Real-time three-dimensional detection system and method for lap joint quality of underwater soft mattress

Abstract

The invention provides a real-time three-dimensional detection system and method for the lap joint quality of underwater soft mattresses, and relates to the technical field of underwater construction detection.The method comprises the steps that a double-shaft holder is controlled to rotate, and a multi-beam sonar transducer is controlled to conduct sonar scanning on the soft mattresses which are being laid by a mattresses laying ship to collect point cloud data of all the soft mattresses and the surrounding terrain; meanwhile, controlling a positioning terminal to perform satellite positioning on each scanned software mattress to obtain absolute coordinates; according to the absolute coordinates, the ship body posture and the point cloud data, the soft mattress which is already sunk to the bottom is obtained to serve as a landing mattress and the soft mattress which is not sunk to the bottom is obtained to serve as a suspended mattress, and when it is judged that the absolute coordinates of the suspended mattress and the landing mattress do not conform to preset laying coordinates, disqualification early warning is sent out. And when it is judged that the effective lap width of the suspended row and the adjacent floor row does not reach the standard width, quality early warning is given out. The device has the beneficial effects that the lap joint quality of the soft mattress can be effectively monitored, and correction is prompted in time to improve the operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater construction detection, and in particular to a real-time three-dimensional detection system and method for the overlap quality of underwater soft-body rows. Background Art

[0002] As an underwater bottom protection structure for reclamation projects, soft rafts are widely used in the construction of underwater reclamation projects. Underwater construction faces many complex and uncertain working conditions. First of all, the working environment is in the ocean. Not only is the working space severely limited, but the complex and changeable sea conditions will also bring great challenges to normal construction. In many construction areas, the tides are complex and the flow rate is large. During the lowering of the underwater soft raft construction, the suspended raft from the outer edge of the laying flap to the mud surface is in a free state. Under the action of the water flow, a "flow-blocking curtain" is formed, which is prone to lateral drift and distortion, resulting in the actual position of the raft in place underwater may be inconsistent with the designed position, affecting the underwater overlap width between the rafts, and making the construction difficult; secondly, the seabed environment is complex and not flat, and we cannot transform the landform like laying soft rafts on land. Therefore, during the construction process, the factors to be considered in the laying of underwater soft rafts are very complex.

[0003] At present, in the traditional underwater soft drainage laying process, the construction technology used is mostly RTK-GNSS positioning, combined with acoustic equipment such as side scan sonar for post-work detection, and supplemented by manual underwater exploration to ensure the laying quality of the bottom protection soft drainage. These technologies all have certain disadvantages. For example, the post-work positioning detection of acoustic equipment is carried out after the soft drainage is laid. If the laying is found to be unqualified, the result is irreversible and its underwater state cannot be changed again; there are certain safety hazards in manual real-time exploration, which is costly and not accurate; underwater camera technology real-time image positioning cannot obtain underwater images in waters with high turbidity and low visibility, and the positioning accuracy cannot be met. The traditional post-work detection method relies on divers to explore and traditional side scan sonar measurement methods for construction quality control and construction guidance, which has problems such as high risk, high price and low efficiency. How to quickly, accurately, intuitively and visually conduct overlap quality inspection under soft drainage and improve work efficiency and accuracy is an urgent problem facing the production of underwater filling engineering industry. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a real-time three-dimensional detection system for the overlap quality of underwater soft-body rows, comprising:

[0005] Multi-beam sonar transducer, mounted on a dual-axis pan / tilt on the side of the laying vessel;

[0006] The host computer is connected to the multi-beam sonar transducer and the positioning terminal on the laying ship, and includes:

[0007] A data detection module is used to control the rotation of the dual-axis pan-tilt platform and control the multi-beam sonar transducer to perform sonar scanning on the soft-body rows being laid by the laying vessel to collect point cloud data of each soft-body row and the surrounding terrain, and at the same time control the positioning terminal to perform satellite positioning on each scanned soft-body row to obtain absolute coordinates;

[0008] The overlap quality detection module is connected to the data detection module, and is used to distinguish the soft-body rows that have sunk to the bottom as the grounded rows and the soft-body rows that have not yet sunk to the bottom as the suspended rows according to the absolute coordinates, the hull posture and the point cloud data, and to issue an unqualified warning when it is determined that the absolute coordinates of each of the suspended rows and the grounded rows do not meet the preset laying coordinates; and to issue a quality warning when it is determined that the effective overlap width of the suspended row and the adjacent grounded row does not reach the standard width.

[0009] Preferably, the data detection module includes:

[0010] A point cloud acquisition unit, used to control the dual-axis pan-tilt head to rotate within a first angle range in the vertical direction and a second angle range in the horizontal direction, and to control the multi-beam sonar transducer to collect the point cloud data of each of the software rows and the surrounding terrain in real time during the rotation process;

[0011] A positioning unit is connected to the point cloud acquisition unit, and is used to control the positioning terminal to obtain its own terminal coordinates in the Beidou satellite system coordinate system, obtain the transducer coordinates of the multi-beam sonar transducer in the Beidou satellite system coordinate system according to the relative position between the positioning terminal and the multi-beam sonar transducer and the terminal coordinate processing, and perform coordinate conversion processing on the point cloud data based on the transducer coordinates to obtain the absolute coordinates of each scanned software array in the Beidou satellite system coordinate system.

[0012] Preferably, the laying vessel is also provided with an inertial measurement unit, and the data detection module further comprises:

[0013] The posture detection unit is connected to the positioning unit and is used to control the inertial measurement unit to detect and obtain the hull posture of the laying vessel, and then correct the absolute coordinates according to the hull posture.

[0014] Preferably, the overlap quality detection module includes:

[0015] a classification unit, for identifying each of the soft-body rows according to the point cloud data, and then determining the position of the soft-body row according to the absolute coordinates of each of the identified soft-body rows and the ship posture, treating the soft-body rows whose coordinates of each point on the soft-body row are lower than a preset depth threshold as soft-body rows that have sunk to the bottom and marking them as landed rows, and treating the remaining soft-body rows as soft-body rows that have not sunk to the bottom and marking them as suspended rows;

[0016] a laying detection unit connected to the classification unit, and configured to issue a non-conformity warning for each of the ground row and the suspended row when it is determined that the absolute coordinates of the ground row or the suspended row do not conform to the corresponding laying coordinates;

[0017] The overlap detection unit is connected to the classification unit and is used to process the absolute coordinates of the suspended row and the absolute coordinates of the adjacent grounded row to obtain the overlapping part between the two as the effective overlap width, and then issue a quality warning when it is determined that the effective overlap width does not reach the standard width.

[0018] The present invention also provides a real-time three-dimensional detection method for the overlap quality of underwater soft-body rows, which is applied to the above-mentioned real-time three-dimensional detection system, comprising:

[0019] Step S1, the host computer controls the rotation of the dual-axis pan-tilt head and controls the multi-beam sonar transducer to perform sonar scanning on the soft-body rows being laid by the laying vessel to collect point cloud data of each soft-body row and the surrounding terrain, and at the same time collects the hull posture of the laying vessel and controls the positioning terminal to perform satellite positioning on each scanned soft-body row to obtain absolute coordinates;

[0020] In step S2, the host computer distinguishes the soft rows that have sunk to the bottom as the grounded rows and the soft rows that have not sunk to the bottom as the suspended rows according to the absolute coordinates and the point cloud data, and issues an unqualified warning when it is determined that the absolute coordinates of each grounded row do not meet the preset laying coordinates, and issues a quality warning when it is determined that the effective overlap width of the suspended row and the adjacent grounded row does not reach the standard width.

[0021] Preferably, the step S1 comprises:

[0022] Step S11, the host computer controls the dual-axis gimbal to rotate within a first angle range in the vertical direction and a second angle range in the horizontal direction, and collects the point cloud data of each of the software rows and the surrounding terrain in real time during the rotation process;

[0023] Step S12, the host computer controls the positioning terminal to obtain its own terminal coordinates in the Beidou satellite system coordinate system, obtains the transducer coordinates of the multi-beam sonar transducer in the Beidou satellite system coordinate system according to the relative position between the positioning terminal and the multi-beam sonar transducer and the terminal coordinate processing, and performs coordinate conversion processing on the point cloud data based on the transducer coordinates to obtain the absolute coordinates of each scanned software array in the Beidou satellite system coordinate system.

[0024] Preferably, the laying vessel is also provided with an inertial measurement unit, and the step S1 further comprises:

[0025] Step S13, the host computer controls the inertial measurement unit to detect the hull posture of the laying vessel, and then corrects the absolute coordinates according to the hull posture.

[0026] Preferably, the step S2 comprises:

[0027] Step S21, the host computer identifies each of the software rows according to the point cloud data, and then determines the position of the software row according to the absolute coordinates of each of the identified software rows, and regards the software rows whose coordinates of each point on the software row are lower than the preset depth threshold as the software rows that have sunk to the bottom and are marked as the landed rows, and regards the remaining software rows as the software rows that have not sunk to the bottom and are marked as the suspended rows;

[0028] Step S22: the host computer determines, for each of the floor-standing rows and the suspended rows, whether the absolute coordinates of the floor-standing rows or the suspended rows are consistent with the corresponding laying coordinates:

[0029] If yes, go to step S23;

[0030] If not, a failure warning will be issued and then exit;

[0031] Step S23, the host computer processes the absolute coordinates of the suspended row and the absolute coordinates of the adjacent ground row to obtain the overlapping portion between the two as the effective overlap width, and then determines whether the effective overlap width reaches the standard width:

[0032] If yes, return to step S21;

[0033] If not, a quality warning is issued and then exited.

[0034] The above technical solution has the following advantages or beneficial effects:

[0035] 1) The multi-beam sonar transducer used is small and light. Compared with the traditional two-dimensional image sonar, it is more suitable for the real-time detection of underwater soft-body rows on laying vessels. Compared with the existing technology, it adds real-time dynamic differential positioning technology and dual-axis pan-tilt technology, which can obtain the image of the overlapping of the soft-body row while obtaining the high-precision absolute position coordinates of the row body. It can not only effectively monitor the overlapping quality of the soft-body row, but also provide a basis for correcting the deviation between the actual position and the designed position of the soft-body row.

[0036] 2) It can replace the existing post-construction inspection technology and obtain the overlap quality information of the soft material in real time during the laying process. If the overlap or laying is found to be unqualified, it can remind and correct it in time to avoid subsequent rework, thereby improving work efficiency and project quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a structural diagram of a host computer in a preferred embodiment of the present invention;

[0038] Figure 2 A side view of a laying vessel in a preferred embodiment of the present invention;

[0039] Figure 3 A top view of a laying vessel in a preferred embodiment of the present invention;

[0040] Figure 4 The figure is a flow chart of a real-time three-dimensional detection method of the overlap quality of an underwater soft body row in a preferred embodiment of the present invention;

[0041] Figure 5 A schematic diagram of a sub-process of step S1 in a preferred embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of a sub-process of step S2 in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0043] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also fall within the scope of the present invention as long as they conform to the gist of the present invention.

[0044] In a preferred embodiment of the present invention, based on the above problems existing in the prior art, a real-time three-dimensional detection system for the overlap quality of underwater soft-body rows is provided, comprising:

[0045] Multi-beam sonar transducer, mounted on a dual-axis pan / tilt on the side of the laying vessel;

[0046] The host computer is connected to the multi-beam sonar transducer and the positioning terminal on the laying ship, such as Figure 1 Shown include:

[0047] Data detection module 1 is used to control the rotation of the dual-axis pan-tilt head and control the multi-beam sonar transducer to perform sonar scanning on the soft-body rows being laid by the laying ship to collect point cloud data of each soft-body row and the surrounding terrain, and at the same time collect the hull posture of the laying ship and control the positioning terminal to perform satellite positioning on each scanned soft-body row to obtain absolute coordinates;

[0048] The overlap quality detection module 2 is connected to the data detection module 1, and is used to distinguish the soft-body rows that have sunk to the bottom as the grounded rows and the soft-body rows that have not yet sunk to the bottom as the suspended rows according to the absolute coordinates, hull postures and point cloud data, and to issue an unqualified warning when it is determined that the absolute coordinates of each suspended row and the grounded row do not meet the preset laying coordinates; and to issue a quality warning when it is determined that the effective overlap width of the suspended row and the adjacent grounded row does not reach the standard width.

[0049] Specifically, in this embodiment, the multi-beam sonar transducer is used to scan the soft-body row in real time during the laying process of the soft-body row by the laying ship, and the absolute coordinates of the scanned soft-body row and the hull posture are determined by real-time satellite positioning. The absolute coordinates, point cloud data and hull posture of each soft-body row collected are used to further distinguish the underwater position of each soft-body row to distinguish the laid ground row and the suspended row being laid; for the ground row and the suspended row, the laying position is checked based on the comparison of the absolute coordinates and the laying coordinates to detect whether the laying position is qualified; for the suspended row, the overlap width between the adjacent ground rows is checked based on the absolute coordinates of the adjacent ground rows to detect whether the overlap width reaches the standard width to detect the overlap quality. Compared with the manual detection and underwater photography technology detection in the prior art, it has the advantages of low cost, high accuracy and no influence from the water quality.

[0050] In a preferred embodiment of the present invention, Figure 1 The data detection module 1 shown includes:

[0051] The point cloud acquisition unit 11 is used to control the dual-axis pan-tilt head to rotate within a first angle range in the vertical direction and a second angle range in the horizontal direction, and to control the multi-beam sonar to collect point cloud data of each soft body row and surrounding terrain in real time during the rotation process;

[0052] The positioning unit 12 is connected to the point cloud acquisition unit 11, and is used to control the positioning terminal to obtain its own terminal coordinates in the Beidou satellite system coordinate system, and obtain the transducer coordinates of the multi-beam sonar transducer in the Beidou satellite system coordinate system according to the relative position between the positioning terminal and the multi-beam sonar transducer and the terminal coordinate processing, and the point cloud data is subjected to coordinate conversion processing based on the transducer coordinates to obtain the absolute coordinates of each scanned software array in the Beidou satellite system coordinate system.

[0053] In this embodiment, the laying vessel is also provided with an inertial measurement unit, and the data detection module 1 further includes:

[0054] The posture detection unit 13 is connected to the positioning unit 12 and is used to control the inertial measurement unit to detect the hull posture of the laying ship, and then correct the absolute coordinates according to the hull posture.

[0055] In a preferred embodiment of the present invention, the first angle range is 90° and the second angle range is 180°.

[0056] Specifically, in this embodiment, Figure 2 and Figure 3 As shown, the multi-beam sonar transducer 100 is mounted on a dual-axis pan-tilt head 200. Figure 2 As shown in the side view of FIG. 1 , the multi-beam sonar transducer 100 is rotated in the vertical direction by controlling the horizontal axis pan-tilt of the dual-axis pan-tilt 200; Figure 3 As shown in the top view, the vertical axis pan / tilt of the dual-axis pan / tilt 200 controls the multi-beam sonar transducer 100 to rotate in the horizontal direction. The point cloud coordinates obtained by point cloud data collection are coordinates in the CGCS2000 coordinate system obtained based on the inertial navigation system of the Beidou positioning system. The Beidou positioning system obtains the real-time longitude and latitude coordinate information of the positioning terminal as the terminal coordinates, and then calculates the real-time longitude and latitude information of the multi-beam sonar transducer as the transducer coordinates based on the relative position relationship between the multi-beam sonar transducer and the positioning terminal. The collected point cloud data is further converted into coordinates by combining the longitude and latitude with the transducer coordinates to obtain the three-dimensional xyz coordinates arranged by the software in the Beidou satellite system CGCS2000 coordinate system as absolute coordinates;

[0057] Furthermore, the hull attitude of the laying ship is measured in real time by an inertial measurement unit, and the hull attitude measured when the hull is stable is used as the standard hull attitude. When the hull changes due to wind and waves, the measured absolute coordinates are corrected according to the offset between the real-time hull attitude and the standard hull attitude to obtain more accurate absolute coordinates. During the correction process, the offset angles between the axes corresponding to the real-time hull attitude and the standard hull attitude are calculated respectively, and then the xyz coordinates of the corrected absolute coordinates are calculated according to the xyz coordinate values ​​of the uncorrected absolute coordinates and the offset angles of each axis to complete the coordinate correction.

[0058] In a preferred embodiment of the present invention, the overlap quality detection module 2 includes:

[0059] The classification unit 21 is used to identify each soft object row according to the point cloud data, and then determine the position of the soft object row according to the absolute coordinates of each identified soft object row, and regard the soft object row whose coordinates of each point on the soft object row are lower than the preset depth threshold as the soft object row that has sunk to the bottom and is marked as the landed row 300, and regard the remaining soft object rows as the soft object rows that have not sunk to the bottom and are marked as the suspended row 400;

[0060] The laying detection unit 22 is connected to the classification unit 21 and is used to issue a non-conformity warning for each floor row 300 and suspended row 400 when it is determined that the absolute coordinates of the floor row or suspended row do not match the corresponding laying coordinates;

[0061] The overlap detection unit 23 is connected to the classification unit 21, and is used to process the absolute coordinates of the suspended row 400 and the absolute coordinates of the adjacent ground row 300 to obtain the overlapping part between the two as the effective overlap width, and then issue a quality warning when it is determined that the effective overlap width does not reach the standard width.

[0062] Specifically, in this embodiment, point cloud data and the absolute coordinates of each soft body row (the absolute coordinates of each point on the soft body row) have been obtained according to the method of the aforementioned embodiment. The point cloud data contains multiple point coordinates. Furthermore, because the points on the soft body row are continuous, the host computer can easily distinguish different soft body rows according to the three-dimensional shape surrounded by the continuous point cloud coordinates. In the process of laying the soft body row, the status of the soft body row is divided into two types, namely, the laying is completed (that is, it has sunk to the bottom) and the laying is in progress (that is, it has been laid from the laying The soft-body rows that have been laid are called the grounded rows 300, and the soft-body rows that are being laid are called the suspended rows 400; the grounded rows 300 have completely fallen into the water, so the y-coordinates of the absolute coordinates of each point on the grounded rows 300 should be lower than the bottom of the ship (in this embodiment, the depth threshold is set to the y-coordinate of the bottom of the ship), and because the suspended rows 400 are falling from the hull to the bottom of the water, some of the y-coordinates of the absolute coordinates of each point on the suspended rows 400 are not lower than the bottom of the ship, so the categories of the soft-body rows are distinguished in this way.

[0063] For each floor row 300 and suspended row 400, the laying position has been set before laying. During the laying process, it is determined whether the absolute coordinates of the floor row 300 or suspended row 400 are consistent with the corresponding laying coordinates. If they are not consistent, a non-conforming warning is issued;

[0064] For the suspended row 400, during the laying process, the soft rows are required to be overlapped and the effective overlap width needs to reach the corresponding standard width. The overlapping part between the two is obtained according to the absolute coordinates of the suspended row and the absolute coordinates of the adjacent ground row as the effective overlap width, and then a quality warning is issued when it is determined that the effective overlap width does not reach the standard width.

[0065] In the embodiments of the present invention, the multi-beam sonar transducer used is small and light, and is more suitable for real-time detection of underwater soft-body rows on laying vessels than traditional two-dimensional image sonar. In addition, compared with the prior art, real-time dynamic differential positioning technology and dual-axis pan-tilt technology are added, which can obtain images of the overlapping conditions of the soft-body rows while obtaining high-precision absolute position coordinates of the rows. This can not only effectively monitor the overlapping quality of the soft-body rows, but also control the deviation between the actual position of the soft-body row and the designed position.

[0066] Furthermore, the real-time three-dimensional detection system of the present invention can replace the existing post-construction detection technology and can obtain the overlap quality information of the soft arrangement in real time during the laying process. If the overlap is found to be unqualified, it can be corrected in time to avoid subsequent rework, thereby improving work efficiency and project quality.

[0067] In a preferred embodiment of the present invention, if the soft body row is a sand rib soft body row, the corresponding standard width is 3M; if the soft body row is a concrete interlocking sheet soft body row, the corresponding standard width is 5M.

[0068] The present invention also provides a real-time three-dimensional detection method for the overlap quality of underwater soft body rows, which is applied to the real-time three-dimensional detection system as described above. Figure 4 As shown, including:

[0069] Step S1, the host computer controls the rotation of the dual-axis pan-tilt head and controls the multi-beam sonar transducer to perform sonar scanning on the soft-body rows being laid by the laying ship to collect point cloud data of each soft-body row and the surrounding terrain, and at the same time collects the hull posture of the laying ship and controls the positioning terminal to perform satellite positioning on each scanned soft-body row to obtain absolute coordinates;

[0070] In step S2, the upper computer distinguishes the soft rows that have sunk to the bottom as the grounded rows and the soft rows that have not yet sunk to the bottom as the suspended rows according to the absolute coordinates and point cloud data, and issues an unqualified warning when it is determined that the absolute coordinates of each grounded row do not meet the preset laying coordinates, and issues a quality warning when it is determined that the effective overlap width of the suspended row and the adjacent grounded row does not reach the standard width.

[0071] In a preferred embodiment of the present invention, Figure 5 The step S1 shown includes:

[0072] Step S11, the host computer controls the dual-axis pan-tilt head to rotate within a first angle range in the vertical direction and a second angle range in the horizontal direction, and collects point cloud data of each software row and the surrounding terrain in real time during the rotation process;

[0073] In step S12, the host computer controls the positioning terminal to obtain its own terminal coordinates in the Beidou satellite system coordinate system, and obtains the transducer coordinates of the multi-beam sonar transducer in the Beidou satellite system coordinate system according to the relative position between the positioning terminal and the multi-beam sonar transducer and the terminal coordinates. Based on the transducer coordinates, the point cloud data is subjected to coordinate conversion processing to obtain the absolute coordinates of each scanned software array in the Beidou satellite system coordinate system.

[0074] In a preferred embodiment of the present invention, an inertial measurement unit is also provided on the laying vessel. Figure 5 The step S1 shown also includes:

[0075] In step S13, the host computer controls the inertial measurement unit to detect the hull posture of the laying vessel, and then corrects the absolute coordinates according to the hull posture.

[0076] In a preferred embodiment of the present invention, Figure 6 The step S2 shown includes:

[0077] Step S21, the host computer identifies each soft-body row according to the point cloud data, and then determines the position of the soft-body row according to the absolute coordinates of each identified soft-body row and the hull posture, and regards the soft-body row whose coordinates of each point on the soft-body row are lower than the preset depth threshold as the soft-body row that has sunk to the bottom and is marked as the landed row, and regards the remaining soft-body rows as the soft-body rows that have not sunk to the bottom and are marked as the suspended rows;

[0078] Step S22: For each floor row and suspended row, the host computer determines whether the absolute coordinates of the floor row or suspended row are consistent with the corresponding laying coordinates:

[0079] If yes, go to step S23;

[0080] If not, a failure warning will be issued and then exit;

[0081] Step S23: For the suspended row, the host computer processes the absolute coordinates of the suspended row and the absolute coordinates of the adjacent ground row to obtain the overlapping portion between the two as the effective overlap width, and then determines whether the effective overlap width reaches the standard width:

[0082] If yes, return to step S21;

[0083] If not, a quality warning is issued and then exited.

[0084] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. A real-time three-dimensional detection system for the quality of underwater soft-body lap joints, characterized in that: include: Multi-beam sonar transducer, mounted on a dual-axis pan / tilt on the side of the laying vessel; The host computer is connected to the multi-beam sonar transducer and the positioning terminal on the laying ship, and includes: A data detection module is used to control the rotation of the dual-axis pan-tilt platform and control the multi-beam sonar transducer to perform sonar scanning on the soft-body rows being laid by the laying vessel to collect point cloud data of each soft-body row and the surrounding terrain, and at the same time control the positioning terminal to perform satellite positioning on each scanned soft-body row to obtain absolute coordinates; The overlap quality detection module is connected to the data detection module, and is used to distinguish the soft-body rows that have sunk to the bottom as the grounded rows and the soft-body rows that have not yet sunk to the bottom as the suspended rows according to the absolute coordinates, the hull posture and the point cloud data, and to issue an unqualified warning when it is determined that the absolute coordinates of each of the suspended rows and the grounded rows do not meet the preset laying coordinates; and to issue a quality warning when it is determined that the effective overlap width of the suspended row and the adjacent grounded row does not reach the standard width.

2. The real-time three-dimensional detection system according to claim 1, characterized in that: The data detection module comprises: A point cloud acquisition unit, used to control the dual-axis pan-tilt head to rotate within a first angle range in the vertical direction and a second angle range in the horizontal direction, and to control the multi-beam sonar transducer to collect the point cloud data of each of the software rows and the surrounding terrain in real time during the rotation process; A positioning unit is connected to the point cloud acquisition unit, and is used to control the positioning terminal to obtain its own terminal coordinates in the Beidou satellite system coordinate system, obtain the transducer coordinates of the multi-beam sonar transducer in the Beidou satellite system coordinate system according to the relative position between the positioning terminal and the multi-beam sonar transducer and the terminal coordinate processing, and perform coordinate conversion processing on the point cloud data based on the transducer coordinates to obtain the absolute coordinates of each scanned software array in the Beidou satellite system coordinate system.

3. The real-time three-dimensional detection system according to claim 2, characterized in that: The laying vessel is also provided with an inertial measurement unit, and the data detection module further comprises: The posture detection unit is connected to the positioning unit and is used to control the inertial measurement unit to detect and obtain the hull posture of the laying vessel, and then correct the absolute coordinates according to the hull posture.

4. The real-time three-dimensional detection system according to claim 1, characterized in that: The overlap quality detection module comprises: a classification unit, for identifying each of the soft-body rows according to the point cloud data, and then determining the position of the soft-body row according to the absolute coordinates of each of the identified soft-body rows and the ship posture, treating the soft-body rows whose coordinates of each point on the soft-body row are lower than a preset depth threshold as soft-body rows that have sunk to the bottom and marking them as landed rows, and treating the remaining soft-body rows as soft-body rows that have not sunk to the bottom and marking them as suspended rows; a laying detection unit connected to the classification unit, and configured to issue a non-conformity warning for each of the ground row and the suspended row when it is determined that the absolute coordinates of the ground row or the suspended row do not conform to the corresponding laying coordinates; The overlap detection unit is connected to the classification unit and is used to process the absolute coordinates of the suspended row and the absolute coordinates of the adjacent grounded row to obtain the overlapping part between the two as the effective overlap width, and then issue a quality warning when it is determined that the effective overlap width does not reach the standard width.

5. A real-time three-dimensional detection method for the overlap quality of underwater soft-body rows, characterized in that: A real-time three-dimensional detection system as claimed in any one of claims 1 to 4, comprising: Step S1, the host computer controls the rotation of the dual-axis pan-tilt head and controls the multi-beam sonar transducer to perform sonar scanning on the soft-body rows being laid by the laying vessel to collect point cloud data of each soft-body row and the surrounding terrain, and at the same time collects the hull posture of the laying vessel and controls the positioning terminal to perform satellite positioning on each scanned soft-body row to obtain absolute coordinates; In step S2, the host computer distinguishes the soft rows that have sunk to the bottom as the grounded rows and the soft rows that have not sunk to the bottom as the suspended rows according to the absolute coordinates and the point cloud data, and issues an unqualified warning when it is determined that the absolute coordinates of each grounded row do not meet the preset laying coordinates, and issues a quality warning when it is determined that the effective overlap width of the suspended row and the adjacent grounded row does not reach the standard width.

6. The real-time three-dimensional detection method according to claim 5, characterized in that: The step S1 comprises: Step S11, the host computer controls the dual-axis gimbal to rotate within a first angle range in the vertical direction and a second angle range in the horizontal direction, and collects the point cloud data of each of the software rows and the surrounding terrain in real time during the rotation process; Step S12, the host computer controls the positioning terminal to obtain its own terminal coordinates in the Beidou satellite system coordinate system, obtains the transducer coordinates of the multi-beam sonar transducer in the Beidou satellite system coordinate system according to the relative position between the positioning terminal and the multi-beam sonar transducer and the terminal coordinate processing, and performs coordinate conversion processing on the point cloud data based on the transducer coordinates to obtain the absolute coordinates of each scanned software array in the Beidou satellite system coordinate system.

7. The real-time three-dimensional detection system according to claim 6, characterized in that: The laying vessel is also provided with an inertial measurement unit, and the step S1 further comprises: Step S13, the host computer controls the inertial measurement unit to detect the hull posture of the laying vessel, and then corrects the absolute coordinates according to the hull posture.

8. The real-time three-dimensional detection method according to claim 5, characterized in that: The step S2 comprises: Step S21, the host computer identifies each of the software rows according to the point cloud data, and then determines the position of the software row according to the absolute coordinates of each of the identified software rows, and regards the software rows whose coordinates of each point on the software row are lower than the preset depth threshold as the software rows that have sunk to the bottom and are marked as the landed rows, and regards the remaining software rows as the software rows that have not sunk to the bottom and are marked as the suspended rows; Step S22: the host computer determines, for each of the floor-standing rows and the suspended rows, whether the absolute coordinates of the floor-standing rows or the suspended rows are consistent with the corresponding laying coordinates: If yes, go to step S23; If not, a failure warning will be issued and then exit; Step S23, the host computer processes the absolute coordinates of the suspended row and the absolute coordinates of the adjacent ground row to obtain the overlapping portion between the two as the effective overlap width, and then determines whether the effective overlap width reaches the standard width: If yes, return to step S21; If not, a quality warning is issued and then exited.

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