An underwater static perception model construction method based on terrain fine grid division

Abstract

The application discloses a method for constructing an underwater static perception model based on terrain fine grid division, and belongs to the underwater visual perception field. The underwater terrain data is finely divided into grids, and the underwater submersible is mapped to the corresponding grid position, so that the static perception model is constructed. In combination with the lake surrounding environment, the lake bottom terrain and the safe navigation depth, a near-non-safe area grid set is constructed, the future grid where the underwater submersible is located is calculated in real time, and if there is an intersection with the non-safe area grid set, an alarm is sent. The model can accurately perceive the underwater static environment and guarantee the safe operation of the underwater submersible.

Description

Technical Field

[0001] This invention relates to the field of underwater visual perception technology, and in particular to a method for constructing an underwater static perception model based on fine terrain grid division. Background Technology

[0002] Accurate perception of the underwater environment is crucial during underwater operations and exploration. The underwater environment is complex and ever-changing, with various terrains, currents, and other factors. Underwater equipment such as submersibles need to understand their environment in real time to ensure safe operation.

[0003] Existing underwater environmental sensing technologies have several shortcomings. On the one hand, the perception of underwater topography is not precise enough, failing to accurately represent complex underwater terrain details. This results in a lack of accurate data for underwater vehicles when planning routes and assessing safety. On the other hand, existing sensing models struggle to effectively integrate underwater topography, equipment location, and safety factors, failing to provide timely warnings of potential hazards. For example, when operating in lakes or other bodies of water, the inability to accurately determine whether an underwater vehicle is in a danger zone based on lakebed topography and safe navigation depth can easily lead to accidents such as equipment collisions and grounding. Therefore, there is an urgent need for a model and method that can achieve precise underwater environmental sensing and effectively ensure the safe operation of underwater equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a method for constructing an underwater static sensing model based on fine terrain grid division, so as to solve the problems in the background art.

[0005] To address the aforementioned technical problems, this invention provides a method for constructing an underwater static sensing model based on fine terrain grid division, comprising:

[0006] Acquire underwater topographic data and divide the underwater space into grids based on the underwater topographic data;

[0007] Map the underwater vehicle onto the corresponding grid to establish an underwater static perception model;

[0008] A grid set of near-unsafe areas is constructed based on the lake's surrounding environment, lakebed topography data, and safe navigation depth.

[0009] For each underwater vehicle, calculate the grid it is in after a preset time. If the grid intersects with the set of grids in the near-unsafe area, it is determined to be below the safe operating depth or height, and an alarm is issued.

[0010] In one embodiment, the process of dividing the underwater space into grids based on underwater topographic data includes: determining the size and shape of the grids according to the complexity of the underwater topography and preset accuracy requirements.

[0011] If the underwater terrain is complex, use a smaller grid size to improve the ability to capture terrain details;

[0012] If the underwater terrain is flat, a larger grid size is used to reduce computational complexity; however, "larger" and "smaller" here are relative terms.

[0013] In one implementation, the underwater static sensing model includes spatial grid codes, objects, attributes, and associated information.

[0014] The spatial grid code is used to identify the divided grid; the objects include lake bottom topography and underwater vehicles; the attributes include water depth, topographic slope, and geological type within the grid; the associated information includes the adjacency relationship between grids and their relationship with the surrounding environment of the lake.

[0015] In one embodiment, the grid where the underwater vehicle will be located after a preset time is calculated using kinematic formulas based on the underwater vehicle's current position, speed, direction of movement, and preset time interval.

[0016] In one implementation, issuing the alarm includes sending an adjustment command to the underwater vehicle and simultaneously sending alarm information to a remote monitoring platform.

[0017] In one implementation, when constructing the grid set of near-unsafe areas, the influence of water flow velocity and water temperature on safe navigation depth or altitude is also considered.

[0018] In one embodiment, the underwater topographic data is acquired using underwater topographic surveying equipment, including a multibeam echo sounder and a side-scan sonar.

[0019] The present invention provides a method for constructing an underwater static sensing model based on fine terrain grid division, which has the following beneficial effects:

[0020] (1) Fine environmental perception: Based on the fine grid division of underwater terrain, it can accurately present the details of underwater terrain, realize fine perception of underwater environment, and provide accurate environmental information for underwater vehicles.

[0021] (2) Effective safety early warning: By constructing a grid set of near-unsafe areas and calculating the future position of the underwater vehicle in real time, potential dangers can be detected in time and alarms can be issued, effectively ensuring the safe operation of the underwater vehicle underwater and reducing the probability of accidents.

[0022] (3) Comprehensive consideration of multiple factors: In the process of model construction and judgment, multiple environmental factors are comprehensively considered to make the model more in line with the actual underwater environment and improve the practicality and reliability of the model. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the underwater static sensing model construction method based on fine terrain grid division provided by the present invention.

[0024] Figure 2 This is a schematic diagram of the fine grid division of underwater space.

[0025] Figure 3 This is a schematic diagram of the underwater static sensing model structure.

[0026] Figure 4 This is a schematic diagram of the grid set of near-unsafe areas and the movement trajectory of underwater vehicles. Detailed Implementation

[0027] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a more detailed explanation of the underwater static sensing model construction method based on fine terrain grid division proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise scales, and are only used to facilitate and clarify the illustration of the embodiments of this invention.

[0028] This invention provides a method for constructing an underwater static perception model based on fine-grained terrain grid division. By finely dividing the underwater grid, an underwater static environment model is accurately constructed. Combined with various safety factors, it can promptly detect potential dangers of underwater vehicles and ensure their safe operation.

[0029] like Figure 1 As shown, an underwater static sensing model based on fine terrain grid division is constructed using the following method:

[0030] (1) Grid division: such as Figure 2 As shown, underwater topographic data is acquired, and the size and shape of the grid are determined based on the complexity of the underwater topography and preset accuracy requirements, resulting in a fine-grained grid for the underwater space. In areas with complex topography, such as reefs and steep slopes, smaller grid sizes are used to improve the ability to capture topographic details; in flat areas, the grid size can be appropriately increased to reduce computational complexity. The terms "small grid" and "large grid" are relative; there are no absolutely large or small grids. Furthermore, the sizes of both large and small grids can be adapted to specific application scenarios.

[0031] (2) Model building: such as Figure 3As shown, the underwater vehicle is mapped onto a corresponding grid to establish an underwater static perception model. This model consists of spatial grid codes, objects, attributes, and associated information. The spatial grid codes are used to identify the grid divisions; objects include lakebed topography and the underwater vehicle; attributes include water depth, topographic slope, and geological type within the grid; and associated information includes the adjacency relationships between grids and their relationship with the surrounding lake environment. This method structurally integrates various elements in the underwater environment, facilitating subsequent analysis and processing.

[0032] (3) Determination of unsafe areas: Based on the surrounding environment of the lake, lake bottom topographic data, safe navigation depth, and taking into account the influence of environmental factors such as water flow velocity and water temperature on safe navigation depth or altitude, a grid set of near unsafe areas is constructed. For example, areas near steep lake shores, areas with sharp reefs on the lake bottom and shallow water can all be classified as near unsafe areas.

[0033] (4) Alarm Judgment: For each underwater vehicle, based on its current position, speed, direction of movement, and preset time interval, the grid it will be in after a certain time is calculated using kinematic formulas. For example... Figure 4 As shown, if the grid intersects with the grid set of near-unsafe areas, it is determined that the underwater vehicle is below the safe operating depth or altitude, and an alarm is issued. Alarm methods include sending adjustment commands to the underwater vehicle, such as changing the navigation direction or adjusting the navigation depth, and simultaneously sending alarm information to the remote monitoring platform so that operators can promptly grasp the situation and intervene.

[0034] Specifically, underwater topographic data of the lake is first acquired using underwater topographic surveying equipment, such as multibeam echo sounders and side-scan sonar. Assuming an operational scenario in a specific lake, based on the complexity of the lake's topography and the required model accuracy, a 0.5-meter-sided cubic mesh is used in the area near the complex lake shore; while a 2-meter-sided cubic mesh is used in the flat area in the center of the lake, thus completing the fine mesh division of the underwater space.

[0035] The underwater vehicle's position coordinates are obtained through a positioning system and mapped onto a corresponding grid. Each grid is assigned a spatial grid code for unique identification. Simultaneously, attribute information such as water depth, terrain slope, and geological type within the grid is collected. Adjacency relationships between grids and their relationship with the surrounding lake environment (such as lakeshores and docks) are recorded as correlation information. The lakebed topography, underwater vehicles, and other objects are incorporated into the model to complete the establishment of the underwater static perception model.

[0036] Taking into account the surrounding environment of the lake, such as the steepness of the shoreline and the distribution of buildings along the shore; lakebed topography data, such as areas with reefs and steep slopes; safe navigation depth requirements; and common water flow speeds and temperatures in the lake, areas within 20 meters of the shore with a water depth of less than 5 meters, and areas with sharp reefs on the lakebed with a water depth of less than 3 meters, are identified as near-unsafe areas. The corresponding grids for these areas are then used to construct a near-unsafe area grid set.

[0037] For an underwater vehicle currently in operation, its current position coordinates, speed (e.g., 0.5 m / s), direction of movement (e.g., due north), and preset time interval (e.g., 10 seconds) are obtained. The grid position of the underwater vehicle after 10 seconds is calculated using kinematic formulas. If the calculated grid intersects with the grid set of near-unsafe areas, it is determined that the underwater vehicle is below the safe operating depth or altitude. An adjustment command is immediately sent to the underwater vehicle, such as turning east and ascending 1 meter. Simultaneously, an alarm message containing the underwater vehicle's position and dangerous situation information is sent to the remote monitoring platform so that operators can handle the situation promptly.

[0038] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A method for constructing an underwater static sensing model based on fine terrain grid division, characterized in that, include: Acquire underwater topographic data and divide the underwater space into grids based on the underwater topographic data; Map the underwater vehicle onto the corresponding grid to establish an underwater static perception model; A grid set of near-unsafe areas is constructed based on the lake's surrounding environment, lakebed topography data, and safe navigation depth. For each underwater vehicle, calculate the grid where it is located after a preset time. If the grid intersects with the set of grids in the near-unsafe area, it is determined to be below the safe operating depth or height, and an alarm is issued. The underwater static sensing model includes spatial grid codes, objects, attributes, and association information. The spatial grid codes are used to identify the divided grids. The objects include lake bottom topography and underwater vehicles. The attributes include water depth, topographic slope, and geological type within the grid. The association information includes the adjacency relationships between grids and their relationship with the surrounding lake environment. When constructing the grid set of near-unsafe areas, the influence of water flow velocity and water temperature on safe navigation depth or altitude is also considered.

2. The underwater static sensing model construction method based on fine terrain grid division as described in claim 1, characterized in that, The process of dividing underwater space into grids based on underwater topographic data includes: determining the size and shape of the grids according to the complexity of the underwater topography and preset accuracy requirements; If the underwater terrain is complex, use a smaller grid size to improve the ability to capture terrain details; If the underwater terrain is flat, a larger grid size is used to reduce computational complexity; however, "larger" and "smaller" here are relative terms.

3. The underwater static sensing model construction method based on fine terrain grid division as described in claim 1, characterized in that, The grid position of the underwater vehicle after a preset time is calculated using kinematic formulas based on the underwater vehicle's current position, speed, direction of movement, and the preset time interval.

4. The method for constructing an underwater static sensing model based on fine terrain grid division as described in claim 1, characterized in that, The alarm issuance includes sending adjustment instructions to the underwater vehicle and sending alarm information to the remote monitoring platform.

5. The method for constructing an underwater static sensing model based on fine terrain grid division as described in claim 1, characterized in that, The underwater topographic data was acquired using underwater topographic surveying equipment, including a multibeam echo sounder and a side-scan sonar.

Images