Sonar Data Conversion Method, Device, Electronic Device, Storage Medium and System

Abstract

The present invention discloses a sonar data conversion method, which relates to the field of underwater acoustic communication technology. The sonar data conversion method includes the steps of: acquiring echo information of each angle of a sonar device; respectively converting the echo information of each angle into point cloud information of each angle; splicing the point cloud information of each angle to obtain a first image file; and compressing the first image file to obtain a second image file. The present invention also discloses a sonar data conversion method, device, electronic device, storage medium and system. The present invention converts sonar data into image data, realizes the recognition and compression of effective information of the image, and realizes the long-distance acquisition of sonar data through the way of underwater acoustic communication.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic communication, and in particular, to a method, device, electronic device, storage medium and system for converting sonar data. Background Art

[0002] In recent years, with the development of underwater acoustic communication technology and the key attention of various countries to marine science, underwater wireless sensor networks have achieved good development. It is an ad-hoc network composed of underwater sensor nodes, autonomous underwater vehicles and surface networks / underwater networks through underwater acoustic links. The application of underwater wireless sensor networks plays an important role in expanding the exploration area of the ocean, assisting the navigation of underwater robots, and disaster warning. As an important part of the cognitive technology of underwater wireless sensor networks, image sonar has the characteristics of wide detection range and being unaffected by light and water turbidity, and is widely used in underwater vehicles and underwater sensor nodes. However, image sonar also faces the problem of excessive data volume, and it is impossible to directly transmit the original sonar data to other underwater sensor nodes through underwater acoustic communication, which restricts the application of image sonar in low-cost underwater sensor nodes. Summary of the Invention

[0003] The present invention provides a method, device, electronic device, storage medium and system for converting sonar data to solve the problem that image sonar also faces excessive data volume and cannot be transmitted through underwater acoustic communication, which restricts the application of image sonar in low-cost underwater sensor nodes.

[0004] In a first aspect, the present invention provides a method for converting sonar data, the method comprising:

[0005] Obtaining echo information of each angle of a sonar device;

[0006] Converting the echo information of each angle into point cloud information of each angle respectively;

[0007] Stitching the point cloud information of each angle to obtain a first image file;

[0008] Compressing the first image file to obtain a second image file.

[0009] In a second aspect, the present invention provides a sonar data conversion device, the sonar data conversion device comprising units for executing the sonar data conversion method according to any one of the embodiments of the first aspect.

[0010] In a third aspect, an electronic device is provided, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus;

[0011] The memory is used for storing a computer program;

[0012] A processor, when executing a program stored in a memory, implements the steps of the sonar data conversion method according to any one of the embodiments of the first aspect.

[0013] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the sonar data conversion method according to any one of the embodiments of the first aspect are implemented.

[0014] In a fifth aspect, a sonar data conversion system is provided. The sonar data conversion system includes an underwater wireless sensor network node, a central base station, and a cloud server of the sonar data conversion device according to any one of the embodiments of the second aspect. Among them,

[0015] The central base station is configured to receive a second image file through an underwater acoustic wireless network and send it to the cloud server by satellite communication technology for forwarding the second image file;

[0016] The cloud server is configured to receive the second image file and perform image enhancement on the second image file and then display it.

[0017] The above technical solutions provided by the embodiments of the present invention have the following advantages compared with the prior art:

[0018] The method provided by the embodiments of the present invention can convert sonar data into image data, realize the recognition and compression of effective information in the image, and achieve the long-distance acquisition of sonar data through underwater acoustic communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic flowchart of a sonar data conversion method provided in Embodiment 1 of the present invention;

[0022] Figure 2 It is a schematic sub-flowchart of a sonar data conversion method provided in Embodiment 1 of the present invention;

[0023] Figure 3 It is a schematic sub-flowchart of a sonar data conversion method provided in Embodiment 1 of the present invention;

[0024] Figure 4 It is a schematic diagram of a sub - process of a sonar data conversion method provided in Embodiment 1 of the present invention;

[0025] Figure 5 It is a schematic diagram of the process of a sonar data conversion method provided in Embodiment 2 of the present invention;

[0026] Figure 6 It is a schematic diagram of a sub - process of a sonar data conversion method provided in Embodiment 2 of the present invention;

[0027] Figure 7 It is a schematic diagram of the display content in Embodiment 2 of the present invention;

[0028] Figure 8 It is a block diagram of the structure of a sonar data conversion device provided in Embodiment 3 of the present invention;

[0029] Figure 9 It is a block diagram of the structure of another sonar data conversion device provided in Embodiment 4 of the present invention;

[0030] Figure 10 It is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. Detailed implementation manners

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1

[0033] Figure 1 It is a schematic diagram of the process of a sonar data conversion method provided in Embodiment 1 of the present invention. The present invention's Embodiment 1 proposes a sonar data conversion method, which is applicable to electronic devices such as underwater wireless sensor nodes. Specifically, referring to Figures 1 - 4 , the sonar data conversion method includes the following steps S101 - S104.

[0034] S101, Obtain the echo information of each angle of the sonar device.

[0035] In specific implementation, sonar is an electronic device that uses underwater sound waves to detect, locate, and communicate with underwater targets. It can determine the presence, location, and type of objects in the ocean in a certain direction, and is also used for underwater information transmission. Specifically, the sonar device is a single-beam scanning imaging sonar. Echo information refers to the information obtained by converting the received underwater acoustic signals, including but not limited to the presence, location, and type of objects in the ocean in a certain direction. The source of the underwater acoustic signals may be other sonar devices or the sonar device itself. When the sonar is powered on, the sonar will receive underwater acoustic signals from various angles as echo information. In one embodiment, considering the specific situation of limited power consumption and front-end processing capabilities, the development system supported by the data processing unit used is the Linux system for Arm. In this article, the ROS (Robot Operating System) robot operating system, which is suitable for the Linux system and has good visualization effects and data processing capabilities, is selected to implement sonar control, data processing, and generate visualization images.

[0036] S102. Convert the echo information at each angle into point cloud information at each angle respectively.

[0037] In specific implementation, the sonar transmits the sampled echo information at each angle to the data processing unit through a serial protocol. After receiving the sonar data, the data processing unit, based on the ROS system, converts the echo information at each angle into point cloud information at each angle respectively. The use of a low-power data processing unit and an efficient sonar data compression strategy reduces the power consumption of the front end, making it possible for underwater acoustic transmission of sonar data. At the same time, this set of systems is small in size and high in integration, facilitating installation in the battery compartment without the need for additional compartments, saving overall space and being more conducive to the integrated design of underwater equipment. The above step S102 includes steps S201 - S202:

[0038] S201. Remove the useless information in the echo information to obtain target information.

[0039] In specific implementation, useless information refers to background information and noise information that do not contain effective observation target information, as well as the necessary format information of sonar raw data and other additional information that users do not care about during use. After analyzing the echo information and removing the useless information in the echo information data, the remaining information, including echo intensity information, azimuth information, and time information, etc., is used as target information.

[0040] S202. Convert the target information into point cloud format to obtain point cloud information.

[0041] In specific implementation, the target information obtained from step S201 is converted into point cloud format through data format conversion and then sent to the RViz tool.

[0042] S103. Stitch the point cloud information at each angle to obtain a first image file.

[0043] In specific implementation, based on the RViz tool, stitch the point cloud information at each angle to obtain a first image file. RViz is a 3D visualization tool for robots using ROS. When receiving the point cloud information, it can display the point cloud information in the RViz tool. The first image file specifically refers to a sonar image file. Within a preset time, continuously receive the point cloud information at each angle. The RViz tool will sequentially stitch and display the point cloud information at each angle, and the image stitched and displayed by the RViz tool is the first image file.

[0044] The above step S103 includes steps S301 - S303:

[0045] S301. Control the RViz tool to display the user interface according to a preset configuration.

[0046] In specific implementation, the RViz tool has a configuration for the user to preset the display of the user interface. After receiving the point cloud information, the RViz tool will display it in the current user interface according to the preset point cloud display configuration.

[0047] S302. Display the point cloud information at each angle on the user interface in sequence.

[0048] In specific implementation, within a preset time, continuously receive the point cloud information at each angle. The RViz tool will sequentially stitch and display the point cloud information at each angle dynamically on the user interface.

[0049] S303. If the user interface displays the point cloud information for a full circle, store the current display content of the user interface as the first image file.

[0050] In specific implementation, when the RViz tool sequentially stitches and displays the point cloud information for a full circle, it will automatically store the image of the stitched and displayed point cloud information for a full circle and use it as the first image file.

[0051] S104. Compress the first image file to obtain a second image file.

[0052] In specific implementation, the second image file refers to an image file with a data volume less than 8KB, meeting the standard for transmission using an underwater acoustic channel. When the program detects the generation of a new first image file, use an image compression algorithm to compress the first image file. If the compressed image file meets the requirement of having a data volume less than 8KB, it is used as the second image file; if the compressed image file does not meet the requirement of having a data volume less than 8KB, compress the compressed image file again.

[0053] The above step S104 includes steps S401 - S403:

[0054] S401, obtain the first image file.

[0055] In a specific implementation, before compressing the first image file, perform 4-fold downsampling processing on the first image file to obtain the first image file. Among them, 4-fold downsampling includes a bilinear interpolation algorithm.

[0056] S402, based on the JPEG compression algorithm, compress the first image file to obtain a first compressed file.

[0057] In a specific implementation, optionally, based on the JPEG compression algorithm, at the cost of sacrificing image quality, reduce the size of the image data volume, compress the first image file obtained in step S401, and use the compressed file as the first compressed file. The principle of the JPEG compression algorithm can be determined with reference to existing materials, and the present invention does not make specific limitations on this.

[0058] S403, if the first compressed file meets the preset transmission standard, then use the first compressed file as the second image file.

[0059] In a specific implementation, determine the first compressed file obtained in step S402, and determine whether the compression result meets the final transmission requirement, that is, the image file meets the data volume less than 8 KB. If the first compressed file does not meet the data volume less than 8 KB, then use the first compressed file as the first image file and repeat the operation of step S402. If the first compressed file meets the data volume less than 8 KB, then use the first compressed file as the second image file.

[0060] Embodiment 2

[0061] Figure 5 The flowchart of a sonar data conversion method provided by Embodiment 2 of the present invention. Embodiment 2 of the present invention proposes a sonar data conversion method, which is applicable to underwater wireless sensor network nodes. Specifically, see Figures 2 - 7 , and the sonar data conversion method includes the following steps S501-S507.

[0062] S501, obtain the echo information of each angle of the sonar device.

[0063] In specific implementation, a sonar is an electronic device that uses underwater sound waves to detect, locate, and communicate with underwater targets. It can determine the presence, location, and type of objects in the ocean in a certain direction, and is also used for underwater information transmission. Specifically, echo information refers to the information obtained by converting the received underwater acoustic signals, including but not limited to the presence, location, and type of objects in the ocean in a certain direction. The source of the underwater acoustic signals may be other sonar devices or its own sonar device. When the sonar is powered on, the sonar takes samples at each angle as echo information. In one embodiment, considering the specific situation of limited power consumption and limited front-end processing capabilities, the development system supported by the data processing unit used is the Linux system for Arm version. In this paper, the ROS (Robot Operating System) robot operating system, which is suitable for the Linux system and has good visualization effects and data processing capabilities, is selected to implement sonar control, data processing, and generation of visualization images.

[0064] S502. Convert the echo information at each angle into point cloud information at each angle respectively.

[0065] In specific implementation, the sonar transmits the sampled echo information at each angle to the data processing unit through a serial protocol. After receiving the sonar data, the data processing unit, based on the ROS system, converts the echo information at each angle into point cloud information at each angle respectively. The use of a low-power data processing unit and an efficient sonar data compression strategy reduces the power consumption of the front end, and successfully realizes the underwater acoustic transmission of sonar data. Moreover, this set of systems is small in size, high in integration, easy to be installed in the battery compartment without adding other compartments, saving the overall space and being more conducive to the integrated design of underwater equipment.

[0066] The above step S102 includes steps S201 - S202:

[0067] S201. Remove the useless information in the echo information to obtain the target information.

[0068] In specific implementation, the useless information refers to the background information and noise information that do not contain effective observation target information, as well as the necessary format information of the sonar raw data and other additional information that users do not care about during use. After analyzing the echo information and removing the useless information in the echo information data, the remaining information including echo intensity information, azimuth information, and time information, etc., is used as the target information.

[0069] S202. Convert the target information into point cloud format to obtain point cloud information.

[0070] In specific implementation, the target information obtained from step S201, after data format conversion, is converted into point cloud format and sent to the RViz tool.

[0071] S503, splice the point cloud information at each angle to obtain the first image file.

[0072] In specific implementation, based on the RViz tool, splice the point cloud information at each angle to obtain the first image file. RViz is a 3D visualization tool for robots using ROS. After receiving the point cloud information, it can display the point cloud information in the RViz tool. The first image file specifically refers to a sonar image file. Within a preset time, continuously receive the point cloud information at each angle, and the RViz tool will sequentially splice and display the point cloud information at each angle. The image spliced and displayed by the RViz tool is the first image file.

[0073] The above step S103 includes steps S301 - S303:

[0074] S301, control the RViz tool to display the user interface according to the preset configuration.

[0075] In specific implementation, the RViz tool has a configuration for the user to preset the display of the user interface. After receiving the point cloud information, RViz will display it in the current user interface according to the preset point cloud display configuration.

[0076] S302, display the point cloud information at each angle on the user interface in sequence.

[0077] In specific implementation, within a preset time, continuously receive the point cloud information at each angle, and the RViz tool will sequentially splice and display the point cloud information at each angle dynamically on the user interface.

[0078] S303, if the user interface displays the point cloud information for a full circle, store the current display content of the user interface as the first image file.

[0079] In specific implementation, when the RViz tool sequentially splices and displays the point cloud information for a full circle, it will automatically store the image of the spliced and displayed point cloud information for a full circle and use it as the first image file.

[0080] S504, based on the circular detection algorithm of Hough transform, obtain the position of the target area of the first image file, and crop the area outside the target area.

[0081] In specific implementation, use the circular detection algorithm based on Hough transform to obtain the position of the effective information in the sonar image in the whole image, and crop and remove the useless information area.

[0082] S505, based on the edge detection algorithm, label the target area.

[0083] In specific implementation, annotate the image according to the detected image edges by the edge detection algorithm, and generate three marked circles, which respectively represent the sonar detection ranges at distances of 25m, 50m, and 75m, as Figure 7 shown.

[0084] S506. Compress the first image file to obtain a second image file.

[0085] In specific implementation, perform compression processing on the first image file, and the second image file is the processed first image file.

[0086] The above step S506 includes steps S601 - S603:

[0087] S601. Obtain the first image file.

[0088] In specific implementation, before compressing the first image file, first perform 4 - fold downsampling processing to obtain the first image file. Among them, 4 - fold downsampling includes the bilinear interpolation algorithm.

[0089] S602. Based on the SVD clustering algorithm, compress the first image file to obtain a second compressed file.

[0090] In specific implementation, optionally, based on the SVD clustering algorithm, compress the first image file obtained in step S601, and use the compressed file as the second compressed file. The principle of the SVD clustering algorithm can be determined by referring to existing materials, and the present invention does not make specific limitations on this.

[0091] S603. If the second compressed file meets the preset transmission standard, then use the second compressed file as the second image file.

[0092] In specific implementation, determine the second compressed file obtained in step S602, and determine whether the compression result meets the final transmission requirement, that is, the image file meets the requirement that the data volume is less than 8KB. If the second compressed file does not meet the requirement that the data volume is less than 8KB, then use the second compressed file as the first image file and repeat the operation of step S602. If the second compressed file meets the requirement that the data volume is less than 8KB, then use the second compressed file as the second image file.

[0093] S507. Based on the underwater acoustic communication method, send the second image file to the receiving end.

[0094] In specific implementation, the second image file obtained through step S506, understandably, the second image file meets the condition that the data volume is less than 8 KB, which satisfies the method of underwater acoustic communication. The second image file is sent to the receiving end, realizing the long-distance acquisition of sonar data. In one embodiment, the receiving end refers to the central base station. The second image file is sent to the central base station through underwater acoustic transmission, and then the central base station uploads it to the cloud server through satellite communication technology to complete the sonar data acquisition operation.

[0095] Embodiment 3

[0096] See Figure 8 , Figure 8 which is a structural block diagram of a sonar data conversion device provided by an embodiment of the present invention. As Figure 8 described, the sonar data conversion device includes an acquisition unit 901, a conversion unit 902, a splicing unit 903, and a compression unit 904.

[0097] The acquisition unit 901 is used to acquire the echo information of each angle of the sonar device.

[0098] The conversion unit 902 is used to convert the echo information of each angle into point cloud information of each angle respectively.

[0099] The splicing unit 903 is used to splice the point cloud information of each angle to obtain a first image file.

[0100] The compression unit 904 is used to compress the first image file to obtain a second image file.

[0101] In one embodiment, the conversion unit 902 is specifically used for:

[0102] Removing the useless information in the echo information to obtain target information;

[0103] Converting the target information into point cloud format to obtain point cloud information.

[0104] In one embodiment, the splicing unit 903 is specifically used for:

[0105] Controlling the RViz tool to display the user interface according to the preset configuration;

[0106] Sequentially displaying the point cloud information of each angle on the user interface;

[0107] If the user interface displays the point cloud information for a full circle, storing the current display content of the user interface as a first image file.

[0108] In one embodiment, the compression unit 904 is specifically used for:

[0109] Acquiring the first image file;

[0110] Based on the JPEG compression algorithm, compress the first image file to obtain a first compressed file;

[0111] If the first compressed file meets the preset transmission standard, use the first compressed file as the second image file.

[0112] Embodiment 4

[0113] See Figure 9 , Figure 9 , which is a structural block diagram of a sonar data conversion device provided by an embodiment of the present invention. As Figure 9 described, the sonar data conversion device includes an acquisition unit 1001, a conversion unit 1002, a splicing unit 1003, a cropping unit 1004, a labeling unit 1005, a compression unit 1006, and a sending unit 1007.

[0114] The acquisition unit 1001 is used to acquire echo information of each angle of the sonar device.

[0115] The conversion unit 1002 is used to convert the echo information of each angle into point cloud information of each angle respectively.

[0116] The splicing unit 1003 is used to splice the point cloud information of each angle to obtain a first image file.

[0117] The cropping unit 1004 is used to obtain the position of the target area of the first image file and crop the area outside the target area.

[0118] The labeling unit 1005 is used to label the target area.

[0119] The compression unit 1006 is used to compress the first image file to obtain a second image file.

[0120] The sending unit 1007 is used to send the second image file to the receiving end.

[0121] In one embodiment, the conversion unit 1002 is specifically used for:

[0122] Remove the useless information in the echo information to obtain target information;

[0123] Convert the target information into point cloud format to obtain point cloud information.

[0124] In one embodiment, the splicing unit 1003 is specifically used for:

[0125] Control the RViz tool to display the user interface according to the preset configuration;

[0126] Display the point cloud information of each angle on the user interface in sequence;

[0127] If the user interface displays the full-circle point cloud information, store the current display content of the user interface as a first image file.

[0128] In one embodiment, the compression unit 1006 is specifically configured to:

[0129] Obtain the first image file;

[0130] Compress the first image file based on the SVD clustering algorithm to obtain a first compressed file;

[0131] If the first compressed file meets the preset transmission standard, use the first compressed file as the second image file.

[0132] Embodiment 5

[0133] As Figure 10 shown, an embodiment of the present invention provides an electronic device, including a processor 1101, a communication interface 1102, a memory 1103, and a communication bus 1104. Among them, the processor 1101, the communication interface 1102, and the memory 1103 complete mutual communication through the communication bus 1104.

[0134] The memory 1103 is used to store computer programs;

[0135] In an embodiment of the present invention, when the processor 1101 executes the program stored on the memory 1103, it implements the method for sonar data conversion provided in any one of the foregoing method embodiments.

[0136] Embodiment 6

[0137] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the sonar data conversion method provided in any one of the foregoing method embodiments.

[0138] Embodiment 7

[0139] An embodiment of the present invention further provides a sonar data conversion system. The sonar data conversion system includes an underwater wireless sensor network node, a central base station, and a cloud server of the sonar data conversion device as described in Embodiments 3-4. Among them,

[0140] The central base station is configured to receive the second image file through the underwater acoustic wireless network and send and forward the second image file to the cloud server through satellite communication technology;

[0141] The cloud server is configured to receive the second image file and perform image enhancement on the second image file for display.

[0142] In one embodiment, image enhancement includes red channel compensation and Y channel histogram equalization.

[0143] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0144] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for sonar data conversion, characterized in that, Including: Obtain the echo information of each angle of the sonar device; Convert the echo information of each angle into point cloud information of each angle respectively; Stitch the point cloud information of each angle to obtain a first image file; Compress the first image file to obtain a second image file; Among them, the step of stitching the point cloud information of each angle to obtain a first image file includes: Control the RViz tool to display the user interface according to the preset configuration; Display the point cloud information of each angle in sequence on the user interface; If the user interface displays the point cloud information for a full circle, store the current display content of the user interface as a first image file.

2. The method according to claim 1, characterized in that, The step of respectively converting the echo information of each angle into point cloud information of each angle includes: Remove the useless information in the echo information to obtain target information; Convert the target information into a point cloud format to obtain point cloud information.

3. The method according to claim 1, characterized in that, After the step of stitching the point cloud information of each angle to obtain a first image file, it includes: Based on the circular detection algorithm of the Hough transform, obtain the position of the target area of the first image file, and crop the area outside the target area; Based on the edge detection algorithm, label the target area.

4. The method according to claim 1, characterized in that, After the step of compressing the first image file to obtain a second image file, the method further includes: Send the second image file to the receiving end based on the underwater acoustic communication method.

5. The method according to claim 1, characterized in that, The step of compressing the first image file to obtain a second image file includes: Obtain the first image file; Compress the first image file based on the JPEG compression algorithm to obtain a first compressed file; If the first compressed file meets the preset transmission standard, use the first compressed file as the second image file.

6. The method according to claim 1, characterized in that, The step of compressing the first image file to obtain a second image file further includes: Obtain the first image file; Compress the first image file based on the SVD clustering algorithm to obtain a second compressed file; If the second compressed file meets the preset transmission standard, use the second compressed file as the second image file.

7. A sonar data conversion device, characterized in that, It includes a unit for executing the sonar data conversion method according to any one of claims 1-6.

8. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is used to store computer programs; When the processor is used to execute the program stored on the memory, it realizes the steps of the sonar data conversion method according to any one of claims 1-6.

9. A computer-readable storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by the processor, it realizes the steps of the sonar data conversion method according to any one of claims 1-6.

10. A sonar data conversion system, characterized in that,The system includes an underwater wireless sensor network node, a central base station, and a cloud server of the sonar data conversion device according to claim 7 above. Among them, The central base station is used to receive the second image file through the underwater acoustic wireless network and send it to the cloud server by satellite communication technology for forwarding; The cloud server is used to receive the second image file and display it after image enhancement.

Images