A marine detection device and control method

Abstract

This application discloses a marine detection device and control method. The marine detection device can be installed on the bottom of unmanned surface vessels (USVs) and other underwater vehicles. During the detection of a real target, the central optical axis of the laser illumination device is kept aligned with the central optical axis of the camera on the seabed, and the laser illumination device is controlled to illuminate the target with a large light output size. After identifying the target element in the detection image, a tracking mode is activated. On the one hand, the central optical axes of both the laser illumination device and the camera are kept aligned with the real target; on the other hand, the laser illumination device is controlled to illuminate the real target with a smaller light output size, and the camera is controlled to adjust its focus to capture a close-up shot of the real target. This application allows for accurate illumination of a large area during detection, facilitating the discovery of the real target through the detection image; during tracking, it facilitates clearer observation of the real target.

Description

Technical Field

[0001] This application relates to the field of marine exploration technology, and in particular to a marine exploration device and control method. Background Technology

[0002] Unmanned surface vessels (USVs) are a new type of carrier with highly nonlinear dynamic characteristics, capable of performing tasks in various complex and unknown shallow sea environments without human intervention. They have advantages such as small size, intelligence, and autonomy, and are often used to perform tasks with high risk factors and harsh operating environments, especially in the field of exploration and salvage.

[0003] Before salvage operations can be conducted in shallow waters, underwater reconnaissance is required. Salvage can only proceed after the actual target has been detected. Due to the dim lighting conditions underwater, the existing lighting equipment cannot intelligently adjust its illumination range according to the detection needs during underwater reconnaissance, resulting in low efficiency in salvage operations. Summary of the Invention

[0004] The purpose of this application is to provide a marine exploration device and control method that can improve the above-mentioned problems.

[0005] The embodiments of this application are implemented as follows:

[0006] In a first aspect, this application provides a marine exploration device, which includes a controller and a laser illumination device, a camera and a laser ranging device disposed on the same working plane. The laser illumination device is fixed to the working plane by a first electrically controlled rotating base, and the camera is fixed to the working plane by a second electrically controlled rotating base.

[0007] The controller is used to control the size of the illumination beam of the laser lighting device, control the rotation angle of the first electrically controlled rotating base and the second electrically controlled rotating base, and receive and process the data information fed back by the camera and the laser ranging device.

[0008] It is understood that this application discloses a marine detection device that can be installed on the bottom of an unmanned surface vessel (USV) or other underwater vehicle, facing the seabed. The marine detection device includes a laser illumination device, a camera, and a laser rangefinder, all mounted on the same working plane. The current seabed depth fed back by the laser rangefinder can also be applied to the laser illumination device and the camera. In this marine detection device, the laser illumination device and the camera are connected to the working plane via electrically controlled rotating bases. Therefore, by controlling the rotation of the electrically controlled rotating bases, the illumination angle of the laser illumination device can be adjusted, allowing the laser illumination device to more accurately target the real object. Furthermore, by controlling the size of the laser illumination beam, the beam can be more focused on illuminating the real object. More intelligent illumination of the real object allows the camera to obtain clearer images, improving the efficiency of salvage or exploration operations.

[0009] In an optional embodiment of this application, the laser lighting device includes a laser source and a scanner. The scanner is used to guide the emitted beam of the laser source to scan along a preset path under the control of the controller. When the scanner is started under the control of the controller, the laser lighting device outputs an illumination beam of a first size. When the scanner is stopped under the control of the controller, the laser lighting device outputs an illumination beam of a second size, which is smaller than the first size.

[0010] In optional embodiments of this application, the scanner includes at least one of the following:

[0011] At least one two-dimensional MEMS scanning mirror, wherein the two-dimensional MEMS scanning mirror is in the same plane when at rest, and the two-dimensional MEMS scanning mirror is electrically connected to the controller;

[0012] A fiber optic scanner includes a scanning fiber, an actuator, and a housing. The tail of the actuator is fixed inside the housing by a fastener. The scanning fiber is fixed to the actuator. The section of the scanning fiber extending out of the actuator is the scanning section. The tail end of the scanning fiber away from the scanning section is connected to the laser light source. The actuator is electrically connected to the controller.

[0013] Secondly, this application discloses a control method for a marine exploration device, applied to the controller of the marine exploration device according to any one of the first aspects, the control method comprising:

[0014] S1: Obtain the current seabed depth fed back by the laser ranging device;

[0015] S2: Control the first electrically controlled rotating seat to rotate according to the current seabed depth, so that the first central optical axis of the emitted beam of the laser illumination device and the second central optical axis of the camera intersect at one point on the seabed;

[0016] S3: Control the laser illumination device to illuminate with a first-size beam and receive the detection image fed back by the camera.

[0017] S1, S2, etc. are merely step identifiers. The execution order of the method does not necessarily follow the numerical order from smallest to largest. For example, step S2 can be executed first and then step S1. This application does not impose any restrictions.

[0018] It is understood that this application discloses a control method for a marine exploration device, executed by the controller of any of the aforementioned marine exploration devices. During the exploration of a real target, this method controls the rotation angle of the first electrically controlled rotating base connected to the laser illumination device according to the current seabed depth, ensuring that the first central optical axis of the emitted beam from the laser illumination device always intersects with the second central optical axis of the camera at the same point on the seabed; furthermore, it controls the laser illumination device to illuminate with a larger emitted light size. During the exploration process, the camera generally uses a wide-angle mode, resulting in a larger viewing angle for the feedback image. This control method facilitates that the detection image always obtains accurate illumination over a large area, making it easier to discover the real target through the detection image.

[0019] In an optional embodiment of this application, step S2 includes:

[0020] The first angle relative to the first central optical axis is calculated using the following formula:

[0021] ,in, Indicates the first angle, This represents the distance between the first central optical axis and the second central optical axis. This indicates the current seabed depth;

[0022] The first electrically controlled rotating base is controlled to rotate in a first direction by a first angle, wherein the first direction is the direction in which the laser lighting device faces the camera.

[0023] In an optional embodiment of this application, the method further includes:

[0024] S4: Identify target elements in the detected image;

[0025] S5: Based on the current focal length of the camera and the position of the target element in the detection image, calculate the positional relationship between the real target object corresponding to the target element and the second central optical axis;

[0026] S6: Adjust the first electrically controlled rotating seat and the second electrically controlled rotating seat according to the positional relationship, so that the first central optical axis and the second central optical axis are both aligned with the real target object.

[0027] It is understandable that after identifying the target element in the detection image using image recognition models such as YOLO, the tracking mode is activated. During the tracking process, the rotation angles of the first and second electrically controlled rotating seats are continuously controlled so that the central optical axis of the laser illumination device and the camera are aligned with the actual target object.

[0028] Optionally, the positional relationship includes: a first distance between the real target and the second central optical axis in a first direction; and a second distance between the real target and the second central optical axis in a second direction, wherein the second direction is parallel to the working plane and perpendicular to the first direction.

[0029] Optionally, step S6 includes:

[0030] The second and third angles relative to the first central optical axis are calculated using the following formula:

[0031] ,

[0032] in, Indicates the second angle, This represents the distance between the first central optical axis and the second central optical axis. Indicates the first spacing. This indicates the current seabed depth; Indicates the third angle, Indicates the second spacing;

[0033] Control the first electrically controlled rotating base to rotate in the first direction by the second angle, and control the first electrically controlled rotating base to rotate in the second direction by the third angle, so that the first central optical axis is aligned with the real target object;

[0034] The fourth and fifth angles relative to the second central optical axis are calculated using the following formula:

[0035] ,

[0036] in, This refers to the fourth angle. Indicates the fifth angle;

[0037] The second electrically controlled rotating base is controlled to rotate in the first direction by the fourth angle, and the second electrically controlled rotating base is controlled to rotate in the second direction by the fifth angle, so that the second central optical axis is aligned with the real target object.

[0038] In an optional embodiment of this application, after the first central optical axis and the second central optical axis are aligned with the real target object, the method further includes:

[0039] S7: Control the laser illumination device to illuminate with a second-size beam, the second size being smaller than the first size;

[0040] S8: Control the camera to focus on the real target object, so that the area occupied by the target element and the area of ​​the detected image reach a preset area ratio.

[0041] It is understandable that, in order to observe the real target more clearly and improve the efficiency of subsequent salvage or exploration work, on the one hand, the laser illumination equipment is controlled to illuminate the real target with a smaller light output size, and on the other hand, the camera is controlled to adjust its focus to take close-up shots of the real target.

[0042] In an optional embodiment of this application, step S3 includes: controlling the laser light source in the laser lighting device to light up, and controlling the scanner in the laser lighting device to start working;

[0043] Step S7 includes: controlling the laser light source in the laser lighting device to light up, and controlling the scanner in the laser lighting device to stop working.

[0044] Beneficial effects:

[0045] This application discloses a marine detection device that can be installed on the bottom of an unmanned surface vessel (USV) or other underwater vehicle, facing the seabed. The device includes a laser illumination device, a camera, and a laser rangefinder, all mounted on the same working plane. The current seabed depth fed back by the laser rangefinder can also be applied to the laser illumination device and the camera. In this device, the laser illumination device and the camera are connected to the working plane via electrically controlled rotating bases. Therefore, by controlling the rotation of the electrically controlled rotating bases, the illumination angle of the laser illumination device can be adjusted, allowing it to more accurately target the real object. Furthermore, by controlling the size of the laser beam, the illumination beam can be more focused on illuminating the real object. This more intelligent illumination of the target object allows the camera to obtain clearer images, improving the efficiency of salvage or exploration operations.

[0046] This application discloses a control method for a marine detection device. During the detection of a real target, the rotation angle of the first electrically controlled rotating base is controlled so that the central optical axis of the laser illumination device always intersects with the central optical axis of the camera on the seabed. Additionally, the laser illumination device is controlled to illuminate with a larger light output size. During detection, the camera typically uses a wide-angle mode, resulting in a larger viewing angle for the detected image. This control method facilitates accurate illumination of a wide area in the detected image, making it easier to locate the real target.

[0047] After identifying the target element in the detection image, the tracking mode is activated. During tracking, on one hand, the rotation angles of the first and second electrically controlled rotating seats are continuously controlled so that the central optical axes of the laser illumination device and the camera are aligned with the actual target object; on the other hand, the laser illumination device is controlled to illuminate the actual target object with a smaller light output size, and the camera is controlled to adjust its focus to capture a close-up shot of the actual target object. This facilitates clearer observation of the actual target object, making subsequent salvage or detection work easier.

[0048] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, optional embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a structural schematic diagram of a marine exploration device provided in this application;

[0051] Figure 2 yes Figure 1 A schematic diagram of the structure of a laser illumination device in a marine exploration system is shown.

[0052] Figure 3 yes Figure 1 A schematic diagram of another laser illumination device in the shown marine exploration equipment;

[0053] Figure 4 yes Figure 1 A schematic diagram showing one working state of a marine exploration device;

[0054] Figure 5 yes Figure 1 A schematic diagram showing another working state of the marine exploration equipment;

[0055] Figure 6 yes Figure 5 A schematic diagram of the detection image obtained in the shown working state;

[0056] Figure 7 yes Figure 1 This diagram illustrates another working state of the marine exploration equipment. Detailed Implementation

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0058] Firstly, such as Figure 1 As shown, this application provides a marine exploration device, including a controller 10 and a laser illumination device 20, a camera 30 and a laser rangefinder 40 disposed on the same working plane. The laser illumination device 20 is fixed to the working plane by a first electrically controlled rotating seat 50, and the camera 30 is fixed to the working plane by a second electrically controlled rotating seat 60.

[0059] The controller 10 is used to control the size of the illumination beam of the laser lighting device 20, control the rotation angle of the first electrically controlled rotating seat 50 and the second electrically controlled rotating seat 60, and receive and process the data information fed back by the camera 30 and the laser rangefinder 40.

[0060] In this embodiment, the first electrically controlled rotating base 50 and the second electrically controlled rotating base 60 are devices capable of rotating in a horizontal or vertical direction under the drive of an electrical signal, such as a gimbal. The laser lighting device 20 is fixed to the working plane via the first electrically controlled rotating base 50, meaning the controller 10 can adjust the central optical axis direction of the laser lighting device 20 by controlling the rotation of the first electrically controlled rotating base 50; the camera 30 is fixed to the working plane via the second electrically controlled rotating base 60, meaning the controller 10 can adjust the central optical axis direction of the camera 30 by controlling the rotation of the second electrically controlled rotating base 60.

[0061] It is understood that this application discloses a marine detection device that can be installed on the bottom of an unmanned surface vessel (USV) or other underwater vehicle, facing the seabed. The marine detection device includes a laser illumination device 20, a camera 30, and a laser rangefinder 40, all mounted on the same working plane. The current seabed depth fed back by the laser rangefinder 40 can also be applied to the laser illumination device 20 and the camera 30. In this marine detection device, the laser illumination device 20 and the camera 30 are connected to the working plane via electrically controlled rotating bases. Therefore, by controlling the rotation of the electrically controlled rotating bases, the illumination angle of the laser illumination device 20 can be adjusted, allowing the laser illumination device 20 to more accurately align with the real target object. Furthermore, by controlling the size of the illumination beam of the laser illumination device 20, the illumination beam can be made to more concentratedly illuminate the real target object. More intelligent illumination of the real target object helps the camera 30 obtain clearer detection images, improving the efficiency of salvage or detection work.

[0062] In an optional embodiment of this application, the laser lighting device 20 includes a laser source and a scanner. The scanner is used to guide the emitted beam of the laser source to scan along a preset path under the control of the controller 10. When the scanner is started under the control of the controller 10, the laser lighting device 20 outputs an illumination beam of a first size. When the scanner is stopped under the control of the controller 10, the laser lighting device 20 outputs an illumination beam of a second size, which is smaller than the first size.

[0063] In optional embodiments of this application, the scanner includes at least one of the following: at least one two-dimensional MEMS scanning mirror, and a fiber optic scanner 24.

[0064] like Figure 2 As shown, the scanner is a two-dimensional MEMS scanning mirror 21. Driven by the controller 10, the two-dimensional MEMS scanning mirror 21 guides the emitted beam of the laser source 22 along a preset path to scan the seabed. As shown, when the two-dimensional MEMS scanning mirror 21 stops moving, the beam emitted by the laser source 22 is reflected by the two-dimensional MEMS scanning mirror 21 to the seabed, forming a small spot of size D1 on the seabed. When the two-dimensional MEMS scanning mirror 21 is scanning, the beam emitted by the laser source 22 is guided by the two-dimensional MEMS scanning mirror 21, scanning a larger spot of size D2 on the seabed. A collimation component 23 can be set in the optical path of the laser source 22 to collimate the beam emitted by the laser source 22.

[0065] like Figure 3 As shown, the scanner is a fiber optic scanner 24, which includes a scanning fiber optic cable 241, an actuator 242, and a housing 243. The tail of the actuator 242 is fixed inside the housing 243 by a fastener 242. The scanning fiber optic cable 241 is fixed to the actuator 242. The section of the scanning fiber optic cable 241 extending out of the actuator 242 is the scanning section. The tail end of the scanning fiber optic cable 241 away from the scanning section is connected to a laser light source. The actuator 242 is electrically connected to the controller 10.

[0066] Optionally, the actuator 242 may be made of piezoelectric ceramic material, which can vibrate regularly under the drive of an electrical signal, thereby driving the scanning segment of the scanning fiber 241 to perform scanning oscillation.

[0067] In optional embodiments of this application, such as Figure 1 As shown, the controller 10 includes a processor 11 and a memory 12 connected to each other. The memory 12 is used to store a computer program, which includes program instructions. The processor 11 is used to execute the program instructions stored in the memory 12.

[0068] Processor 11 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0069] In this application example, processor 11 is configured to invoke program instructions to execute any of the following control methods for a marine exploration device.

[0070] Secondly, this application discloses a control method for a marine exploration device, applied to the controller of any of the marine exploration devices described in the first aspect. The control method includes:

[0071] S1: Obtain the current seabed depth fed back by the laser ranging device.

[0072] like Figure 4 As shown, the laser illumination device 20, camera 30 and laser rangefinder 40 are set on the same working plane 100. Changes in seabed undulations within a small range can be temporarily ignored. The current seabed depth h fed back by the laser rangefinder 40 can also be applied to the laser illumination device 20 and camera 30.

[0073] S2: Control the rotation of the first electrically controlled rotating seat according to the current seabed depth, so that the first central optical axis of the laser illumination device's emitted beam and the second central optical axis of the camera intersect at one point on the seabed.

[0074] In the event of a power outage, such as Figure 4 As shown, the first electrically controlled rotating seat 50 and the second electrically controlled rotating seat 60 are reset, the first central optical axis O1 of the emitted beam of the laser lighting device 20 and the second central optical axis O2 of the camera 30 are parallel to each other, and a certain distance d is maintained between the first central optical axis O1 and the second central optical axis O2.

[0075] During the detection of real targets, the first central optical axis O1 of the laser illumination device's emitted beam must always intersect with the second central optical axis O2 of the camera on the seabed. This ensures that the detection image is always accurately illuminated.

[0076] In an optional embodiment of this application, step S2 includes:

[0077] The first angle relative to the first central optical axis is calculated using the following formula:

[0078] ,like Figure 5 As shown, Indicates the first angle. This indicates the distance between the first central optical axis and the second central optical axis. Indicates the current seabed depth;

[0079] Control the first electrically controlled rotating base to rotate in a first direction by a first angle, where the first direction is the direction in which the laser lighting equipment faces the camera, such as... Figure 5 The X direction in the equation.

[0080] S3: Control the laser illumination device to illuminate with a first-size beam and receive the detection image fed back by the camera.

[0081] like Figure 6 As shown Figure 5 The diagram shows the detection image obtained in the working state, where the elliptical outline is the emitted light spot of the laser illumination device 20.

[0082] S1, S2, etc. are merely step identifiers. The execution order of the method does not necessarily follow the numerical order from smallest to largest. For example, step S2 can be executed first and then step S1. This application does not impose any restrictions.

[0083] It is understood that this application discloses a control method for a marine exploration device, executed by the controller 10 of any of the aforementioned marine exploration devices. During the exploration of a real target, this method controls the rotation angle of the first electrically controlled rotating seat 50 connected to the laser illumination device 20 according to the current seabed depth, ensuring that the first central optical axis of the emitted beam from the laser illumination device 20 always intersects with the second central optical axis of the camera 30 at the seabed; furthermore, it controls the laser illumination device 20 to illuminate with a larger emitted light size. During the exploration process, the camera 30 generally uses a wide-angle mode, resulting in a larger viewing angle for the feedback image. This control method facilitates that the detection image always obtains accurate illumination over a large area, making it easier to discover the real target through the detection image.

[0084] In optional embodiments of this application, the method further includes:

[0085] S4: Identify target elements in the detection image.

[0086] It is understandable that after identifying the target element in the detection image through image recognition models such as YOLO, the tracking mode is activated.

[0087] S5: Based on the current focal length of the camera and the position of the target element in the detection image, calculate the positional relationship between the real target object corresponding to the target element and the second central optical axis.

[0088] like Figure 6 As shown Figure 5 The diagram shows the detection image obtained during the working state, where the center point P corresponds to the intersection of the second central optical axis O2 on the seabed; the x-direction corresponds to... Figure 5 The laser lighting device 20 faces the camera 30 in the first X and Y directions, respectively. Figure 5 The second direction Y is parallel to the working plane 100 and perpendicular to the first direction X, that is, the direction perpendicular to the paper and pointing inwards.

[0089] Optionally, the above positional relationship includes: a first distance between the real target object and the second central optical axis in the first direction; and a second distance between the real target object and the second central optical axis in the second direction, wherein the second direction is parallel to the working plane and perpendicular to the first direction.

[0090] The coordinates of target element 200 relative to the center point P in the detection image are (m,n). Based on the current focal length of the camera and the coordinates (m,n), the positional relationship between the real target object corresponding to the target element and the second central optical axis O2 can be calculated, that is, the first distance M between the target element and the second central optical axis O2 in the first direction X, and the second distance N between the target element and the second central optical axis O2 in the second direction Y.

[0091] S6: Adjust the first and second electrically controlled rotating seats according to their positional relationship so that the first and second central optical axes are aligned with the real target object.

[0092] It is understandable that during the tracking process, the rotation angles of the first electrically controlled rotating seat 50 and the second electrically controlled rotating seat 60 are continuously controlled so that the central optical axes of the laser illumination device 20 and the camera 30 are aligned with the real target object.

[0093] Optionally, step S6 includes:

[0094] The second and third angles relative to the first central optical axis are calculated using the following formula:

[0095] ,

[0096] like Figure 7 As shown, Indicates the second angle. This represents the distance between the first central optical axis O1 and the second central optical axis O2. Indicates the first spacing. Indicates the current seabed depth; Indicates the third angle. Indicates the second spacing;

[0097] Control the first electrically controlled rotating seat 50 to rotate in the first direction by a second angle, and control the first electrically controlled rotating seat 50 to rotate in the second direction by a third angle, so that the first central optical axis O1 is aligned with the real target object;

[0098] The fourth and fifth angles relative to the second central optical axis are calculated using the following formula:

[0099] ,

[0100] like Figure 7 As shown, Indicates the fourth angle. Indicates the fifth angle;

[0101] The second electrically controlled rotating seat 60 is controlled to rotate in the first direction by a fourth angle, and the second electrically controlled rotating seat 60 is controlled to rotate in the second direction by a fifth angle, so that the second central optical axis O2 is aligned with the real target object.

[0102] In an optional embodiment of this application, after the first central optical axis and the second central optical axis are aligned with the real target object, the method further includes:

[0103] S7: Control the laser lighting equipment to illuminate with a second-size beam, which is smaller than the first size.

[0104] S8: Control the camera to focus on the real target object so that the area occupied by the target element and the area of ​​the detected image reach the preset area ratio.

[0105] It is understandable that, in order to observe the real target more clearly and improve the efficiency of subsequent salvage or exploration work, on the one hand, the laser illumination device 20 is controlled to illuminate the real target with a smaller light output size, and on the other hand, the camera 30 is controlled to adjust the focal length and take close-up shots of the real target.

[0106] In an optional embodiment of this application, step S3 includes: controlling the laser source in the laser illumination device 20 to light up, and controlling the scanner in the laser illumination device 20 to start working; step S7 includes: controlling the laser source in the laser illumination device 20 to light up, and controlling the scanner in the laser illumination device 20 to stop working. It can be understood that when the scanner starts under the control of the controller 10, the laser illumination device 20 outputs an illumination beam of a first size; when the scanner stops under the control of the controller 10, the laser illumination device 20 outputs an illumination beam of a second size, the second size being smaller than the first size.

[0107] Thirdly, the present invention provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, implement the steps of any of the methods of the second aspect.

[0108] The aforementioned computer-readable storage medium can be an internal storage unit of the terminal device in any of the foregoing embodiments, such as a hard disk or memory of the terminal device. The aforementioned computer-readable storage medium can also be an external storage device of the terminal device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the terminal device. Furthermore, the aforementioned computer-readable storage medium may include both internal storage units and external storage devices of the terminal device. The aforementioned computer-readable storage medium is used to store the aforementioned computer program and other programs and data required by the terminal device. The aforementioned computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0109] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed terminal devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, or it may be an electrical, mechanical or other form of connection.

[0111] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0112] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0113] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0114] The terms "first," "second," "first," or "second" as used in the various embodiments of this disclosure may modify various components regardless of their order and / or importance, but these terms do not limit the corresponding components. The above terms are configured only for the purpose of distinguishing an element from other elements. For example, "first user equipment" and "second user equipment" refer to different user equipments, although both are user equipment. For example, without departing from the scope of this disclosure, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0115] When a component (e.g., a first component) is referred to as being "(operably or communicatively) coupled" or "(operably or communicatively) coupled to" or "connected to" another component (e.g., a second component), it should be understood that the first component is directly connected to the second component or that the first component is indirectly connected to the second component via yet another component (e.g., a third component). Conversely, it can be understood that when a component (e.g., a first component) is referred to as being "directly connected" or "directly coupled" to another component (the second component), no component (e.g., a third component) is inserted between the two.

[0116] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0117] The above description is merely an optional embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0118] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0119] The above description is merely an optional embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0120] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a marine exploration device, applied to the controller of the marine exploration device, characterized in that, The marine exploration equipment includes: the controller, a laser illumination device, a camera, and a laser ranging device disposed on the same working plane. The laser illumination device is fixed to the working plane by a first electrically controlled rotating base, and the camera is fixed to the working plane by a second electrically controlled rotating base. The controller is used to control the size of the illumination beam of the laser lighting device, control the rotation angle of the first electrically controlled rotating base and the second electrically controlled rotating base, and receive and process the data information fed back by the camera and the laser ranging device; The laser lighting device includes a laser source and a scanner. The scanner is used to guide the emitted beam of the laser source to scan along a preset path under the control of the controller. When the scanner is started under the control of the controller, the laser illumination device outputs an illumination beam of a first size; when the scanner is stopped under the control of the controller, the laser illumination device outputs an illumination beam of a second size, the second size being smaller than the first size. The scanner includes at least one of the following: At least one two-dimensional MEMS scanning mirror, wherein the two-dimensional MEMS scanning mirror is in the same plane when at rest, and the two-dimensional MEMS scanning mirror is electrically connected to the controller; A fiber optic scanner includes a scanning fiber, an actuator, and a housing. The tail of the actuator is fixed inside the housing by a fastener. The scanning fiber is fixed to the actuator. The section of the scanning fiber extending out of the actuator is the scanning section. The tail end of the scanning fiber away from the scanning section is connected to the laser light source. The actuator is electrically connected to the controller. The control method includes: S1: Obtain the current seabed depth fed back by the laser ranging device; S2: Control the first electrically controlled rotating seat to rotate according to the current seabed depth, so that the first central optical axis of the emitted beam of the laser illumination device and the second central optical axis of the camera intersect at one point on the seabed; S3: Control the laser illumination device to illuminate with a first-size beam, and receive the detection image fed back by the camera; The method further includes: S4: Identify target elements in the detected image; S5: Based on the current focal length of the camera and the position of the target element in the detection image, calculate the positional relationship between the real target object corresponding to the target element and the second central optical axis; S6: Adjust the first electrically controlled rotating seat and the second electrically controlled rotating seat according to the positional relationship, so that the first central optical axis and the second central optical axis are both aligned with the real target object; After the first central optical axis and the second central optical axis are aligned with the real target object, the method further includes: S7: Control the laser illumination device to illuminate with a second-size beam, the second size being smaller than the first size; S8: Control the camera to focus on the real target object, so that the area occupied by the target element and the area of ​​the detected image reach a preset area ratio.

2. The method according to claim 1, characterized in that, Step S2 includes: The first angle relative to the first central optical axis is calculated using the following formula: ,in, Indicates the first angle, This represents the distance between the first central optical axis and the second central optical axis. This indicates the current seabed depth; The first electrically controlled rotating base is controlled to rotate in a first direction by a first angle, wherein the first direction is the direction in which the laser lighting device faces the camera.

3. The method according to claim 1, characterized in that, The positional relationship includes: a first distance between the real target and the second central optical axis in a first direction; and a second distance between the real target and the second central optical axis in a second direction, wherein the second direction is parallel to the working plane and perpendicular to the first direction.

4. The method according to claim 3, characterized in that, Step S6 includes: The second and third angles relative to the first central optical axis are calculated using the following formula: ， in, Indicates the second angle, This represents the distance between the first central optical axis and the second central optical axis. Indicates the first spacing. This indicates the current seabed depth; Indicates the third angle, Indicates the second spacing; Control the first electrically controlled rotating base to rotate in the first direction by the second angle, and control the first electrically controlled rotating base to rotate in the second direction by the third angle, so that the first central optical axis is aligned with the real target object; The fourth and fifth angles relative to the second central optical axis are calculated using the following formula: ， in, This refers to the fourth angle. Indicates the fifth angle; The second electrically controlled rotating base is controlled to rotate in the first direction by the fourth angle, and the second electrically controlled rotating base is controlled to rotate in the second direction by the fifth angle, so that the second central optical axis is aligned with the real target object.

5. The method according to claim 1, characterized in that, Step S3 includes: controlling the laser light source in the laser lighting device to light up, and controlling the scanner in the laser lighting device to start working; Step S7 includes: controlling the laser light source in the laser lighting device to light up, and controlling the scanner in the laser lighting device to stop working.

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