CN112967302B - Monitoring method for underwater security intrusion target of nuclear power plant - Google Patents
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Abstract
The invention relates to a monitoring method of an underwater security intrusion target of a nuclear power plant, which comprises the following steps: 1) Monitoring an underwater security intrusion target of the nuclear power plant through sonar monitoring equipment, and obtaining the acoustic monitoring density of the underwater security intrusion target; 2) Monitoring an underwater security intrusion target of the nuclear power plant through optical imaging equipment, and obtaining the optical monitoring density of the underwater security intrusion target; 3) Carrying out data fusion on the acoustic monitoring density in the step 1) and the optical monitoring density in the step 2) to obtain an acousto-optic reconstruction model rho of the underwater security intrusion target of the nuclear power plant; 4) And (3) calculating the intrusion intensity of the underwater security intrusion target reaching the sensitive part by combining the acousto-optic reconstruction model and the space information in the step (3). According to the monitoring method for the underwater security intrusion target of the nuclear power plant, provided by the invention, the intrusion intensity of the underwater security intrusion target of the nuclear power plant can be quantitatively monitored through a series of scientific calculations such as acoustics, optics, acousto-optic combination, time-space domain models and the like, so that guidance is provided for an automatic monitoring system of the underwater security intrusion target of the nuclear power plant.
Description
Technical Field
The invention relates to a monitoring method of an underwater security intrusion target of a nuclear power plant.
Background
Most nuclear power plants in China are in coastal (water) areas, wherein important structures such as a cooling water taking system and a drainage system are directly or indirectly connected with a water area, and underwater security is a concern in the field of nuclear security in recent years. The current nuclear power plant underwater security field is assisted by equipment such as a blocking net, fishery sonar and the like which are arranged for guaranteeing invasion of cold source underwater security invasion targets, and risk assessment and technical measures aiming at underwater artificial invasion are relatively lacking, so that the requirements of nuclear security three-dimensional and deep defense are difficult to meet.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects of the prior art and achieve the above-mentioned objects, and an object of the present invention is to provide a method for monitoring an intrusion target of underwater security in a nuclear power plant.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a monitoring method of an underwater security intrusion target of a nuclear power plant comprises the following steps:
1) Monitoring an underwater security intrusion target of a nuclear power plant through sonar monitoring equipment, and obtaining acoustic monitoring density sigma of the underwater security intrusion target 1 ；
2) Monitoring an underwater security intrusion target of a nuclear power plant through optical imaging equipment, and obtaining optical monitoring density sigma of the underwater security intrusion target 2 ；
3) Acoustic monitoring density σ for step 1) 1 And optically monitoring the density sigma of step 2) 2 Performing data fusion to obtain an acousto-optic reconstruction model rho of an underwater security intrusion target of the nuclear power plant;
4) And (3) calculating the intrusion intensity of the underwater security intrusion target reaching the sensitive part by combining the acousto-optic reconstruction model and the space information in the step (3). The spatial information comprises the distance between the monitoring point and the sensitive part, the water flow speed and the like. : the sensitive part refers to a weak position of the underwater security of the nuclear power plant, such as a water intake pump station and the like.
According to some preferred embodiments of the invention, the acoustic monitoring density σ in step 1) is 1 The calculation is performed according to the following formula:
in which the density sigma is monitored acoustically 1 For monitoring statistics of targets within a range, the unit is ind/m 3 ；
V is the sea water volume in the sonar monitoring range;
n is the number of spherical slices obtained by dividing the sonar monitoring range;
m is the number of the partitioned water bodies surrounded by N spherical slices;
m, N is determined according to Max (diameter, height) of the monitored object;
C i and projecting the number of the intrusion targets to the gray image values of the spherical slices for underwater security of the spherical slices.
According to some preferred embodiments of the invention, in formula (1)The formula (1) is simplified as follows:
according to some preferred embodiments of the invention, wherein C i Calculated according to the following formula:
wherein A is a corresponding spherical slice.
According to some preferred embodiments of the invention, the optical monitoring density σ in step 2) 2 The calculation of (1) comprises the following steps:
(1) let the gray image of the optical monitoring of the underwater security intrusion target be F (x, y), the horizontal gradient be F x Vertical gradient of F y The scale of the gray level image, the horizontal gradient and the vertical gradient is m multiplied by n;
(2) calculating the horizontal gradient F of the gray image F (x, y) x And a vertical gradient F y ；
(3) Let the gradient operator of the original image F (x, y) v f=f x i+F y The modulus of j isIntroducing a threshold delta to listMarking the point on the module V F & gtdelta of the gradient in the original underwater security intrusion target monitoring gray level image F (x, y) as 1 and regarding the point as the boundary point of the biomass of the monitoring area, thereby obtaining a binary image F with the point of the gradient module larger than the threshold delta in the original image as 1 1 (x,y)；
(4) For sharpened image f 1 (x, y) edge detection is carried out by adopting Canny operator to obtain an image f 2 (x,y)；
(5) Performing closed operation on the binary image by using morphological theory closed operation to form an image f 3 (x, y), and then to f 3 (x, y) filling holes by morphological dilation operation to obtain an image denoted as f 4 (x,y)；
(6) By f 4 The number of pixels of the underwater security intrusion target is divided by the number of total pixels of the image, the duty ratio of the underwater security intrusion target in the image is calculated, and the optical monitoring density of the underwater security intrusion target of the nuclear power plant in the monitoring range is obtained, namely: sigma (sigma) 2 ＝f 4 (x,y)/f(x,y)。
According to some preferred embodiments of the invention, the step (2) calculates the horizontal gradient F of the gray image F (x, y) x The method comprises the following steps: let x denote any row, F x The first column element of (a) is obtained from the original image f (x, 2) -f (x, 1), the last column (nth column) is obtained from the original image f (x, n) -f (x, n-1), and the 2 nd to n-1 th columns are obtained from the formulaCalculated, where i=2, 3, …, n-1.
According to some preferred embodiments of the present invention, the edge detection in step (4) comprises the steps of: smoothing the image by using a Gaussian filter to calculate the module length and direction of the filtered image, finding out local maximum points of image gradients, setting other non-local maximum points to zero to obtain a thinned edge of the monitored image, detecting the image by using a double-threshold method and processing discontinuous edges to ensure that the edges are continuous.
According to the inventionIn some preferred embodiments, step 3) is performed by acoustically monitoring the density σ during data fusion 1 As basic data, introducing an acousto-optic composite weight variable p to obtain a reconstruction model rho=p×σ 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the variable p is represented by sigma 2 Sum sigma 1 Ratio determination, namely: p=σ 2 /σ 1 。
According to some preferred embodiments of the invention, the variable p is defined as follows:
when p is more than or equal to 2, defining absolute enhancement, and taking the value of p as 2;
when p is less than or equal to 1.5 and less than 2, the reinforcement is defined, and the value of p is 1.5;
when p is more than or equal to 0.6 and less than 1.5, defining the values as consistent, and taking the value of p as 1;
when p is more than or equal to 0.4 and less than 0.6, the weakening is defined, and the value of p is 0.5;
when p is more than or equal to 0.2 and less than 0.4, the absolute weakening is defined, and the value of p is 0.2;
when p is less than 0.2, the detection distortion is defined as that the value of p is 0.
According to some preferred implementation aspects of the invention, a water intake pump station with highest underwater sensitivity of a nuclear power plant is taken as a protection part, and an intrusion intensity model comprising a time-space domain is constructed
The time-space domain model is an intrusion intensity monitoring model of an underwater security intrusion target of the nuclear power plant, wherein the intrusion intensity monitoring model comprises time and space elements and is related to an acousto-optic reconstruction model;
delta is the magnitude of seawater entering the water intake in the monitoring point area;
q: throughput per second;
l: the distance from the monitoring point to the nearest pump station;
v: the water flow rate;
θ: the direction angle of the water flow at the water intake at the monitoring point;
due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages: according to the monitoring method for the underwater security intrusion target of the nuclear power plant, provided by the invention, the intrusion intensity of the underwater security intrusion target of the nuclear power plant can be quantitatively monitored through a series of scientific calculations such as acoustics, optics, acousto-optic combination, time-space domain models and the like, so that guidance is provided for an automatic monitoring system of the underwater security intrusion target of the nuclear power plant.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of a general architecture of an intrusion target monitoring model for nuclear power plant underwater security in a preferred embodiment of the present invention;
FIG. 2 is a schematic slice view of sonar ranging for monitoring in a preferred embodiment of the present invention;
FIG. 3 is a flow chart of sonar data analysis and processing in a preferred embodiment of the present invention;
FIG. 4 is a graph showing the result of underwater video image processing in a preferred embodiment of the present invention;
fig. 5 is a logic diagram of the reconstruction of acousto-optic composite data in a preferred embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Solution of the inventionThe technical problems in two aspects are solved, firstly, an evaluation model of the underwater security intrusion target is determined through a scientific method, and secondly, the underwater security intrusion target of the nuclear power plant is monitored and early-warned through systematic design, so that the security level of the nuclear power plant is improved. In order to solve the technical problems, the monitoring method for the underwater security intrusion target of the nuclear power plant mainly comprises the following steps: (1) And establishing a scientific online monitoring system, and collecting monitoring data. Through setting an online system and collecting data, a certain sample is formed in a data pool, and acoustic monitoring data body sigma is respectively constructed after data preprocessing 1 Optical monitoring data body sigma 2 Both are included as threat sample elements into the early warning model; (2) Establishing an acousto-optic monitoring reconstruction model for the acoustic monitoring data body and the optical monitoring data body by adopting a certain method, and calculating to obtain a static intrusion intensity value; (3) Through data acquisition and modeling of specific association factors such as distance, water flow speed, throughput and the like, an underwater invasion time-space domain model is built to realize dynamic monitoring, and further dynamic threat intensities (time-space domain models) of different threat samples in (2) are determined, so that a nuclear power plant is guided to develop corresponding defending work.
Further, the underwater security intrusion target monitoring system in the step (1) mainly comprises the following steps: a. the sonar monitoring equipment and the optical imaging equipment with the highest underwater monitoring accuracy are adopted for on-line monitoring and data integration, the measuring accuracy of a single sensor is improved, two kinds of fused data are associated in a fusion center, and finally decision judgment is carried out, so that a fused judgment result is used as the calculation of intrusion intensity; b. an online monitoring and early warning framework (figure 1) is established through calculation of the intrusion intensity of the monitored target.
Further, the step (2) of monitoring data acquisition and data processing mainly comprises the following steps: a. slicing distribution density meeting the RES characteristic of an intrusion target in underwater acoustic information (figure 2), and calculating acoustic monitoring density of an intruder through a model (figure 3)Through underwater optical monitoringOptical automatic monitoring data of monitoring invader by device under test, and calculating optical monitoring density sigma by model 2 ＝f 4 (x, y)/f (x, y) (fig. 4).
Further, the acousto-optic monitoring model reconstruction and time space domain model design in the step (3) mainly comprises the following steps: a. the acousto-optic composite data reconstruction (figure 5) is carried out, and the intrusion intensity rho=p×sigma of fusion reconstruction is obtained by judging the acousto-optic monitoring density 1 (wherein p is a eigenvalue, taking p=σ 2 /σ 1 ) The method comprises the steps of carrying out a first treatment on the surface of the b. Preferably, a time-space domain model is built by taking a water intake pump station with highest underwater sensitivity of a nuclear power plant as a protection part (wherein, delta is the magnitude of seawater entering the water intake at the monitoring point area, Q is the flux per second, L is the distance from the monitoring point to the nearest pump station, v is the water flow speed, theta is the direction angle of the water flow at the water intake at the monitoring point, and Qis the flux per second>) And (3) integrating the sound and light on-line monitoring reconstruction data and the spatial information such as the positions of the monitoring points, the water flow speed and the like, and calculating the intrusion intensity N' of the underwater security intrusion target reaching the sensitive part.
Examples
The general architecture diagram of the nuclear power plant underwater intrusion monitoring model in this embodiment is further described with reference to fig. 1. The accuracy of the nuclear power plant underwater security intrusion target is closely related to the characteristics of the intrusion target and the characteristics of the underwater environment in monitoring and early warning, so that an underwater intrusion early warning and monitoring model is built by calculating the underwater intrusion intensity, and the model framework generally comprises three layers: (1) firstly, data acquisition and fusion of different monitoring elements; (2) secondly, determining invasion conditions of superposition external factors; (3) finally, an intrusion intensity model containing a time-space domain is established, and automatic calculation of the underwater intrusion intensity of the nuclear power plant is realized in an artificial intelligence mode.
Referring to fig. 1-5, the method for monitoring an intrusion target of underwater security in a nuclear power plant in this embodiment includes the following steps:
1) Monitoring an underwater security intrusion target of a nuclear power plant through sonar monitoring equipment, and obtaining acoustic monitoring density sigma of the underwater security intrusion target 1 。
The extraction, data analysis and processing modes of the sonar monitoring result are further described with reference to fig. 2 and 3.
As shown in fig. 2, the monitoring range of the sonar monitoring device is divided into N spherical slices from a minimum radius to a maximum radius by a horizontal open angle and a longitudinal open angle, denoted as A1, A2. Diameter (De), height (He).
When the number of underwater security intrusion targets in seawater is counted, firstly counting the number of the underwater security intrusion targets on each spherical slice, and then obtaining the statistic value of the underwater security intrusion targets in a monitoring range, wherein the statistic value is shown in the following formula:
wherein:
v: sonar monitoring range sea water volume;
C i : projecting the number of underwater security intrusion targets on each spherical surface to the gray image value of each spherical surface slice, and
the model for quantitatively evaluating the underwater security intrusion target by using the sonar monitoring equipment is obtained by the method, wherein the unit is ind/m 3 The method comprises the steps of carrying out a first treatment on the surface of the The following formula is shown:
by adopting the flow of FIG. 3, the sonar data is subjected to linear interpolation and preliminary display, further subjected to pretreatment through the processes of pattern enhancement and pattern denoising, further subjected to pattern segmentation through a threshold segmentation and moving target segmentation method, further subjected to target extraction and matching through a template matching algorithm, and finally obtained the acoustic data local body sigma of the nuclear power plant underwater security intrusion target 1 Thereby realizing automatic identification of the target.
2) Monitoring an underwater security intrusion target of a nuclear power plant through optical imaging equipment, and obtaining optical monitoring density sigma of the underwater security intrusion target 2 。
The way in which the optical monitoring results are extracted, data analyzed and processed is further described in connection with fig. 4.
The method comprises the steps of carrying out underwater security intrusion target monitoring of a nuclear power plant by utilizing an underwater low-light imaging technology, carrying out binarization processing on a monitoring original gray level image by comprehensively adopting an image sharpening method, an edge detection method, a boundary closing method and a hole filling method, obtaining a target image, and finally forming a binarization image of a monitoring target object separated from a background image. The specific process is as follows:
(1) firstly, setting a gray image of optical monitoring of an underwater security intrusion target as F (x, y) and a horizontal gradient as F x Vertical gradient of F y Wherein the scale of gray image, horizontal gradient and vertical gradient is m×n.
(2) Next, a horizontal gradient F of the gray image F (x, y) is calculated x And a vertical gradient F y . Let x denote any row, F x The first column element of (a) is obtained from the original image f (x, 2) -f (x, 1), the last column (nth column) is obtained from the original image f (x, n) -f (x, n-1), and the 2 nd to n-1 th columns are obtained from the formulaCalculated, where i=2, 3, …, n-1. Similarly, the vertical gradient F of the original image F (x, y) y Calculated in a similar manner, except that the rank rules are interchanged.
(3) Again, let the gradient operator f=f of the original image F (x, y) x i+F y The modulus of j isBecause sea water visibility is different in different sea areas and the same sea area, a threshold delta is introduced to represent a sea water background environment for noise filtering, delta is larger than 0, a point on a gradient model I, F I > delta in an original underwater security intrusion target monitoring gray level image F (x, y) is marked as 1 and is regarded as a boundary point of biomass of a monitoring area, and therefore a binary image F with the point of the gradient model larger than the threshold delta in the original image marked as 1 is obtained 1 (x,y)。
(4) Then, for the sharpened image f 1 (x, y) edge detection is carried out by adopting Canny operator to obtain an image f 2 The method comprises the steps of (x, y), firstly, smoothing an image by using a Gaussian filter to calculate the module length and direction of the filtered image, then, finding out local maximum points of image gradients, setting other non-local maximum points to zero to obtain a thinned edge of a monitored image, and finally, detecting the image by using a double-threshold method and processing discontinuous edges to ensure that the edges are continuous.
(5) Finally, closing operation is carried out on the binary image by utilizing morphological theory closing operation to form an image f 3 (x, y), and then to f 3 (x, y) filling holes by morphological dilation operation to obtain an image denoted as f 4 (x,y)。
(6) The binary image f of the optical monitoring of the underwater security intrusion target is obtained through the transformation 4 (x, y) the optical monitoring characteristics of the underwater security intrusion target are marked in the image, and f is utilized 4 The ratio of the underwater security intrusion target in the image can be calculated by dividing the number of pixels of the underwater security intrusion target by the number of total pixels of the image, namely the density of the underwater security intrusion target in the nuclear power plant in the monitoring range is calculated, namely: sigma (sigma) 2 ＝f 4 (x,y)/f(x,y)。
3) For the acoustics of step 1)Monitoring density sigma 1 And optically monitoring the density sigma of step 2) 2 And carrying out data fusion to obtain a reconstruction model rho of the threat target.
The acousto-optic composite monitoring model monitoring method is further described with reference to fig. 5.
Although sonar is used as a reliable underwater monitoring device in more fields, due to factors such as low sonar resolution, larger influence of other clutter reflections and the like, the accuracy is lower in the process of monitoring the underwater security intrusion target of the nuclear power plant based on sonar; although the underwater camera has high precision, the high requirement on environment and the close monitoring distance determine the only means which cannot be completely relied on for monitoring. Therefore, sonar is adopted as the most main monitoring means, and the underwater camera performs secondary verification and information comparison, so that the detection result is further verified, and the detection precision is improved.
Meanwhile, as the collected images of the cameras are flattened and the field of view is smaller, two modes are adopted in the design of the underwater camera monitoring system: (1) mobile rechecking adopts an intelligent linkage type underwater robot vision detection system; (2) the fixed installation is arranged on a fixed rack or a floating platform with the same direction and the same view field angle as the sonar. The consistency of underwater intrusion targets of the water body monitored by the sonar system and the underwater camera system at the same moment is ensured, information is convenient to be identical in attribute, the weight of the visual monitoring body is introduced, and further the judgment ratio of the sonar data local body is realized, and the monitoring resource quantity is reconstructed. The method comprises the following steps:
biological density sigma monitored by sonar in acousto-optic composite process 1 As basic data, an acousto-optic composite weight variable p is introduced, wherein the variable p is formed by sigma 2 Sum sigma 1 Ratio determination, namely:
p＝σ 2 /σ 1
the obtained acousto-optic composite data reconstruction model is as follows: ρ=p×σ 1 。
And to facilitate statistical calculations, the following rules are defined:
-when p is not less than 2, defined as absolute emphasis, taking p to 2;
-taking p to 1.5 when p < 2 is defined as strengthening;
-taking p to 1 when p is 0.6 < 1.5;
-taking p to be 0.5 when 0.4.ltoreq.p < 0.6 is defined as weakening;
-taking p to be 0.2 when 0.2 is less than or equal to p < 0.4, defined as absolute attenuation;
-taking p to 0 when p < 0.2 is defined as detecting distortion.
4) And (3) calculating the intrusion intensity of the underwater security intrusion target reaching the sensitive part by combining the reconstruction model in the step (3) and the space information of the monitoring point.
Taking a water intake pump station with highest underwater sensitivity of a nuclear power plant as a protection part, and constructing an intrusion intensity model comprising a time-space domain:
wherein delta is the magnitude of seawater entering the water intake in the monitoring point area;
q: throughput per second;
l: the distance from the monitoring point to the nearest pump station;
v: the water flow rate;
θ: the direction angle of the water flow at the water intake at the monitoring point;
when each nuclear power plant monitors by adopting the method, the N' value suitable for the nuclear power plant is selected according to the actual condition of the nuclear power plant structure, the early warning threshold value is determined, and further treatment work is guided to be carried out.
The invention relates to a monitoring method for an underwater security intrusion target of a nuclear power plant. The method comprises an on-line monitoring system of an underwater security intrusion target, a data reconstruction method aiming at monitoring data acquisition, a monitoring data preprocessing method, an underwater detection early warning sonar, a rechecking evidence photoelectric device, a front end sensing and processing device taking flow monitoring and the like as basic elements, a display control unit and other comprehensive defense systems, wherein the monitoring data preprocessing method comprises an acousto-optic data and space-time multidimensional monitoring early warning model.
The invention relates to a method for monitoring an intrusion target of underwater security in a nuclear power plant, which comprises the following steps: and (1) establishing an underwater security intrusion target monitoring system. The method mainly realizes the theoretical architecture of an underwater security intrusion target monitoring system of the nuclear power plant, and further scientifically guides the selection of monitoring equipment, the analysis and the processing of data and the establishment of a model; and (2) monitoring data acquisition and preprocessing. On the basis of the step (1), a certain sample is formed in a data pool through the setting of an online system, the acquisition and the pretreatment of data; the threat sample elements can be taken as threat sample elements to be incorporated into an early warning model after data pretreatment; and (3) reconstructing an acousto-optic monitoring model and designing a timely airspace model. And (3) establishing an early warning model combining acousto-optic dimension and space-time dimension, further determining threat intensities of different threat samples in the step (2), and guiding the nuclear power plant to develop corresponding defending work. The monitoring method and the built prevention system can fill the blank in the field of underwater security of the nuclear power plant and can be extended to other fields with the same or similar characteristics.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (9)
1. The monitoring method for the underwater security intrusion target of the nuclear power plant is characterized by comprising the following steps of:
1) Monitoring an underwater security intrusion target of a nuclear power plant through sonar monitoring equipment, and obtaining acoustic monitoring density sigma of the threat target 1 ；
2) Monitoring of nuclear power plant underwater security intrusion targets through optical imaging equipment and obtaining optical monitoring density sigma of threat targets 2 ；
3) Acoustic monitoring density σ for step 1) 1 And optically monitoring the density sigma of step 2) 2 Data fusion is carried out to obtain threatA target reconstruction model ρ;
4) Combining the reconstruction model and the space information in the step 3), calculating the intrusion strength of the underwater security intrusion target through the following formula;
wherein delta is the magnitude of seawater entering the water intake in the monitoring point area;
q: throughput per second;
l: the distance from the monitoring point to the nearest pump station;
v: the water flow rate;
θ: the direction angle of the water flow at the water intake at the monitoring point;
ρ is a reconstruction model;
n' is an intrusion intensity model comprising a time-space domain.
2. The monitoring method according to claim 1, wherein the acoustic monitoring density σ in step 1) is 1 The calculation is performed according to the following formula:
in which the density sigma is monitored acoustically 1 For monitoring statistics of targets within a range, the unit is ind/m 3 ；
V is the sea water volume in the sonar monitoring range;
n is the number of spherical slices dividing the monitoring range of the sonar;
m is the number of the partitioned water bodies surrounded by N spherical slices;
m, N is determined according to Max (diameter, height) of the monitored object;
C i and projecting the number of the intrusion targets to the gray image values of the spherical slices for underwater security of the spherical slices.
3. The method of monitoring according to claim 2, wherein in formula (1)The formula (1) is simplified as follows:
4. the method of monitoring according to claim 2, wherein C in formula (1) i Calculated according to the following formula:
wherein A is a corresponding spherical slice.
5. The method of monitoring according to claim 1, wherein the optical monitoring density σ in step 2) is 2 The calculation of (1) comprises the following steps:
(1) let the gray image of the optical monitoring of the underwater security intrusion target be F (x, y), the horizontal gradient be F x Vertical gradient of F y The scale of the gray level image, the horizontal gradient and the vertical gradient is m multiplied by n;
(2) calculating the horizontal gradient F of the gray image F (x, y) x And a vertical gradient F y ；
(3) Let the gradient operator of the original image f (x, y)Is +.>Introducing a threshold delta to represent the seawater background environment, wherein delta is more than 0, and modeling the gradient in the original underwater security intrusion target monitoring gray level image f (x, y)The point on the original image is marked as 1 and is regarded as the boundary point of the biomass of the monitored area, so that a binary image f with the point with the gradient modulus larger than the threshold delta marked as 1 is obtained 1 (x,y)；
(4) For sharpened image f 1 (x, y) edge detection is carried out by adopting Canny operator to obtain an image f 2 (x,y)；
(5) Performing closed operation on the binary image by using morphological theory closed operation to form an image f 3 (x, y), and then to f 3 (x, y) filling holes by morphological dilation operation to obtain an image denoted as f 4 (x,y)；
(6) By f 4 The number of pixels of the underwater security intrusion target is divided by the number of total pixels of the image, the duty ratio of the underwater security intrusion target in the image is calculated, and the optical monitoring density of the underwater security intrusion target of the nuclear power plant in the monitoring range is obtained, namely: sigma (sigma) 2 ＝f 4 (x,y)/f(x,y)。
6. The method according to claim 5, wherein the step (2) calculates a horizontal gradient F of the gray image F (x, y) x The method comprises the following steps: let x denote any row, F x The first column element of (a) is obtained from the original image f (x, 2) -f (x, 1), the last column (nth column) is obtained from the original image f (x, n) -f (x, n-1), and the 2 nd to n-1 th columns are obtained from the formulaCalculated, where i=2, 3, …, n-1.
7. The method of monitoring according to claim 5, wherein the edge detection in step (4) comprises the steps of: smoothing the image by using a Gaussian filter to calculate the module length and direction of the filtered image, finding out local maximum points of image gradients, setting other non-local maximum points to zero to obtain a thinned edge of the monitored image, detecting the image by using a double-threshold method and processing discontinuous edges to ensure that the edges are continuous.
8. The method of claim 5, wherein the step 3) is performed with data fusion, and the density σ is monitored acoustically 1 Introducing an acousto-optic composite weight variable p on the basis of (1) to obtain a reconstruction model rho=p×sigma 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the variable p is represented by sigma 2 Sum sigma 1 Ratio determination, namely: p=σ 2 /σ 1 。
9. The method of monitoring according to claim 8, wherein the variable p is defined as follows:
when p is more than or equal to 2, defining absolute enhancement, and taking the value of p as 2;
when p is less than or equal to 1.5 and less than 2, the reinforcement is defined, and the value of p is 1.5;
when p is more than or equal to 0.6 and less than 1.5, defining the values as consistent, and taking the value of p as 1;
when p is more than or equal to 0.4 and less than 0.6, the weakening is defined, and the value of p is 0.5;
when p is more than or equal to 0.2 and less than 0.4, the absolute weakening is defined, and the value of p is 0.2;
when p is less than 0.2, the detection distortion is defined as that the value of p is 0.
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