An on-line measurement method for underwater installation of a jacket based on image restoration

Abstract

The invention discloses an on-line measurement method for underwater installation of a jacket based on image restoration, and the method comprises the following steps: firstly, carrying out the imagecollection of the underwater jacket through a camera, and obtaining an original sequence image; secondly, carrying out time domain mean filtering on the obtained original sequence image through a high-pass filter; thirdly, carrying out deconvolution filtering through a Gaussian Wiener space; and finally, solving the part pitch through the calibrated underwater camera parameter model. The method has the advantages that the method is suitable for underwater three-dimensional measurement, the algorithm execution speed is lower than 0.5s, the average error of pitch detection of three-dimensional measurement is within 0.1 mm, the execution speed is reduced, the detection precision is improved, and the working efficiency is improved for underwater installation of the jacket.

Description

technical field [0001] The invention belongs to the field of offshore wind power, and in particular relates to an image recovery-based online measurement method for underwater jacket installation. Background technique [0002] my country has a vast sea area, abundant offshore wind energy resources, and great potential for wind power generation. With the independent development and application of new wind power technologies, new materials and new processes, my country's offshore wind power has entered a stage of large-scale construction. Wind turbine foundation construction is one of the important links in offshore wind power construction. The foundation types of offshore wind turbines include gravity foundation and pile foundation, and the floating foundation technology is also under research and development. Pile-supported foundations include single-pile foundations, multi-pile concrete cap foundations and multi-pile jacket foundations. [0003] Jacket installation includ...

AI Technical Summary

Problems solved by technology

In order to solve the above problems, underwater automation is usually used to process and use machine vision for measurement. However, due to the refraction of the water surface, the fluctuation of the water surface, etc., these bring new challenges to the use of machine vision-assisted measurement and positioning in the automation process, which seriously affects the Image Inspection Quality

[0004] Patent No. CN105698767A is a vision-based underwater measurement method, which uses a relatively accurate underwater imaging model to achieve precise calibration of the camera, and uses camera calibration parameters to achieve underwater two-dimensional measurement and binocular three-dimensional measurement, which is verified by experiments The average error of this method for underwater two-dimensional measurement is 0.0612mm, and the average error result for three-dimensional measurement is larger than that of two-dimensional measurement, which is less than 0.2mm. This patent is more suitable for underwater two-dimensional measurement. For three-dimensional measurement, the The measurement accuracy cannot meet the accuracy requirements for underwater piling, positioning and grouting of the jacket, and the measurement of this patent takes a long time

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