Seabed detection method, device, equipment, storage medium and computer program product

Abstract

The invention provides a seabed detection method, device and equipment, a storage medium and a computer program product, and the method comprises the steps: obtaining a topographic model of a to-be-detected seabed, carrying out the slope splitting of the topographic model, determining the slope angle and slope height corresponding to each splitting result, and obtaining the slope angle and slope height of the to-be-detected seabed; and determining a target detection direction and a target detection interval corresponding to each splitting result according to each slope angle and each slope height, and detecting the seabed to be detected according to each target detection direction and each target detection interval. The corresponding detection direction and detection interval can be flexibly determined according to different slopes, so that compared with the existing fixed detection direction and detection interval, the problem of inaccurate detection result caused by missing detection or excessive overlapping of strips can be avoided, and accurate submarine topography detection is realized.

Description

Technical Field

[0001] The present application relates to the technical field of seabed topography detection, and in particular to a seabed detection method, device, equipment, storage medium and computer program product. Background Art

[0002] Multi-beam detection is a new underwater topographic measurement technology with high efficiency, high precision and high resolution. Compared with the traditional single-beam detection system and underwater exploration (photography), the multi-beam detection system has the advantages of large measurement range, fast speed and high precision. With the popularization of technology, multi-beam bathymetric technology is widely used in different fields, including marine engineering, oil pipeline detection, submarine cable laying, hydrographic survey, marine resources and environmental survey, salvage and rescue, port and terminal construction, reservoir measurement, river dredging guidance, underwater exploration and waterway navigation. Compared with traditional single-beam bathymetric instruments, multi-beam bathymetric sonar has a wider coverage range, higher measurement accuracy and efficiency. This technology expands the bathymetric capability from one dimension to two and three dimensions, and is particularly suitable for large-area seabed detection.

[0003] Currently, the average survey line interval is generally used to detect the seabed to obtain the seabed detection result. However, in the case of a real seabed with large terrain fluctuations, it will lead to inaccurate detection results due to missed detection or excessive strip overlap during the detection process.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a seabed detection method, device, equipment, storage medium and computer program product, aiming to solve the technical problem that the existing technology will cause inaccurate detection results when facing a real seabed with large terrain fluctuations.

[0006] To achieve the above objectives, the present application proposes a seabed detection method, which comprises:

[0007] Acquire a terrain model of the seabed to be detected, and perform slope splitting on the terrain model;

[0008] Determine the slope angle and slope height corresponding to each split result, and determine the target detection direction and target detection interval corresponding to each split result according to each slope angle and each slope height;

[0009] The seabed to be detected is detected according to each target detection direction and each target detection interval.

[0010] In one embodiment, the step of determining the target detection direction and the target detection interval corresponding to each of the splitting results according to each of the slope angles and each of the slope heights includes:

[0011] Determine the coverage width of each split result at each preset survey line direction angle based on each preset survey line direction angle, each slope angle and each slope height;

[0012] Determine the target detection interval corresponding to each of the splitting results according to the preset overlap rate, each of the coverage widths, each of the slope angles, and each of the slope heights;

[0013] The target detection direction corresponding to each of the splitting results is determined according to the preset survey line direction angle corresponding to each of the target detection intervals.

[0014] In one embodiment, the step of determining the target detection interval corresponding to each of the splitting results according to the preset overlap rate, each of the coverage widths, each of the slope angles, and each of the slope heights includes:

[0015] Determine the detection interval and the detection distance corresponding to each detection interval according to the preset overlap rate, each coverage width, each slope angle and each slope height;

[0016] A target detection distance is selected from each of the detection distances, and a detection interval corresponding to the target detection distance is used as a target detection interval corresponding to each of the splitting results.

[0017] In one embodiment, the step of determining the detection interval and the detection distance corresponding to each detection interval according to the preset overlap rate, each coverage width, each slope angle, and each slope height includes:

[0018] Determining the overlapping width according to the preset overlapping ratio and each of the covering widths;

[0019] Determine a detection interval based on each of the overlapping widths, each of the slope angles, and each of the slope heights;

[0020] The detection distance corresponding to each detection interval is determined based on each detection interval and the area of ​​each split result.

[0021] In one embodiment, the step of determining the detection interval based on each of the overlapping widths, each of the slope angles, and each of the slope heights comprises:

[0022] Determine the measurement depth of adjacent survey lines based on each of the overlapping widths, each of the slope angles, and each of the slope heights;

[0023] The detection interval is determined according to the measurement depth of each of the adjacent measurement lines, each of the preset measurement line direction angles, and each of the slope angles.

[0024] In one embodiment, the step of determining the coverage width of each splitting result at each preset survey line direction angle based on each preset survey line direction angle, each slope angle and each slope height comprises:

[0025] Determine the measurement depth based on the preset opening angle, each preset survey line direction angle, each slope angle and each slope height;

[0026] The coverage width of each splitting result at each preset survey line direction angle is determined according to each measuring depth, each slope angle, each preset survey line direction angle and each preset opening angle.

[0027] In addition, to achieve the above-mentioned purpose, the present application also proposes a seabed detection device, characterized in that the device comprises:

[0028] A splitting module is used to obtain a terrain model of the seabed to be detected and to perform slope splitting on the terrain model;

[0029] An analysis module, used to determine the slope angle and slope height corresponding to each split result, and determine the detection direction and detection interval corresponding to each split result according to each slope angle and each slope height;

[0030] The detection module is used to detect the seabed to be detected according to each of the detection directions and each of the detection intervals.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a seabed detection device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the seabed detection method described above.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the seabed detection method described above are implemented.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the seabed detection method described above are implemented.

[0034] The present application proposes a method, device, equipment, storage medium and computer program product for seabed detection, characterized in that the method includes: obtaining a terrain model of the seabed to be detected, and performing slope segmentation on the terrain model, determining the slope angle and slope height corresponding to each segmentation result, and determining the target detection direction and target detection interval corresponding to each segmentation result according to each slope angle and each slope height, and detecting the seabed to be detected according to each target detection direction and each target detection interval. Since the present application can flexibly determine the corresponding detection direction and detection interval according to different slopes, compared with the existing fixed detection direction and detection interval, it can avoid the problem of inaccurate detection results caused by missed detection or excessive strip overlap, thereby realizing accurate seabed terrain detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0037] Figure 1 A flow chart of a first embodiment of the seabed detection method proposed in this embodiment;

[0038] Figure 2 A schematic diagram of a three-dimensional seabed model in the seabed detection method proposed in this embodiment;

[0039] Figure 3 A first two-dimensional survey line design model diagram of the seabed detection method proposed in this embodiment;

[0040] Figure 4 A model diagram of the coverage area of ​​the seabed detection method proposed in this embodiment;

[0041] Figure 5 A flow chart of a second embodiment of the seabed detection method proposed in this embodiment;

[0042] Figure 6 A three-dimensional seafloor slope model diagram of the seafloor detection method proposed in this embodiment;

[0043] Figure 7 A second two-dimensional survey line design model diagram of the seabed detection method proposed in this embodiment;

[0044] Figure 8A three-dimensional survey line design model diagram of the seabed detection method proposed in this embodiment;

[0045] Fig. 9 A sea area survey line design diagram for the seabed detection method proposed in this embodiment;

[0046] Fig.10 A diagram of a seabed detection device provided for this embodiment;

[0047] Fig.11 It is a schematic diagram of the structure of a seabed detection device suitable for implementing the embodiment of the present application.

[0048] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0052] It is understandable that multi-beam detection is a new underwater topographic measurement technology with high efficiency, high precision and high resolution. Compared with the traditional single-beam sounding system and underwater exploration (photography), the multi-beam detection system has the advantages of large measurement range, fast speed and high precision. With the popularization of technology, multi-beam bathymetric technology is widely used in different fields, including marine engineering, oil pipeline detection, submarine cable laying, hydrographic survey, marine resources and environmental survey, salvage and rescue, port and terminal construction, reservoir measurement, river dredging guidance, underwater exploration and waterway navigation. Compared with traditional single-beam bathymetric instruments, multi-beam bathymetric sonar has a wider coverage range, higher measurement accuracy and efficiency. This technology expands the bathymetric capability from one dimension to two and three dimensions, and is particularly suitable for large-area seabed detection.

[0053] The existing methods generally use the average survey line interval to detect the seabed to obtain the seabed detection results. Although directly using the average survey line interval can simply complete the detection and save detection time, when the real seabed has large terrain fluctuations, it will lead to inaccurate detection results due to missed detection or excessive strip overlap during the detection process.

[0054] Therefore, in order to solve the technical problem that the existing technology will cause inaccurate detection results when facing a real seabed with large terrain fluctuations, this embodiment proposes a marine detection method, the method includes: obtaining a terrain model of the seabed to be detected, and performing slope segmentation on the terrain model, determining the slope angle and slope height corresponding to each segmentation result, and determining the target detection direction and target detection interval corresponding to each segmentation result according to each slope angle and each slope height, and detecting the seabed to be detected according to each target detection direction and each target detection interval. Since the present application can flexibly determine the corresponding detection direction and detection interval according to different slopes, compared with the existing fixed detection direction and detection interval, it can avoid the problem of inaccurate detection results caused by missed detection or excessive strip overlap, thereby realizing accurate seabed terrain detection.

[0055] For ease of understanding, the following combination Figures 1 to 11 The seabed detection method provided in the embodiment of the present application and the seabed detection method, device, equipment, storage medium and computer program product provided in the following embodiments are introduced in detail.

[0056] It should be noted that the execution subject of this embodiment may be a computing service device with seabed detection, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes the seabed detection device (hereinafter referred to as the device) as an example to illustrate this embodiment and the following embodiments.

[0057] In addition, it should be noted that a variety of methods such as multi-beam detection and single-beam detection can be used to detect the seabed. This embodiment uses dual-beam detection for illustration, but this embodiment is not specifically limited. Further, in order to detect the seabed, the seabed detection equipment also includes a multi-beam transducer, which can transmit a survey line according to a preset survey line opening angle to detect the seabed. It can be understood that the above equipment can be equipped on a ship or other navigable equipment at sea, such as an aircraft. Considering the practical feasibility, this embodiment equips the above equipment on a ship to detect the seabed to be measured, but this embodiment is not specifically limited.

[0058] The present application embodiment provides a method for seabed detection, referring to Figure 1 , Figure 1This is a flow chart of the first embodiment of the seabed detection method proposed in the embodiments of the present application.

[0059] like Figure 1 As shown, the method includes:

[0060] Step S10: obtaining a terrain model of the seabed to be detected, and performing slope segmentation on the terrain model.

[0061] It should be noted that the seabed to be detected may be a seabed that has been detected and has initial detection results and needs to be accurately detected again, and the terrain model may be a three-dimensional model formed by initial measurement results obtained by performing initial measurement on the seabed to be detected. Figure 2 , Figure 2 This is a schematic diagram of the three-dimensional model of the seabed in the seabed detection method proposed in this embodiment. In a specific implementation, when the above-mentioned device obtains the three-dimensional model formed by the initial measurement results of the seabed to be detected, the above-mentioned three-dimensional model is split according to the slope angles and slope heights of each slope in the three-dimensional model of the seabed to be detected to obtain a three-dimensional model of each slope.

[0062] Step S20: determining the slope angle and slope height corresponding to each split result, and determining the target detection direction and target detection interval corresponding to each split result according to each slope angle and each slope height.

[0063] It should be noted that the above-mentioned splitting result may be a three-dimensional stereo model of each of the above-mentioned slopes obtained after splitting the terrain model of the seabed to be measured. The above-mentioned slope angle may be the angle between the slope and the horizontal projection in the three-dimensional stereo model of each of the above-mentioned slopes obtained by the above-mentioned splitting, and the above-mentioned slope height may be the height between the slope and the horizontal projection in the three-dimensional stereo model of each of the above-mentioned slopes obtained by the above-mentioned splitting. The above-mentioned target detection direction may be the navigation direction of the ship when detecting each of the above-mentioned slopes obtained by the above-mentioned device based on the data in the three-dimensional stereo model of each of the above-mentioned slopes, and the above-mentioned target detection interval may be the navigation interval of the ship when detecting each of the above-mentioned slopes obtained by the above-mentioned device based on the data in the three-dimensional stereo model of each of the above-mentioned slopes.

[0064] In a specific implementation, after obtaining the three-dimensional stereo models of each of the above-mentioned slopes, the above-mentioned device obtains the angle between the slope and the horizontal projection in the three-dimensional stereo model of each slope as the slope angle, obtains the height between the slope and the horizontal projection in the three-dimensional stereo model of each slope as the slope height, and determines the navigation direction and navigation interval of the ship in the area corresponding to each split slope according to the slope height and slope angle of each slope.

[0065] Furthermore, in order to accurately calculate the target detection direction and target detection interval corresponding to each split result, the step of determining the target detection direction and target detection interval corresponding to each split result according to each slope angle and each slope height includes:

[0066] Step S21: determining the coverage width of each splitting result at each preset survey line direction angle based on each preset survey line direction angle, each slope angle and each slope height.

[0067] It should be understood that the above-mentioned preset survey line direction angle can be the angle between the above-mentioned route and the projection of the above-mentioned slope normal vector on the horizontal plane, and the above-mentioned coverage width can be the horizontal projection of the width that the above-mentioned multi-beam transducer can detect on the seabed slope at the above-mentioned opening angle.

[0068] Furthermore, in order to accurately calculate the above coverage width, step S21 further includes:

[0069] Step S211: determining the measurement depth based on the preset opening angle, each preset survey line direction angle, each slope angle and each slope height.

[0070] It should be noted that the preset opening angle may be the opening angle between the multiple beams when the multi-beam transducer performs seabed detection through multiple beams, and the measurement depth may be the height difference between the sea level at the detection point and the slope height at the slope projection point of the detection point during detection. In a specific implementation, the device constructs a mathematical model to obtain a geometric model based on the preset opening angle, each of the preset survey line direction angles, each of the slope angles, and each of the slope heights, constructs a mathematical logical relationship between the parameters based on the geometric model, and determines the measurement depth based on the mathematical logical relationship.

[0071] In addition, it should be noted that the reference Figure 3 , Figure 3 This is a first two-dimensional survey line design model diagram of the seabed detection method proposed in the embodiment of the present application. When constructing the above geometric model, the method of setting the coordinate system and the detection center point is generally adopted. The detection center point (i.e. Figure 3 The intersection of the slope surface and the horizontal plane) is established based on the center point and the geometric relationship between the parameters of each point is obtained.

[0072] Step S212: determining the coverage width of each splitting result at each preset survey line direction angle according to each measuring depth, each slope angle, each preset survey line direction angle and each preset opening angle.

[0073] It should be noted that the reference Figure 4 , Figure 4This is a coverage area model diagram of the seabed detection method proposed in the embodiment of the present application. The above coverage width can be the coverage area (i.e., the coverage width) of the above equipment equipped with the above ship when sailing in the direction corresponding to the above preset survey line direction angle on the above slope surface using the dual beam detection Figure 4 The projection of the width of the vertical route direction on the horizontal plane (i.e. Figure 4 In a specific implementation, after obtaining the measurement depth, the device obtains the mathematical logic relationship between the coverage width and the above parameters according to the constructed geometric model, and calculates the coverage width of each slope at each side line angle (i.e. Figure 4 The coverage width corresponding to β in .

[0074] refer to Figure 3 ,like Figure 3 As shown, A i is the detection line at a distance i from the center point, BC is A i The left strip corresponding to the survey line coverage area is S i左 , CE is A i The right strip corresponding to the survey line coverage area is S i右 ; A i The height of the projection point on the seabed slope is h i , the measurement opening angle is θ, the slope angle is α, then the distance S from the projection point of the measuring ship on the seabed slope to the left end point of the strip covered on the seabed slope i左 It can be calculated by the left strip calculation formula, which is as follows:

[0075]

[0076] The distance S from the projection point of the measuring ship on the seabed slope to the right end point of the strip covering the seabed slope i右 :

[0077]

[0078] The calculation formula for coverage width is: W i =(S i左 +S i右 )×cosα, that is:

[0079]

[0080] It should be noted that when detecting the above-mentioned seabed slopes, multiple parallel line segments are generally used as detection routes in the area to be detected. The distance between adjacent parallel lines is the detection interval, and the width of the overlap of the detection ranges of two adjacent measurement lines is the overlap width. The ratio of the overlap width to the coverage width corresponding to the measurement line close to the detection center point is the overlap rate. In order to obtain the relationship between the above-mentioned overlap rate and the above-mentioned slope angle, slope height and other parameters, reference is made to Figure 3 Provide explanation.

[0081] Figure 3 A i+200 is the detection line at the detection center point i+200, and ... i The detection lines represented are adjacent, where DF is A i+200 Left strip of the detection area, FG is A i+200 The right strip of the detection area, the projection Δd of DE is A i With A i+200 The overlap width of the detection area, Δh, is A i With A i+200 The height difference of the slope at the slope projection point, A i+200 The height of the projection point on the seabed slope is h i+200 , assuming the overlap rate is η, then the preset overlap rate calculation formula is:

[0082]

[0083] Therefore, when the initial survey line and overlap rate are known, the coverage width and detection interval of adjacent survey lines can be reversely deduced according to the preset overlap rate calculation formula.

[0084] Step S22 determines the target detection interval corresponding to each of the splitting results according to the preset overlap rate, each of the coverage widths, each of the slope angles, and each of the slope heights.

[0085] It should be understood that the preset overlap rate may be a value preset by the user when detecting the seabed according to needs, and the target detection interval may be the distance between the routes of the ship when detecting the seabed. It is understood that, since multiple parallel line segments are generally used as detection routes in the area to be detected when detecting each of the seabed slopes, the distance between adjacent parallel lines is the detection interval.

[0086] In a specific implementation, after obtaining the above-mentioned coverage widths, the above-mentioned device calculates the distance between the above-mentioned parallel detection routes as the detection interval based on the overlap rate pre-set by the user, combined with each slope angle and each slope height, so that the above-mentioned device can design the above-mentioned seabed detection plan based on the detection interval.

[0087] Step S23: determining the target detection direction corresponding to each of the splitting results according to the preset survey line direction angle corresponding to each of the target detection intervals.

[0088] It should be understood that the target detection direction may be the direction represented by the route corresponding to the preset survey line direction angle. In a specific implementation, after determining the target detection distance, the device determines the target detection direction according to the projection of the preset survey line direction angle corresponding to the target detection distance and the normal vector of the seabed slope obtained by the above splitting on the horizontal plane.

[0089] Step S30: Detect the seabed to be detected according to each of the target detection directions and each of the target detection intervals.

[0090] In a specific implementation, after the above-mentioned device obtains the target detection interval and target detection direction corresponding to each split slope surface, the ship navigation direction and navigation interval corresponding to all the above-mentioned target detection intervals and target detection directions are spliced ​​according to the splitting method corresponding to the above-mentioned splitting, and the total navigation route of the above-mentioned ship is obtained, so that the above-mentioned ship can use the multi-beam transducer to detect the seabed to be measured when sailing along the total navigation route.

[0091] The present application proposes a method for seabed detection, which includes: obtaining a terrain model of the seabed to be detected, and performing slope segmentation on the terrain model, determining the slope angle and slope height corresponding to each segmentation result, and determining the target detection direction and target detection interval corresponding to each of the segmentation results according to each slope angle and each slope height, and detecting the seabed to be detected according to each target detection direction and each target detection interval. Since the present application can flexibly determine the corresponding detection direction and detection interval according to different slopes, compared with the existing fixed detection direction and detection interval, it can avoid the problem of inaccurate detection results caused by missed detection or excessive strip overlap, thereby achieving accurate seabed detection.

[0092] Based on the first embodiment, in the second embodiment, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be described in detail later. Figure 5 , Figure 5 This is a flow chart of the second embodiment of the seabed detection method proposed in the embodiment of the present application, step S22 also includes:

[0093] Step S221: determining a detection interval and a detection distance corresponding to each detection interval according to a preset overlap rate, each of the coverage widths, each of the slope angles, and each of the slope heights.

[0094] It should be noted that the above detection distance may be the distance that the above ship needs to sail at least when detecting the above-mentioned seabed slope obtained by the above-mentioned splitting.

[0095] Further, in order to obtain the detection distance corresponding to each of the above-mentioned seabed slopes at each of the above-mentioned preset survey line direction angles, the step S221 includes:

[0096] Step S2211: determining the overlapping width according to the preset overlapping ratio and each of the covering widths.

[0097] Step S2212: determining a detection interval based on each of the overlapping widths, each of the slope angles, and each of the slope heights;

[0098] Step S2213: determining the detection distance corresponding to each detection interval based on each detection interval and the area of ​​each split result.

[0099] It should be understood that the above-mentioned overlapping width can be the width of the projection of the overlapping part of the detection range of the above-mentioned adjacent survey lines on the horizontal plane, and the above-mentioned detection interval can be the distance between the above-mentioned adjacent survey lines. In a specific implementation, the above-mentioned device obtains the overlapping area of ​​the above-mentioned routes and the adjacent route detection, i.e., the overlapping width, by multiplying the overlap rate preset by the user with the above-mentioned coverage width corresponding to each detection route on the above-mentioned slope surface. Based on the overlapping width and the above-mentioned geometric model, the interval between each detection route in each of the above-mentioned seabed slope surfaces, i.e., the detection interval, can be calculated. The above-mentioned device integrates the above-mentioned ship route based on the detection interval and the above-mentioned corresponding detection direction, and obtains the distance of the ship route required to cover at least the entire above-mentioned seabed slope surface in each of the above-mentioned detection directions.

[0100] Furthermore, in order to obtain the detection interval corresponding to each of the above-mentioned seabed slopes at each of the above-mentioned preset survey line direction angles, the step further includes:

[0101] Step S22121: Determine the measurement depths of adjacent survey lines based on the overlapping widths, the slope angles, and the slope heights.

[0102] Step S22122: determining a detection interval according to the measurement depths of the adjacent measurement lines, the preset measurement line direction angles, and the slope angles.

[0103] It should be understood that the measured depth of the adjacent survey line can be the measurement of the adjacent survey line with the survey line based on the center point of the constructed coordinate system as the reference point, or the measured depth of the survey line adjacent to the other side of the adjacent survey line. In a specific implementation, the device can set the center point according to the geometric model, and use the survey line designed based on the center point as the initial survey line. The angle formed by the projection of the normal vector of the seabed slope corresponding to the initial side line on the horizontal plane is the preset survey line direction angle. The height difference between the position of the adjacent survey line and the slope projection line is determined as the detection depth according to the overlapping widths, the slope angles and the slope heights. The device calculates the detection interval based on the geometric relationship according to the measured depth of each adjacent survey line, each preset survey line direction angle and each slope angle.

[0104] Step S222: selecting a target detection distance from each of the detection distances, and using the detection interval corresponding to the target detection distance as the target detection interval corresponding to each of the splitting results.

[0105] In a specific implementation, after obtaining the distances that at least cover the required route of the ship on the entire seabed slope in each of the above-mentioned detection directions, the above-mentioned device selects a distance that meets the conditions (for example, the shortest distance) from the above-mentioned distances as the target detection distance, and uses the detection interval corresponding to the target detection distance as the target detection interval, and uses the detection direction corresponding to the detection interval as the target detection direction.

[0106] For ease of understanding, the following examples are given for illustration but are not intended to limit this embodiment. Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Figure 6 This is a three-dimensional seafloor slope model diagram of the seafloor detection method proposed in this embodiment. Figure 7 This is a second two-dimensional survey line design model diagram of the seabed detection method proposed in this embodiment. Figure 8 This is a three-dimensional survey line design model diagram of the seabed detection method proposed in this embodiment. Fig. 9 The sea area survey line design diagram of the seabed detection method proposed in this embodiment assumes that the overlap rate between adjacent strips meets 10% to 20%; the north-south length of the rectangular sea area to be measured is 2 nautical miles, the east-west width is 4 nautical miles, the sea water depth at the center of the sea area is 110m, and the slope α is 1.5°. Figure 6 As shown in FIG. 1 , it is known that the opening angle θ of the multi-beam transducer is 120°.

[0107] First, we need to determine its coverage width W and overlap rate η. The above requirement is an overlap rate of 10% to 20%. Select a fixed spacing. This spacing should be based on the minimum coverage width to ensure that all seabeds are covered. The larger the distance, the smaller the overlap rate. On this basis, the distance is calculated based on an overlap rate of 10%. The survey ship measures from the west to the east of the sea area, and the spacing between its survey lines changes from sparse to dense. The measurement diagram of two adjacent survey lines is shown in the figure below. Figure 7 As shown, the combination Figure 7 and Figure 8 The geometric model, h is the water depth of the corresponding survey line, n is the number of survey lines, and h1 is the water depth of the first survey line (i.e. Figure 7 h1 in the figure), h2 is the water depth of the second survey line (i.e. Figure 7 h2), and so on. n Indicates the water depth of the last survey line. From the geometric relationship, we know that:

[0108]

[0109] From the geometric progression, we can set h n =h1×r (n-1) , where r is a computable parameter:

[0110]

[0111] In the actual calculation, the topographic coordinates of the four corners of the seabed slope are first calculated according to the slope and the depth of the center point of the sea area. The specific coordinate values ​​are as follows: northwest point (0, 0, 206.993) southwest point (0, 3704, 206.993) southeast point (7408, 3704, 13.0073) northeast point (7408, 0, 13.0073); when the preset measurement angle is 90°, the overlap rate is fixed to 10% to calculate the distance, such as Figure 6 The geometric model of is analyzed and calculated:

[0112] h n =h1×r (n-1) <13.0073;

[0113] n = 36;

[0114] Note O i is the i-th survey line, h i is the water depth of the i-th survey line, and the x-axis is perpendicular to the survey line O i , P i The value of x i , then:

[0115] h i =-x i tanα+206.993;

[0116]

[0117] After inspection, when n≥34, the overall coverage width is greater than 7408m, the entire sea area can be measured, and the overlap rate meets the requirement of 10% to 20%, that is, n=34, the number of survey lines is 34, and the total length of the survey line is L=n×2=68 nautical miles. The survey ship measures from the west to the east of the sea area, and the spacing between its survey lines changes from sparse to dense. The spacing between survey lines is shown in the figure below. Figure 7 shown.

[0118] This embodiment also provides a seabed detection device, please refer to Fig.10 , Fig.10 A diagram of a seabed detection device provided in an embodiment of the present application, wherein the seabed detection device comprises:

[0119] A splitting module is used to obtain a terrain model of the seabed to be detected and to perform slope splitting on the terrain model;

[0120] An analysis module, used to determine the slope angle and slope height corresponding to each split result, and determine the detection direction and detection interval corresponding to each split result according to each slope angle and each slope height;

[0121] The detection module is used to detect the seabed to be detected according to each of the detection directions and each of the detection intervals.

[0122] The seabed detection device provided in this embodiment adopts the seabed detection method in the above embodiment, which can solve the technical problem that the existing technology will cause inaccurate detection results when facing a real seabed with large terrain fluctuations. Compared with the existing technology, the beneficial effects of the seabed detection device provided in this embodiment are the same as the beneficial effects of the seabed detection method provided in the above embodiment, and other technical features in the seabed detection device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0123] This embodiment provides a seabed detection device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the seabed detection method in the above-mentioned embodiment one.

[0124] Reference below Fig.11 , Fig.11The schematic diagram of the structure of the submarine detection equipment suitable for implementing the embodiment of the present application is shown in FIG. The submarine detection equipment in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The seabed detection equipment shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0125] like Fig.11 As shown, the seabed detection equipment may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the seabed detection equipment are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the seabed detection device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a seabed detection device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0126] In particular, according to the present embodiment, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the present embodiment includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present embodiment are executed.

[0127] The seabed detection device provided in this embodiment adopts the seabed detection method in the above embodiment, which can solve the technical problem that the existing technology will cause inaccurate detection results when facing a real seabed with large terrain fluctuations. Compared with the existing technology, the beneficial effects of the seabed detection device provided in this embodiment are the same as the beneficial effects of the seabed detection method provided in the above embodiment, and other technical features in the seabed detection device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0128] It should be understood that the various parts disclosed in this embodiment can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0129] The above is only a specific implementation of this embodiment, but the protection scope of this embodiment is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in this embodiment, which should be included in the protection scope of this embodiment. Therefore, the protection scope of this embodiment should be based on the protection scope of the claims.

[0130] This embodiment provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the seabed detection method in the above-mentioned embodiment.

[0131] The computer-readable storage medium provided in this embodiment may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination thereof.

[0132] The computer-readable storage medium may be included in the seabed detection equipment; or may exist independently without being assembled into the seabed detection equipment.

[0133] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the seabed detection device, the seabed detection device is enabled to: perform seabed detection.

[0134] The computer program code for performing the operation of the present embodiment can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0135] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present embodiment. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0136] The modules involved in the description of this embodiment may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0137] The readable storage medium provided in this embodiment is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned seabed detection method, and is intended to solve the technical problem that the prior art will cause inaccurate detection results when facing a real seabed with large terrain fluctuations. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this embodiment are the same as the beneficial effects of the seabed detection method provided in the above-mentioned embodiment, and will not be repeated here.

[0138] This embodiment also provides a computer program product, including a computer program, which implements the steps of the above-mentioned seabed detection method when executed by a processor.

[0139] The computer program product provided in this embodiment can solve the technical problem that the existing technology will cause inaccurate detection results when facing a real seabed with large terrain fluctuations. Compared with the existing technology, the beneficial effects of the computer program product provided in this embodiment are the same as the beneficial effects of the seabed detection method provided in the above embodiment, which will not be repeated here.

[0140] The above descriptions are only some embodiments, and are not intended to limit the patent scope of this embodiment. All equivalent structural changes made using the contents of the specification and drawings of this application under the technical concept of this application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of this application.

Claims

1. A method for seabed detection, characterized in that: The method comprises: Acquire a terrain model of the seabed to be detected, and perform slope splitting on the terrain model; Determine the slope angle and slope height corresponding to each split result, and determine the target detection direction and target detection interval corresponding to each split result according to each slope angle and each slope height; The seabed to be detected is detected according to each target detection direction and each target detection interval.

2. The method according to claim 1, characterized in that The step of determining the target detection direction and the target detection interval corresponding to each of the splitting results according to each of the slope angles and each of the slope heights comprises: Determine the coverage width of each split result at each preset survey line direction angle based on each preset survey line direction angle, each slope angle and each slope height; Determine the target detection interval corresponding to each of the splitting results according to the preset overlap rate, each of the coverage widths, each of the slope angles, and each of the slope heights; The target detection direction corresponding to each of the splitting results is determined according to the preset survey line direction angle corresponding to each of the target detection intervals.

3. The method according to claim 2, characterized in that The step of determining the target detection interval corresponding to each of the splitting results according to the preset overlap rate, each of the coverage widths, each of the slope angles, and each of the slope heights comprises: Determine the detection interval and the detection distance corresponding to each detection interval according to the preset overlap rate, each coverage width, each slope angle and each slope height; A target detection distance is selected from each of the detection distances, and a detection interval corresponding to the target detection distance is used as a target detection interval corresponding to each of the splitting results.

4. The method according to claim 3, characterized in that The step of determining the detection interval and the detection distance corresponding to each detection interval according to the preset overlap rate, each coverage width, each slope angle and each slope height comprises: Determine the overlapping width according to the preset overlapping ratio and each of the covering widths; Determining a detection interval based on each of the overlapping widths, each of the slope angles, and each of the slope heights; The detection distance corresponding to each detection interval is determined based on each detection interval and the area of ​​each split result.

5. The method according to claim 4, characterized in that The step of determining the detection interval based on each of the overlapping widths, each of the slope angles, and each of the slope heights comprises: Determine the measurement depth of adjacent survey lines based on each of the overlapping widths, each of the slope angles, and each of the slope heights; The detection interval is determined according to the measurement depth of each of the adjacent measurement lines, each of the preset measurement line direction angles, and each of the slope angles.

6. The method according to any one of claims 2 to 5, characterized in that The step of determining the coverage width of each splitting result at each preset survey line direction angle based on each preset survey line direction angle, each slope angle and each slope height comprises: Determine the measurement depth based on the preset opening angle, each preset survey line direction angle, each slope angle and each slope height; The coverage width of each splitting result at each preset survey line direction angle is determined according to each measuring depth, each slope angle, each preset survey line direction angle and each preset opening angle.

7. A seabed detection device, characterized in that: The device comprises: A splitting module is used to obtain a terrain model of the seabed to be detected and to perform slope splitting on the terrain model; An analysis module, used to determine the slope angle and slope height corresponding to each split result, and determine the detection direction and detection interval corresponding to each split result according to each slope angle and each slope height; The detection module is used to detect the seabed to be detected according to each of the detection directions and each of the detection intervals.

8. A seabed detection device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the seabed detection method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the seabed detection method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the seabed detection method according to any one of claims 1 to 6 are implemented.

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