17 results about "Depth sounding" patented technology

The invention relates to the technical field of ocean engineering, and discloses a special-shaped steel pipe pile combined structure for complex seabed terrains, which comprises a plurality of steel pipe pile bodies and a seabed detector, and lock catch connecting mechanisms are arranged on the side surfaces of the plurality of steel pipe pile bodies; the lock catch connecting mechanisms are used for connecting and locking every two of the multiple steel pipe pile bodies, purlin frames are arranged on the inner sides of the multiple steel pipe pile bodies, a detection system is arranged in the seabed detector, and the detection system comprises a multi-beam sounding module used for obtaining three-dimensional topographic data of the seabed; the acoustic disturbance transmitting module is used for transmitting an acoustic disturbance pulse to a target point of the seabed; and the tracking imaging sonar module is used for collecting a seabed dynamic response image sequence triggered by the acoustic disturbance pulse. According to the method, in-situ fine investigation and structure differentiation design are combined, engineering materials are distributed according to needs, and on the premise that the structure safety is guaranteed, the engineering cost is reduced, and the construction efficiency is improved.

The application discloses a kind of silt deposition condition monitoring method, device, electronic equipment and medium, it is related to silt deposition monitoring technical field.The method comprises: establishing the BIM model of hydropower station engineering by three-dimensional design software;Multiple sonars are laid along dam axis direction in dam front dam surface of hydropower station engineering according to preset interval, and point cloud data is obtained by sonar;According to point cloud data, obtain deposition section information;Deposition section information is superimposed to BIM model;The route of unmanned ship is planned according to the result of grid processing to conventional detection area;Drive unmanned ship to sail along route, obtain underwater silt deposition feature point three-dimensional information;Drive unmanned ship to hover at hovering measurement point, and obtain deposition three-dimensional information of hovering measurement point by single-beam depth sounding system and positioning system;Underwater silt deposition feature point three-dimensional information and deposition three-dimensional information are superimposed to BIM model.The method can track and accurately detect silt deposition condition in real time.

The invention discloses a high-resolution internal wave sound velocity field inversion method based on propagation time delay, relates to the technical field of ocean observation, and aims to solve the problem that fine changes of a sound velocity field under internal wave driving cannot be effectively captured in the prior art. And cumulative observation results at different times are equivalent to multiple groups of virtual nodes and virtual observation networks at the same moment, so that high-resolution inversion of an internal wave sound velocity field is realized, and fine changes of the sound velocity field driven by internal waves are effectively captured. The defect that satellite observation lacks deep information is overcome, and full-water-depth sound velocity field observation can be achieved.

The application discloses a passive depth measuring device, which comprises a supporting assembly and a depth measuring assembly. When depth measurement is needed, the depth measuring rod in the depth measuring assembly is released, the depth measuring rod rotates around the supporting assembly, the free end of the depth measuring rod enters into the salt mine brine and contacts the bottom of the salt pond. Since the length of the depth measuring rod is relatively long, the depth measuring rod is in an inclined state. An angle sensor can monitor the rotating angle of the depth measuring rod, and the depth of the salt layer can be obtained after calculation. When the water mining machine sails, the free end of the depth measuring rod contacts the bottom of the salt pond. When the convex and concave parts on the bottom of the salt pond are encountered, the depth measuring rod can be released after relatively large elastic deformation and restore the original shape. The rotating angle of the depth measuring rod is monitored by using the angle sensor, the depth of the salt layer can be monitored in real time, the problem that the non-contact sensor cannot measure due to the fact that there are many suspended matters in the salt lake and the surface is easy to be salted is solved, and the working reliability of the depth measuring device is improved.

This invention discloses a depth sounding device, comprising a mounting assembly, a depth sounding assembly, and a drive assembly. The mounting assembly is connected to a water sampling machine and provides stable support for both the depth sounding assembly and the drive assembly. The depth sounding assembly comprises a first connecting rod, an upper rocker arm, a second connecting rod, and a lower rocker arm, forming a parallelogram mechanism. The first and second connecting rods are parallel to the vertical direction. The drive assembly rotates the upper rocker arm, thereby using the parallelogram mechanism to move the depth sounding rod vertically to measure the depth of the brine. An angle sensor monitors the rotation angle of the upper rocker arm and calculates the brine depth. This depth sounding device, fixed to the water sampling machine by the mounting assembly and driven by the drive assembly, improves the efficiency of depth sounding, reduces the workload of operators, and extends the service life of the device by monitoring the rotation angle of the upper rocker arm with the angle sensor.

The invention provides an unmanned ship water depth measuring method, the unmanned ship is provided with a first positioning device, a second positioning device and a depth measuring device, and the method comprises the following steps: according to the positions of the first positioning device and the second positioning device, determining the depth of the unmanned ship; determining a plane distance and a height difference between the first positioning device and the second positioning device; determining the trim angle of the unmanned ship according to the plane distance and the height difference; measuring an initial water depth value of the unmanned ship through the depth measuring device; according to the trim angle and the initial water depth value, the water bottom gradient is determined; and determining a corrected water depth value of the unmanned ship according to the trim angle, the initial water depth value and the water bottom gradient. According to the scheme provided by the invention, the precision and reliability of the water depth measurement of the unmanned ship can be improved, the measurement of underwater abrupt terrains such as channel slopes and underwater submerged reefs is more accurate, the plane position deviation of the water depth point caused by the trim angle of the unmanned ship is effectively avoided, and the real water depth value of the corresponding point position is obtained.

The invention discloses an active inversion method of a typical deep sea sound velocity profile based on a reliable sound path, and relates to acoustic inversion of marine environment parameters. The method comprises the steps that based on ocean mode data or measured data, a sound propagation model is combined, and a sea surface scattering echo arrival pitch angle and arrival time two-dimensional curve under different deep sea sound velocity profiles is obtained through simulation; a vertical receiving array carrying an active sound source is arranged at the bottom of a deep sea, and sea surface scattering echoes obtained by active emission are subjected to beam forming to obtain actually measured sea surface scattering echo arrival pitch angle and arrival time two-dimensional curves; comparing the two curves to obtain sound velocity profile expression parameters under the optimal matching of the two-dimensional curve, and obtaining deep sea sound velocity profile estimation by using the expression parameters. And a full-water-depth sound velocity profile can be obtained without covering a measurement system of a whole water body. A traditional receiving and transmitting split double-subsurface buoy system does not need to be used for obtaining a deep sea water sound velocity profile between receiving and transmitting, and deep sea sound velocity profile estimation can be achieved by placing a single receiving and transmitting assembly on a system on the seabed.

This invention discloses a method for classifying coral reef substrate based on the fusion of lidar and side-scan sonar data, mainly including the following steps: (1) By analyzing the structure of the photon-counting lidar scanning system, a precise calculation model for the coordinates of underwater depth sounding points of UAV-borne lidar is constructed; (2) Through fine processing steps such as seabed line tracking and joint correction of radiation distortion, a geocoded side-scan sonar image is constructed; (3) The backscattering intensity of lidar and side-scan sonar is fused to construct a seabed topographic image; (4) The standard wavelet BP neural network is improved; (5) Based on the fused image, coral reef species samples are extracted, and feature parameters with high self-cohesion and resolution are selected for sample training. The sample training results are used to classify the coral reef substrate in the fused image. Through the above steps, coral reef substrate classification based on the fusion of lidar and side-scan sonar data can be realized, providing technical support for identifying coral reef types.

This invention discloses a method and device for detecting weak signals in spaceborne lidar depth sounding that takes into account terrain continuity. It is used in a two-stage depth photon extraction method based on terrain continuity constraints. After underwater photon extraction, the method reduces density differences along the track through point cloud homogenization and scaling transformation, laying the foundation for subsequent two-stage underwater photon extraction. The first stage uses a globally adaptive density threshold to extract high-reliability underwater terrain photons. In the second stage, weak underwater terrain photons are recovered by propagating terrain continuity constraints from the high-reliability underwater terrain photons, ultimately obtaining a complete depth point cloud data map displaying the seabed topography. This method utilizes terrain continuity as a strong constraint and further improves the density distinction between weak depth signals and noise by using an enhanced density index. It can robustly recover valuable weak signals that traditional methods often miss in complex environments with high-density noise and sparse signals.

This invention discloses a high-density depth sounding device, relating to the field of measurement. The device includes electrodes and cables. The electrodes include at least one set of power supply electrodes and their corresponding measuring electrodes. A first, second, and third power supply electrode are configured as a set of power supply electrodes. A current focusing effect is formed between the first, second, and third power supply electrodes. This current focusing effect enhances the electric field generated by the power supply electrodes, increases the current density, reduces the device's susceptibility to external environmental influences, improves the signal-to-noise ratio and anti-interference capability, and ensures the accuracy and reliability of the measurement results. The cables include power supply cables and measuring cables. Separating the power supply cables from the measuring cables enhances measurement flexibility and makes it easier to meet the high-precision measurement needs during construction.

This invention discloses a novel single-beam echo sounder and its attitude compensation method. The single-beam echo sounder integrates a high-precision attitude module, which uses attitude information to calibrate depth and position. The method includes the following steps: controlling the transmission of acoustic waves and collecting seabed echoes using the single-beam echo sounder; GNSS transmits high-precision positioning information and PPS (Precision Per Second) pulses in real time to the wet-end sonar probe, while the probe simultaneously receives attitude information from the built-in attitude module. The above information is then processed comprehensively and uploaded to the dry-end host computer software; the obtained time interval is proportional to the distance from the sonar transducer to the riverbed or seabed; a smoothing window is used for water depth filtering; and attitude, position, pitch, and roll compensation calculations are performed. This invention, with its built-in high-precision attitude module, integrates high-precision GNSS information and PPS high-precision pulses, significantly improving both depth sounding and positioning accuracy.

The invention provides an unmanned aerial vehicle sounding method based on monocular vision positioning, and relates to the technical field of sonar sounding processing, and the method comprises the following steps: S01, obtaining an exterior orientation element deviation correction number; s02, a three-dimensional model is established in a local coordinate system with the acoustic center of the sonar probe on the towed body as the original point, and the three-dimensional coordinates of a plurality of coding marks arranged on the upper surface of the towed body in the local coordinate system are accurately measured; s03, dragging a towed body through the unmanned aerial vehicle for detection, and obtaining an exterior orientation element of the monocular camera corrected in the step S01 when each frame of image is shot; s04, calculating the three-dimensional position and the three-dimensional attitude of the towed body in the global coordinate system at each moment through space forward intersection; and S05, obtaining the three-dimensional coordinates of the underwater topographic points under the global coordinate system. According to the invention, the unmanned aerial vehicle flies to drive the sonar to carry out underwater topographic measurement, and the three-dimensional coordinates and attitude of the sonar are positioned based on the monocular vision technology, so that the accurate coordinates of the point to be measured are obtained.

This application relates to the field of underwater depth sounding technology, and in particular to a fixed-installation anti-tethering support for ships, comprising a hull and a detection rod. A pivot is rotatably connected to the outer wall of the hull, the axis of the pivot being perpendicular to the outer wall. A mounting sleeve is fixedly connected to the pivot, the axis of the mounting sleeve being perpendicular to the axis of the pivot. The detection rod passes through the mounting sleeve. An external force failure pin is detachably connected to the outer wall of the hull, located above the pivot, and abuts against the upper side wall of the detection rod. This application has the effect of reducing the possibility of bending deformation of the detection rod.

The invention relates to a three-dimensional comprehensive base map construction method for underwater small target detection, and the method comprises the following steps: formulating a hierarchical grid segmentation coding rule according to a reference submarine topography data resolution and a detection sonar data resolution; according to the coding rule, a seabed three-dimensional base map grid model capable of achieving zero-precision-loss and variable-granularity updating is constructed, vertical deviation of grid vertexes is used for bearing and reflecting elevation data obtained by depth sounding sonar, and the vertical deviation of the grid vertexes is used for bearing and reflecting elevation data obtained by depth sounding sonar; attribute values attached to the grid vertexes are used for bearing identification information of the scanned and detected area and acoustic detection intensity data obtained by the side-scan sonar. According to the method, the three-dimensional terrain can be constructed by using open source terrain data in a lossless manner, and various sonar detection data are comprehensively expressed in real time on a unified base map, so that capability complementation among underwater small target detection equipment is formed.

The invention discloses a deep sea sound source sounding method based on a positive and negative pitching beam cross attention mechanism, and belongs to the field of underwater acoustic engineering. The method comprises the following steps: firstly, respectively carrying out broadband beam forming in positive and negative pitch angle ranges on array data received by a vertical receiving array to obtain corresponding beam output; then slicing the beam output along a frequency dimension to form a positive and negative pitch angle network input set; and finally, inputting the two input sets into a special deep sea direct sound area sound source sounding network to obtain a sound source depth estimation result. According to the network, depth features of positive and negative beams are respectively extracted through two 1D-ViT modules which are connected in parallel, the two types of features are deeply fused by using a cross attention mechanism, and complementary information contained in a direct sound path and a sea surface reflection path is fully excavated. According to the method, the defect that the depth estimation performance is poor under the conditions of long distance and low signal-to-noise ratio due to the fact that only one-way beam information is utilized in the prior art is overcome, and high-precision and real-time estimation of the depth of the deep sea near sea surface sound source is achieved.

The invention provides a method for updating the depth of a channel and a storage medium, and the method comprises the steps: firstly carrying a depth finder on a ship, and collecting discrete new depth sounding points containing coordinates, a water depth value and a timestamp in real time; then generating a sounding surface by using a concave shell boundary extraction algorithm and a triangulated irregular network interpolation algorithm; uniformly converting the newly generated sounding surface and the old water depth surface into a point set form for projection registration to obtain a registration point pair corresponding to the space; the registration point pairs are processed through a Huber loss function and an iterative reweighted least square algorithm, and the real-time draught depth of the depth finder is obtained through inversion; and finally, superposing the draft obtained by inversion with the sounding surface, and outputting a new version of water depth surface. According to the method, traditional periodic off-line water depth survey is converted into on-ship instant on-line updating, the problem of water depth data lag caused by water level dynamic change and terrain deposition is effectively solved, and the current trend of data is remarkably improved.