Finitely generated submodules and bilinear maps

theorem Submodule.FG.map₂ {R : Type u_1} {M : Type u_2} {N : Type u_3} {P : Type u_4} [CommSemiring R] [AddCommMonoid M] [AddCommMonoid N] [AddCommMonoid P] [Module R M] [Module R N] [Module R P] (f : M →ₗ[R] N →ₗ[R] P) {p : Submodule R M} {q : Submodule R N} (hp : p.FG) (hq : q.FG) : (Submodule.map₂ f p q).FG