CN119511404A

CN119511404A - A deep sea underwater target detection method, device, equipment and medium based on network collaboration

Info

Publication number: CN119511404A
Application number: CN202411569498.3A
Authority: CN
Inventors: 胡海岳; 东芳; 刘海义; 刘胜; 杜博
Original assignee: Wuhan University WHU
Current assignee: Wuhan University WHU
Priority date: 2024-11-05
Filing date: 2024-11-05
Publication date: 2025-02-25
Anticipated expiration: 2044-11-05
Also published as: CN119511404B

Abstract

The invention provides a method, a device, equipment and a medium for detecting a deep sea underwater target based on networking cooperative coordination, and relates to the field of deep sea fishing operation, wherein the method comprises the steps of establishing a detection networking by cooperative coordination of a plurality of fishing boats; the method comprises the steps of putting a preset number of cross-medium aircrafts and capturing underwater target signals of underwater targets, enabling the cross-medium aircrafts to approach the underwater targets according to detection position information, determining whether the underwater targets are fish swarm targets and whether the fish swarm targets are fishing fish swarm types, enabling the cross-medium aircrafts to continuously track the fish swarm targets, obtaining detection signals of the fish swarm targets and marine environment information of positions of the fish swarm targets, determining whether the fish swarm targets are suitable for fishing according to the marine environment information and the detection signals, establishing fishing networking according to the fishing environment parameters suitable for the fish swarm targets, and guiding fishing vessels to conduct fishing operation according to the fishing networking. The invention avoids the loss of the underwater target detection process in the single-ship fishing process, and improves the efficiency and scientificity of deep sea fishing.

Description

Deep sea underwater target detection method, device, equipment and medium based on networking cooperative coordination

Technical Field

The invention relates to the field of deep sea fishing operation, in particular to a method, a device, equipment and a medium for detecting a deep sea underwater target based on networking cooperative coordination.

Background

Deep sea fish species are often characterized by long life, low fertility and slow growth, and these deep sea fish species are susceptible to over-fishing. In order to avoid excessive fishing of deep sea fish, the limit that the marine ecosystem can balance and compensate is exceeded, so that the whole marine ecosystem is degraded, and selective fishing is needed during the deep sea fishing operation. It is therefore necessary to be able to detect the kind of fish, the size of the individual and the age of the fish and to aid in this fishing. The auxiliary equipment can guide operators or equipment to selectively catch the fish shoals in the mature period, avoid catching the fish shoals in the propagation period and the fish shoals which are not developed and mature yet, and has profound significance and social value for protecting marine species, maintaining ecological balance and avoiding excessive catching.

At present, when a single fishing boat is used for detecting underwater targets, the fishing boat is used as a coordinate system to mark the position coordinates of the targets under water injection, but the single fishing boat has a limited detection range and has a larger limitation on the underwater detection of a large-area sea area, and when the sea area is larger, the detection range of the single fishing boat cannot completely cover an exploration area, so that a detection blind area exists, and the fishing efficiency is influenced, and the scientific deep sea fishing is influenced.

Therefore, there is a need to provide a more efficient and scientific method of deep sea fishing that can cope with the above situation.

Disclosure of Invention

In view of the above, the invention provides a method, a device, equipment and a medium for detecting a deep sea underwater target based on networking cooperative coordination, so as to solve the problem of the lack of efficiency of the current deep sea fishing operation of a single ship.

The technical scheme of the invention is realized as follows:

according to a first aspect, an embodiment of the present invention provides a deep sea underwater target detection method based on networking cooperative coordination, the method including:

establishing a detection networking by the cooperation of a plurality of fishing boats, determining a central fishing boat for the detection networking, and establishing a detection coordinate system by the central fishing boat;

the method comprises the steps that a fishing boat flies a preset number of cross-medium aircrafts and captures underwater target signals of underwater targets, detection position information of the underwater targets of the underwater target signal sources in a detection coordinate system is determined according to the fishing boat corresponding to the acquired underwater target signals, the cross-medium aircrafts are made to approach the underwater targets according to the detection position information, whether the underwater targets are fish-swarm targets or not and whether the fish-swarm targets are fishing fish-swarm types or not are determined;

Under the condition that the type of the fish shoal is determined to be the fishing type, enabling the cross-medium aircraft to continuously track the fish shoal target until the distance between the cross-medium aircraft and the fish shoal target is always within a preset range;

Acquiring detection signals of the fish school objects and marine environment information of the positions of the fish school objects, and determining whether the fish school objects are suitable for fishing according to the marine environment information and the detection signals;

Under the condition that the fishing is determined to be suitable, determining suitable fishing environment parameters according to the types of the fish swarm targets, establishing a fishing networking according to the cooperative cooperation of the medium-crossing aircraft and the suitable fishing environment parameters, and guiding the fishing boat to carry out fishing operation according to the fishing networking, wherein the suitable fishing environment parameters comprise water depth, water temperature, longitude and latitude and ocean current environment.

With reference to the first aspect, in a first implementation manner of the first aspect, the establishing a detection network with a plurality of fishing vessels in cooperation, determining a central fishing vessel of the detection network, and establishing a detection coordinate system with the central fishing vessel specifically includes:

A plurality of fishing boats are cooperated to establish a detection networking, and the fishing boat corresponding to the geometric center of the detection networking is used as a central fishing boat;

And establishing a detection coordinate system by taking the physical position of the central fishing boat as an origin, and determining first position information of each fishing boat in the detection coordinate system.

With reference to the first aspect, in a second implementation manner of the first aspect, the fishing vessel flies a preset number of cross-medium aircrafts and captures underwater target signals of the underwater targets, according to the fishing vessel that obtains the underwater target signals corresponding to the underwater target signals, detection position information of the underwater targets of the source of the underwater target signals in a detection coordinate system is determined, and according to the detection position information, the cross-medium aircrafts are made to approach the underwater targets and determine whether the underwater targets are fish-swarm targets and whether the fish-swarm targets are fishing-swarm types, including:

each fishing boat flies a preset number of cross-medium aircrafts and captures underwater target signals of the underwater targets;

according to the fishing boat corresponding to the obtained underwater target signal, determining the detection position information of the underwater target signal source in a detection coordinate system;

According to the detection position information, enabling the cross-medium aircraft to approach the underwater target, detecting the underwater target by utilizing the cross-medium aircraft, and according to the detection signals acquired by the cross-medium aircraft, determining whether the underwater target is a shoal target or not and whether the shoal target is a fishing shoal type or not.

With reference to the second embodiment of the first aspect, in a third embodiment of the first aspect, the acquiring the detection signal of the fish farm target and the marine environment information of the position of the fish farm target, and determining whether the fish farm target is suitable for fishing according to the marine environment information and the detection signal specifically includes:

Acquiring a detection signal of a fish school target and marine environment information of the position of the fish school target, and extracting voiceprint image information of the fish school from the detection signal acquired by the cross-medium aircraft;

and determining whether the fish school target is suitable for fishing according to the marine environment information and the voiceprint image information.

With reference to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the determining whether the fish-shoal target is suitable for fishing according to marine environment information and voiceprint image information specifically includes:

The voice print image recognition model is obtained by taking sample voice print image information of fishes with known target types as input data for training, taking the target types of the fishes as labels for training and adopting a supervised learning mode in machine learning for training;

And determining whether the shoal target is suitable for fishing according to the marine environment information and the types.

With reference to the first embodiment of the first aspect, in a fifth implementation of the first aspect, in a case where it is determined that the fishing is suitable, determining suitable fishing environmental parameters according to a type of a fish swarm target, establishing a fishing networking according to cooperative coordination of the suitable fishing environmental parameters by the medium-crossing aircraft, and guiding a fishing boat to perform a fishing operation according to the fishing networking, specifically including:

Under the condition of determining suitable fishing, determining suitable fishing environment parameters according to the types of the fish swarm targets;

the medium-crossing aircraft responsible for tracking the fish swarm targets searches for a suitable fishing area matched with the suitable fishing environment parameters according to the suitable fishing environment parameters;

Under the condition that the suitable fishing area is found, the medium-crossing aircrafts flying by the fishing vessel are gathered to the suitable fishing area and are scattered by taking the suitable fishing area as the center until the detection range formed by the medium-crossing aircrafts together covers all the suitable fishing areas;

And obtaining the motion trail of the fish swarm target, obtaining the predicted trail of the fish swarm target according to the motion trail, and determining the fishing boat for fishing according to the motion trail.

With reference to the fifth implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the obtaining a motion trajectory of a fish farm target, obtaining a predicted trajectory of the fish farm target according to the motion trajectory, and determining a fishing boat performing a fishing operation according to the motion trajectory specifically includes:

Acquiring a motion trail of the fish-swarm target by using a cross-medium aircraft responsible for tracking the fish-swarm target;

Acquiring second position information of a suitable fishing area in a detection coordinate system, third position information of a cross-medium aircraft responsible for tracking a fish-swarm target in the detection coordinate system, fourth position information of the fish-swarm target relative to the cross-medium aircraft and fifth coordinate information of the fish-swarm target relative to the cross-medium aircraft in the suitable fishing area, and fitting according to the motion track and the second to fifth position information to obtain a predicted track;

and determining a target fishing boat for fishing according to the first position information and the predicted track of each fishing boat.

According to a second aspect, an embodiment of the present invention further provides a deep sea underwater target detection device based on networking cooperative coordination, where the device includes:

The first networking module is used for establishing a detection networking by the cooperation of a plurality of fishing boats, determining a central fishing boat for the detection networking, and establishing a detection coordinate system by the central fishing boat;

The fish swarm detection module is used for flying a preset number of cross-medium aircrafts and capturing underwater target signals of the underwater targets through the fishing boats, determining detection position information of the underwater targets of the underwater target signal sources in a detection coordinate system according to the fishing boats corresponding to the acquired underwater target signals, enabling the cross-medium aircrafts to approach the underwater targets according to the detection position information, and determining whether the underwater targets are fish swarm targets or not and whether the fish swarm targets are fishing fish swarm types or not;

the shoal tracking module is used for enabling the cross-medium aircraft to continuously track the shoal target until the distance between the cross-medium aircraft and the shoal target is always within a preset range under the condition that the type of the fishing shoal is determined;

the fishing judging module is used for acquiring detection signals of the fish swarm targets and marine environment information of the positions of the fish swarm targets, and determining whether the fish swarm targets are suitable for fishing according to the marine environment information and the detection signals;

The second networking module is used for determining suitable fishing environment parameters according to the types of the fish swarm targets under the condition that the suitable fishing is determined, the medium-crossing aircraft cooperatively establishes fishing networking according to the suitable fishing environment parameters and guides the fishing boat to carry out fishing operation according to the fishing networking, and the suitable fishing environment parameters comprise water depth, water temperature, longitude and latitude and ocean current environment.

According to a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the steps of the deep sea underwater target detection method based on networking cooperative coordination as described in any one of the above when executing the program.

According to a fourth aspect, an embodiment of the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of a deep sea underwater target detection method based on networking co-ordination as described in any of the above.

According to a fifth aspect, an embodiment of the present invention further provides a computer program product, comprising a computer program, which when executed by a processor, implements the steps of the method for detecting a deep sea underwater target based on networking cooperation as described in any of the above.

The networking collaborative cooperation-based deep sea underwater target detection method, device, equipment and medium have the following beneficial effects compared with the prior art:

The underwater target detection process which may exist in the single-ship fishing operation is prevented from being lost by utilizing the cooperative matching of the multiple fishing boat networking, the underwater targets detected by the corresponding fishing boat are continuously tracked by utilizing the cross-medium aircraft with the advantages of high-speed cruising, high maneuverability, long-term cruising, hidden burst prevention and the like, whether the underwater targets are the shoal targets, whether the shoal targets are the shoal types and whether the shoal types are suitable for fishing are judged by utilizing the cross-medium aircraft, in the process, the underwater targets which may be the shoal to be fished are tracked as much as possible to perform the first judgment, whether the underwater targets are the shoal targets and whether the shoal types are the shoal targets is judged, the second judgment is performed again under the condition that the shoal types are determined to be the shoal is suitable for fishing, the decision fed back to the fishing boat is guided under the condition that the shoal is determined to be suitable for fishing, the fishing operation is established by utilizing the cooperative matching of the multiple cross-medium aircraft networking, and the fishing boat is guided to perform the fishing operation, so that the shoal can be fished as much as possible, namely, the fishing efficiency is improved, and the fishing mode is scientific and the fishing mode is realized.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a deep sea underwater target detection method based on networking cooperative coordination of the invention;

FIG. 2 is another flow diagram of the networking collaborative coordination-based deep sea underwater target detection method of the present invention;

FIG. 3 is a schematic diagram of a detection coordinate system constructed in the deep sea underwater target detection method based on networking cooperative coordination of the present invention;

FIG. 4 is a schematic diagram of acquiring underwater target position information in the deep sea underwater target detection method based on networking cooperative coordination of the present invention;

FIG. 5 is a schematic diagram of the deep sea underwater target detection method based on networking collaborative coordination in the invention when a voiceprint image recognition model is used for type recognition;

FIG. 6 is a schematic diagram of searching and covering a suitable fishing area in the deep sea underwater target detection method based on networking cooperative coordination of the invention;

FIG. 7 is a schematic diagram of fish swarm track prediction in the deep sea underwater target detection method based on networking cooperative coordination of the present invention;

FIG. 8 is a schematic flow chart of a method for detecting a deep sea underwater target based on networking cooperative coordination, which is used for guiding a fishing boat corresponding to a cross-medium aircraft responsible for tracking to carry out fishing operation;

FIG. 9 is a schematic flow chart of the method for detecting the underwater target in the deep sea based on networking cooperative coordination, which is used for guiding other fishing vessels to carry out fishing operation;

FIG. 10 is a schematic diagram of the overall flow of the fishing operation of the pilot fishing vessel in the deep sea underwater target detection method based on networking cooperative coordination of the present invention;

FIG. 11 is a schematic structural view of the networking cooperative-based deep sea underwater target detection device;

Fig. 12 is a schematic hardware structure of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present invention will clearly and fully describe the technical aspects of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.

The networking cooperative cooperation-based deep sea underwater target detection method provided by the specification can be applied to electronic equipment with deep sea fishing operation capability, aims at fishing by networking cooperative cooperation, avoids the loss of a single-ship fishing underwater target detection process, and improves the efficiency and scientificity of deep sea fishing. The electronic device may include a notebook, desktop, smart phone, smart wearable device (virtual reality glasses, smart watch, etc.), tablet computer, etc. Of course, the deep sea underwater target detection method based on networking cooperative coordination provided by the specification can also be applied to an application program running in the electronic equipment. For example, the control method of the autopilot can be applied to a browser with a deep sea fishing operation, and can also be applied to software of the corresponding deep sea fishing operation.

Referring to fig. 1, fig. 1 shows a flowchart of a deep sea underwater target detection method based on networking cooperative coordination according to an embodiment of the present invention, where the method may include the following steps:

S101, establishing a detection networking by using the cooperation of a plurality of fishing boats, determining a central fishing boat for the detection networking, and establishing a detection coordinate system by using the central fishing boat.

When the single-search fishing boat is used for detecting underwater targets, the fishing boat is used as a coordinate system to mark the position coordinates of the targets under water injection, but the detection range of the single-search fishing boat, namely the detection half price R, is limited, so that the underwater detection of a large-area sea area is limited, and when the sea area is large, the detection range of the single-search fishing boat cannot completely cover the exploration area, so that a detection blind area exists.

In this embodiment, in combination with the operation characteristics of multi-boat linkage, collective fishing and the like during fishing of fishermen, the underwater target is detected by utilizing the cooperative cooperation of a plurality of fishing boat networking, the detection networking is built by a plurality of fishing boat groups, a unified detection coordinate system is built, the detection tracking of the underwater target in a large-area water area of networking and the track prediction in a blind area are completed, the predicted underwater target motion track can guide the prediction track to strengthen the detection of a specific area of the fishing boat corresponding to a fishing boat search area which can possibly pass through, the appearance of the fishing shoal is captured, the fishing boat can be kept at a static position until the fishing is determined in the process, the requirement of deep sea fishing of a waiting rabbit is met, and meanwhile, the fishing boat can find the nearest distance point with the prediction path in a mode of optimizing the search path, so that the target loss time is shortened.

S102, putting the underwater target signals of the underwater targets and capturing the underwater target signals of the preset number of cross-medium aircrafts, determining detection position information of the underwater targets of the underwater target signal sources in a detection coordinate system according to the fishing vessels corresponding to the acquired underwater target signals, enabling the cross-medium aircrafts to approach the underwater targets according to the detection position information, and determining whether the underwater targets are fish-swarm targets or not and whether the fish-swarm targets are fishing-swarm types or not.

In the embodiment, a medium-crossing aircraft is used as movable detection equipment, the medium-crossing aircraft is a novel aircraft capable of being freely switched between in the air and under water, has the advantages of high-speed cruising, high maneuverability, long-term cruising, hidden burst prevention and the like, namely, the medium-crossing aircraft is an aircraft combining unmanned aircraft technology and unmanned submarine technology, can flexibly move in two distinct fluid media of water and air, can approach a target position above water surface in a high maneuvering mode of flying at an extremely high speed by virtue of the air flight advantage, and can submerge under water in a medium-crossing operation. The carrying platform of the medium-crossing aircraft is a fishing boat, each fishing boat is carried with at least one medium-crossing aircraft, and each medium-crossing aircraft is also provided with a corresponding fishing boat.

Each fishing boat can be carried with a plurality of medium-crossing aircrafts, and when the medium-crossing aircrafts do not work, the energy sources can be supplemented by the boat-borne energy sources of the fishing boats so as to carry out the next batch of operation, thereby realizing the efficient utilization of the medium-crossing aircrafts.

By binding the fishing boat and the carried aircraft thereof, for example, the number of the medium-crossing aircraft corresponding to the fishing boat 1 is 1-1, 1-2 and the like, the number of the medium-crossing aircraft corresponding to the fishing boat 2 is 2-1, 2-2 and the like, and the number of the medium-crossing aircraft corresponding to the fishing boat n is n-1, n-2 and the like. In the underwater target detection process of the deep sea fishing operation, when a certain fishing boat acquires an underwater target signal, a plurality of medium-crossing aircrafts carried on the underwater target signal source are flown to approach the underwater target of the underwater target signal source, after the distance between one medium-crossing aircrafts and the underwater target is within a preset range, the medium-crossing aircrafts are utilized to detect whether the underwater target is a shoal target or not and whether the shoal target is a fishing shoal type or not, and other medium-crossing aircrafts flown into water are used for assisting in completing the tracking of the shoal target serving as the fishing shoal type and determining the depth information of the shoal target, so that the prediction of the position on the depth of the shoal target is corrected in time.

In this embodiment, a altitude sensor, a depth sensor, a humidity sensor (including a front-end humidity sensor mounted on the front end of the medium-spanning aircraft and a rear-end humidity sensor mounted on the rear end of the medium-spanning aircraft), a hexa-component sensor, a gyro sensor, a underwater acoustic sensor, a micro-gravity sensor, a vibration sensor, a micro-magnetic sensor, an underwater communication machine, an air communication module, a Beidou sensor, and the like are mounted on the medium-spanning aircraft.

Detection of the underwater target is accomplished using the sensor assemblies carried on the cross-media sensor to determine whether the underwater target is a shoal target and whether the shoal target is a fishing shoal type. Only if the fish school object is determined to be the type of fishing fish school, the fishing work is performed.

When the underwater target is not the fishing shoal type, the current underwater target is abandoned and tracked, the underwater target signals sent by other newly appeared underwater targets are obtained, and whether the underwater target is the shoal target or not and whether the shoal target is the fishing shoal type or not are determined again, so that continuous deep sea fishing operation is carried out.

And S103, under the condition that the type of the fish shoal is determined to be the fishing type, enabling the cross-medium aircraft to continuously track the fish shoal target until the distance between the cross-medium aircraft and the fish shoal target is always within a preset range.

It will be appreciated that underwater objects are constantly moving when they are fish-shoal objects, and therefore even if the distance between the cross-medium vehicle and the underwater object is already within a predetermined range, it is still necessary to continue moving underwater, keeping the distance between the cross-medium vehicle and the underwater object within the predetermined range at all times.

S104, acquiring detection signals of the fish school objects and marine environment information of the positions of the fish school objects, and determining whether the fish school objects are suitable for fishing according to the marine environment information and the detection signals.

After the position of the fish shoal target which is the type of the fishing fish shoal is determined, as the movement of the fish shoal is influenced by ocean currents, the fish shoal has life habits such as foraging and the like along the ocean current flow direction, and meanwhile, as the type of the fish shoal is detected, the possible movement behaviors of the fish shoal can be comprehensively analyzed through the life habits of the fish and the marine environment information such as temperature, ocean current direction, wind direction, latitude and the like, and the possible movement track of the fish shoal is predicted.

In this embodiment, marine environmental information may be captured by a cross-medium aircraft that is equipped with various types of sensors and continuously tracks fish-swarm targets.

S105, under the condition that the fishing is determined to be suitable, determining suitable fishing environment parameters according to the types of the fish swarm targets, establishing fishing networking according to the cooperative cooperation of the cross-medium aircraft and the suitable fishing environment parameters, and guiding fishing vessels to carry out fishing operation according to the fishing networking.

In this embodiment, suitable fishing environment parameters include water depth, water temperature, longitude and latitude, ocean current environment, and the like. Based on the life habit and actual geographical environment of the shoal of the known target species, suitable fishing environment parameters corresponding to each fish are generated, and a suitable survival of the fish and the suitable fishing environment parameters generated by the storage of the environment database of the activity area can be established.

According to the suitable fishing environment parameters, in the embodiment, a hypothetical conventional fish-shoal activity area, which is a suitable fishing area, is obtained by cooperative cooperation of a plurality of cross-medium aircraft networks from which the fishing vessel has been flown. The fishing boat nearby is guided to carry out fishing operation in a mode of keeping rabbits.

According to the deep sea underwater target detection method based on networking cooperative cooperation, the situation that the underwater target detection process possibly existing in single-boat fishing operation is lost is avoided by utilizing the networking cooperative cooperation of the plurality of fishing boats, the underwater targets detected by the corresponding fishing boats are continuously tracked by utilizing the cross-medium aircraft with the advantages of high-speed cruising, high maneuverability, long-term cruising, hidden burst prevention and the like, then the underwater targets are judged whether the underwater targets are the fishing targets, whether the fishing targets are the fishing type and whether the fishing type are suitable for fishing, in the process, the underwater targets possibly to be the fishing type are tracked as much as possible, the first judgment is carried out, whether the underwater targets are the fishing targets and the fishing type are judged, the second judgment is carried out under the condition that the fishing type is determined to be the fishing type, the fishing boat is fed back to carry out a fishing decision under the condition that the fishing guidance boat is determined to be suitable for fishing, the fishing operation is carried out through the networking cooperative cooperation of the plurality of the cross-medium aircraft, the fishing boat is further, the fishing operation is realized, and the fishing operation is realized as much as possible, and the fishing operation is scientific as far as possible.

Referring to fig. 2 and 3, the method may further include the steps of:

S2011, a detection networking is established by the cooperation of a plurality of fishing boats, and the fishing boat corresponding to the geometric center of the detection networking is used as a central fishing boat.

S2022, establishing a detection coordinate system by taking the physical position of the central fishing boat as an origin, and determining first position information of each fishing boat in the detection coordinate system. The first position information is the position information of a certain fishing boat relative to the central fishing boat.

A plane rectangular coordinate system (0, 0) is established by taking the physical position of the central fishing boat as an origin, the heading is in the direction of 0 degrees, the Y axis is established in the north direction, and the X axis is established in the east direction. The position coordinates of the rest of the fishing vessels are (x 1, y 1), (x 2, y 2), (x 3, y 3), (x 4, y 4) and the like. Because the position information acquired after the sonar and other sensors search the target often only comprises the position and the distance, the position and the distance information can be regarded as polar coordinates, the position of the underwater target detected by the sonar and other sensors is the distance M and the azimuth N on the assumption that the coordinates of the No.1 fishing boat are (x 1, y 1), and the position calculation result of the underwater target is (x1+ MsinN, y1+ McosN).

S202, flying a preset number of cross-medium aircrafts and acquiring underwater target signals of the underwater targets, determining detection position information of the underwater targets of the underwater target signal sources in a detection coordinate system according to the acquired underwater target signals, enabling the cross-medium aircrafts to approach the underwater targets according to the detection position information, and determining whether the underwater targets are fish-swarm targets and whether the fish-swarm targets are fishing-swarm types. The specific content is described with reference to step S102.

And S203, under the condition that the type of the fish shoal is determined to be the fishing type, enabling the cross-medium aircraft to continuously track the fish shoal target until the distance between the cross-medium aircraft and the fish shoal target is always within a preset range. The specific content is described with reference to step S103.

S204, acquiring detection signals of the fish school objects and marine environment information of the positions of the fish school objects, and determining whether the fish school objects are suitable for fishing according to the marine environment information and the detection signals. The specific content is described with reference to step S104.

S205, under the condition that the fishing is determined to be suitable, determining suitable fishing environment parameters according to the types of the fish swarm targets, establishing fishing networking according to the cooperative cooperation of the cross-medium aircraft and the suitable fishing environment parameters, and guiding fishing vessels to carry out fishing operation according to the fishing networking. The specific content is described with reference to step S105.

Referring to fig. 4, the method may further include the steps of:

S301, establishing a detection networking by means of cooperation of a plurality of fishing boats, determining a central fishing boat for the detection networking, and establishing a detection coordinate system by means of the central fishing boat. The specific content is described with reference to step S101.

S3021, each fishing boat flies a preset number of cross-medium aircrafts and captures underwater target signals of the underwater targets.

In order to avoid surprise caused by the fact that the fish shoal finds that other swimming objects in water are close to the fish shoal, in the embodiment, a cross-medium aircraft flies on a fishing boat, performs target tracking in a manner of diving nearby the fish shoal, detects underwater targets in a preset range through a low-power detection sensor, tracks the fish shoal targets in a maneuvering manner after detecting the underwater targets to form a mark of the fish shoal.

S3022, determining detection position information of the underwater target signal source in a detection coordinate system according to the fishing boat corresponding to the obtained underwater target signal.

And when a fishing boat acquires an underwater target signal, a specific coordinate position of the underwater target signal source in the detection coordinate system can be determined, so that detection position information is obtained.

It should be noted that, since the fish shoal is moving continuously, the detection position information of the underwater target in the detection coordinate system needs to be updated in real time.

The fishing boat with towing type detection equipment and the like and the medium-crossing aircraft with traveling type equipment are integrated to form a three-dimensional underwater detection space, the underwater detection space can cover detection data of multiple depths and multiple positions, the capability of detecting fish shoals of different depths and different positions simultaneously is achieved, and the coordinate positioning of underwater targets in the depth direction is completed, so that the accurate positions of the underwater targets are judged through multi-dimensional information combination.

Because the medium-crossing aircraft has the functions of tracking, small-range detection and intermittent recovery of position and depth information, in order to reduce power consumption and interval, the medium-crossing aircraft transmits the position information of the medium-crossing aircraft to the corresponding fishing boat once in consideration of the operation time of the medium-crossing aircraft, and the fishing boat is assisted to complete the correction of the fish shoal movement trend prediction.

S3023, enabling the cross-medium aircraft to approach the underwater target according to the detection position information, detecting the underwater target by utilizing the cross-medium aircraft, and determining whether the underwater target is a shoal target or not and whether the shoal target is a fishing shoal type or not according to detection signals acquired by the cross-medium aircraft.

Specifically, the current gravity value obtained by the cross-medium aircraft is compared with the gravity value of the gravity field through sensing components such as a gravity sensor, a micro-magnetic sensor and the like carried on the cross-medium aircraft, so that the positioning information of the cross-medium aircraft, namely the underwater distance between the cross-medium aircraft and the underwater target, can be obtained. The method comprises the steps that when the positioning information of the cross-medium aircraft is obtained, the cross-medium aircraft is used for detecting whether an underwater target is a shoal target or not and whether the shoal target is a fishing shoal type or not, the above detection process mainly relies on a vibration sensor carried on the cross-medium aircraft to detect underwater vibration signals, then different signal sources are separated, the types of the different signal sources are distinguished by comparing the signal sources with signal sources stored in a database, whether the signal sources are the fishing shoal type or not is judged, if the signal sources are the fishing shoal type, the position of the fishing shoal target, which generates an underwater target signal, is sent to a signal receiving end of a fishing boat through an underwater communication machine carried on the cross-medium aircraft, and the signal receiving end completes cross-medium communication through a signal cable connected with a ship, so that the detection and continuous tracking of the fishing shoal target are realized.

It should be noted that, a communication link is established between the cross-medium aircrafts, and the communication link is in communication connection with the corresponding fishing boat, so that the data processing center of the fishing boat can receive all the data acquired by all the cross-medium aircrafts released by the data processing center and perform various data processing on the data according to requirements, so as to realize sharing and comprehensive processing of the information acquired by the cross-medium aircrafts, thereby not only utilizing the cross-medium aircrafts to detect and continuously track the fishing shoal targets, but also utilizing the cross-medium aircrafts to expand the detection range of the corresponding fishing boat, and further expanding the detection range during the fishing operation.

The process of approaching the underwater target by the cross-medium aircraft comprises the steps of enabling the cross-medium aircraft to enter water from the upper part of the underwater target through the real-time updated detection position information of the underwater target by the fishing boat, and quickly adjusting the distance between the cross-medium aircraft and the underwater target to be within a preset range after entering water.

Through the tracking mode, after the underwater target is positioned based on the detection coordinate system, the two-dimensional coordinate overlapping of the medium-crossing aircraft and the underwater target is realized through navigation, the water entering action is adopted after the positions are similar, the sound and the vibration signal emitted by the underwater target are detected through the detector carried by the medium-crossing aircraft, the depth is continuously reduced, the low-power equipment is started when the approximate depth predicted by the towing type sensing equipment is reached, the detection is carried out in a small range, and the relative position relation is more accurate due to the fact that the medium-crossing aircraft is closer to the underwater target than the fishing boat, the relative position relation coordinate between the underwater target and the medium-crossing aircraft and the detailed position coordinate between the medium-crossing aircraft and the fishing boat are overlapped, so that the more accurate position information of the underwater target is obtained.

In the embodiment, only one of the cross-medium aircrafts is enabled to detect and track one of the underwater targets, for example, the No. 1 fishing boat detects 3 underwater target signals, the No. 1 cross-medium aircrafts track the underwater target corresponding to the first underwater target signal, the No. 1-2 cross-medium aircrafts track the underwater target corresponding to the second underwater target signal, the No. 1-3 cross-medium aircrafts track the underwater target corresponding to the last underwater target signal, the other cross-medium aircrafts flying on the No. 1 fishing boat execute cruising tasks, and the No. 1-1, no. 1-2 and No. 1-3 cross-medium aircrafts can assist the No. 1-2 and No. 1-3 fishing boat in tracking the underwater target and assisting the fishing boat in accurately positioning the underwater target.

And S303, under the condition that the type of the fish shoal is determined to be the fishing type, enabling the cross-medium aircraft to continuously track the fish shoal target until the distance between the cross-medium aircraft and the fish shoal target is always within a preset range. The specific content is described with reference to step S103.

S304, acquiring detection signals of the fish school objects and marine environment information of the positions of the fish school objects, and determining whether the fish school objects are suitable for fishing according to the marine environment information and the detection signals. The specific content is described with reference to step S104.

S305, under the condition that the fishing is determined to be suitable, determining suitable fishing environment parameters according to the types of the fish swarm targets, establishing fishing networking according to the cooperative cooperation of the cross-medium aircraft and the suitable fishing environment parameters, and guiding fishing vessels to carry out fishing operation according to the fishing networking. The specific content is described with reference to step S105.

Referring to fig. 5, the method may further include the steps of:

S401, establishing a detection networking by means of cooperation of a plurality of fishing boats, determining a central fishing boat for the detection networking, and establishing a detection coordinate system by means of the central fishing boat. The specific content is described with reference to step S101.

S402, a fishing boat flies a preset number of cross-medium aircrafts and captures underwater target signals of the underwater targets, detection position information of the underwater targets of the underwater target signal sources in a detection coordinate system is determined according to the fishing boat corresponding to the acquired underwater target signals, the cross-medium aircrafts are enabled to approach the underwater targets according to the detection position information, whether the underwater targets are fish-swarm targets or not is determined, and whether the fish-swarm targets are fishing-swarm types or not is determined. The specific content is described with reference to step S102.

S403, under the condition that the type of the fish shoal is determined to be the fishing type, enabling the cross-medium aircraft to continuously track the fish shoal target until the distance between the cross-medium aircraft and the fish shoal target is always within a preset range. The specific content is described with reference to step S103.

S4041, acquiring detection signals of the fish school targets and marine environment information of the positions of the fish school targets, and extracting voiceprint image information of the fish school from the detection signals acquired by the cross-medium aircraft.

In this embodiment, the voiceprint image information is acoustic characteristic information of a fish farm, and corresponding sound signals of different types of sounds and different sound frequencies of different fishes are different, and by judging the sound emitted by the fish farm as the characteristic information, the information such as the size and the age of the fishes in the fish farm can be judged, that is, whether a fish farm target serving as a fishing fish farm type is suitable for fishing can be judged.

S4042, determining whether the fish school target is suitable for fishing according to the marine environment information and the voiceprint image information.

Step S402 is used to track each underwater target that may be a fish to be caught, and thus it is required to track the underwater target that may be a fish to be caught as much as possible in step S402 in consideration of the calculation process and the actual catching operation. In step S4042, it is required to determine whether the fishing is suitable, which is different from the determination in step S402 that the fish object is the type of fishing fish, in step S4041, a precise determination is performed according to the detection signal. More specifically, firstly, the type of the detection signal is judged, for example, the detection signal is specifically a marine noise signal, a regular vibration signal, an irregular vibration signal or other signals, the noise signal in the detection signal is removed, so that voiceprint image information can be obtained, then, the type of the data source is judged by comparing the extracted voiceprint image information with the data source sound signals in the database, and further, the specific type of marine biological targets of the marine organisms sending out the signals are distinguished.

In this embodiment, the above-mentioned recognition process is performed through the trained voiceprint image recognition model, and the known fish of the target type and the corresponding sample voiceprint image information are marked correspondingly and used as a database for training, so as to form the voiceprint image recognition model based on the neural network. After the cross-medium aircraft acquires the detection signals under water and extracts the post-voiceprint image information, the voiceprint image information is identified by utilizing a voiceprint image identification model, the signal source of the voiceprint image is judged, and then the signal source type is judged.

The voiceprint image recognition model is obtained by training based on sample voiceprint image information of fishes of known target types, more specifically, a sample voiceprint image of the fishes of known target types is obtained, the sample image voiceprint information is used as input data for training, the target types of the fishes are used as labels for training, and a supervised learning mode in machine learning is adopted for training, so that the voiceprint image recognition model is obtained.

Particularly, if the voiceprint image recognition model does not recognize the type of the signal source, the cross-medium aircraft can be instructed to record voiceprint according to specific task requirements, the unknown data source is tracked, the type recognition is completed and transmitted back, and the voiceprint image recognition model is further trained. At the same time, considering that new marine species may be present, it is commanded in this case to continuously track and continuously monitor fish-swarm targets of the position data source across the medium aircraft.

In this embodiment, deep sea fish have their corresponding distribution and habit, for example, tuna feed on zooplankton and various fish, and tuna usually advances in the surface sea at a speed of 3-8 seas per hour, followed by large sharks to catch them, and when the fish is surprised, they often jump out of the water to evade enemy. Adult tuna has a habit of appearing on the surface layer at night, so that the fishing condition at night is optimal in the current fishing process. According to the voiceprint image information and the marine environment information, the type and the individual size of the fish shoal can be accurately judged.

For example, if it is determined that the shoal of fish is adult tuna, it is possible to focus on the night on the areas where tuna is present, such as around 30 ° north latitude, and to find the surface area at 22 ℃ as the fishing area.

S405, under the condition that the fishing is determined to be suitable, determining suitable fishing environment parameters according to the types of the fish swarm targets, establishing fishing networking according to the cooperative cooperation of the cross-medium aircraft and the suitable fishing environment parameters, and guiding fishing vessels to carry out fishing operation according to the fishing networking. The specific content is described with reference to step S105.

Referring to fig. 6, 7 and 8, the method may further include the steps of:

S501, establishing a detection networking by using the cooperation of a plurality of fishing boats, determining a central fishing boat for the detection networking, and establishing a detection coordinate system by using the central fishing boat. The specific content is described with reference to step S101.

S502, flying a preset number of cross-medium aircrafts and capturing underwater target signals of the underwater targets, determining detection position information of the underwater targets of the underwater target signal sources in a detection coordinate system according to the fishing vessels corresponding to the acquired underwater target signals, enabling the cross-medium aircrafts to approach the underwater targets according to the detection position information, and determining whether the underwater targets are fish-swarm targets or not and whether the fish-swarm targets are fishing-swarm types or not. The specific content is described with reference to step S102.

S503, under the condition that the type of the fish shoal is determined to be the fishing type, enabling the cross-medium aircraft to continuously track the fish shoal target until the distance between the cross-medium aircraft and the fish shoal target is always within a preset range. The specific content is described with reference to step S103.

S504, acquiring detection signals of the fish school objects and marine environment information of the positions of the fish school objects, and determining whether the fish school objects are suitable for fishing according to the marine environment information and the detection signals. The specific content is described with reference to step S104.

S5051, under the condition that the fish is determined to be suitable for fishing, determining the suitable fishing environment parameters according to the type of the fish shoal target.

S5052, searching a suitable fishing area matched with the suitable fishing environment parameters according to the suitable fishing environment parameters by the cross-medium aircraft in charge of tracking the fish swarm targets.

For example, the sea water depth corresponding to the proper temperature is determined by the cross-medium aircraft through the water temperature parameters in the proper fishing environment parameters, the cross-medium aircraft continuously expands the depth interval towards the shallow surface layer and the depth layer, the proper fishing depth interval is found, the relative position of the proper water temperature region detected by the aircraft in the tuna sinking and sinking region is judged by combining the parameters such as ocean current direction, longitude and latitude, and the like, so that the proper fishing region matched with the proper fishing environment parameters is found.

S5053, under the condition that the suitable fishing area is found, collecting the medium-crossing aircrafts flying by the fishing boat to the suitable fishing area, and dispersing by taking the suitable fishing area as the center until the detection range formed by the medium-crossing aircrafts together covers all the suitable fishing areas.

After the medium-crossing aircraft responsible for tracking the fish swarm targets find the suitable fishing area, the corresponding fishing vessels such as No. 1 fishing vessels and other released medium-crossing aircraft are gathered to the aircraft area finding the suitable fishing area, and are scattered by taking the suitable fishing area as the center until the detection range formed by the medium-crossing aircraft covers all the suitable fishing areas, so that a suitable space area is determined, and the length, width and depth interval of the suitable space area are determined by the suitable fishing area, and the fishing vessels are guided to carry out fishing operation by utilizing the suitable fishing area formed by networking cooperative cooperation of the medium-crossing aircraft. Meanwhile, as the detection range formed by the medium-crossing aircrafts covers all the suitable fishing areas, the fish shoals can be tracked better and the fishing is assisted.

S5054, acquiring a motion trail of the fish swarm target, acquiring a predicted trail of the fish swarm target according to the motion trail, and determining a fishing boat for fishing according to the motion trail.

Specifically, firstly, a movement track of a fish-shoal target is acquired by utilizing a cross-medium aircraft responsible for tracking the fish-shoal target, then, second position information of a suitable fishing area in a detection coordinate system, third position information of the cross-medium aircraft responsible for tracking the fish-shoal target in the detection coordinate system, fourth position information of the fish-shoal target relative to the cross-medium aircraft and fifth coordinate information of the fish-shoal target relative to the cross-medium aircraft in the suitable fishing area are acquired, and a predicted track is obtained by fitting according to the movement track and the second to fifth position information.

Then, the target fishing vessel for performing the fishing operation, that is, which fishing vessel is to be specifically subjected to the fishing operation, is determined in combination with the first position information of each fishing vessel.

In the following, as shown in fig. 9, when the suitable fishing area is located in the detection range of the fishing vessel corresponding to the cross-medium aircraft currently responsible for tracking, such as the fishing vessel No. 1 (i.e., the fishing operation area of the fishing vessel No. 1), after the second position information of the suitable fishing area in the detection coordinate system is obtained first, the third position information of the cross-medium aircraft responsible for tracking the fish-swarm target in the detection coordinate system, the fourth position information of the fish-swarm target relative to the cross-medium aircraft, and the fifth position information of the fish-swarm target relative to the cross-medium aircraft in the suitable fishing area are comprehensively processed to obtain comprehensive position information which can reflect the detected real-time fish swarm area more than the single position information parameter, and then the second position information is compared with the comprehensive position information, comparing the relative position relationship between the coordinate information to infer whether the current fish shoal is positioned at the center or the edge of the suitable fishing area, and because the fish shoal target is provided with a cross-medium aircraft which is always responsible for continuous tracking, judging whether the fish shoal target positioned at the center moves to the place or the fish shoal target positioned at the edge moves away from the suitable fishing area or moves into the suitable fishing area according to the motion track of the fish shoal target acquired by the cross-medium aircraft, when the fish shoal target is judged to move in the suitable fishing area, guiding the No. 1 fishing vessel to perform corresponding fishing operation, when the fish shoal target is judged to move away from the suitable fishing area, entering a flow shown in fig. 10 at the moment, and when the fish shoal target of a certain cross-medium aircraft flying by the No. 1 fishing vessel is judged to move away from the suitable fishing area as shown in fig. 10, and notifying other fishing boats in the escape direction according to the predicted track of the fish swarm target, for example, if the motion track of the fish swarm target has a north motion trend, notifying the fishing boat to move in the advancing direction of the fish swarm near the north region, preparing for fishing operation in the whole north region, predicting the motion route of the fish swarm after the fish swarm disappears in the detection range of one boat, predicting the monitoring range of which fishing boat will appear next time, grasping the coming and going speed of the fish swarm as much as possible, and providing enough preparation time for the fishing boat. The fishing device is characterized in that the fishing device is provided with a plurality of positioning points, wherein the positioning points are arranged on the fishing boat, the fishing boat is connected with the positioning points, the positioning points are arranged on the positioning points, and the positioning points are arranged on the positioning points.

The apparatus provided by the embodiments of the present invention will be described below, and the apparatus described below and the method described above may be referred to correspondingly.

Referring to fig. 11, fig. 11 shows a schematic structural diagram of a deep sea underwater target detection device based on networking cooperative coordination according to an embodiment of the present invention, where the device may include:

the first networking module 10 is used for establishing a detection networking by cooperatively matching a plurality of fishing boats, determining a central fishing boat for the detection networking, and establishing a detection coordinate system by using the central fishing boat.

In this embodiment, in combination with the operation characteristics of multi-boat linkage, collective fishing and the like during fishing of fishermen, the underwater target is detected by utilizing the cooperative cooperation of a plurality of fishing boat networking, a detection networking is established by grouping a plurality of fishing boats, a unified detection coordinate system is established, the detection tracking of the underwater target in a large-area water area of networking and the track prediction in a blind area are completed, the predicted underwater target motion track can guide the prediction track to strengthen the detection of a specific area of the fishing boat corresponding to a fishing boat search area which can possibly pass through, the appearance of the fishing shoal is captured, the fishing boat can be kept in a static state all the time in the process, the requirements of waiting for the deep sea fishing of rabbits are met, and meanwhile, the fishing boat can find the nearest distance point with the prediction path in a mode of optimizing the search path, so that the target loss time is reduced.

The shoal detection module 20 is configured to fly a preset number of cross-medium aircrafts through a fishing boat and capture underwater target signals of the underwater targets, determine detection position information of the underwater targets of the underwater target signal sources in a detection coordinate system according to the fishing boat corresponding to the obtained underwater target signals, enable the cross-medium aircrafts to approach the underwater targets according to the detection position information, and determine whether the underwater targets are shoal targets and whether the shoal targets are fishing shoal types.

When the underwater target is not the type of the fishing shoal in the shoal targets, the current underwater target is abandoned and tracked, the underwater target signals sent by other underwater targets are obtained, and whether the underwater target is the shoal target or not and whether the shoal target is the type of the fishing shoal or not are determined again, so that continuous deep sea fishing operation is carried out.

The shoal tracking module 30 is configured to, when the type of the fish is determined to be a fishing type, enable the cross-medium aircraft to continuously track the shoal target until the distance from the shoal target is always within a preset range.

The fishing judgment module 40 is configured to obtain the detection signal of the fish school object and the marine environment information of the position of the fish school object, and determine whether the fish school object is suitable for fishing according to the marine environment information and the detection signal.

And a second networking module 50 for determining suitable fishing environment parameters according to the types of the fish swarm targets, establishing a fishing networking according to the cooperative cooperation of the medium-crossing aircrafts according to the suitable fishing environment parameters, and guiding the fishing vessel to perform fishing operation according to the fishing networking, in case that the suitable fishing is determined.

In this embodiment, suitable fishing environment parameters include water depth, water temperature, longitude and latitude, ocean current environment, and the like.

According to the deep sea underwater target detection device based on networking cooperative cooperation, the situation that the underwater target detection process possibly existing in single-boat fishing operation is lost is avoided by utilizing the networking cooperative cooperation of the plurality of fishing boats, the underwater targets detected by the corresponding fishing boats are continuously tracked by utilizing the cross-medium aircraft with the advantages of high-speed cruising, high maneuverability, long-term cruising, hidden burst prevention and the like, then the underwater targets are judged whether the underwater targets are the fishing targets, whether the fishing targets are the fishing type and whether the fishing type are suitable for fishing, in the process, the underwater targets possibly to be the fishing type are tracked as much as possible, the first judgment is carried out, whether the underwater targets are the fishing targets and the fishing type are judged, the second judgment is carried out under the condition that the fishing type is determined to be the fishing type, the fishing boat is fed back to carry out a fishing decision under the condition that the fishing guidance boat is determined to be suitable for fishing, the fishing operation is carried out through the networking cooperative cooperation of the plurality of the cross-medium aircraft, the fishing boat is further, the fishing operation is realized, and the fishing operation is realized as much as possible, and the fishing operation is scientific as far as possible.

Fig. 12 illustrates a physical schematic diagram of an electronic device, as shown in fig. 12, which may include a processor 1210 (processor), a communication interface 1220 (Communications Interface), a memory 1230 (memory), and a communication bus 1240, wherein the processor 1210, the communication interface 1220, and the memory 1230 communicate with each other via the communication bus 1240. Processor 1210 may invoke logic commands in memory 830 to perform a networking co-ordination based deep sea underwater target detection method comprising:

In addition, the logic instructions in the memory 1230 described above may be implemented in the form of software functional units and sold or used as a stand-alone product, stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a U disk, a removable hard disk, a Read-only memory (ROM, read-OnlyMemor), a random access memory (RAM, randomAccessMemory), a magnetic disk or an optical disk, etc., which can store program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for detecting a deep sea underwater target based on networking co-ordination provided by the above methods, the method comprising:

In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided methods of deep sea underwater target detection for performing networking-based collaborative coordination, the method comprising:

It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present invention.

Claims

1. A deep-sea underwater target detection method based on networking and coordination, characterized in that: the method comprises:

Establish a detection network with multiple fishing vessels working together, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel;

The fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information to determine whether the underwater target is a school of fish and whether the school of fish is a school of fish to be caught;

When the target fish is determined to be a school of fish, the cross-medium aircraft is instructed to continuously track the target fish until the distance to the target fish is always within a preset range;

Obtaining detection signals of fish school targets and ocean environment information of the location of the fish school targets, and determining whether the fish school targets are suitable for fishing based on the ocean environment information and the detection signals;

When it is determined to be suitable for fishing, suitable fishing environment parameters are determined according to the type of fish target, and the cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides fishing vessels to carry out fishing operations based on the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

2. The method for deep-sea underwater target detection based on networking coordination as claimed in claim 1 is characterized in that: the method of establishing a detection network with multiple fishing boats in coordination, determining the central fishing boat of the detection network, and establishing a detection coordinate system with the central fishing boat specifically includes:

A detection network is established by coordinating multiple fishing vessels, and the fishing vessel corresponding to the geometric center of the detection network is used as the central fishing vessel;

A detection coordinate system is established with the physical position of the central fishing boat as the origin, and the first position information of each fishing boat in the detection coordinate system is determined.

3. The method for deep-sea underwater target detection based on networking and coordination as claimed in claim 1 is characterized in that: the fishing boat releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets, determines the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and makes the cross-medium aircraft approach the underwater target according to the detection position information and determines whether the underwater target is a fish school target and whether the fish school target is a type of fish school to be caught, specifically including:

Each fishing vessel releases a preset number of cross-medium aircraft and captures underwater target signals of underwater targets;

According to the fishing boat corresponding to the underwater target signal, the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system is determined;

According to the detection position information, the cross-medium aircraft is ordered to approach the underwater target, and the underwater target is detected by the cross-medium aircraft. According to the detection signal obtained by the cross-medium aircraft, it is determined whether the underwater target is a fish school target and whether the fish school target is a catchable fish species.

4. The method for deep-sea underwater target detection based on networking and coordination as claimed in claim 3 is characterized in that: the acquisition of the detection signal of the fish school target and the marine environment information of the location of the fish school target, and determining whether the fish school target is suitable for fishing based on the marine environment information and the detection signal, specifically includes:

Acquire the detection signal of the fish school target and the ocean environment information where the fish school target is located, and extract the soundprint image information of the fish school from the detection signal acquired by the cross-medium aircraft;

Determine whether the fish school target is suitable for fishing based on the marine environment information and voiceprint image information.

5. The deep-sea underwater target detection method based on networking and coordination as claimed in claim 4 is characterized in that: the determination of whether the fish school target is suitable for fishing based on the marine environment information and the voiceprint image information specifically includes:

The trained voiceprint image recognition model is used to identify the voiceprint image information and obtain the type of the fish target. The voiceprint image recognition model is obtained by using the sample voiceprint image information of fish of known target species as input data for training and the target species of fish as labels for training, and is trained using the supervised learning method in machine learning.

Determine whether the target fish school is suitable for fishing based on marine environmental information and species.

6. The method for deep-sea underwater target detection based on networking coordination as claimed in claim 2 is characterized in that: when it is determined that it is suitable for fishing, suitable fishing environment parameters are determined according to the type of fish target, the cross-medium aircraft cooperates to establish a fishing network according to the suitable fishing environment parameters, and guides the fishing boat to perform fishing operations according to the fishing network, specifically including:

When it is determined that the area is suitable for fishing, determine the appropriate fishing environment parameters based on the type of target fish;

The cross-medium aircraft responsible for tracking the fish school targets searches for a suitable fishing area that matches the suitable fishing environment parameters according to the suitable fishing environment parameters;

When a suitable fishing area is found, the cross-medium aircraft released by the fishing vessel gathers to the suitable fishing area and disperses with the suitable fishing area as the center until the detection range formed by the cross-medium aircraft covers the entire suitable fishing area;

The motion trajectory of the fish school target is obtained, and the predicted trajectory of the fish school target is obtained based on the motion trajectory, and the fishing boat for fishing operation is determined based on the motion trajectory.

7. The method for deep-sea underwater target detection based on networking and coordination as claimed in claim 6 is characterized in that: the step of obtaining the motion trajectory of the fish school target, obtaining the predicted trajectory of the fish school target according to the motion trajectory, and determining the fishing boat for fishing according to the motion trajectory specifically includes:

The movement trajectory of the fish school target is obtained by using a cross-medium aircraft responsible for tracking the fish school target;

Obtaining second position information of a suitable fishing area in a detection coordinate system, third position information of a cross-medium aircraft responsible for tracking fish school targets in the detection coordinate system, fourth position information of the fish school targets relative to the cross-medium aircraft, and fifth coordinate information of the fish school targets relative to the cross-medium aircraft in the suitable fishing area, and fitting a predicted trajectory based on the motion trajectory and the second to fifth position information;

Based on the first position information and predicted trajectory of each fishing vessel, a target fishing vessel for fishing operations is determined.

8. A deep-sea underwater target detection device based on networking and coordination, characterized in that: the device comprises:

The first networking module is used to establish a detection network with multiple fishing vessels in coordination, determine the central fishing vessel of the detection network, and establish a detection coordinate system with the central fishing vessel;

The fish school detection module is used to release a preset number of cross-medium aircraft through fishing boats and capture underwater target signals of underwater targets, determine the detection position information of the underwater target at the source of the underwater target signal in the detection coordinate system according to the fishing boat corresponding to the underwater target signal, and make the cross-medium aircraft approach the underwater target according to the detection position information and determine whether the underwater target is a fish school target and whether the fish school target is a catchable fish species;

The fish school tracking module, when the fish school is determined to be a catchable species, causes the cross-medium aircraft to continuously track the fish school target until the distance to the fish school target is always within a preset range;

The fishing judgment module is used to obtain the detection signal of the fish school target and the marine environment information where the fish school target is located, and determine whether the fish school target is suitable for fishing based on the marine environment information and the detection signal;

The second networking module is used to determine suitable fishing environment parameters according to the type of fish target when it is determined that it is suitable for fishing. The cross-medium aircraft cooperates to establish a fishing network based on the suitable fishing environment parameters, and guides fishing vessels to carry out fishing operations based on the fishing network; the suitable fishing environment parameters include water depth, water temperature, longitude and latitude, and ocean current environment.

9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the deep-sea underwater target detection method based on networking collaboration as described in any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the deep-sea underwater target detection method based on networking collaboration as described in any one of claims 1 to 7 are implemented.