Laser gating underwater moving target adaptive tracking imaging method and system

Abstract

This invention discloses a laser-gated adaptive tracking and imaging method and system for underwater moving targets. Through a three-segment window detection, it achieves efficient, continuous, and stable tracking of moving targets, reducing the target loss rate by over 80%. It can adaptively adjust the detection frequency according to the target's motion state, reducing detection overhead by 60%-90% and significantly improving effective imaging time, thus optimizing resource utilization. Long exposures in normal frames ensure high quality, while short exposures in detection frames reduce noise accumulation, guaranteeing image quality. Automatic mode switching and adaptive parameter adjustment reduce the need for manual intervention and improve the level of intelligence. In actual imaging, a common industrial camera can be used, reducing system costs by over 40%, resulting in significant cost-effectiveness and achieving efficient and high-quality underwater moving target tracking and imaging.

Description

Technical Field

[0001] This invention belongs to the field of underwater photoelectric detection technology, specifically relating to a laser-gated adaptive tracking imaging method and system for underwater moving targets. Background Technology

[0002] Laser gating imaging technology is a key means to overcome underwater backscattering noise and improve imaging distance and quality. Its core principle is to control the delay between laser pulse emission and camera shutter opening to receive only backscattered light from targets within a specific distance range, thereby suppressing scattered light noise outside the range.

[0003] However, traditional laser gating imaging technology has the following limitations when tracking moving targets: Poor adaptability to moving targets: Traditional systems typically use a preset fixed-distance gate or mechanical scanning to adjust the delay. When the target moves continuously, the fixed-distance gate cannot continuously cover the target, causing the imaging signal to drop sharply or even be completely lost when the target moves out of the gate.

[0004] Low imaging efficiency and flexibility: In existing technologies, continuous scanning range gates or ultra-wide range gates are usually used to deal with moving targets at unknown distances. However, continuous scanning range gates result in low system frame rates and make it impossible to capture fast-moving targets. Although ultra-wide range gates can cover a certain range of motion, they introduce a lot of scattering noise and lose the high signal-to-noise ratio advantage of gating technology.

[0005] The algorithm complexity is too high: Some advanced solutions attempt to predict target motion through image processing algorithms, but the computational load is large and the real-time performance is poor, making it difficult to meet the needs of underwater real-time imaging. Summary of the Invention

[0006] To address the aforementioned problems in the existing technology, this invention provides a laser-gated adaptive tracking and imaging method and system for underwater moving targets. The technical problem to be solved by this invention is achieved through the following technical solution: In a first aspect, the present invention provides a laser-gated adaptive tracking and imaging method for underwater moving targets, the method comprising: The system acquires the target's motion state and adaptively selects the working mode and detection frequency based on this state. The working modes include: active monitoring mode and passive observation mode. In passive observation mode, target images are acquired through continuous intermediate time window imaging. When the passive detection conditions are not met, passive imaging images are continuously generated. When the passive detection conditions are met, time window scanning before and after the detection frame is triggered to generate passive detection images. Image processing is performed on the passive detection images to obtain passively processed image data. In active monitoring mode, from frame 1 to frame N-1, imaging is performed in the middle of the normal frame time window to generate an active imaging image. In frame N, scanning is performed in the time window before and after the detection frame to generate an active detection image. Image processing is performed on the active detection image to obtain active processed image data. The target's movement direction is determined by analyzing passively or actively detected images; the position of the intermediate window in the next imaging cycle is adjusted according to the target's movement direction. Based on the target's direction of movement, target trajectory information is generated, and passively processed image data, actively processed image data, and target trajectory information are output in real time to achieve adaptive tracking imaging of underwater moving targets.

[0007] In one embodiment of the present invention, initialization and parameter configuration are required before acquiring the target motion state; the initialization and parameter configuration include: After power-on, each hardware module performs a self-test and initialization. Load user-preset parameters.

[0008] In one embodiment of the present invention, the user-preset parameters include: Initial distance gate delay, exposure time, and detection interval.

[0009] In one embodiment of the present invention, adaptively selecting a working mode based on the target motion state includes: When the target's motion state is stable, select the active monitoring mode and insert detection frames at fixed intervals; When the target is in a state of rapid movement or is lost, select the passive observation mode to continuously monitor the target's status.

[0010] In one embodiment of the present invention, the camera performs long exposure in the middle time window and short exposure in the first and last time windows respectively.

[0011] In one embodiment of the present invention, the long exposure time in the middle time window is 100-500μs; the short exposure time in the first and last time windows is 20-100μs.

[0012] In one embodiment of the present invention, the passive detection conditions include: The target signal-to-noise ratio is less than the preset signal-to-noise ratio, the target image size change rate is greater than the preset change rate, or no target is detected within a consecutive preset frame.

[0013] In a second aspect, the present invention provides a laser-gated adaptive tracking and imaging system for underwater moving targets, comprising: The system comprises a pulsed laser emission module, a gating imaging module, a synchronous control intelligent processing module, an auxiliary module, a power management module, and a communication storage module; among which, The pulsed laser emitting module is used to provide an illumination source for underwater imaging of the system based on the laser trigger signal; The synchronous control intelligent processing module is used to generate a laser trigger signal; confirm the target motion state based on image data, and adaptively select the corresponding working mode; the working modes include: active monitoring mode and passive observation mode; and output the corresponding camera gating signal according to the selected working mode. The gating imaging module is used to acquire target images through continuous intermediate time window imaging in passive observation mode based on the camera gating signal it receives. When the passive detection conditions are not met, it continuously generates passive imaging images. When the passive detection conditions are met, it triggers time window scanning before and after the detection frame to generate passive detection images. In active monitoring mode, from frame 1 to frame N-1, it performs intermediate time window imaging of normal frames to generate active imaging images. At frame N, it performs time window scanning before and after the detection frame to generate active detection images. The synchronous control intelligent processing module is also used to perform image processing on passively detected images to obtain passively processed image data; to perform image processing on actively detected images to obtain actively processed image data; to analyze and determine the target movement direction based on the passively detected images or the actively detected images; to adjust the position of the intermediate window in the next imaging cycle according to the target movement direction; to generate target movement trajectory information based on the target movement direction; and to output passively processed image data, actively processed image data, and target movement trajectory information in real time to achieve adaptive tracking imaging of underwater moving targets. The auxiliary module is used to provide auxiliary information to the system and enhance the system's adaptability and robustness; The power management module is used to provide power to the system and ensure stable system operation; The communication storage module is used to realize data transmission and storage.

[0014] Thirdly, the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; The memory is used to store computer programs; When the processor executes the program stored in the memory, it implements the steps of the laser-gated adaptive tracking and imaging method for underwater moving targets provided by the present invention.

[0015] Fourthly, the present invention provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the steps of a laser-gated adaptive tracking imaging method for underwater moving targets provided in the embodiments of the present invention.

[0016] The beneficial effects of this invention are: The solution provided by this invention achieves efficient, continuous, and stable tracking of moving targets through a three-segment window detection, reducing the target loss rate by more than 80%. It can adaptively adjust the detection frequency according to the target's motion state, reducing detection overhead by 60%-90% and significantly improving effective imaging time, thus optimizing resource utilization. Long exposures in normal frames ensure high quality, while short exposures in detection frames reduce noise accumulation, guaranteeing image quality. Automatic mode switching and adaptive parameter adjustment reduce the need for manual intervention and improve the level of intelligence. In actual imaging, a common industrial camera can be used, reducing system costs by more than 40%, resulting in significant cost-effectiveness and achieving efficient and high-quality underwater moving target tracking and imaging. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the steps of a laser-gated adaptive tracking and imaging method for underwater moving targets provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating the workflow of a laser-gated adaptive tracking and imaging method for underwater moving targets, provided in an embodiment of the present invention. Figure 3 This is a schematic diagram illustrating the principle of three-segment target detection in a laser-gated adaptive tracking and imaging method for underwater moving targets provided in an embodiment of the present invention. Figure 4 This is a three-segment time slice and exposure timing diagram in a laser-gated adaptive tracking imaging method for underwater moving targets provided in an embodiment of the present invention; Figure 5 This is a logic diagram for determining the direction of movement in a laser-gated adaptive tracking and imaging method for underwater moving targets provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of the structure of a laser-gated adaptive tracking and imaging system for underwater moving targets provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to specific embodiments, but the implementation of the present invention is not limited thereto.

[0019] To address the problems of difficulty in tracking moving targets, high detection overhead, and poor adaptability in existing technologies, embodiments of the present invention provide a laser-gated adaptive tracking imaging method and system for underwater moving targets.

[0020] It should be noted that the executing entity of the method provided in this embodiment of the invention can be a system, which can run in an electronic device. This electronic device can be a server or a terminal device, but is not limited to these.

[0021] Below, we will first introduce a laser-gated adaptive tracking and imaging method for underwater moving targets provided in the embodiments of the present invention.

[0022] The present invention provides a laser-gated adaptive tracking and imaging method for underwater moving targets, such as... Figure 1 As shown, it may include the following steps: S1, acquire the target motion state, and adaptively select the working mode and detection frequency based on the target motion state; the working modes include: active monitoring mode and passive observation mode.

[0023] Before acquiring the target motion state, initialization and parameter configuration are required; the initialization and parameter configuration may include: After power-on, each hardware module performs a self-test and initialization. Load user-preset parameters.

[0024] User-preset parameters may include: Initial distance gate delay, exposure time, and detection interval.

[0025] In actual use, users can flexibly set parameters through the interface according to their specific needs.

[0026] The operating modes can include: active monitoring mode and passive observation mode.

[0027] The working mode can be adaptively selected based on the target motion state, and may include: When the target's motion state is stable, select the active monitoring mode and insert detection frames at fixed intervals; When the target is in a state of rapid movement or is lost, select the passive observation mode to continuously monitor the target's status.

[0028] Understandably, the active monitoring mode is suitable for scenarios where the target's motion state is known or requires periodic monitoring. In active monitoring mode, detection frames are periodically inserted. Each detection frame simultaneously acquires time slice images before and after it to determine the target's motion trend.

[0029] The passive observation mode is used to monitor the target's presence and quality indicators in real time, and continuously acquire normal imaging frames.

[0030] The flowchart of the laser-gated underwater moving target adaptive tracking imaging method provided in this embodiment of the invention is as follows: Figure 2As shown, in the actual imaging process, the working mode and detection frequency can be adaptively selected according to the target's motion state, and the target's motion velocity V can be calculated based on continuous detection frames. est The detection interval N is adaptively adjusted based on the target's motion speed: for V est For high-speed targets >2m / s, the detection interval N can be reduced to increase the detection frequency; for targets 0.5m / s... <V est For medium-velocity targets ≤2m / s, a suitable detection interval N can be maintained; for V est For low-speed targets ≤0.5m / s, the detection interval N can be increased to reduce the detection frequency.

[0031] During the adaptive selection of working modes, when the target continuously and stably exceeds the threshold number of frames, the control system switches from passive observation mode to active monitoring mode; when rapid movement or quality degradation of the target is detected, the control system switches from active monitoring mode to passive observation mode.

[0032] S2, in passive observation mode, target images are acquired through continuous intermediate time window imaging. When the passive detection conditions are not met, passive imaging images are continuously generated. When the passive detection conditions are met, time window scanning before and after the detection frame is triggered to generate passive detection images. Image processing is performed on the passive detection images to obtain passive processed image data.

[0033] The schematic diagram of the three-stage target detection principle provided in this embodiment of the invention is as follows: Figure 3 As shown, the time axis is divided into three consecutive time slices: the beginning, middle, and end, each corresponding to a different detection range gate. The middle slice serves as the main observation window for high-quality imaging, while the beginning and end slices serve as detection windows for determining the target's movement direction. The three-segment time slices and exposure timing diagram are shown below. Figure 4 As shown, it can be seen that when an object that should be in window t moves to t+Δt or t-Δt, when the detected frame detects an image in the window before or after it, the logic determines which logical window the target appears in, and the subsequent normal frame observation automatically switches to that window.

[0034] When it comes to specific exposure control, two implementation methods can be chosen depending on the camera's capabilities: Method 1, long and short exposure control (when the camera supports long and short exposure): Normal imaging frame: middle slice, long exposure.

[0035] Detection frame: Simultaneous slicing of the front and back frames, short exposure.

[0036] Timing relationship: After the laser pulse is emitted, the exposure of the pre-, mid- and post-time slices is performed sequentially.

[0037] The camera uses long exposure in the middle time window and short exposure in the first and last time windows respectively.

[0038] The long exposure time in the middle time window is 100-500μs; the short exposure time in the first and last time windows is 20-100μs.

[0039] Method 2, Uniform Exposure Control (when the camera does not support long and short exposures): Select most frames as normal imaging frames (e.g., 29 / 30): slice the middle frame and use normal exposure to form a video stream; Select a few frames as detection frames (e.g., 1 / 30): detect the slices before and after simultaneously, achieved through segmented exposure or special timing.

[0040] In passive observation mode, passive detection conditions may include: The target signal-to-noise ratio is less than the preset signal-to-noise ratio (SNR). threshold The target image size change rate is greater than a preset change rate α, or no target is detected within a consecutive preset M frames. Here, SNR (Signal NR) is used. threshold α and M can be flexibly set and selected according to the user's actual needs.

[0041] S3, in active monitoring mode, from frame 1 to frame N-1, normal frame intermediate time window imaging is performed to generate active imaging image; in frame N, detection frame before and after time window scanning is performed to generate active detection image; image processing is performed on the active detection image to obtain active processed image data.

[0042] In active monitoring mode, detection frames are periodically inserted, with a preset detection interval N (e.g., N=30). The workflow is as follows: Normal imaging frame (1) → Normal imaging frame (2) → … → Normal imaging frame (N-1) → Detection frame (N).

[0043] Understandably, steps S2 and S3 are parallel steps that can be chosen as one of two options. After the working mode is determined in step S1, the subsequent selection of step S2 or S3 to perform passive observation mode or active monitoring mode depends on the determined working mode. In the process of image processing the passively detected image to obtain passively processed image data, and image processing the actively detected image to obtain actively processed image data, this embodiment of the invention preprocesses the passively detected image and the actively detected image to extract feature parameters of the target region, thereby obtaining the corresponding passively processed image data and actively processed image data. The feature parameters may include: target size, grayscale value, signal-to-noise ratio, and pixel ratio.

[0044] S4, the target movement direction is determined by analyzing the passive or active detection image; the position of the intermediate window in the next imaging cycle is adjusted according to the target movement direction.

[0045] The logic diagram for determining the direction of movement is as follows: Figure 5 As shown, in passive observation mode, target images are acquired through continuous imaging within intermediate time windows. The current frame is analyzed in real time to determine if the target is clearly visible. If so, normal observation continues; otherwise, the target disappears or becomes blurry, triggering a scan of the time windows before and after the detection frame. The target features of the preceding and following windows are compared to determine which window has a clearer target. If the target in the preceding window is clearer, the target is moved forward, and the intermediate window is moved forward as well. If the target in the following window is clearer, the target is moved backward, and the intermediate window is moved backward as well. If neither is clear, the target may be lost, and the search range is expanded by increasing the range of the preceding and following windows for re-detection. The criteria for judging target clarity can include: target size, grayscale contrast, and pixel ratio.

[0046] For example, the process of determining the target's direction of movement is as follows: Comparative analysis of sliced ​​images before and after the detection frame: Input: Front slice image I front Post-slice image I rear Historical normal frame I prev .

[0047] Output: Target movement direction (forward, backward, stable).

[0048] The specific steps are as follows: Extract target features: The target size S of the previous slice front Signal-to-noise ratio (SNR) front ; Post-slice target size S rear Signal-to-noise ratio (SNR) rear ; Historical frame target size S prev .

[0049] Judgment logic: If SNR front >SNR threshold And SNR rear >SNR threshold The target will then appear in both the front and back slices simultaneously. Calculate Ratio=S front / S rear ; If Ratio > 1.2, then the target is moved forward. If Ratio < 0.8, then the target is determined to move backward; If 0.8 ≤ Ratio ≤ 1.2, then the target is considered stable.

[0050] If only SNRfront >SNR threshold If so, then only the front slice detects the target; If S front >1.1S prev If so, then the target is moved forward.

[0051] If only SNR rear >SNR threshold If so, the target is only detected in the later slice; If S rear >1.1S prev If so, then the target is moved to the back.

[0052] In other cases, the target is determined to be completely lost, and an extended search is initiated.

[0053] After confirming the target's movement direction, the main imaging distance gate delay for the next imaging cycle is adjusted according to the target's movement direction. If the target moves forward, the delay is reduced; if the target moves backward, the delay is increased; if the target is stable, the current parameters are maintained, so as to adjust the position of the intermediate window.

[0054] S5 generates target movement trajectory information based on the target's movement direction and outputs passively processed image data, actively processed image data, and target movement trajectory information in real time to achieve adaptive tracking imaging of underwater moving targets.

[0055] The laser-gated underwater moving target adaptive tracking imaging method provided in this invention achieves efficient, continuous, and stable tracking of moving targets through a three-segment window detection, reducing the target loss rate by more than 80%. It can adaptively adjust the detection frequency according to the target's motion state, reducing detection overhead by 60%-90% and significantly improving effective imaging time, thus optimizing resource utilization. Long exposures in normal frames ensure high quality, while short exposures in detection frames reduce noise accumulation, guaranteeing image quality. Automatic mode switching and adaptive parameter adjustment reduce the need for manual intervention and improve the level of intelligence. In actual imaging, a common industrial camera can be used, reducing system costs by more than 40%, demonstrating significant cost-effectiveness.

[0056] Secondly, corresponding to the above method embodiments, this invention also provides a laser-gated adaptive tracking and imaging system for underwater moving targets, such as... Figure 6 As shown, it may include: The system comprises a pulsed laser emission module, a gating imaging module, a synchronous control intelligent processing module, an auxiliary module, a power management module, and a communication storage module; among which, The pulsed laser emitting module is used to provide an illumination source for underwater imaging of the system based on the laser trigger signal; The synchronous control intelligent processing module is used to generate laser trigger signals; confirm the target motion state based on image data, and adaptively select the corresponding working mode; the working modes include: active monitoring mode and passive observation mode; and output the corresponding camera gating signal according to the selected working mode. The gating imaging module is used to acquire target images through continuous intermediate time window imaging in passive observation mode based on the gating signal received from the camera. When the passive detection conditions are not met, it continuously generates passive imaging images. When the passive detection conditions are met, it triggers the scanning of the time window before and after the detection frame to generate a passive detection image. In active monitoring mode, from frame 1 to frame N-1, it performs imaging of the intermediate time window of the normal frame to generate an active imaging image. At frame N, it performs scanning of the time window before and after the detection frame to generate an active detection image. The synchronous control intelligent processing module is also used to process passively detected images to obtain passively processed image data; process actively detected images to obtain actively processed image data; analyze and determine the target movement direction based on the passively or actively detected images; adjust the position of the intermediate window in the next imaging cycle according to the target movement direction; generate target movement trajectory information based on the target movement direction; and output passively processed image data, actively processed image data, and target movement trajectory information in real time to achieve adaptive tracking imaging of underwater moving targets. The auxiliary module is used to provide auxiliary information to the system and enhance its adaptability and robustness; The power management module is used to provide power to the system and ensure its stable operation. The communication storage module is used to realize data transmission and storage.

[0057] Specifically, in the laser-gated underwater moving target adaptive tracking imaging system provided in this embodiment of the invention, the pulsed laser emission module is used to generate high-power, narrow-pulse laser illumination. It may include a laser, a driving circuit, and a beam-shaping optical system. Upon receiving a trigger signal, the laser emits laser pulses of a specific wavelength. The driving circuit provides precise current and timing control, and the beam-shaping system shapes the laser beam into a suitable spot shape and divergence angle for illumination.

[0058] The gating imaging module receives laser signals reflected from a target and converts them into image data. It may include a gating camera, an optical receiving lens, and a narrowband filter. The gating camera has external triggering and a global shutter function, enabling exposure after a specific delay to receive only reflected light from a set distance range. The optical receiving lens collects the reflected light signal, and the narrowband filter suppresses background light interference. The module's function is to achieve range-gated imaging and suppress backscatter noise.

[0059] The synchronous control intelligent processing module is the core of the system's control and may include a programmable timing generator and an embedded image processing unit. The timing generator produces laser trigger signals and camera gating signals, controlling the precise delay between them; the embedded image processing unit runs target detection, motion judgment, and parameter adjustment algorithms. This module's function is to realize the system's synchronous control, image processing, intelligent decision-making, and adaptive parameter adjustment.

[0060] The auxiliary module may include a wide-field-of-view auxiliary camera, an inertial measurement unit (IMU), and environmental sensors. The wide-field-of-view auxiliary camera is used for initial target acquisition and coarse distance estimation; the IMU measures the system's own motion state for motion compensation; and the environmental sensors monitor water quality parameters. The purpose of this module is to provide auxiliary information and enhance the system's adaptability and robustness.

[0061] The power management module provides a stable and reliable power supply to all functional modules and manages the system's operating status, temperature, and power consumption. It includes power conversion circuits, a power management chip, and status monitoring circuits. The module's function is to ensure stable system operation and provide necessary protection functions.

[0062] The communication and storage module may include a data interface and a storage device for communicating with external devices and storing data. The data interface supports multiple communication protocols, and the storage device is used to store image data and system parameters. The function of this module is to realize data transmission and storage.

[0063] In practical applications, regarding system initialization and parameter configuration, after the system is powered on, each hardware module performs self-tests and initialization. The control processing module loads default parameters, including initial distance gate delay, exposure time, and detection interval. Users can set specific parameters through the interface. The power supply and management module supplies power to each module; the embedded processor in the control processing module runs the initialization program, configuring the timing generator and camera parameters; the wide-field-of-view camera in the auxiliary module provides initial target information.

[0064] For laser pulse emission and synchronization control, at the beginning of each imaging cycle, the timing generator produces a laser trigger signal, and the laser emission module emits a laser pulse. Simultaneously, the timing generator generates a corresponding camera gating signal based on the current imaging frame type. The timing generator in the synchronization control intelligent processing module generates a precise synchronization signal; the pulsed laser emission module emits a laser pulse after receiving the trigger signal; and the camera in the gating imaging module waits for the gating signal to prepare for exposure.

[0065] For image acquisition and exposure control, in the normal imaging frame, the camera initiates a long exposure within the middle time window to acquire the target image. In the detection frame, the camera initiates short exposures in the preceding and following time windows, acquiring two sets of images for target motion detection. The camera in the gating imaging module initiates exposure after a set delay based on the received gating signal and deactivates it after a set exposure time; the synchronous control intelligent processing module precisely controls the start and end times of exposure; image data is transmitted to the processing unit via an interface.

[0066] For image processing and target feature extraction, the embedded image processing unit preprocesses the acquired image to extract feature parameters of the target region, including target size, grayscale value, signal-to-noise ratio, and pixel ratio. The embedded image processing unit runs image processing algorithms; the communication and storage module provides data transmission channels and storage space; and the sensor data from the auxiliary module is used for image correction.

[0067] For determining the target's motion direction, the feature parameters of the target in the preceding and following time windows are compared for each detection frame. The target's motion direction is determined based on the relative magnitude of the feature parameters: if the features in the preceding window are significant, the target moves forward; if the features in the following window are significant, the target moves backward; if the features in both windows are roughly equal, the target is stable. The embedded processor of the synchronous control intelligent processing module executes the comparison and judgment algorithm; the storage module provides historical data for comparative analysis.

[0068] For adaptive adjustment of imaging parameters, the main imaging range gate delay for the next imaging cycle is adjusted based on the target's motion direction. If the target moves forward, the delay is decreased; if the target moves backward, the delay is increased; and if the target is stable, the current parameters are maintained. The synchronous control intelligent processing module calculates new parameters based on the algorithm results; the timing generator updates the delay parameters; and the communication module sends the adjusted parameters to the relevant modules.

[0069] For adaptive switching of operating modes, the system continuously monitors the target status and automatically switches the operating mode according to the target's motion characteristics. When the target is stable, an active monitoring mode is used, inserting detection frames at fixed intervals; when the target moves rapidly or is lost, it switches to a passive observation mode to continuously monitor the target status. The synchronous control intelligent processing module determines the operating mode and adjusts the imaging sequence based on the target's historical data, and all modules work together to achieve mode switching.

[0070] For data output and system maintenance, processed image data, target trajectory information, and system status parameters are output through the communication interface. The system performs regular self-checks and parameter calibrations to ensure long-term stable operation. The communication and storage module is responsible for data transmission and storage; the power management module monitors the system status and provides protection; and all modules work together to complete system maintenance tasks.

[0071] Through the coordinated operation of the aforementioned hardware architecture and the orderly execution of the implementation steps, the system provided in this embodiment of the invention achieves adaptive, high signal-to-noise ratio, and continuous tracking imaging of underwater moving targets. The hardware architecture provides the physical basis for algorithm implementation, and the algorithm achieves intelligent tracking control through hardware execution; the two are closely integrated to jointly accomplish the purpose of the invention.

[0072] Thirdly, embodiments of the present invention also provide an electronic device, such as... Figure 7 As shown, it includes a processor 001, a communication interface 002, a memory 003, and a communication bus 004, wherein the processor 001, the communication interface 002, and the memory 003 communicate with each other through the communication bus 004. The memory is used to store computer programs; When the processor executes the program stored in the memory, it implements the steps of any laser-gated underwater moving target adaptive tracking imaging method provided in the first aspect of the present invention.

[0073] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0074] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0075] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0076] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0077] The method provided in this invention can be applied to electronic devices. Specifically, the electronic device can be a desktop computer, a portable computer, a smart mobile terminal, a server, etc. No limitation is made herein; any electronic device that can implement this invention falls within the protection scope of this invention.

[0078] Fourthly, corresponding to the laser-gated adaptive tracking and imaging method for underwater moving targets provided in the first aspect, this embodiment of the invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of any of the laser-gated adaptive tracking and imaging methods for underwater moving targets provided in the first aspect of this invention.

[0079] For the embodiments of the device / electronic device / storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and relevant parts can be referred to in the description of the method embodiments.

[0080] It should be noted that the system, electronic device, and storage medium in the embodiments of the present invention are respectively the system, electronic device, and storage medium applying the above method. Therefore, all embodiments of the above method are applicable to the device, electronic device, and storage medium, and can achieve the same or similar beneficial effects.

[0081] It should be noted that, in the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0082] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A method for adaptive tracking and imaging of underwater moving targets by laser gating, characterized in that, include: The system acquires the target's motion state and adaptively selects the working mode and detection frequency based on this state. The working modes include: active monitoring mode and passive observation mode. In passive observation mode, target images are acquired through continuous intermediate time window imaging. When the passive detection conditions are not met, passive imaging images are continuously generated. When the passive detection conditions are met, time window scanning before and after the detection frame is triggered to generate passive detection images. Image processing is performed on the passive detection images to obtain passively processed image data. In active monitoring mode, from frame 1 to frame N-1, imaging is performed in the middle of the normal frame time window to generate an active imaging image. In frame N, scanning is performed in the time window before and after the detection frame to generate an active detection image. Image processing is performed on the active detection image to obtain active processed image data. The target's movement direction is determined by analyzing passively or actively detected images; the position of the intermediate window in the next imaging cycle is adjusted according to the target's movement direction. Based on the target's direction of movement, target trajectory information is generated, and passively processed image data, actively processed image data, and target trajectory information are output in real time to achieve adaptive tracking imaging of underwater moving targets.

2. The method according to claim 1, wherein, Before acquiring the target motion state, initialization and parameter configuration are required; the initialization and parameter configuration include: After power-on, each hardware module performs a self-test and initialization. Load user-preset parameters.

3. The method according to claim 2, wherein, The user-preset parameters include: Initial distance gate delay, exposure time, and detection interval.

4. The method according to claim 1, wherein, The adaptive selection of the working mode based on the target motion state includes: When the target's motion state is stable, select the active monitoring mode and insert detection frames at fixed intervals; When the target is in a state of rapid movement or is lost, select the passive observation mode to continuously monitor the target's status.

5. The method of claim 1, wherein, The camera uses long exposure in the middle time window and short exposure in the first and last time windows respectively.

6. The method according to claim 5, wherein, The long exposure time in the middle time window is 100-500μs; the short exposure time in the first and last time windows is 20-100μs.

7. The method of claim 1, wherein, The passive detection conditions include: The target signal-to-noise ratio is less than the preset signal-to-noise ratio, the target image size change rate is greater than the preset change rate, or no target is detected within a consecutive preset frame.

8. A laser-gated underwater moving target adaptive tracking and imaging system, characterized in that, include: The system comprises a pulsed laser emission module, a gating imaging module, a synchronous control intelligent processing module, an auxiliary module, a power management module, and a communication storage module; among which, The pulsed laser emitting module is used to provide an illumination source for underwater imaging of the system based on the laser trigger signal; The synchronous control intelligent processing module is used to generate a laser trigger signal; confirm the target motion state based on image data, and adaptively select the corresponding working mode; the working modes include: active monitoring mode and passive observation mode; and output the corresponding camera gating signal according to the selected working mode. The gating imaging module is used to acquire target images through continuous intermediate time window imaging in passive observation mode based on the camera gating signal it receives. When the passive detection conditions are not met, it continuously generates passive imaging images. When the passive detection conditions are met, it triggers time window scanning before and after the detection frame to generate passive detection images. In active monitoring mode, from frame 1 to frame N-1, it performs intermediate time window imaging of normal frames to generate active imaging images. At frame N, it performs time window scanning before and after the detection frame to generate active detection images. The synchronous control intelligent processing module is also used to perform image processing on passively detected images to obtain passively processed image data; to perform image processing on actively detected images to obtain actively processed image data; to analyze and determine the target movement direction based on the passively detected images or the actively detected images; to adjust the position of the intermediate window in the next imaging cycle according to the target movement direction; to generate target movement trajectory information based on the target movement direction; and to output passively processed image data, actively processed image data, and target movement trajectory information in real time to achieve adaptive tracking imaging of underwater moving targets. The auxiliary module is used to provide auxiliary information to the system and enhance the system's adaptability and robustness; The power management module is used to provide power to the system and ensure stable system operation; The communication storage module is used to realize data transmission and storage.

9. An electronic device, comprising: It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; The memory is used to store computer programs; When the processor executes the program stored in the memory, it implements the steps of the laser-gated adaptive tracking imaging method for underwater moving targets as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the laser-gated adaptive tracking imaging method for underwater moving targets as described in any one of claims 1-7.

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