CN105141890B - Identification system based on dual filtering processing - Google Patents

Abstract

The invention relates to a fish body identification system based on dual filtering processing, which is applied to a submarine. The identification system comprises a submarine fixing platform, laser imaging equipment, clearness processing equipment and a fish body detection device, wherein the submarine fixing platform is positioned on the front part of the submarine; the laser imaging equipment, the clearness processing equipment and the fish body detection device are all positioned on the submarine fixing platform; the clearness processing equipment is used for performing scattered light elimination on an underwater laser image of the front of the submarine shot by the laser imaging equipment; and the fish body detection device is connected with the clearness processing equipment, and used for detecting whether or not any fish body exists in the underwater laser image subjected to scattered light elimination. Through adoption of the fish body identification system, the civil use of the submarine can be developed, and fish bodies in a region where the submarine is positioned can be caught accurately in an oriented way.

Description

Recognition System Based on Double Filter Processing

technical field

The invention relates to the field of identification, in particular to an identification system based on double filter processing.

Background technique

Submarines are generally rarely used in fisheries, mainly lacking a carrying platform, and lacking fish body identification equipment and underwater positioning equipment that can adapt to the underwater environment. At the same time, the laser imaging technology in the prior art has poor imaging control and rough imaging effects.

For this reason, the present invention provides a kind of fish recognition system based on double filter processing, can be applied on the submarine, set up the fixed platform of the submarine, improve the corresponding laser imaging equipment and image processing equipment, make when the submarine advances or berths immediately It can automatically salvage fish schools and improve the utilization rate of submarines.

Contents of the invention

In order to solve the technical problems existing in the prior art, the present invention provides a fish recognition system based on double filter processing. On the fixed platform of the submarine, an adaptive recursive filter sub-device, a median filter sub-device, and a scale transformation are added. The fish detection equipment of the enhancer device is added with underwater scattered light removal equipment and underwater positioning equipment, making submarine fishing possible.

According to one aspect of the present invention, a fish body recognition system based on double filtering processing is provided, which is used on a submarine. The recognition system includes a submarine fixed platform, a laser imaging device, a clear processing device and a fish body detection device. The fixed platform of the submarine is located at the front of the submarine, the laser imaging equipment, the clearing processing equipment and the fish detection device are all located on the fixed platform of the submarine, and the clearing processing equipment is used for Scattered light is eliminated in the underwater laser image in front of the submarine captured by the laser imaging device, and the fish body detection device is connected to the clearing processing device to detect whether there is a fish body in the underwater image after the scattered light is eliminated .

More specifically, in the fish identification system based on double filter processing, it also includes: fishing net weighing equipment, which is arranged in the fishing net container, for detecting and outputting the weight of the fishing net; the fishing net container, which is arranged on the fixed platform of the submarine on, used to hold the fishing net in the non-fishing state, the fishing net container includes an electric lock, a relay and an opening, the electric lock opens the opening when receiving a fishing start signal, the electric lock When the recovery completion signal is received, the opening is closed, and the relay is respectively connected to the electric lock catch and the submarine power supply equipment for supplying power to the electric lock catch and controlling the opening and closing operations of the electric lock catch; The fishing net release driver is arranged on the fixed platform of the submarine and is connected with the fishing net, and is used to control the release of the fishing net according to the fishing net release force and the fishing net release angle; the fishing net recovery driver is arranged on the fixed platform of the submarine. On the platform, it is connected with the fishing net, and is used to control the fishing net to recover the fishing net into the fishing net container when receiving the fishing end signal; the release motor is arranged on the fixed platform of the submarine, and The fishing net release driver is connected to provide power for the fishing net release driver to control the release of the fishing net; the recovery motor is arranged on the fixed platform of the submarine and is connected to the fishing net recovery driver to release the fishing net from the fishing net recovery driver. The control provides power; the signal receiver is arranged on the fixed platform of the submarine, is respectively connected with the electric lock and the fishing net recovery driver, and is connected with the submarine control input device through a cable, and is used for complete recovery of the fishing net After entering the fishing net container, the recovery completion signal is provided under the operation of the submarine staff, and it is also used to provide a fishing end signal under the operation of the submarine staff; the FLASH storage device pre-stores the gray scale range of the fish body and various Fish body reference template, the fish body grayscale range is used to separate the fish body in the image from the background, and the various types of fish body reference templates are each image obtained by pre-shooting various reference fish bodies, and An upper limit of a brightness threshold value and a lower limit of a brightness threshold value are stored; a sonar device configured to perform sonar image acquisition on an underwater target at the front of the submarine to obtain a sonar image; a sonar image processing device that communicates with the sonar device and the The FLASH storage device is connected respectively, including a first detection sub-device, a second detection sub-device and a target distance detection sub-device, and the first detection sub-device is connected with the sonar device and the FLASH storage device respectively, for Use the brightness threshold upper limit to traverse the sonar image to segment the core target area; the second detection sub-device is connected to the first detection sub-device and the FLASH storage device respectively, and is used to use the edge points of the core target area As a seed point, use the brightness threshold lower limit to judge the brightness of the pixels near the core target area to obtain and segment the final target area; the target distance detection sub-device is connected to the second detection sub-device to calculate the final target area The distance from the center point of the sonar image to the detection origin is output as the target distance; the laser imaging device includes a laser, A detector and a microcontroller, the laser emits a laser beam to the underwater target at the front of the submarine, so that when the laser beam is reflected by the underwater target to the detector, it facilitates the shooting of the detector, the The microcontroller is respectively connected with the sonar image processing device, the laser and the detector, determines the gate time of the detector shutter based on the target distance and the underwater propagation speed of the laser, and arrives at the gate time When the shutter of the detector is selected, the detector is triggered to shoot the underwater target to obtain an underwater laser image; the ultra-long wave communication device is located in the submarine operation panel and is used for remote water rescue The center establishes two-way data communication; the positioning device is located in the submarine operation instrument panel, including an inertial navigation positioning sub-device and an underwater acoustic navigation sub-device, and uses the inertial navigation and positioning sub-device and the underwater acoustic navigation sub-device for joint positioning, based on The output of the inertial navigation positioning sub-device and the underwater acoustic navigation sub-device determines the current positioning data of the submarine; the sound and light alarm device is connected with a digital signal processor, and is used to, when receiving the sound and light alarm signal, Carry out sound and light alarm operation; Ultrasonic detector, be arranged on the fixed platform of described submarine, be used to measure the distance of described submarine front from the front fish body, and output as the relative distance of fish body; Laser intensity detector, be arranged on the On the fixed platform of the submarine, it is used to detect the laser intensity when the laser beam is reflected by the underwater target to the detector in real time; the clearing processing equipment is connected with the laser imaging equipment, the ultrasonic detector and the The laser intensity detectors are respectively connected to obtain the relative distance of the fish body and the laser intensity, and based on the relative distance of the fish body and the laser intensity, remove the fish body in front of the underwater laser image due to laser irradiation. Scattered light components formed on the surface to obtain a clear underwater image; the fish detection device is arranged on the fixed platform of the submarine and is connected to the clear processing device and the FLASH storage device respectively, including self-adaptive A recursive filtering sub-device, a median filtering sub-device, a scaling enhancement sub-device, a target segmentation sub-device and a target recognition sub-device; Perform adaptive recursive filtering processing on the underwater image to filter out the Gaussian noise in the clear underwater image to obtain an adaptive recursive filtering image; the median filtering sub-device is connected to the adaptive recursive filtering sub-device , for performing median filtering processing on the adaptive recursive filtering image, so as to filter out the water particle scattering component in the adaptive recursive filtering image, and obtain a median filtering image; the scale transformation enhancer device and the described The median filter sub-device is connected to perform scale transformation enhancement processing on the median filter image to enhance the contrast between the target and the background in the image to obtain an enhanced image; the target segmentation sub-device is connected to the scale transformation enhancement sub-device Connect, and form the fish body sub-image with all pixels whose pixel gray value in the enhanced image is within the fish body gray range; the target recognition sub-device is connected with the target segmentation sub-device and the F The LASH storage devices are respectively connected, and the fish body sub-images are matched with various fish body reference templates one by one, and the fish body type corresponding to the successfully matched fish body reference template is output as the target fish body type, and based on the underwater fish body The relative position of the sub-image in the clear underwater image calculates the deviation angle of the underwater fish body; the digital signal processor is arranged on the fixed platform of the submarine, and is connected with the positioning device, the fish body detection device and the The ultra-long wave communication devices are respectively connected, and are used to perform image compression encoding on the fish body sub-image based on the MPEG-4 compression standard when receiving the target fish body type, so as to obtain compressed fish body sub-images, and convert the fish body sub-image to The compressed fish body sub-image, the target fish body type and the current positioning data are sent to the water rescue center through the ultra-long wave communication device; The lock, the fishing net release driver and the fishing net recovery driver are respectively connected. When the target fish type is received, the fishing net release force is determined according to the relative distance of the fish body and the weight of the fishing net; the fishing net is determined according to the deviation angle of the underwater fish body. Release the angle, and send the fishing start signal to the electric lock.

More specifically, in the fish recognition system based on double filtering processing: when the digital signal processor receives that the target fish type is a rare type, it sends a rescue report to the water through the ultra-long wave communication device. The center sends an alarm signal.

More specifically, in the fish identification system based on double filtering processing: the sonar device, the sonar image processing device and the laser imaging device are all arranged on the fixed platform of the submarine.

More specifically, in the fish recognition system based on double filtering processing: the sonar device, the sonar image processing device and the laser imaging device are integrated on an integrated circuit board.

More specifically, in the fish recognition system based on double filtering processing: the FLASH storage device is located in the submarine operation dashboard.

More specifically, in the fish identification system based on double filtering processing: the digital signal processor is a DSP processing chip of TI Company.

Description of drawings

Embodiments of the present invention will be described below in conjunction with the accompanying drawings, wherein:

Fig. 1 is a structural block diagram of a fish recognition system based on double filtering processing according to an embodiment of the present invention.

Reference signs: 1 submarine fixed platform; 2 laser imaging equipment; 3 clear processing equipment; 4 fish detection device

detailed description

The embodiment of the double filter processing-based fish recognition system of the present invention will be described in detail below with reference to the accompanying drawings.

In the prior art, the civilian use of submarines is relatively difficult. For example, if the civilian use is for fishing, a series of equipment suitable for underwater operations is required.

In order to overcome the above disadvantages, the present invention builds a fish recognition system based on double filter processing, which can be applied to submarines to realize automatic and efficient fishing in submarines.

Fig. 1 is a structural block diagram of a fish identification system based on double filtering processing shown according to an embodiment of the present invention, the identification system is used on a submarine, including a submarine fixed platform, laser imaging equipment, clear processing equipment and fish detection device, the fixed platform of the submarine is located at the front of the submarine, the laser imaging equipment, the clearing processing equipment and the fish detection device are all located on the fixed platform of the submarine, and the clearing processing equipment is used Scattered light is eliminated on the underwater laser image in front of the submarine captured by the laser imaging device, and the fish body detection device is connected to the clearing processing device to detect whether the underwater image after the scattered light is eliminated Fish body exists.

Next, the specific structure of the fish body identification system based on double filtering processing of the present invention will be further described.

The identification system also includes: fishing net weighing equipment, which is set in the fishing net container and used to detect and output the weight of the fishing net.

The identification system also includes: a fishing net container, arranged on the fixed platform of the submarine, for accommodating the fishing net in the non-fishing state, the fishing net container includes an electric lock, a relay and an opening, and the electric lock is received When the fishing start signal is received, the opening is opened, and the electric lock closes the opening when receiving the recovery completion signal, and the relay is respectively connected with the electric lock and the submarine power supply equipment for powering the electric lock. The striker supplies power and controls the opening and closing operations of the electric striker.

The identification system further includes: a fishing net release driver, arranged on the fixed platform of the submarine, connected with the fishing net, and used to control the release of the fishing net according to the fishing net release force and the fishing net release angle.

The identification system also includes: a fishing net recovery driver, arranged on the fixed platform of the submarine, connected to the fishing net, and used to control the fishing net to recover the fishing net to the fishing net when receiving a fishing end signal. Inside the fishing net container.

The identification system further includes: a release motor, arranged on the fixed platform of the submarine, connected with the fishing net release driver, and providing power for the fishnet release driver to control the release of the fishing net.

The identification system further includes: a recovery motor, arranged on the fixed platform of the submarine, connected with the fishing net recovery driver, and providing power for the fishing net recovery driver to control the release of the fishing net.

The identification system also includes: a signal receiver, arranged on the fixed platform of the submarine, connected with the electric lock and the fishing net recovery driver respectively, connected with the submarine control input device through a cable, and used for After being fully recovered into the fishing net container, the recovery completion signal is provided under the operation of the submarine staff, and is also used to provide a fishing end signal under the operation of the submarine staff.

The identification system also includes: a FLASH storage device, which pre-stores the fish body gray scale range and various fish body reference templates, the fish body gray scale range is used to separate the fish body in the image from the background, and the various fish body gray scale ranges The fish body reference template is each image obtained by pre-shooting various reference fish bodies, and also pre-stores the upper limit of the brightness threshold and the lower limit of the brightness threshold.

The identification system further includes: a sonar device configured to perform sonar image acquisition on an underwater target at the front of the submarine to obtain a sonar image.

The identification system also includes: a sonar image processing device, connected to the sonar device and the FLASH storage device respectively, including a first detection sub-device, a second detection sub-device and a target distance detection sub-device, the first detection sub-device A detection sub-device is respectively connected with the sonar device and the FLASH storage device, and is used to traverse the sonar image using the upper limit of the brightness threshold to segment out the core target area; the second detection sub-device is connected with the first detection sub-device The device and the FLASH storage device are respectively connected, and are used to use the edge point of the core target area as a seed point, and use the lower limit of the brightness threshold to perform brightness judgment on the pixels near the core target area, so as to obtain and segment the final target area; The target distance detection sub-device is connected to the second detection sub-device, calculates the distance from the center point of the final target area to the detection origin of the sonar image and outputs it as the target distance.

The laser imaging device includes a laser, a detector and a microcontroller, and the laser emits a laser beam to the underwater target at the front of the submarine, so that when the laser beam is reflected by the underwater target to the detector, For the shooting of the detector, the microcontroller is respectively connected with the sonar image processing equipment, the laser and the detector, and the selection of the shutter of the detector is determined based on the target distance and the underwater propagation speed of the laser. The pass time, and when the pass time arrives, the shutter of the detector is strobed, and the detector is triggered to photograph the underwater target, so as to obtain an underwater laser image.

The identification system also includes: an ultra-long wave communication device, located in the submarine operation dashboard, for establishing two-way data communication with the remote water rescue center.

The identification system also includes: a positioning device, located in the submarine operation instrument panel, including an inertial navigation positioning sub-device and an underwater acoustic navigation sub-device, using the inertial navigation and positioning sub-device and the underwater acoustic navigation sub-device for joint positioning, Based on the outputs of the inertial navigation and positioning sub-device and the underwater acoustic navigation sub-device, current positioning data of the submarine is determined.

The identification system also includes: an audible and visual alarm device, connected to the digital signal processor, for performing an audible and visual alarm operation when receiving an audible and visual alarm signal.

The identification system also includes: an ultrasonic detector, arranged on the fixed platform of the submarine, used to measure the distance between the front of the submarine and the fish body in front, and output it as the relative distance of the fish body.

The identification system further includes: a laser intensity detector, which is arranged on the fixed platform of the submarine, and is used for real-time detection of the laser intensity when the laser beam is reflected by the underwater target to the detector.

The clearing processing device is respectively connected with the laser imaging device, the ultrasonic detector and the laser intensity detector to obtain the relative distance of the fish and the intensity of the laser, and based on the relative distance of the fish and the laser intensity to remove the scattered light component formed on the front fish body due to laser irradiation in the underwater laser image, so as to obtain a clear underwater image.

The fish detection device is arranged on the fixed platform of the submarine, and is respectively connected with the clearing processing device and the FLASH storage device, and includes an adaptive recursive filter sub-device, a median filter sub-device, and a scaling enhancer device, a target segmentation sub-device and a target recognition sub-device; the adaptive recursive filtering sub-device is connected to the clearing processing device, and is used to perform adaptive recursive filtering processing on the cleared underwater image to filter out all Gaussian noise in the underwater image is cleared to obtain an adaptive recursive filter image; the median filter sub-device is connected to the adaptive recursive filter sub-device for performing median filtering on the adaptive recursive filter image processing, to filter out the water particle scattering component in the adaptive recursive filtering image, and obtain a median filtering image; the scale transformation enhancement sub-device is connected to the median filtering sub-device for performing the median filtering The image performs scale transformation enhancement processing to enhance the contrast between the target and the background in the image to obtain an enhanced image; the target segmentation sub-device is connected to the scale transformation enhancement sub-device, and the gray value of the pixel in the enhanced image is in the described All the pixels in the fish body gray scale form the fish body sub-image; the target recognition sub-device is connected with the target segmentation sub-device and the FLASH storage device respectively, and the fish body sub-image is connected with various fish body references The templates are matched one by one, and the fish body type corresponding to the successfully matched fish body reference template is output as the target fish body type, and the underwater fish body is calculated based on the relative position of the underwater fish body sub-image in the clear underwater image Angle of deviation.

The identification system also includes: a digital signal processor, arranged on the fixed platform of the submarine, connected with the positioning device, the fish detection device and the ultra-long wave communication device respectively, for receiving the When the target fish body type, the fish body sub-image is carried out image compression coding based on the MPEG-4 compression standard to obtain the compressed fish body sub-image, and the compressed fish body sub-image, the target fish body type and the The current positioning data is sent to the water rescue center through the ultra-long wave communication device; the digital signal processor is also separately connected with the fishing net weighing device, the electric lock, the fishing net release driver and the fishing net recovery driver connection, when the target fish type is received, the release force of the fishing net is determined according to the relative distance of the fish body and the weight of the fishing net; the release angle of the fishing net is determined according to the deviation angle of the underwater fish body, and the fishing net is sent to the electric lock start signal.

Optionally, in the fish identification system based on double filtering processing: when the digital signal processor receives that the target fish type is a rare type, it sends a rescue report to the water through the ultra-long wave communication device. The center sends an alarm signal; the sonar equipment, the sonar image processing equipment and the laser imaging equipment are all arranged on the fixed platform of the submarine; the sonar equipment, the sonar image processing equipment and the The laser imaging device is integrated on an integrated circuit board; the FLASH storage device is located in the submarine operation instrument panel; the digital signal processor is a DSP processing chip of TI company.

Adopting the fish recognition system based on double filter processing of the present invention, aiming at the technical problem that the submarine is difficult to transform for fishing in the prior art, a submarine fixed platform is set on the submarine, and high-precision image recognition equipment and fish positioning equipment are integrated to the fixed platform of the submarine, thereby solving the above-mentioned problems, improving fishing efficiency, and widening the civil use of the submarine.

It can be understood that although the present invention has been disclosed above with preferred embodiments, the above embodiments are not intended to limit the present invention. For any person skilled in the art, without departing from the scope of the technical solution of the present invention, the technical content disclosed above can be used to make many possible changes and modifications to the technical solution of the present invention, or be modified into equivalent changes, etc. effective example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention, which do not deviate from the technical solution of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims (1)

1. a kind of fish body identifying system based on double-smoothing process, for submarine, described identifying system includes submarine and fixes Platform, laser imaging apparatus, sharpening processing equipment and fish body detection device, described submarine fixed platform is located at described submarine Front portion, described laser imaging apparatus, described sharpening processing equipment and described fish body detection device are all located at described submarine and fix On platform, described sharpening processing equipment is used for the shooting of described laser imaging apparatus, the underwater laser image in front of submarine It is scattered light to eliminate, described fish body detection device is connected with described sharpening processing equipment, eliminates after scattered light for detecting Underwater picture in whether there is fish body；

It is characterized in that, described identifying system also includes:

Fishing net weight measuring equipment, is arranged in fishing net container, for detecting and exporting fishing net weight；

Fishing net container, is arranged in described submarine fixed platform, for accommodating fishing net, described fishing net container under non-fishing state Including electronic lock, relay and opening, described electronic latch in receive fishing enabling signal when, open described opening, institute State electronic latch in when receiving recovery and finishing signal, close described opening, described relay is powered with electronic lock and submarine Equipment connects respectively, for powering for described electronic lock and controlling opening operation and the shutoff operation of described electronic lock；

Fishing net release actuator, is arranged in described submarine fixed platform, is connected with described fishing net, for according to fishing net release force Degree and the release of the fishing net release angle described fishing net of control；

Fishing net reclaims driver, is arranged in described submarine fixed platform, is connected with described fishing net, for receiving fishing knot During bundle signal, control described fishing net to be recovered to described fishing net in described fishing net container；

Release motor, is arranged in described submarine fixed platform, is connected with described fishing net release actuator, is described fishing net release The control that driver discharges to fishing net provides power；

Reclaim motor, be arranged in described submarine fixed platform, reclaim driver with described fishing net and be connected, be that described fishing net reclaims The control that driver discharges to fishing net provides power；

Signal receiver, is arranged in described submarine fixed platform, reclaims driver with described electronic lock and described fishing net and divides Do not connect, be connected with submarine control input equipment by cable, for being fully retrieved in described fishing net container in described fishing net There is provided recovery to finish signal afterwards under the operation of submarine staff, be additionally operable to provide fishing under the operation of submarine staff End signal；

Flash memory part, has prestored fish body tonal range and all kinds of fish body benchmark masterplate, and described fish body tonal range is used In by the fish body in image and background separation, described all kinds of fish body benchmark masterplates are that all kinds of benchmark fish bodies are carried out shooting institute in advance Each image obtaining, has also prestored the luminance threshold upper limit and luminance threshold lower limit；

Sonar, for the submarine target execution sonar image collection anterior to submarine, to obtain sonar image；

Sonar image processing equipment, is connected respectively with described sonar and described flash memory part, including the first detection Equipment, the second sub- equipment of detection and the sub- equipment of object range detection, described first detects sub- equipment and described sonar and institute State flash memory part to connect respectively, for adopting luminance threshold upper limit traversal sonar image to be partitioned into core objective region； The described second sub- equipment of detection is connected with the described first sub- equipment of detection and described flash memory part, respectively for described The marginal point in core objective region, as seed point, is carried out to the pixel of core objective areas adjacent using luminance threshold lower limit Brightness judges, to obtain and to be partitioned into final goal region；The sub- equipment of described object range detection is set with the described second detection Standby connection, the central point calculating final goal region detects the distance of initial point and as target range output to sonar image；

Described laser imaging apparatus, including laser instrument, detector and microcontroller, described laser instrument is to the anterior mesh under water of submarine Mark sends laser beam, when described laser beam is reflexed to described detector by submarine target, to be easy to the shooting of described detector, Described microcontroller is connected respectively with described sonar image processing equipment, described laser instrument and described detector, based on target away from From spread speed determines the gating time of described detector shutter under water with laser, and when gating time reaches, gate institute State the shutter of detector, trigger described detector and submarine target is shot, to obtain underwater laser image；

Myriametric wave communication device, in submarine operation instrumental panel, sets up bi-directional data for the water life-saving center with far-end Communication；

Positioning devices, in submarine operation instrumental panel, including inertial navigation locator device and the sub- device of water acoustic navigation, use Described inertial navigation locator device and the sub- device of described water acoustic navigation carry out co-located, based on described inertial navigation locator Device and the output of the sub- device of described water acoustic navigation, determine the current position determination data of described submarine；

Sound and light alarm device, is connected with digital signal processor, for when receiving sound and light alarm signal, carrying out sound and light alarm Operation；

Supersonic reflectoscope, is arranged in described submarine fixed platform, for measuring fish body in front of described submarine front distance Distance, and as the output of fish body relative distance；

Laser intensity detector, is arranged in described submarine fixed platform, for laser beam described in real-time detection by submarine target Reflex to laser intensity during described detector；

Described sharpening processing equipment and described laser imaging apparatus, described supersonic reflectoscope and described laser intensity detector Connect respectively, to obtain described fish body relative distance and described laser intensity, and based on described fish body relative distance and described swash Light intensity removes the scattered light composition being formed in the fish body of front in described underwater laser image because laser irradiates, to obtain Sharpening underwater picture；

Described fish body detects device, is arranged in described submarine fixed platform, with described sharpening processing equipment and described flash Memory device connects respectively, including the sub- device of self adaptation recursive filtering, the sub- device of medium filtering, change of scale enhancer device, The sub- device of Target Segmentation and the sub- device of target recognition；The described sub- device of self adaptation recursive filtering and described sharpening processing equipment are even Connect, for processing to described sharpening underwater picture execution self adaptation recursive filtering, to filter in described sharpening underwater picture Gaussian noise, obtain self adaptation recursive filtering image；The described sub- device of medium filtering and the sub- device of described self adaptation recursive filtering Part connects, for executing median filter process to described self adaptation recursive filtering image, to filter described self adaptation recursive filtering Water particle scattering composition in image, obtains medium filtering image；Described change of scale enhancer device and described medium filtering Sub- device connects, for executing change of scale enhancement process to described medium filtering image, to strengthen target and background in image Contrast, obtain strengthen image；The sub- device of described Target Segmentation is connected with described change of scale enhancer device, by described increasing All pixels composition fish body subimage in described fish body tonal range for the grey scale pixel value in strong image；Described target recognition Device device with described Target Segmentation and described flash memory part are connected respectively, by described fish body subimage and all kinds of fishes Body benchmark masterplate mates one by one, the corresponding fish body type of output matching successful fish body benchmark masterplate as target fish body type, And fish body deviation angle under water is calculated based on relative position in described sharpening underwater picture for the described subimage of fish body under water；

Digital signal processor, is arranged in described submarine fixed platform, with described positioning devices, described fish body detection device and Described myriametric wave communication device connects respectively, for when receiving described target fish body type, described fish body subimage being entered The image compression encoding based on mpeg-4 compression standard for the row, to obtain compression fish body subimage, by described compression fish body subimage, Described target fish body type and described current position determination data are sent to water life-saving center by described myriametric wave communication device；Institute State digital signal processor also with described fishing net weight measuring equipment, described electronic lock, described fishing net release actuator and described fishing Net reclaims driver and connects respectively, when receiving described target fish body type, true according to fish body relative distance and fishing net weight Determine fishing net release dynamics；Fishing net release angle is determined according to fish body deviation angle under water, and send to described electric lock garnishment described Fishing enabling signal.