echo sounding as claimed in claim 1, wherein the step of performing connected domain detection on the binarized matrix of the backscattering intensity data and eliminating the interference signal to obtain the binarized matrix of the artificial fish reef specifically comprises the steps of:
carrying out connected domain detection on the binary matrix of the backscattering intensity data to obtain width size data of each connected domain;
classifying each connected domain according to the width size data;
setting a threshold value according to the classification result;
and filtering out the connected domains with the width sizes smaller than the threshold value to obtain a binary matrix of the artificial fish reef pile.
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