Underwater image acquisition method, computer device, storage medium and program product

Abstract

The application relates to the technical field of underwater detection, and discloses an underwater image acquisition method, computer equipment, a storage medium and a program product, which are applied to a control device of an underwater robot. The underwater image acquisition method comprises the following steps: in the process of controlling the underwater robot to move, a preset underwater target is scanned by using a sonar acquisition device; defect detection is carried out on the preset underwater target; when it is detected that the preset underwater target has a preset defect, target position information of a target area with the preset defect is acquired; the underwater robot is controlled to move to a target position in the direction of the target area according to the target position information; and the preset underwater target is photographed at the target position by using an image acquisition device to acquire an underwater image. The application can solve the problems of great difficulty and low accuracy in underwater building defect detection.

Description

Technical Field

[0001] This invention relates to the field of underwater detection technology, specifically to underwater image acquisition methods, computer equipment, storage media, and program products. Background Technology

[0002] my country has a large number of infrastructure structures such as reservoirs and river bridges. These structures, including dams and underwater piers, require regular inspection and maintenance to assess their health and ensure safety. Regular observation and inspection of underwater structures are especially crucial during the operation of hydropower stations, ensuring their safe operation.

[0003] As a highly reliable and safe intelligent equipment, underwater robots can capture underwater video images by integrating image acquisition devices, replacing manual labor in deep-water environments for inspections and improving the safe operation of hydropower stations.

[0004] However, existing underwater robot image acquisition methods typically rely on manual operation by personnel to conduct underwater inspections and collect defect images, resulting in low levels of automation and poor image analysis capabilities. Furthermore, due to issues such as turbid water, uneven lighting, severe color distortion, and high noise levels, accurate acquisition of underwater structural defect images is challenging, leading to poor accuracy in identifying defects in dam images. Summary of the Invention

[0005] In view of this, the present invention provides an underwater image acquisition method, computer equipment, storage medium and program product to solve the problems of high difficulty and low accuracy in detecting defects in underwater structures.

[0006] In a first aspect, the present invention provides an underwater image acquisition method applied to a control device of an underwater robot. The underwater image acquisition method includes: scanning a preset underwater target using a sonar acquisition device during the movement of the underwater robot; performing defect detection on the preset underwater target; when a preset defect is detected in the preset underwater target, acquiring target location information of the target area where the preset defect exists; controlling the underwater robot to move towards the target area to the target location based on the target location information; and taking a picture of the preset underwater target at the target location using an image acquisition device to acquire an underwater image.

[0007] In this implementation, the present application utilizes a sonar acquisition device for rapid defect detection. If a defect is confirmed, an image acquisition device is then used to take pictures. This underwater image acquisition method integrates sonar acquisition and image acquisition, taking advantage of the strengths of both devices. It can solve the problems of poor readability of sonar images and poor analyzability of visible light images captured by image acquisition devices, thereby improving the defect detection accuracy of underwater robots in complex environments and enhancing the subsequent analyzability and interpretability of underwater images.

[0008] In one optional implementation, controlling the movement of the underwater robot includes: acquiring the acquisition path of the underwater robot, the acquisition path being a movement path planned by the monitoring device; and controlling the underwater robot to move according to the acquisition path.

[0009] In one optional implementation, the acquisition path involves the monitoring device acquiring target parameter information of a preset underwater target, modeling the preset underwater target based on the target parameter information, obtaining a preset underwater target model, and then planning a movement path based on the scanning range of the sonar acquisition device and the preset underwater target model.

[0010] In one optional implementation, defect detection of a preset underwater target includes: acquiring defect acquisition task information, which is configured by the monitoring device and includes preset defects to be acquired; performing data decomposition on the defect acquisition task information to extract defect parameter information of the preset defects; and using a sonar acquisition device to perform defect detection on the preset underwater target based on the defect parameter information.

[0011] In one optional implementation, defect detection is performed on a preset underwater target. When a preset defect is detected in the preset underwater target, the target location information of the target area with the preset defect is obtained by: sending an acoustic signal to the preset underwater target using a sonar acquisition device; receiving the echo signal and generating an underwater acoustic image based on the echo signal; identifying the underwater acoustic image based on defect parameter information; obtaining the target area with the preset defect; and performing position detection on the target area to obtain position information, which includes distance information.

[0012] In one optional implementation, the underwater image acquisition method further includes: acquiring a preset acquisition point, which is configured by a monitoring device; controlling an underwater robot to move to the preset acquisition point; and using an image acquisition device to photograph a preset underwater target at the preset acquisition point to acquire an underwater image.

[0013] In this implementation, the provided preset collection points can further ensure the accuracy of defect detection.

[0014] In one optional implementation, capturing a preset underwater target and obtaining an underwater image includes: capturing the preset underwater target using an image acquisition device to obtain a first image; performing spatial correction on the first image using a polarization sensor to obtain a second image; and performing image denoising and image enhancement on the second image to obtain an underwater image.

[0015] In this implementation, the underwater target image is processed multiple times to improve the imaging quality of the underwater image and achieve image sharpening.

[0016] In one optional implementation, the underwater image acquisition method further includes: performing defect analysis on the underwater image to obtain the image defect type and defect degree of the underwater image.

[0017] In this implementation method, defect analysis can provide guidance for subsequent defect repair and provide technical support for intelligent monitoring and safe operation.

[0018] In a second aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the underwater image acquisition method described in the first aspect or any corresponding embodiment thereof.

[0019] Thirdly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the underwater image acquisition method described in the first aspect or any corresponding embodiment thereof.

[0020] Fourthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the underwater image acquisition method described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a structural diagram of an underwater robot system according to an embodiment of the present invention;

[0023] Figure 2 This is a flowchart of an underwater image acquisition method according to an embodiment of the present invention;

[0024] Figure 3 This is a flowchart of another underwater image acquisition method according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the data acquisition path planning according to an embodiment of the present invention;

[0026] Figure 5 This is a diagram of the underwater robot image acquisition and control structure according to an embodiment of the present invention;

[0027] Figure 6This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Sonar image acquisition devices are based on the active emission of pulse signals from the acoustic wave transmitting array of a sonar device for object detection and ranging. Their main advantage is strong detection capability in turbid, deep water environments, enabling the scanning and detection of specific underwater targets. However, they require specific sonar visualization software to display the images, resulting in relatively poor sonar imaging visualization effects, and the human eye cannot directly analyze sonar images. Visible light image acquisition devices are based on RGB optical principles. Their main advantage is strong image interpretability; the human eye can directly observe the optical images and analyze their composition. However, their underwater imaging effects are relatively poor, and the imaging quality is affected by factors such as lighting, sharpness, and distance.

[0030] This invention provides an underwater image acquisition method for underwater robots. By integrating sonar acquisition and image acquisition, it leverages the strengths of both methods to solve the problems of poor readability of sonar images and poor analyzability of visible light images captured by image acquisition devices. This improves the accuracy of defect detection for underwater robots in complex environments and enhances the subsequent analyzability and interpretability of underwater images.

[0031] Please see Figure 1 , Figure 1 This is a structural diagram of an underwater robot system according to an embodiment of the present invention.

[0032] The underwater robot system includes a control unit, a monitoring unit, a sonar acquisition unit, an image acquisition unit, and a lighting unit. The control unit is connected to the monitoring unit, the sonar acquisition unit, the image acquisition unit, and the lighting unit.

[0033] The control device is used to control the operation of the sonar acquisition device, image acquisition device and supplementary lighting device, and to control the movement of the underwater robot.

[0034] Specifically, the control device is the main body and control mechanism of the underwater robot system. The control device includes a main control module, a navigation control module, a sonar control module, a visible light control module, a lighting control module, and an image storage module.

[0035] In one implementation, the robot's main control module is the central processing unit (CPU) of the underwater robot. The task information and control information of the underwater robot are sent to each control module via the CPU. Data collected by the underwater robot is sent to the monitoring device via the CPU.

[0036] For example, after receiving the data acquisition task information sent by the monitoring device, the control device sends it to the sonar acquisition device and the image acquisition device through the robot's main control module. Conversely, after receiving the information acquired by the sonar acquisition device and the image acquisition device, the control device sends it to the monitoring device through the robot's main control module.

[0037] The robot navigation control module is used for the motion navigation control of the underwater robot.

[0038] The sonar control module is used for the detection and scanning control of the sonar device.

[0039] Among them, the visible light control module is used for motion control of the image acquisition device, zoom control of the camera in the image acquisition device, and image acquisition control of the camera.

[0040] The lighting control module is used to start, stop, and control the brightness of the LED lights in the supplementary lighting device.

[0041] The image storage module is used to temporarily store images acquired by the sonar acquisition device and the image acquisition device on the underwater robot.

[0042] In another implementation, the control device also includes servo motors, thrusters, etc.

[0043] The servo motor and thruster are the power systems of the underwater robot, controlling it to acquire images based on motion commands and position feedback information.

[0044] In one implementation, the sonar acquisition device is used to acquire and process sonar information. The sonar acquisition device consists of a sonar imaging module, a sonar image processing module, and a position feedback module.

[0045] The sonar imaging module is used to scan preset underwater targets.

[0046] Specifically, the sonar imaging module includes a transmitting array, a receiving array, a signal processing unit, and a display device. The transmitting array consists of underwater acoustic transducers arranged in a specific geometric structure. The transmitting array converts the electrical signals generated by the transmitter into acoustic signals and scans them along the underwater robot's path. As the acoustic signals propagate underwater, they are reflected by preset underwater targets, such as rocks, fish, and dams, generating echo signals. The receiving array converts these echo signals back into electrical signals and transmits them to the signal processing unit. The signal processing unit collects and processes the received electrical signals, forming sonar image information. The sonar image information from each direction is uploaded to the display device for processing and display, resulting in an underwater acoustic image of the preset underwater target along the beam direction.

[0047] The sonar image processing module is used to detect defects in preset underwater targets, and when a preset defect is detected in a preset underwater target, it obtains the target location information of the target area with the preset defect.

[0048] Specifically, the sonar image processing module performs real-time denoising, detection and identification of potential defective targets, analysis of potential defective target location information, and distance calculation on images of preset underwater targets along the sonar scanning direction.

[0049] The position feedback module feeds back the target position information of the potential defect target area to the control device, so that the control device can control the robot to move closer to the target based on the feedback target position information.

[0050] In one implementation, the image acquisition device is used to acquire image information and process the image information. The image acquisition device includes a visible light camera module, a polarization imaging module, and a visible light image processing module.

[0051] The visible light camera module is used to acquire underwater images and video data, and transmits the acquired image data to the visible light image processing module in real time.

[0052] Among them, the polarization imaging module integrates a polarization sensor. Through spatial correction, this module can detect birefringence, stress, surface roughness, and physical properties that cannot be detected by conventional imaging. From the perspective of polarization imaging, a high-resolution underwater imaging system is developed to improve the imaging quality of visible light images.

[0053] The visible light image processing module integrates image denoising and image enhancement algorithms to achieve image clarity processing of underwater images. The processed and optimized images are then sent to the image storage modules of the control device and the monitoring device for storage at both ends.

[0054] In one implementation, the monitoring device includes a robot management module, an image storage module, an image display module, and a communication and power supply module. The monitoring device is connected to the control device via an umbilical cable, serving as a sleep monitoring system for the underwater robot. Operators can set observation or patrol tasks for the underwater robot through the monitoring device, and the underwater robot's control device transmits the collected image data back to the monitoring device via the umbilical cable.

[0055] The robot management module includes a task planning module, a motion control module, and a path planning module.

[0056] The task planning module can plan image acquisition tasks for the underwater robot based on the observation objectives. For example, the task planning module can specifically edit tasks for acquiring images of crack defects, exposed rebar defects in dams, and dam body collapse, and can also combine multiple tasks to achieve multi-task image acquisition.

[0057] The motion control module allows manual remote control of the underwater robot's movement direction and altitude, and can also manually control the underwater robot to approach a preset underwater target to complete image acquisition.

[0058] The path planning module integrates multiple types of 3D models, enabling the planning of underwater robot movement paths and manual editing of image acquisition points. This module can integrate different types of dam models, obtaining parameters such as length, width, height, and slope of the dam based on the 3D model structure. Combined with the scanning range of the sonar image acquisition device, it plans the underwater robot's image acquisition path.

[0059] The image storage module consists of a portable hard drive and includes two partitions: a sonar image storage partition and a visible light image storage partition. The underwater robot's image acquisition device transmits the acquired image data back to the image storage module at the station via an umbilical cable, enabling long-term storage of the acquired underwater images.

[0060] The image display module can display the video data stream information of the underwater robot's image acquisition device in real time, and view the robot's posture and status underwater. It is also used for viewing and quality review of the acquired images and videos.

[0061] In one implementation, a supplementary lighting device is used to illuminate a preset underwater target. The device consists of multiple LEDs and includes an LED supplementary lighting module. The device controls the number of LEDs activated via the module, thereby controlling the brightness of the light. When the underwater robot approaches the target, the LEDs are activated to improve the target's clarity, solving the problems of blurry and uneven brightness in images acquired directly by image acquisition devices in deep water environments.

[0062] In one implementation, the underwater robot system also includes a communication and power supply device. This device, consisting of an umbilical cable, an ultra-short baseline, and a signal receiver, is used for communication between the control device, monitoring device, sonar acquisition device, image acquisition device, and supplementary lighting device, as well as for communication and power supply between the various modules of the underwater robot.

[0063] According to an embodiment of the present invention, an embodiment of an underwater image acquisition method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0064] This embodiment provides an underwater image acquisition method, which can be used in the aforementioned control device. Figure 2 This is a flowchart of an underwater image acquisition method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0065] Step S201: During the movement of the underwater robot, a sonar acquisition device is used to scan a preset underwater target.

[0066] The robot navigation control module of the control device controls the underwater robot to move near the preset underwater target, and sends sonar acquisition signals to the sonar acquisition device through the sonar control module, so that the sonar acquisition device can acquire sonar signals from the preset underwater target based on the sonar acquisition signals.

[0067] Specifically, the sonar imaging module of the sonar acquisition device sends sound wave signals to a preset underwater target, receives the echo signals reflected by the preset underwater target, and generates an underwater acoustic image based on the echo signals.

[0068] In one specific implementation, the underwater target is preset as an underwater dam.

[0069] Step S202: Defect detection is performed on the preset underwater target. When a preset defect is detected in the preset underwater target, the target location information of the target area with the preset defect is obtained.

[0070] The control device controls the sonar acquisition device in real time to perform defect detection on the underwater acoustic images of preset underwater targets, detecting whether preset defects exist in the underwater acoustic images. These preset defects include cracks, exposed reinforcement in dams, and dam body spalling defects.

[0071] When a pre-defined defect is detected in the underwater acoustic image, the target location information of the area containing the pre-defined defect is further detected. This target location information includes distance and angle information, among others.

[0072] Specifically, the sonar acquisition device uses a sonar image processing module to detect defects in underwater acoustic images. When a defective target is detected, it further performs position analysis and distance calculation to obtain the target's location information. The sonar acquisition device then feeds back the target's location information to the control device through a position feedback module.

[0073] Step S203: Control the underwater robot to move towards the target area and to the target position based on the target position information.

[0074] The control device determines the positional relationship between the underwater robot's current location and the target area with the preset defect based on the received target location information. It then uses the robot navigation control module to guide the underwater robot towards the target area, moving it to the target location. The target location is the position in front of the target area determined based on the target location information, allowing the underwater robot to clearly capture images of the target area from that position.

[0075] Step S204: Use an image acquisition device to photograph a preset underwater target at the target location to obtain an underwater image.

[0076] The control device sends an image acquisition signal to the image acquisition device through the visible light control module, so that the image acquisition device can acquire images of the preset underwater target based on the image acquisition information.

[0077] Specifically, the image acquisition device acquires underwater images and video data of a preset underwater target through a visible light camera module, and transmits the acquired underwater images and video data to the visible light image processing module in real time for further image processing.

[0078] Optionally, the image acquisition device transmits the processed underwater image to the control device, which temporarily stores the underwater image in the image storage module. Simultaneously, the control device further transmits the underwater image to the monitoring device, which stores the underwater image for an extended period in the image storage module and displays the underwater image in the image display module for quality review, checking for defects in the preset underwater target.

[0079] The underwater image acquisition method provided in this embodiment combines sonar acquisition and image acquisition, taking advantage of the strengths of both devices to solve the problems of poor readability of sonar images and poor analyzability of visible light images captured by image acquisition devices. This improves the accuracy of defect detection for underwater robots in complex environments, while also enhancing the subsequent analyzability and interpretability of underwater images.

[0080] This embodiment provides an underwater image acquisition method that can be used in underwater robot systems. Figure 3 This is a flowchart of another underwater image acquisition method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps:

[0081] Step S301: The monitoring device sets up a defect collection task.

[0082] The robot management module of the monitoring device, specifically the personnel planning module, determines defect collection tasks based on preset detection targets and sends these tasks to the control device via umbilical cable communication. The defect collection task information includes the preset defects to be collected.

[0083] In one implementation, the underwater target is preset to be an underwater dam body, and the defect acquisition task includes a combination of one or more of the following: crack defect acquisition task, exposed reinforcement defect acquisition task, and dam body spalling defect acquisition task. The corresponding preset defects are crack defects, exposed reinforcement defects, and dam body spalling defects.

[0084] In step S302, the monitoring device plans a data acquisition path based on the preset underwater target.

[0085] The path planning module of the monitoring device obtains the target parameter information of the preset underwater target, models the preset underwater target based on the target parameter information, obtains the preset underwater target model, further plans the acquisition path based on the scanning range of the sonar acquisition device and the preset underwater target model, and sends the acquisition path to the control device through umbilical cable communication.

[0086] In one implementation, the underwater target is preset to an underwater dam body; please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram of the acquisition path planning according to an embodiment of the present invention. The path planning module of the monitoring device acquires parameter information such as the length, width, height, and slope of the underwater dam, constructs a three-dimensional model of the dam, and plans the acquisition area and acquisition path of the underwater robot near the underwater dam according to the scanning range of the sonar acquisition device, ensuring that the sonar acquisition device can acquire sonar images of all areas of the underwater dam while the underwater robot moves along the acquisition path.

[0087] In another implementation, the monitoring device is configured with preset acquisition points and transmits these points to the control device via umbilical cable communication. Specifically, areas within the underwater target prone to defects are designated as key observation locations, and these areas are used as preset acquisition points for direct image capture.

[0088] In step S303, the control device controls the underwater robot to move along the collection path.

[0089] The main control module of the control device decomposes the defect acquisition task information, extracts the defect parameter information of the preset defects, and sends the defect parameter information to the sonar acquisition device through the sonar control module.

[0090] The main control module of the control device obtains the underwater robot's collection path and uses the robot navigation control module to control the underwater robot to move according to the collection path.

[0091] In one implementation, when the underwater robot moves to the preset acquisition point, the control device uses the visible light control module to control the image acquisition device to capture images, as detailed in step S307.

[0092] In step S304, the sonar acquisition device performs defect detection according to the acquisition task to determine the target location information.

[0093] The sonar acquisition device performs real-time defect detection on preset underwater targets based on defect parameter information, searching for potential defect targets and their locations.

[0094] Specifically, the sonar imaging module of the sonar acquisition device sends sound wave signals to the underwater dam. When the sound wave signals propagate underwater, they are reflected by the underwater dam, generating echo signals. The sonar imaging module receives the echo signals and generates underwater acoustic images based on the echo signals.

[0095] Furthermore, the sonar image processing module performs real-time processing and analysis of the underwater acoustic images. This processing and analysis includes image denoising, target detection, target recognition, target location information analysis, and distance calculation.

[0096] Specifically, underwater acoustic images are identified based on defect parameter information. When a defect target is detected, the target region containing the preset defect is acquired, and the location of the target region is detected to obtain its location information. Please refer to [link to relevant documentation]. Figure 4 When a defective area is detected in the underwater acoustic image, the sonar acquisition device feeds back the target position information to the control device through the position feedback module.

[0097] In step S305, the control device controls the underwater robot to approach the preset underwater target based on the target location information.

[0098] The main control system of the control device sends the position feedback information to the navigation control module. The navigation control module determines the positional relationship between the current position of the underwater robot and the target area with the preset defect, and controls the underwater robot to move towards the target area and move to the target position.

[0099] Step S306: The supplementary lighting device provides supplementary lighting to the preset underwater target.

[0100] Once the underwater robot reaches the target location, the supplemental lighting module of the control unit activates the LED lights in the supplemental lighting system to improve underwater visibility. The number of LED lights used can be determined based on experimental data or real-time image analysis; no specific limit is imposed here.

[0101] Step S307: The image acquisition device acquires underwater images.

[0102] An image acquisition device photographs a preset underwater target at a target location to obtain an underwater image. In one implementation, the image acquisition device photographs a preset underwater target at a preset acquisition point to obtain an underwater image.

[0103] Specifically, the image acquisition device uses a visible light camera module to capture the preset underwater target to obtain a first image, uses a polarization sensor to perform spatial correction on the first image to obtain a second image, and uses a visible light image processing module to perform image denoising and image enhancement on the second image to obtain an underwater image.

[0104] The image acquisition device transmits the processed underwater images to the control device, which temporarily stores the underwater images in the image storage module. Simultaneously, the control device further transmits the underwater images to the monitoring device, which stores the underwater images for an extended period in its image storage module and displays the underwater images in its image display module.

[0105] Please see Figure 5 , Figure 5 This is a structural diagram of the underwater robot image acquisition and control system according to an embodiment of the present invention. The underwater robot control device controls the servo motor to move along the path, while simultaneously controlling the sonar acquisition device to search for defect targets. The robot navigation control module controls the underwater robot to move and approach the target position based on position feedback information. The robot lighting control system controls the brightness of the LED lights of the supplementary lighting device. Finally, the image acquisition device completes high-definition image acquisition based on acquisition position optimization and lighting brightness optimization.

[0106] In one implementation, the monitoring device performs defect analysis on underwater images to obtain the type and severity of image defects. This can guide dam inspections and defect repairs, and provide technical support for intelligent monitoring and safe operation of the dam.

[0107] In this embodiment, the control device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0108] This invention also provides a computer device having the control device described above.

[0109] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 6 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 6 Take a processor 10 as an example.

[0110] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0111] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0112] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0113] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0114] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 20 can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0115] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0116] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0117] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0118] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for underwater image acquisition, characterized in that, The underwater image acquisition method, used in the control device for underwater robots, includes: During the movement of the underwater robot, a sonar acquisition device is used to scan for preset underwater targets. Defect detection is performed on the preset underwater target. When a preset defect is detected in the preset underwater target, the target location information of the target area where the preset defect exists is obtained. Based on the target location information, the underwater robot is controlled to move towards the target area and reach the target location; The underwater target is photographed at the target location using an image acquisition device to obtain an underwater image. The defect detection of the preset underwater target, when a preset defect is detected in the preset underwater target, includes obtaining the target location information of the target area where the preset defect exists, including: Obtain defect collection task information, which is configured by the monitoring device and includes the preset defects to be collected; The defect collection task information is decomposed to extract the defect parameter information of the preset defect; The sonar acquisition device is used to send acoustic signals to the preset underwater target. Receive the echo signal and generate an underwater acoustic image based on the echo signal; The underwater acoustic image is identified based on the defect parameter information; Obtain the target area containing the preset defect; The target area is subjected to location detection to obtain the location information, which includes distance information.

2. The underwater image acquisition method according to claim 1, characterized in that, The control of the underwater robot's movement includes: The underwater robot's data acquisition path is obtained, which is a movement path planned by the monitoring device. Control the underwater robot to move along the collection path.

3. The underwater image acquisition method according to claim 2, characterized in that, The acquisition path is that the monitoring device acquires the target parameter information of the preset underwater target, and models the preset underwater target based on the target parameter information to obtain the preset underwater target model; The movement path is planned based on the scanning range of the sonar acquisition device and the preset underwater target model.

4. The underwater image acquisition method according to claim 1, characterized in that, The method further includes: Obtain preset data collection points, which are configured by the monitoring device; Control the underwater robot to move to the preset collection point; The underwater target is photographed at the preset acquisition point using an image acquisition device to obtain an underwater image.

5. The underwater image acquisition method according to claim 1 or 4, characterized in that, The step of capturing the preset underwater target and obtaining underwater images includes: The image acquisition device is used to capture the preset underwater target to obtain a first image; The first image is spatially corrected using a polarization sensor to obtain the second image; The second image is then subjected to image denoising and image enhancement to obtain the underwater image.

6. The underwater image acquisition method according to claim 1, characterized in that, The method further includes: Defect analysis is performed on the underwater image to obtain the image defect type and defect severity.

7. A computer device, characterized in that, include: The system includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the underwater image acquisition method according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the underwater image acquisition method according to any one of claims 1 to 6.

9. A computer program product, characterized in that, Includes computer instructions for causing a computer to perform the underwater image acquisition method according to any one of claims 1 to 6.

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