Geomorphic detection method for underwater pile foundation location

Abstract

The present disclosure proposes a method for detecting the topography of the location of an underwater pile foundation, which relates to the field of marine monitoring. The present disclosure obtains the underwater sound velocity corresponding to the target area; obtains the monitoring data of the target area by a multi-beam echo sounder, and corrects the monitoring data based on the underwater sound velocity to obtain the target data; obtains a three-dimensional image of the target area based on the target data and the position parameters and attitude parameters of the multi-beam echo sounder; and generates the topography evolution data of the target area based on the three-dimensional images obtained at multiple moments. The present application uses a multi-beam echo sounder to obtain a three-dimensional image of the target area and generates the topography evolution data of the target area, which can grasp the changes in the topography of the offshore wind power pile foundation in real time, reduce manpower and improve the safety of personnel operations.

Description

Technical Field

[0001] The present application relates to the field of marine monitoring, and in particular to a method for detecting the topography of underwater pile foundation locations. Background Art

[0002] The situation at sea is complex, and offshore wind turbine pile foundations are constantly tested by ocean currents. Therefore, it is necessary to keep abreast of changes in the terrain at the location of the offshore wind turbine pile foundations. In related technologies, manual measurements are performed using ships. This method is labor-intensive and inefficient, and there are also many potential safety hazards. Summary of the invention

[0003] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, one purpose of the present application is to propose a method for detecting the topography of the location of an underwater pile foundation, by obtaining the underwater sound velocity corresponding to the target area; obtaining monitoring data of the target area by a multi-beam echo sounder, and correcting the monitoring data based on the underwater sound velocity to obtain target data; obtaining a three-dimensional image of the target area according to the target data and the position parameters and attitude parameters of the multi-beam echo sounder; and generating topography evolution data of the target area based on the three-dimensional images obtained at multiple times.

[0005] This application uses a multi-beam depth sounder to obtain a three-dimensional image of the target area and generate geomorphic evolution data of the target area, which can grasp the changes in the topography of the offshore wind power pile base in real time, reduce manpower and improve the safety of personnel operations.

[0006] The second objective of the present application is to provide an underwater pile foundation.

[0007] The third objective of the present application is to provide an electronic device.

[0008] A fourth object of the present application is to provide a non-transitory computer-readable storage medium.

[0009] A fifth object of the present application is to provide a computer program product.

[0010] To achieve the above-mentioned purpose, the first aspect of the present application proposes a method for detecting the topography of the location of an underwater pile foundation, comprising: obtaining the underwater sound velocity corresponding to the target area; obtaining the monitoring data of the target area by a multi-beam echo sounder, and correcting the monitoring data based on the underwater sound velocity to obtain target data; obtaining a three-dimensional image of the target area according to the target data and the position parameters and attitude parameters of the multi-beam echo sounder; and generating the topography evolution data of the target area based on the three-dimensional images obtained at multiple times.

[0011] This application uses a multi-beam depth sounder to obtain a three-dimensional image of the target area and generate geomorphic evolution data of the target area, which can grasp the changes in the topography of the offshore wind power pile base in real time, reduce manpower and improve the safety of personnel operations.

[0012] According to one embodiment of the present application, the correcting the monitoring data based on the underwater sound speed to obtain the target data includes: obtaining the difference between the underwater sound speed and the preset sound speed of the multi-beam echo sounder; generating a correction parameter based on the difference, and correcting the monitoring data based on the correction parameter to obtain the target data.

[0013] According to one embodiment of the present application, before obtaining the underwater sound velocity corresponding to the target area, it also includes: obtaining the highest tide level parameters, the lowest tide level parameters and the water depth parameters of the location of the underwater pile foundation; based on the highest tide level parameters, the lowest tide level parameters and the water depth parameters, determining the installation position of a preset bracket, wherein the preset bracket is installed on the underwater pile foundation, and is used to fix the pan-tilt head connected to the multi-beam echo sounder.

[0014] According to an embodiment of the present application, the method further includes: generating a driving instruction for the gimbal based on the rotation parameters, wherein the driving instruction includes a maximum rotation angle, a rotation speed, and a rotation period of the gimbal.

[0015] According to one embodiment of the present application, the method further includes: acquiring underwater temperature data of the target area; in response to the underwater temperature data being within a preset range, generating a start instruction for the sound velocity meter, wherein the underwater sound velocity is collected by the sound velocity meter in a start state.

[0016] According to one embodiment of the present application, acquiring a three-dimensional image of the target area based on the target data and the position parameters and attitude parameters of the multi-beam echo sounder includes: constructing a coordinate system based on the position parameters of the multi-beam echo sounder; acquiring inclination data of the multi-beam echo sounder based on the attitude parameters of the multi-beam echo sounder; and acquiring a three-dimensional image of the target area based on the coordinate system, the inclination data and the target data.

[0017] To achieve the above-mentioned purpose, the second aspect of the present application proposes an underwater pile foundation, comprising: a controller, a multi-beam echo sounder and a sound velocity meter, wherein: the multi-beam echo sounder is used to measure the sea water depth of the target area; the sound velocity meter is used to measure the underwater sound velocity of the target area; the controller is used to obtain the underwater sound velocity corresponding to the target area, obtain the monitoring data of the target area by the multi-beam echo sounder, and correct the monitoring data based on the underwater sound velocity, obtain target data, obtain a three-dimensional image of the target area according to the target data and the position parameters and attitude parameters of the multi-beam echo sounder, and generate the landform evolution data of the target area based on the three-dimensional images obtained at multiple times.

[0018] According to an embodiment of the present application, the underwater pile foundation further includes: a temperature sensor, and the temperature sensor is used to measure the temperature of the target area.

[0019] According to an embodiment of the present application, the underwater pile foundation further includes: a pan-tilt platform, which is connected to the multi-beam echo sounder and is used to carry the multi-beam echo sounder for rotation.

[0020] According to one embodiment of the present application, the underwater pile foundation further includes: a preset bracket, wherein the preset bracket is fixed on the underwater pile foundation, the temperature sensor, the pan-tilt head and the sonic velocity meter are installed on the preset bracket, and the temperature sensor, the pan-tilt head and the sonic velocity meter are connected to the controller via a cable.

[0021] To achieve the above-mentioned purpose, the third aspect embodiment of the present application proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the topography detection method for the location of the underwater pile foundation as described in the first aspect embodiment of the present application.

[0022] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present application proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to implement the topography detection method for the location of the underwater pile foundation as described in the first aspect embodiment of the present application.

[0023] To achieve the above-mentioned purpose, the fifth aspect embodiment of the present application proposes a computer program product, including a computer program, which, when executed by a processor, implements the topography detection method for the location of the underwater pile foundation as described in the first aspect embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1It is a schematic diagram of a method for detecting the topography of the location of an underwater pile foundation shown in an embodiment of the present application.

[0025] Figure 2 It is a schematic diagram showing how to correct monitoring data and obtain target data according to an embodiment of the present application.

[0026] Figure 3 It is a schematic diagram of obtaining a three-dimensional image of a target area according to an embodiment of the present application.

[0027] Figure 4 It is a schematic diagram of a method for detecting the topography of the location of an underwater pile foundation shown in an embodiment of the present application.

[0028] Figure 5 It is a schematic diagram of an underwater pile foundation shown in one embodiment of the present application.

[0029] Figure 6 It is a schematic diagram of an electronic device shown in one embodiment of the present application. DETAILED DESCRIPTION

[0030] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0031] Due to the complex situation at sea, the underwater wind turbine pile foundations installed in the sea are constantly subject to the test of ocean current erosion, and it is necessary to timely grasp the changes in the terrain at the location of the underwater wind turbine pile foundations. Figure 1 is an exemplary schematic diagram of a method for detecting the topography of an underwater pile foundation location proposed in this application, such as Figure 1 As shown, the method for detecting the topography of the location of the underwater pile foundation comprises the following steps:

[0032] S101, obtaining the underwater sound speed corresponding to the target area.

[0033] Due to the vast area of ​​the ocean, the temperature, salinity, etc. of the seawater in the areas where the underwater wind turbine pile foundations are located in different regions of the ocean are not exactly the same, so the sound speed of the seawater in the areas where the underwater wind turbine pile foundations are located in different regions of the ocean is not the same.

[0034] The area where the underwater wind turbine pile foundation to be tested is located is determined as the target area, and the real underwater sound velocity of the target area is obtained. Optionally, the underwater sound velocity of the target area can be measured by a sound velocity meter. Optionally, the underwater sound velocity of the target area can also be obtained by calculating factors such as the seawater temperature, salinity and static pressure of the target area.

[0035] S102, acquiring monitoring data of the target area from a multi-beam echo sounder, and correcting the monitoring data based on the underwater sound speed to acquire target data.

[0036] Multibeam echosounder (MBES) can use an acoustic transmitting transducer array to transmit wide-sector sound waves to the seabed, use a receiving transducer array to receive the sound waves in a narrow beam, and form an illumination footprint of the seabed topography through the orthogonality of the transmitting and receiving sector directions. By properly processing these footprints, a single detection can provide the water depth values ​​of hundreds or even more seabed measured points in the vertical plane.

[0037] Optionally, the multi-beam echo sounder can be installed on a pan-tilt, wherein the pan-tilt can be fixed on a preset bracket installed on an underwater pile foundation, and the pan-tilt can rotate, thereby driving the multi-beam echo sounder to perform continuous planar scanning of the target area. Optionally, two multi-beam echo sounders can be selected and installed on two pan-tilts at both ends of the preset bracket, respectively, and the two multi-beam echo sounders scan the target area on their sides respectively, and the monitoring data obtained on both sides are integrated and sorted to obtain the monitoring data of the entire target area.

[0038] Start the multi-beam echo sounder and obtain the monitoring data of the target area measured by the multi-beam echo sounder. Since the speed of sound waves emitted by the multi-beam echo sounder may be different from the speed of sound in the target area, it is necessary to correct the monitoring data based on the underwater sound speed of the target area obtained above to obtain the real target data corresponding to the water depth value in the target area. For example, the speed of sound waves emitted by the multi-beam echo sounder is 1500m / s, but the real underwater sound speed is 1498m / s, which results in an error of 2m / s. In order to minimize the impact of the error, the monitoring data is corrected based on the underwater sound speed.

[0039] S103, acquiring a three-dimensional image of the target area according to the target data and the position parameters and attitude parameters of the multi-beam echo sounder.

[0040] Different installation positions or installation postures of the multi-beam echo sounder will also affect the construction of the three-dimensional image of the target area.

[0041] For example, if the multi-beam echo sounder is installed only 5 meters from the seabed, its measurement range will be small; if the multi-beam echo sounder is installed at a higher point of the underwater pile foundation, it may not be submerged underwater when the sea tide recedes.

[0042] For example, if the multi-beam echo sounder is installed at a different inclination angle relative to the underwater pile foundation, the range of the target area it measures will also be different.

[0043] Optionally, a three-dimensional coordinate system is constructed with the intersection of the underwater pile foundation and the seabed as the origin, wherein the horizontal and vertical coordinates are in the plane where the intersection of the underwater pile foundation and the seabed is located, and the axis coordinate reflects the distance value of the seabed position from the sea level position. A three-dimensional image of the target area is generated on the preset software according to the target data and the position parameters and attitude parameters of the multi-beam echo sounder.

[0044] S104, generating landform evolution data of the target area based on the three-dimensional images acquired at multiple moments.

[0045] What is obtained above is a three-dimensional image generated by the multi-beam echo sounder after detecting a circle of the target area. In order to grasp the changes in the topography of the offshore wind farm pile base in real time, the landform evolution data of the target area is generated based on the three-dimensional images of the target area obtained at multiple times.

[0046] For example, a multi-beam echo sounder can detect a target area once a day and generate a three-dimensional image of the target area every day. All three-dimensional images of the target area obtained within a set time period are arranged in chronological order, the landform evolution of the target area is simulated, and landform evolution data of the target area is generated. Optionally, the set time period can be a week, a month, or a year.

[0047] The embodiment of the present application proposes a method for detecting the topography of the location of an underwater pile foundation, by obtaining the underwater sound velocity corresponding to the target area; obtaining the monitoring data of the target area by a multi-beam echo sounder, and correcting the monitoring data based on the underwater sound velocity to obtain the target data; obtaining a three-dimensional image of the target area based on the target data and the position parameters and attitude parameters of the multi-beam echo sounder; and generating the topography evolution data of the target area based on the three-dimensional images obtained at multiple times. The present application uses a multi-beam echo sounder to obtain a three-dimensional image of the target area and generate the topography evolution data of the target area, which can grasp the changes in the topography of the offshore wind power pile foundation in real time, reduce manpower and improve the safety of personnel operations.

[0048] As a feasible method, the highest tide level parameters, the lowest tide level parameters and the water depth parameters of the underwater pile foundation are obtained, and based on the highest tide level parameters, the lowest tide level parameters and the water depth parameters, the installation position of the preset bracket is determined, wherein the preset bracket is installed on the underwater pile foundation and is used to fix the pan / tilt connected to the multi-beam echo sounder. Optionally, the highest tide level parameters, the lowest tide level parameters and the water depth parameters of the underwater pile foundation can be obtained by consulting historical data. Optionally, the position of the underwater pile foundation 2 meters below the lowest tide level can be selected as the installation position of the preset bracket, which can not only prevent ship collisions, but also prevent the preset bracket from being exposed above the water surface.

[0049] As a feasible method, based on the rotation parameters, a driving instruction of the gimbal is generated, thereby driving the gimbal to rotate and driving the multi-beam depth sounder to perform continuous surface scanning of the target area. The driving instruction may include the maximum rotation angle, rotation speed and rotation period of the gimbal. For example, the gimbal can be set to rotate 180 degrees every day, and the rotation method is parallel to the horizontal plane. The multi-beam depth sounder is controlled to realize rotational scanning of a single-sided pile foundation, and realize continuous surface scanning of the monitored area to obtain the real-time terrain of the pile foundation, so as to achieve the purpose of real-time monitoring of the pile foundation.

[0050] As a feasible method, before obtaining the underwater sound speed corresponding to the target area, the underwater temperature data of the target area can be obtained. If the underwater temperature data is within the preset range, a start instruction of the sound velocity meter is generated, and the sound velocity meter is started to collect the underwater sound speed. For example, the temperature range of the working environment can be set. For example, if the temperature range of the working environment is set to 0-40°, when the seawater temperature in the target area is within the temperature range of 0-40°, the sound velocity meter is started normally to measure the target area; when the seawater temperature in the target area is outside the temperature range of 0-40°, the sound velocity meter is not started, and the target area is not measured.

[0051] Figure 2 is an exemplary schematic diagram of a method for detecting the topography of an underwater pile foundation location proposed in this application, such as Figure 2 As shown, the monitoring data is corrected based on the underwater sound speed to obtain the target data, including the following steps:

[0052] S201, obtaining a difference between an underwater sound speed and a preset sound speed of a multi-beam echo sounder.

[0053] Obtain a preset sound velocity of the multi-beam echo sounder. Optionally, the preset sound velocity of the multi-beam echo sounder can be set by a staff member. Compare the actual underwater sound velocity measured by the sound velocity meter with the preset sound velocity of the multi-beam echo sounder to obtain the difference between the underwater sound velocity and the preset sound velocity of the multi-beam echo sounder.

[0054] For example, the preset sound speed of the multibeam echo sounder is 1500m / s, and the underwater sound speed measured by the sound velocity meter is 1497m / s. The difference between the underwater sound speed and the preset sound speed of the multibeam echo sounder is 3m / s.

[0055] S202, generating correction parameters based on the difference, and correcting the monitoring data based on the correction parameters to obtain target data.

[0056] Since the difference between the actual underwater sound speed and the preset sound speed of the multi-beam echo sounder will cause the accuracy of the subsequently constructed three-dimensional image of the target area to be reduced, correction parameters are generated based on the difference, and the monitoring data is corrected based on the correction parameters to obtain the real target data corresponding to the water depth value in the target area.

[0057] Optionally, the correction parameter can be equal to 1 minus the ratio of the difference to the preset sound speed. For example, the preset sound speed of the multi-beam echo sounder is 1500m / s, the underwater sound speed measured by the sound velocity meter is 1497m / s, and the difference between the underwater sound speed and the preset sound speed of the multi-beam echo sounder is 3m / s. The correction parameter is equal to 1-3 / 1500=0.998, that is, all monitoring data can be multiplied by 0.998 to obtain the corrected target data.

[0058] The embodiment of the present application corrects the monitoring data collected by the multi-beam echo sounder based on the underwater sound velocity, so as to obtain target data that more accurately reflects the changes in the terrain near the underwater wind turbine pile foundation, thereby facilitating the subsequent acquisition of accurate three-dimensional images based on the target data.

[0059] Figure 3 is an exemplary schematic diagram of a method for detecting the topography of an underwater pile foundation location proposed in this application, such as Figure 3 As shown, according to the target data and the position parameters and attitude parameters of the multi-beam echo sounder, a three-dimensional image of the target area is obtained, including the following steps:

[0060] S301, constructing a coordinate system based on position parameters of the multibeam echo sounder.

[0061] Optionally, a three-dimensional coordinate system is constructed with the intersection of the underwater pile foundation and the seabed as the origin, wherein the horizontal and vertical coordinates are in the plane where the intersection of the underwater pile foundation and the seabed is located, and the axis coordinate reflects the distance value from the seabed position to the sea level position.

[0062] S302: Acquire inclination data of the multi-beam echo sounder based on the attitude parameters of the multi-beam echo sounder.

[0063] The measurement range of the multi-beam echo sounder is different when it is installed in different postures. The inclination data of the multi-beam echo sounder is obtained based on the posture parameters of the installed multi-beam echo sounder. For example, the inclination data can be 10°, 15°, etc.

[0064] S303, acquiring a three-dimensional image of the target area according to the coordinate system, the inclination data and the target data.

[0065] According to the target data and inclination data, a three-dimensional image of the target area is generated on the preset software in the above-constructed coordinate system. Based on all the target data, the depth values ​​corresponding to all seabed points in the target area can be obtained in the same way, thereby generating a three-dimensional image of the target area.

[0066] The embodiment of the present application combines the differences in position parameters and attitude parameters of the multi-beam echo sounder to obtain a three-dimensional image of the target area, so that the obtained three-dimensional image of the target area is more accurate.

[0067] Figure 4 is an exemplary schematic diagram of a method for detecting the topography of an underwater pile foundation location proposed in this application, such as Figure 5 As shown, the method for detecting the topography of the location of the underwater pile foundation comprises the following steps:

[0068] S401, acquiring underwater temperature data of a target area.

[0069] S402, in response to the underwater temperature data being within a preset range, generating a start instruction for a sound velocity meter to obtain an underwater sound velocity corresponding to a target area.

[0070] Regarding the implementation method of steps S401 to S402, the implementation method in each embodiment of the present application may be adopted and will not be described in detail here.

[0071] S403, obtaining monitoring data of the target area by the multi-beam echo sounder.

[0072] S404, obtaining a difference between the underwater sound speed and a preset sound speed of the multi-beam echo sounder.

[0073] S405, generating correction parameters based on the difference, and correcting the monitoring data based on the correction parameters to obtain target data.

[0074] Regarding the implementation method of steps S403 to S405, the implementation method in each embodiment of the present application may be adopted and will not be described in detail here.

[0075] S406, constructing a coordinate system based on the position parameters of the multibeam echo sounder.

[0076] S407, based on the attitude parameters of the multi-beam echo sounder, obtaining the inclination data of the multi-beam echo sounder.

[0077] S408, acquiring a three-dimensional image of the target area according to the coordinate system, the inclination data and the target data.

[0078] Regarding the implementation method of steps S406 to S408, the implementation method in each embodiment of the present application can be adopted, and will not be described in detail here.

[0079] S409, generating landform evolution data of the target area based on the three-dimensional images acquired at multiple moments.

[0080] The embodiment of the present application proposes a method for detecting the topography of the location of an underwater pile foundation, by obtaining the underwater sound velocity corresponding to the target area; obtaining the monitoring data of the target area by a multi-beam echo sounder, and correcting the monitoring data based on the underwater sound velocity to obtain the target data; obtaining a three-dimensional image of the target area based on the target data and the position parameters and attitude parameters of the multi-beam echo sounder; and generating the topography evolution data of the target area based on the three-dimensional images obtained at multiple times. The present application uses a multi-beam echo sounder to obtain a three-dimensional image of the target area and generate the topography evolution data of the target area, which can grasp the changes in the topography of the offshore wind power pile foundation in real time, reduce manpower and improve the safety of personnel operations.

[0081] Figure 5 is a schematic diagram of an underwater pile foundation proposed in this application, such as Figure 5 As shown, a preset bracket 51 is fixed on the underwater pile foundation 500, a temperature sensor 52 (not shown in the figure), a pan-tilt head 53 and a sonic velocity meter 54 (not shown in the figure) are installed on the mounting bracket, and a multi-beam depth sounder 55 is installed on the pan-tilt head. In addition to the above, a controller 56 (not shown in the figure) is also installed. Figure 5 Take the example that two pan-tilts 53 are installed on both sides of the preset bracket, and each pan-tilt 53 is connected to a multi-beam depth sounder 55. It should be noted that the two pan-tilts 53 and the two multi-beam depth sounders 55 are only for introducing this solution and cannot be used as a condition to limit this application.

[0082] Among them, the multi-beam echo sounder 55 is used to measure the sea water depth in the target area.

[0083] The sound velocity meter 54 is used to measure the underwater sound velocity of the target area. Preferably, a sound velocity meter with high output rate, fast response speed and plug-and-play is used.

[0084] The temperature sensor 52 is used to measure the temperature of the target area.

[0085] One end of the pan-tilt head 53 is connected to the preset bracket 51, and the other end is connected to the multi-beam depth sounder 55 to control the rotation of the multi-beam depth sounder 55. Preferably, the pan-tilt head 53 needs to have high axial rotation positioning accuracy, compact structure and easy connection, can achieve precise control, can provide large torque, can rotate 360° in a circle, the rotation direction is adjustable, the speed is low, and has high speed capability, so as to quickly set to a certain angle. Optionally, as Figure 5 As shown, the two pan-tilt platforms 53 rotate 180 degrees each day, and the rotation mode is parallel to the horizontal plane, so as to realize rotation scanning of the single-side target area of ​​the underwater pile foundation 500. Optionally, the torque of the pan-tilt platform 53 can be designed to be 30Nm.

[0086] Optionally, the controller 56 can be installed in the staff control cabin, and the temperature sensor 52, the pan / tilt 53 and the sound velocity meter 54 are connected to the controller 56 through a waterproof cable. The controller 56 is used to obtain the underwater sound velocity corresponding to the target area, obtain the monitoring data of the target area by the multi-beam echo sounder 55, and correct the monitoring data based on the underwater sound velocity, obtain the target data, obtain the three-dimensional image of the target area according to the target data and the position parameters and attitude parameters of the multi-beam echo sounder 55, and generate the landform evolution data of the target area based on the three-dimensional images obtained at multiple times.

[0087] Optionally, the controller 56 can control the pan-tilt head 53 to automatically operate according to a preset working cycle to control the multi-beam depth sounder 55 to rotate. For example, the controller 56 can control the pan-tilt head 53 to rotate in steps of 0.5 degrees, and the two multi-beam depth sounders 55 respectively rotate 200° to complete a comprehensive scan of the target area.

[0088] Optionally, the controller 56 may send an operation instruction to the pan-tilt head 53 when measurement is required, so that the controller 56 can control the pan-tilt head 53 to rotate, thereby controlling the multi-beam echo sounder 55 to rotate to complete the measurement.

[0089] Optionally, the controller 56 can be connected to other software via an interface, so as to send instructions on other software to control the operation of the controller 56, thereby controlling the pan / tilt 53 to rotate, thereby controlling the multi-beam echo sounder 55 to rotate to complete the measurement.

[0090] Furthermore, the controller 56 is also used to: obtain the difference between the underwater sound speed and the preset sound speed of the multi-beam echo sounder; generate correction parameters based on the difference, and correct the monitoring data based on the correction parameters to obtain target data.

[0091] Furthermore, the controller 56 is also used to: obtain the highest tide level parameters, the lowest tide level parameters and the water depth parameters of the location of the underwater pile foundation; based on the highest tide level parameters, the lowest tide level parameters and the water depth parameters, determine the installation position of the preset bracket, wherein the preset bracket is installed on the underwater pile foundation and is used to fix the pan-tilt head connected to the multi-beam depth sounder.

[0092] Furthermore, the controller 56 is also used to generate a driving instruction for the gimbal based on the rotation parameters, wherein the driving instruction includes a maximum rotation angle, a rotation speed and a rotation period of the gimbal.

[0093] Furthermore, the controller 56 is also used to: obtain underwater temperature data of the target area; and generate a start instruction for the speed meter in response to the underwater temperature data being within a preset range, wherein the underwater sound speed is collected by the speed meter in the start state.

[0094] Furthermore, the controller 56 is also used to: construct a coordinate system based on the position parameters of the multi-beam echo sounder; obtain the inclination data of the multi-beam echo sounder based on the attitude parameters of the multi-beam echo sounder; and obtain a three-dimensional image of the target area according to the coordinate system, inclination data and target data.

[0095] In order to implement the above embodiment, the present application embodiment further proposes an electronic device 600, such as Figure 6 As shown, the electronic device 600 includes: a processor 601 and a memory 602 that is communicatively connected to the processor, the memory 602 stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor 601 to implement the topography detection method for the location of the underwater pile foundation as shown in the above embodiment.

[0096] In order to implement the above embodiment, the embodiment of the present application also proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to implement the topography detection method for the location of the underwater pile foundation as shown in the above embodiment.

[0097] In order to implement the above embodiments, the embodiments of the present application also propose a computer program product, including a computer program, which, when executed by a processor, implements the topography detection method for the location of the underwater pile foundation as shown in the above embodiments.

[0098] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0099] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0100] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0101] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for detecting the topography of an underwater pile foundation, characterized in that: include: Obtain the highest tide level parameters, the lowest tide level parameters and the water depth parameters at the location of the underwater pile foundation; Based on the highest tide level parameter, the lowest tide level parameter and the water depth parameter, determining the installation position of the preset bracket, wherein the preset bracket is installed on the underwater pile foundation and is used to fix the pan / tilt head connected to the multi-beam echo sounder, and the underwater pile foundation also includes a sonic velocity meter and a controller; Measuring the seawater depth of the target area based on the multibeam echo sounder; Measuring the underwater sound velocity of the target area based on the sound velocity meter; Based on the controller, the underwater sound speed corresponding to the target area measured by the sound velocity meter is obtained, the monitoring data of the target area by the multi-beam echo sounder is obtained, and the difference between the underwater sound speed and the preset sound speed of the multi-beam echo sounder is obtained; a correction parameter is generated based on the difference, and the monitoring data is corrected based on the correction parameter to obtain target data; a coordinate system is constructed based on the position parameters of the multi-beam echo sounder; the inclination data of the multi-beam echo sounder is obtained based on the attitude parameters of the multi-beam echo sounder; a three-dimensional image of the target area is obtained according to the coordinate system, the inclination data and the target data; and the landform evolution data of the target area is generated based on the three-dimensional images obtained at multiple moments.

2. The method according to claim 1, characterized in that Also includes: Based on the rotation parameters, a driving instruction of the gimbal is generated, wherein the driving instruction includes a maximum rotation angle, a rotation speed, and a rotation period of the gimbal.

3. The method according to claim 2, characterized in that Also includes: Acquiring underwater temperature data of the target area; In response to the underwater temperature data being within a preset range, a start instruction for the sound velocity meter is generated, wherein the underwater sound velocity is collected by the sound velocity meter in a start state.

4. The method according to claim 3, characterized in that The underwater pile foundation also includes a temperature sensor, which is used to measure the temperature of the target area.

5. The method according to claim 4, characterized in that The pan / tilt platform is connected to the multi-beam echo sounder and is used for carrying the multi-beam echo sounder for rotation.

6. The method according to claim 5, characterized in that The temperature sensor, the pan-tilt platform and the sonic velocity meter are installed on the preset bracket, and the temperature sensor, the pan-tilt platform and the sonic velocity meter are connected to the controller via a cable.

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