CN-121145462-B - Underwater static perception model construction method based on terrain fine grid division

CN121145462BCN 121145462 BCN121145462 BCN 121145462BCN-121145462-B

Abstract

The invention discloses an underwater static perception model construction method based on terrain fine grid division, and belongs to the field of underwater visual perception. And (3) carrying out fine grid division on the underwater topography data, and mapping the underwater vehicle to the corresponding grid position through the position, so as to construct a static perception model. And constructing a near unsafe area grid set by combining the surrounding environment of the lake, the topography of the lake bottom and the safe navigation depth, calculating the grid of the underwater vehicle in the future in real time, and giving an alarm if the intersection exists with the unsafe area grid set. The model can accurately sense the underwater static environment and ensure the safe operation of the underwater vehicle.

Inventors

XU MINGJIN
GAO XIAOPENG
KE YONGSHENG
YE QING
HUO CONG

Assignees

中国人民解放军海军工程大学

Dates

Publication Date: 20260512
Application Date: 20250915

Claims (5)

1. The method for constructing the underwater static perception model based on the fine grid division of the terrain is characterized by comprising the following steps of: acquiring underwater topography data, and meshing an underwater space based on the underwater topography data; Mapping the underwater vehicle into a corresponding grid, and establishing an underwater static perception model; constructing a grid set of a near-unsafe area according to the surrounding environment of the lake, the topography data of the lake bottom and the safe navigation depth; for each underwater vehicle, calculating the grid where the underwater vehicle is located after the preset time, if the grid intersects with the grid set in the near unsafe area, judging that the underwater vehicle is lower than the safe operation depth or the safe operation height, and giving an alarm; the underwater static perception model comprises space grid codes, objects, attributes and associated information, wherein the space grid codes are grids used for identifying division, the objects comprise lake bottom topography and underwater submarines, the attributes comprise water depth, topography gradient and geology type in the grids, and the associated information comprises adjacent relations among the grids and relations with surrounding environments of the lake; And when the grid set of the near unsafe zone is constructed, the influence of the water flow speed and the water temperature environment factors on the safe navigation depth or the safe navigation height is also considered.
2. The method for constructing an underwater static perception model based on fine meshing of terrains according to claim 1, wherein meshing of the underwater space based on underwater topography data comprises determining the size and shape of a mesh for meshing according to the complexity of underwater topography and a preset accuracy requirement; If the underwater topography is complex, a grid with a smaller size is adopted to improve the capturing capability of topography details; If the underwater topography is flat, the computational complexity is reduced by using a larger-sized grid, where the larger and smaller are only relative terms.
3. The method for constructing the underwater static perception model based on the fine meshing of the terrain according to claim 1, wherein the calculation of the mesh of the underwater vehicle after the preset time is calculated by a kinematic formula according to the current position, the movement speed, the movement direction and the preset time interval of the underwater vehicle.
4. The method for constructing an underwater static perception model based on fine meshing of terrains according to claim 1, wherein the step of sending an alarm comprises sending an adjustment operation instruction to the underwater vehicle and sending alarm information to a remote monitoring platform.
5. The method for constructing an underwater static perception model based on fine meshing of terrains according to claim 1, wherein the underwater terrains data are acquired by underwater terrains measuring equipment including a multi-beam sounding system and a side-scan sonar.

Description

Underwater static perception model construction method based on terrain fine grid division Technical Field The invention relates to the technical field of underwater visual perception, in particular to an underwater static perception model construction method based on fine grid division of topography. Background In the underwater operation and exploration process, accurate perception of the underwater environment is important. The underwater environment is complex and changeable, various topography, subsurface flow and other factors exist, and when underwater equipment such as an underwater vehicle and the like operates, the environment where the underwater equipment is positioned needs to be known in real time so as to ensure safe operation. The existing underwater environment sensing technology has a plurality of defects. On one hand, the perception of underwater topography is not fine enough, complex underwater topography details cannot be accurately presented, so that the underwater vehicle lacks accurate basis when planning a path and judging safety, and on the other hand, the existing perception model is difficult to effectively combine underwater topography, equipment position and safety factors, and early warning can not be timely carried out on potential dangerous situations. For example, when working in a water area such as a lake, it is impossible to accurately determine whether or not an underwater vehicle is in a dangerous area according to the topography of the bottom of the lake and the safe navigation depth, and accidents such as equipment collision and stranding are easily caused. Therefore, there is a need for a model and method that can achieve fine underwater environmental awareness and effectively ensure safe operation of underwater equipment. Disclosure of Invention The invention aims to provide an underwater static perception model construction method based on terrain fine grid division, which aims to solve the problems in the background technology. In order to solve the technical problems, the invention provides an underwater static perception model construction method based on terrain fine grid division, which comprises the following steps: acquiring underwater topography data, and meshing an underwater space based on the underwater topography data; Mapping the underwater vehicle into a corresponding grid, and establishing an underwater static perception model; constructing a grid set of a near-unsafe area according to the surrounding environment of the lake, the topography data of the lake bottom and the safe navigation depth; And calculating the grid of each underwater vehicle after the preset time, judging that the grid is lower than the safe operation depth or the safe operation height if the grid intersects with the grid set of the near unsafe area, and giving an alarm. In one embodiment, the mesh division of the underwater space based on the underwater topography data includes determining the size and shape of the mesh to be divided according to the complexity of the underwater topography and a preset accuracy requirement; If the underwater topography is complex, a grid with a smaller size is adopted to improve the capturing capability of topography details; If the underwater topography is flat, the computational complexity is reduced by using a larger-sized grid, where the larger and smaller are only relative terms. In one embodiment, the underwater static perceptual model comprises spatial grid codes, objects, attributes and associated information, The space grid codes are grids used for marking division, the objects comprise lake bottom topography and underwater submarines, the attributes comprise water depths, topography gradients and geological types in the grids, and the association information comprises adjacent relations between the grids and relations between the adjacent grids and surrounding environments of the lakes. In one embodiment, the calculation of the grid where the underwater vehicle is located after the preset time is calculated according to the current position, the movement speed, the movement direction and the preset time interval of the underwater vehicle through a kinematic formula. In one embodiment, the issuing an alert includes sending an adjustment operation command to the underwater vehicle while sending alert information to a remote monitoring platform. In one embodiment, the grid set of the near unsafe zone is constructed by taking into consideration the influence of water flow speed and water temperature environmental factors on safe navigation depth or altitude. In one embodiment, the underwater topography data is acquired by an underwater topography measurement device including a multi-beam sounding system, a side scan sonar. The underwater static perception model construction method based on the terrain fine grid division has the following beneficial effects: (1) Fine environment sensing, namely based on underwater topography fine grid divi