The invention discloses an
underwater fishing net detection method based on a forward-looking
sonar image and an AUV platform. The method comprises the following steps: collecting and acquiring a forward-looking
sonar original data packet through a multi-beam forward-looking
sonar carried on an AUV; analyzing the obtained sonar
original data packet in real time to obtain an original sonar
data matrix, and then interpolating sonar data to obtain a complete fan-shaped forward-looking sonar image; transmitting the obtained forward-looking sonar image to the AUV platform, and inputting the forward-looking sonar image into a target detection model trained in advance to carry out
fishing net detection in real time; and converting the detection result into a corresponding
system instruction and feeding back to an AUV main control module, and allowing the AUV to make a corresponding
obstacle avoidance decision according to the detection result. According to the scheme, the problems of complexalgorithm implementation, low detection accuracy, poor real-time performance and the like in the prior art are solved, the autonomous survival ability of the AUV is improved, the AUV can master the information of the sea area ahead in real time, and an
underwater fishing net can be autonomously detected and avoided.