56 results about "Freeboard" patented technology

The invention provides an underway ship draft detection method, system, medium and equipment. The method comprises the following steps: acquiring laser point cloud data and image data of an underway ship; extracting an instant feature surface of the underway ship, comparing the instant feature surface with typical feature surfaces of various typical ship types, and selecting similar typical ship types; marking the side board part of the underway ship according to the side board part on the typical characteristic surface, and separating a point cloud set of the side board part; calculating the head freeboard height, the middle freeboard height and the tail freeboard height of the side broadside of the underway ship to obtain the freeboard height of the underway ship, and calculating the confidence coefficient; on the basis of the image data, identifying a waterline of the on-board ship so as to calculate bow, midship and stern drafts and confidence coefficients, and obtaining an initial draft; acquiring static structure data of the underway ship; according to the method, the laser point cloud data and the image data are used, so that the final draft of the underway ship can be accurately calculated.

The invention relates to a segmentation, block and carrying stage construction method for a ship draft sign, which comprises the following steps of: manufacturing a segment where the bottom of a middle water gauge sign is located, and drawing and mounting the bottom of the middle water gauge sign; a block where the top of the middle water gauge and the freeboard mark are located is manufactured, and the top of the middle water gauge mark and the freeboard mark are worked out and installed; manufacturing a section where the bottom of the head water gauge mark is located, and performing drawing and mounting on the bottom of the head water gauge mark; a block where the head water gauge mark is located is manufactured, and the top of the head water gauge mark is worked out and installed; building a dock and slipway three-dimensional measurement and control network, and carrying out rapid and refined large-closure carrying work of each subsection and block; according to the base line of the segmented block where the middle water gauge mark and the freeboard mark are located, the whole ship body base line is determined, and finally water gauge mark positioning scribing is conducted on the tail area according to the whole ship body base line. According to the method, the draft water gauge mark and the freeboard mark are marked and installed in the segment or block stage, the production procedure is effectively moved forwards, cross construction of the segments and the blocks in the large closure carrying stage is reduced, the later production construction difficulty is lowered, and the overall integrity is improved.

The invention relates to an air bag type sealing and closing device for an unprotected opening of a freeboard deck passing through a penetrating object, the upper part of the unprotected opening of the deck is connected with a first annular plate through a split bolt and a sealing gasket, the upper part of the first annular plate is fixedly connected with an upright cylinder, and the inner side of the cylinder is fixedly connected with a second annular plate; an annular rubber air bag is arranged between the first annular plate and the second annular plate, an inflation opening communicated with the annular rubber air bag is formed in the side wall of the barrel, the annular rubber air bag expands towards the middle after being inflated to block an unprotected opening of a deck, and meanwhile a penetrating object penetrates through the unprotected opening all the time and does not need to be moved away. The deck opening with the penetrating object does not serve as an unprotected opening any more, and the requirements of ship stability and load line convention are met; a clamp is not needed, and the problem that the clamp is inconvenient to disassemble and assemble is solved; through remote control and on-site operation, the air bag can reach different pressures to meet the requirements of different tightness.

The utility model discloses a deepwater lifting pipe-laying ship for a 3000-meter-water-depth double-pipe-laying system, a main ship body of the deepwater lifting pipe-laying ship is arranged to be of a three-layer continuous deck structure, and a bottom layer is a double-bottom layer and is used for arranging marine equipment; the middle layer is a freeboard deck and is used for arranging an S-Lay pipe laying area; the upper layer is a main deck and is used for arranging a J-Lay pipe laying area and a pipe stacking area; a full-rotation crane is arranged at the stern part of the main ship body; a moon pool is arranged in the middle of the main ship body, and a J-Lay tower is arranged on the upper portion of the moon pool. A living building and a helicopter platform are arranged at the bow part of the main hull; a plurality of full-revolving propellers, a plurality of telescopic propellers and a plurality of side propellers are arranged on the outer side face of the bottom of the main ship body. The deepwater lifting platform can continuously work at the water depth of 3000 meters, and is provided with an S-Lay pipe laying system and a J-Lay pipe laying system.

The invention belongs to the technical field of ship draft detection, and provides a ship draft real-time detection system which comprises the following steps: establishing a three-dimensional dynamic coordinate system, and updating a water surface reference surface in combination with real-time water level data; calculating water level variation of adjacent frames and compensating a point cloud Z axis; a pure ship body point cloud is separated in combination with a water surface datum plane, ship body reflectivity and a region growing algorithm; fitting a deck plane of the pure ship body point cloud, performing edge detection to extract ship board features, and correcting a side board feature surface; converting the pixel coordinates of the water surface reference surface and superposing the auxiliary lines; positioning a waterline, converting a bow / middle / tail waterline coordinate to a three-dimensional dynamic coordinate system, and calculating an initial draft; the deck Z-axis average coordinate is extracted, and the bow / middle / tail freeboard height is calculated in combination with the water surface datum plane coordinate; the theoretical draft is deduced in combination with the ship type depth, the theoretical draft is compared with the initial draft, the final draft is output, and the ship draft detection precision in the complex water level change environment is improved.

The invention discloses a ship lock hydraulic structure crest elevation scheme recommendation method and device and electronic equipment, and relates to the field of ship lock building designing.The method comprises the steps that feature scales of different lockage ship types are obtained, the feature scales comprise freeboard heights of ships under the full-load condition or the ballast condition or the no-load condition, and based on a freight volume demand analysis result, the feature scales are calculated according to the freeboard heights of the ships under the full-load condition or the ballast condition or the no-load condition; determining the ship type proportion of each lockage ship type, calculating the crest elevation of the ship lock hydraulic structure under different working conditions by adopting a proportionality coefficient algorithm according to the ship type proportion and the freeboard height to obtain a plurality of planned recommendation schemes, and measuring and calculating the investment cost of the ship lock hydraulic structure in each planned recommendation scheme. And selecting the scheme with the lowest investment cost as a target crest elevation recommendation scheme. The technical problems that crest elevation of a ship lock hydraulic structure is determined in a fixed mode in the prior art, freeboard changes of a ship under different working conditions such as full load and ballast are not involved, sailors are inconvenient to go ashore, and the utilization rate is affected are solved.

A long-distance underwater transportation method for immersed tubes, the steps of which are as follows: S1. After the prefabrication of the immersed tube segments is completed, preparations before launching are carried out; S2. Water is injected into the dry dock, and the immersed tube floats under the action of buoyancy to complete the launching of the immersed tube from the dock; S3. The towing barge tows the immersed tube and floats it along the waterway in the shallow sea area; S4. After the towing barge tows the immersed tube into the deep sea area, the immersed tube is towed to the installation position; S5. Before the immersed tube enters the installation position, the immersed tube floats up, and after floating up, the freeboard height is adjusted and the towing cable is adjusted; S6. The towing barge tows the immersed tube and floats it along the waterway to the designated installation position, and after basic positioning, mooring is carried out. By submerging the immersed tube segments for underwater transportation, the present invention avoids the damage to the structure caused by the extreme deep-sea environmental loads during the transportation process, realizes the long-distance transportation of the immersed tube across the deep sea area, and the present invention realizes the reuse of the existing immersed tube tunnel prefabrication factory, saving the investment in new projects and the construction period of the prefabrication yard.

The invention discloses a swing stopping system and method for an A-type hanging bracket, and belongs to the technical field of ships. The A-type hanging bracket is arranged on a deck of the ship body, and a hoisting device is arranged on the A-type hanging bracket and used for hoisting equipment; the oscillation stopping system comprises a traction device, a guide mechanism and a monitoring device, and the traction device is arranged on the deck and used for pulling the traction rope; the guide mechanism is arranged on the ship body, the traction rope is guided by the guide mechanism to connect the traction device and the equipment, and the traction rope is connected with a lifting point of the equipment to form oblique tension towards the side surface of the ship body on the equipment; the monitoring device is in communication connection with the traction rope and the traction device and used for adjusting the winding and unwinding speed and tension of the traction device on the traction rope, the problem that the A-type hanging bracket equipment shakes in the high freeboard scene is solved, and the operation safety and efficiency are improved.

The utility model discloses a special ship crossing ladder for a ship, which comprises a long inclined ladder, a short inclined ladder and a connecting platform, the long inclined ladder and the short inclined ladder are both configured to have adjustable inclination angles, and the connecting platform is horizontally arranged between the long inclined ladder and the short inclined ladder and is respectively connected with the upper ends of the long inclined ladder and the short inclined ladder so as to communicate the long inclined ladder and the short inclined ladder; the long inclined ladder, the short inclined ladder and the connecting platform are all provided with handrails, the long inclined ladder and the short inclined ladder are both provided with pedals, and the horizontal angles of the pedals are adjustable. The angles of the ladder surfaces of the long inclined ladder and the short inclined ladder can be adjusted, installation and use between ships with different freeboard heights can be met, the angles between the pedals of the long inclined ladder and the short inclined ladder and the horizontal plane can be adjusted, the pedals can be kept parallel to the horizontal plane, and therefore the safety of the ship crossing ladder during use is guaranteed.

The invention relates to a novel retracting and releasing mechanism of a dragging body. The mechanism mainly comprises a steel wire rope driving device installed on a ship deck, a throwing arm driven by the device to rotate around a first shaft by a large angle, and a vertical arm hinged to the free end of the throwing arm through a second shaft. The device is characterized in that a hydraulic motor is arranged on a throwing arm to drive a second shaft, and in the throwing or recycling process, the hydraulic motor can synchronously drive a vertical arm to perform reverse compensation rotation, so that the vertical arm is always kept in a vertical posture, and a dragging body with a large dip angle in the air is stably grabbed. The mechanism is further provided with a rigid locking device composed of a grabbing and locking mechanism and a grabbing and locking column, and a cable guide wheel used for protecting the trailing cable. The problem that the posture of the gravity center shift dragging body is difficult to control in the retracting and releasing process is solved, and the device is particularly suitable for high freeboard ships and has the advantages of being stable in releasing, high in safety and high in adaptability.

The invention belongs to the technical field of ship collecting and releasing, and discloses a ship collecting and releasing device and a ship. The multiple ramp assemblies in the ship retracting and releasing device are sequentially and rotatably connected, so that the ramp structure can be placed on the ship in a rolled state, when the ship needs to be retracted or released, the ramp structure is unfolded through the retracting and releasing mechanism, the ramp structure is changed into the unfolded state, and the ship is placed on the ramp structure; the lifting mechanism is utilized to enable the boat to move on the ramp structure, so that the boat is recycled or released. And after the movement of the ship is finished, the ramp structure is recovered to be in the rolling state and is stored on the ship. The ship collecting and releasing device can save the space of a ship, enlarge the effective usable area of a ship deck, can be provided with different numbers of ramp assemblies according to the height of a freeboard of the ship, changes the length and gradient of the ramp structure, and has the advantages of good practicability, simple design, safety and reliability.

The invention provides a ship freeboard height detection method and device and electronic equipment. According to the method and the device, the cross-modal alignment parameter for representing the spatial transformation relationship between the image acquisition equipment for acquiring the image data and the laser radar for acquiring the point cloud data is determined based on the point cloud feature of the target ship and the visual feature of the target ship, and the cross-modal alignment parameter, the point cloud feature and the visual feature are further utilized; the freeboard weight distribution used for representing whether the position, corresponding to the target ship, of each feature point in the point cloud features belongs to the freeboard area or not is determined, so that the freeboard area to be detected is accurately focused, and clear freeboard semantic features in the visual features and scale information of the point cloud data are fully utilized. Therefore, the freeboard height of the target ship is determined according to the freeboard weight distribution, automatic freeboard height detection is realized, and the freeboard height detection efficiency is improved while the measurement precision is ensured and the cost is controlled.

The invention relates to an image analysis and AI video technology-based ship lockage and ferry safety intelligent supervision system. The system comprises a front-end multi-mode sensing system, a rear-end intelligent processing system, an early warning reporting system and a data middle station interaction module. The front end acquires high-quality data through a plurality of groups of multi-angle high-definition industrial cameras and a self-adaptive pan-tilt camera; the rear end is supported by an algorithm library to realize ship identity recognition, draft detection, ferry trajectory tracking and abnormal behavior recognition; the early warning system reports abnormal information in a grading manner according to severity; the data intermediate station module realizes bidirectional data interaction; ship draft detection is obtained through image preprocessing, identity recognition and freeboard height conversion calculation, ferry trajectory deviation is achieved through target detection, trajectory generation and direction included angle judgment, and the method aims at solving the problems that in the prior art, the function is single, the environment adaptability is poor, and safety parameter detection and data interaction capacity is lacked.

The application discloses a kind of inland river ship freeboard measurement method based on monocular vision.First, the internal parameter calibration of monocular camera is carried out using checkerboard by Zhang Zhengyou calibration method, and the internal parameter of camera is obtained;The camera shoots the side view of the ship, and the Deeplabv3+ model is used to segment the part between the ship deck line and the waterline according to the side view of the ship;Further, the ship deck line and the waterline are detected to determine the position of the ship freeboard and calculate the pixel height of the ship freeboard;The conversion from pixel height to actual height is realized by the camera internal parameter obtained by calibration, and the real value of the ship freeboard is calculated.The application models the parameters of the camera itself, does not rely on vanishing point and vanishing line for ship freeboard measurement, and provides assistance for the safety navigation of inland river ships on water as the basis for ship overload detection.

The present application belongs to the technical field of ship draft detection, and provides a ship draft depth real-time detection system, which comprises: establishing a three-dimensional dynamic coordinate system, updating a water surface datum in combination with real-time water level data; calculating adjacent frame water level change and compensating point cloud Z-axis; separating pure ship body point cloud in combination with the water surface datum, ship body reflectivity and a region growing algorithm; fitting a deck plane of the pure ship body point cloud, extracting a ship side feature through edge detection, and correcting a side shell feature surface; converting the water surface datum into pixel coordinates and superimposing an auxiliary line; positioning a draft line, converting bow / midship / stern draft line coordinates to the three-dimensional dynamic coordinate system, and calculating initial draft depth; extracting average coordinates of the Z-axis of the deck, calculating the bow / midship / stern freeboard height in combination with the water surface datum coordinates; and calculating the theoretical draft depth in combination with the ship type depth deduction, comparing the initial draft depth, and outputting the final draft depth, so as to improve the ship draft depth detection precision in a complex water level change environment.

A system and method for calculating a draft / freeboard for a vessel. The system includes multiple sensor units, wherein each sensor unit includes a housing; a distance sensor to sense a freeboard from various positions in the vessel. The sensor unit includes a coupling member, such as magnets coupled to the housing that allow the sensor units to be mounted to the vessel. The sensor units can connect to a control unit for processing data and presenting the measurements. The system can calculate drafts from the freeboard data, wherein the freeboard data can be determined from different positions of the vessel.

The invention discloses a method for measuring and calculating a buoyancy reserve coefficient of a multi-purpose vehicle. The method comprises the following steps: step 1, acquiring a proportional relation between the multi-purpose vehicle and a corresponding three-dimensional model; 2, carrying out a full-load test on the vehicle in a still water state, and obtaining the mass of the vehicle in the full-load state and the actual freeboard height; 3, obtaining a corresponding model freeboard height in the three-dimensional model according to the actual freeboard height and the proportional relation, and measuring and calculating a model buoyancy reserve volume under the proportion of the three-dimensional model according to the model freeboard height; and 4, obtaining the buoyancy reserve coefficient of the multipurpose vehicle according to the model buoyancy reserve volume, the mass of the vehicle in the full load state and the proportional relation. According to the method, data capable of being accurately measured can be obtained from the vehicle, the data obtaining precision is guaranteed, and the requirement for high-precision measurement of the buoyancy reserve coefficient of the multipurpose vehicle is met.

The invention belongs to the field of ship detection, and particularly relates to a non-dynamic draught detection system and method of a ship, the system comprises a base station, a tide level station, a plurality of mobile stations and an acquisition and control terminal, the base station is used for calculating an error value between a real-time observation coordinate and a known accurate coordinate; transmitting differential data including the error value to the mobile station; the tide level station is used for continuously monitoring real-time tide level data of the sea area where the ship is located. The mobile station is used for receiving the GNSS satellite signal and the differential data sent by the base station, and resolving to obtain a three-dimensional coordinate; measuring the offset of the mounting position of the mobile station and the vertical direction of the freeboard deck; and the acquisition and control terminal is used for receiving the three-dimensional coordinates and the offset in the vertical direction of each mobile station, calculating the barycentric coordinates of the freeboard deck by adopting a three-point barycentric algorithm according to the plane coordinates and the calibration elevation of the three mobile stations, obtaining the actual height of the water surface where the ship is located, and calculating the real-time draft of the ship. According to the draught detection system, efficient, convenient and accurate ship draught detection can be achieved.

A portable sensing device may be deployed for determining at least one stability metric of a vessel. The sensing device may include one or more motion sensors for sensing motion of the vessel, one or more freeboard sensors for determining a freeboard of the vessel, and a computing system for processing motion data from the one or more motion sensors and freeboard data from the one or more freeboard sensors to determine the at least one stability metric. The computing system may be programmed to transform the motion data from time domain motion data to frequency domain motion data and process the frequency domain motion data to determine the at least one stability metric of the vessel and the freeboard of the vessel.

The utility model discloses a rectangular culture net cage with a low freeboard, and relates to the technical field of culture equipment, the rectangular culture net cage comprises a base, a frame structure, an upper building structure and a second support column, the middle part of the base is hollowed out and is provided with a first netting; the frame structure comprises a plurality of first supporting columns and a plurality of connecting assemblies, the first supporting columns are arranged on the base, and the connecting assemblies are arranged between every two adjacent first supporting columns; a second netting is arranged on the outer side of the frame structure; the second supporting column is arranged on the base, and the height of the second supporting column is larger than that of the first supporting column; the upper-layer building structure is arranged at the top of the second supporting column; a walkway and an operation room are arranged in the upper-layer building structure, and breeding equipment is arranged in the operation room. The height of the second supporting column is higher than that of the first supporting column, so that the height of the second supporting column provided with the superstructure is higher so as to avoid impact of sea waves, the design height of the first supporting column serving as a freeboard is reduced, and steel consumption is reduced.

The present invention belongs to the technical field of immersed tube measurement, and particularly relates to an immersed tube freeboard monitoring system and a monitoring method. The immersed tube freeboard monitoring system includes a measurement assembly, an elevation measurement device and a server; the measurement assembly includes a limit bucket and a floating prism rod, the bottom of the limit bucket is hollowed out, and the top of the bucket is connected to the top of the immersed tube through a connecting plate so that the limit bucket is vertically suspended outside the immersed tube. One end of the connecting plate close to the top of the immersed tube is provided with a first prism; the floating prism rod is vertically inserted into the limit bucket and can reciprocate vertically, and a second prism is provided at the top of the rod. The floating prism rod can float to the water surface as a whole; the elevation measurement device is installed on the shore to collect the elevation data of the first prism and the second prism in real time and upload them to the server; the calculation module in the server calculates the freeboard of the immersed tube in real time. The present invention can monitor the freeboard of the immersed tube in the storage area in real time, improve the measurement accuracy and reduce the measurement risk.

The design concerns a work or pleasure vessel capable of unobstructed passage through very shallow water passages, such as (but without exception) fixed bridges and the like. The upper part of the freeboard, the inflatable section, will collapse upon deflation of the air inside and rest upon the rigid part of the hull, thereby creating a very limited clearance height. This allows these obstacles in the waterway to be passed effortlessly and easily at all times. In both the inflated and deflated states, the inflatable part of the freeboard forms a permanently attached part of the vessel. After passing through the passage, the inflatable part of the freeboard is restored to its original shape using an air pump, after which the vessel safely navigates the waterway in its complete form.

A pleasure craft is provided such as a luxury pleasure craft. The craft eliminates the need for transverse bulkheads in one or more decks inside the hull of the craft, thus improving the aesthetics and usability thereof. The hull of the pleasure craft defines an imaginary or virtual freeboard deck located below the main deck of the craft. A cavity is arranged on one or more decks on both sides of the hull separate from the remaining space of the corresponding deck and delimited on its outer side by the corresponding side wall. The imaginary or virtual freeboard deck is therefore at a height equal to the extension in the vertical direction of the cavities from the floor of the corresponding deck.

This invention belongs to the field of boat and vessel deployment and recovery technology, and discloses a boat and vessel deployment and recovery device and a vessel. The boat and vessel deployment and recovery device comprises multiple ramp components that are rotatably connected in sequence, allowing the ramp structure to be placed on the vessel in a rolled-up state. When the boat needs to be retrieved or released, the ramp structure is unfolded by the deployment and recovery mechanism, placing the boat on the ramp structure. A lifting mechanism then moves the boat along the ramp structure, achieving the retrieval or release of the boat. After the boat has finished moving, the ramp structure returns to its rolled-up state and is stored on the vessel. This boat and vessel deployment and recovery device saves space on the vessel, expands the effective usable area of ​​the deck, and allows for the installation of different numbers of ramp components to adjust the length and slope of the ramp structure according to the vessel's freeboard. It has good practicality, is simple to design, and is safe and reliable.

The utility model relates to an air bag type sealing and closing device for an unprotected opening of a freeboard deck passing through a penetrating object, the upper part of the unprotected opening of the deck is connected with a first annular plate through a split bolt and a sealing gasket, the upper part of the first annular plate is fixedly connected with a vertical cylinder body, and the inner side of the cylinder body is fixedly connected with a second annular plate; an annular rubber air bag is arranged between the first annular plate and the second annular plate, an inflation opening communicated with the annular rubber air bag is formed in the side wall of the barrel, the annular rubber air bag expands towards the middle after being inflated to block an unprotected opening of a deck, and meanwhile a penetrating object penetrates through the unprotected opening all the time and does not need to be moved away. According to the utility model, the deck opening with the penetrating object is no longer used as an unprotected opening, so that the requirements of ship stability and load line convention are met; a clamp is not needed, and the problem that the clamp is inconvenient to disassemble and assemble is solved; through remote control and on-site operation, the air bag can reach different pressures to meet the requirements of different tightness.

The invention discloses a dual-fuel ship cabin arrangement which comprises a methanol fuel cabin, a fuel oil cabin, a methanol discharge cabin and a methanol daily cabin which are all located in a cargo hold area, close to the bow side, on the front wall of the cabin and above an inner bottom plate below a freeboard 5 deck of the cargo hold area. The fuel oil tank and the methanol daily-use tank are located above the methanol fuel tank, the fuel oil tank is located in the bow direction, the methanol daily-use tank is located in the stern direction, a reserved space used as a channel is arranged between the fuel oil tank and the methanol daily-use tank, an isolation void tank is arranged on the periphery of the methanol fuel tank, and the methanol discharge tank is arranged in the methanol fuel tank. According to the dual-fuel ship cabin arrangement, the oscillation stopping longitudinal cabin wall and the oscillation stopping transverse cabin wall are additionally arranged in the methanol fuel cabin, the ship space utilization rate is increased, the number of isolation cabins is reduced, the effective space of a ship is saved, the lifesaving space of the isolation cabins is improved, and the construction operation environment is improved; the influence of the methanol liquid in the cabin on the stability of the ship due to free liquid level shaking is improved.

The invention provides a method and a system for determining the size of a front edge area of a graded vertical wharf, and relates to the technical field of wharf front edge area size determination, comprising the following steps: acquiring the design high and low water levels of a port and the empty and full load freeboards of a target ship type; calculating the top elevations of the upper and lower platforms based on the obtained parameters; extracting operation equipment space occupation and process space requirements according to a preset loading and unloading process scheme to form a process requirement data set; taking the upper platform as a design plane, taking process demand data as a constraint, constructing a total width optimization function taking the width of each functional area as a variable and taking minimization of the total land occupation cost of a leading edge area as a target, and solving the design width of the upper platform; constructing a width constraint model by taking a lower platform as a design plane, and solving a minimum feasible width; a design parameter set is constructed according to the design elevation and width of the upper platform and the lower platform and serves as a deterministic basis of the wharf leading edge area size, and reliable technical support is provided for scientific and efficient design of the graded vertical wharf.

The invention discloses a dam turnover water depth calculation method for moraine lake surge, belongs to the technical field of disaster prevention and control, and can solve the problem that the dam turnover water depth cannot be accurately calculated in the prior art. The method comprises the steps that S1, a freeboard of the moraine lake is determined according to the water level height of the moraine lake and the dam crest height of a dam of the moraine lake; s2, determining the wave height and the wave velocity of the surge propagating to a preset position in front of the dam; s3, calculating a first ratio of the wave height to the freeboard, and calculating a second ratio of the kinetic energy of the wave velocity to the potential energy of the freeboard; and S4, the dam turning water depth of the surge is determined according to the first ratio, the second ratio and the freeboard. The method is used for calculating the dam turning water depth of moraine lake surges.

The present invention is a method for checking and verifying the attitude of a hull in a fully floating state. The specific steps are as follows: Layout of the checking and verifying system: The checking and verifying system includes four checking and monitoring components, four measuring robots, four communication modules, a data processing terminal, and a power supply device; Checking and verifying the hull attitude: Start the power supply device to supply power, and start the measuring robots and communication modules; After starting the measuring robots, conduct monitoring and learning, measure the corresponding feature points respectively, and after the learning is completed, perform attitude monitoring on the hull in the tracking mode, and transmit data through the communication module. After automatically calculating the results, give the adjustment values required by the hull leveling system, and the leveling system reads them in and automatically adjusts the hull attitude. The present invention can be applied to the measurement work of hull attitude adjustment of a leveling ship in a fully floating state for a submarine immersed tube tunnel. Operators can retrieve and view the freeboard height measurement data at any time period through the system background; it can automatically measure the instantaneous attitude of the hull of the leveling ship.

The invention relates to the technical field of image processing, in particular to a method for measuring a point cloud freeboard dynamic segmentation ship waterline based on a laser radar, which comprises the following steps of: acquiring point cloud data through the laser radar, selecting levels of multiple scales from the point cloud data, decomposing data of each level respectively, and generating multi-level point cloud representation; and calculating curvature and normal vector of the point cloud data of each layer, and extracting morphological characteristics to obtain key morphological characteristics. According to the method, the laser radar is adopted, and the accuracy and efficiency of ship waterline measurement are improved by acquiring the multi-level point cloud data. The data identification capability in the complex marine environment is enhanced by utilizing the calculation of the curvature and the normal vector and combining the extraction of the morphological characteristics. And multi-level classification and dynamic adjustment of a time sequence are performed on the point cloud data, so that real-time monitoring of ship load change is realized, and accurate reflection of real-time data is ensured.