183 results about "Acoustical imaging" patented technology

The invention discloses an acoustic imaging positioning method for intelligent monitoring of electric power engineering regional faults, which relates to the technical field of fault monitoring, and comprises the following steps: arranging a microphone array to collect sound wave signals, and monitoring and recording sound data in real time; determining the spatial position of a sound source by using an ultrasonic sound source positioning technology; sound source distribution generated by the equipment fault is displayed; displaying the relationship between the three-dimensional position of the equipment fault point and the surrounding environment; fault sound sources are classified, and types and reasons are determined; a diagnosis result is fed back in real time, a fault position is displayed, and inspection and repair suggestions are provided; and detecting the health condition of the equipment in combination with a machine learning model, predicting potential faults and giving out early warning. According to the invention, a high-precision microphone array and an ultrasonic sound source positioning technology are utilized, the distribution state of a sound source in a space is displayed in real time through an imaging mode of superposing an acoustic image and a visible light image, a partial discharge point, a gas leakage point and an equipment abnormal sound site are rapidly determined, and the inspection efficiency and the maintenance speed are improved.

The invention discloses a single crystal turbine blade crystal orientation defect detection system based on adaptive optics, particularly relates to the field of nondestructive testing, and is used for solving the problem that thermal damage and signal consistency are difficult to consider in acoustic imaging of complex structural parts. Through partition energy threshold setting, dynamic pulse planning, photoacoustic processing and unified coordinate cross-subarea data synthesis, local thermal damage caused by excessive concentration of energy is effectively avoided in the material detection process, and the requirement for collecting high-bandwidth signals can be met in a large range. The signal-to-noise ratio and the detection efficiency are improved by regulating and controlling pulse energy and a scanning path, the amplitude comparability and the image coherence among regions are ensured through signal normalization correction and subregion image set splicing, high-resolution and comprehensive-coverage acoustic mapping is output, the crystal orientation defects of the single crystal turbine blade are positioned and evaluated, the detection precision is improved, the measurement period is shortened, and the method is suitable for large-scale popularization and application. And the method has an applicable value for aero-engine parts requiring rapid and high-precision nondestructive detection.

The invention relates to the technical field of acoustic imaging, and relates to a phase holographic imaging device based on an acoustic metamaterial, which comprises a sound wave generator, an LAM metasurface and a control unit, the sound generator is used for generating plane sound waves; the LAM metasurface is used for receiving sound waves and modulating phase and amplitude; the control unit is used for controlling the structure and the geometrical shape of the cells in the LAM metasurface; enabling sound waves to reach a decoupling point in the internal structure space of the LAM metasurface under the irradiation of front sound; decoupling modulation of the phase and amplitude of surface reflection sound waves by the cells is realized; and the processor is used for calculating the sound pressure projected to the holographic surface phase position according to the input image, and adjusting the size parameters of the cells in the LAM metasurface through the controller. After the incident sound wave interacts with the LAM metasurface, the incident sound wave is demodulated and re-modulated and is reflected at an angle perpendicular to the LAM subsurface. The LAM metasurface does not apply any angle constraint to incident sound waves; the angle of the reflected wave is always perpendicular to the LAM surface. And the imaging quality of the required phase acoustic hologram after amplitude compensation is met.

Broad frequency acoustic imaging techniques for inspection and analysis of mechanical equipment are disclosed. In some instances an acoustic imaging device may obtain acoustic response data regarding acoustic signals emitted by mechanical equipment across a plurality of frequencies. The frequencies may be selected based on a characteristic of the mechanical equipment, or may be broadly selected across an acoustic frequency range. The acoustic signals may be compared to baseline acoustic signals emitted by mechanical equipment, and analyzed to determine at least one of a severity of degradation or a type of degradation.

The invention relates to the technical field of acoustic imaging, and discloses an acoustic imaging system of a concentric-circle nested microphone array, which comprises a central microphone and the concentric-circle nested microphone array. The concentric nested microphone arrays are concentrically arranged by taking the central microphone as the center, a plurality of microphones are distributed on each layer of circular microphone array according to a nested array rule, and the distance between each layer of adjacent microphone arrays is d. By adopting a unique circular nested microphone array structure, the position information of a sound source can be accurately captured through the cooperative work of multiple layers of microphone arrays. A plurality of microphones are distributed in each layer of microphone array in a circular nested array, a multi-dimensional sound acquisition network is formed by combining a central microphone, and meanwhile, the signal processing module gradually extracts and reconstructs sound source information in a sound field by utilizing a CLEAN-SC algorithm and through iterative decomposition and removal of strongest components in sound source signals, so that a sidelobe interference image is effectively inhibited, and the sound quality is improved. Therefore, a high-resolution sound power distribution diagram is obtained, and acoustic imaging is realized.

The invention discloses a GIS equipment defect three-dimensional visual positioning method based on acoustic imaging, and relates to the related technical field of GIS equipment, and the method comprises the steps: constructing a sound intensity detection dual system; sound source signals of the GIS equipment are synchronously acquired, and near-field acoustic signals and far-field acoustic signals are output; performing frequency band separation through a self-adaptive band-pass filter, and identifying near acoustic abnormal features and far acoustic abnormal features of the separated frequency band; carrying out spatial positioning fusion and outputting a positioning point; and importing a GIS equipment three-dimensional model according to the sound source fusion positioning point, and outputting a GIS equipment visual positioning result. The technical problems that in the prior art, the GIS equipment defect detection range is limited, the positioning precision is insufficient, the defect space position is difficult to visually present, the equipment defect positioning is not rapid and accurate enough, and the equipment operation and maintenance efficiency and reliability are affected are solved. The technical effects of quickly and accurately positioning the equipment defects and effectively improving the operation and maintenance efficiency and reliability of the equipment are achieved.

The invention discloses a sound source localization method based on multi-frequency separation and Newton optimization deconvolution, relates to the technical field of array acoustic signal processing, and is used for solving the problem that weak sound sources and multiple sound sources are difficult to identify. According to the method, dominant frequency is extracted through multichannel frequency domain analysis, a cross-spectrum matrix is constructed in combination with a near-field propagation model and a guide vector, delay summation beam forming is executed to obtain sound source preliminary distribution, then the distribution is regarded as a convolution result, a maximum likelihood model is introduced, and a two-stage deconvolution strategy of coarse estimation and Newton method fine optimization is adopted to obtain a high-resolution sound source. According to the multi-sound-source positioning method, subgrid-level analysis of sound source positions and amplitudes is achieved, finally, all frequency results are fused, continuous sound source images are smoothly output through a two-dimensional Gaussian kernel, the resolution and real-time performance of multi-sound-source positioning are remarkably improved, and the multi-sound-source positioning method is suitable for high-precision acoustic imaging in a complex sound field.

The invention discloses a seismic wave velocity model inversion method based on time-space coupling deep learning, and the method achieves a time-space coupling mechanism through a Fourier neural operator framework of a wavelet transform-attention mechanism, and supports the reconstruction of a spatial two-dimensional velocity model from a time sequence track of multiple seismic sources. Firstly, the local time-frequency representation of each seismic time-domain trajectory is extracted by adopting continuous wavelet transform, and then a wavelet time-frequency spectrogram is coded through a convolution feature extractor. Then, information from multiple sources is fused at each receiver point location through a multi-head attention mechanism, enhancing correlation between multiple sources. And finally, projecting the fused features into a two-dimensional Fourier neural operator to efficiently learn space mapping and reconstruct a bottom-layer velocity model based on sound velocity. According to the method, the time sequence characteristic and the spatial distribution characteristic of the seismic channel are fully utilized, the precision and robustness of an inversion result are improved, and a more reliable speed model is provided for geological structure interpretation and acoustic imaging.

The utility model discloses an acoustic imaging device, and belongs to the field of acoustic imaging. The device comprises a microphone array, a data acquisition processing circuit and a connector. The microphone array is connected with the data acquisition and processing circuit, the data acquisition and processing circuit is connected with the connector, and the connector is connected with a mobile intelligent terminal directly or through a data line; the mobile intelligent terminal comprises but is not limited to an intelligent mobile phone and a tablet personal computer. In some embodiments, the connector and the mobile intelligent terminal are combined into a rigid whole, and in some embodiments, a clamp is further included and used for being combined into a rigid whole with the mobile intelligent terminal. Compared with an existing sound imager, the sound imager can display a detection result through the mobile intelligent terminal, can be conveniently combined with the mobile intelligent terminal to form a rigid whole, and is more portable, easier to use and lower in cost.

The invention relates to the technical field of new energy power station monitoring, in particular to a new energy power station anomaly detection method and system based on acoustic imaging, and the method comprises the steps: obtaining the acoustic sequence information of a target new energy power station photovoltaic panel, and arranging a plurality of monitoring units based on the acoustic sequence information; transmitting sound waves with a preset frequency to the photovoltaic panel through a sound wave transmitter, collecting reflected sound wave data through an acoustic imaging sensor, and generating an acoustic image sequence; identifying and identifying anomalous reflection regions of the plurality of acoustic images based on the acoustic image sequence; carrying out image difference processing on the acoustic image sequence, and carrying out region detection on an acoustic difference image to obtain an abnormal region of the photovoltaic panel; and classifying the abnormal areas of the photovoltaic panel, and performing cross verification on the preliminary abnormal detection result by using abnormal reflection distribution to generate abnormal distribution of the photovoltaic panel. By emitting specific sound waves to the photovoltaic panel and analyzing the reflection characteristics of the sound waves, the structural change of the internal material of the photovoltaic panel can be sensed.

The invention discloses an equipment defect positioning method and device, a storage medium and computer equipment, and the method comprises the steps: obtaining a visible light image, an infrared image and an acoustic image of to-be-detected equipment collected by inspection equipment, extracting equipment image features from the visible light image, extracting infrared partial discharge features from the infrared image, and obtaining an infrared partial discharge feature of the to-be-detected equipment; and extracting acoustic imaging features from the acoustic imaging; performing feature fusion on the equipment image features, the infrared partial discharge features and the acoustic imaging features to obtain fusion features, and inputting the fusion features into a defect identification model to determine whether the equipment to be detected has defects; if the to-be-detected equipment has the defect, acquiring a first coordinate when the inspection equipment collects an image, and determining a second coordinate corresponding to the defect according to the first coordinate; and according to the second coordinate, positioning the defect on a three-dimensional model corresponding to the to-be-detected equipment.

The utility model discloses a portable acoustic imager, which relates to the technical field of imagers and comprises a shell. A displayer and a square microphone array disc are installed on the two sides of the shell respectively, a plurality of microphone probes are arranged on the microphone array disc, a visible light imaging module surrounded by the microphone probes is arranged in the center of the microphone array disc, and thermal imaging modules not surrounded by the microphone probes are arranged at the corners of the microphone array disc. A mainboard and a power supply module for supplying power to the mainboard are arranged in the shell; the mainboard is connected with the microphone probe, the visible light imaging module and the thermal imaging module through the signal adapter plate; according to the utility model, under complicated field working conditions such as similar gas path system abnormal points, equipment abnormal hot spots, poor cable contact, circuit overload, power supply faults and the like, the acoustic-thermal imaging integrated design can cover the two fields of gas leakage and thermal imaging detection, and early prediction and rapid diagnosis and maintenance can be effectively carried out.

The invention relates to the technical field of underwater detection, and discloses an underwater oil pipeline leakage detection method based on acoustic imaging and image recognition, and the method comprises the steps: firstly, employing wide-beam acoustic imaging to recognize a candidate region with a plume form; then switching to a high-coherence narrow beam mode, detecting the phase of the reference point echo after passing through the candidate area, and calculating a phase jitter quantitative index; performing cooperative judgment in combination with morphological characteristics and phase jitter indexes, and confirming a leakage event; and finally, performing three-dimensional scanning on the confirmed leakage area, constructing a phase disturbance intensity spatial distribution diagram, and determining accurate three-dimensional coordinates of a leakage source according to a peak point of the phase disturbance intensity spatial distribution diagram. Through bimodal combination of the morphological characteristics of the target and the physical characteristic of sound wave phase jitter caused by leakage turbulence, the method can effectively distinguish real leakage from acoustic false targets such as fish schools and suspended silt, significantly reduces the detection false alarm rate, and achieves high-precision three-dimensional positioning of a leakage source.

The invention discloses a marine ranch fish school monitoring method based on acoustic imaging, and belongs to the field of fish school intelligent monitoring, and the method comprises the steps: obtaining a noise interference component from compensated coverage range data, correcting signal fusion through employing Kalman filtering, and obtaining a fusion signal with noise suppression; acquiring a trajectory tracking sequence from the three-dimensional motion vector, and predicting motion complexity by adopting particle filtering to obtain centimeter-level accurate positioning coordinates; extracting a density model and body length estimation parameters from the reliable monitoring data set, and fusing biomass measurement logic to obtain a final fish school biomass value; aiming at the final fish school biomass value analysis distribution mode, correcting deviation by adopting a statistical model, and determining an optimized biomass distribution diagram; and generating an alarm signal according to the optimized biomass distribution diagram, and if the biomass distribution is judged to be abnormal, triggering real-time notification to obtain monitoring response data. According to the invention, the precision and real-time performance of fish school monitoring are obviously improved.

The invention discloses a defect positioning method, system and device based on vehicle-mounted fusion detection and a medium, and belongs to the technical field of distribution line fault detection. The method comprises the steps that a coordinate system is established according to the environment of a detected vehicle; the method comprises the following steps: collecting detection data through a vehicle-mounted probe, and preprocessing the detection data; when the vehicle is detected to be in a denial environment, optimizing the preprocessed detection data by constructing an acoustic reflection path model and a dynamic mask, and extracting infrared partial discharge features and acoustic imaging features; judging the discharge condition of the distribution line by using an acoustic infrared registration fusion mechanism; the infrared partial discharge features and the acoustic imaging features are fused, a fusion detection result is obtained, and a defect part is judged in combination with a line equipment drawing or a three-dimensional model; and combining the defect part with the coordinate system to obtain a defect coordinate, and rechecking the defect part by using the detection equipment according to the defect coordinate. According to the invention, the problem that accurate fault detection and fault positioning of the fault part of the distribution line cannot be realized in the prior art is solved.

The invention discloses a wind power variable pitch test system, method and equipment based on a wireless sensing network. The system comprises a multi-mode wireless sensing device, a quantum sensing integration device, an acoustic imaging analysis device, a data preprocessing device, a data processing device, an analysis device, a strategy generation device, a calibration device, an energy management device and a control device. The system integrates multiple advanced technologies such as multi-mode wireless sensing, quantum sensing and acoustic imaging, multi-dimensional parameter data of the wind power variable pitch system can be comprehensively and accurately collected and analyzed, and the quality and reliability of the data are effectively improved through the data preprocessing device and the data processing device. And the analysis device can predict the service life of the wind power variable pitch system by using the processed data, so that a scientific basis is provided for maintenance and management of a unit. The strategy generation device dynamically generates the test strategy according to the analysis data, and the test process is optimized. The calibration device ensures the accuracy and stability of the sensing device.

The invention discloses a distribution line defect positioning method based on beam imaging, and the method comprises the following steps: 1, enabling an unmanned plane to carry a wireless acoustic imager and a camera, and enabling the wireless acoustic imager to be provided with a microphone array; step 2, collecting array sound wave signals of the distribution line to be detected through a microphone array; the camera collects video pictures in real time; step 3, performing time delay compensation on the array sound wave signals based on the prediction model; step 4, analyzing sound source distribution data to carry out defect positioning; and 5, fusing the sound source distribution data and the video picture to generate a sound image cloud picture containing the sound source distribution data and the video picture. The structure is simple, the design is reasonable, in the process of outputting the time delay predicted value of the array sound wave signal based on the prediction model and constructing the spatial spectrum according to the covariance matrix, firstly, singular value decomposition is performed on the covariance matrix, the calculation process is simplified, the calculation efficiency is improved, the high calculation requirement in real-time processing is further met, and the use effect is good.

An acoustic imaging device including an acoustic sensor array is configured to receive information indicating a rotational speed of a mechanical device, and based on the rotational speed, select one or more frequencies at which to analyze acoustic data representing an acoustic signal from the mechanical device. In some cases, the acoustic imaging device is configured to capture the acoustic data at the one or more frequencies from an environment including the mechanical device. The acoustic data may be captured within one or more frequency bands associated with historical failure modes of the mechanical device. The acoustic imaging device may automatically determine a severity of degradation of the mechanical device based on a combination of the rotational speed and the acoustic data. Image data depicting the mechanical device may be overlaid with information derived from the acoustic data in at least a portion of the one or more frequencies.

The invention discloses a partial discharge detection method based on phase and frequency synchronization, and the method comprises the following steps: obtaining an acoustic signal in the operation of electrical equipment and an externally applied voltage waveform of the electrical equipment, generating an acoustic image spectrum, and adjusting the frequency of the externally applied voltage waveform to enable the frequency to be consistent with the reference frequency in the acoustic image spectrum; the externally applied voltage waveforms are matched and fused with the sound image atlas to obtain an integrated signal atlas; intercepting a complete cycle wave from a signal spectrum corresponding to each discharge source in the optimized integrated signal spectrum, and analyzing complete cycle data to obtain a PRPD spectrum; and comparing data information contained in the PRPD atlas with different types of insulation defects in a database, and determining which type of insulation defect the partial discharge belongs to and recording. According to the partial discharge detection method based on phase and frequency synchronization, the acoustic imaging and phase synchronization technology is combined, accurate partial discharge detection is achieved, the acoustic signals and the electrical signals can be synchronized, and the detection precision and reliability are greatly improved.

The invention discloses a gas pipeline leakage detection positioning algorithm based on acoustic precise imaging, and the algorithm comprises the following steps: building a basic three-dimensional space model, marking the position of a pipeline and the positions of sensors in the basic three-dimensional space model, and enabling the number of the sensors to be three; establishing a three-dimensional space model of the pipeline in the established basic three-dimensional space model according to the position of the pipeline and the position of the sensor; and establishing a three-dimensional space coordinate system in the basic three-dimensional space model based on the positions of the pipeline and the sensor. During implementation, gas conveying is monitored through an acoustic imaging method, and the monitoring can be carried out regularly, so that a pipeline is monitored in real time; a large amount of labor cost is reduced, the defect of omission possibly caused by manual inspection is avoided, and safe use of the pipeline is guaranteed; in the form of acoustic imaging, the influence caused by terrain, weather and the like can be effectively reduced.

The invention relates to the technical field of acoustic imaging, in particular to a low-power-consumption composite multichannel acoustic imaging method and system, and the method comprises the steps: obtaining a sampling acoustic signal, and transmitting the sampling acoustic signal to a three-stage pipeline structure; at the front end, acquiring the signal characteristics of the sampling acoustic signal to select a corresponding deserializing path so as to acquire a plurality of paths of parallel data streams; at the middle end, distributing a plurality of paths of parallel data streams to each processing unit, acquiring acoustic environment information, and distributing a corresponding target frequency point k and a frequency point demand number x1 to each processing unit; carrying out DFT (Discrete Fourier Transform) operation on each path of parallel data stream to respectively obtain a corresponding covariance matrix; obtaining a steering vector matrix and combining the plurality of covariance matrixes to generate parallel beams; and at the rear end, obtaining a phase compensation coefficient, converting the phase compensation coefficient into a fir filtering parameter to carry out phase error correction on the parallel wave beams, and then carrying out parallel-to-serial processing to generate serial output. The method has the effect of reducing the calculation power consumption during acoustic imaging.

The invention relates to the technical field of integrity detection of oil and gas wellhead devices and station process pipelines, and particularly discloses a wellhead device and station process detection evaluation management system, method and product. Wherein online ultrasonic scanning and data acquisition can be carried out on a wellhead device and a pipeline through the matched wellhead detection terminal and station pipeline detection terminal; three-dimensional ultrasonic field self-correction is adopted, a phased array sound field is accurately calibrated, high-precision three-dimensional acoustic imaging under a complex structure is achieved, good coupling between a probe and a detected body is ensured, and defect echoes are accurately obtained; in combination with a multi-order echo recognition algorithm and a deep learning model, intelligent analysis is performed on the acquired ultrasonic data, so that the defect recognition rate and analysis efficiency are greatly improved, and automatic extraction and classification of defect features are effectively realized; the defect grade and risk are automatically evaluated through an algorithm, and real-time quantification and dynamic evaluation of a detection result are achieved.

1. The name of the design product: acoustic imaging instrument. 2. The use of the design product: acoustic instrument for detecting and locating acoustic signal source. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: combination state figure 1.

The application relates to the technical field of underwater detection, and discloses an underwater oil pipeline leakage detection method based on acoustic imaging and image recognition, which comprises the following steps: firstly, a wide-beam acoustic imaging is adopted to identify a candidate region with plume morphology; then, a high-coherence narrow-beam mode is switched to, the phase of a reference point echo after penetrating through the candidate region is detected, and a phase jitter quantization index is calculated; then, a collaborative judgment is carried out on the morphology feature and the phase jitter index, and a leakage event is confirmed; finally, three-dimensional scanning is carried out on the confirmed leakage region, a phase disturbance intensity spatial distribution map is constructed, and the peak point of the map is used to determine the accurate three-dimensional coordinates of a leakage source. Through the bimodal combination of the morphology feature of the target and the physical characteristic of the acoustic phase jitter caused by the leakage turbulent flow, the application can effectively distinguish the real leakage from acoustic false targets such as fish schools and suspended silt, significantly reduce the detection false alarm rate, and realize high-precision three-dimensional positioning of the leakage source.

The application relates to the technical field of power detection, in particular to a tower partial discharge detection method and system based on an acoustic imager. The method comprises the following steps: acquiring tower acoustic data collected by the acoustic imager; analyzing the tower acoustic data to determine an acoustic characteristic map; analyzing the acoustic characteristic map based on a preset discharge identification algorithm to determine a partial discharge type; matching the partial discharge type with a preset detection mode to obtain a matching relationship; and adjusting a detection frequency band of the acoustic imager according to the matching relationship. The method provides multi-dimensional discrimination basis for partial discharge type identification, matches the partial discharge type with the preset detection mode, improves the synchronization rate of the detection time of intermittent discharge, reduces the missed detection rate, helps to eliminate positioning errors in a high-humidity environment, reduces the equivalent propagation distance calculation error, and meets the high-precision positioning demand in a complex environment.

The utility model discloses a kind of submarine hydrothermal plume acoustic imaging simulation devices, it is related to marine detection technical field, including simulation bin, the simulation bin is set to cylindrical structure, the top of the simulation bin is fixedly provided with fixed seat, the middle part of the fixed seat is fixedly provided with imaging sonar, the outside wall of the simulation bin is penetrated and is provided with two groups of liquid inlet pipes.The utility model is set to two groups of liquid inlet pipes outside the simulation bin, and two groups of liquid inlet pipes are set at the tangent of simulation bin, one end of liquid inlet pipe is provided with movable spray head, and the simulation fluid for simulating hydrothermal plume can be injected into simulation bin through liquid inlet pipe and movable spray head, and collide in simulation bin to achieve the simulation of hydrothermal plume, in this process, by controlling movable spray head up and down movement, the collision angle of two groups of simulation fluid can be controlled, to improve the simulation range of device.

The application discloses a collaborative diagnosis method based on multi-modal perception, which collects visible light images, infrared thermal image data and / or acoustic imaging data through a multi-modal detection device, identifies a measured target and an auxiliary test instrument in a detection scene, and obtains instrument identification information and spatial position information; according to the instrument identification information, a communication protocol and a handshake parameter are matched, a wireless connection with the auxiliary test instrument is established, and timing data of the auxiliary test instrument is obtained; the timing data is time-synchronized and spatially correlated with a two-dimensional thermal image matrix and / or a two-dimensional acoustic image matrix of a corresponding region of the measured target, and multi-modal data after alignment is obtained; fusion diagnosis is performed based on the multi-modal data, and a fault type, a fault root cause and / or a diagnosis confidence are obtained. The application can realize automatic access of the auxiliary test instrument and collaborative analysis of multi-source detection data, and improve fault diagnosis efficiency and accuracy.

The invention provides an acoustic imaging processing method and acoustic imaging equipment. The method comprises the following steps: acquiring audio data of each microphone in a microphone array of an acoustic imager when the acoustic imager is located in a current space; based on the audio data of each microphone, determining a current maximum sound intensity point coordinate corresponding to the current space, the current maximum sound intensity point coordinate being used for representing the position of a sound source; determining a reference microphone according to the current maximum sound intensity point coordinate and a mapping relation between each maximum sound intensity point coordinate obtained in a calibration process and each microphone priority list; and displaying a sound source imaging result based on the audio data of the reference microphone. According to the invention, the reference microphone can be rapidly and accurately selected, and the determined reference microphone can optimally reflect the actual characteristics of the sound source in the current space.

The invention provides an acoustic imaging system and method for an underwater target, and the system comprises a transducer which is used for transmitting a first sound wave signal to an underwater target object, so that the first sound wave signal is reflected at a first position, and an echo signal is formed; the laser sensing device is used for emitting a laser beam and determining echo wave vector information of an echo signal based on first phase information of the laser beam under the influence of the echo signal; and determining normal information at the first position according to the first sound wave vector information and the echo vector information of the first sound wave signal so as to form acoustic imaging of the underwater target object. Vector information of the normal vector is fused into acoustic imaging, high-quality imaging is achieved, the precision of the wave vector information of the echo signal also meets the requirement of high-resolution acoustic imaging, and the acoustic imaging effect can be effectively achieved especially in underwater long-distance and small-target imaging detection scenes.