KR102321585B1 - Apparatus and method for detecting fish groups using the sonar system - Google Patents

Abstract

Disclosed is a method for detecting a shoal of fish using a sonar system, which detects the accurate location of a shoal of fish. According to the present invention, the method comprises the following steps: using an ultrasonic signal, which is transmitted toward a second ship by using the first sonar installed in a first ship, and a GPS signal to calculate a distance between the first ship and the second ship; transmitting an ultrasonic signal towards the bottom by using the first sonar of the first ship and receiving the ultrasonic signal reflected from the bottom by using a second sonar of the second ship; using information on the time when the ultrasonic signal is received by the second sonar of the second ship to set an underwater area between the first ship and the second ship as a detection area; using the first sonar of the first ship to receive a first ultrasonic signal transmitted into the detection area and then reflected by a shoal of fish; using the second sonar of the second ship to receive a second ultrasonic signal transmitted into the detection area and reflected by the shoal of fish; determining the location of the shoal of fish by using a transmission/reception time of the first ultrasound signal and a transmission/reception time of the second ultrasound signal; and displaying the determined location of the shoal of fish on a display.

Description

Apparatus and method for detecting fish groups using the sonar system

The present invention relates to an apparatus and method for detecting a fish group using a sonar system. In more detail, according to one disclosure according to the present invention, an apparatus and method for detecting a fish group in water using a sonar system mounted on at least two ships are disclosed.

A fish group finder is a device to check the existence of a group of fish in water, and the basic principle is the echo principle. Basically, an oscillator for generating and transmitting electrical vibrations to a transmitter, the transmitter for emitting ultrasonic waves into the water, a receiver for receiving an echo, an amplifier for amplifying the weak echo received from the receiver, and an echo It consists of an indicator indicating the situation in a record or video, and power necessary to operate the entire fish finder.

In the fish group detector configured in this way, the ultrasonic wave transmitted from the transmitter is reflected by the fish group or the seabed in the water and is received by the transmitter again. Then, the round-trip time from transmission to reception of the received sound wave is converted into a distance to display the depth of the water. In addition, it analyzes the strength and weakness of the reflected wave and displays the size or density of the fish group, or the shape or quality of the seabed by color on the screen. Each time the fish finder fires an ultrasonic wave, the data from the fish finder pushes the screen in one direction to create a single image.

However, since the existing fish group detector consists of only one transmitter and receiver as shown in Fig. 1, the result of the fish group detection only estimates a one-dimensional distance, so the radius or approximate location of the fish group under the water surface (ie, r1, r2) ) can be estimated, and the exact location of the 　 group was not known.

KR 10-2016-0141247 A

A technical problem according to one disclosure relates to a technical feature of detecting a fish group using a sonar system installed on at least two ships.

According to an apparatus and method for detecting a fish group using a sonar system, the present invention is to detect an accurate position of a fish group based on a ship system installed on two ships.

Calculating the distance between the first ship and the second ship using the GPS signal and the ultrasonic signal transmitted toward the second ship using the first sonar installed in the first ship according to the first embodiment; Transmitting the ultrasonic signal toward the bottom using the first sonar, receiving the ultrasonic signal reflected from the bottom using the second sonar of the second vessel, the time the ultrasonic signal is received from the second sonar of the second vessel setting the underwater area between the first ship and the second ship as a detection area using the information on receiving the second ultrasonic signal transmitted into the detection area using the second sonar of the second vessel and then reflected by the fish group; It is possible to provide a method for detecting a fish school using a sonar system, comprising the steps of determining the location of the fish group using the method and displaying the determined location of the fish group on a display.

According to a second embodiment, it includes a communication unit, a display, a processor, and a memory for storing executable instructions, wherein the processor executes the instructions and transmits the ultrasonic waves toward the second vessel using the first sonar installed in the first vessel. Calculate the distance between the first ship and the second ship using the signal and the GPS signal, transmit the ultrasonic signal toward the bottom using the first sonar of the first ship, and use the second sonar of the second ship Receive the ultrasonic signal reflected from the bottom, set the underwater area between the first ship and the second ship as the detection area, using information about the time when the ultrasonic signal was received from the second sonar of the second ship, The first ultrasonic signal transmitted into the detection area using the first sonar of the first vessel and reflected by the fish group is received, and the second ultrasound signal transmitted into the detection area using the second sonar of the second vessel and then reflected by the fish group is received. Detecting a fish school using a sonar system that receives a signal, determines the position of the fish group using the transmission/reception time of the first ultrasound signal and the transmission/reception time of the second ultrasound signal, and displays the determined position of the fish group on a display A device can be provided for

According to the third embodiment, it is possible to provide a computer-readable non-transitory recording medium in which a program for implementing a method for detecting a fish group using at least one sonar system is recorded.

The present invention provides an apparatus capable of detecting fish groups using a sonar system installed on at least two ships.

The present invention provides a method for detecting a group of fish using a sonar system installed on at least two ships.

According to the apparatus and method for detecting a fish group using a sonar system, the present invention has the effect of detecting the exact position of a fish group based on a ship system installed on two ships.

1 is a view showing a feature of detecting a fish group using a single sonar system according to the prior art.
2 is a view showing a feature of detecting a fish group using a sonar system installed on at least two ships according to one disclosure.
3 is a flowchart illustrating a method for detecting a fish group using a sonar system according to one disclosure.
4 is a view for explaining a feature of determining the position of a fish group using the sonar system according to the disclosure.
FIG. 5 is a diagram for explaining the configuration of an apparatus for detecting a fish group using a sonar system according to one disclosure.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art can easily implement them. However, the present invention may be implemented in several different forms and is not limited to the embodiments disclosed below. In addition, in order to clearly disclose the present invention in the drawings, parts irrelevant to the present invention are omitted, and the same or similar symbols in the drawings indicate the same or similar components.

Objects and effects of the present invention can be naturally understood or made clearer by the following description, and the objects and effects of the present invention are not limited only by the following description.

The objects, features and advantages of the present invention will become more apparent from the following detailed description. In addition, in describing the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, an embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, the apparatus 100 for detecting a fish group using the sonar system will be abbreviated as the fish group detection apparatus 100 .

2 is a view showing a feature of detecting a fish group using a sonar system installed on at least two ships according to one disclosure.

According to one disclosure, the fish detection apparatus 100 may communicate with the first sonar installed in the first vessel and the second sonar installed in the second vessel.

SONAR is an abbreviation of Sound Navigation And Ranging, and refers to a device that detects a target using sound. Sonar is divided into 　active sonar and 　passive sonar depending on whether it detects an echo by transmitting a sound source or detecting noise from an object.

The transmission frequency of active sonar is 1KHz to 50KHz for sonar for detecting submarines and surface ships, and 50KHz to 900KHz for sonar for detecting mines. As the frequency increases, the detection distance decreases, but the resolution (resolution) increases.

Passive sonar does not send a signal, just listens to it, also called hydrophone. A powerful passive sonar that can use a low frequency band transmits a sound source in a relatively high frequency band over a wide range and then has to pick up the reflected wave again. It can detect the noise of ships or submarines. Passive sonar can detect 300 to 900 km (objects making loud noises) depending on the equipment.

The sonar included in the fish detection apparatus 100 in the present invention may be either an active sonar or a passive sonar.

According to one disclosure, the fish detection apparatus 100 may communicate with a sonar included in each of the vessels having different positions, not a single sonar. The fish group detection apparatus 100 may detect a fish group within the detection area by designating an underwater environment between the ship and the ship as the detection area.

In addition, the fish group detection apparatus 100 may determine the density, depth, type, etc. of the fish group by analyzing the properties of at least two ultrasonic waves reflected from the fish group, the transmission/reception signal of the ultrasonic waves, the signal strength, and the like.

Referring to FIG. 2 , the fish detection apparatus 100 may transmit an ultrasonic wave from the first sonar toward the floor, and the ultrasonic wave reflected from the floor may receive the second sonar. At this time, if the time that the ultrasonic wave transmitted from the first sonar reaches the bottom is t3 and the time that the ultrasonic wave reflected from the floor is received by the second sonar is t4, the depth from the ship to the floor is estimated using t3+t4. It is possible to determine the detection area in which the fish group can be detected.

Also, the fish detection apparatus 100 may transmit a first ultrasonic wave from the first sonar to the detection area. In this case, when a fish group exists in the detection area, the first ultrasound that is reflected by the fish group or is diffracted and returned may be acquired again.

In this case, the fish detection apparatus 100 may calculate a time t1 at which the first ultrasound is transmitted/received.

Also, the fish group detection apparatus 100 may transmit the second ultrasonic wave from the second sonar to the detection area and again acquire the second ultrasonic wave reflected or diffracted from the fish group. In this case, the fish detection apparatus 100 may calculate the transmission/reception time t2 of the second ultrasound.

The fish group detection apparatus 100 may calculate the location of the fish group using t1 and t2. Also, the fish group detection apparatus 100 may determine the density and type of the fish group by using the reception intensity of the first ultrasonic wave and the second ultrasonic wave.

It will be described in detail below.

3 is a flowchart illustrating a method for detecting a fish group using a sonar system according to one disclosure.

According to one disclosure, in block 301, the fish detection apparatus 100 is the distance between the first ship and the second ship using the ultrasonic signal and the GPS signal transmitted toward the second ship using the first sonar installed in the first ship. can be calculated.

According to one disclosure, in block 302, the fish detection apparatus 100 transmits an ultrasonic signal toward the bottom using the first sonar of the first vessel, and receives the ultrasonic signal reflected from the bottom using the second sonar of the second vessel. can receive

According to one disclosure, in block 303, the fish detection apparatus 100 uses the information on the time when the ultrasonic signal is received from the second sonar of the second ship, and sets the underwater area between the first ship and the second ship as the detection area. can be set.

According to one disclosure, in block 304 , the fish detection apparatus 100 may receive the first ultrasound signal reflected by the fish group after being transmitted into the detection area using the first sonar of the first vessel.

According to one disclosure, in block 305 , the fish group detection apparatus 100 may receive the second ultrasound signal reflected by the fish group after being transmitted into the detection area using the second sonar of the second vessel.

According to one disclosure, in block 306 , the fish detection apparatus 100 may determine the position of the fish group using the transmission/reception time of the first ultrasound signal and the transmission/reception time of the second ultrasound signal.

According to one disclosure, the fish group detection apparatus 100 may predict at least one fish species that may become a fish group based on the location of the fish group and the density of the fish group. Here, since the intensity of reflecting ultrasonic waves, the location of the fish group, the sea water temperature, etc. are different for each type of fish group, the fish group can be determined using previously learned information.

According to one disclosure, the fish detection apparatus 100 may sense external environmental information including temperature, humidity, wind direction, season, and weather around the first and second ships.

According to one disclosure, the fish detection apparatus 100 may sense ocean information including seawater temperature, ocean current change, and salinity at locations where the first and second ships are located.

According to one disclosure, the fish group detection apparatus 100 may determine the type of fish group based on external environment information and marine information.

According to one disclosure, the fish group detection apparatus 100 may detect a fish group using sonar included in another vessel other than the first and second vessels.

According to one disclosure, the fish detection apparatus 100 receives the GPS signal and the ultrasonic signal from the third sonar of the third ship in any one of the first and second ships, and the first and second ships and the third ship The distance between them can be calculated.

According to one disclosure, the fish detection apparatus 100 receives the ultrasonic signal transmitted from the third sonar of the third vessel to the bottom by the first vessel and the second vessel, and between the first vessel, the second vessel, and the third vessel. may be determined as the third detection area.

According to one disclosure, the fish group detection apparatus 100 may detect a fish group based on a vessel, a time, and an intensity that have received signals respectively transmitted from the first sonar, the second sonar, and the third sonar in the third detection area.

According to one disclosure, the fish group detection apparatus 100 may display the position and density of the detected fish group on the display.

According to one disclosure, the fish detection apparatus 100 may determine depth information in which a fish group is located based on transmission/reception times of the first ultrasound signal and the second ultrasound signal.

According to one disclosure, the fish group detection apparatus 100 may determine the density of the fish group based on depth information and the intensity of the reflected first and second ultrasonic signals.

According to one disclosure, the fish group detection apparatus 100 may generate coordinate information of the fish group by using the depth information and the density of the fish group.

According to one disclosure, the fish group detection apparatus 100 may acquire location information of fish groups located within a predetermined distance from the first ship and the second ship using the artificial intelligence learning model.

Here, the AI learning model learns the correlation between a plurality of ocean information and a plurality of external environment information and positions of a plurality of fish groups.

According to one disclosure, the fish group detection apparatus 100 may generate the location information of the fish group when the probability that the fish group is located within a predetermined distance from the current ship position is equal to or greater than a threshold value.

According to one disclosure, in block 307, the fish detection apparatus 100 may display the determined position of the fish group on the display. Here, the display may include a display installed in each vessel. In addition, it may include a mobile terminal such as a user terminal.

According to one disclosure, the fish detection apparatus 100 may transmit the second ultrasonic wave to the detection area by using the second sonar of the second vessel while the position of the first vessel is fixed and the position of the second vessel is moved.

According to one disclosure, the fish detection apparatus 100 may transmit a command to stop the movement of the second vessel in response to receiving the second ultrasonic wave from the first sonar.

According to one disclosure, the fish group detection apparatus 100 may determine the location of the fish group and the density of the fish group based on the position of the second vessel, the time at which the second sonar received the second ultrasonic wave, and the reception intensity.

According to one disclosure, the fish group detection apparatus 100 may predict the type of the fish group based on the location of the fish group and the density of the fish group.

According to one disclosure, the fish detection apparatus 100 may display information on the fish group on the display.

4 is a view for explaining a feature of determining the position of a fish group using the sonar system according to the disclosure.

According to one disclosure, when the time for receiving the first ultrasound signal from the second sonar is less than the time for receiving the ultrasound signal reflected from the floor at the second sonar, the fish detection apparatus 100 reflects the first ultrasound signal from the fish group. it can be decided that

The fish detection apparatus 100 compares t1 and t2, and when t1 is a smaller value, it can be seen that the fish group is close to the first vessel (S1), and when t2 is a smaller value, the fish group is the second vessel ( It can be determined that it is located closer to S2).

FIG. 5 is a diagram for explaining the configuration of an apparatus for detecting a fish group using a sonar system according to one disclosure.

According to one disclosure, the fish detection apparatus 100 may include a communication unit 1300 that communicates with the first sonar 201 and the second sonar 220 . Also, the fish detection apparatus 100 may include a display 1400 , a memory 1200 , and a processor 1100 .

According to one disclosure, the communication unit 1300 may include one or more components for communicating with at least one sonar, another device (not shown), and a server (not shown). The other device (not shown) may be a computing device such as the fish detection device 100 or a sensing device, but is not limited thereto. For example, the communication unit 1300 may include a short-distance communication unit, a mobile communication unit, and a broadcast receiving unit.

Short-range wireless communication unit, Bluetooth communication unit, BLE (Bluetooth Low Energy) communication unit, near field communication unit (Near Field Communication unit), WLAN (Wi-Fi) communication unit, Zigbee communication unit, infrared (IrDA) It may include a data association) communication unit, a Wi-Fi Direct (WFD) communication unit, an ultra wideband (UWB) communication unit, an Ant+ communication unit, and the like, but is not limited thereto.

The mobile communication unit transmits/receives a radio signal to and from at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include various types of data according to transmission/reception of a voice call signal, a video call signal, or a text/multimedia message.

The broadcast receiver receives a broadcast signal and/or broadcast-related information from the outside through a broadcast channel. The broadcast channel may include a satellite channel and a terrestrial channel. According to an embodiment, the fish detection apparatus 100 may not include a broadcast receiver.

According to one disclosure, the position measuring unit 1500 may include at least one position measuring module for deriving a current position coordinate value of a ship. The location information of the vessel may be, for example, GPS location information, but is not limited thereto. Specifically, the position measurement unit 1500 is a GPS (Global Positioning System), PDR (Pedestrian Dead Reckoning), wireless communication (eg, Wifi, mobile communication network, etc.) or short-range communication means (eg, Bluetooth, Zigbee, etc.) ), etc., can be used to obtain the location information of the vessel.

For example, the position measuring unit 1500 may include at least one of a GPS module, an inertial navigation module, and an altitude measuring module.

According to one disclosure, the fish detection apparatus 100 may further include a sensing unit for sensing information about the surrounding environment around the vessel. The sensing unit may include at least one of a magnetic sensor, an acceleration sensor, a temperature/humidity sensor, an infrared sensor, a gyroscope sensor, a position sensor, a barometric pressure sensor, a proximity sensor, and an RGB sensor. However, the present invention is not limited thereto. Since a function of each sensor can be intuitively inferred from the name of a person skilled in the art, a detailed description thereof will be omitted.

According to one disclosure, the processor 1100 included in the fish detection apparatus 100 may perform the method of the present application by executing one or more instructions.

The processor 1100 generally controls the overall operation of the fish detection apparatus 100 . For example, the processor 1100 may generally control other components included in the fish finding apparatus 100 by executing programs stored in the memory 1200 . In addition, the processor 1100 may execute the programs stored in the memory 1200 to perform the function of the fish detection apparatus 100 . The processor 1100 may include at least one processor. The processor 1100 may include a plurality of processors or a single processor in an integrated form according to functions and roles thereof. In an embodiment, the processor 1100 may include at least one processor that provides a notification message by executing at least one program stored in the memory 1200 .

The memory 1200 may store a program for processing and control of the processor 1100 , and may store data input to or output from the fish detection apparatus 100 .

The memory 1200 is a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD or XD memory 1200 ), etc. ), RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory , a magnetic disk, and an optical disk may include at least one type of storage medium.

Programs stored in the memory 1200 may be classified into a plurality of modules according to their functions, where the plurality of modules are software, not hardware, and refer to modules that are functionally operated.

The memory 1200 may store a program for processing and controlling the processor 1100 , and may store an image input to the fish detection apparatus 100 or guide information output from the fish detection apparatus 100 . Also, the memory 1200 may store specific information for determining whether guide information is output.

The processor 1100 according to an embodiment may include a data learning unit 11001 and a data recognition unit 1102 .

At least one of the data learning unit 1101 and the data recognition unit 1102 may be manufactured in the form of at least one hardware chip and mounted in an electronic device. For example, at least one of the data learning unit 1101 and the data recognition unit 1102 may be manufactured in the form of a dedicated hardware chip for artificial intelligence (AI), or a conventional general-purpose processor (eg, CPU) Alternatively, it may be manufactured as a part of an application processor) or a graphics-only processor (eg, GPU) and mounted on the various electronic devices described above.

In this case, the data learning unit 1101 and the data recognition unit 1102 may be mounted on one electronic device or may be mounted on separate electronic devices, respectively. For example, one of the data learning unit 1101 and the data recognition unit 1102 may be included in the electronic device, and the other one may be included in the server. In addition, the data learning unit 1101 and the data recognition unit 1102 may provide the model information built by the data learning unit 1101 to the data recognition unit 1102 through a wired or wireless connection, and the data recognition unit ( Data input to 1102 may be provided to the data learning unit 1101 as additional learning data.

Meanwhile, at least one of the data learning unit 1101 and the data recognition unit 1102 may be implemented as a software module. When at least one of the data learning unit 1101 and the data recognition unit 1102 is implemented as a software module (or a program module including instructions), the software module is a computer-readable non-transitory readable It may be stored in a recording medium (non-transitory computer readable media). Also, in this case, at least one software module may be provided by an operating system (OS) or may be provided by a predetermined application. Alternatively, a part of the at least one software module may be provided by an operating system (OS), and the other part may be provided by a predetermined application.

The memory 1200 may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD or XD memory), and a RAM. (RAM, Random Access Memory) SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic disk , may include at least one type of storage medium among optical disks.

Programs stored in the memory 1200 may be classified into a plurality of modules according to their functions, for example, may be classified into a UI module, a touch screen module, a notification module, and the like.

The UI module may provide a specialized UI, GUI, and the like that is interlocked with the fish detection apparatus 100 for each application. The touch screen module may detect a touch gesture on the user's touch screen and transmit information about the touch gesture to the processor 1100 . The touch screen module according to an embodiment may recognize and analyze a touch code. The touch screen module may be configured as separate hardware including a controller.

An embodiment may also be implemented in the form of a recording medium containing instructions executable by a computer, such as a program module executed by a computer. Computer-readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. Also, computer-readable media may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transport mechanism, and includes any information delivery media.

Also, in this specification, "unit" may be a hardware component such as a processor or circuit, and/or a software component executed by a hardware component such as a processor.

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

20: load
30: Ground
100: input node
300: charge/discharge node

Claims (10)

calculating a distance between the first ship and the second ship by using the ultrasonic signal and the GPS signal transmitted toward the second ship using the first sonar installed in the first ship;
transmitting an ultrasonic signal toward the bottom using a first sonar of the first vessel, and receiving an ultrasonic signal reflected from the bottom by using a second sonar of the second vessel;
The underwater area between the first ship and the second ship is detected by using the information on the distance between the first ship and the second ship and the time when the ultrasonic signal is received from the second sonar of the second ship. set to;
receiving a first ultrasonic signal transmitted into the detection area using a first sonar of the first vessel and reflected by the fish group;
receiving a second ultrasonic signal transmitted into the detection area using a second sonar of the second vessel and reflected by the fish group;
determining the position of the fish group using the transmission/reception time of the first ultrasound signal and the transmission/reception time of the second ultrasound signal; and
Displaying the determined position of the fish group on a display,
The step of determining the position of the fish group,
determining the 3D coordinates of the fish group by using the transmission/reception time of the first ultrasound signal and the second ultrasound signal;
The 3D coordinates are
It is determined based on the second ultrasound transmitted to the detection area using a second sonar of the second vessel while moving the position of the second vessel while the position of the first vessel is fixed,
A method for detecting fish stocks using a sonar system. The method of claim 1,
When the time for receiving the first ultrasound signal from the second sonar is less than the time for receiving the ultrasound signal reflected from the bottom at the second sonar, it is determined that the first ultrasound signal is reflected from the fish group A method for detecting fish groups using a sonar system. The method of claim 1,
determining depth information in which the fish group is located based on transmission/reception times of the first ultrasound signal and the second ultrasound signal; and
and determining the density of the school based on the depth information and the intensity of the reflected first and second ultrasound signals. According to claim 1,
The step of determining the position of the fish group,
and determining the 3D coordinates of the group of fish based on a position relative to the position of the first vessel. delete 4. The method of claim 3,
predicting at least one fish species that may become the fish group based on the location of the fish group and the density of the fish group;
sensing external environmental information including temperature, humidity, wind direction, season and weather around the first and second ships;
Sensing ocean information including seawater temperature, ocean current change, and salinity at locations where the first and second ships are located; and
and determining a type of the fish group based on the external environment information and the marine information. The method of claim 1,
transmitting a second ultrasonic wave to a detection area using a second sonar of the second vessel while moving the position of the second vessel while the position of the first vessel is fixed;
stopping the movement of the second vessel as the second ultrasonic wave is received by the first sonar;
determining the position of the fish group and the density of the fish group based on the position of the second vessel, the time at which the second sonar received the second ultrasonic wave, and the reception intensity;
predicting the type of the fish group based on the location of the fish group and the density of the fish group; and
and displaying the information of the school on a display. The method of claim 1,
The method further comprising the step of obtaining location information of fish groups located within a predetermined distance from the first and second ships using an artificial intelligence learning model,
The artificial intelligence learning model is
As a result of learning the correlation between a plurality of marine information and a plurality of external environmental information and the positions of a plurality of fish groups, it generates location information of fish groups when the probability that a fish group is located within a predetermined distance from the current ship position is greater than or equal to a threshold value. A method for detecting a fish group using a sonar system, characterized in that. display;
processor; and
a memory for storing executable instructions;
The processor is
By executing the above instructions,
Calculate the distance between the first ship and the second ship using the ultrasonic signal and the GPS signal transmitted toward the second ship using the first sonar installed in the first ship,
Transmitting an ultrasonic signal toward the floor using the first sonar of the first vessel, and receiving the ultrasonic signal reflected from the floor using the second sonar of the second vessel,
The underwater area between the first ship and the second ship is detected by using the information on the distance between the first ship and the second ship and the time when the ultrasonic signal is received from the second sonar of the second ship. set to,
receiving a first ultrasonic signal transmitted into the detection area using the first sonar of the first vessel and reflected by the fish group;
receiving a second ultrasonic signal transmitted into the detection area using a second sonar of the second vessel and reflected by the fish group;
determining the position of the fish group using the transmission/reception time of the first ultrasound signal and the transmission/reception time of the second ultrasound signal;
The determined position of the fish group is displayed on the display,
The processor is
determining the 3D coordinates of the fish group by using the transmission/reception time of the first ultrasound signal and the second ultrasound signal;
The 3D coordinates are
It is determined based on the second ultrasound transmitted to the detection area using a second sonar of the second vessel while moving the position of the second vessel while the position of the first vessel is fixed,
A device for detecting fish groups using a sonar system. A computer-readable non-transitory recording medium in which a program for implementing the method of claim 1 is recorded.

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