A method, device and medium for generating geographical area image in underwater environment

Abstract

The present invention provides a method, device and medium for generating a geographic area image in an underwater environment, and relates to the field of underwater detection technology, including: based on a preset initial position, using a sonar sensor to measure the distance of a target underwater area, obtaining an initial measurement distance list, obtaining target environment information of the target underwater area, obtaining a target electromagnetic wave wavelength and a target use distance interval corresponding to the target electromagnetic wave based on the target environment information and the preset environment information electromagnetic wave wavelength correspondence, obtaining a target measurement position based on the initial measurement distance and the target use distance interval, obtaining a first intermediate distance list, obtaining a second intermediate distance list, fitting based on the first intermediate distance list and the second intermediate distance list, obtaining a target distance list, obtaining a 3D image of the target underwater area, and thus obtaining a geographic area image. The present invention can obtain a geographic area image more accurately.

Description

Technical Field

[0001] The present invention relates to the field of underwater detection technology, and in particular to a method, device and medium for generating a geographical area image in an underwater environment. Background Art

[0002] As marine resources are increasingly needed by humans and the demand for marine development is increasing, obtaining regional images of underwater environments plays an important role. Sonar (Sound Navigation and Ranging) is a technology that uses sound waves to detect objects underwater. The sonar system determines the location and characteristics of objects by emitting sound wave pulses and receiving echoes reflected from objects. It can also be used to generate seabed topographic maps or detect underwater structures and objects. However, the propagation speed of sonar in water is limited, and it takes a long time to complete a complete scan for sonar imaging. In addition, the propagation of sonar is greatly affected by environmental factors such as water temperature and salinity. Therefore, there is still a need for more accurate methods to obtain geographic area images. Summary of the invention

[0003] In view of the above technical problems, the technical solution adopted by the present invention is: a method for generating a geographical area image in an underwater environment, the method comprising the following steps:

[0004] Based on the preset initial position, using a sonar sensor to measure the distance of the target underwater area, and obtaining an initial measurement distance list, wherein the initial measurement distance list includes initial measurement distances from a plurality of target underwater area points to the preset initial position, wherein the water depth of the target underwater area is less than a preset water depth threshold;

[0005] Acquiring target environmental information of a target underwater area, wherein the target environmental information includes salt concentration and temperature;

[0006] Based on the correspondence between the target environment information and the preset environment information electromagnetic wave wavelength, the target electromagnetic wave wavelength and the target use distance interval corresponding to the target electromagnetic wave are obtained, wherein the preset environment information electromagnetic wave wavelength correspondence is the correspondence between the environment information and the low-frequency electromagnetic wave wavelength;

[0007] Based on the initial measurement distance and the target use distance interval, the target measurement position is obtained;

[0008] Using a radar device to transmit a target electromagnetic wavelength at a target measurement position to measure the distance of a target underwater area, and obtaining a first intermediate distance list, wherein the first intermediate distance list includes first intermediate distances from a plurality of target underwater area points to the target measurement position;

[0009] Using a sonar sensor to measure distance at the target measurement position, obtaining a second intermediate distance list, wherein the second intermediate distance list includes second intermediate distances from a plurality of target underwater area points to the target measurement position;

[0010] Perform fitting based on the first intermediate distance list and the second intermediate distance list to obtain a target distance list;

[0011] A two-dimensional plane image of the target underwater area is acquired, and a 3D image of the target underwater area is generated based on the two-dimensional plane image and the target distance list, and the 3D image is used as a geographic area image of the target underwater area.

[0012] According to another aspect of the present invention, a non-transitory computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the aforementioned method.

[0013] According to yet another aspect of the present invention, an electronic device is provided, comprising a processor and the aforementioned non-transitory computer-readable storage medium.

[0014] The present invention has at least the following beneficial effects: based on a preset initial position, using a sonar sensor to measure the distance of a target underwater area, obtaining an initial measurement distance list, obtaining target environmental information of the target underwater area, obtaining a target electromagnetic wave wavelength and a target use distance interval corresponding to the target electromagnetic wave based on the correspondence between the target environmental information and the preset environmental information electromagnetic wave wavelength, obtaining a target measurement position based on the initial measurement distance and the target use distance interval, using a radar device to emit a target electromagnetic wavelength at the target measurement position to measure the distance of the target underwater area, obtaining a first intermediate distance list, using a sonar sensor to measure the distance at the target measurement position, obtaining a second intermediate distance list, fitting based on the first intermediate distance list and the second intermediate distance list, obtaining a target distance list, and obtaining a geographic area image based on the target distance list; the present invention measures the distance and fits by using both sonar and low-frequency electromagnetic waves, thereby more accurately obtaining a geographic area image. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A flowchart of a method for generating a geographical area image in an underwater environment provided in Embodiment 1 of the present invention;

[0017] Figure 2 This is a flow chart of S300 provided in the first embodiment of the present invention;

[0018] Figure 3 A schematic diagram of the structure of a device for generating a geographical area image in an underwater environment provided by Embodiment 2 of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of a target electromagnetic wave wavelength acquisition module provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0021] Embodiment 1

[0022] Embodiment 1 of the present invention provides a method for generating a geographical area image in an underwater environment, such as Figure 1 As shown, the method comprises the following steps:

[0023] S100, based on a preset initial position, use a sonar sensor to measure the distance of the target underwater area, and obtain an initial measurement distance list, wherein the initial measurement distance list includes initial measurement distances from several target underwater area points to the preset initial position, wherein the water depth of the target underwater area is less than a preset water depth threshold.

[0024] Specifically, those skilled in the art know that any method of measuring the distance to a target underwater area using a sonar sensor in the prior art falls within the protection scope of the present invention and will not be described in detail herein.

[0025] In one embodiment of the present invention, the preset water depth threshold is 200m, and the target underwater area is a shallow water area.

[0026] S200, obtaining target environmental information of a target underwater area, wherein the target environmental information is a salt concentration and a temperature of the target underwater area.

[0027] S300, based on the target environment information and the preset environment information electromagnetic wave wavelength correspondence, obtain the target electromagnetic wave wavelength and the target usage distance interval corresponding to the target electromagnetic wave, wherein the preset environment information electromagnetic wave wavelength correspondence is the correspondence between the environment information and the low-frequency electromagnetic wave wavelength.

[0028] Specifically, based on the preset environmental information electromagnetic wave wavelength correspondence, the target electromagnetic wave wavelength corresponding to the target environmental information is obtained, and further, the usable distance interval of the target electromagnetic wave is obtained as the target usable distance interval. Specifically, the environmental information is salt concentration and temperature.

[0029] Specifically, since water has strong absorption and scattering effects on electromagnetic waves, and low-frequency electromagnetic waves have stronger propagation ability in water, the present invention uses low-frequency electromagnetic waves for ranging. Low-frequency electromagnetic waves are electromagnetic waves below 300kHz.

[0030] S400: Acquire a target measurement position based on an initial measurement distance and a target use distance interval.

[0031] Specifically, based on the preset initial position of the sonar sensor, the initial measurement distance and the target use distance interval of the radar device, the target measurement position of the radar device is obtained so that the distance between the radar device and the target underwater area point is within the target use distance interval to ensure that the radar device can detect the distance to the target underwater area point.

[0032] S500, using a radar device to emit a target electromagnetic wavelength at a target measurement position to measure the distance of a target underwater area, and obtaining a first intermediate distance list, wherein the first intermediate distance list includes first intermediate distances from a plurality of target underwater area points to the target measurement position.

[0033] Specifically, after obtaining the first intermediate distance list, the method further includes: determining the first intermediate geographic area image based on the first intermediate distance list. Compared with sonar, electromagnetic waves have a faster transmission speed. If electromagnetic waves and sonar are used for ranging at the same time, the measured distance corresponding to the electromagnetic waves can be obtained more quickly. Therefore, using electromagnetic waves for ranging can obtain the measured distance more quickly, thereby increasing the speed of obtaining the geographic area image.

[0034] S600: Use a sonar sensor to measure distance at the target measurement position to obtain a second intermediate distance list, where the second intermediate distance list includes second intermediate distances from a plurality of target underwater area points to the target measurement position.

[0035] S700: Perform fitting based on the first intermediate distance list and the second intermediate distance list to obtain a target distance list.

[0036] Specifically, those skilled in the art know that any method of fitting two lists in the prior art falls within the protection scope of the present invention and will not be described in detail herein.

[0037] S800, acquiring a two-dimensional plane image of the target underwater area, and generating a 3D image of the target underwater area based on the two-dimensional plane image and the target distance list, and using the 3D image as a geographic area image of the target underwater area.

[0038] Specifically, those skilled in the art know that any method in the prior art for generating a 3D image based on a two-dimensional plane image and a distance falls within the protection scope of the present invention and will not be described in detail herein.

[0039] In summary, based on a preset initial position, a sonar sensor is used to measure the distance of the target underwater area, an initial measurement distance list is obtained, target environmental information of the target underwater area is obtained, based on the correspondence between the target environmental information and the preset environmental information electromagnetic wave wavelength, the target electromagnetic wave wavelength and the target usage distance interval corresponding to the target electromagnetic wave are obtained, based on the initial measurement distance and the target usage distance interval, the target measurement position is obtained, a radar device is used to emit the target electromagnetic wavelength at the target measurement position to measure the distance of the target underwater area, a first intermediate distance list is obtained, a sonar sensor is used to measure the distance at the target measurement position, a second intermediate distance list is obtained, fitting is performed based on the first intermediate distance list and the second intermediate distance list, a target distance list is obtained, and a geographic area image is obtained based on the target distance list; the present invention measures the distance and fits by using both sonar and low-frequency electromagnetic waves, so as to more accurately obtain the geographic area image.

[0040] Specifically, in S800, a camera is used to capture the target underwater area to obtain a two-dimensional plane image. Specifically, the camera can be any device capable of capturing images, such as a camera.

[0041] Furthermore, based on the two-dimensional plane image and the target distance list, obtaining and generating a 3D image of the target underwater area also includes:

[0042] Based on the target distance list, the Lanczos interpolation method is used to interpolate to obtain the 3D image of the target underwater area. Specifically, the Lanczos interpolation method is used to approximate the non-distanced target underwater area points. The kernel function of the Lanczos interpolation method is defined as:

[0043] When |x|<a, L(x)=sinc(x)sinc((x) / a); when |x|≥a, L(x)=0; a is the cutoff parameter of the Lanczos kernel function, and sin() is the sine function.

[0044] Among them, in the Lanczos interpolation method, the truncation parameter a of the Lanczos kernel function is 3. The present invention sets the stage parameter of the Lanczos kernel function to 3, which can better retain the details and edge information of the image, and can better avoid aliasing compared to bilinear interpolation and nearest neighbor interpolation, and the calculation complexity is moderate.

[0045] Specifically, S400 acquires the target measurement position based on the initial measurement distance and the target use distance interval, including:

[0046] The minimum value in the target use distance interval is used as the final use distance. The minimum value in the target use distance interval is used as the final use distance to avoid the use of electromagnetic waves being affected by other factors in the underwater environment.

[0047] Based on the preset initial position, the initial measurement distance and the final use distance, the target measurement position is obtained.

[0048] Specifically, based on the preset initial position, the initial measurement distance and the final use distance, obtaining the target measurement position includes:

[0049] The largest initial measurement distance in the initial measurement distance list is obtained as the intermediate measurement distance. The largest initial measurement distance in the initial measurement distance list is used as the intermediate measurement distance, so that the electromagnetic wave used by the radar can measure the lowest point of the target underwater area.

[0050] Based on the intermediate measured distance and the final used distance, the target descent distance is obtained.

[0051] Based on the initial position and the target descent distance, the target measurement position is determined.

[0052] Furthermore, based on the two-dimensional plane image and the target distance list, generating a 3D image of the target underwater area further includes:

[0053] Divide a two-dimensional plane image into several image grids and obtain an image grid list.

[0054] The average distance corresponding to each image grid is obtained, where the average distance is the average value of the target distances corresponding to the target underwater area points included in the image grid.

[0055] Traverse the image grid list and verify the image grids based on the average distances corresponding to the image grids.

[0056] If the verification is successful, a 3D image of the target underwater area is obtained based on the 2D plane image and the target distance list.

[0057] If the test fails, the target underwater area is recaptured using a camera, and a 3D image of the target underwater area is obtained based on the recaptured underwater image and the target distance list. If the test fails, it is considered that the two-dimensional plane image is not accurately captured, so the underwater image is recaptured to generate a 3D image of the target underwater area.

[0058] Among them, checking the image grid includes:

[0059] The difference between the average distance corresponding to the image grid and the average distance of the eight-neighborhood image grids of the image grid is obtained, and the difference is recorded as the middle difference.

[0060] If the average difference is greater than the preset difference threshold, it is considered that there is terrain protrusion in the image grid and the verification is successful; otherwise, it is considered that there is no terrain protrusion in the image grid and the verification fails, wherein the average difference is the average of the intermediate differences.

[0061] In summary, the two-dimensional plane image is divided into several image grids, the image grid list is obtained, the average distance corresponding to each image grid is obtained, the image grid list is traversed, the image grid is verified based on the average distance corresponding to the image grid, and the difference between the average distance corresponding to the image grid and the average distance of the eight-neighborhood image grids of the image grid is obtained, and the difference is recorded as the intermediate difference. If the average difference is greater than the preset difference threshold, it is considered that there is a terrain protrusion in the image grid. If there is a terrain protrusion in the two-dimensional plane image, it is considered that the verification is successful. If there is no terrain protrusion in the two-dimensional plane image, it is considered that the verification fails. The two-dimensional plane image is verified by the target distance to improve the accuracy of the generated geographic area image.

[0062] In one embodiment of the present invention, Figure 2 As shown, S300 also includes obtaining the preset environmental information electromagnetic wave wavelength correspondence through the following steps:

[0063] S001, obtain the initial information set A of the signal when it is transmitted underwater, A={A1,A2,…,A n ,…,A N}, A n is the initial information set of the signal with the nth preset wavelength when it is transmitted underwater, A n ={A n,1 ,A n,2 ,…,A n,m ,…,A n,M}, A n,m is the initial information sequence when the signal of the nth preset wavelength is transmitted in the mth first-class water area, A n,m =(σ n,m ,ε n,m ,c n,m ,T n,m ), σn,m is the conductivity of the signal with the nth preset wavelength when it is transmitted in the mth first-class water area, ε n,m is the dielectric constant of the signal with the nth preset wavelength when it is transmitted in the mth first-class water area, c n,m is the salt concentration of the mth first-class water area when the signal of the nth preset wavelength is transmitted in the mth first-class water area, T n,m It is the temperature of the mth first-class water area when the signal of the nth preset wavelength is transmitted in the mth first-class water area; the value range of n is 1 to N, N is the number of preset wavelengths; the value range of m is 1 to M, M is the number of first-class water areas; the turbidity of any first-class water area is less than or equal to the preset turbidity threshold.

[0064] In this embodiment, the signal refers to a low-frequency electromagnetic signal, that is, an electromagnetic signal below 300 kHz.

[0065] In this embodiment, M≥2, and different first-category water areas correspond to different salt concentrations and / or different temperatures.

[0066] In this embodiment, the preset turbidity threshold is an empirical value; when the turbidity of a water area is less than or equal to the preset turbidity threshold, it is determined that there are fewer suspended particles in the water area, and the impact of the suspended particles in the water area on the electromagnetic signals transmitted in the water area is small and can be ignored.

[0067] Those skilled in the art know that any method for obtaining conductivity, dielectric constant, salt concentration and temperature in the prior art falls within the protection scope of the present invention.

[0068] S002, obtaining an intermediate information set B={B1, B2, …, B n ,…,B N}, B n is the intermediate information sequence of the signal with the nth preset wavelength when it is transmitted under water, B n ={B n,1 ,B n,2 ,…,B n,m ,…,B n,M}, b n,m is the intermediate information sequence when the signal with the nth preset wavelength is transmitted in the mth first-class water area, B n，m =(p n,m1 ,p n,m2 ,d n,m1 ,c n,m ,T n,m ), p n,m1 is the initial power of the signal of the nth preset wavelength at the first preset position in the mth first category water area, p n,m2is the residual power of the signal of the nth preset wavelength at the second preset position in the mth first category water area, d n,m1 is the distance between the first preset position and the second preset position. Those skilled in the art know that any method for obtaining the power of an electromagnetic signal in the prior art falls within the protection scope of the present invention.

[0069] S003, traverse B, according to B n,m and A n,m Get the attenuation coefficient α of the signal with the nth preset wavelength when it is transmitted in the mth preset water area n,m , thereby obtaining a list of attenuation coefficients.

[0070] Specifically, the attenuation coefficient list set α={α1,α2,…,α n ,…,α N}, α n ={α n，1 ,α n,2 ,…,α n,m ,…,α n,M}.

[0071] S004, obtaining a preset environmental information electromagnetic wave wavelength correspondence based on the initial information set and the attenuation coefficient list set.

[0072] Specifically, the attenuation coefficients corresponding to different preset wavelength signals of each environmental information are obtained, and the preset wavelength signal with the smallest attenuation coefficient among the attenuation coefficients corresponding to all preset wavelength signals is used as the electromagnetic wave wavelength corresponding to the environmental information.

[0073] As a preferred specific implementation, S003 includes:

[0074] Get the signal of the nth preset wavelength at a salt concentration of c n,m And the temperature is T n,m The attenuation coefficient α when transmitting in the first type of water n,m0 .

[0075] As a specific implementation, α n,m0 The following conditions are met:

[0076] α n,m0 =ω n ×(μ×ε n,m / 2) 1 / 2 ×((1+(σ n,m / ω n / ε n,m ) 2 ) 1 / 2 -1) 1 / 2 , where ω n is the angular frequency of the signal of the nth preset wavelength, and μ is the magnetic permeability of water.

[0077] Those skilled in the art know that any method for obtaining the angular frequency of a signal in the prior art falls within the protection scope of the present invention. The magnetic permeability of water is equal to the magnetic permeability of a vacuum.

[0078] Therefore, this embodiment can obtain the signal of the nth preset wavelength at a salt concentration of c n,m And the temperature is T n,m The attenuation coefficient α when transmitting in the first type of water n,m0 .

[0079] Get the total attenuation coefficient α of the signal with the nth preset wavelength in the mth first-class water area n,m2 .

[0080] As a specific implementation, α n,m2 The following conditions are met: n,m2 =p n,m1 ×e -（αn,m2×dn,m1） .

[0081] According to α n,m0 and α n,m2 Get alpha n,m1 ; α n,m1 =α n,m2 -α n,m0 .

[0082] Embodiment 2

[0083] Embodiment 2 of the present invention provides a device for generating a geographical area image in an underwater environment, such as Figure 3 As shown, the device comprises:

[0084] The initial measurement distance acquisition module 10 is used to measure the distance of the target underwater area using a sonar sensor based on a preset initial position, and obtain an initial measurement distance list, wherein the initial measurement distance list includes initial measurement distances from a number of target underwater area points to the preset initial position, wherein the water depth of the target underwater area is less than a preset water depth threshold.

[0085] The target environment information acquisition module 20 is used to acquire target environment information of a target underwater area, wherein the target environment information includes salt concentration and temperature.

[0086] The target electromagnetic wave wavelength acquisition module 30 is used to obtain the target electromagnetic wave wavelength and the target usage distance interval corresponding to the target electromagnetic wave based on the target environmental information and the preset environmental information electromagnetic wave wavelength correspondence, wherein the preset environmental information electromagnetic wave wavelength correspondence is the correspondence between environmental information and low-frequency electromagnetic wave wavelength.

[0087] The target measurement position acquisition module 40 is used to acquire the target measurement position based on the initial measurement distance and the target use distance interval.

[0088] The first intermediate distance acquisition module 50 is used to use a radar device to emit a target electromagnetic wavelength at a target measurement position to measure the distance of a target underwater area, and obtain a first intermediate distance list, wherein the first intermediate distance list includes first intermediate distances from a plurality of target underwater area points to the target measurement position.

[0089] The second intermediate distance acquisition module 60 is used to use the sonar sensor to measure the distance at the target measurement position to obtain a second intermediate distance list, where the second intermediate distance list includes the second intermediate distances from a plurality of target underwater area points to the target measurement position.

[0090] The target distance acquisition module 70 is used to perform fitting based on the first intermediate distance list and the second intermediate distance list to acquire a target distance list.

[0091] The geographic area image acquisition module 80 is used to acquire a two-dimensional plane image of the target underwater area, and generate a 3D image of the target underwater area based on the two-dimensional plane image and the target distance list, and use the 3D image as the geographic area image of the target underwater area.

[0092] Specifically, the target measurement position acquisition module includes:

[0093] The final usage distance acquisition submodule is used to take the minimum value in the target usage distance interval as the final usage distance.

[0094] The target measurement position acquisition submodule is used to acquire the target measurement position based on a preset initial position, an initial measurement distance and a final use distance.

[0095] Among them, the target measurement position acquisition submodule includes:

[0096] The intermediate measurement distance acquisition unit is used to acquire the largest initial measurement distance in the initial measurement distance list as the intermediate measurement distance.

[0097] The target descent distance acquisition unit is used to acquire the target descent distance based on the intermediate measurement distance and the final use distance.

[0098] The target measurement position acquisition unit is used to determine the target measurement position based on the initial position and the target descent distance.

[0099] Specifically, the geographic area image acquisition module also includes:

[0100] The image grid acquisition submodule is used to divide the two-dimensional plane image into a number of image grids and obtain an image grid list.

[0101] The average distance acquisition submodule is used to obtain the average distance corresponding to each image grid, and the average distance is the average value of the target distances corresponding to the target underwater area points included in the image network.

[0102] The verification submodule is used to traverse the image grid list and verify the image grid based on the average distance corresponding to the image grid.

[0103] The verification success submodule is used to obtain a 3D image of the target underwater area based on the two-dimensional plane image and the target distance list if the verification is successful.

[0104] The verification failure submodule is used to use a camera device to re-capture the target underwater area if the verification fails, and obtain a 3D image of the target underwater area based on the re-captured underwater image and the target distance list.

[0105] The check submodule includes:

[0106] The intermediate difference unit is used to obtain the difference between the average distance corresponding to the image grid and the average distance of the eight-neighborhood image grids of the image grid, and record the difference as the intermediate difference.

[0107] The threshold unit is used to consider that the image grid has a terrain protrusion if the average difference is greater than a preset difference threshold, and the verification is successful; otherwise, it is considered that the image grid does not have a terrain protrusion and the verification fails, wherein the average difference is the average of the intermediate differences.

[0108] Specifically, Figure 4 As shown, the target electromagnetic wave wavelength acquisition module 30 includes:

[0109] The initial information set acquisition submodule 31 is used to acquire the initial information set A of the signal when it is transmitted underwater, where A={A1, A2, …, A n ,…,A N}, A n is the initial information set of the signal with the nth preset wavelength when it is transmitted underwater, A n ={A n,1 ,A n,2 ,…,A n,m ,…,A n,M}, A n,m is the initial information sequence when the signal of the nth preset wavelength is transmitted in the mth first-class water area, A n,m =(σ n,m ,ε n,m ,c n,m ,T n,m ), σ n,m is the conductivity of the signal with the nth preset wavelength when it is transmitted in the mth first-class water area, ε n,mis the dielectric constant of the signal with the nth preset wavelength when it is transmitted in the mth first-class water area, c n,m is the salt concentration of the mth first-class water area when the signal of the nth preset wavelength is transmitted in the mth first-class water area, T n,m It is the temperature of the mth first-class water area when the signal of the nth preset wavelength is transmitted in the mth first-class water area; the value range of n is 1 to N, N is the number of preset wavelengths; the value range of m is 1 to M, M is the number of first-class water areas; the turbidity of any first-class water area is less than or equal to the preset turbidity threshold.

[0110] The intermediate information set acquisition submodule 32 is used to acquire the intermediate information set B={B1, B2, …, B n ,…,B N}, B n is the intermediate information sequence of the signal with the nth preset wavelength when it is transmitted under water, B n ={B n,1 ,B n,2 ,…,B n,m ,…,B n,M}, b n,m is the intermediate information sequence when the signal with the nth preset wavelength is transmitted in the mth first-class water area, B n，m =(p n,m1 ,p n,m2 ,d n,m1 ,c n,m ,T n,m ), p n,m1 is the initial power of the signal of the nth preset wavelength at the first preset position in the mth first category water area, p n,m2 is the residual power of the signal of the nth preset wavelength at the second preset position in the mth first category water area, d n,m1 is the distance between the first preset position and the second preset position.

[0111] The traversal submodule 33 is used to traverse B, according to B n,m and A n,m Get the attenuation coefficient α of the signal with the nth preset wavelength when it is transmitted in the mth preset water area n,m , thereby obtaining a list of attenuation coefficients.

[0112] The correspondence relationship acquisition module 34 is used to acquire the preset environmental information electromagnetic wave wavelength correspondence relationship based on the initial information set and the attenuation coefficient list set.

[0113] Among them, the traversal submodules include:

[0114] The attenuation coefficient acquisition unit is used to obtain the signal of the nth preset wavelength at a salt concentration of c n,mAnd the temperature is T n,m The attenuation coefficient α when transmitting in the first type of water n,m0 .

[0115] A total attenuation coefficient acquisition unit is used to obtain the total attenuation coefficient α of the signal of the nth preset wavelength in the mth first-class water area n,m2 .

[0116] The final acquisition unit is used to obtain the n,m0 and α n,m2 Get alpha n,m1 ; α n,m1 =α n,m2 -α n,m0 .

[0117] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing any method in method embodiment 1. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0118] An embodiment of the present invention further provides an electronic device, comprising a processor and the aforementioned non-transitory computer-readable storage medium.

[0119] Although some specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present invention. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A method for generating an image of a geographical area in an underwater environment, characterized in that: The method comprises the following steps: Based on the preset initial position, using a sonar sensor to measure the distance of the target underwater area, and obtaining an initial measurement distance list, wherein the initial measurement distance list includes initial measurement distances from a plurality of target underwater area points to the preset initial position, wherein the water depth of the target underwater area is less than a preset water depth threshold; Acquiring target environmental information of a target underwater area, wherein the target environmental information includes salt concentration and temperature; Based on the correspondence between the target environment information and the preset environment information electromagnetic wave wavelength, the target electromagnetic wave wavelength and the target use distance interval corresponding to the target electromagnetic wave are obtained, wherein the preset environment information electromagnetic wave wavelength correspondence is the correspondence between the environment information and the low-frequency electromagnetic wave wavelength; Based on the initial measurement distance and the target use distance interval, the target measurement position is obtained; Using a radar device to transmit a target electromagnetic wavelength at a target measurement position to measure the distance of a target underwater area, and obtaining a first intermediate distance list, wherein the first intermediate distance list includes first intermediate distances from a plurality of target underwater area points to the target measurement position; Using a sonar sensor to measure distance at the target measurement position, obtaining a second intermediate distance list, wherein the second intermediate distance list includes second intermediate distances from a plurality of target underwater area points to the target measurement position; Perform fitting based on the first intermediate distance list and the second intermediate distance list to obtain a target distance list; A two-dimensional plane image of the target underwater area is acquired, and a 3D image of the target underwater area is generated based on the two-dimensional plane image and the target distance list, and the 3D image is used as a geographic area image of the target underwater area.

2. The method for generating a geographical area image in an underwater environment according to claim 1, characterized in that: Based on the two-dimensional plane image and the target distance list, generating a 3D image of the target underwater area further includes: Based on the target distance list, the Lanczos interpolation method is used to interpolate to obtain a 3D image of the target underwater area.

3. The method for generating a geographical area image in an underwater environment according to claim 2, characterized in that: In the Lanczos interpolation method, the cutoff parameter of the Lanczos kernel function is 3.

4. The method for generating a geographical area image in an underwater environment according to claim 1, characterized in that: After acquiring the first intermediate distance list, the method further includes: determining a first intermediate geographical area image based on the first intermediate distance list.

5. The method for generating a geographical area image in an underwater environment according to claim 1, characterized in that: Based on the initial measurement distance and the target use distance interval, obtaining the target measurement position includes: The minimum value in the target use distance interval is taken as the final use distance; Based on the preset initial position, the initial measurement distance and the final use distance, the target measurement position is obtained.

6. The method for generating a geographical area image in an underwater environment according to claim 5, characterized in that: Based on the preset initial position, initial measurement distance and final use distance, obtaining the target measurement position includes: Get the largest initial measurement distance in the initial measurement distance list as the intermediate measurement distance; Based on the intermediate measurement distance and the final use distance, the target descent distance is obtained; Based on the initial position and the target descent distance, the target measurement position is determined.

7. The method for generating a geographical area image in an underwater environment according to claim 1, characterized in that: Based on the two-dimensional plane image and the target distance list, generating a 3D image of the target underwater area further includes: Divide the two-dimensional plane image into a number of image grids and obtain an image grid list; Obtaining an average distance corresponding to each image grid, wherein the average distance is an average value of target distances corresponding to target underwater area points included in the image grid; Traverse the image grid list and verify the image grid based on the average distance corresponding to the image grid; If the verification is successful, a 3D image of the target underwater area is obtained based on the 2D plane image and the target distance list; If the inspection fails, the target underwater area is recaptured using a camera device, and a 3D image of the target underwater area is obtained based on the recaptured underwater image and the target distance list.

8. The method for generating a geographical area image in an underwater environment according to claim 7, characterized in that: Verification of the image grid includes: Obtain the difference between the average distance corresponding to the image grid and the average distance of the eight-neighborhood image grids of the image grid, and record the difference as the middle difference; If the average difference is greater than the preset difference threshold, it is considered that there is terrain protrusion in the image grid and the verification is successful; otherwise, it is considered that there is no terrain protrusion in the image grid and the verification fails, wherein the average difference is the average of the intermediate differences.

9. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the method for generating a geographic area image in an underwater environment as described in any one of claims 1-8.

10. An electronic device, characterized in that: The invention comprises a processor and the non-transitory computer-readable storage medium as claimed in claim 9.

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