Method and apparatus for detecting underwater spherical objects based on underwater vehicles

Abstract

The application provides an underwater spherical object detection method and device based on an underwater vehicle. The method comprises: the underwater vehicle is equipped with an electric field emission module and an electrode receiving array, the electric field emission module releases an extremely low frequency alternating current into water to form a specific distribution electric field in a target area; the electrode receiving array measures a space electric field signal in real time to obtain an electric signal amplitude of a plurality of measuring electrodes relative to a reference electrode; the electric signal amplitude is processed to calculate a change amount relative to an initial state, and whether a target exists, a relative distance and a direction of the target are determined according to an extreme value change and a distribution characteristic of the change amount; a control signal is generated based on the determination result to adjust a moving direction and a speed of the underwater vehicle to approach the target; after approaching the target, video and image discrimination are performed, if the target is not found, a search is restarted, and if the target is found, an alarm is sent. The application can effectively improve detection efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of underwater spherical object positioning technology, and in particular to an underwater spherical object detection method and device based on underwater vehicles. Background Technology

[0002] Currently, underwater spherical object detection primarily relies on acoustic and optical methods. However, in shallow sea areas, the effectiveness of traditional detection methods declines, or even becomes completely ineffective. Due to the complex seabed topography, numerous obstacles, and rapidly changing currents in shallow seas, acoustic signals suffer from severe reflection, refraction, and scattering, resulting in significant multipath interference and impacting sonar detection performance. Furthermore, the poor water quality in shallow seas, with turbid waters containing plankton, silt, and impurities, severely affects the efficiency and accuracy of optical detection methods. Therefore, developing an underwater spherical object detection method and equipment based on underwater vehicles to effectively overcome the shortcomings of the aforementioned technologies has become a pressing technical problem for the industry. Summary of the Invention

[0003] To address the aforementioned problems in the existing technology, embodiments of the present invention provide a method and device for detecting underwater spherical objects based on underwater vehicles.

[0004] In a first aspect, embodiments of the present invention provide a method for detecting underwater spherical objects based on an underwater vehicle, comprising: the underwater vehicle carrying an electric field emitting module and an electrode receiving array maneuvering underwater; the electric field emitting module releasing an extremely low frequency alternating current into the water to form a specifically distributed electric field in the target area; the electrode receiving array measuring the spatial electric field signal in real time and acquiring the electrical signal amplitude U of multiple measuring electrodes relative to a reference electrode; processing the electrical signal amplitude U to calculate its change ΔU relative to the initial state; determining the existence of the target, its relative distance, and its orientation based on the extreme value changes and distribution characteristics of the change ΔU; generating a control signal based on the determination result to adjust the movement direction and speed of the underwater vehicle to approach the target; after approaching the target, performing video and image identification; if it is not the target, re-searching; if it is the target, issuing an alarm.

[0005] Based on the above method embodiments, the underwater spherical object detection method based on underwater vehicles provided in this embodiment of the invention has an extremely low frequency alternating current with a frequency of 10 Hz to 30 Hz, and the current intensity is set according to the detection environment and target characteristics. The electric field emission module includes a pair of metal electrodes arranged along the longitudinal or transverse axis of the underwater vehicle. The metal electrodes are platinum sheets or titanium plates with an outer ruthenium-iridium coating.

[0006] Based on the above method embodiments, the underwater spherical object detection method based on underwater vehicles provided in this embodiment of the invention has an electrode receiving array in the shape of an "X", including: a reference electrode located at the intersection of the "X", and four measuring electrodes symmetrically distributed at the ends of the four arms of the "X". All reference electrodes and all measuring electrodes are silver or silver chloride solid electrodes.

[0007] Based on the above-described method embodiments, the underwater spherical object detection method based on underwater vehicles provided in this embodiment of the invention includes processing the amplitude U of the electrical signal, which includes: calculating the change ΔU relative to the initial state, setting a threshold ΔUthr, and determining the existence of a target when the change ΔU is greater than the threshold ΔUthr and a maximum value ΔUmax appears; determining that the target is located on the side of the electrode with the larger change ΔU value by comparing the change ΔU values ​​of the four measuring electrodes; and determining the change in distance between the target and the underwater vehicle based on the change in the magnitude of the maximum value ΔUmax of the change ΔU.

[0008] Based on the above-described method embodiments, the underwater spherical object detection method based on an underwater vehicle provided in this embodiment of the invention includes the following steps: generating a control signal based on the judgment result and adjusting the movement direction and speed of the underwater vehicle to approach the target; the underwater vehicle maneuvers back and forth along a preset "S"-shaped trajectory to cover the search area; confirming the existence of the target based on the characteristics of the change ΔU during one or more cruises; when the change ΔU is greater than the threshold ΔUthr and a maximum value ΔUmax appears, controlling the vehicle to turn, and continuously adjusting the direction through a closed-loop feedback mechanism until approaching the target.

[0009] Based on the above method embodiments, the underwater spherical object detection method based on underwater vehicle provided in this embodiment of the invention involves fixing all reference electrodes and all measuring electrodes to the underwater vehicle through hollow insulating tubes. The electrode signal lines converge to the watertight space of the vehicle through the hollow insulating tubes. The arm length and included angle of the "X"-shaped electrode receiving array are adjusted according to the detection requirements to ensure that the electrode plane is parallel to the horizontal plane.

[0010] Secondly, embodiments of the present invention provide an underwater spherical object detection system based on an underwater vehicle, comprising: an underwater vehicle for carrying a detection device to achieve controllable underwater movement; an electric field emission module for releasing extremely low frequency alternating current into the water to apply a specifically distributed electric field signal in the sea area; an electrode receiving array for measuring spatial electric field signals in the underwater environment; and a signal processing and control module for loading corresponding programs to implement the underwater spherical object detection method based on an underwater vehicle as described in any of the foregoing method embodiments.

[0011] Thirdly, embodiments of the present invention provide an underwater spherical object detection device based on an underwater vehicle, comprising: a first main module for enabling the underwater vehicle to carry an electric field emitting module and an electrode receiving array to maneuver underwater, wherein the electric field emitting module releases an extremely low frequency alternating current into the water to form a specifically distributed electric field in the target area; a second main module for enabling the electrode receiving array to measure the spatial electric field signal in real time and obtain the electrical signal amplitude U of multiple measuring electrodes relative to a reference electrode; a third main module for processing the electrical signal amplitude U, calculating its change ΔU relative to the initial state, and determining the existence of the target, its relative distance, and its orientation based on the extreme value changes and distribution characteristics of the change ΔU; a fourth main module for generating a control signal based on the determination result to adjust the movement direction and speed of the underwater vehicle to approach the target; and a fifth main module for performing video and image identification after approaching the target, and if it is not the target, re-searching; if it is the target, issuing an alarm.

[0012] Fourthly, embodiments of the present invention provide an electronic device, comprising:

[0013] At least one processor, at least one memory, and a communication interface; wherein,

[0014] The processor, memory, and communication interface communicate with each other;

[0015] The memory stores program instructions that can be executed by the processor, which calls the program instructions to execute the underwater spherical object detection method based on underwater vehicles provided by any of the various implementations of the first aspect.

[0016] Fifthly, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to execute the underwater spherical object detection method based on an underwater vehicle provided in any of the various implementations of the first aspect.

[0017] The underwater spherical object detection method and device based on underwater vehicles provided in this invention significantly enhances the detection capability of novel concealed underwater spherical objects by employing active electric field detection, and can serve as an effective supplement to acoustic, optical, and magnetic detection technologies. It has strong environmental adaptability and can still stably detect in complex environments such as turbid water and darkness at night. Moreover, the required electrodes and transmitting modules have low costs. By monitoring changes in electrical signals in real time, it can accurately locate the target's position and distance, effectively improving detection efficiency and accuracy. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic flowchart of an underwater spherical object detection method based on an underwater vehicle provided in an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the underwater spherical object detection device based on an underwater vehicle provided in an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the underwater spherical object detection system based on an underwater vehicle provided in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram illustrating the detection operation effect of the device based on Ansys Maxwell software, provided in an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the ΔU effect measured by each detection electrode when the target is present, provided by an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the ΔU effect measured by the detection electrodes when the target is fixed and the vehicle moves along trajectories E1, E2, and E3 according to an embodiment of the present invention.

[0026] Figure 8 This is a schematic diagram illustrating the effect of the target observation index provided in an embodiment of the present invention;

[0027] Figure 9 A schematic diagram illustrating the influence of the target's lateral distance on the observable range under two different thresholds provided in an embodiment of the present invention;

[0028] Figure 10 This is a schematic diagram illustrating the impact of the target's lateral distance on the earliest warning distance under two different thresholds provided in this embodiment of the invention;

[0029] Figure 11 This is a schematic diagram illustrating the influence of the target radius on the maximum detection distance, provided in an embodiment of the present invention.

[0030] Figure 12 This is a schematic diagram illustrating the maximum detectable distance of various current intensities under two threshold values ​​provided in an embodiment of the present invention.

[0031] Figure 13 This is a schematic diagram illustrating the specific construction of the experimental model of the detection system provided in the embodiments of the present invention;

[0032] Figure 14 This is a schematic diagram of the physical model and parameters of the detection system provided in the embodiments of the present invention;

[0033] Figure 15 This is a schematic diagram of the experimental layout effect provided in an embodiment of the present invention;

[0034] Figure 16 A schematic diagram showing the measurement and simulation results of different target disturbances on the measurement electrodes of the experimental model provided in this embodiment of the invention;

[0035] Figure 17 This is a schematic diagram illustrating the measurement and simulation results of the disturbance amount of the same target under different motion trajectories provided in the embodiments of the present invention. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In addition, the technical features of the various embodiments or individual embodiments provided by the present invention can be arbitrarily combined to form feasible technical solutions. Such combinations are not constrained by the order of steps and / or structural composition patterns, but must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention. If there are step numbers in the following embodiments, they are only set for ease of explanation and do not limit the order between steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0037] Research has found that when an underwater spherical object enters a space with an electric field distribution, the electromagnetic properties of its material distort the surrounding electric field distribution, causing changes in the electric field signal values ​​at various points. These changes can be detected by electrodes. By analyzing these changes through a pre-programmed signal processing module, the target's position, size, shape, and other physical properties can be inferred. Based on this phenomenon, researchers actively apply an electric field underwater, using detectors to sense the distortion of the electric field to find and locate the target. This technology is called active electric field detection. With its continuous development, this technology has been applied and researched in areas such as object imaging, defect detection, positioning, navigation, tracking, environmental monitoring, and biological detection. The structural characteristics of underwater spherical objects also generate disturbances in underwater current fields. Some researchers have conducted theoretical derivations, simulation calculations, and model experiments on the disturbance mechanism and characteristics. These research results provide a reference for the practical application of active electric field detection technology for underwater spherical objects. Furthermore, with the continuous development of underwater active electric field detection technology, its significant advantages are expected to become a valuable supplement to traditional detection techniques. Based on this, embodiments of the present invention provide a method for detecting underwater spherical objects using underwater vehicles, see [link to relevant documentation]. Figure 1 The method includes: an underwater vehicle equipped with an electric field emitting module and an electrode receiving array maneuvers underwater; the electric field emitting module releases extremely low-frequency alternating current into the water to form a specifically distributed electric field in the target area; the electrode receiving array measures the spatial electric field signal in real time and acquires the electrical signal amplitude U of multiple measuring electrodes relative to a reference electrode; the electrical signal amplitude U is processed to calculate its change ΔU relative to the initial state; based on the extreme value changes and distribution characteristics of the change ΔU, the existence, relative distance, and orientation of the target are determined; a control signal is generated based on the determination result to adjust the movement direction and speed of the underwater vehicle to approach the target; after approaching the target, video and image identification is performed; if it is not the target, the search is restarted; if it is the target, an alarm is issued.

[0038] Specifically, during the preparation phase, the electric field emission module is powered on, and an extremely low-frequency alternating current is applied to both ends of the metal electrodes. After the current in the electric field emission module stabilizes, the vehicle begins to maneuver according to the search plan. The electrode receiving array records U1, U2, U3, and U4 after the device moves. The signal processing and control module processes the measurement data in real time to obtain the changes in ΔU1, ΔU2, ΔU3, and ΔU4, and sets two thresholds ΔUthr, 5mV and 3mV respectively, based on the marine environment and mission requirements. When ΔU (specifically referring to any one of ΔU1, ΔU2, ΔU3, and ΔU4, hereinafter the same) is greater than the threshold ΔUthr, it is considered that a suspected target has appeared, and the vehicle will change its target search strategy and mark the location of the suspected target; when ΔU is less than the threshold ΔUthr, it is considered that there is no target in the vicinity, and the vehicle continues to travel along the planned route. The vehicle approaches the target based on the location information. After video and image identification, if it is not an underwater spherical object, the search will resume according to the original plan. If it is an underwater spherical object, an alarm will be issued.

[0039] Based on the above method embodiments, as an optional embodiment, the underwater spherical object detection method based on underwater vehicles provided in this embodiment of the invention has an extremely low frequency alternating current with a frequency of 10 Hz to 30 Hz, and the current intensity is set according to the detection environment and target characteristics. The electric field emission module includes a pair of metal electrodes arranged along the longitudinal or transverse axis of the underwater vehicle. The metal electrodes are platinum sheets or titanium plates with an outer ruthenium-iridium coating.

[0040] Based on the above method embodiments, as an optional embodiment, the underwater spherical object detection method based on underwater vehicles provided in this embodiment of the invention has an electrode receiving array in the shape of an "X", including: a reference electrode located at the intersection of the "X", and four measuring electrodes symmetrically distributed at the ends of the four arms of the "X". All reference electrodes and all measuring electrodes are silver or silver chloride solid electrodes.

[0041] Specifically, the control characteristics refer to the target's position and phase orientation information obtained through the change ΔU of the amplitude of the four spatial electric fields relative to the initial state, including target appearance, target orientation, and target distance information.

[0042] Based on the above method embodiments, as an optional embodiment, the underwater spherical object detection method based on underwater vehicles provided in this embodiment of the invention, wherein the processing of the electrical signal amplitude U includes: calculating its change in magnitude ΔU relative to the initial state, setting a threshold ΔUthr, and determining the existence of a target when the change in magnitude ΔU is greater than the threshold ΔUthr and a maximum value ΔUmax appears; determining that the target is located on the side of the electrode with the larger change in magnitude ΔU by comparing the change in magnitude ΔU values ​​of the four measuring electrodes; and determining the change in distance between the target and the underwater vehicle based on the change in the magnitude of the maximum value ΔUmax of the change in magnitude ΔU.

[0043] Specifically, the method for determining the relative position of a target based on ΔU includes: setting a threshold ΔUthr; when ΔU is greater than ΔUthr and a maximum value ΔUmax appears during the movement of the detection device, the target can be determined to have appeared; during the movement of the detection device, if the ΔU value of the measuring electrode closer to the target is greater than the ΔU value of the measuring electrode farther from the target, the target can be determined to be on the side of the measuring electrode with the larger ΔU value; during the movement of the detection device, the change in the magnitude of ΔUmax corresponds to the change in the distance between the target and the detection device, and the larger ΔUmax is, the closer the target is to the detection device.

[0044] Based on the above method embodiments, as an optional embodiment, the underwater spherical object detection method based on an underwater vehicle provided in this embodiment of the invention, wherein the step of generating a control signal based on the judgment result and adjusting the movement direction and speed of the underwater vehicle to approach the target includes: the underwater vehicle maneuvering back and forth along a preset "S" shaped trajectory to cover the search area, confirming the existence of the target based on the characteristics of the change amount ΔU in a single or multiple cruises; when the change amount ΔU is greater than the threshold ΔUthr and a maximum value ΔUmax appears, controlling the vehicle to turn, and continuously adjusting the direction through a closed-loop feedback mechanism until approaching the target.

[0045] Specifically, the "S"-shaped scanning path planning involves the underwater vehicle maneuvering laterally along a pre-set "S"-shaped trajectory, covering a complete search area with each trip. When a characteristic signal is detected, an immediate alarm can be triggered, or, at the end of a single cruise cycle, all collected data can be integrated for in-depth analysis and judgment. This process requires multiple iterative searches and data comparisons until a target is clearly identified on the lateral and vertical lines of a specific track, thus officially confirming the target's existence. Conversely, if no characteristic signal is acquired in a single round trip, the underwater vehicle will proceed to the next scanning cruise cycle according to a pre-set procedure, repeating this cycle until the entire search area has been thoroughly investigated. The "S"-shaped scanning path planning is suitable for searching for a small number of sparsely distributed targets in vast sea areas. When the target's exact location is unknown and a comprehensive scan of a large area is required, the lateral round trip maneuver provides rapid and thorough search coverage.

[0046] Navigation-based path planning. If an underwater vehicle receives a feature signal exceeding a warning threshold and exhibiting a maximum change during maneuvering, the system comprehensively judges and guides the vehicle to execute a precise turning maneuver based on this signal. After the turning maneuver, the relative position between the vehicle and the target dynamically changes, leading to a change in control characteristics. When the control characteristics again exceed the warning threshold and exhibit a maximum change, the control algorithm is invoked again to implement a new round of turning control. This process constitutes a closed-loop feedback mechanism. The vehicle will continuously cycle through this series of actions—turning, detecting, and turning again—until the distance between the vehicle and the target converges to a minimum, thereby achieving precise target search and positioning. Navigation-based path planning is suitable for detection missions when the approximate location of the target is known or in areas with dense target distribution. It can quickly approach the target, reduce search time and energy consumption, and is relatively more efficient.

[0047] Based on the above method embodiments, as an optional embodiment, the underwater spherical object detection method based on an underwater vehicle provided in this embodiment of the invention involves fixing all reference electrodes and all measuring electrodes to the underwater vehicle through hollow insulating tubes, and the electrode signal lines converging into the watertight space of the vehicle through the hollow insulating tubes. The arm length and included angle of the "X"-shaped electrode receiving array are adjusted according to the detection requirements to ensure that the electrode plane is parallel to the horizontal plane.

[0048] The underwater spherical object detection method based on underwater vehicles provided in this invention significantly enhances the detection capability of novel, concealed underwater spherical objects by employing active electric field detection. It can serve as an effective supplement to acoustic, optical, and magnetic detection technologies. It has strong environmental adaptability and can still stably detect underwater objects in complex environments such as turbid water and darkness. Moreover, the required electrodes and transmitting modules are relatively inexpensive. By monitoring changes in electrical signals in real time, it can accurately locate the target's position and distance, effectively improving detection efficiency and accuracy.

[0049] The underwater spherical object detection method based on underwater equipment provided in this invention offers a novel approach to underwater spherical object detection, enriching underwater detection techniques. Furthermore, this invention can be appropriately modified for various scenarios such as underwater target salvage, pipeline inspection, marine resource exploration, and underwater search and rescue, demonstrating broad industrial application prospects. Its significant technological advancements solve the problem of poor adaptability of traditional detection techniques in complex underwater environments, providing an innovative solution for underwater spherical object detection.

[0050] The underwater spherical object detection method based on an underwater vehicle provided in this invention starts from the interaction mechanism and disturbance law between the underwater sphere and the active electric field. It utilizes the movement of the vehicle to achieve active electric field detection of the underwater sphere. The detection approach employs control features to control the vehicle's movement to search for the target; therefore, the detection device and supporting methods are relatively simple and easy to implement. Furthermore, because it utilizes an extremely low-frequency underwater electric field signal, it suffers from low loss, prominent spectral characteristics, and strong resistance to environmental interference, making this invention highly practical.

[0051] The underwater spherical object detection method based on underwater vehicles provided in this invention uses core components such as Ag / AgCl electrodes and metal electrode plates, which have low manufacturing costs, significantly reducing the overall device cost. Compared to underwater acoustic arrays that require a large number of transducers or optical positioning equipment that requires expensive optical sensors, this invention achieves target detection and positioning by measuring and analyzing changes in extremely low-frequency electric field signals in the water. It is economical and efficient, and particularly suitable for large-scale deployment and application.

[0052] This invention provides an underwater spherical object detection system based on an underwater vehicle, see [link / reference]. Figure 4 The system includes: an underwater vehicle for carrying a detection device to achieve controllable underwater movement; an electric field emission module for releasing extremely low-frequency alternating current into the water to apply a specifically distributed electric field signal in the sea area; an electrode receiving array for measuring the spatial electric field signal in the underwater environment; and a signal processing and control module for loading corresponding programs to implement the underwater spherical object detection method based on the underwater vehicle as described in any of the aforementioned method embodiments.

[0053] Specifically, the underwater vehicle is a mobile underwater transport vehicle, such as an unmanned underwater vehicle or an unmanned tracked vehicle, which can be selected according to the characteristics of the target and the detection environment. The electric field emission module includes a pair of metal electrodes and an alternating power supply. The metal electrodes are made of materials with corrosion resistance and strong discharge capability, including platinum sheets or titanium plates with an outer ruthenium-iridium plating. The electrodes are arranged along the longitudinal or transverse axis of the underwater vehicle, and an extremely low-frequency alternating current is applied to the electrode pair by the alternating power supply. The frequency of the extremely low-frequency alternating current applied to the metal electrode pair by the alternating power supply is 10Hz to 30Hz, and the current intensity can be set according to different detection environments and target characteristics. The size and spacing of the metal electrodes can be determined according to different detection requirements. The alternating power supply is placed in the watertight space of the underwater vehicle. The electrode receiving array includes 5 electric field detection electrodes, one of which is used as a reference (hereinafter referred to as the reference electrode), and the other 4 are used for measurement (hereinafter referred to as the measurement electrodes). Five electrodes are coplanar, forming an "X" array, with a reference electrode located at the intersection of the "X" array. The amplitude of the electrical signal between the measuring electrode and the reference electrode is the spatial electric field signal (hereinafter referred to as U). The electric field detection electrode is a high-precision Ag / AgCl solid-state electrode. The Ag / AgCl solid-state electrode is symmetrically mounted on an "X" base, which is fixed to the underwater vehicle, keeping the plane of the detection electrode parallel to the horizontal plane. The four arms of the "X" base are hollow insulating tubes, through which the signal lines of the Ag / AgCl solid-state electrode converge into the watertight space of the underwater vehicle. The arm lengths and included angles of the "X" base can be adjusted according to actual application requirements. The signal processing and control module completes the processing of the electric field measurement signal, the extraction of control features, and the output of feedback control signals, thereby realizing the dynamic adjustment of the vehicle's motion path. The processing of electric field measurement signals includes amplifying, filtering, and noise reduction of the four spatial electric field signals U obtained in real time during the vehicle's movement to obtain the change in the electric field signal relative to the initial state (hereinafter referred to as ΔU). Control features are then extracted from these features, and based on this, the existence of the target, changes in relative distance and orientation, and other characteristics are determined. Feedback control signals are then generated and output according to the control strategy to achieve controllable movement of the vehicle.

[0054] Figure 4 The yellow triangle marks the metal electrode of the electric field emission module; the red square marks the installation position of the Ag / AgCl reference electrode; and the green circle marks the Ag or AgCl detection electrode. The tracked vehicle (i.e., the underwater vehicle) is 3m long at the top, 4m long at the bottom, has a wheelbase of 2m, and a height of 1.2m. Two electric field emission electrode plates are installed on the longitudinal axis of the vehicle, 0.5m above the ground, applying an extremely low frequency alternating current of 17Hz and 20A.

[0055] The "X" base is fixed to the roof of the vehicle, with an arm length of 2.8m and an included angle of 90 degrees. 0Four solid-state Ag / AgCl detection electrodes are located at one end of the arm, and the reference electrode is located at the intersection of X. The computer system, equipped with the signal processing and control module, and the power supply for the entire device are all located within the watertight cavity of the tracked vehicle. After the device provided by this invention enters the water, the electric field emission module starts working, applying an extremely low-frequency alternating current to the water area to form a specific electric field spatial distribution. The four measuring electrodes on the electrode receiving array measure the electric field signals U1, U2, U3, and U4 in the space in real time. The signal processing and control module amplifies and filters the real-time acquired electric field signals and compares the measured electric field signals with the initial state to obtain the changes in the electric field signals at each electrode, ΔU1, ΔU2, ΔU3, and ΔU4. The tracked vehicle moves the measuring device. During a period of movement, the electric field distortion also changes continuously, and the corresponding ΔU1, ΔU2, ΔU3, and ΔU4 at each electrode also change continuously. In this embodiment, after constructing the △U data column based on the test data, feature points are extracted using the tabu search algorithm, and then the vehicle's direction and speed are dynamically adjusted using the feedback control algorithm, which can efficiently achieve the purpose of target search.

[0056] The various embodiments of this invention are implemented through programmed processing using a device with processor functionality. Therefore, in practical engineering, the technical solutions and functions of the various embodiments of this invention can be encapsulated into various modules. Based on this reality, and building upon the above embodiments, this invention provides an underwater spherical object detection device based on an underwater vehicle, which is used to execute the underwater spherical object detection method based on an underwater vehicle in the above method embodiments. See also... Figure 2 The device includes: a first main module for enabling an underwater vehicle carrying an electric field emitting module and an electrode receiving array to maneuver underwater, wherein the electric field emitting module releases an extremely low-frequency alternating current into the water to form a specifically distributed electric field in the target area; a second main module for enabling the electrode receiving array to measure the spatial electric field signal in real time and acquire the electrical signal amplitude U of multiple measuring electrodes relative to a reference electrode; a third main module for processing the electrical signal amplitude U, calculating its change ΔU relative to the initial state, and determining the existence, relative distance, and orientation of the target based on the extreme value changes and distribution characteristics of the change ΔU; a fourth main module for generating a control signal based on the judgment result to adjust the movement direction and speed of the underwater vehicle to approach the target; and a fifth main module for performing video and image identification after approaching the target, and if it is not the target, re-searching; if it is the target, issuing an alarm.

[0057] The underwater spherical object detection device based on underwater vehicles provided in this embodiment of the invention employs... Figure 2Several modules within the device significantly enhance the detection capability for novel, concealed underwater spherical objects by employing active electric field detection methods, serving as an effective supplement to acoustic, optical, and magnetic detection technologies. It exhibits strong environmental adaptability, maintaining stable detection even in complex environments such as turbid water and darkness. Furthermore, the required electrodes and transmitting modules are relatively inexpensive. By monitoring changes in electrical signals in real time, it can accurately pinpoint the target's location and distance, effectively improving detection efficiency and accuracy.

[0058] It should be noted that the apparatus in the device embodiments provided by the present invention can be used not only to implement the methods in the above method embodiments, but also to implement the methods in other method embodiments provided by the present invention. The difference lies only in the setting of corresponding functional modules. Its principle is basically the same as that of the above device embodiments provided by the present invention. As long as those skilled in the art, based on the above device embodiments and referring to the specific technical solutions in other method embodiments, obtain corresponding technical means and technical solutions composed of these technical means by combining technical features, and improve the apparatus in the above device embodiments while ensuring the practicality of the technical solutions, they can obtain corresponding device-type embodiments for implementing the methods in other method-type embodiments. For example:

[0059] Based on the above-described device embodiments, as an optional embodiment, the underwater spherical object detection device based on an underwater vehicle provided in this embodiment of the invention further includes: a first sub-module, used to realize the frequency of the extremely low frequency alternating current as 10 Hz to 30 Hz, the current intensity being set according to the detection environment and target characteristics; the electric field emission module includes a pair of metal electrodes arranged along the longitudinal or transverse axis of the underwater vehicle, the metal electrodes being a platinum sheet or a titanium plate with an outer ruthenium-iridium coating.

[0060] Based on the above-described device embodiments, as an optional embodiment, the underwater spherical object detection device based on underwater vehicles provided in this embodiment of the invention further includes: a second sub-module, used to realize that the electrode receiving array is in the shape of "X", including: a reference electrode located at the intersection of "X", and four measuring electrodes symmetrically distributed at the ends of the four arms of "X", all of the reference electrode and all of the measuring electrodes are silver or silver chloride solid electrodes.

[0061] Based on the above-described device embodiments, as an optional embodiment, the underwater spherical object detection device based on an underwater vehicle provided in this embodiment of the invention further includes: a third submodule, used to process the amplitude U of the electrical signal, including: calculating its change ΔU relative to the initial state, setting a threshold ΔUthr, and determining the existence of a target when the change ΔU is greater than the threshold ΔUthr and a maximum value ΔUmax appears; determining that the target is located on the side of the electrode with a larger change ΔU value by comparing the change ΔU values ​​of the four measuring electrodes; and determining the change in distance between the target and the underwater vehicle based on the change in the magnitude of the maximum value ΔUmax of the change ΔU.

[0062] Based on the above-described device embodiments, as an optional embodiment, the underwater spherical object detection device based on an underwater vehicle provided in this embodiment of the invention further includes: a fourth sub-module, used to generate a control signal based on the judgment result and adjust the movement direction and speed of the underwater vehicle to approach the target, including: the underwater vehicle maneuvers back and forth along a preset "S" shaped trajectory to cover the search area and confirm the existence of the target by feature; when the change ΔU is greater than the threshold ΔUthr and a maximum value ΔUmax appears, the vehicle is controlled to turn, and the direction is continuously adjusted through a closed-loop feedback mechanism until it approaches the target.

[0063] Based on the above-described device embodiments, as an optional embodiment, the underwater spherical object detection device based on an underwater vehicle provided in this embodiment of the invention further includes: a fifth sub-module, used to realize that all reference electrodes and all measuring electrodes are fixed on the underwater vehicle through hollow insulating tubes, and the electrode signal lines are converged to the watertight space of the vehicle through hollow insulating tubes. The arm length and included angle of the "X"-shaped electrode receiving array are adjusted according to the detection requirements to ensure that the electrode plane is parallel to the horizontal plane.

[0064] To verify the feasibility of the underwater spherical object detection method based on underwater vehicles provided in this embodiment of the invention, simulation calculations were used to determine its feasibility. Figure 5 This simulation, denoted as Simulation 1, is based on vehicle, target, and environment simulation modeling using Ansys Maxwell software. A three-dimensional coordinate system is established, the computational domain and model are constructed, physical and material information parameters are added, boundary conditions are defined, mesh generation is designed, and a suitable solver and solver parameters are selected according to the computational requirements. Following the controlled variable method, the influence of each parameter on active electric field detection is demonstrated by gradually changing some simulation parameters (see Table 1).

[0065] Table 1

[0066]

[0067]

[0068] Figure 6 This diagram illustrates the relationship between the potential ΔU measured by the four detection electrodes and the vehicle's position and x-coordinate as the vehicle moves along trajectory E1. Electrode 1 measures a potential of U1, electrode 2 measures an electrical signal amplitude of U2, electrode 3 measures an electrical signal amplitude of U3, and electrode 4 measures an electrical signal amplitude of U4. The diagram shows that the detection electrodes closer to the target (electrodes 1 and 2) exhibit a large change in ΔU, with an amplitude of approximately 24mV to 27mV; while the detection electrodes farther from the target (electrodes 3 and 4) show a small change in ΔU, with an amplitude of approximately 7mV to 10mV – this is characteristic one. ΔU increases as the vehicle approaches the target and decreases as it moves away, reaching its maximum value when closest to the target – this is characteristic two. For ΔU exceeding the threshold, the vehicle has traveled approximately 10m and reached a maximum value – this is characteristic three.

[0069] Figure 7 This refers to the ΔU detected by electrodes 1 and 2 as the vehicle moves along the three trajectories E1, E2, and E3. The graph shows that on the same plane, as the lateral distance between the detection device and the target increases, the change in ΔU decreases, and vice versa; this is characteristic four. Under the condition of constant lateral distance, the ΔU changes slightly with the change in the vertical position of the sensor, but the effect is not significant, indicating that under the aforementioned conditions, the sensor's deployment depth has little impact on detection performance. Appropriately relaxing the height limit of the electrode receiving array can improve the device's obstacle-crossing capability.

[0070] The performance indicators of this detection method consist of three parts: maximum detection distance, maximum detection range, and earliest warning distance. For example... Figure 8 As shown, △U is set with two thresholds: 5mV and 3mV. When △U equals the threshold, the vertical projection distance between the vehicle and the target on the path is recorded as the earliest warning distance. The interval where △U is greater than the threshold is recorded as the maximum detection range. The lateral distance of the target where the maximum value of △U equals the threshold is recorded as the maximum detection distance. From Figure 9 , Figure 10 It can be seen that when the device and target characteristic parameters remain unchanged, the closer the target is to the lateral distance of the search path, the greater its earliest warning distance and maximum detection range. When a 5mV threshold is set, the device's performance indicators are lower than those when the threshold is 3mV, and the difference increases as the lateral distance of the target decreases.

[0071] according to Figure 11 , Figure 12It is known that the maximum detection range of the device is related to the target radius and the current of the electric field emission module. When the electric field emission module current remains constant at 20A, the detectable range increases non-linearly with the increase of the target radius. When the target radius is 0.4m, the device's detection range is approximately 4m; when the target radius is 0.6m, the device's detection range at the 5mV threshold is 22m, and at the 3mV threshold, it is 26m. Analysis of the target disturbance characteristics reveals that this phenomenon occurs because, under the same electric field and position parameters, the peak value of the disturbance exhibits a cubic non-linear change with the target size. Based on this characteristic, the size can be determined by adjusting the current and analyzing the variation law of ΔU. This is characteristic five. When the target radius remains constant at 0.5m, the maximum detection range increases exponentially with the increase of the current. When the electric field emission module current is 20A, the device's detection range is approximately 9m; when the electric field emission module current is less than 40A, the device's detection range is less than 27m. Therefore, increasing the current can improve the vehicle's detection and search efficiency.

[0072] In summary, characteristic three can be used as a device to determine whether the change in ΔU is caused by the target; characteristic one and characteristic two of the change in ΔU can be used to determine the orientation relationship between the target and the vehicle; characteristic four can be used to determine the distance between the target and the vehicle; and characteristic five, which shows the change in ΔU under different currents, can be used to determine the size of the target.

[0073] (1) Structure of the experimental model of the detection device:

[0074] Since the laboratory experiments are conducted to verify the correctness of the detection method and the finite element simulation-based detection device design, the experiments do not necessarily have to be based on a mobile platform. A mobile platform can be replaced by connecting a moving guide rail and using a retractable insulated support in the middle. The specific structure and parameters are as follows: Figure 13 , Figure 14 As shown.

[0075] Figure 13 The experimental model of the detection device is shown, including:

[0076] 1) The mobile guide rail is adapted to the pod 1 for mounting the detection device;

[0077] 2) The first extension support rod 2 and the second extension support rod 3 are designed with threads for dynamic depth adjustment;

[0078] 3) Sensor array mounting bracket 4;

[0079] 4) The first electrode fixing head 51, the second electrode fixing head 52, the third electrode fixing head 53, and the fourth electrode fixing head 54 are four electrode fixing heads;

[0080] 5) The first field source platinum sheet fixing head 61 and the second field source platinum sheet fixing head 62 are two field source platinum sheet fixing heads;

[0081] 6) The field source and reference electrode fixing bracket 7 fixes the reference electrode in the middle of the positive and negative electrodes;

[0082] 7) After the physical assembly of the detection device is completed, adjust the specific device parameters according to the laboratory size, target size, and analysis of the detection device's performance, such as... Figure 14 As shown.

[0083] Assembly of the experimental model of the detection device

[0084] 1) Figure 14 The mounting heads and support structures of each electrode and field source platinum sheet in the diagram all adopt a hollow design, allowing the wires to pass smoothly through the inside. This achieves a stable connection with the signal acquisition system and excitation transmitter without affecting the movement of the detection device or the electric field distribution.

[0085] 2) The platinum sheet of the field source is stably fixed to the wire through a precision welding process. Then, high-performance silicone waterproof sealant is used to fully seal the welding interface between the wire and the back of the platinum sheet, as well as the connection point between the wire and the fixing rod, so as to effectively isolate the salt water environment and prevent the wire from weakening the discharge efficiency of the field source due to participation in the electrolysis reaction under the power-on state, or even affecting the distribution of the entire electric field.

[0086] 3) After determining the appropriate distance between the field source and the electrode, the length and installation angle of each threaded connection need to be adjusted to ensure that the layout of the field source and the sensor is as close as possible to the ideal symmetry. After the initial calibration, fine-tuning is still required based on the feedback from the measured data to optimize the system configuration and ensure that the overall performance reaches its best state.

[0087] (3) Position calibration and coordinate system establishment:

[0088] 1) Adjust the motion trajectory of the device to ensure it moves along the axis of symmetry in the middle of the pool, guaranteeing the symmetry of the experimental measurements. Securely fix both ends of the adjusted guide rail, and mark this state as the standard centerline position of the system. Figure 15 As shown.

[0089] 2) Then, a rectangular coordinate system is constructed with the geometric center of the bottom plane of the water tank as the origin, where the z-axis is perpendicular to the origin and points vertically upwards, and the x-axis is horizontal to the right.

[0090] 3) Establish the coordinate relationship between the platinum electrode sheet and each detection electrode.

[0091] (4) Experimental Design

[0092] Building upon the aforementioned work, an alternating current with an amplitude of 0.375 A and a frequency of 17 Hz was applied to a platinum electrode, and targets at different locations were detected along different motion trajectories to compare and analyze the detection performance of the constructed experiment. Each experiment involved two round trip measurements, and the average value of the alternating signal envelope was processed using symmetry to improve data accuracy. Detailed experimental layout diagrams for each group are provided below. Figure 15 .

[0093] In the experiment, the target was set at three positions: T1 (0.-0.15, 0.155) m, T2 (0.-0.20, 0.155) m, and T3 (0.-0.25, 0.155) m. The trajectory of the experimental model was identified by the trajectory of the intersection of the diagonals of the four detection electrodes, designated as M1, M2, and M3, respectively. Specifically, M1: x ∈ (-0.8, 0.8) m, y = 0 m, z = 0.215 m; M2: x ∈ (-0.8, 0.8) m, y = 0 m, z = 0.2295 m; M3: x ∈ (-0.8, 0.8) m, y = 0 m, z = 0.244 m.

[0094] (5) Experimental results and simulation analysis

[0095] Figure 16 , 17 The figure shows the measurement results of spherical targets at different positions as the experimental model moves along various trajectories. In the figure, (M1, T1) represents the detection of target T1 along M1, and the rest can be understood similarly. The figure also shows the measurement results of the alternating field disturbance ΔU by the four detection electrodes in the model. For easy comparison and analysis, the finite element simulation results under the experimental parameters are also given simultaneously. This simulation model is referred to as Simulation 2.

[0096] Depend on Figure 16 , 17 It can be seen that by changing the target position and the device trajectory path, the experimental results and simulation results are in good agreement. Analysis of the ΔU distribution characteristics measured by the four detection electrodes shows that the influence of the target position distance on the detection search in the experiment is the same as the simulation conclusion of Simulation 1, demonstrating the effectiveness of the finite element simulation model in simulating target detection problems in this type of detection scenario and the feasibility of this detection device achieving directional target detection.

[0097] The method in this embodiment of the invention is implemented using an electronic device; therefore, it is necessary to introduce the relevant electronic device. For this purpose, this embodiment of the invention provides an electronic device, such as... Figure 3As shown, the electronic device includes at least one processor, a communications interface, at least one memory, and a communications bus, wherein the at least one processor, the communications interface, and the at least one memory communicate with each other via the communications bus. The at least one processor can invoke logical instructions stored in the at least one memory to execute all or part of the steps of the methods provided in the foregoing method embodiments.

[0098] Furthermore, when the logical instructions in at least one of the aforementioned memories can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various method embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0099] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0100] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0101] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Based on this understanding, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0102] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Any expressions such as "predetermined threshold," "preset threshold," etc., without specifying a particular value, can be determined by those skilled in the art through simple experimentation or appropriate adjustments.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting a spherical object under water based on a waterborne vehicle, characterized by, The application relates to a method for detecting a spherical object under water based on an underwater vehicle. The method comprises the following steps: an electric field emitting module and an electrode receiving array are arranged on an underwater vehicle, the electric field emitting module releases an extremely low frequency alternating current into water to form a specific distribution electric field in a target area; the electrode receiving array measures a spatial electric field signal in real time to obtain an electric signal amplitude U of a plurality of measuring electrodes relative to a reference electrode; the electric signal amplitude U is processed to calculate a variation amount Delta U of the electric signal amplitude U relative to an initial state, whether the target exists, a relative distance and a direction of the target are judged according to an extreme value variation and a distribution characteristic of the variation amount Delta U; a control signal is generated based on the judgment result to adjust a moving direction and a speed of the underwater vehicle to approach the target; after approaching the target, video and image discrimination are carried out, if the target is not found, the target is searched again, if the target is found, an alarm is sent out; the frequency of the extremely low frequency alternating current is 10-30 Hz, and the current intensity is set according to a detection environment and a target characteristic; the electric field emitting module comprises a pair of metal electrodes arranged along a longitudinal or transverse axis of the underwater vehicle; the metal electrodes are metal platinum sheets or titanium plates coated with ruthenium iridium on the outer layer; the electrode receiving array is in an "X" shape, comprises one reference electrode located at the intersection of the "X", four measuring electrodes symmetrically distributed at the ends of four arms of the "X", and all the reference electrodes and all the measuring electrodes are silver or silver chloride solid-state electrodes. The processing of the electric signal amplitude U comprises the following steps: a variation amount Delta U of the electric signal amplitude U relative to an initial state is calculated, a threshold value Delta Uthr is set, when the variation amount Delta U is greater than the threshold value Delta Uthr and an extreme value Delta Umax appears, it is determined that the target exists, the target is located on one side of an electrode with a greater variation amount Delta U by comparing the variation amount Delta U values of the four measuring electrodes, and the distance between the target and the underwater vehicle is determined according to the size variation of the extreme value Delta Umax of the variation amount Delta U. The control signal is generated based on the judgment result to adjust the moving direction and the speed of the underwater vehicle to approach the target, which comprises the following steps: the underwater vehicle moves along a preset "S" shaped track to cover a search area, and the existence of the target is confirmed according to the characteristics of the variation amount Delta U in single or multiple cruises; when the variation amount Delta U is greater than the threshold value Delta Uthr and the extreme value Delta Umax appears, the vehicle is controlled to turn, the direction is continuously adjusted through a closed loop feedback mechanism until the target is approached. All the reference electrodes and all the measuring electrodes are fixed on the underwater vehicle through hollow insulating tubes, electrode signal lines are led to a water-tight space of the vehicle through the hollow insulating tubes, the arm length and the included angle of the "X" shaped electrode receiving array are adjusted according to detection requirements to ensure that the electrode plane is parallel to the horizontal plane.

2. The water-based underwater spherical object detection method according to claim 1, wherein The application relates to a method for detecting a spherical object under water based on an underwater vehicle.

3. The water-based underwater spherical object detection method according to claim 2, wherein The method comprises the following steps: an electric field emitting module and an electrode receiving array are arranged on an underwater vehicle, the electric field emitting module releases an extremely low frequency alternating current into water to form a specific distribution electric field in a target area; the electrode receiving array measures a spatial electric field signal in real time to obtain an electric signal amplitude U of a plurality of measuring electrodes relative to a reference electrode; the electric signal amplitude U is processed to calculate a variation amount Delta U of the electric signal amplitude U relative to an initial state, whether the target exists, a relative distance and a direction of the target are judged according to an extreme value variation and a distribution characteristic of the variation amount Delta U; a control signal is generated based on the judgment result to adjust a moving direction and a speed of the underwater vehicle to approach the target; after approaching the target, video and image discrimination are carried out, if the target is not found, the target is searched again, if the target is found, an alarm is sent out; the frequency of the extremely low frequency alternating current is 10-30 Hz, and the current intensity is set according to a detection environment and a target characteristic; the electric field emitting module comprises a pair of metal electrodes arranged along a longitudinal or transverse axis of the underwater vehicle; the metal electrodes are metal platinum sheets or titanium plates coated with ruthenium iridium on the outer layer; the electrode receiving array is in an "X" shape, comprises one reference electrode located at the intersection of the "X", four measuring electrodes symmetrically distributed at the ends of four arms of the "X", and all the reference electrodes and all the measuring electrodes are silver or silver chloride solid-state electrodes.

4. The water-based underwater spherical object detection method according to claim 3, wherein The processing of the electric signal amplitude U comprises the following steps: a variation amount Delta U of the electric signal amplitude U relative to an initial state is calculated, a threshold value Delta Uthr is set, when the variation amount Delta U is greater than the threshold value Delta Uthr and an extreme value Delta Umax appears, it is determined that the target exists, the target is located on one side of an electrode with a greater variation amount Delta U by comparing the variation amount Delta U values of the four measuring electrodes, and the distance between the target and the underwater vehicle is determined according to the size variation of the extreme value Delta Umax of the variation amount Delta U.

5. An underwater ball object detection system based on a water loaded device, characterized by, ​ ​ 6. An underwater ball-shaped object detecting apparatus for implementing the underwater ball-shaped object detecting method based on a water vehicle according to any one of claims 1 to 4, characterized by ​ The first main module is used for realizing the underwater mobile of the electric field emission module and the electrode receiving array of the underwater vehicle, and the electric field emission module releases extremely low frequency alternating current into water to form a specific distribution of electric field in a target area. The second main module is used for realizing the real-time measurement of the space electric field signal by the electrode receiving array, and obtaining the electric signal amplitude U of a plurality of measuring electrodes relative to a reference electrode. The third main module is used for realizing the processing of the electric signal amplitude U, calculating the change amount ΔU of the electric signal amplitude U relative to the initial state, and judging whether the target exists, the relative distance and the direction of the target according to the extreme value change and the distribution characteristics of the change amount ΔU.

7. An electronic device, comprising: The fourth main module is used for realizing the generation of a control signal based on the judgment result, and adjusting the motion direction and speed of the underwater vehicle to approach the target. The fifth main module is used for realizing the video and image identification after approaching the target, and if it is not the target, re-searching, and if it is the target, issuing an alarm. The method comprises the following steps: The processor, the memory and the communication interface communicate with each other.

8. A non-transitory computer-readable storage medium, comprising: The memory stores program instructions executable by the processor, and the processor invokes the program instructions to execute the method of any one of claims 1 to 4. The non-transitory computer readable storage medium stores computer instructions, and the computer instructions make the computer execute the method of any one of claims 1 to 4.

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