CN113899737A - Method and device for detecting bubbles in seabed, electronic equipment and medium - Google Patents
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Abstract
The invention discloses a method, a device, electronic equipment and a medium for detecting bubbles at the sea bottom, wherein the method comprises the following steps: acquiring a seabed bubble photo acquired by an image acquisition module, wherein the seabed bubble photo is acquired under the simultaneous irradiation of a laser and an LED light source; carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image; calculating the distance between the bubble and the image acquisition module according to the laser image; according to the distance, carrying out coordinate conversion on the horizontal coordinate and the vertical coordinate of the bubble on the image, and calculating to obtain the position of the bubble; performing image processing on the LED image to obtain a first diameter and a first area of a bubble area in the image; calculating to obtain a second diameter and a second area of the bubble according to the first diameter, the first area and the distance; and calculating the volume of the seabed bubbles according to the second diameter and the second area.
Description
Technical Field
The application relates to the technical field of submarine bubble detection, in particular to a submarine bubble detection method and device and electronic equipment.
Background
In many fields, such as textile, fiber industry, submarine gas storage and transportation and other scientific research fields, the detection and counting of bubbles in water is urgently needed. For example, monitoring of submarine methane bubbles is of great significance for marine research and marine resource exploration and development. There are several studies and methods related to underwater bubble photography, such as in the field of subsea gas storage and transportation and in some scientific research fields.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: the traditional technology can detect the leakage position of the bubble by using technical means such as acoustics, but cannot detect the flux of the bubble and is difficult to estimate the distribution position of the bubble, and meanwhile, the traditional bubble detection method is large in size, high in energy consumption, troublesome in distribution and not suitable for a deep sea environment.
Disclosure of Invention
An embodiment of the present application provides a method, an apparatus, and an electronic device, so as to solve the technical problem that the distribution position and size of bubbles cannot be estimated in the related art.
According to a first aspect of embodiments herein, there is provided a method comprising:
acquiring a seabed bubble photo acquired by an image acquisition module, wherein the seabed bubble photo is acquired under the simultaneous irradiation of a laser and an LED light source;
carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image;
calculating the distance between the bubble and the image acquisition module according to the laser image;
according to the distance, carrying out coordinate conversion on the horizontal coordinate and the vertical coordinate of the bubble on the image, and calculating to obtain the position of the bubble;
performing image processing on the LED image to obtain a first diameter and a first area of a bubble area in the image;
calculating to obtain a second diameter and a second area of the bubble according to the first diameter, the first area and the distance;
and calculating the volume of the seabed bubbles according to the second diameter and the second area.
According to a second aspect of embodiments of the present application, there is provided an apparatus comprising:
the acquisition module is used for acquiring a submarine bubble photo acquired by the image acquisition module, and the submarine bubble photo is acquired under the simultaneous irradiation of the laser and the LED light source;
the first processing module is used for carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image;
the first calculation module is used for calculating the distance of the bubble relative to the image acquisition module according to the laser image;
the second calculation module is used for performing coordinate conversion on horizontal and vertical coordinates of the bubbles on the image according to the distance and calculating to obtain the positions of the bubbles;
the second processing module is used for carrying out image processing on the LED image to obtain a first diameter and a first area of a bubble area in the image;
the third calculation module is used for calculating a second diameter and a second area of the bubble according to the first diameter, the first area and the distance;
and the fourth calculation module is used for calculating the volume of the seabed bubbles according to the second diameter and the second area.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method as described in the first aspect.
According to a fourth aspect of embodiments herein, there is provided a computer-readable storage medium having stored thereon computer instructions, characterized in that the instructions, when executed by a processor, implement the steps of the method according to the first aspect.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the embodiment, the submarine bubble photo is obtained under the simultaneous irradiation of the LED light source and the laser; carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image; performing image processing on the laser image to obtain a bubble position; processing the LED image to obtain the volume of the bubbles; according to the invention, after a seabed bubble photo is obtained, information such as bubble position, bubble volume and the like is obtained through operations such as separation of the seabed bubble photo, and the technical problem that the distribution position and size of bubbles cannot be estimated in the related technology is solved.
The device acquires the submarine bubble image by using the light source (comprising the LED light source and the laser) and the image acquisition module, and realizes calculation of the volume and the position of the bubble by using the information processing module.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a flow chart illustrating a method of subsea bubble detection according to an exemplary embodiment.
Fig. 2 is a method for calculating a bubble distance in a method for detecting bubbles in the sea floor according to an exemplary embodiment.
Fig. 3 is a flowchart illustrating step S104 according to an exemplary embodiment.
Fig. 4 is a flowchart illustrating step S105 according to an exemplary embodiment.
Fig. 5 is a flowchart illustrating step S106 according to an exemplary embodiment.
FIG. 6 is a flow chart illustrating a method of subsea bubble detection according to an exemplary embodiment.
Fig. 7 and 8 are block diagrams illustrating a subsea bubble detection device according to an exemplary embodiment.
Fig. 9 is a schematic structural diagram illustrating a subsea bubble detection device according to an exemplary embodiment.
The reference numerals in the figures are:
10. a connecting rod; 11. a laser; 12. a camera; 13. an LED light source; 14. a processor; 15. and (5) sealing the box.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Fig. 1 is a flow chart illustrating a … … method according to an example embodiment, where the method is applied in a terminal, as shown in fig. 1, and may include the following steps:
s101, acquiring a submarine bubble photo acquired by an image acquisition module, wherein the submarine bubble photo is acquired under the simultaneous irradiation of a laser and an LED light source;
s102, carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image;
step S103, calculating the distance of the bubble relative to the image acquisition module according to the laser image;
step S104, according to the distance, carrying out coordinate conversion on the horizontal coordinate and the vertical coordinate of the bubble on the image, and calculating to obtain the position of the bubble;
step S105, carrying out image processing on the LED image to obtain a first diameter and a first area of a bubble area in the image;
step S106, calculating a second diameter and a second area of the bubble according to the first diameter, the first area and the distance;
step S107: and calculating the volume of the seabed bubbles according to the second diameter and the second area.
According to the embodiment, the submarine bubble photo is obtained under the simultaneous irradiation of the LED light source and the laser; carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image; performing image processing on the laser image to obtain a bubble position; processing the LED image to obtain the volume of the bubbles; according to the invention, after a seabed bubble photo is obtained, information such as bubble position, bubble volume and the like is obtained through operations such as separation of the seabed bubble photo, and the technical problem that the distribution position and size of bubbles cannot be estimated in the related technology is solved.
In the specific implementation of the step S101, obtaining a seabed bubble photo collected by an image collecting module, wherein the seabed bubble photo is obtained under the simultaneous irradiation of a laser and an LED light source;
under the irradiation of the laser, the bubbles totally reflect the laser at a specific angle and can be captured by the image acquisition module; the LED light source can illuminate the side of the bubble facing the light source. Since laser monochromaticity is good, in image processing, a laser illuminated portion of the bubble and a portion illuminated by the LED light can be separated by color information, and two photographs can be extracted. In this embodiment, the image acquisition module employs an industrial camera capable of capturing images at high speed at a rate of 210 frames per second. In the above embodiments, one camera is used to capture images under the illumination of two light sources simultaneously, so as to reduce unnecessary hardware cost, control system size, enhance system stability, and reduce the number of times of calibration of the system.
In the specific implementation of step S102, performing channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image;
the ocean bottom bubble photo adopts an RGB color space. Extracting an image of a G (green) channel by using monochromaticity of green laser; selecting proper threshold value binaryzation to avoid the low-light environment to be used as a component of a laser image; in order to eliminate the impression of minute impurities in the water, the noise is removed using a corrosion operation; in order to avoid the problem of light interruption reflected by the same bubble, an expansion and corrosion method is used for communicating possible interruption lines; finally, a laser image is obtained. LED images were acquired in the same way, but using R (red), B (blue) channels instead of G channels. In the embodiment, a classical method of image processing is utilized, the principle is simple, the computational cost is low, the power consumption of the detection system can be reduced, and the measurement system is suitable for underwater long-term observation.
In the specific implementation of step S103, calculating a distance between the bubble and the image acquisition module according to the laser image;
specifically, the distance of the bubble relative to the image acquisition module is obtained according to the corresponding relation between the longitudinal coordinate of the bubble in the laser image and the distance of the bubble. In the present embodiment, as shown in fig. 2, the z-direction coordinate of the bubble is controlled, and the captured laser image is added to construct the corresponding relationship between the longitudinal coordinate of the bubble (e.g., the coordinate y1 of the camera sampling diagram in fig. 4) and the distance thereof (e.g., the distance z1 of the test diagram in fig. 4), and the relationship between the two is established by curve fitting, so as to be used for the estimation of the bubble distance of the actual measurement system. The design overcomes the difficulty that the distance cannot be estimated by adopting the perspective principle due to different sizes of the bubbles, and the relation curve fitting is carried out under the experimental environment, so that the estimation of the z coordinate of the bubble is more accurate.
In the specific implementation of step S104, coordinate conversion is performed on the horizontal and vertical coordinates of the bubble on the image according to the distance, and the bubble position is obtained through calculation; referring to fig. 3, this step includes the following sub-steps:
step S201: transforming the horizontal and vertical coordinates of the bubble on the image to obtain the two-dimensional position of the bubble;
specifically, by using an image processing method, calculating to obtain the geometric center point of the bubble in the LED image as the horizontal and vertical coordinates of the bubble on the image, and obtaining the x and y coordinates of the bubble in the space through coordinate transformation as the two-dimensional position of the bubble:
step S202: calculating to obtain the position of the bubble according to the distance and the two-dimensional position;
specifically, according to the distance and the two-dimensional position, the actual coordinate in the three-dimensional space of the bubble is calculated by using the coordinate system conversion calibrated by the system, so as to obtain the position of the bubble;
the steps 201 to 202 are a common method for acquiring the three-dimensional coordinates of the interest point in the three-dimensional scanning industry, are easy to develop, have low calculation requirement and have low system overhead.
In a specific implementation of step S105, performing image processing on the LED image to obtain a first diameter and a first area of a bubble region in the image; referring to fig. 4, this step includes the following sub-steps:
step S301: performing image processing on the LED image to obtain a bubble area in the LED image;
specifically, the LED image is subjected to connected region detection, an appropriate threshold is set to exclude an excessively small connected region, and each of the remaining connected regions is a bubble region. The design utilizes a classic method of image processing, has simple principle and low computational cost, can reduce the power consumption of a detection system, and ensures that the measurement system is suitable for underwater long-term observation.
Step S302: calculating the diameter of the minimum circumcircle of the bubble area to obtain the first diameter;
specifically, the bubble area in the LED image is image-processed, the area is made a minimum circumscribed circle, and the diameter of the minimum circumscribed circle is adopted as the first diameter of the bubble.
Step S303: and calculating the area of the bubble area in the LED image to obtain the first area.
Specifically, image processing is carried out on the bubble area in the LED image, and the number of pixel points occupied by the bubble communication area is counted and used as the first area of the bubble.
In a specific implementation of step S106, a second diameter and a second area of the bubble are calculated according to the first diameter, the first area and the distance; referring to fig. 5, this step includes the following sub-steps:
step S401, calculating an estimated value of the minimum external sphere diameter of the bubble according to the first diameter and the distance to obtain a second diameter;
the method comprises the steps of utilizing the principle that bubbles with the same diameter are larger in diameter obtained by imaging at a short distance and smaller in diameter obtained by imaging at a long distance, utilizing a camera calibration result, carrying out proportional transformation on the first diameter of the bubbles, and obtaining an estimation of the actual minimum circumscribed sphere diameter of the bubbles, namely the second diameter.
The design utilizes the calibrated direct conversion diameter of the imaging system, and is easy to develop.
And S402, correcting the first area according to the first area and the diameter and the principle of the near area and the far area to obtain the second area.
And (4) scaling the first area of the bubble by using the calibration result of the camera to obtain an estimation of the actually illuminated area of the bubble, namely the second area.
In a specific implementation of step S107, the volume of the subsea bubble is calculated according to the second diameter and the second area.
Calculating the volume of the ball according to the second diameter to obtain a first volume reference quantity; calculating power, proportion and the like according to the second area to obtain a second volume reference quantity; and carrying out weighted average on the first volume reference quantity and the second volume reference quantity to obtain the volume of the single seabed bubble.
Further, referring to fig. 6, the method may further include the steps of:
step S108: summing the volumes of all the bubbles, and calculating to obtain a preliminarily estimated bubble flux Q1;
specifically, the second diameter and the second area of the bubble are weighted and considered, the bubble volume is calculated, and all the bubble volumes in the visual field are summed to obtain the preliminarily estimated bubble flux Q1.
Step S109: calculating the shielding proportion of the bubbles in the image according to the two-dimensional positions and the first areas of all the bubbles in the LED image;
specifically, when the two-dimensional positions of any two bubbles on the LED image are so close that the first areas of the two bubbles coincide, the estimation of the bubble volume needs to take the occlusion problem into account. For this purpose, the occlusion ratio is introduced, and the ratio of the overlapping portion of all bubble areas to the total area is calculated as the occlusion ratio. When the shielding proportion is larger than a certain value, the influence of the shielding phenomenon on the volume estimation is considered. By the design, the volume estimation method is divided into two types according to the bubble shielding proportion, and the estimation model is simplified.
Step S110: if the shielding ratio exceeds a preset threshold value, fitting the bubble flux Q1 to obtain a final first bubble flux;
step S111: if the shielding proportion does not exceed a preset threshold value, fitting the bubble flux Q1 to obtain a final second bubble flux;
in the specific implementation of the step S110 to the step S111, if the bubbles are violently erupted and densely distributed, which causes the shielding ratio to exceed the threshold, then fitting Q1 by using a bubble flux fitting method under shielding to obtain a first bubble flux; and if the bubble distribution is not dense, and the shielding proportion does not exceed a preset threshold value, fitting Q1 by using a bubble flux fitting method under the shielding-free condition to obtain a second bubble flux.
Step S111: generating a final bubble flux Q2 according to the first bubble flux or the second bubble flux;
step S112: the bubble level information is generated based on the bubble flux Q2 and a preset bubble level classification.
In one embodiment, the bubble flux Q2 is numerically ranked as the bubble level, and this level data is then transmitted to the client for real-time monitoring of the bubble level.
Corresponding to the embodiment of the seabed bubble detection method, the application also provides an embodiment of the seabed bubble detection device.
FIG. 7 is a block diagram illustrating a subsea bubble detection device, according to an exemplary embodiment. Referring to fig. 7, the apparatus includes:
the acquisition module 21 is used for acquiring a seabed bubble photo acquired by the image acquisition module, wherein the seabed bubble photo is acquired under the simultaneous irradiation of the laser and the LED light source;
the first processing module 22 is used for carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image;
the first calculation module 23 is used for calculating the distance between the bubble and the image acquisition module according to the laser image;
the second calculation module 24 is used for performing coordinate conversion on horizontal and vertical coordinates of the bubble on the image according to the distance, and calculating to obtain the position of the bubble;
the second processing module 25 is used for carrying out image processing on the LED image to obtain a first diameter and a first area of a bubble area in the image;
the third calculating module 26 calculates a second diameter and a second area of the bubble according to the first diameter, the first area and the distance;
and a fourth calculating module 27 for calculating the volume of the subsea bubble according to the second diameter and the second area.
As shown in fig. 8, the apparatus may further include:
the fifth calculation module 28 is used for summing the volumes of all the bubbles to calculate and obtain a preliminarily estimated bubble flux Q1;
the sixth calculating module 29 calculates the shielding ratio of the bubbles in the image according to the two-dimensional positions and the first areas of all the bubbles in the LED image;
the first fitting module 30 is used for fitting the bubble flux Q1 to obtain a final first bubble flux if the shielding proportion exceeds a preset threshold value;
the first fitting module 31 is used for fitting the bubble flux Q1 to obtain a final second bubble flux if the shielding proportion does not exceed a preset threshold;
the first generation module 32 generates a final bubble flux Q2 according to the first bubble flux or the second bubble flux;
the second generation module 33 generates bubble level information based on the bubble flux Q2 and a preset bubble level classification.
The application also provides a seabed bubble detection device, which comprises an illumination module, an image acquisition module and an information processing module, wherein the illumination module comprises a laser and an LED light source, the laser is used for emitting laser, the LED light source is used for emitting LED light, and the laser and the emitting direction of the LED light source are positioned on the same plane; the submarine bubble photo is obtained under the simultaneous irradiation of a laser and an LED light source; the image acquisition module is used for acquiring a submarine bubble image when the illumination module works; the information processing module is used for acquiring the submarine bubble photo acquired by the image acquisition module; carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image; calculating the distance between the bubble and the image acquisition module according to the laser image; according to the distance, carrying out coordinate conversion on the horizontal coordinate and the vertical coordinate of the bubble on the image, and calculating to obtain the position of the bubble; (ii) a Performing image processing on the LED image to obtain a first diameter and a first area of a bubble area in the image; calculating to obtain a second diameter and a second area of the bubble according to the first diameter, the first area and the distance; and calculating the volume of the seabed bubbles according to the second diameter and the second area.
As shown in fig. 9, an exemplary such device includes a connecting rod 10, a laser 11, a camera 12, an LED light source 13, a processor 14, and a sealed box 15. The camera 12 obtains a submarine bubble photo under the simultaneous irradiation of the laser 11 and the LED light source 13; the processor 14 processes the images of the bubbles in the seabed; the connecting rod 10 is used for fixing the laser 11, the camera 12 and the LED light source 13 from top to bottom, wherein the laser 11 is inclined downwards, the inclination angle with the horizontal plane is greater than or equal to 26 degrees, and the camera 12 and the LED light source 13 are horizontally fixed; the connecting rod 10, the laser 11, the camera 12, the LED light source 13 and the processor 14 are sealed by the seal box 15, the connecting rod 10 is vertically fixed in the seal box 15, and the processor 14 is fixed at the bottom of the seal box 15 and connected with the camera 12.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
Correspondingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement a subsea bubble detection method as described above.
Accordingly, the present application also provides a computer readable storage medium having computer instructions stored thereon, wherein the instructions, when executed by a processor, implement a subsea bubble detection method as described above.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A subsea bubble detection method, comprising:
acquiring a seabed bubble photo acquired by an image acquisition module, wherein the seabed bubble photo is acquired under the simultaneous irradiation of a laser and an LED light source;
carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image;
calculating the distance between the bubble and the image acquisition module according to the laser image;
according to the distance, carrying out coordinate conversion on the horizontal coordinate and the vertical coordinate of the bubble on the image, and calculating to obtain the position of the bubble;
performing image processing on the LED image to obtain a first diameter and a first area of a bubble area in the image;
calculating to obtain a second diameter and a second area of the bubble according to the first diameter, the first area and the distance;
and calculating the volume of the seabed bubbles according to the second diameter and the second area.
2. The method of claim 1, wherein the coordinate transformation of the horizontal and vertical coordinates of the bubble on the image according to the distance is performed to calculate the position of the bubble, and the method comprises:
transforming the horizontal and vertical coordinates of the bubble on the image to obtain the two-dimensional position of the bubble;
and calculating to obtain the position of the bubble according to the distance and the two-dimensional position.
3. The method of claim 1, wherein image processing the LED image to obtain a first diameter and a first area of a bubble region in the image comprises:
performing image processing on the LED image to obtain a bubble area in the LED image;
calculating the diameter of the minimum circumcircle of the bubble area to obtain the first diameter;
and calculating the area of the bubble area in the LED image to obtain the first area.
4. The method of claim 1, wherein calculating a second diameter and a second area of the bubble based on the first diameter, the first area, and the distance comprises:
calculating an estimated value of the minimum circumscribed ball diameter of the bubble according to the first diameter and the distance to obtain a second diameter;
and correcting the first area according to the first area and the diameter to obtain the second area.
5. The method of claim 1, further comprising:
summing the volumes of all the bubbles, and calculating to obtain a preliminarily estimated bubble flux Q1;
calculating the shielding proportion of the bubbles in the image according to the two-dimensional positions and the first areas of all the bubbles in the LED image;
if the shielding ratio exceeds a preset threshold value, fitting the bubble flux Q1 to obtain a final first bubble flux;
if the shielding proportion does not exceed a preset threshold value, fitting the bubble flux Q1 to obtain a final second bubble flux;
generating a final bubble flux Q2 according to the first bubble flux or the second bubble flux;
the bubble level information is generated based on the bubble flux Q2 and a preset bubble level classification.
6. An ocean bottom bubble detecting device, comprising:
the acquisition module is used for acquiring a submarine bubble photo acquired by the image acquisition module, and the submarine bubble photo is acquired under the simultaneous irradiation of the laser and the LED light source;
the first processing module is used for carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image;
the first calculation module is used for calculating the distance of the bubble relative to the image acquisition module according to the laser image;
the second calculation module is used for performing coordinate conversion on horizontal and vertical coordinates of the bubbles on the image according to the distance and calculating to obtain the positions of the bubbles;
the second processing module is used for carrying out image processing on the LED image to obtain a first diameter and a first area of a bubble area in the image;
the third calculation module is used for calculating a second diameter and a second area of the bubble according to the first diameter, the first area and the distance;
and the fourth calculation module is used for calculating the volume of the seabed bubbles according to the second diameter and the second area.
7. The apparatus of claim 6, further comprising:
the fifth calculation module is used for summing the volumes of all the bubbles and calculating to obtain a preliminarily estimated bubble flux Q1;
the sixth calculation module is used for calculating the shielding proportion of the bubbles in the image according to the two-dimensional positions and the first areas of all the bubbles in the LED image;
the first fitting module is used for fitting the bubble flux Q1 to obtain a final first bubble flux if the shielding proportion exceeds a preset threshold value;
the first fitting module is used for fitting the bubble flux Q1 to obtain a final second bubble flux if the shielding proportion does not exceed a preset threshold;
the first generation module generates final bubble flux Q2 according to the first bubble flux or the second bubble flux;
and a second generation module for generating bubble grade information according to the bubble flux Q2 and preset bubble grade division.
8. An ocean bottom bubble detecting device, comprising:
the illumination module comprises a laser and an LED light source, the laser is used for emitting laser, the LED light source is used for emitting LED light, and the emitting directions of the laser and the LED light source are in the same plane; the submarine bubble photo is obtained under the simultaneous irradiation of a laser and an LED light source;
the image acquisition module is used for acquiring a submarine bubble image when the illumination module works;
the information processing module is used for acquiring the seabed bubble photo acquired by the image acquisition module; carrying out channel separation, binarization processing and image morphology operation on the seabed bubble photo to obtain a laser image and an LED image; calculating the distance between the bubble and the image acquisition module according to the laser image; according to the distance, carrying out coordinate conversion on the horizontal coordinate and the vertical coordinate of the bubble on the image, and calculating to obtain the position of the bubble; performing image processing on the LED image to obtain a first diameter and a first area of a bubble area in the image; calculating to obtain a second diameter and a second area of the bubble according to the first diameter, the first area and the distance; and calculating the volume of the seabed bubbles according to the second diameter and the second area.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.
10. A computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, perform the steps of the method according to any one of claims 1-7.
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