A normalization method for underwater multi-source detection data

Abstract

The present invention provides a normalization method for underwater multi-source detection data. Underwater terrain data, underwater stratum data, and pier appearance data of the water area where the bridge-island-tunnel to be measured is located are obtained by an unmanned ship and an underwater robot; the underwater terrain data, the underwater stratum data, and the pier appearance data are time-synchronized, the data are unified according to the corresponding time of the data, and the values within the acoustic wave transceiver gap are estimated, which better improves the accuracy of the data; through normalization processing, the terrain coordinates, stratum coordinates, and appearance coordinates of multiple measurement points are obtained, solving the problems of inconsistent measurement coordinate systems for the terrain, stratum, and pier appearance data around the piers of the Hong Kong-Zhuhai-Macao Bridge and coordinate measurement errors between sensors, realizing the normalization of the underwater terrain, stratum, and appearance measurement data of the Hong Kong-Zhaui-Macao Bridge, and being beneficial to outputting a complete three-dimensional underwater detection effect diagram of the Hong Kong-Zhaui-Macao Bridge.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater detection engineering for bridge-island-tunnel, and particularly to a normalization method for underwater multi-source detection data. Background Art

[0002] Currently, with the development of detection means in underwater detection engineering for bridge-island-tunnel, through the application of multi-beam, underwater robots, underwater three-dimensional detection and computer technology, it is possible to measure various types of data such as the underwater environmental terrain and strata of large-scale cross-sea cluster facilities.

[0003] In the existing shipborne underwater measurement system for underwater maintenance use environment of cross-sea cluster facilities disclosed in the prior art, different types of detection devices need to be used for different types of data, and the positions where each detection device is set and the types of sensors carried are all different. Especially for underwater detection, there is a relatively long straight-line distance between some detection devices. Therefore, the data such as terrain, strata and underwater structure obtained by each different detection device are relatively independent, and the coordinates corresponding to different types of data do not match, which is not convenient for analyzing the underwater environment around the bridge-island-tunnel project; when some systems fuse the coordinates of underwater detection data from multiple sources, the relative position relationship between the detection sensors set at different positions is often not accurate enough, and it is impossible to avoid measurement errors caused by detection devices including sonar devices, and there are differences in data storage format, coordinate system, projection, semantics and geometric position in the detection data obtained by each detection sensor.

[0004] Therefore, there is an urgent need to propose a coordinate normalization method for underwater multi-source detection data of bridge-island-tunnel to standardize and normalize the integration of underwater multi-source detection data around the bridge-island-tunnel, and solve the multi-source heterogeneity problem existing in the underwater multi-source detection data around the bridge-island-tunnel. Summary of the Invention

[0005] The present invention provides a normalization method for underwater multi-source detection data to solve the defects in the above-mentioned prior art.

[0006] The present invention provides a normalization method for underwater multi-source detection data, including:

[0007] Obtaining underwater terrain data, underwater strata data and pier apparent data of the water area where the bridge-island-tunnel to be measured is located through an unmanned ship and an underwater robot; performing time synchronization on the underwater terrain data, the underwater strata data and the pier apparent data;

[0008] Based on the underwater terrain data after time synchronization, obtain the terrain coordinates of multiple underwater terrain measurement points through normalization processing; based on the underwater stratum data after time synchronization, obtain the stratum coordinates of multiple underwater stratum measurement points through normalization processing; based on the pier apparent data after time synchronization, obtain the apparent coordinates of multiple pier measurement points through normalization processing;

[0009] Integrate the normalized terrain coordinates, stratum coordinates, and apparent coordinates into a unified geographic coordinate system, and output the three-dimensional coordinate point cloud of the water area where the bridge-island-tunnel to be measured is located;

[0010] According to a normalization method for underwater multi-source detection data provided by the present invention, collect the underwater terrain data, underwater stratum data, and pier apparent data through an unmanned ship and an underwater robot, including:

[0011] Both the unmanned ship and the underwater robot include a positioning device and a motion reference unit; obtain the real-time position information of the unmanned ship and the underwater robot through the positioning device; obtain the real-time attitude information of the unmanned ship and the underwater robot in real time through the motion reference unit;

[0012] A multi-beam transducer, a shallow profiler transducer, and an underwater acoustic transceiver are installed at the bottom of the unmanned ship; an imaging device is installed on the underwater robot.

[0013] According to a normalization method for underwater multi-source detection data provided by the present invention, based on the underwater terrain data, obtain the terrain coordinates of multiple underwater terrain measurement points through normalization processing, including:

[0014] Obtain the first position deviation of the multi-beam transducer relative to the positioning device;

[0015] Obtain the first attitude deviation of the multi-beam transducer relative to the motion reference unit;

[0016] Based on the real-time position information and real-time attitude information of the unmanned ship, as well as the first position deviation and the first attitude deviation, obtain the real-time position information and real-time attitude information of the multi-beam transducer;

[0017] Obtain the underwater terrain data through the multi-beam transducer, obtain the terrain coordinates of multiple underwater terrain measurement points relative to the multi-beam transducer, and convert the terrain coordinates to the unified geographic coordinate system.

[0018] According to a normalization method for underwater multi-source detection data provided by the present invention, based on the underwater stratum data, obtain the stratum coordinates of multiple underwater stratum measurement points through normalization processing, including:

[0019] Obtain the second position deviation of the shallow profiler transducer relative to the positioning device;

[0020] Obtain the second attitude deviation of the shallow profiler transducer relative to the motion reference unit;

[0021] Based on the real-time position information and real-time attitude information of the unmanned ship, as well as the second position deviation and the second attitude deviation, obtain the real-time position information and real-time attitude information of the shallow profiler transducer;

[0022] Obtain the underwater formation data through the shallow profiler transducer, obtain the formation coordinates of multiple underwater formation measurement points relative to the shallow profiler transducer, and convert the formation coordinates to the unified geographic coordinate system.

[0023] According to a normalization method for underwater multi-source detection data provided by the present invention, based on the pier apparent data, obtain the apparent coordinates of multiple pier measurement points through normalization processing, including:

[0024] Image multiple piers in the water area where the bridge-island-tunnel to be measured is located through the imaging device installed on the underwater robot, and obtain the pier apparent data of multiple pier measurement points;

[0025] Correct the pier apparent data according to the attitude information of the underwater robot to obtain the apparent coordinates of multiple pier measurement points;

[0026] Obtain the third position deviation of the imaging device relative to the positioning device of the robot, and convert the apparent coordinates to the coordinate system centered on the positioning device of the robot.

[0027] According to a normalization method for underwater multi-source detection data provided by the present invention, based on the pier apparent data, obtain the apparent coordinates of multiple pier measurement points through normalization processing, including:

[0028] Obtain the fourth position deviation of the positioning device of the underwater robot relative to the positioning device of the unmanned ship; obtain the fourth attitude deviation of the motion reference unit of the underwater robot relative to the motion reference unit of the unmanned ship;

[0029] Based on the real-time position information and real-time attitude information of the unmanned ship, as well as the fourth position deviation and the fourth attitude deviation, convert the apparent coordinates to the unified geographic coordinate system.

[0030] According to a method for normalizing underwater multi-source detection data provided by the present invention, each of the positioning devices and the motion reference unit obtains corresponding position information and attitude information at a first moment, and obtains corresponding position information and attitude information at a second moment after at least one preset interval time, and outputs the corresponding moment while outputting the position information and the attitude information;

[0031] During the interval time between the first moment and the second moment, obtain the position information and attitude information corresponding to at least one intermediate time period, including:

[0032] Obtain the proportion of the duration of the intermediate time period in the interval time, and then calculate the position information and attitude information corresponding to the time period according to the position information and attitude information obtained at the first moment and the second moment.

[0033] According to a method for normalizing underwater multi-source detection data provided by the present invention, the underwater terrain data is in XTF format, the underwater formation data is in SGEY format, and the pier apparent data is in XYZ format;

[0034] Based on the underwater terrain data, the underwater formation data, and the pier apparent data after format unification, obtain the terrain coordinates, the formation coordinates, and the apparent coordinates; based on the positioning device of the unmanned ship, obtain the position information of the unmanned ship in the unified geographic coordinate system, and normalize the terrain coordinates, the formation coordinates, and the apparent coordinates to the unified geographic coordinate system.

[0035] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the method for normalizing underwater multi-source detection data as described in any one of the above are implemented.

[0036] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for normalizing underwater multi-source detection data as described in any one of the above are implemented.

[0037] A normalization method for underwater multi-source detection data provided by the present invention obtains underwater terrain data, underwater formation data, and pier appearance data of the water area where the bridge-island-tunnel to be measured is located through an unmanned ship and an underwater robot; synchronizes the underwater terrain data, the underwater formation data, and the pier appearance data in terms of time, unifies the data according to the time corresponding to the data, and estimates the values within the acoustic wave transceiver gap, thereby better improving the accuracy of the data; obtains the terrain coordinates, formation coordinates, and appearance coordinates of multiple measurement points through normalization processing, solves the problems of inconsistent measurement coordinate systems for the terrain, formation, and pier appearance data around the piers of the Hong Kong-Zhuhai-Macao Bridge and coordinate measurement errors between various sensors, realizes the normalization of the underwater terrain, formation, and appearance measurement data of the Hong Kong-Zhaui-Macao Bridge, and is conducive to outputting a complete three-dimensional underwater detection effect diagram of the Hong Kong-Zhaui-Macao Bridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 is a schematic flowchart of the normalization method for underwater multi-source detection data provided by the present invention;

[0040] Figure 2 is one of the schematic diagrams of the acquisition of underwater multi-source detection data in the present invention;

[0041] Figure 3 is another schematic diagram of the acquisition of underwater multi-source detection data in the present invention;

[0042] Figure 4 is a schematic structural diagram of the electronic device provided by the present invention;

[0043] Reference numerals: 1, positioning device; 2, motion reference unit; 3, multi-beam transducer; 4, shallow profile transducer; 5, measurement point A; 6, measurement point B; 7, underwater acoustic transceiver array; 8, fiber optic inertial navigation system; 9, underwater acoustic transponder; 10, imaging device; 11, unmanned ship; 12, water surface; 13, profile; 14, pier; 15, underwater robot; 16, measurement point C. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts fall within the scope of protection of the present invention.

[0045] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined by "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more unless otherwise specifically defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In one embodiment, the present invention provides a method for normalizing underwater multi-source detection data, as Figure 1 shown, including:

[0047] Obtaining underwater terrain data, underwater formation data, and pier appearance data of the water area where the bridge-island-tunnel to be measured is located through an unmanned ship and an underwater robot;

[0048] Based on the underwater terrain data, obtaining the terrain coordinates of multiple underwater terrain measurement points through normalization processing; based on the underwater formation data, obtaining the formation coordinates of multiple underwater formation measurement points through normalization processing; based on the pier appearance data, obtaining the appearance coordinates of multiple pier measurement points through normalization processing;

[0049] Integrating the normalized terrain coordinates, formation coordinates, and appearance coordinates into a unified geographic coordinate system, and outputting the three-dimensional coordinate point cloud of the water area where the bridge-island-tunnel to be measured is located.

[0050] Specifically, collecting the underwater terrain data, underwater formation data, and pier appearance data through an unmanned ship and an underwater robot includes:

[0051] Both the unmanned ship and the underwater robot include a positioning device and a motion reference unit; obtaining the real-time position information of the unmanned ship and the underwater robot through the positioning device; obtaining the real-time attitude information of the unmanned ship and the underwater robot in real time through the motion reference unit;

[0052] As Figures 2-3 shown, installing a multi-beam transducer 3, a shallow profiler transducer 4, and an underwater acoustic transceiver 7 on the bottom of the unmanned ship; installing an imaging device 10 on the underwater robot;

[0053] Optionally, as Figures 2-3 shown, the unmanned boat 11 is equipped with an underwater terrain detection device for detecting the underwater terrain in the water area to be measured of the bridge-island-tunnel; an underwater stratum detection device for detecting the underwater stratum in the water area to be measured of the bridge-island-tunnel; a positioning device 1 combining GNSS satellite navigation and INS inertial navigation for collecting real-time positioning data of the unmanned boat; the unmanned boat is also equipped with a motion reference unit 2 for collecting the attitude data of the unmanned boat; the unmanned boat is also equipped with a sound velocity profiler for collecting sound velocity data; the unmanned boat is also equipped with an underwater acoustic transceiver array 7 for establishing a connection with the underwater acoustic transponder of the underwater robot to obtain the position of the underwater robot relative to the unmanned boat;

[0054] Preferably, the underwater terrain detection device is a multi-beam transducer 3; the underwater stratum detection device is a shallow profiler transducer 4;

[0055] Specifically, the attitude data should include the roll, pitch, heading vector and heave of the unmanned boat, which are used to eliminate the errors caused by the fluctuations of the unmanned boat during navigation on the coordinate data measurement;

[0056] Optionally, as Figures 2-3 shown, the underwater robot 15 is equipped with an imaging device 10, specifically a three-dimensional imaging sonar device, for collecting the apparent data of the bridge piers in the water area to be measured of the bridge-island-tunnel; the underwater robot is equipped with an underwater acoustic transponder 8 for establishing a connection with the underwater acoustic transceiver array 7 of the unmanned boat for positioning the underwater robot; the underwater robot is also equipped with an optical fiber inertial navigation system 8 for collecting the attitude information of the underwater robot to assist in positioning the underwater cabled robot;

[0057] Specifically, the obtained coordinate data includes the longitude, latitude and depth of the measurement point; the calculation of the coordinates requires obtaining the sound velocity, signal transmission time, signal return time, positioning information of each device, etc.;

[0058] Further, based on the underwater terrain data, terrain coordinates of multiple underwater terrain measurement points are obtained through normalization processing, including:

[0059] Obtaining a first position deviation of the multi-beam transducer relative to the positioning device;

[0060] Obtaining a first attitude deviation of the multi-beam transducer relative to the motion reference unit;

[0061] Based on the real-time position information and real-time attitude information of the unmanned boat and the first position deviation and the first attitude deviation, obtaining the real-time position information and real-time attitude information of the multi-beam transducer;

[0062] The underwater terrain data is obtained through the multi-beam transducer, the terrain coordinates of multiple underwater terrain measurement points relative to the multi-beam transducer are obtained, and the terrain coordinates are converted into the unified geographic coordinate system.

[0063] Specifically, as Figure 2 shown, when performing underwater terrain detection, the beam opening angle of the multi-beam transducer is set, and the underwater terrain within the beam opening angle can be detected. The contour of the underwater terrain is obtained based on the echo, and then the coordinate information of several measurement points on the underwater terrain contour line is obtained according to the multi-beam acoustic system principle; the measurement points are as Figure 2 shown, measurement point A and measurement point B;

[0064] Furthermore, based on the underwater formation data, the formation coordinates of multiple underwater formation measurement points are obtained through normalization processing, including:

[0065] Obtaining the second position deviation of the shallow profiler transducer relative to the positioning device;

[0066] Obtaining the second attitude deviation of the shallow profiler transducer relative to the motion reference unit;

[0067] Based on the real-time position information and the real-time attitude information of the unmanned ship and the second position deviation and the second attitude deviation, the real-time position information and the real-time attitude information of the shallow profiler transducer are obtained;

[0068] As Figure 2 shown, the underwater formation data is obtained through the shallow profiler transducer, the formation coordinates of multiple underwater formation measurement points relative to the shallow profiler transducer are obtained, and the formation coordinates are converted into the unified geographic coordinate system.

[0069] It should be noted that the unmanned ship sails in the water area to be measured and deploys an underwater robot in the water area to be measured. The data obtained by the multi-beam transducer and the shallow profiler transducer carried by the unmanned ship are both position data relative to the multi-beam transducer and the shallow profiler transducer, and are within the coordinate systems of the multi-beam transducer and the shallow profiler transducer themselves; while the unmanned ship itself is moving relative to multiple terrain measurement points and formation measurement points, and the multi-beam transducer and the shallow profiler transducer carried by the unmanned ship are also constantly moving relative to the terrain measurement points and formation measurement points, which means that the coordinate data obtained by the multi-beam transducer and the shallow profiler transducer are not in a unified coordinate system; the unmanned ship can obtain the position of the unmanned ship in the geographic coordinate system through the positioning device combining GNSS satellite navigation and INS inertial navigation, so as to convert the coordinate data into a unified coordinate system;

[0070] Specifically, when conducting underwater formation detection, as the unmanned ship sails, the shallow profiler transducer emits sound waves underwater at a certain frequency every preset time interval. Each sound wave can obtain information about the formation directly below the ship, specifically including the position of the seabed bottom line and the thickness information of the formation at the seabed bottom line. As the unmanned ship sails, continuous profile information directly below the unmanned ship's navigation can be obtained. Based on the principle of the shallow profiler acoustic system, the coordinate information of measurement point B at the uppermost layer (water bottom line) of the underwater formation profile 13 is measured;

[0071] Further, as Figure 2 shown, based on the pier apparent data, multiple apparent coordinates of pier measurement points are obtained through normalization processing, including:

[0072] The imaging device installed on the underwater robot images multiple piers in the water area where the bridge-island-tunnel to be measured is located, and the pier apparent data of multiple pier measurement points is obtained;

[0073] The pier apparent data is corrected according to the attitude information of the underwater robot to obtain the apparent coordinates of multiple pier measurement points;

[0074] The third position deviation of the imaging device relative to the positioning device of the robot is obtained, and the apparent coordinates are converted to the coordinate system centered on the positioning device of the robot;

[0075] Further, based on the pier apparent data, multiple apparent coordinates of pier measurement points are obtained through normalization processing, including:

[0076] The fourth position deviation of the positioning device of the underwater robot relative to the positioning device of the unmanned ship is obtained; the fourth attitude deviation of the motion reference unit of the underwater robot relative to the motion reference unit of the unmanned ship is obtained;

[0077] Based on the real-time position information and the real-time attitude information of the unmanned ship, as well as the fourth position deviation and the fourth attitude deviation, the apparent coordinates are converted to the unified geographic coordinate system.

[0078] It should be noted that, as Figure 3 shown, the underwater robot collects the apparent data of the position of the observation point 16 measurement point C on the surface of the pier 14 to be measured through the sonar imaging device, processes the image information, and then obtains the coordinate data of multiple measurement points relative to the sonar device, generating a three-dimensional electric cloud centered on the sonar device;

[0079] Specifically, as Figure 3As shown, since the attitude of the underwater robot in water is dynamically changing, and the change in attitude affects the confirmation and calculation of sound wave emission and return, it is necessary to measure the attitude data of the underwater robot through the fiber optic inertial navigation equipment carried by the robot; the attitude data includes information such as roll, pitch, heading vector, heave, as well as speed, acceleration, angular velocity, and angular acceleration, which is used to eliminate the influence of the fluctuations of the underwater robot during navigation on sound wave emission and reception, and further eliminate the errors generated by coordinate data measurement;

[0080] Specifically, determine the three-dimensional position deviation between the sonar imaging equipment carried on the underwater robot and the underwater acoustic transponder; convert the obtained three-dimensional point cloud centered on the sonar equipment to the coordinate system of the underwater acoustic transponder;

[0081] Preferably, the underwater robot establishes a communication connection with the underwater acoustic transceiver array carried on the bottom of the unmanned ship through the underwater acoustic transponder, and sends the three-dimensional point cloud obtained by the sonar imaging equipment to the underwater acoustic transceiver array at the bottom of the unmanned ship;

[0082] Furthermore, based on the fiber optic inertial navigation system and the underwater acoustic transponder of the underwater robot, determine the relative position relationship between the underwater robot and the underwater acoustic transceiver array carried on the unmanned ship. Based on this, convert the coordinate data to the coordinate system centered on the underwater acoustic transceiver array carried on the unmanned ship;

[0083] Furthermore, obtain the three-dimensional position deviation of the underwater acoustic transceiver array relative to the positioning equipment on the unmanned ship, obtain the attitude deviation of the underwater acoustic transceiver array relative to the motion reference unit of the unmanned ship, and convert the real-time apparent coordinate data to the unified geographic coordinate system;

[0084] Specifically, collect the sound velocity data of the measured water area through a sound velocity profiler, and calculate based on the sound velocity data to further improve the calculation accuracy;

[0085] Before normalizing the above-mentioned underwater terrain data, underwater stratum data, and pier apparent data, it is necessary to synchronize the time of the underwater terrain data, underwater stratum data, and pier apparent data;

[0086] Each of the positioning equipment and the motion reference unit obtains the corresponding position information and attitude information at the first moment, and obtains the corresponding position information and attitude information at the second moment after at least one preset interval time, and outputs the corresponding moment while outputting the position information and the attitude information;

[0087] During the interval time between the first moment and the second moment, obtain the corresponding position information and attitude information for any intermediate time period, including:

[0088] Obtain the ratio of the duration of the intermediate period to the interval time, and then calculate the position information and attitude information corresponding to the third moment based on the position information and attitude information obtained at the first moment and the second moment;

[0089] It should be noted that the "first" and "second" here should not be regarded as limitations of the present invention, but are only used to distinguish the position information and attitude information obtained at different times; the intermediate period should be a certain time period or moment between the first moment and the second moment;

[0090] It should be noted that since the above sonar imaging device, shallow profiler transducer, and multibeam transducer all obtain data through ultrasonic wave emission and reflection, and there is an interval in the acoustic wave emission time, and the round-trip time of the acoustic wave is related to the distance of the terrain, formation, and bridge pier to be measured; thus, for the underwater terrain data, formation data, and apparent data within the acoustic wave emission gap of the sonar imaging device, shallow profiler transducer, and multibeam transducer, as well as the positioning data and attitude data of the sonar imaging device, shallow profiler transducer, and multibeam transducer relative to the unmanned ship and underwater robot, it is necessary to estimate them through time synchronization methods;

[0091] Furthermore, according to the ratio of the duration of the intermediate period to the interval time, estimate the data within the intermediate period; or for the data at the intermediate moment, calculate the difference between the intermediate moment and the first moment and the difference between the intermediate moment and the second moment, obtain the ratio of the two differences, and perform weighted summation to obtain the underwater terrain data, formation data, and apparent data of the acoustic waves of the sonar imaging device, shallow profiler transducer, and multibeam transducer at the intermediate moment, as well as the positioning data and attitude data of the sonar imaging device, shallow profiler transducer, and multibeam transducer relative to the unmanned ship and underwater robot;

[0092] Furthermore, set the format of data collection. The underwater terrain data is in XTF format, the underwater formation data is in SGEY format, and the apparent data of the bridge pier is in XYZ format;

[0093] Obtain the terrain coordinates, formation coordinates, and apparent coordinates based on the underwater terrain data, underwater formation data, and apparent data of the bridge pier after format unification; based on the positioning device of the unmanned ship, obtain the position information of the unmanned ship in the unified geographic coordinate system, and normalize the terrain coordinates, formation coordinates, and apparent coordinates to the unified geographic coordinate system;

[0094] Preferably, the unified geographic coordinate system selected in the present invention adopts the GCCS2000 coordinate system, that is, the 2000 National Geodetic Coordinate System, which is the current latest national geodetic coordinate system.

[0095] On the other hand, Figure 4 Illustrates a schematic diagram of the physical structure of an electronic device, such asFigure 4 As shown, the electronic device may include: a processor 410, a communications interface 420, a memory 430, and a communication bus 440. Among them, the processor 410, the communications interface 420, and the memory 430 complete communication with each other through the communication bus 440. The processor 410 may call the logical instructions in the memory 430 to execute a normalization method for underwater multi-source detection data. The underwater terrain data, underwater formation data, and pier appearance data of the water area where the bridge-island-tunnel to be measured is located are obtained through an unmanned ship and an underwater robot; time synchronization is performed on the underwater terrain data, the underwater formation data, and the pier appearance data; based on the time-synchronized underwater terrain data, terrain coordinates of multiple underwater terrain measurement points are obtained through normalization processing; based on the time-synchronized underwater formation data, formation coordinates of multiple underwater formation measurement points are obtained through normalization processing; based on the time-synchronized pier appearance data, appearance coordinates of multiple pier measurement points are obtained through normalization processing; the normalized terrain coordinates, formation coordinates, and appearance coordinates are integrated into a unified geographic coordinate system, and three-dimensional coordinate point clouds of the water area where the bridge-island-tunnel to be measured is located are output.

[0096] In addition, when the logical instructions in the above-mentioned memory 430 can be implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0097] ​On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a method for normalizing underwater multi-source detection data. Underwater topographic data, underwater stratum data, and pier apparent data of the water area where the bridge-island-tunnel to be measured is located are obtained through an unmanned ship and an underwater robot; time synchronization is performed on the underwater topographic data, the underwater stratum data, and the pier apparent data; based on the time-synchronized underwater topographic data, topographic coordinates of multiple underwater topographic measurement points are obtained through normalization processing; based on the time-synchronized underwater stratum data, stratum coordinates of multiple underwater stratum measurement points are obtained through normalization processing; based on the time-synchronized pier apparent data, apparent coordinates of multiple pier measurement points are obtained through normalization processing; the normalized topographic coordinates, stratum coordinates, and apparent coordinates are integrated into a unified geographic coordinate system, and three-dimensional coordinate point clouds of the water area where the bridge-island-tunnel to be measured is located are output.

[0098] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute a method for normalizing underwater multi-source detection data. Underwater topographic data, underwater stratum data, and pier apparent data of the water area where the bridge-island-tunnel to be measured is located are obtained through an unmanned ship and an underwater robot; time synchronization is performed on the underwater topographic data, the underwater stratum data, and the pier apparent data; based on the time-synchronized underwater topographic data, topographic coordinates of multiple underwater topographic measurement points are obtained through normalization processing; based on the time-synchronized underwater stratum data, stratum coordinates of multiple underwater stratum measurement points are obtained through normalization processing; based on the time-synchronized pier apparent data, apparent coordinates of multiple pier measurement points are obtained through normalization processing; the normalized topographic coordinates, stratum coordinates, and apparent coordinates are integrated into a unified geographic coordinate system, and three-dimensional coordinate point clouds of the water area where the bridge-island-tunnel to be measured is located are output.

[0099] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0100] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A normalization method for underwater multi-source detection data, characterized in that, Including: Obtaining underwater terrain data, underwater stratum data, and pier apparent data of the water area where the bridge-island-tunnel to be measured is located by an unmanned ship and an underwater robot; Performing time synchronization on the underwater terrain data, the underwater stratum data, and the pier apparent data; Based on the underwater terrain data after time synchronization, obtaining the terrain coordinates of multiple underwater terrain measurement points through normalization processing; Based on the underwater stratum data after time synchronization, obtaining the stratum coordinates of multiple underwater stratum measurement points through normalization processing; Based on the pier apparent data after time synchronization, obtaining the apparent coordinates of multiple pier measurement points through normalization processing; Integrating the normalized terrain coordinates, stratum coordinates, and apparent coordinates into a unified geographic coordinate system, and outputting the three-dimensional coordinate point cloud of the water area where the bridge-island-tunnel to be measured is located; Both the unmanned ship and the underwater robot include a positioning device and a motion reference unit; Obtaining the real-time position information of the unmanned ship and the underwater robot through the positioning device; obtaining the real-time attitude information of the unmanned ship and the underwater robot in real time through the motion reference unit; A multi-beam transducer, a shallow profiler transducer, and an underwater acoustic transceiver are installed at the bottom of the unmanned ship; An imaging device is installed on the underwater robot; Based on the pier apparent data, obtaining the apparent coordinates of multiple pier measurement points through normalization processing, including: Obtaining the fourth position deviation of the positioning device of the underwater robot relative to the positioning device of the unmanned ship; obtaining the fourth attitude deviation of the motion reference unit of the underwater robot relative to the motion reference unit of the unmanned ship; Based on the real-time position information and the real-time attitude information of the unmanned ship and the fourth position deviation and the fourth attitude deviation, converting the apparent coordinates to the unified geographic coordinate system, the underwater terrain data is in XTF format, the underwater stratum data is in SGEY format, and the pier apparent data is in XYZ format; Obtaining the terrain coordinates, the stratum coordinates, and the apparent coordinates based on the underwater terrain data, the underwater stratum data, and the pier apparent data after format unification; based on the positioning device of the unmanned ship, obtaining the position information of the unmanned ship in the unified geographic coordinate system, and normalizing the terrain coordinates, the stratum coordinates, and the apparent coordinates to the unified geographic coordinate system.

2. The normalization method for underwater multi-source detection data according to claim 1, wherein Based on the underwater terrain data, obtaining the terrain coordinates of multiple underwater terrain measurement points through normalization processing, including: Obtaining the first position deviation of the multi-beam transducer relative to the positioning device; obtaining the first attitude deviation of the multi-beam transducer relative to the motion reference unit; Based on the real-time position information and the real-time attitude information of the unmanned ship and the first position deviation and the first attitude deviation, obtaining the real-time position information and the real-time attitude information of the multi-beam transducer; Obtaining the underwater terrain data through the multi-beam transducer, obtaining the terrain coordinates of multiple underwater terrain measurement points relative to the multi-beam transducer, and converting the terrain coordinates to the unified geographic coordinate system.

3. The normalization method of underwater multi-source detection data according to claim 2, characterized in that, Based on the underwater stratum data, obtain the stratum coordinates of multiple underwater stratum measurement points through normalization processing, including: Obtain the second position deviation of the shallow profiler transducer relative to the positioning device; obtain the second attitude deviation of the shallow profiler transducer relative to the motion reference unit; Based on the real-time position information and real-time attitude information of the unmanned ship, as well as the second position deviation and the second attitude deviation, obtain the real-time position information and real-time attitude information of the shallow profiler transducer; Obtain the underwater stratum data through the shallow profiler transducer, obtain the stratum coordinates of multiple underwater stratum measurement points relative to the shallow profiler transducer, and convert the stratum coordinates to the unified geographic coordinate system.

4. The normalization method for underwater multi-source detection data according to claim 3, characterized in that Based on the pier apparent data, obtain the apparent coordinates of multiple pier measurement points through normalization processing, including: Image multiple piers in the water area where the bridge-island-tunnel to be measured is located through the imaging device installed on the underwater robot, and obtain the pier apparent data of multiple pier measurement points; Correct the pier apparent data according to the attitude information of the underwater robot to obtain the apparent coordinates of multiple pier measurement points; Obtain the third position deviation of the imaging device relative to the positioning device of the robot, and convert the apparent coordinates to the coordinate system centered on the positioning device of the robot.

5. The normalization method for underwater multi-source detection data according to any one of claims 2-4, characterized in that Each of the positioning devices and the motion reference unit obtains corresponding position information and attitude information at the first moment, and obtains corresponding position information and attitude information at the second moment after at least one preset interval time, and outputs the corresponding moment while outputting the position information and the attitude information; During the interval time between the first moment and the second moment, obtain the position information and attitude information corresponding to any intermediate period, including: Obtain the proportion of the duration of the intermediate period in the interval time, and then calculate the position information and attitude information corresponding to the intermediate period according to the position information and attitude information obtained at the first moment and the second moment.

6. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, When the processor executes the program, the steps of the normalization method for underwater multi-source detection data according to any one of claims 1 to 5 are implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the normalization method for underwater multi-source detection data according to any one of claims 1 to 5 are implemented.

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