CN105129057A - Submerged reef avoid method using dual-image filtering - Google Patents
Submerged reef avoid method using dual-image filtering Download PDFInfo
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- CN105129057A CN105129057A CN201510470513.3A CN201510470513A CN105129057A CN 105129057 A CN105129057 A CN 105129057A CN 201510470513 A CN201510470513 A CN 201510470513A CN 105129057 A CN105129057 A CN 105129057A
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Abstract
The invention relates to a submerged reef avoid method using dual-image filtering; the method comprises the following steps:1, the submerged reef avoid method using dual-image filtering is applied on a submarine, and comprises a submarine front mount, a submerged reef discrimination device and an myriametric wave communication device, wherein the submerged reef discrimination device is arranged on the submarine front mount and used for detecting whether submerged reef exists or not in the water in front of the submarine, so the submarine can use the myriametric wave communication device to send submerged reef correlation information to a waterborne platform; 2, operating the system. The method can help the submarine to automatically avoid the underwater submerged reefs, thus improving driving reliability.
Description
Technical field
The present invention relates to image filtering field, particularly relate to a kind of submerged reef preventing collision method adopting ghost filtering.
Background technology
Submarine in motion, if front submerged reef is too high, then front end easily and submerged reef collide, thus cause submarine impaired.In order to avoid occurring that submarine and ledge collision situation occur, need to settle submerged reef checking system in submarine front end, but, system not such in prior art.
For this reason, the present invention proposes a kind of submerged reef avoidance system adopting ghost filtering, relate to the civilian design of submarine, can according to the particular case of submarine front submerged reef, determine concrete processing policy, realize effectively hiding submerged reef, thus avoid the accident of colliding with submerged reef to occur.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides a kind of submerged reef avoidance system adopting ghost filtering, add the high precision submerged reef identification equipment comprising the sub-device of self adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation, the sub-device of scattering light filtering and target recognin device, be aided with scattering light eliminating equipment under water, make every effort to accurately identify submarine front submerged reef, and determine concrete processing mode according to the width of front submerged reef.
According to an aspect of the present invention, provide a kind of submerged reef preventing collision method adopting ghost filtering, the method comprises: 1) provide a kind of submerged reef avoidance system adopting ghost filtering, described avoidance system is for submarine, comprise submarine front end fixed mount, submerged reef distinguishes device and myriametric wave communication device, described submerged reef distinguishes that device is positioned on the fixed mount of described submarine front end, whether submerged reef is there is under water, so that submarine transmits submerged reef relevant information by described myriametric wave communication device and above water platform for what detect submarine front end; 2) described system is run.
More specifically, in the submerged reef avoidance system of described employing ghost filtering, also comprise: excavating equipment, be arranged on the fixed mount of described submarine front end, comprise digging motor and excavate actuator, described excavation actuator is connected with described digging motor, for excavating front submerged reef, positioning devices, comprise inertial navigation locator device and the sub-device of water acoustic navigation, described inertial navigation locator device and the sub-device of described water acoustic navigation is used to carry out co-located, based on the output of described inertial navigation locator device and the sub-device of described water acoustic navigation, determine the current position determination data of described submarine, static memory devices, submerged reef tonal range and all kinds of submerged reef benchmark masterplate are prestored, described submerged reef tonal range is used for the submerged reef in image and background separation, described all kinds of submerged reef benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark submerged reef, also prestore submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value, described submerged reef area threshold is directly proportional to excavating equipment horsepower output, described submerged reef height threshold is directly proportional to the instantaneous horsepower output that climbs of submarine driving arrangement, described submerged reef width threshold value is directly proportional to the instantaneous horsepower output that detours of submarine driving arrangement, underwater camera device, be arranged on the fixed mount of described submarine front end, comprise semisphere watertight transparent cover, the sub-device of floor light, CMOS camera and the sub-device of ultrasonic ranging, described semisphere watertight transparent cover is for holding the sub-device of described floor light and described CMOS camera, the sub-device of described ultrasonic ranging is used for objects ahead range finding to obtain objects ahead distance, the sub-device of described floor light provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead, described submerged reef distinguishes device, is arranged on the fixed mount of described submarine front end, comprises the sub-device of self adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation, the sub-device of scattering light filtering and target recognin device, the sub-device of described self adaptation recursive filtering is connected with described CMOS camera, for performing the process of self adaptation recursive filtering to described underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains self adaptation recursive filtering image, the sub-device of described medium filtering is connected with the sub-device of described self adaptation recursive filtering, for performing medium filtering process to described self adaptation recursive filtering image, with the water particle scattering composition in self adaptation recursive filtering image described in filtering, obtains medium filtering image, described change of scale enhancer device is connected with the sub-device of described medium filtering, strengthening process, to strengthen the contrast ratio of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image, the sub-device of described Target Segmentation is connected with described change of scale enhancer device, by all pixel composition submerged reef subimages of grey scale pixel value in described enhancing image in described submerged reef tonal range, the sub-device of described scattering light filtering is connected respectively with the sub-device of described Target Segmentation, the sub-device of described ultrasonic ranging and the sub-device of described floor light, to obtain floor light brightness described in described objects ahead Distance geometry, and remove the scattering light composition formed on submerged reef because the sub-device of floor light irradiates in described submerged reef subimage based on floor light brightness described in described objects ahead Distance geometry, to obtain sharpening submerged reef subimage, described target recognin device is connected respectively with the sub-device of described scattering light filtering and described static memory devices, mated one by one with all kinds of submerged reef benchmark masterplate by described sharpening submerged reef subimage, submerged reef type corresponding to output matching successful submerged reef benchmark masterplate is as target submerged reef type, submerged reef state analysis equipment, distinguish that device and the sub-device of described ultrasonic ranging are connected respectively with described submerged reef, when receiving described target submerged reef type, the area percentage occupying described underwater picture based on sharpening submerged reef subimage described in described objects ahead Distance geometry calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described underwater picture based on sharpening submerged reef subimage described in described objects ahead Distance geometry calculates ledge height, the width percentage occupying described underwater picture transverse width based on sharpening submerged reef subimage transverse width described in described objects ahead Distance geometry calculates ledge width, embedded processing device, be arranged on the fixed mount of described submarine front end, distinguish that device and described myriametric wave communication device are connected respectively with described positioning devices, described underwater camera device, described submerged reef, for when receiving described target submerged reef type, described sharpening submerged reef subimage is carried out the image compression encoding based on MPEG-4 compression standard, to obtain compression submerged reef subimage, described compression submerged reef subimage, described target submerged reef type and described current position determination data are sent to above water platform by described myriametric wave communication device, with described submerged reef state analysis equipment, described submerged reef, described embedded processing device also distinguishes that device and described static memory devices are connected respectively, when receiving described target submerged reef type, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern, wherein, described embedded processing device operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal, described embedded processing device is also connected with submarine driving arrangement, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to submarine driving arrangement, described embedded processing device is also connected with described excavation actuator, so that described excavation drive singal is sent to described excavation actuator.
More specifically, in the submerged reef avoidance system of described employing ghost filtering: described embedded processing device, when to receive described target submerged reef type be hazard types, sends alerting signal by described myriametric wave communication device to described above water platform.
More specifically, in the submerged reef avoidance system of described employing ghost filtering: described submerged reef state analysis equipment and described embedded processing device are integrated on one piece of surface-mounted integrated circuit.
More specifically, in the submerged reef avoidance system of described employing ghost filtering: the sub-device of described self adaptation recursive filtering, the sub-device of described medium filtering, described change of scale enhancer device, the sub-device of described Target Segmentation, the sub-device of described scattering light filtering and described target recognin device adopt different fpga chips to realize respectively.
More specifically, in the submerged reef avoidance system of described employing ghost filtering: described static memory devices is SDARM.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the submerged reef avoidance system of the employing ghost filtering illustrated according to an embodiment of the present invention.
Reference numeral: 1 submarine front end fixed mount; 2 submerged reefs distinguish device; 3 myriametric wave communication devices
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the submerged reef avoidance system of employing ghost of the present invention filtering is described in detail.
The safety performance of submarine is one of problem of Submarine Design person's overriding concern always, because underwater reefs shape is different, distribution does not have rule, reef particular case cannot people be anticipation, need to carry out concrete shape detection to submarine front reef, but, due to particular surroundings under water, lack corresponding submerged reef in prior art and detect and processing scheme.
In order to overcome above-mentioned deficiency, the present invention has built a kind of submerged reef avoidance system adopting ghost filtering, and the particular case based on ledge formulates different processing policies, thus avoids submerged reef and submarine to bump against.
Fig. 1 is the block diagram of the submerged reef avoidance system of the employing ghost filtering illustrated according to an embodiment of the present invention, described avoidance system is arranged on submarine, comprise submarine front end fixed mount, submerged reef distinguishes device and myriametric wave communication device, described submerged reef distinguishes that device is positioned on the fixed mount of described submarine front end, whether submerged reef is there is under water, so that submarine transmits submerged reef relevant information by described myriametric wave communication device and above water platform for what detect submarine front end.
Then, continue to be further detailed the concrete structure of the submerged reef avoidance system of employing ghost of the present invention filtering.
Described avoidance system also comprises: excavating equipment, is arranged on the fixed mount of described submarine front end, and comprise digging motor and excavate actuator, described excavation actuator is connected with described digging motor, for excavating front submerged reef.
Described avoidance system also comprises: positioning devices, comprise inertial navigation locator device and the sub-device of water acoustic navigation, described inertial navigation locator device and the sub-device of described water acoustic navigation is used to carry out co-located, based on the output of described inertial navigation locator device and the sub-device of described water acoustic navigation, determine the current position determination data of described submarine.
Described avoidance system also comprises: static memory devices, submerged reef tonal range and all kinds of submerged reef benchmark masterplate are prestored, described submerged reef tonal range is used for the submerged reef in image and background separation, described all kinds of submerged reef benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark submerged reef, also prestore submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value, described submerged reef area threshold is directly proportional to excavating equipment horsepower output, described submerged reef height threshold is directly proportional to the instantaneous horsepower output that climbs of submarine driving arrangement, described submerged reef width threshold value is directly proportional to the instantaneous horsepower output that detours of submarine driving arrangement.
Described avoidance system also comprises: underwater camera device, be arranged on the fixed mount of described submarine front end, comprise semisphere watertight transparent cover, the sub-device of floor light, CMOS camera and the sub-device of ultrasonic ranging, described semisphere watertight transparent cover is for holding the sub-device of described floor light and described CMOS camera, the sub-device of described ultrasonic ranging is used for objects ahead range finding to obtain objects ahead distance, the sub-device of described floor light provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera comprises the underwater picture of objects ahead with acquisition to objects ahead shooting.
Described submerged reef distinguishes device, is arranged on the fixed mount of described submarine front end, comprises the sub-device of self adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation, the sub-device of scattering light filtering and target recognin device; The sub-device of described self adaptation recursive filtering is connected with described CMOS camera, for performing the process of self adaptation recursive filtering to described underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains self adaptation recursive filtering image; The sub-device of described medium filtering is connected with the sub-device of described self adaptation recursive filtering, for performing medium filtering process to described self adaptation recursive filtering image, with the water particle scattering composition in self adaptation recursive filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer device is connected with the sub-device of described medium filtering, strengthening process, to strengthen the contrast ratio of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; The sub-device of described Target Segmentation is connected with described change of scale enhancer device, by all pixel composition submerged reef subimages of grey scale pixel value in described enhancing image in described submerged reef tonal range; The sub-device of described scattering light filtering is connected respectively with the sub-device of described Target Segmentation, the sub-device of described ultrasonic ranging and the sub-device of described floor light, to obtain floor light brightness described in described objects ahead Distance geometry, and remove the scattering light composition formed on submerged reef because the sub-device of floor light irradiates in described submerged reef subimage based on floor light brightness described in described objects ahead Distance geometry, to obtain sharpening submerged reef subimage; Described target recognin device is connected respectively with the sub-device of described scattering light filtering and described static memory devices, mated one by one with all kinds of submerged reef benchmark masterplate by described sharpening submerged reef subimage, submerged reef type corresponding to output matching successful submerged reef benchmark masterplate is as target submerged reef type.
Described avoidance system also comprises: submerged reef state analysis equipment, distinguish that device and the sub-device of described ultrasonic ranging are connected respectively with described submerged reef, when receiving described target submerged reef type, the area percentage occupying described underwater picture based on sharpening submerged reef subimage described in described objects ahead Distance geometry calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described underwater picture based on sharpening submerged reef subimage described in described objects ahead Distance geometry calculates ledge height, the width percentage occupying described underwater picture transverse width based on sharpening submerged reef subimage transverse width described in described objects ahead Distance geometry calculates ledge width.
Described avoidance system also comprises: embedded processing device, be arranged on the fixed mount of described submarine front end, with described positioning devices, described underwater camera device, described submerged reef distinguishes that device is connected respectively with described myriametric wave communication device, for when receiving described target submerged reef type, described sharpening submerged reef subimage is carried out the image compression encoding based on MPEG-4 compression standard, to obtain compression submerged reef subimage, by described compression submerged reef subimage, described target submerged reef type and described current position determination data are sent to above water platform by described myriametric wave communication device.
With described submerged reef state analysis equipment, described submerged reef, described embedded processing device also distinguishes that device and described static memory devices are connected respectively, when receiving described target submerged reef type, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern.
Described embedded processing device operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal.
Described embedded processing device is also connected with submarine driving arrangement, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to submarine driving arrangement; Described embedded processing device is also connected with described excavation actuator, so that described excavation drive singal is sent to described excavation actuator.
Alternatively, in the submerged reef avoidance system of described employing ghost filtering: described embedded processing device, when to receive described target submerged reef type be hazard types, sends alerting signal by described myriametric wave communication device to described above water platform; Described submerged reef state analysis equipment and described embedded processing device are integrated on one piece of surface-mounted integrated circuit; The sub-device of described self adaptation recursive filtering, the sub-device of described medium filtering, described change of scale enhancer device, the sub-device of described Target Segmentation, the sub-device of described scattering light filtering and described target recognin device adopt different fpga chips to realize respectively; And described static memory devices is SDARM.
In addition, FPGA (Field-ProgrammableGateArray), i.e. field programmable gate array, he is the product further developed on the basis of the programming devices such as PAL, GAL, CPLD.He occurs as a kind of semi-custom circuit in special IC (ASIC) field, has both solved the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.
With the circuit layout that hardware description language (Verilog or VHDL) completes, can through simple comprehensive and layout, fast speed is burned onto on FPGA and tests, and is the technology main flow of modern IC designs checking.These can be edited element and can be used to realize some basic logic gates (such as AND, OR, XOR, NOT) or more more complex combination function such as demoder or mathematical equation.Inside most FPGA, in these editable elements, also comprise memory cell such as binary pair (Flip-flop) or other more complete block of memory.System designer can be coupled together the logical block of FPGA inside by editable connection as required, just looks like that a breadboard has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA can change according to designer with being connected, so FPGA can complete required logic function.
FPGA is in general slow than the speed of ASIC (special IC), realizes same function ratio ASIC circuit area and wants large.But they also have a lot of advantages such as can finished product fast, can be modified the mistake in correction program and more cheap cost.Manufacturer also may provide the FPGA of cheap still edit capability difference.Because these chips have poor can edit capability, so exploitations of these designs complete on common FPGA, then design is transferred to one and is similar on the chip of ASIC.Another method is with CPLD (ComplexProgrammableLogicDevice, CPLD).The exploitation of FPGA has a great difference relative to the exploitation of conventional P C, main control equipment.FPGA, based on concurrent operation, realizes with hardware description language; Very large difference is had compared to the operation in tandem of PC or main control equipment (no matter being von Neumann structure or Harvard structure).
As far back as 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA includes the Programmadle logic unit of some relatively large amount.The density of CPLD logical gate is between several thousand to several ten thousand logical blocks, and FPGA normally arrives millions of several ten thousand.The key distinction of CPLD and FPGA is their system architecture.CPLD is a somewhat restrictive structure.This structure is arranged by the logical groups of one or more editable result sum and forms with the register of the locking of some relatively small amounts.Such result lacks editor's alerting ability, but but have the delay time and logical block that can estimate to the advantage of linkage unit height ratio.And FPGA has a lot of linkage units, although allow him edit more flexibly like this, structure is complicated many.
Adopt the submerged reef avoidance system of employing ghost of the present invention filtering, for the technical matters lacking submarine front end reef detection technique in prior art and cause easily hitting a submerged reef, the front-end architecture of transformation submarine, increase submarine front end fixed mount to arrange high precision submerged reef check implement and the analytical equipment of applicable underwater environment, to carry out according to submerged reef particular case different hiding process, improve the safety performance that submarine travels.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1. adopt a submerged reef preventing collision method for ghost filtering, the method comprises:
1) a kind of submerged reef avoidance system adopting ghost filtering is provided, described avoidance system is for submarine, comprise submarine front end fixed mount, submerged reef distinguishes device and myriametric wave communication device, described submerged reef distinguishes that device is positioned on the fixed mount of described submarine front end, whether submerged reef is there is under water, so that submarine transmits submerged reef relevant information by described myriametric wave communication device and above water platform for what detect submarine front end;
2) described system is run.
2. the method for claim 1, is characterized in that, described avoidance system also comprises:
Excavating equipment, is arranged on the fixed mount of described submarine front end, and comprise digging motor and excavate actuator, described excavation actuator is connected with described digging motor, for excavating front submerged reef;
Positioning devices, comprise inertial navigation locator device and the sub-device of water acoustic navigation, described inertial navigation locator device and the sub-device of described water acoustic navigation is used to carry out co-located, based on the output of described inertial navigation locator device and the sub-device of described water acoustic navigation, determine the current position determination data of described submarine;
Static memory devices, submerged reef tonal range and all kinds of submerged reef benchmark masterplate are prestored, described submerged reef tonal range is used for the submerged reef in image and background separation, described all kinds of submerged reef benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark submerged reef, also prestore submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value, described submerged reef area threshold is directly proportional to excavating equipment horsepower output, described submerged reef height threshold is directly proportional to the instantaneous horsepower output that climbs of submarine driving arrangement, described submerged reef width threshold value is directly proportional to the instantaneous horsepower output that detours of submarine driving arrangement,
Underwater camera device, be arranged on the fixed mount of described submarine front end, comprise semisphere watertight transparent cover, the sub-device of floor light, CMOS camera and the sub-device of ultrasonic ranging, described semisphere watertight transparent cover is for holding the sub-device of described floor light and described CMOS camera, the sub-device of described ultrasonic ranging is used for objects ahead range finding to obtain objects ahead distance, the sub-device of described floor light provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead;
Described submerged reef distinguishes device, is arranged on the fixed mount of described submarine front end, comprises the sub-device of self adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation, the sub-device of scattering light filtering and target recognin device; The sub-device of described self adaptation recursive filtering is connected with described CMOS camera, for performing the process of self adaptation recursive filtering to described underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains self adaptation recursive filtering image; The sub-device of described medium filtering is connected with the sub-device of described self adaptation recursive filtering, for performing medium filtering process to described self adaptation recursive filtering image, with the water particle scattering composition in self adaptation recursive filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer device is connected with the sub-device of described medium filtering, strengthening process, to strengthen the contrast ratio of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; The sub-device of described Target Segmentation is connected with described change of scale enhancer device, by all pixel composition submerged reef subimages of grey scale pixel value in described enhancing image in described submerged reef tonal range; The sub-device of described scattering light filtering is connected respectively with the sub-device of described Target Segmentation, the sub-device of described ultrasonic ranging and the sub-device of described floor light, to obtain floor light brightness described in described objects ahead Distance geometry, and remove the scattering light composition formed on submerged reef because the sub-device of floor light irradiates in described submerged reef subimage based on floor light brightness described in described objects ahead Distance geometry, to obtain sharpening submerged reef subimage; Described target recognin device is connected respectively with the sub-device of described scattering light filtering and described static memory devices, mated one by one with all kinds of submerged reef benchmark masterplate by described sharpening submerged reef subimage, submerged reef type corresponding to output matching successful submerged reef benchmark masterplate is as target submerged reef type;
Submerged reef state analysis equipment, distinguish that device and the sub-device of described ultrasonic ranging are connected respectively with described submerged reef, when receiving described target submerged reef type, the area percentage occupying described underwater picture based on sharpening submerged reef subimage described in described objects ahead Distance geometry calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described underwater picture based on sharpening submerged reef subimage described in described objects ahead Distance geometry calculates ledge height, the width percentage occupying described underwater picture transverse width based on sharpening submerged reef subimage transverse width described in described objects ahead Distance geometry calculates ledge width,
Embedded processing device, be arranged on the fixed mount of described submarine front end, distinguish that device and described myriametric wave communication device are connected respectively with described positioning devices, described underwater camera device, described submerged reef, for when receiving described target submerged reef type, described sharpening submerged reef subimage is carried out the image compression encoding based on MPEG-4 compression standard, to obtain compression submerged reef subimage, described compression submerged reef subimage, described target submerged reef type and described current position determination data are sent to above water platform by described myriametric wave communication device; With described submerged reef state analysis equipment, described submerged reef, described embedded processing device also distinguishes that device and described static memory devices are connected respectively, when receiving described target submerged reef type, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern;
Wherein, described embedded processing device operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal;
Wherein, described embedded processing device is also connected with submarine driving arrangement, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to submarine driving arrangement;
Wherein, described embedded processing device is also connected with described excavation actuator, so that described excavation drive singal is sent to described excavation actuator.
3. method as claimed in claim 2, is characterized in that:
Described embedded processing device, when to receive described target submerged reef type be hazard types, sends alerting signal by described myriametric wave communication device to described above water platform.
4. method as claimed in claim 2, is characterized in that:
Described submerged reef state analysis equipment and described embedded processing device are integrated on one piece of surface-mounted integrated circuit.
5. method as claimed in claim 2, is characterized in that:
The sub-device of described self adaptation recursive filtering, the sub-device of described medium filtering, described change of scale enhancer device, the sub-device of described Target Segmentation, the sub-device of described scattering light filtering and described target recognin device adopt different fpga chips to realize respectively.
6. method as claimed in claim 2, is characterized in that:
Described static memory devices is SDARM.
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