Underwater vertical-surface observation method, and underwater device and computer-readable storage medium
Patent Information
- Application Number
- PCT/CN2026/096672
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-03-28
- Filing Date
- 2026-05-13
- Publication Date
- 2026-10-01
Smart Images
Figure CN2026096672_01102026_PF_FP_ABST
Abstract
Description
Underwater facade observation methods, underwater equipment and computer-readable storage media
[0001] This application claims priority to Chinese Patent Application No. 2025103842122, filed on March 28, 2025, entitled "Underwater Facade Observation Method, Underwater Equipment and Computer-Readable Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field
[0002] This invention relates to the field of marine observation technology, and more particularly to an underwater facade observation method, underwater equipment, and computer-readable storage medium. Background Technology
[0003] With the continuous advancement of technology, human exploration of the ocean has entered an unprecedented depth and breadth. The combination of advanced underwater robots, unmanned underwater vehicles, and remote sensing technologies allows us to reveal the mysterious world of the deep sea. Current technologies primarily offer two methods for underwater robots to observe underwater objects: one is real-time control by an operator; the other is a pre-set navigation route that the underwater robot automatically follows. For the first method, when the object being observed is irregularly shaped, it severely tests the operator's ability to judge the surrounding environment; operational errors may lead to collisions. For the second method, while enabling the underwater robot to observe the object, it requires marking multiple precise coordinate points on the provided navigation route and ensuring the robot perfectly follows the route during operation. The distance between the underwater robot and the object cannot remain perfectly consistent during observation, affecting the actual observation results. Furthermore, underwater robots do not have the ability to adaptively adjust their posture when performing observations. If the target object is lost, it will inevitably lead to a waste of the underwater robot's working distance. Summary of the Invention
[0004] The main objective of this invention is to provide an underwater facade observation method, underwater equipment, and computer-readable storage medium, aiming to solve the problems in the prior art where the requirements for navigation schemes are too high and the underwater equipment lacks adaptive adjustment capabilities due to over-reliance on precise navigation routes.
[0005] This invention provides an underwater facade observation method, comprising:
[0006] A reference navigation line with a starting point having first water depth information is established; the reference navigation line consists of at least two first navigation line segments and at least two second navigation line segments arranged at intervals; the first navigation line is used to provide a depth running direction and a reference running distance in the depth running direction; the second navigation line is used to provide a reference running direction in a fixed depth plane and a running distance in the reference running direction;
[0007] The starting position of the reference navigation route is determined based on the first water depth information and the distance relationship between the underwater equipment and the object being measured.
[0008] The underwater device is controlled to perform observations of the object under test according to the reference navigation route; wherein, on the first navigation route, the underwater device is controlled to perform fixed-distance observations of the object under test; and on the second navigation route, the underwater device is controlled to perform fixed-depth and fixed-distance observations of the object under test.
[0009] Optionally, after the step of controlling the underwater device to perform observation of the object under test according to the reference navigation line, the method further includes:
[0010] The reference navigation route is adjusted based on the real-time sensing data from the underwater equipment.
[0011] The underwater equipment is controlled to observe the object under test according to the adjusted navigation route.
[0012] Optionally, the step of adjusting the reference navigation route based on the real-time sensing data from the underwater device includes:
[0013] Real-time acquisition of distance information between the underwater device and the object under test as the device moves along the first navigation route;
[0014] When the distance information is greater than the second distance threshold, the travel distance of the underwater device along the first navigation route is calculated;
[0015] When the travel distance is less than the reference travel distance, the underwater equipment is controlled to hover.
[0016] The hover position is used as the end point of the currently executed first navigation line or the starting point of the second navigation line connected to the currently executed first navigation line, and the reference navigation line is adjusted.
[0017] Optionally, calculating the travel distance of the underwater device along the first navigation route includes:
[0018] The underwater device's travel distance in the depth direction is calculated based on the difference between the depth of the starting point of the first navigation route and the current depth.
[0019] Optionally, after calculating the travel distance of the underwater equipment along the first navigation route, the underwater facade observation method further includes:
[0020] The observation process ends when the travel distance is greater than or equal to the reference movement distance.
[0021] Optionally, adjusting the reference navigation route includes:
[0022] The hovering position is used as the starting point of the second navigation line, and the second navigation line is adjusted according to the depth of the reference navigation line.
[0023] Optionally, the step of determining the starting position of the reference navigation route based on the first water depth information and the distance relationship between the underwater device and the object being measured includes:
[0024] The underwater depth of the underwater equipment is adjusted according to the first water depth information;
[0025] Control the underwater equipment to move within the depth of the first water depth information;
[0026] Real-time acquisition of distance information between the underwater device and the object being measured;
[0027] When the distance between the underwater device and the object being measured is less than or equal to a first distance threshold, the current position of the underwater device is taken as the starting position.
[0028] Optionally, the step of controlling the underwater device to perform fixed-distance observation of the object under test on the first navigation route includes:
[0029] Based on the real-time acquired forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test, the operating attitude and observation position of the underwater device are adjusted.
[0030] The underwater equipment is controlled to maintain the observation distance along the depth direction to observe the object under test.
[0031] Optionally, after the step of controlling the underwater device to maintain the observation distance along the depth direction to observe the object under test, the method further includes:
[0032] When the underwater device reaches the end point of the first navigation route, the attitude of the underwater device is adjusted.
[0033] Optionally, adjusting the operating attitude and observation position of the underwater device based on the real-time acquired forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test includes:
[0034] The underwater equipment is determined to be facing the object being measured based on the forward multibeam sonar reflection signal acquired in real time.
[0035] If so, the actual observation distance between the underwater equipment and the object under test is determined based on the forward multibeam sonar reflection signal;
[0036] When the actual observation distance is greater than the preset observation distance, the underwater equipment's operating attitude is maintained and the observation position of the underwater equipment is adjusted.
[0037] Optionally, adjusting the operating attitude and observation position of the underwater device based on the real-time acquired forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test includes:
[0038] When it is determined from the real-time acquired forward multibeam sonar reflection signal that the underwater device is not facing the object being measured, the operating attitude of the underwater device is adjusted until the adjusted underwater device is facing the object being measured.
[0039] Based on the real-time acquired forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test, the underwater device's operating attitude is maintained and the observation position of the underwater device is adjusted.
[0040] Optionally, controlling the underwater device to maintain the observation distance along the depth direction while observing the object includes:
[0041] The underwater device is controlled to maintain the observation distance along the depth direction, and its operating attitude is adaptively adjusted according to the surface shape of the object being measured to observe the object.
[0042] Optionally, during the observation process along the depth direction, the underwater device is facing the observation point on the surface of the object being measured.
[0043] Optionally, the step of controlling the underwater equipment to perform constant depth and distance observations of the object under test on the second navigation route includes:
[0044] Record the second water depth information at the starting point of the second navigation route;
[0045] Based on the reference operating direction, the heading angle and observation position of the underwater device are adjusted by real-time acquisition of the forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test.
[0046] The underwater device is controlled to maintain the depth of the second water depth information and the observation distance to observe the object being measured.
[0047] Optionally, the depth travel directions provided by two adjacent segments of the first navigation line are different.
[0048] Optionally, establishing a reference navigation route with a starting point having first water depth information includes:
[0049] Obtain drawing instructions from a device with an input interface;
[0050] The reference navigation route map is determined according to the drawing instructions;
[0051] A reference navigation route with a first water depth information is established based on the reference navigation route map.
[0052] Optionally, establishing a reference navigation route with a first water depth information at its starting point based on the reference navigation route map includes:
[0053] The reference navigation route is determined based on the reference scale in the reference navigation route map and the first water depth information.
[0054] Optionally, controlling the underwater device to observe the object under test according to the reference navigation path includes:
[0055] The underwater equipment is controlled to perform observations on the object under test according to the first or second navigation line in the reference navigation line as the starting navigation line.
[0056] Furthermore, to achieve the above objectives, the present invention also provides an underwater device, the underwater device comprising: a memory, a processor, and a control program for the underwater device stored in the memory and executable on the processor, the control program being configured to implement the steps of the control method for the underwater device as described above.
[0057] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a control program for an underwater device, wherein the control program for the underwater device, when executed by a processor, implements the steps of the control method for the underwater device as described above.
[0058] Compared with existing technologies, the underwater object observation method provided by this invention firstly simplifies the process by establishing a reference navigation line through at least two first navigation lines and at least two second navigation lines set at intervals. Furthermore, the established reference navigation line only requires the depth of the starting point, without specifying the coordinates of the starting point or providing multiple precise calibration points, thus greatly simplifying the navigation line setup process. Secondly, by controlling the underwater equipment to perform fixed-distance observations of the object on the first navigation line and fixed-depth and fixed-distance observations on the second navigation line, the underwater equipment can perform effective adaptive adjustments during observations according to the reference navigation line. In addition, the underwater equipment can effectively observe irregular objects according to the established reference navigation line while providing stable observation results. Attached Figure Description
[0059] Figure 1 is a flowchart illustrating the underwater facade observation method provided in Embodiment 1 of this application;
[0060] Figure 2 is a schematic diagram of a reference navigation route provided in an embodiment of this application;
[0061] Figure 3 is a detailed flowchart of step S200 in Figure 1;
[0062] Figure 4 is a detailed flowchart of step S300 in Figure 1;
[0063] Figure 5 is a detailed flowchart of step S310 in Figure 4;
[0064] Figure 6 is a schematic diagram of the underwater equipment provided in the embodiment of this application along the direction of depth;
[0065] Figure 7 is a detailed flowchart of step S320 in Figure 4;
[0066] Figure 8 is a schematic diagram of the underwater equipment operating within a fixed depth plane according to an embodiment of this application;
[0067] Figure 9 is a flowchart illustrating an underwater facade observation method provided in another embodiment of this application;
[0068] Figure 10 is a detailed flowchart of step S400' in Figure 9;
[0069] Figure 11 is a schematic diagram illustrating the adjustment of navigation routes according to an embodiment of this application;
[0070] Figure 12 is a schematic diagram of the underwater equipment provided in an embodiment of this application. Detailed Implementation
[0071] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0072] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, 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. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.
[0073] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.
[0074] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values may in practice be based on additional conditions or values beyond those stated.
[0075] In this application, the term "exemplary" is used to mean "serving as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other embodiments, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.
[0076] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0077] Please refer to Figure 1, which is a flowchart illustrating the underwater facade observation method provided in Embodiment 1 of this application. This method can be applied to underwater equipment equipped with at least a forward-facing multibeam sonar and a depth sensor, enabling the underwater equipment to detect multiple parameters such as speed, distance, and depth. The underwater robot is also equipped with a camera device to provide users with comprehensive visual observation. The "facade" refers to the three-dimensional surface of the object being measured, which can be either the inner or outer surface of the object. The forward-facing multibeam sonar device is aligned with the camera device. In a preferred embodiment, the multibeam sonar device can specifically be a Doppler Velocity Log (DVL). The forward-facing multibeam sonar device can be understood as a multibeam sonar device fixedly mounted on an underwater device and aligned with the camera device; or the multibeam sonar device can be movably mounted on the underwater device via an auxiliary device (such as a gimbal, bracket, etc.), and can be aligned with the camera device after angle adjustment. The underwater device includes, but is not limited to, autonomous underwater vehicles (AUVs), remotely operated underwater vehicles (ROVs), and autonomous / remotely controlled underwater vehicles (ARVs), and can also be underwater detection equipment, underwater submarine equipment, or other underwater operation equipment; this application does not limit this. In some other embodiments, the underwater device may also be equipped with a downward-facing DVL.
[0078] The underwater facade observation method provided in this embodiment includes the following steps:
[0079] S100. Establish a reference navigation route with the first water depth information at the starting point.
[0080] This reference navigation line is used to define the operational logic of underwater equipment, enabling it to automatically observe the target. Specifically, the reference navigation line consists of at least two first navigation lines and at least two second navigation lines spaced apart. The first navigation lines provide the underwater equipment's depth direction (depth direction) and reference distance in that direction; the second navigation lines provide the underwater equipment's reference direction (e.g., horizontal direction) within a fixed depth plane and the distance in that direction. In this embodiment, the reference navigation line is continuous; that is, except for the start and end points of the reference navigation line, the end point of any first navigation line can constitute the start point of a connected second navigation line, and similarly, the end point of a second navigation line can also constitute the start point of a connected first navigation line.
[0081] Operators can complete the process of establishing the above-mentioned reference navigation route by drawing or other means on any device with an input interface (such as a mobile phone or a remote control with a display screen).
[0082] Please refer to Figure 2, which is a schematic diagram of a reference navigation route provided in this embodiment of the application. L1, L2, and L3 can be identified as the first navigation route. L1, L2, and L3 provide the direction of movement of the underwater equipment in the water depth direction and the reference operating distance. For example, L2 and L3 provide the downward depth operating direction, while L1 provides the upward depth operating direction. Furthermore, the reference operating distance can be clearly defined using a reference scale; for example, if a reference scale corresponds to 1 centimeter in the reference route for an actual distance of 5 meters, then when the length of the reference route is 3 centimeters, the corresponding reference operating distance is 15 meters.
[0083] S1 and S2 can be considered as the second navigation route. S1 and S2 can provide the reference operating direction and travel distance of the underwater equipment within a fixed depth plane. This travel distance can also be determined using the method described above for clearly defining the reference operating distance. Point A serves as the starting point of this reference navigation route and has clearly defined first water depth information, such as 50 meters underwater. It should be noted that in this reference navigation route diagram, the reference operating distance provided by each segment of the first or second navigation route can be the same or different. In this embodiment, the operating directions of the depth direction provided by two adjacent segments of the first navigation route are different, such as L1 and L2. L1 provides an upward depth movement direction, and L2 provides a downward depth movement direction.
[0084] Since starting point A is only used to provide depth information and does not constitute a limitation on the specific location of the starting point, compared with the prior art, the reference navigation route provided in this application does not require limiting or calibrating the coordinates of the starting point, nor does it require providing any other additional precise calibration point locations, thus greatly simplifying the process of setting up the navigation route.
[0085] S200. Based on the first water depth information and the distance relationship between the underwater equipment and the object being measured, confirm the starting position of the reference navigation route.
[0086] Since there is no limitation on the starting point coordinates in step S100, any point that meets the conditions can be used as the starting point of the reference navigation line provided in this embodiment. The reference navigation line can be applied to the test object of any shape.
[0087] Please also refer to Figure 3, which is a detailed flowchart of step S200 in Figure 1; step S200 includes:
[0088] S210. Adjust the underwater depth of the underwater equipment based on the first water depth information.
[0089] Because the underwater equipment is equipped with a high-precision depth gauge, it can monitor the water depth of its current environment in real time. In order to execute a reference navigation route, the underwater depth of the equipment can be adjusted under the control of the operator based on the initial water depth information provided by the starting point.
[0090] S220: Control the underwater equipment to move at the depth of the first water depth information.
[0091] It should be noted that while the underwater equipment is moving at the depth provided by the first water depth information, obstacles (not the object being measured) may appear around it. When obstacles are present, obstacle avoidance actions can be performed first, meaning that the depth provided by the first water depth information does not need to be maintained during obstacle avoidance; after obstacle avoidance is completed, the underwater equipment can be controlled to return to the depth provided by the first water depth information.
[0092] S230: Real-time acquisition of distance information between underwater equipment and the object being measured.
[0093] Because the underwater equipment is equipped with a forward-facing multibeam sonar device, the multibeam sonar device can calculate the distance between the underwater equipment and the object in front of it by analyzing and processing the received reflected echoes.
[0094] S240. When the distance between the underwater equipment and the object being measured is less than or equal to the first distance threshold, it shall be taken as the starting position.
[0095] When the operator maneuvers the underwater equipment to approach the object being measured, and the distance between the underwater equipment and the object, obtained through step S230, is less than or equal to a first distance threshold, it indicates that the underwater equipment has initially met the conditions for observing the object. Therefore, this point can be used as the starting point of the reference navigation route. It is understood that the location where the underwater equipment approaches the object and meets the above conditions is not unique; therefore, the first point that meets the conditions can be used as the starting point of the reference navigation route.
[0096] S300 controls underwater equipment to perform observations of the object being measured according to a reference navigation route.
[0097] After the starting point position is confirmed in step S240, observation operations can be performed on the object under test based on the established reference navigation route. Taking the reference navigation route provided in Figure 2 as an example, once point A is confirmed, the observation action of the first downward navigation route is performed on the object under test. Since the established reference navigation route is not limited to a specific form, after confirming the starting point position of the reference navigation route, the starting navigation route executed in conjunction with the actually established reference navigation route can be either the first navigation route or the second navigation route.
[0098] Referring to Figure 4, which is a flowchart of step S300 in Figure 1; step S300 includes:
[0099] S310: Control underwater equipment to perform fixed-distance observation of the object being measured on the first navigation route.
[0100] The purpose of this step is to demonstrate the control effect achievable when observing the depth direction of the measured object. It is understood that, without attitude adjustment, the relative angle and attitude between the underwater device's camera and the measured object will not change during the fixed-distance observation process. Refer to Figure 5, which is a detailed flowchart of step S310 in Figure 4; step S310 includes:
[0101] S311. Adjust the operating attitude and observation position of the underwater equipment based on the real-time acquired forward multibeam sonar reflection signal and the preset observation distance.
[0102] Specifically, the preset observation distance should be less than or equal to a first distance threshold. That is, after confirming the starting point position based on the first distance threshold, the underwater equipment adjusts its actual observation position based on the reflected echo signal received by the forward-facing multibeam sonar equipment. (If the preset observation distance is less than the first distance threshold, the underwater equipment should first adjust the distance between itself and the object being measured when executing the reference navigation path at the starting point position, i.e., adjust it to the preset observation distance). Furthermore, the preset observation distance is the distance between the front of the underwater equipment and the object being measured. Since there may be situations where the underwater equipment is not directly facing the surface of the object being measured, to ensure the observation effect, the observation attitude of the underwater equipment can be adjusted simultaneously with the adjustment of its observation position based on the reflected echo signal from the multibeam sonar equipment.
[0103] S312. Control the underwater equipment to maintain the observation distance along the depth direction to observe the object being measured.
[0104] Referring to Figure 6, which is a schematic diagram of an underwater device traveling along the depth direction according to an embodiment of this application, in a side view of a measured object with an irregular surface shape (such as being composed of multiple curved surfaces), the underwater device maintains an observation distance while observing the measured object along the depth direction. Its observation attitude changes according to the shape of the measured object's surface. Preferably, at the starting position of the reference navigation route, the underwater device is in a horizontal attitude. Therefore, during the observation of the first navigation route, the pitch angle of the underwater device relative to the horizontal attitude will change to a certain extent.
[0105] S313. When the underwater equipment reaches the end point of the first navigation route, adjust the attitude of the underwater equipment.
[0106] After the underwater equipment completes the execution of a first navigation line in the reference navigation line, due to possible changes in attitude, this step is used to restore and adjust the initial observation attitude of the underwater equipment. For example, after completing the first navigation line, the underwater equipment is adjusted to a horizontal attitude.
[0107] S320: Control underwater equipment on the second navigation route to perform fixed-depth and fixed-distance observations of the object being measured.
[0108] The purpose of this step is to demonstrate the control effect achievable when observing the object under test within a fixed depth plane. Refer to Figure 7, which is a detailed flowchart of step S320 in Figure 4; step S320 includes:
[0109] S321. Record the second water depth information of the starting point of the second navigation route.
[0110] Since the second navigation route can only provide a reference direction and the actual distance traveled, it is necessary to specify the water depth. If the established reference navigation route directly observes the second navigation route from its starting point, then the first water depth information at the starting point can be used as the aforementioned second water depth information. In other cases, the water depth information at the end point of the completed first navigation route connected to the second navigation route can be used as the aforementioned second water depth information. The water depth information at the end point of the first navigation route can be obtained through a depth gauge installed on underwater equipment and recorded to provide reference information for subsequent observations.
[0111] S322. Based on the reference operating direction, the forward multibeam sonar reflection signal acquired in real time and the preset observation distance are used to adjust the heading angle and observation position of the underwater equipment.
[0112] Referring to Figure 8, a schematic diagram of an underwater device operating within a fixed depth plane is provided according to an embodiment of this application. The reference operating direction can be horizontally to the left or horizontally to the right. The actual operating distance is the actual travel distance of the underwater device. The orientation of the underwater device in a horizontal position is adjusted based on the reflected echo signal received by the forward-facing multibeam sonar device, and the actual observation position of the underwater device is adjusted based on a preset observation distance. In Figure 8, the underwater device maintains a fixed distance of movement and observation along the contour of the object being measured in the horizontal plane.
[0113] S323. Control the underwater equipment to maintain the depth of the second water depth information to observe the object being measured.
[0114] What is clear is that during the observation of the second navigation route, the underwater equipment will always maintain the depth of the second water depth information.
[0115] It is understandable that there is no clear sequential relationship between the above steps S310 and S320.
[0116] Compared with existing technologies, the underwater object observation method provided in this embodiment, by separately controlling the underwater equipment to perform fixed-distance observation of the measured object on the first navigation route and fixed-depth and fixed-distance observation of the measured object on the second navigation route, enables the underwater equipment to perform effective adaptive adjustments during the observation process according to the reference navigation route. This allows for sufficient observation of irregular measured objects and provides stable observation results.
[0117] Referring to Figure 9, which is a flowchart illustrating an underwater facade observation method according to another embodiment of this application; the underwater facade observation method provided in this embodiment includes the following steps:
[0118] S100', Establish a reference navigation route with the first water depth information at the starting point.
[0119] S200': Based on the first water depth information and the distance relationship between the underwater equipment and the object being measured, confirm the starting position of the reference navigation route.
[0120] S300' controls the underwater equipment to perform observations on the object being measured according to the reference navigation route.
[0121] The above S100'-S300' correspond to steps S100-S300 of Embodiment 1, and will not be described in detail here. The difference between this embodiment and Embodiment 1 is that it also includes:
[0122] S400' Adjusts the reference navigation route based on real-time sensing data from underwater equipment.
[0123] In actual underwater observation operations, the established reference navigation line may not be perfectly adapted to the object being measured. Therefore, this step involves adaptively adjusting the reference navigation line to suit the actual observation operation. Furthermore, since the second navigation line allows for adjustments to the underwater equipment's heading angle (within 360°) and observation position, theoretically, it can be adapted to any object being measured. Therefore, the following will focus on detailing the process of adjusting the reference navigation line in conjunction with the sensing data from the first navigation line.
[0124] Referring to Figure 10, which is a detailed flowchart of step S400' in Figure 9; step S400' includes:
[0125] S410: Real-time acquisition of distance information between the underwater device and the object being measured as the device moves along the first navigation path.
[0126] Because the underwater equipment is equipped with forward-facing multibeam sonar, the distance between the underwater equipment and the object being measured can be calculated by analyzing and processing the received reflected echoes.
[0127] S420. Determine whether the distance is greater than the second distance threshold. If so, proceed to step S430. Otherwise, repeat step S420.
[0128] The second distance threshold should be greater than the first distance threshold. When the distance between the underwater device and the object being measured is greater than the second distance threshold, it indicates that the underwater device is moving away from the object being measured in its current posture.
[0129] S430, Calculate the distance traveled by the underwater equipment along the first navigation route.
[0130] Specifically, the distance traveled by the underwater equipment in the depth direction can be calculated based on the difference between the depth of the starting point of the first navigation route and the current depth.
[0131] S440. Determine whether the travel distance has reached the reference movement distance; if yes, end the process directly; if no, proceed to step S450.
[0132] Since the established reference navigation route does not specify the exact location of the endpoint, when the travel distance is greater than the reference movement distance, it indicates that there is additional control of the underwater equipment to execute instructions to move away from the object being measured. This can be understood as the intervention of operators, which confirms the completion of this observation work, and there is no need to consider whether the established reference navigation route should be fully executed.
[0133] S450, controls underwater equipment to hover.
[0134] If the travel distance does not reach the reference travel distance and the underwater device is still far away from the target, it indicates that the underwater device is beyond the top or bottom of the target, or that the target has a hollow area. In the event of the above, the underwater device should be hovered. The duration of this hovering state can be very short. The main purpose is to ensure that the distance between the underwater device and the target does not increase further.
[0135] S460, Adjust the reference navigation route.
[0136] Specifically, step S450 controls the hovering position of the underwater device as the end point of the currently executed first navigation line or the starting point of the second navigation line connected to the currently executed first navigation line, and performs observation of the next segment of the second navigation line.
[0137] Referring to Figure 11, which illustrates the adjustment of the navigation route according to an embodiment of this application; and also referring to Figure 2, it can be seen that when the underwater device performs observations on the first navigation route L2 in Figure 2, after reaching point B, the underwater device moves away from the target. At this time, the travel distance calculated based on the depth values at the starting point of L2 and the depth value at point B is significantly less than the reference travel distance provided by L2. Therefore, the starting point of the second navigation route S2, which connects to the end point of the first navigation route L2 in Figure 2, is adjusted to point B. The underwater device performs constant-depth observations on the second navigation route S2 at point B, maintaining the depth value at point B. The first navigation route L3 in Figure 2 also follows the same logic, with point C as the end point of L3. The actual corresponding parts of the first navigation routes L2 and L3 in the adjusted navigation route in Figure 2 are L2' and L3', and the adjusted navigation route is shown by the solid line in Figure 11.
[0138] S500' controls the underwater equipment to perform observations on the object being measured according to the adjusted navigation route.
[0139] Compared with existing technologies, the underwater object observation method provided in this embodiment, by separately controlling the underwater equipment to perform fixed-distance observation of the measured object on the first navigation route and fixed-depth and fixed-distance observation of the measured object on the second navigation route, enables the underwater equipment to perform effective adaptive adjustments during the observation process according to the reference navigation route. This allows for sufficient observation of irregular measured objects and provides stable observation results. Furthermore, the established reference navigation route is not a mandatory scheme; it can be adjusted based on real-time sensing data, thereby effectively avoiding wasted travel by the underwater equipment.
[0140] Referring to Figure 12, a structural schematic diagram of an underwater device provided in an embodiment of this application is shown.
[0141] The underwater device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.
[0142] Those skilled in the art will understand that the structure shown in Figure 12 does not constitute a limitation on the underwater device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0143] As shown in Figure 12, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a control program for underwater equipment.
[0144] In the underwater device shown in Figure 12, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the underwater device of the present invention can be set in the underwater device. The underwater device calls the control program of the underwater device stored in the memory 1005 through the processor 1001 and executes the above-mentioned method for observing the underwater facade.
[0145] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.
[0146] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.
[0148] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.
Claims
1. A method for underwater facade observation, wherein, include: Establish a reference navigation route with initial water depth information; The reference navigation line consists of at least two segments of first navigation line and at least two segments of second navigation line arranged at intervals; The first navigation line is used to provide a depth direction of travel and a reference travel distance in the depth direction of travel; The second navigation line is used to provide a reference direction of travel within a fixed depth plane and a travel distance along the reference direction of travel; The starting position of the reference navigation route is determined based on the first water depth information and the distance relationship between the underwater equipment and the object being measured. The underwater device is controlled to perform observations of the object under test according to the reference navigation route; wherein, on the first navigation route, the underwater device is controlled to perform fixed-distance observations of the object under test; and on the second navigation route, the underwater device is controlled to perform fixed-depth and fixed-distance observations of the object under test.
2. The underwater facade observation method as described in claim 1, wherein, After the step of controlling the underwater device to perform observation of the object under test according to the reference navigation line, the method further includes: The reference navigation route is adjusted based on the real-time sensing data from the underwater equipment. The underwater equipment is controlled to observe the object under test according to the adjusted navigation route.
3. The underwater facade observation method as described in claim 2, wherein, The step of adjusting the reference navigation route based on the real-time sensing data from the underwater device includes: Real-time acquisition of distance information between the underwater device and the object under test as the device moves along the first navigation route; When the distance information is greater than the second distance threshold, the travel distance of the underwater device along the first navigation route is calculated; When the travel distance is less than the reference travel distance, the underwater equipment is controlled to hover. The hover position is used as the end point of the currently executed first navigation line or the starting point of the second navigation line connected to the currently executed first navigation line, and the reference navigation line is adjusted.
4. The underwater facade observation method according to claim 3, wherein, The calculation of the distance traveled by the underwater device along the first navigation route includes: The underwater device's travel distance in the depth direction is calculated based on the difference between the depth of the starting point of the first navigation route and the current depth.
5. The underwater facade observation method according to claim 3, wherein, After calculating the travel distance of the underwater equipment along the first navigation route, the underwater facade observation method further includes: The observation process ends when the travel distance is greater than or equal to the reference movement distance.
6. The underwater facade observation method according to claim 3, wherein, The adjustment of the reference navigation route includes: The hovering position is used as the starting point of the second navigation line, and the second navigation line is adjusted according to the depth of the reference navigation line.
7. The underwater facade observation method according to claim 1, wherein, The step of determining the starting point position based on the first water depth information and the distance relationship between the underwater equipment and the object being measured includes: The underwater depth of the underwater equipment is adjusted according to the first water depth information; Control the underwater equipment to move within the depth of the first water depth information; Real-time acquisition of distance information between the underwater device and the object being measured; When the distance between the underwater device and the object being measured is less than or equal to a first distance threshold, the current position of the underwater device is taken as the starting position.
8. The underwater facade observation method according to claim 1, wherein, The step of controlling the underwater equipment to perform fixed-distance observation of the object under test on the first navigation route includes: Based on the real-time acquired forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test, the operating attitude and observation position of the underwater device are adjusted. The underwater equipment is controlled to maintain the observation distance along the depth direction to observe the object under test.
9. The underwater facade observation method according to claim 8, wherein, After the step of controlling the underwater device to maintain the observation distance along the depth direction to observe the object under test, the method further includes: When the underwater device reaches the end point of the first navigation route, the attitude of the underwater device is adjusted.
10. The underwater facade observation method according to claim 8 or 9, wherein, The step of adjusting the operating attitude and observation position of the underwater device based on the real-time acquired forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test includes: The underwater equipment is determined to be facing the object being measured based on the forward multibeam sonar reflection signal acquired in real time. If so, the actual observation distance between the underwater equipment and the object under test is determined based on the forward multibeam sonar reflection signal; When the actual observation distance is greater than the preset observation distance, the underwater equipment's operating attitude is maintained and the observation position of the underwater equipment is adjusted.
11. The underwater facade observation method according to claim 10, wherein, The step of adjusting the operating attitude and observation position of the underwater device based on the real-time acquired forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test includes: When it is determined from the real-time acquired forward multibeam sonar reflection signal that the underwater device is not facing the object being measured, the operating attitude of the underwater device is adjusted until the adjusted underwater device is facing the object being measured. Based on the real-time acquired forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test, the underwater device's operating attitude is maintained and the observation position of the underwater device is adjusted.
12. The underwater facade observation method according to claim 8, wherein, The method of controlling the underwater device to maintain the observation distance along the depth direction to observe the object under test includes: The underwater device is controlled to maintain the observation distance along the depth direction, and its operating attitude is adaptively adjusted according to the surface shape of the object being measured to observe the object.
13. The underwater facade observation method according to claim 12, wherein, During the observation process along the depth direction, the underwater equipment is facing the observation point on the surface of the object being measured.
14. The underwater facade observation method according to claim 1, wherein, The step of controlling the underwater equipment to perform constant depth and constant distance observations of the object under test on the second navigation route includes: Record the second water depth information at the starting point of the second navigation route; Based on the reference operating direction, the heading angle and observation position of the underwater device are adjusted by real-time acquisition of the forward multibeam sonar reflection signal and the preset observation distance between the underwater device and the object under test. The underwater device is controlled to maintain the depth of the second water depth information and the observation distance to observe the object being measured.
15. The underwater facade observation method according to any one of claims 1-14, wherein, The depth directions provided by the first navigation lines in two adjacent segments are different.
16. The underwater facade observation method according to claim 1, wherein, The establishment of a reference navigation line with a starting point having first water depth information includes: Obtain drawing instructions from a device with an input interface; The reference navigation route map is determined according to the drawing instructions; A reference navigation route with a first water depth information is established based on the reference navigation route map.
17. The underwater facade observation method according to claim 16, wherein, The step of establishing a reference navigation route with a first water depth information at its starting point based on the reference navigation route map includes: The reference navigation route is determined based on the reference scale in the reference navigation route map and the first water depth information.
18. The underwater facade observation method according to claim 1, wherein, The control of the underwater equipment to observe the object under test according to the reference navigation route includes: The underwater equipment is controlled to perform observations on the object under test according to the first or second navigation line in the reference navigation line as the starting navigation line.
19. An underwater device, wherein, The underwater device includes: a memory, a processor, and a control program for the underwater device stored in the memory and executable on the processor, the control program being configured to implement the steps of the underwater facade observation method as described in any one of claims 1 to 18.
20. A computer-readable storage medium, wherein, The computer-readable storage medium stores a control program for an underwater device, which, when executed by a processor, implements the steps of the underwater facade observation method as described in any one of claims 1 to 18.