CN116087036A - Device for identifying images of sediment plume of deep sea mining and image analysis method - Google Patents

Device for identifying images of sediment plume of deep sea mining and image analysis method Download PDF

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CN116087036A
CN116087036A CN202310108945.4A CN202310108945A CN116087036A CN 116087036 A CN116087036 A CN 116087036A CN 202310108945 A CN202310108945 A CN 202310108945A CN 116087036 A CN116087036 A CN 116087036A
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plume
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贾永刚
郭煦
范智涵
王宏威
陈翔
田兆阳
卢龙玉
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Ocean University of China
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Abstract

The invention provides a device for identifying sediment plume images in deep sea mining and an image analysis method, wherein the sediment plume three-dimensional observation device mainly comprises a frame structure, deep sea camera equipment and an auxiliary scale, and can record the morphological change rule of sediment plumes with high precision. The U-net deep learning model is used for segmenting the sediment plume images, so that the morphology of the sediment plumes can be effectively extracted. By the technical scheme, the morphology of the sediment plumes can be recorded from different angles at the deep sea boundary layer, the three-dimensional diffusion morphological characteristics of the sediment plumes can be directly reflected, and the boundary of the sediment plumes is extracted from the image by a deep learning method, so that the morphology change rule of migration diffusion of the sediment plumes is analyzed.

Description

Device for identifying images of sediment plume of deep sea mining and image analysis method
Technical Field
The invention relates to the technical field of analysis of submarine sediments, in particular to a device for identifying images of sediment feathers in deep sea mining and an image analysis method.
Background
A sediment plume is a dynamically changing process in which sediment is disturbed, causing it to spread in a body of water. The invention aims at disturbing sediment due to mining activities of human beings in the submarine manganese nodule mining process, so that the sediment is suspended and is in migration diffusion, and the suspension and migration diffusion processes of the sediment are sediment plumes.
The sediment is resuspended and transferred and spread on the seabed, so that the concentration of suspended particles of a seabed boundary layer is increased, the chemical property of a water body is changed, the normal life activities of submarine organisms are influenced, the original ecological environment of a seabed area is damaged, and the submarine mining activities are restrained. Therefore, the plume generated by sediment re-suspension in the submarine mining process is necessarily observed and identified, the migration and diffusion rule of the sediment plume is known, the influence of the sediment plume is evaluated, and precious advice is provided for reducing the influence of deep-sea manganese nodule mining on the environment.
Because the deep sea polymetallic nodule mining area is located in a deep sea ocean basin of 4000-6000 meters, the observation and research difficulty is extremely high, and the current research can only be carried out in a numerical simulation mode on the migration and diffusion rule of sediment plumes, but the current numerical simulation research on the migration distribution and diffusion characteristics of plumes is seriously lack of support and inspection of on-site monitoring data, so that the accuracy and reliability of a plumes value simulation model are insufficient. In the field observation research, most researches only use an acoustic instrument to measure the concentration profile of the sediment plume, but concentration data measured based on a turbidity probe still have defects, so that the real situation of migration and diffusion of the sediment plume is difficult to describe, and the morphological characteristics of the sediment plume are difficult to intuitively show, so that the invention adopts an observation method of underwater image shooting to analyze the morphological characteristics of the migration and diffusion of the sediment plume, and research the migration and diffusion rule of the sediment plume.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides an observation device for three-dimensionally observing and recording the shape characteristics of sediment plumes in a deep sea boundary layer and an image analysis method for deep learning for analyzing the migration and diffusion rules of the sediment plumes, so as to overcome the defects of the prior art.
Aiming at the defects of the prior art in sediment plume research, one of the invention is to design an imaging device for recording sediment plume migration and diffusion, which can record the morphological characteristics of sediment plume three-dimensional migration and diffusion in multiple angles and can quickly and automatically identify the scale morphology of the sediment plume.
The invention is realized by the following technical scheme: the device for identifying the plume images of the deep sea mining sediments comprises an orthocube frame, wherein the four corners of the bottom of the orthocube frame are respectively and fixedly provided with a counterweight, 6 observation scales are fixedly arranged on the frame of the orthocube frame, each 2 observation scales are respectively fixed on the rear face, the left side face and the bottom face of the orthocube frame structure, the observation scales are fixed on the left side face and the lower side frame of the face, the observation scales are fixed on the right side frame and the lower side frame of the face, the observation scales are fixed on the upper side frame and the left side frame of the face, and the observation scales are fixed on the bottom face of the orthocube frame;
the front face, the right side face and the top face of the regular cube frame are respectively and fixedly provided with a marine camera equipment fixing bracket, the marine camera equipment fixing bracket comprises a steel pipe and a stainless steel hoop arranged in the middle of the steel pipe, the steel pipe is welded in the middle of the three face frames, the stainless steel hoop is positioned in the center of the three faces, and marine submarine camera equipment is fixedly arranged on the three stainless steel hoops;
the ocean seabed camera equipment comprises a data acquisition storage pressure-resistant bin, a power supply unit and a data acquisition unit are arranged in the data acquisition storage pressure-resistant bin, a pressure-resistant bin lower end sealing cover is arranged at the lower end of the data acquisition storage pressure-resistant bin, ocean camera auxiliary lighting equipment and an ocean high-resolution camera lens are vertically downwards arranged on the lower surface of the pressure-resistant bin lower end sealing cover, the ocean camera auxiliary lighting equipment and the ocean high-resolution camera lens are respectively surrounded by a stainless steel pressure-resistant bin shell and are electrically connected with the power supply unit and the data acquisition unit in the data acquisition storage pressure-resistant bin, the data acquisition unit comprises a relevant data acquisition plate and data acquisition software, and the ocean camera auxiliary lighting equipment and the ocean high-resolution camera lens of the 3 ocean seabed camera equipment face the inside of an cube frame at vertical angles relative to the surface.
Preferably, the regular cube frame is formed by welding a stainless steel pipe made of 316L material with the length of 1 meter.
Further, the material of observation scale is the scale of stainless steel material, and the length of observation scale is 1 meter, and measurement accuracy is millimeter.
Preferably, the counterweight is a cake-shaped counterweight, and the diameter of the counterweight is 20 cm.
As a preferable scheme, the resolution of the ocean high-resolution imaging lens is 1080
Figure SMS_1
1920, marine camera auxiliary lighting equipment is the LED light source constitution, and totally three, and three marine camera auxiliary lighting equipment all use marine high-resolution camera lens as central equiangular ring its setting, and power supply unit is high-performance lithium cell, can satisfy and observe at the seabed for a long time.
The invention discloses an image analysis method applying a deep sea mining sediment plume image recognition device, which adopts a U-net model to extract characteristics of the deep sea sediment plume image, mainly processes and analyzes the photographed plume image through a deep sea sediment plume three-dimensional observation device, and the flow diagram is shown in fig. 5, and specifically comprises the following steps:
step S1, processing an original sediment plume image video: decomposing the three-dimensional observation video of the acquired submarine sediment plumes through a frame-by-frame decomposition program to obtain frame images of the sediment plumes; a deep sea sediment plume image photographed at the sea floor is 24 frames per second;
step S2, image enhancement and restoration of deep sea sediment plume images: adopting a contrast limited self-adaptive histogram equalization algorithm to limit noise amplification and local contrast enhancement by limiting the height of a local histogram; dividing an image into a plurality of subareas, classifying the histogram of each subarea, respectively carrying out histogram equalization on each subarea, and finally carrying out interpolation operation on each pixel to obtain a converted gray value, thereby realizing contrast limited self-adaptive histogram equalization image enhancement;
step S3, bit depth change of the deep sea sediment plume images: the video image shot by the three-dimensional observation device of the submarine sediment plume in the step S2 is a true color image, the bit depth is 24, and the colors of 24 powers of 2, namely one thousand of six million colors, can be combined; the image is changed to an image with bit depth of 8 and contains 256 colors;
step S4, graying the deep sea sediment plume image: gray processing is carried out on the deep sea sediment plume images, wherein pixels with large gray values are brighter: the maximum pixel value is 255, and the pixel value is white; whereas it is darker: the minimum pixel is 0 and is black; the image graying is realized through a cv2.Color_bgr2gray function in an OpenCV function package of python language:
GRAY = B * 0.114 + G *0.587 + R * 0.299；
step S5, establishing a deep sea sediment plume training data set: marking a plume range in a deep sea sediment plume image by using image marking software LabelMe of a graphical interface, and establishing a training set with a deep sea sediment plume label for image training;
step S6, training image expansion is carried out: increasing the number of training samples, generating a new image using a stochastic transformation method, comprising: randomly rotating the angle, horizontally traversing a certain distance, vertically traversing a certain distance, randomly zooming a certain range, horizontally overturning and vertically overturning;
s7, image segmentation is carried out by utilizing a U-net model: the U-net model consists of a compression part and an expansion part 2; the compression part is formed by 2 convolution kernels to 3
Figure SMS_2
3 (Conv 2D, activation function is relu), the convolution kernel is 2 +.>
Figure SMS_3
2 (maxpoolinglayer) to form a downsampling module, wherein the total number of the downsampling modules is 3; the extension part consists of an up-sampled convolution layer (UpSampling 2D), a feature splicing layer splicing, and 3 convolution kernels of 3 +.>
Figure SMS_4
3 (Conv 2D, activation function is relu) to form an up-sampling module, and 4 up-sampling modules are all arranged;
step S8, threshold segmentation: according to the segmentation result of the image segmentation model, setting a threshold value as 174, carrying out threshold segmentation on the segmented image, dividing the image pixel points into target areas and background areas with different gray scales, and displaying the distribution range of deep sea sediment plumes;
and S9, extracting the shape characteristics of the deep sea sediment plumes, and determining the diffusion range of the sediment plumes, so as to analyze the migration and diffusion rules of the deep sea mining sediment plumes.
As a preferred solution, the contrast limited adaptive histogram equalization algorithm in step S2 specifically includes the following steps:
s21, dividing the photographed sea sediment plume images into subareas with the same size, wherein the subareas are required to be adjacent but not overlapped;
step S22, observing pixel information contained in each sub-region, and counting respective gray level histograms H (i), wherein i represents possible gray levels;
s23, enabling gray levels in the sub-region images to have equal pixel numbers, namely, an average value Naver of the pixel numbers:
Figure SMS_5
(1)；
wherein ,
Figure SMS_6
the pixel number is used for representing the number of pixels of the sub-block image in the horizontal direction; />
Figure SMS_7
The number of pixels in the vertical direction; />
Figure SMS_8
Representing the number of gray levels in the sub-block image;
step S24, setting a shearing limiting coefficient
Figure SMS_9
(default value is 0.01), the value range is 0 to 1, and the closer the value is to 1, the stronger the contrast is; actual clipping limit value->
Figure SMS_10
The method comprises the following steps:
Figure SMS_11
(2)；
exceeding in H (i)
Figure SMS_12
The pixels of the value are truncated, the truncated pixels are re-uniformly allocated to the respective gray levels, assuming the total number of truncated pixels +.>
Figure SMS_13
The number of pixels allocated per gray level is determined>
Figure SMS_14
The method comprises the following steps:
Figure SMS_15
(3)；
wherein ,
Figure SMS_16
(4)；
by using
Figure SMS_17
Representing the newly obtained local histogram after allocation as a piecewise function: />
Figure SMS_18
(5)
Step S25, new histograms for each sub-area image
Figure SMS_19
Performing equalization treatment; and obtaining a new gray value by using a bilinear interpolation method.
The invention adopts the technical proposal, and compared with the prior art, the invention has the following beneficial effects:
1. the device can realize three-dimensional observation record of the sediment plume at the sea bottom, and can completely record the migration and diffusion process of the sediment plume in a three-dimensional space.
2. The algorithm of the invention can realize the identification of the image of the submarine sediment plumes and automatically analyze the migration and diffusion rules of the submarine sediment plumes.
3. By automatically analyzing the migration and diffusion form of the sediment plume, the migration and diffusion rule of the sediment plume can be known through morphological analysis, so that the diffusion range and the concentration change rule of the sediment plume can be better estimated.
4. By identifying morphological characteristics of migration and diffusion of the deep sea mining sediment plumes, effective data can be provided for researching the influence and mechanism of the migration and diffusion of the deep sea mining sediment plumes on the bottom layer environment.
5. The observation device and the research method provided by the invention have the advantages of simple operation and small influence by other factors, and compared with the common traditional measurement technology, the defect of limited measurement precision caused by the principle defect of measurement can be overcome.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a perspective view of a three-dimensional observation device for a plume of a deep-sea seabed sediment;
FIG. 2 is a three view of an orthocube frame in a deep sea mining sediment plume image identifying device;
FIG. 3 is a perspective view of a marine camera device;
fig. 4 is a bottom view (a) and a cross-sectional view (b) of the marine imaging apparatus;
FIG. 5 is a schematic diagram of a process flow of a deep sea bottom sediment plume image;
FIG. 6 is a view showing the pre-enhancement effect of a deep sea bottom sediment plume image;
fig. 7 is a view showing the effect of identifying images of the deep-sea seabed sediment feathered image, (a) an image enhanced by the CLAHE method, (b) a gray-scale image, (c) an image segmented by the U-net model, (d) an image segmented by the threshold,
wherein, the correspondence between the reference numerals and the components in fig. 1 to 4 is:
the marine high-resolution imaging device comprises a right cube frame 1, a counterweight 2, a observing scale 3, a marine imaging device fixing support 4, a steel pipe 5, a stainless steel hoop 6, a marine submarine imaging device 7, a data acquisition and storage pressure-resistant bin 71, a power supply unit 72, a data acquisition unit 73, a pressure-resistant bin lower end sealing cover 74, a marine camera auxiliary lighting device 75 and a marine high-resolution imaging lens 76.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
The apparatus and method for identifying a plume image of a deep sea mining deposit according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 7. The device for recording the morphological characteristics of the sediment plumes through the submarine three-dimensional shooting and the analysis method for extracting the morphological characteristics of the sediment plumes through the deep learning method can record the morphologies of the sediment plumes from different angles at a deep sea boundary layer, can directly show the morphological characteristics of the three-dimensional diffusion of the sediment plumes, and extract the boundaries of the sediment plumes from an image through the deep learning method, so that the morphological change rule of the migration diffusion of the sediment plumes is analyzed.
The morphological characteristics of the sediment plume movement diffusion can be accurately and optically observed and recorded through a submarine camera, and the acquired image data of the sediment plume is processed and analyzed by using an image segmentation technology. Image segmentation techniques have found wide application in a variety of industries, such as medical imaging, pedestrian detection, and face recognition. Image segmentation techniques refer to techniques and procedures that divide an image into a number of specific regions with unique properties. In the sediment plume image, the boundary of the sediment plume is identified through an image segmentation technology, and the sediment plume area is segmented from other areas, so that the migration and diffusion rule of the sediment plume is better researched. The common image segmentation techniques mainly include: a threshold-based segmentation method, a region-based segmentation method, an edge-based segmentation method, and a segmentation method based on a specific theory, wherein the image segmentation method is a method based on a deep learning method.
The invention provides an observation device for three-dimensionally observing and recording sediment plume form characteristics in a deep sea boundary layer and an image analysis method for deep learning for analyzing sediment plume migration and diffusion rules, so as to overcome the defects of the prior art.
Aiming at the defects of the prior art in sediment plume research, one of the invention is to design an imaging device for recording sediment plume migration and diffusion, which can record the morphological characteristics of sediment plume three-dimensional migration and diffusion in multiple angles and can quickly and automatically identify the scale morphology of the sediment plume.
The invention provides a device for identifying a sediment plume image of deep sea mining, which is shown in fig. 1 and 2, and comprises an orthocube frame 1, wherein the four corners of the bottom of the orthocube frame 1 are respectively and fixedly provided with a counterweight 2, the counterweight 2 is a round cake-shaped counterweight, and the diameter of the counterweight 2 is 20 cm as shown in fig. 1. The cubic structure frame and the 4 counterweights in the equipment can keep the structural stability of the whole observation device on the sea bottom, and the 4 circular counterweights can be used as the sinking plates, so that the whole observation device can be effectively prevented from sinking deeply due to softer seabed substrate, and the stability of the observation device and the three-dimensional observation effect of deep sea sediment plumes are ensured. The frame of the cube frame 1 is fixedly provided with 6 observation scales 3, each 2 observation scales 3 are respectively fixed on the rear face, the left side face and the bottom face of the frame structure of the cube frame 1, the observation scales 3 are fixed on the left side frame and the lower side frame of the face on the left side face of the cube frame 1, the observation scales 3 are fixed on the right side frame and the lower side frame of the face on the rear face of the cube frame 1, and the observation scales 3 are fixed on the upper side frame and the left side frame of the face on the bottom face of the cube frame 1; the observation scale can be directly shot through the submarine camera device, and the device can play an obvious identification role in the deep sea sediment plume observation process. The regular cube frame 1 is formed by welding a 316L stainless steel pipe with the length of 1 meter. The three-dimensional observation scale of the plume of the deep sea sediment is shown in fig. 2, a scale with 6 scales made of stainless steel is fixed on a frame structure, the observation scale 3 is made of the stainless steel, the length of the observation scale 3 is 1 meter, and the measurement accuracy is millimeter.
The front face, the right side face and the top face of the regular cube frame 1 are respectively fixedly provided with a marine camera equipment fixing support 4, the marine camera equipment fixing support 4 comprises a steel pipe 5 and a stainless steel hoop 6 arranged in the middle of the steel pipe 5, the steel pipe 5 is welded in the middle of the three face frames, the stainless steel hoop 6 is located in the center of the three faces, and the marine camera equipment fixing support structure can support three sets of marine camera equipment with enough strength to shoot and record on the seabed. The three stainless steel hoops 6 are fixedly provided with ocean seabed camera equipment 7.
As shown in fig. 4, the ocean seabed camera device 7 comprises a data collection storage pressure-resistant bin 71, a power supply unit 72 and a data collection unit 73 are installed in the data collection storage pressure-resistant bin 71, a pressure-resistant bin lower end sealing cover 74 is installed at the lower end of the data collection storage pressure-resistant bin 71, an ocean camera auxiliary lighting device 75 and an ocean high-resolution camera lens 76 are vertically installed downwards on the lower surface of the pressure-resistant bin lower end sealing cover 74, the ocean camera auxiliary lighting device 75 and the ocean high-resolution camera lens 76 are respectively surrounded by a stainless steel pressure-resistant bin shell and are electrically connected with the power supply unit 72 and the data collection unit 73 in the data collection storage pressure-resistant bin 71, the data collection unit 73 comprises a relevant data collection plate and data collection software, and the ocean camera auxiliary lighting device 75 and the ocean high-resolution camera lens 76 of the 3 ocean seabed camera devices 7 face the inside the cube frame 1 at an angle vertical to the surface. Ocean high resolution camera lens 76 resolution 1080
Figure SMS_20
1920, the auxiliary illumination equipment 75 of ocean camera is the LED light source and constitutes, totally three, and the auxiliary illumination equipment 75 of three ocean camera all uses ocean high resolution camera lens 76 as the equiangular surrounding of center its setting, and power supply unit 72 is high-performance lithium cell, can satisfy and observe at the seabed for a long time.
The invention discloses an image analysis method using the deep sea mining sediment plume image recognition device as claimed in claim 1, wherein the method for extracting the characteristics of the deep sea sediment plume image is mainly to process and analyze the photographed plume image through a deep sea sediment plume three-dimensional observation device, and the flow diagram is shown in fig. 5, and specifically comprises the following steps:
step S1, processing an original sediment plume image video: decomposing the three-dimensional observation video of the acquired submarine sediment plumes through a frame-by-frame decomposition program to obtain frame images of the sediment plumes; a deep sea sediment plume image photographed at the sea floor is 24 frames per second;
step S2, image enhancement and restoration of deep sea sediment plume images: because the shooting is carried out on the sea bottom of the deep sea, many factors are influenced, such as illumination, scattering refraction of the water body and the like. In order to obtain better image restoration effect, the restoration effect of 5 image restoration methods is compared, and the optimal restoration method for the deep sea sediment plume image is selected through visual comparison and related index statistics. The 5 image restoration methods for effect comparison are respectively as follows: contrast limited adaptive histogram equalization (contrast limited adaptive histogram equalization, CLAHE), histogram Equalization (HE), integrated color model (integrated color model, ICM), relative to global histogram stretching (relative globalhistogram stretching, RGHS), unsupervised color correction (unsupervised color correction method, UCM).
Adopting a contrast limited self-adaptive histogram equalization algorithm to limit noise amplification and local contrast enhancement by limiting the height of a local histogram; dividing an image into a plurality of subareas, classifying the histogram of each subarea, respectively carrying out histogram equalization on each subarea, and finally carrying out interpolation operation on each pixel to obtain a converted gray value, thereby realizing contrast limited self-adaptive histogram equalization image enhancement; the method specifically comprises the following steps:
s21, dividing the photographed sea sediment plume images into subareas with the same size, wherein the subareas are required to be adjacent but not overlapped;
step S22, observing pixel information contained in each sub-region, and counting respective gray level histograms H (i), wherein i represents possible gray levels;
s23, enabling gray levels in the sub-region images to have equal pixel numbers, namely, an average value Naver of the pixel numbers:
Figure SMS_21
(1)；
wherein ,
Figure SMS_22
the pixel number is used for representing the number of pixels of the sub-block image in the horizontal direction; />
Figure SMS_23
The number of pixels in the vertical direction; />
Figure SMS_24
Representing the number of gray levels in the sub-block image;
step S24, setting a shearing limiting coefficient
Figure SMS_25
(default value is 0.01), the value range is 0 to 1, and the closer the value is to 1, the stronger the contrast is; actual clipping limit value->
Figure SMS_26
The method comprises the following steps:
Figure SMS_27
(2)；
exceeding in H (i)
Figure SMS_28
The pixels of the value are truncated, the truncated pixels are re-uniformly allocated to the respective gray levels, assuming the total number of truncated pixels +.>
Figure SMS_29
The number of pixels allocated per gray level is determined>
Figure SMS_30
The method comprises the following steps:
Figure SMS_31
(3)；
wherein ,
Figure SMS_32
(4)；
by using
Figure SMS_33
Representing the newly obtained local histogram after allocation as a piecewise function:
Figure SMS_34
(5)
step S25, new histograms for each sub-area image
Figure SMS_35
Performing equalization treatment; and obtaining a new gray value by using a bilinear interpolation method.
The image restoration effect of the 5 methods is shown in fig. 6, and according to the manual perception of the image restoration effect, the contrast-limited adaptive histogram equalization (CLAHE) method is finally adopted to restore the deep sea sediment plume observation image.
Step S3, bit depth change of the deep sea sediment plume images: the video image shot by the three-dimensional observation device of the submarine sediment plume in the step S2 is a true color image, the bit depth is 24, and the colors of 24 powers of 2, namely one thousand of six million colors, can be combined; the color is needed to be simpler by utilizing the image segmentation model U-net, so that the image is changed into an image with bit depth of 8 and contains 256 colors;
step S4, graying the deep sea sediment plume image: in digital image processing, various formats of images are generally converted into grayscale images so that the subsequent images are less computationally intensive. The color of each pixel in the color image is determined by three components of R, G and B, and the value of each component can be 0-255, so that one pixel point can have the color change range of 1600 tens of thousands (256×256×256= 1677256), the gray image is a special color image with the same components of R, G and B, one pixel point has the change range of 256, the deep sea sediment plume image is subjected to gray processing for reducing the calculation amount of the subsequent image processing, and the gray image still reflects the distribution and the characteristics of the whole and partial chromaticity and the highlight level of the whole image like the color image. Wherein the pixels with large gray values are brighter: the maximum pixel value is 255, and the pixel value is white; whereas it is darker: the minimum pixel is 0 and is black; the image graying is realized through a cv2.Color_bgr2gray function in an OpenCV function package of python language:
gray=b 0.114+g 0.587+r 0.299, and the GRAY scale image is shown in fig. 7 (B);
step S5, establishing a deep sea sediment plume training data set: marking a plume range in a deep sea sediment plume image by using image marking software LabelMe of a graphical interface, and establishing a training set with a deep sea sediment plume label for image training;
step S6, training image expansion is carried out: the image expansion is also called a data enhancement technology, and is suitable for the condition that the image training sample amount is small, the training set sample used in the training is less, the overfitting of the trained model is easy to cause, the generalization capability is insufficient, so that the number of the training samples is increased through the step, and a random transformation method is used for generating a new image, and the method comprises the following steps: randomly rotating the angle, horizontally traversing a certain distance, vertically traversing a certain distance, randomly zooming a certain range, horizontally overturning and vertically overturning;
s7, image segmentation is carried out by utilizing a U-net model: the U-net model is applied to medical image segmentation at the earliest, has good effect in image segmentation of nature, and is gradually applied. Training of images is performed in a TensorFlow deep learning framework.
FIG. 7 (C) shows an image after image segmentation by a U-net model consisting of a compression part and an expansion part 2; the compression part is formed by 2 convolution kernels to 3
Figure SMS_36
3 (Conv 2D, activation function is relu), the convolution kernel is 2 +.>
Figure SMS_37
2 (maxpoolinglayer) to form a downsampling module, wherein the total number of the downsampling modules is 3; the extension part consists of an up-sampled convolution layer (UpSampling 2D), a feature splicing layer connectate, 3 convolutionsThe core is 3->
Figure SMS_38
3 (Conv 2D, activation function is relu) to form an up-sampling module, and 4 up-sampling modules are all arranged;
step S8, threshold segmentation: fig. 7 (d) shows an image subjected to threshold segmentation. According to the segmentation result of the image segmentation model, setting a threshold value as 174, carrying out threshold segmentation on the segmented image, and dividing the image pixel points into target areas and background areas with different gray scales, thereby more clearly showing the distribution range of the deep sea sediment plumes;
and S9, extracting the shape characteristics of the deep sea sediment plumes, and determining the diffusion range of the sediment plumes, so as to analyze the migration and diffusion rules of the deep sea mining sediment plumes.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. The device for identifying the sediment plume images of the deep sea mining comprises a square frame (1) and is characterized in that the four corners of the bottom of the square frame (1) are fixedly provided with counterweights (2) respectively, 6 observation scales (3) are fixedly arranged on the frame of the square frame (1), each 2 observation scales (3) are respectively fixed on the rear face, the left side face and the bottom face of the frame structure of the square frame (1), the observation scales (3) are fixed on the left side frame and the lower side frame of the face, the observation scales (3) are fixed on the right side frame and the lower side frame of the face on the rear face of the square frame (1), and the observation scales (3) are fixed on the upper side frame and the left side frame of the face on the bottom face of the square frame (1);
the ocean photographing equipment fixing support (4) is fixedly arranged in front of, on the right side of and on the top of the regular cube frame (1), the ocean photographing equipment fixing support (4) comprises a steel pipe (5) and stainless steel hoops (6) arranged in the middle of the steel pipe (5), the steel pipe (5) is welded in the middle of the three face frames, the stainless steel hoops (6) are located in the center of the three faces, and ocean seabed photographing equipment (7) is fixedly arranged on the three stainless steel hoops (6);
the ocean seabed camera equipment (7) comprises a data acquisition storage pressure-resistant bin (71), a power supply unit (72) and a data acquisition unit (73) are arranged in the data acquisition storage pressure-resistant bin (71), a pressure-resistant bin lower end sealing cover (74) is arranged at the lower end of the data acquisition storage pressure-resistant bin (71), ocean camera auxiliary lighting equipment (75) and ocean high-resolution camera lenses (76) are vertically downwards arranged on the lower surface of the pressure-resistant bin lower end sealing cover (74), the ocean camera auxiliary lighting equipment (75) and the ocean high-resolution camera lenses (76) are respectively surrounded by a stainless steel pressure-resistant bin shell and are electrically connected with the power supply unit (72) and the data acquisition unit (73) in the data acquisition storage pressure-resistant bin (71), the data acquisition unit (73) comprises a relevant data acquisition plate and data acquisition software, and the ocean camera auxiliary lighting equipment (75) and the ocean high-resolution camera lenses (76) of the 3 ocean seabed camera equipment (7) face the inside a cube frame (1) at an angle vertical to the surface.
2. A device for identifying images of deep sea mining sediments plume patterns according to claim 1, characterized in that the cubic frame (1) is composed of stainless steel pipes of 316L material with a length of 1 meter by welding.
3. The device for identifying the images of the sediments and feathers in deep sea mining according to claim 2, wherein the observation scale (3) is made of stainless steel, the length of the observation scale (3) is 1 meter, and the measurement accuracy is millimeter.
4. A device for image recognition of deep sea mining sediments plume patterns according to claim 1, characterized in that the counterweight (2) is a pie-shaped counterweight, the diameter of the counterweight (2) being 20 cm.
5. The device for identifying a plume image of a deep sea mining sediment as claimed in claim 1, wherein the resolution of the marine high resolution camera lens (76) is 1080
Figure QLYQS_1
1920, the auxiliary illumination equipment (75) of the ocean camera is composed of LED light sources, three auxiliary illumination equipment (75) of the ocean camera are all arranged around the ocean high-resolution imaging lens (76) at equal angles with the center, and power is suppliedThe unit (72) is a high performance lithium battery.
6. An image analysis method using the deep sea mining sediment plume image recognition device according to claim 1, which is characterized in that the invention adopts a U-net model to extract the characteristics of the sediment plume image, mainly processes and analyzes the plume image shot by the three-dimensional observation device of the sediment plume in the deep sea, and the flow diagram is shown in fig. 5, and specifically comprises the following steps:
step S1, processing an original sediment plume image video: decomposing the three-dimensional observation video of the acquired submarine sediment plumes through a frame-by-frame decomposition program to obtain frame images of the sediment plumes; a deep sea sediment plume image photographed at the sea floor is 24 frames per second;
step S2, image enhancement and restoration of deep sea sediment plume images: adopting a contrast limited self-adaptive histogram equalization algorithm to limit noise amplification and local contrast enhancement by limiting the height of a local histogram; dividing an image into a plurality of subareas, classifying the histogram of each subarea, respectively carrying out histogram equalization on each subarea, and finally carrying out interpolation operation on each pixel to obtain a converted gray value, thereby realizing contrast limited self-adaptive histogram equalization image enhancement;
step S3, bit depth change of the deep sea sediment plume images: the video image shot by the three-dimensional observation device of the submarine sediment plume in the step S2 is a true color image, the bit depth is 24, and the colors of 24 powers of 2, namely one thousand of six million colors, can be combined; the image is changed to an image with bit depth of 8 and contains 256 colors;
step S4, graying the deep sea sediment plume image: gray processing is carried out on the deep sea sediment plume images, wherein pixels with large gray values are brighter: the maximum pixel value is 255, and the pixel value is white; whereas it is darker: the minimum pixel is 0 and is black; the image graying is realized through a cv2.Color_bgr2gray function in an OpenCV function package of python language:
GRAY = B * 0.114 + G *0.587 + R * 0.299；
step S5, establishing a deep sea sediment plume training data set: marking a plume range in a deep sea sediment plume image by using image marking software LabelMe of a graphical interface, and establishing a training set with a deep sea sediment plume label for image training;
step S6, training image expansion is carried out: increasing the number of training samples, generating a new image using a stochastic transformation method, comprising: randomly rotating the angle, horizontally traversing a certain distance, vertically traversing a certain distance, randomly zooming a certain range, horizontally overturning and vertically overturning;
s7, image segmentation is carried out by utilizing a U-net model: the U-net model consists of a compression part and an expansion part 2; the compression part is formed by 2 convolution kernels to 3
Figure QLYQS_2
3 (Conv 2D, activation function is relu), the convolution kernel is 2 +.>
Figure QLYQS_3
2 (maxpoolinglayer) to form a downsampling module, wherein the total number of the downsampling modules is 3; the extension part consists of an up-sampled convolution layer (UpSampling 2D), a feature splicing layer splicing, and 3 convolution kernels of 3 +.>
Figure QLYQS_4
3 (Conv 2D, activation function is relu) to form an up-sampling module, and 4 up-sampling modules are all arranged;
step S8, threshold segmentation: according to the segmentation result of the image segmentation model, setting a threshold value as 174, carrying out threshold segmentation on the segmented image, dividing the image pixel points into target areas and background areas with different gray scales, and displaying the distribution range of deep sea sediment plumes;
and S9, extracting the shape characteristics of the deep sea sediment plumes, and determining the diffusion range of the sediment plumes, so as to analyze the migration and diffusion rules of the deep sea mining sediment plumes.
7. The device for identifying the images of the sediments in deep sea mining according to claim 1, wherein the contrast-limited adaptive histogram equalization algorithm in step S2 specifically comprises the following steps:
s21, dividing the photographed sea sediment plume images into subareas with the same size, wherein the subareas are required to be adjacent but not overlapped;
step S22, observing the pixel information contained in each sub-region, and counting the respective gray level histograms H(i)，iRepresenting the gray level that may occur;
s23, making gray level in the sub-region image have equal pixel number, i.e. average value of pixel numberN aver ：
Figure QLYQS_5
(1)；
wherein ,
Figure QLYQS_6
the pixel number is used for representing the number of pixels of the sub-block image in the horizontal direction; />
Figure QLYQS_7
The number of pixels in the vertical direction; />
Figure QLYQS_8
Representing the number of gray levels in the sub-block image;
step S24, setting a shearing limiting coefficient
Figure QLYQS_9
(default value is 0.01), the value range is 0 to 1, and the closer the value is to 1, the stronger the contrast is; actual clipping limit value->
Figure QLYQS_10
The method comprises the following steps:
Figure QLYQS_11
(2)；
handle H(i)Is beyond in
Figure QLYQS_12
The pixels of the value are truncated, the truncated pixels are re-uniformly allocated to the respective gray levels, assuming the total number of truncated pixels +.>
Figure QLYQS_13
The number of pixels allocated per gray level is determined>
Figure QLYQS_14
The method comprises the following steps:
Figure QLYQS_15
(3)；
wherein ,
Figure QLYQS_16
(4)；
by using
Figure QLYQS_17
Representing the newly obtained local histogram after allocation as a piecewise function:
Figure QLYQS_18
(5)
step S25, new histograms for each sub-area image
Figure QLYQS_19
Performing equalization treatment; and obtaining a new gray value by using a bilinear interpolation method. />
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