Control method and device for multi-beam underwater topographic survey system

Abstract

The present disclosure provides a control method and device of a multi-beam underwater topographic survey system, and relates to the technical field of detection. The method comprises: acquiring point cloud data of a water bottom topography measured by a survey device in real time; acquiring at least one of water depth variation and water bottom topography survey quality of the water bottom topography in real time according to the point cloud data of the water bottom topography; if the water depth variation meets a device parameter adjustment condition, adjusting a survey device parameter according to the real-time water depth of the water bottom topography and a preset water depth-survey device parameter correspondence relationship; if the water bottom topography survey quality does not meet a preset quality, adjusting the survey device parameter according to the real-time water depth of the water bottom topography and a current survey device parameter; and controlling the multi-beam underwater topographic survey system to travel and / or perform water bottom topography survey in real time based on the adjusted survey device parameter. Based on the scheme, the multi-beam underwater topographic survey system is automatically controlled to perform adaptive adjustment of parameters to travel and / or survey.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of detection, in particular to a control method and device of a multi-beam underwater topographic survey system. BACKGROUND

[0002] With the development of underwater detection technology, the demand for underwater detection is increasing. Based on the multi-beam underwater topographic survey system, the multi-beam emission and reception technology can realize high-precision seabed topographic survey.

[0003] At present, the multi-beam underwater topographic survey system supports unmanned ship application and partial automation function, can display data in real time and semi-automatically adjust parameters, and needs manual intervention for parameter optimization. Real-time parameter adjustment is dependent on manual operation for different terrains.

[0004] However, manual parameter optimization relies on human experience and is difficult to dynamically respond to changes in complex underwater topography and dynamic environment. Therefore, the current multi-beam underwater topographic survey system is not flexible enough in controlling detection. SUMMARY

[0005] To overcome the problems in the related art, the present disclosure provides a control method and device of a multi-beam underwater topographic survey system, which can automatically control the multi-beam underwater topographic survey system to adaptively adjust parameters to adaptively control the multi-beam underwater topographic survey system to travel and / or measure.

[0006] In a first aspect, a control method of a multi-beam underwater topographic survey system is provided. The method comprises: obtaining point cloud data of a seabed topography measured by a measuring device in real time; obtaining at least one of a water depth change of the seabed topography and a seabed topography measurement quality in real time according to the point cloud data of the seabed topography; if the water depth change meets a device parameter adjustment condition, adjusting a measuring device parameter according to a real-time water depth of the seabed topography and a preset water depth-measuring device parameter correspondence; and / or, if the seabed topography measurement quality does not meet a preset quality, adjusting the measuring device parameter according to the real-time water depth of the seabed topography and a current measuring device parameter; controlling the multi-beam underwater topographic survey system to travel and / or measure the seabed topography in real time based on the adjusted measuring device parameter; wherein the preset water depth-measuring device parameter correspondence comprises a water depth-working frequency correspondence, a water depth-beam opening angle correspondence, a water depth-beam number correspondence, and a water depth-sounding depth correspondence.

[0007] Optionally, based on the point cloud data of the underwater terrain acquired in real time, a two-dimensional point cloud density distribution map of the underwater terrain is generated in real time according to a preset grid spacing; and the data quality of the measured underwater terrain is evaluated according to the two-dimensional point cloud density distribution map of the underwater terrain and a density threshold value; if the point cloud density of the underwater terrain data is less than the density threshold value, the underwater terrain measurement quality does not meet a preset quality; if the point cloud density of the underwater terrain data is greater than or equal to the density threshold value, the underwater terrain measurement quality meets the preset quality.

[0008] Optionally, the method further comprises: determining the overlapping coverage edge according to the measured point cloud data of the underwater terrain of the adjacent flight strip, the width of the adjacent flight strip and the preset swath overlap coverage rate.

[0009] Optionally, the point cloud data of the underwater terrain of the current flight strip measured in real time and the point cloud data of the measured underwater terrain of the adjacent flight strip are projected onto a two-dimensional grid and aligned in coordinates, with the heading as the x-axis, the direction perpendicular to the heading and parallel to the water surface as the y-axis, and the direction perpendicular to the water surface as the z-axis; a first cross section perpendicular to the heading is acquired, and the position of the adjacent flight strip in the first cross section is taken as the origin, and the position of the overlapping coverage edge point in the first cross section is calculated based on a first preset formula according to the width of the adjacent flight strip and the preset swath overlap coverage rate; the first preset formula comprises: ; wherein, represents the y-coordinate of the overlapping coverage edge point in the first cross section, k represents the preset swath overlap coverage rate, Y represents the width of the adjacent flight strip, represents the water depth of the overlapping coverage edge point in the first cross section, represents the relationship between the position and the water depth of the underwater terrain of the adjacent flight strip in the direction perpendicular to the heading and parallel to the water surface.

[0010] Optionally, based on a pre-trained prediction model of the horizontal coordinates and the water depth, and the point cloud data of the underwater terrain projected onto the two-dimensional grid, the water depth of the unmeasured water area of the current flight strip in the first cross section is predicted; based on the first water depth and the water depth-measuring device parameter correspondence relationship, the first beam opening angle corresponding to the water depth of the unmeasured water area of the current flight strip is acquired; and based on a second preset formula, the horizontal position of the target flight line in the first cross section is generated according to the first beam opening angle and the position of the overlapping coverage edge point in the first cross section, so as to control the multi-beam underwater terrain measurement system to travel in real time; the second preset formula comprises: ; wherein, represents the horizontal coordinate of the target flight line, represents the first beam opening angle.

[0011] Optionally, if the water bottom terrain measurement quality does not meet the preset quality, a terrain edge of reliable data is generated; according to the real-time position of the measurement device, a second cross section perpendicular to the actual heading of the measurement device is obtained, and the position of the measurement device in the second cross section is taken as the origin, the adjusted second beam opening angle is determined according to the reliable data edge position in the second cross section, the overlapping coverage edge point in the second cross section and the third preset formula; the side scan angle of the beam is determined based on the adjusted second beam opening angle, the included angle between the overlapping coverage edge point in the second cross section and the horizontal plane and the fourth preset formula; the third preset formula comprises: ; the fourth preset formula comprises: ; wherein, represents the adjusted second beam opening angle, represents the y coordinate of the reliable data edge position in the second cross section, represents the water depth of the reliable data edge position in the second cross section; represents the y coordinate of the overlapping coverage edge point in the second cross section, represents the water depth of the overlapping coverage edge point in the second cross section; represents the side scan angle, represents the included angle between the overlapping coverage edge point in the second cross section and the horizontal plane, .

[0012] Optionally, if the real-time water depth variation of the current round reaches the first multiple or the second multiple of the initial value of the current round of sounding, it is determined whether the real-time water depth is changed from the water depth interval corresponding to the current measurement device parameter to the adjacent water depth interval, and in the case of changing to the adjacent water depth interval, the initial value of the sounding and the next round of sounding is adjusted again based on the real-time water depth; wherein the first multiple indicates the degree of shallowing, the second multiple indicates the degree of deepening, and the initial value of the sounding is the third multiple of the real-time water depth.

[0013] In a second aspect, a control device of a multi-beam underwater topographic survey system is provided, and the control device comprises a point cloud data acquisition module, a data processing module, an adaptive adjustment module, and an adaptive control module. The point cloud data acquisition module is configured to acquire point cloud data of a seabed topography measured by a survey device in real time. The data processing module is configured to acquire at least one of a water depth variation of the seabed topography and a seabed topographic survey quality in real time based on the point cloud data of the seabed topography. The adaptive adjustment module is configured to adjust a survey device parameter based on a real-time water depth of the seabed topography and a preset water depth-survey device parameter correspondence relationship if the water depth variation meets a device parameter adjustment condition, and to adjust the survey device parameter based on the real-time water depth of the seabed topography and a current survey device parameter if the seabed topographic survey quality does not meet a preset quality. The adaptive control module is configured to control the multi-beam underwater topographic survey system to travel and / or perform seabed topographic survey in real time based on the adjusted survey device parameter. The preset water depth-survey device parameter correspondence relationship comprises a water depth-working frequency correspondence relationship, a water depth-beam opening angle correspondence relationship, a water depth-beam number correspondence relationship, and a water depth-sounding depth correspondence relationship.

[0014] In a third aspect, an electronic device is provided, which comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, implement the control method of the multi-beam underwater topographic survey system according to the first aspect.

[0015] In a fourth aspect, a computer readable storage medium is provided, which has a computer program stored thereon. The computer program, when executed by a processor, implements the control method of the multi-beam underwater topographic survey system according to the first aspect.

[0016] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects:

[0017] In the embodiments of the present disclosure, first, point cloud data of the underwater topography measured by the measuring device in real time is acquired, then at least one of the water depth change of the underwater topography and the underwater topography measurement quality is acquired in real time according to the point cloud data of the underwater topography, after that, if the water depth change meets the device parameter adjustment condition, the measuring device parameter is adjusted according to the real-time water depth of the underwater topography and the preset water depth-measuring device parameter corresponding relationship, if the underwater topography measurement quality does not meet the preset quality, the measuring device parameter is adjusted according to the real-time water depth of the underwater topography and the current measuring device parameter, finally, the multi-beam underwater topography measurement system is controlled to travel and / or measure the underwater topography based on the adjusted measuring device parameter. In the first aspect, the adjustment of the measuring parameter is adaptively controlled by the change of the water depth and the change of the measurement quality, the depth, the beam opening angle and the side-scan angle and other parameters can be dynamically and accurately optimized according to the real-time topographic data, without manual intervention, the control is flexible and automatic; in the second aspect, according to the real-time topography and the measurement quality requirement, the travel of the multi-beam underwater topography measurement system can be dynamically controlled in real time, the multi-beam underwater topography measurement system can be made to be as close as possible to the measured track, the measurement accuracy can be ensured, thereby the operation efficiency can be improved, and the partial area is not measured or measured inaccurately due to the manual control of the multi-beam underwater topography measurement system travel is avoided, so the system has full automatic underwater topography measurement capability, from parameter adjustment to track planning, without manual intervention, the robustness and reliability of the system are significantly improved.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are incorporated into the specification and constitute a part of the present disclosure, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0020] Figure 1 A schematic diagram of a multi-beam underwater topography measurement system architecture provided for the embodiments of the present disclosure.

[0021] Figure 2 A flowchart of a control method of a multi-beam underwater topography measurement system provided for the embodiments of the present disclosure.

[0022] Figure 3 A schematic diagram of a two-dimensional point cloud density distribution provided for the embodiments of the present disclosure.

[0023] Figure 4 A schematic diagram of a reliable edge provided for the embodiments of the present disclosure.

[0024] Figure 5 A schematic diagram of a first cross section provided for the embodiments of the present disclosure.

[0025] Figure 6 A second cross-section view is provided for the embodiment of the present disclosure.

[0026] Figure 7 A hardware structure diagram of a computer device for a regulating method of a multi-beam underwater topographic surveying system is provided for the embodiment of the present disclosure.

[0027] Figure 8 A block diagram of a regulating device of a multi-beam underwater topographic surveying system is provided for the embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The description of the exemplary embodiments is intended to apply to various alternative embodiments as well. The following description is not limited to the exemplary embodiments, but rather, is applicable to any apparatus and method consistent with the present disclosure. The following description is presented for purposes of clarity and explanation only and is not intended to limit the scope of the disclosure as set forth in the claims. Furthermore, the description is not specifically limited to the following examples.

[0029] The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used in the description of the present disclosure and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It also will be understood that the term “and / or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0030] It will be understood that, although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used only as labels to distinguish different sets of the information from each other. For example, a first information can be termed a second information, and similarly, a second information can also be termed a first information, without departing from the scope of the present disclosure. As used herein, the word “if’ can be construed to mean “when” or “in response to determining” depending on the context.

[0031] Next, the embodiments of the present disclosure will be described in detail.

[0032] As Figure 1 shown, Figure 1 A schematic diagram of a multi-beam underwater topographic surveying system architecture is provided for the embodiment of the present disclosure, as Figure 1As shown in the figure, the multi-beam underwater topographic survey system comprises: a surveying device 101, a positioning device 102, a power supply device 103, a deck unit 104, and a main control computer 105. The main control computer 105 comprises: an adaptive control unit 1051, display control software 1052, and a display interface 1053. The underwater surveying device 101 is a multi-beam underwater topographic surveying device, which is used to emit and receive acoustic signals and generate point cloud data of the underwater topography. The positioning device 102 is used to provide real-time position information of the underwater topographic surveying device. The power supply device 103 is used to supply power to the entire system. The deck unit 104 has data buffering and preprocessing functions, which can ensure the stability and real-time performance of data transmission. It is used to receive the point cloud data of the underwater topography transmitted by the surveying device 101 through the data output interface in real time, and transmit the point cloud data of the underwater topography to the main control computer 105. The adaptive control unit 1051 of the main control computer 105 comprises: a data processing module, a parameter optimization algorithm module, and a track planning module. The data processing module is used to process the point cloud data acquired in real time. The parameter optimization algorithm module is used to dynamically adjust the device parameters based on the results processed by the data processing module. The track planning module is used to plan the measurement track based on the results processed by the data processing module, so as to ensure the measurement accuracy and efficiency. The display control software 1052 of the main control computer 105 is used to receive and process the data transmitted by the deck unit in real time, and generate a point cloud model of the underwater topography. The visualization interface 1053 of the main control computer 105 displays the seafloor topography, measurement parameters, and device status in real time. The user can manually adjust the parameters or set the measurement task in the display control software.

[0033] Figure 2 A flowchart of a control method of a multi-beam underwater topographic survey system according to an embodiment of the present disclosure is provided, which comprises the following steps S201 to S205.

[0034] S201, acquiring point cloud data of the underwater topography measured by the surveying device in real time.

[0035] Exemplarily, the underwater topography can be the underwater topography of a river, a lake, or the sea.

[0036] Specifically, the underwater surveying device of the multi-beam underwater topographic survey system measures the underwater topography in real time, and the obtained real-time point cloud data of the underwater topography is transmitted to the display control software through the deck unit. The display control software converts and displays the real-time point cloud data of the underwater topography, and can display the underwater topography in real time.

[0037] S202, acquiring at least one of the water depth variation of the underwater topography and the underwater topography measurement quality in real time according to the point cloud data of the underwater topography.

[0038] Specifically, the adaptive control unit can determine in real time whether the water depth change satisfies the parameter adjustment condition, and determine in real time whether the water bottom topography measurement quality decreases to below the preset quality.

[0039] In actual application, the water depth data can be obtained from the point cloud data of the water bottom topography in real time, and the water depth is determined. The real-time control is not applicable to water surface operation. The adaptive control unit can determine in real time whether the water depth changes to the preset water depth interval. If the real-time water depth changes from the first water depth interval to the second water depth interval, the parameter adjustment can be performed.

[0040] S203, if the water depth change satisfies the equipment parameter adjustment condition, adjusting the measurement equipment parameter according to the real-time water depth of the water bottom topography and the preset water depth-measurement equipment parameter corresponding relationship.

[0041] The preset water depth-measurement equipment parameter corresponding relationship includes: water depth-working frequency corresponding relationship, water depth-beam opening angle corresponding relationship, water depth-beam number corresponding relationship, and water depth-sounding corresponding relationship.

[0042] Optionally, the deeper the water depth, the lower the working frequency, the larger the beam opening angle, and the more the beams.

[0043] Table 1 is an exemplary table of water depth and measurement equipment parameter corresponding relationship provided by the embodiment of the present disclosure.

[0044] Table 1

[0045]

[0046] S204, if the water bottom topography measurement quality does not satisfy the preset quality, adjusting the measurement equipment parameter according to the real-time water depth of the water bottom topography and the current measurement equipment parameter.

[0047] It should be noted that in the embodiment of the present disclosure, the above S203 and S204 can be executed separately, and there is no priority. S203 can be executed first to adjust the measurement equipment parameter based on the water depth. After adjustment, it is determined whether the water bottom topography measurement quality obtained by the multi-beam sounding equipment satisfies the preset quality. In the case that the preset quality is not satisfied, the above S204 can also be executed.

[0048] S205, based on the adjusted measurement equipment parameter, controlling the multi-beam underwater topography measurement system to travel and / or measure the water bottom topography in real time.

[0049] That is, the track of the multi-beam underwater topography measurement system for measurement can be planned based on the adjusted measurement equipment parameter, so as to guide the multi-beam underwater topography measurement system to travel and the measurement equipment to measure.

[0050] Specifically, the adjusted parameter of the measuring device can also be displayed in the visualization interface, and the worker can be guided to manually control the multi-beam underwater topographic survey system to travel or to survey based on the adjusted parameter of the measuring device.

[0051] In the control method of the multi-beam underwater topographic survey system provided by the embodiments of the present disclosure, first, the point cloud data of the underwater topography measured by the measuring device in real time is obtained, then at least one of the water depth variation of the underwater topography and the underwater topography survey quality is obtained in real time according to the point cloud data of the underwater topography, then if the water depth variation meets the device parameter adjustment condition, the measuring device parameter is adjusted according to the real-time water depth of the underwater topography and the preset water depth-measuring device parameter corresponding relationship, if the underwater topography survey quality does not meet the preset quality, the measuring device parameter is adjusted according to the real-time water depth of the underwater topography and the current measuring device parameter, and finally, the multi-beam underwater topographic survey system is controlled to travel and / or to survey the underwater topography in real time based on the adjusted measuring device parameter. In the first aspect, the adjustment of the measuring parameter is adaptively controlled by the variation of the water depth and the variation of the survey quality, which can dynamically and accurately optimize the parameters such as the depth, the beam opening angle and the side-scan angle according to the real-time topographic data, without manual intervention, with flexible control and strong automation; in the second aspect, according to the real-time topography and the survey quality requirement, the travel of the multi-beam underwater topographic survey system can be dynamically controlled in real time, which can make the multi-beam underwater topographic survey system as close as possible to the measured track, can ensure the measurement accuracy, thereby can improve the operation efficiency, avoid the partial area not measured or inaccurate measurement caused by manual control of the multi-beam underwater topographic survey system to travel, and therefore has full automatic underwater topographic survey capability, without manual intervention from parameter adjustment to track planning, which significantly improves the robustness and reliability of the system.

[0052] Optionally, in the control method of the multi-beam underwater topographic survey system provided by the embodiments of the present disclosure, S202 can specifically include S202a1 and S202a2 as follows.

[0053] S202a1, based on the real-time acquired point cloud data of the underwater topography, a two-dimensional point cloud density distribution map of the underwater topography is generated in real time according to a preset grid spacing.

[0054] For example, the preset grid spacing can be 1 meter, the real-time point cloud data of the underwater topography obtained is divided into a grid spacing of 1 meter, and traversed to obtain a two-dimensional point cloud density distribution map.

[0055] Figure 3 A schematic diagram of a two-dimensional point cloud density distribution map provided by the embodiments of the present disclosure is shown in Figure 3 The two-dimensional point cloud density distribution map is shown in the figure, and the density of the topographic data gradually decreases, and the measurement quality of the underwater topography gradually decreases.

[0056] Figure 4 A schematic diagram of a reliable edge provided by an embodiment of the present disclosure is shown in FIG. 1. Figure 4 As shown in FIG. 2, the reliable edge map is generated based on the two-dimensional point cloud density distribution map shown in FIG. 1. The quality of the bottom topography measurement on the right side of the reliable edge does not meet the preset quality, and the quality of the bottom topography measurement on the left side of the reliable edge meets the preset quality. Figure 3 As shown in FIG. 2, the reliable edge map is generated based on the two-dimensional point cloud density distribution map shown in FIG. 1. The quality of the bottom topography measurement on the right side of the reliable edge does not meet the preset quality, and the quality of the bottom topography measurement on the left side of the reliable edge meets the preset quality.

[0057] S202a2, evaluating the data quality of the measured bottom topography according to the two-dimensional point cloud density distribution map of the bottom topography and the density threshold.

[0058] If the point cloud density of the bottom topography data is less than the density threshold, the quality of the bottom topography measurement does not meet the preset quality. If the point cloud density of the bottom topography data is greater than or equal to the density threshold, the quality of the bottom topography measurement meets the preset quality.

[0059] For example, the preset density threshold is at least 1 point per square meter.

[0060] Specifically, the data quality at the edge of the topography data is evaluated by the two-dimensional point cloud density distribution map, and the edge position of the reliable data is determined according to the preset minimum density threshold The data point cloud density outside the edge position becomes smaller, and the data accuracy becomes lower, which will affect the measurement accuracy.

[0061] It should be noted that the edge of the reliable data is an irregular edge, so the position of the edge point of the reliable data is different in different sections.

[0062] If the point cloud density of the data within the beam opening angle range meets the standard, adjustment is not needed. If the point cloud density of the data within the beam opening angle range is lower than the preset density threshold, side scanning needs to be started for auxiliary measurement.

[0063] Based on this scheme, the two-dimensional point cloud density distribution map can be generated in real time based on the measured point cloud data of the bottom topography during real-time measurement. Based on the point cloud density in the two-dimensional point cloud distribution map, it can be determined whether the measured data quality has decreased and whether it has decreased to below the preset quality. Based on the preset density and the two-dimensional point cloud density distribution map generated in real time, the edge of the reliable data can be generated, which can provide accurate data support for subsequent parameter adjustment.

[0064] Optionally, in the control method of the multi-beam underwater topography measurement system provided by an embodiment of the present disclosure, S203 can specifically include S203a1 and S203a2.

[0065] S203a1, if the real-time water depth change of the current round reaches the first multiple or the second multiple of the initial value of the current round of sounding, it is determined whether the real-time water depth changes from the water depth interval corresponding to the current measurement device parameter to the adjacent water depth interval.

[0066] S203a2, in the case of changing to the adjacent water depth interval, the initial value of the sounding and the next round of sounding is adjusted based on the real-time water depth.

[0067] The first multiple indicates the degree of shallowing, the second multiple indicates the degree of deepening, and the initial value of the sounding is the third multiple of the real-time water depth.

[0068] For example, the real-time water depth of the current round is 10 meters, and the current round of sounding is 1.5 times the real-time water depth = 15 meters.

[0069] (1) If the water depth change of the current round is 15 meters x 0.6 = 9 meters, compared with the initial real-time water depth of the current round of 10 meters, the water depth is shallower, and the initial sounding of the current round is adjusted to 9 meters x 1.5 = 13.5 meters.

[0070] (2) If the water depth change of the current round is 15 meters x 0.9 = 13.5 meters, compared with the initial real-time water depth of the current round of 10 meters, the water depth is deeper, and the initial sounding of the current round is adjusted to 13.5 meters x 1.5 = 20.15 meters.

[0071] Based on the scheme, the to-be-adjusted sounding can be determined based on the change of the real-time water depth to guide the multi-beam underwater topographic measurement system to adjust the sounding.

[0072] Optionally, in the control method of the multi-beam underwater topographic measurement system provided in the embodiments of the present disclosure, the above-mentioned S204 can include the following S204a.

[0073] S204a, determining the overlapping coverage edge according to the measured point cloud data of the adjacent track water bottom topography, the width of the adjacent track and the preset swath overlap coverage rate.

[0074] The swath overlap coverage rate indicates the degree of overlap between the current track and the adjacent measured track.

[0075] For example, the swath overlap coverage rate can be set as needed, for example, it can be 15%, 20%, etc., and the embodiments of the present disclosure do not make specific limitations.

[0076] Based on the scheme, the overlapping coverage edge can be determined through the swath overlap coverage rate, and based on the overlapping coverage edge, the multi-beam underwater topographic measurement system can be guided to travel based on the overlapping coverage edge, which can improve the overall measurement accuracy. When measuring subsequently, the overlapping part with the adjacent measured track can avoid measurement errors caused by water surface environmental volatility, and improve the operation efficiency.

[0077] Optionally, in the control method of the multi-beam underwater terrain measurement system provided in the embodiments of the present disclosure, S204a can include S204a1 and S204a2 as follows.

[0078] S204a1, taking the heading as the x-axis, the direction perpendicular to the heading and parallel to the water surface as the y-axis, and the direction perpendicular to the water surface as the z-axis, projects the point cloud data of the underwater terrain of the current track measured in real time and the point cloud data of the adjacent track underwater terrain measured to a two-dimensional grid and aligns the coordinates.

[0079] S204a2, obtains a first section perpendicular to the actual heading of the measurement device, takes the position of the adjacent track measurement device in the first section as the origin, and calculates the position of the overlapping coverage edge point in the first section based on the width of the adjacent track and according to the preset swath overlap coverage rate based on formula (1).

[0080] Further, based on the coordinates of the overlapping coverage edge points obtained for each section, the overlapping coverage edge of the current track and the adjacent track is obtained.

[0081] Formula (1)

[0082] wherein, represents the y-coordinate of the overlapping coverage edge point in the first section, k represents the preset swath overlap coverage rate, Y represents the width of the adjacent track, represents the water depth of the overlapping coverage edge point in the first section, represents the relationship between the position and the water depth of the adjacent track measured underwater terrain in the direction perpendicular to the heading and parallel to the water surface. is a function fitted based on the adjacent track measured point cloud data.

[0083] Figure 5 is a schematic diagram of a first section provided in the embodiments of the present disclosure, taking the position of the measurement device of the adjacent track as the origin determines the y-coordinate position of the overlapping coverage edge point in the first section according to the known width of the adjacent track and the preset swath overlap coverage rate, determines the z-coordinate position of the overlapping coverage edge point according to the y-coordinate position of the overlapping coverage edge point

[0084] Based on this scheme, the overlapping coverage edge point in each section can be accurately calculated according to the measured point cloud data based on the preset swath overlap coverage rate in the above-mentioned manner, and further the overlapping coverage edge of the current track and the adjacent track can be calculated.

[0085] Specifically, in the control method of the multi-beam underwater topographic survey system provided in the embodiments of the present disclosure, S205a can be specifically performed through S205a1-S205a5 below.

[0086] S205a1, based on the pre-trained horizontal coordinate and water depth prediction model and the point cloud data of the underwater topography projected onto the two-dimensional grid, predicts the first water depth of the current unmeasured water area in the first section.

[0087] S205a2, based on the first water depth and the water depth-measuring device parameter correspondence, the first beam opening angle corresponding to the water depth of the current unmeasured water area is obtained.

[0088] S205a3, according to the first beam opening angle and the position of the overlapping coverage edge point in the first section, the horizontal position of the target track in the first section is generated based on formula (2), so as to control the multi-beam underwater topographic survey system to travel in real time.

[0089] Formula (2)

[0090] Wherein, represents the horizontal coordinate of the target track, represents the first beam opening angle.

[0091] It should be noted that in the process of real-time travel, the horizontal positions of the target track in multiple sections in the unmeasured area of a preset length can be predicted in real time based on the measured data of adjacent tracks, so as to fit the target track based on the horizontal positions of the target track in the multiple sections, so as to guide the multi-beam underwater topographic survey system to travel.

[0092] Continue to combine the first section of the above Figure 5 , the first beam opening angle corresponding to the first section is obtained based on the predicted terrain depth and the preset water depth-measuring device parameter correspondence , and the predicted position of the target track in the first section is calculated through formula (2) according to the position of the overlapping coverage edge point in the first section . Through the adjacent track measuring device position as the origin in the continuous section, based on the adjacent track survey line composed of O 1、 O 2、 O 3、 O 4}, the predicted positions of four target tracks A 1、 A 2、 A 3、 A 4} can be obtained, and the target track is fitted based on the predicted positions of the four target tracks, so that the control ship position travels according to the target track.

[0093] Based on the scheme, the horizontal position in each section can be calculated, the target track can be generated, the target track of the multi-beam underwater terrain measurement system can be generated, the multi-beam underwater terrain measurement system can be guided to travel along the target track as much as possible, and the measurement accuracy can be improved.

[0094] Optionally, in the control method of the multi-beam underwater terrain measurement system provided in the embodiments of the present disclosure, S204 described above can further include S204b1 or S204b2 described below.

[0095] S204b1, if the underwater terrain measurement quality does not meet the preset quality, a terrain edge of reliable data is generated.

[0096] Specifically, the terrain edge of reliable data can be generated based on the two-dimensional point cloud density distribution map of the underwater terrain and the density threshold.

[0097] S204b2, according to the real-time position of the measurement device, a second section perpendicular to the actual heading of the measurement device is obtained, the position of the measurement device in the second section is taken as the origin, and the adjusted second beam opening angle is determined according to the reliable data edge position in the second section, the overlapping coverage edge point in the second section, and formula (3).

[0098] ; formula (3)

[0099] wherein, denotes the second beam opening angle, denotes the y coordinate of the reliable data edge position in the second section, denotes the water depth of the reliable data edge position in the second section; denotes the y coordinate of the overlapping coverage edge point in the second section, denotes the water depth of the overlapping coverage edge point in the second section.

[0100] S204a4, based on the adjusted second beam opening angle, the included angle between the overlapping coverage edge point in the second section and the horizontal plane, and formula (4), the side-scan angle of the beam is determined.

[0101] ; formula (4)

[0102] wherein, denotes the side-scan angle, denotes the included angle between the overlapping coverage edge point in the second section and the horizontal plane, .

[0103] Figure 6 A schematic diagram of a second section provided in the embodiments of the present disclosure is shown in FIG. 1, wherein the actual position of the measurement device is taken as the origin, Figure 6 the actual position of the measurement device is taken as the origin,E the reliable edge point position calculated in the second cross section, P the overlap coverage edge point between adjacent swaths, the second beam opening angle of the current device, the adjusted second beam opening angle calculated, the included angle between the overlap coverage edge point and the horizontal plane, and the side-scan angle finally calculated .

[0104] Based on the scheme, in the case of poor quality of underwater topographic measurement, the reliable data topographic edge is first determined based on the real-time generated two-dimensional point cloud density distribution map of the underwater topography and the density threshold, then the adjusted beam opening angle is generated, and the side-scan angle is generated, and the side-scan detection is started for assistance, so that the measurement can continue to proceed and measure under the condition of ensuring the measurement quality.

[0105] Examples:

[0106] Obtain the underwater topographic point cloud data of the current swath measured in real time and the measured underwater topographic point cloud data of the adjacent swath, project the underwater topographic point cloud data of the current swath and the measured underwater topographic point cloud data of the adjacent swath to a two-dimensional grid, and align the coordinates.

[0107] The relationship between the horizontal coordinate and the water depth is trained in a Gaussian process regression manner to obtain a water depth prediction model. The water depth of the unmeasured area of a preset length is predicted by fusing the known data. After new measurement data is added, the water depth prediction model is incrementally updated to improve the prediction accuracy of the water depth prediction model.

[0108] If the predicted water depth of the unmeasured area changes from the first water depth interval where the actual position is located to the second water depth interval, when the actual position reaches the predicted unmeasured area, the working frequency, the beam opening angle and the beam number corresponding to the second water depth interval are adjusted for measurement based on the water depth-sounding corresponding interval table.

[0109] If the predicted water depth of the unmeasured area is the same as the first water depth interval where the actual position is located, the working frequency, the beam opening angle and the beam number corresponding to the first water depth interval are measured based on the water depth-sounding corresponding interval table.

[0110] According to the water depth-sounding corresponding interval table, the beam opening angle corresponding to the predicted water depth of the unmeasured area of a preset length is obtained.

[0111] The current heading is preset length of each section in the unmeasured area, taking the position of each section in the adjacent track as the origin, then the relationship between water depth and horizontal position can be determined based on the water depth prediction model, and the overlapping coverage edge points in each section can be determined based on the above formula (1), the width of the adjacent track and the measurement range overlap coverage rate. Based on the above steps, the overlapping coverage edge of the preset length of unmeasured area in the current position is determined. Assuming that the horizontal height is constant, based on the corresponding predicted water depth of each section corresponding to the beam opening angle, the above formula (2) and the overlapping coverage edge points in each section, the horizontal position of the target track position corresponding to the overlapping edge point in each interface is calculated, and the target track position is calculated through multiple overlapping coverage edge points on the overlapping coverage edge of the preset length of unmeasured area in the current position. Then through the cubic spline fitting, the target track estimation of the preset length of unmeasured area is finally obtained, and the target track of the preset length of unmeasured area is displayed in the display control software.

[0112] If the quality of the underwater topography measurement is determined to be reduced based on the two-dimensional point cloud density distribution based on the underwater topography, the edge of the reliable data is determined, the second section is obtained taking the current measurement device position as the origin, the reliable data edge position in the second section is obtained, the current beam opening angle of the multi-beam underwater topography measurement system is determined, the overlapping coverage edge point is determined, the adjusted second beam opening angle is determined based on the above formula (1), and the side scan angle is determined based on the adjusted second beam opening angle and formula (2).

[0113] Corresponding to the embodiments of the foregoing method, the disclosure also provides embodiments of devices and terminals to which the devices are applied.

[0114] The embodiments of the control device of the multi-beam underwater topography measurement system of the disclosure can be applied on a computer device, such as a server or a terminal device. The device embodiments can be realized by software, or by hardware or a combination of software and hardware. Taking software realization as an example, as a logical device, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory and running by the processor of the multi-beam underwater topography measurement system which controls it. From the hardware level, as shown in Figure 7 The embodiments of the control device of the multi-beam underwater topography measurement system of the disclosure can be applied on a computer device, such as a server or a terminal device. The device embodiments can be realized by software, or by hardware or a combination of software and hardware. Taking software realization as an example, as a logical device, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory and running by the processor of the multi-beam underwater topography measurement system which controls it. From the hardware level, as shown in Figure 7 In addition to the processor 710, the memory 730, the network interface 720 and the non-volatile memory 740 shown in the figure, the server or electronic device in which the multi-beam underwater topography measurement system control method 731 is located in the embodiments, according to the actual function of the computer device, can also include other hardware, which will not be described here.

[0115] Figure 8A block diagram of an adjusting device of a multi-beam underwater topographic survey system is provided for embodiments of the present disclosure, as shown in Figure 8 The control device 800 of the multi-beam underwater topographic survey system includes a point cloud data acquisition module 801, a data processing module 802, an adaptive adjustment module 803, and an adaptive control module 804. The point cloud data acquisition module 801 is configured to acquire point cloud data of a seabed topography measured by a surveying device in real time. The data processing module 802 is configured to acquire at least one of a water depth variation of the seabed topography and a seabed topographic survey quality in real time based on the point cloud data of the seabed topography. The adaptive adjustment module 803 is configured to adjust a surveying device parameter according to a real-time water depth of the seabed topography and a preset water depth-surveying device parameter correspondence if the water depth variation meets a device parameter adjustment condition, and / or to adjust the surveying device parameter according to the real-time water depth of the seabed topography and a current surveying device parameter if the seabed topographic survey quality does not meet a preset quality. The adaptive control module 804 is configured to control the multi-beam underwater topographic survey system to travel and / or perform seabed topographic surveying in real time based on the adjusted surveying device parameter. The preset water depth-surveying device parameter correspondence includes a water depth-working frequency correspondence, a water depth-beam opening angle correspondence, a water depth-beam number correspondence, and a water depth-sounding depth correspondence.

[0116] Optionally, the data processing module is specifically configured to generate a two-dimensional point cloud density distribution map of the seabed topography in real time based on the point cloud data of the seabed topography acquired in real time according to a preset grid spacing. The data quality of the measured seabed topography is evaluated based on the two-dimensional point cloud density distribution map of the seabed topography and a density threshold. If the point cloud density of the seabed topography data is less than the density threshold, the seabed topographic survey quality does not meet the preset quality. If the point cloud density of the seabed topography data is greater than or equal to the density threshold, the seabed topographic survey quality meets the preset quality.

[0117] Optionally, the data processing module is further configured to determine an overlapping coverage edge based on the point cloud data of the measured adjacent swath seabed topography, the width of the adjacent swath, and a preset swath overlapping coverage rate.

[0118] Optionally, the data processing module is specifically configured to project and align coordinates of the point cloud data of the seabed topography of the current swath measured in real time and the point cloud data of the measured adjacent swath seabed topography to a two-dimensional grid with a heading as an x-axis, a direction perpendicular to an actual heading of the surveying device and parallel to a water surface as a y-axis, and a direction perpendicular to the water surface as a z-axis. A first cross section perpendicular to the actual heading of the surveying device is acquired. A first preset formula is used to calculate a position of an overlapping coverage edge point in the first cross section based on a width of the adjacent swath and a preset swath overlapping coverage rate, with a position of the adjacent swath in the first cross section as an origin. The first preset formula includes: ; wherein, y-coordinate of the overlap coverage edge point in the first cross section, k Y represents the width of the adjacent swath, water depth of the overlap coverage edge point in the first cross section, position and water depth of the measured seafloor topography of the adjacent swath in the direction perpendicular to the heading and parallel to the water surface.

[0119] Optionally, the adaptive control module is specifically configured to predict a first water depth of the unmeasured water area of the current swath in a first cross section based on a pre-trained prediction model of horizontal coordinates and water depths and the point cloud data of the seafloor topography projected onto the two-dimensional grid; obtain a first beam opening angle corresponding to the water depth of the unmeasured water area of the current swath based on the first water depth and the water depth-measuring device parameter correspondence; and generate a horizontal position of the target track in the first cross section based on the first beam opening angle and the position of the overlap coverage edge point in the first cross section according to a second preset formula, so as to control the multi-beam underwater topography measuring system to travel in real time; the second preset formula includes: ; wherein, x-coordinate of the target track, first beam opening angle.

[0120] Optionally, the adaptive adjustment module is specifically configured to generate a terrain edge of reliable data if the seafloor topography measuring quality does not meet a preset quality; obtain a second cross section perpendicular to the actual heading of the measuring device based on the real-time position of the measuring device; and determine an adjusted second beam opening angle based on the actual position of the measuring device, the position of the reliable data edge in the second cross section, the overlap coverage edge point in the second cross section, and a third preset formula, taking the position of the adjacent swath in the second cross section as the origin; determine a side-scan angle of the beam based on the adjusted second beam opening angle, the included angle between the overlap coverage edge point in the second cross section and the horizontal plane, and a fourth preset formula; the third preset formula includes: ; the fourth preset formula includes: ; wherein, second beam opening angle, y-coordinate of the position of the reliable data edge in the second cross section, water depth of the position of the reliable data edge in the second cross section; y-coordinate of the overlap coverage edge point in the second cross section, water depth of the overlap coverage edge point in the second cross section; side-scan angle, included angle between the overlap coverage edge point in the second cross section and the horizontal plane, .

[0121] Optionally, the adaptive adjustment module is specifically configured to determine whether the real-time water depth changes from a water depth interval corresponding to a current measurement device parameter to an adjacent water depth interval if the real-time water depth change of the current round reaches a first multiple or a second multiple of the initial value of the current round of sounding; and in the case of changing to the adjacent water depth interval, the initial value of the sounding and the next round of sounding is re-adjusted based on the real-time water depth; wherein the first multiple indicates a degree of shallowing, the second multiple indicates a degree of deepening, and the initial value of the sounding is a third multiple of the real-time water depth.

[0122] The control device of the multi-beam underwater topographic measurement system provided by the embodiments of the present disclosure first acquires point cloud data of the underwater topography measured by the measurement device in real time, then acquires at least one of the water depth change of the underwater topography and the underwater topography measurement quality in real time according to the point cloud data of the underwater topography, then adjusts the measurement device parameter according to the real-time water depth of the underwater topography and the preset water depth-measurement device parameter corresponding relationship if the water depth change meets the device parameter adjustment condition, adjusts the measurement device parameter according to the real-time water depth of the underwater topography and the current measurement device parameter if the underwater topography measurement quality does not meet the preset quality, and finally controls the multi-beam underwater topographic measurement system to travel and / or perform underwater topographic measurement based on the adjusted measurement device parameter. In the first aspect, the adjustment of the measurement parameter is adaptively controlled by the change of the water depth and the change of the measurement quality, the sounding, the beam opening angle and the side-scan angle and other parameters can be dynamically and accurately optimized according to the real-time topographic data, manual intervention is not required, the control is flexible and automatic, and the second aspect, the multi-beam underwater topographic measurement system can be dynamically controlled to travel in real time according to the real-time topography and the measurement quality requirement, the multi-beam underwater topographic measurement system can be made to be as close as possible to the measured track, the measurement accuracy can be ensured, the operation efficiency can be improved, and some areas are not measured or measured inaccurately due to manual control of the multi-beam underwater topographic measurement system to travel, therefore, the system has full-automatic underwater topographic measurement capability, manual intervention is not required from parameter adjustment to track planning, and the robustness and reliability of the system are significantly improved.

[0123] Correspondingly, the embodiments of the present disclosure also provide an electronic device, which comprises a processor, a processor, and a memory having computer readable instructions stored thereon, wherein the computer readable instructions are executed by the processor to implement the control method of the multi-beam underwater topographic measurement system as described above.

[0124] The embodiments of the present disclosure also provide a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the control method of the multi-beam underwater topographic measurement system as described above.

[0125] The implementation process of the functions and roles of each module in the above device is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0126] For the apparatus embodiment, since it basically corresponds to the method embodiment, the relevant part can be seen from the part of the method embodiment. The apparatus embodiment described above is only illustrative, wherein the modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, i.e., can be located in one place or distributed to multiple network modules. Part or all of the modules can be selected to achieve the purpose of the present disclosure according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0127] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown or sequential order in order to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous.

[0128] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed here. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure following, in general, the principles of the present disclosure and including such

[0129] It should be understood that the present disclosure is not limited to the precise structures described and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the claims appended hereto.

[0130] The above only describes the preferred embodiments of the present disclosure and is not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A control method of a multi-beam underwater topography measuring system, characterized by, The method comprises: acquiring point cloud data of the underwater topography measured by the measuring device in real time; acquiring the underwater topography measurement quality in real time according to the point cloud data of the underwater topography, or acquiring the water depth change and the underwater topography measurement quality in real time; acquiring the underwater topography measurement quality in real time according to the point cloud data of the underwater topography comprises: based on the point cloud data of the underwater topography acquired in real time, generating a two-dimensional point cloud density distribution map of the underwater topography in real time according to a preset grid spacing; evaluating the data quality of the measured underwater topography according to the two-dimensional point cloud density distribution map of the underwater topography and a density threshold; if the point cloud density of the underwater topography data is less than the density threshold, the underwater topography measurement quality does not meet the preset quality; if the point cloud density of the underwater topography data is greater than or equal to the density threshold, the underwater topography measurement quality meets the preset quality; if the water depth change meets the device parameter adjustment condition and the underwater topography measurement quality does not meet the preset quality, first adjusting the measuring device parameters according to the water depth of the real-time underwater topography and the preset water depth-measuring device parameter correspondence, and then adjusting the measuring device parameters again based on the water depth change according to the measuring device parameters adjusted based on the water depth change and the underwater topography measurement quality; or, if the underwater topography measurement quality does not meet the preset quality, adjusting the measuring device parameters according to the water depth of the real-time underwater topography and the current measuring device parameters; wherein, under the condition that the underwater topography measurement quality does not meet the preset quality, adjusting the measuring device parameters comprises: generating a reliable data topographic edge; acquiring a second cross section perpendicular to the actual heading of the measuring device according to the real-time position of the measuring device; taking the position of the measuring device in the second cross section as the origin, determining the adjusted second beam opening angle according to the reliable data edge position in the second cross section, the overlapping coverage edge point in the second cross section and a third preset formula; determining the side scan angle of the beam based on the adjusted second beam opening angle, the included angle between the overlapping coverage edge point in the second cross section and the horizontal plane and a fourth preset formula; the coordinates of the reliable data edge position include water depth, and the coordinates of the overlapping coverage edge point include water depth; controlling the multi-beam underwater topography measurement system to travel and / or measure the underwater topography in real time based on the adjusted measuring device parameters; wherein, the preset water depth-measuring device parameter correspondence comprises: a water depth-working frequency correspondence, a water depth-beam opening angle correspondence, a water depth-beam number correspondence and a water depth-sounding depth correspondence.

2. The method of claim 1, wherein, The method further comprises: determining the overlapping coverage edge according to the point cloud data of the measured adjacent swath underwater topography, the width of the adjacent swath and the preset swath overlapping coverage rate.

3. The method of claim 2, wherein, The determination of the overlapping coverage edge according to the point cloud data of the measured adjacent swath underwater topography, the width of the adjacent swath and the preset swath overlapping coverage rate comprises: projecting the point cloud data of the underwater topography measured in the current swath and the point cloud data of the measured adjacent swath underwater topography onto a two-dimensional grid and aligning the coordinates with the heading as the x-axis, the direction perpendicular to the heading and parallel to the water surface as the y-axis, and the direction perpendicular to the water surface as the z-axis; The first cross section perpendicular to the actual heading of the measuring device is obtained, and a position of a position of the measuring device in an adjacent swath at a position of the first cross section is taken as a starting point. A position of an overlapping coverage edge point in the first cross section is calculated based on a width of the adjacent swath and a preset swath overlap coverage rate according to a first preset formula. The first preset formula includes: ; wherein, represents the y coordinate of the overlap coverage edge point in the first cross section, k represents the preset swath overlap coverage rate, Y represents the width of the adjacent swath, represents the water depth of the overlap coverage edge point in the first cross section, represents the relationship between the position in the direction perpendicular to the heading and parallel to the water surface and the water depth of the surveyed seafloor topography of the adjacent swath.

4. The method of claim 3, wherein, The real-time control of the multi-beam underwater topographic surveying system includes: Based on the pre-trained prediction model of the horizontal coordinate and the water depth and the point cloud data of the underwater topography projected onto the two-dimensional grid, the first water depth of the unmeasured water area of the current swath in the first cross section is predicted; Based on the first water depth and the water depth-measuring device parameter correspondence, a first beam opening angle corresponding to the water depth of the unmeasured water area of the current swath is obtained; Based on the first beam opening angle and the position of the overlapping coverage edge point in the first cross section, a horizontal position of the target track in the first cross section is generated according to a second preset formula, so as to control the multi-beam underwater topographic surveying system to travel in real time. The second preset formula includes: ; wherein, denotes a horizontal coordinate of the target flight path, denotes the first beam opening angle.

5. The method of claim 3, wherein The third preset formula includes: ; The fourth preset formula includes: ; wherein, represents the adjusted second beam opening angle, represents the y-coordinate of the reliable data edge position in the second cross section, represents the water depth of the reliable data edge position in the second cross section; represents the y-coordinate of the overlapping coverage edge point in the second cross section, represents the water depth of the overlapping coverage edge point in the second cross section; represents the side-scan angle, represents the angle between the overlapping coverage edge point in the second cross section and the horizontal plane, .

6. The method of claim 1, wherein, The adjusting of the measuring device parameters according to the real-time water depth of the underwater topography and the preset water depth-measuring device parameter correspondence includes: If the real-time water depth variation reaches a first multiple or a second multiple of the initial value of the current sounding, it is determined whether the real-time water depth is changed from a water depth interval corresponding to the current measuring device parameters to an adjacent water depth interval; In the case of changing to the adjacent water depth interval, the sounding and the initial value of the next round of sounding are adjusted again based on the real-time water depth. The first multiple indicates a degree of shallowing, the second multiple indicates a degree of deepening, and the initial value of the sounding is a third multiple of the real-time water depth.

7. A control device for a multi-beam bathymetric system, characterized in that The control device of the multi-beam underwater topographic surveying system includes a point cloud data acquisition module, a data processing module, an adaptive adjustment module, and an adaptive control module. The point cloud data acquisition module is configured to acquire point cloud data of an underwater topography measured by a measuring device in real time. The data processing module is configured to acquire an underwater topography measurement quality in real time or to acquire a water depth variation and an underwater topography measurement quality in real time based on the point cloud data of the underwater topography. The data processing module is specifically configured to: based on the point cloud data of the underwater topography acquired in real time, generate a two-dimensional point cloud density distribution map of the underwater topography in real time according to a preset grid spacing; and evaluate the data quality of the measured underwater topography according to the two-dimensional point cloud density distribution map of the underwater topography and a density threshold. If the point cloud density of the underwater topography data is less than the density threshold, the underwater topography measurement quality does not meet a preset quality. If the point cloud density of the underwater topography data is greater than or equal to the density threshold, the underwater topography measurement quality meets the preset quality. The adaptive adjustment module is configured to, if the water depth variation meets a device parameter adjustment condition and the underwater topography measurement quality does not meet the preset quality, adjust the measuring device parameters according to the real-time water depth of the underwater topography and the preset water depth-measuring device parameter correspondence, and adjust the measuring device parameters again based on the water bottom topography measurement quality based on the measuring device parameters adjusted based on the water depth variation. Or, the adaptive adjustment module is used for adjusting the measuring device parameters according to the water depth of the real-time underwater terrain and the current measuring device parameters if the underwater terrain measurement quality does not meet the preset quality; wherein, the adjustment of the measuring device parameters in the case that the underwater terrain measurement quality does not meet the preset quality comprises: generating a terrain edge of reliable data; obtaining a second cross section perpendicular to the actual heading of the measuring device according to the real-time position of the measuring device, taking the position of the measuring device in the second cross section as the origin, and determining an adjusted second beam opening angle according to the reliable data edge position in the second cross section, the overlapping coverage edge point in the second cross section and a third preset formula; determining the side-scan angle of the beam based on the adjusted second beam opening angle, the included angle between the overlapping coverage edge point in the second cross section and the horizontal plane and a fourth preset formula; the coordinates of the reliable data edge position include the water depth, and the coordinates of the overlapping coverage edge point include the water depth; The adaptive control module is used for controlling the multi-beam underwater terrain measurement system to travel and / or perform underwater terrain measurement in real time based on the adjusted measuring device parameters. The preset water depth-measuring device parameter correspondence comprises a water depth-working frequency correspondence, a water depth-beam opening angle correspondence, a water depth-beam number correspondence and a water depth-sounding depth correspondence.

8. An electronic device, comprising: It comprises: a processor; and a memory having computer readable instructions stored thereon, the computer readable instructions being executed by the processor to implement the control method of the multi-beam underwater terrain measurement system according to any one of claims 1-6. The computer program is executed by the processor to implement the control method of the multi-beam underwater terrain measurement system according to any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, ​

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