19 results about "SeaWiFS" patented technology

The invention relates to the technical field of bridge pier scour monitoring, discloses an air-water-shore cooperative overwater float type bridge pier scour monitoring system, and belongs to the technical field of bridge safety monitoring. According to the system, an integrated framework is formed by a buoy platform, a shore-based cooperative monitoring station and a cloud monitoring platform. The buoy platform is fixed to a pier through a mooring lead, the underwater sonar module of the buoy platform can scan the terrain of a riverbed at multiple angles, and the overwater module integrates high-precision positioning and video monitoring. The shore-based station is provided with a laser scanner and a high-definition camera to monitor the overwater structure and the macroscopic environment of the pier. The cloud platform serves as a control center, converges the multi-source data of the buoys and the shore stations through a communication network, carries out time sequence correlation and fusion analysis, and dynamically evaluates the scour pit development and the bridge pier structure state. According to the invention, the limitation of a single monitoring mode is broken through, collaborative acquisition and intelligent fusion of air, water and shore data are realized, the comprehensiveness, accuracy and early warning capability of monitoring are remarkably improved, and reliable guarantee is provided for safe operation of bridges.

The invention relates to an open boundary circulating flow and reconfigurable terrain collaborative maritime work scouring intelligent test system and test method, a maritime work structure test model is installed at the center position of a main body structure inner cavity test section, and a set area with the maritime work structure test model as the center is used as a main test section; the open-boundary circulating flow generation system realizes back supplement and closed-loop operation of circulating water channels of the left bank and the right bank; a multi-beam three-dimensional terrain scanner is installed on the side portion of the large-span electric measuring bridge system, and sand bed terrain and scour pit three-dimensional shape data are obtained; a three-dimensional acoustic Doppler current meter and a capacitive wave height meter are installed on the track type instrument bridge measuring system, and multi-dimensional dynamic monitoring is conducted on the sand bed terrain and the scouring pit; the multidirectional irregular wave generation system is used for simulating regular waves and irregular waves in an offshore environment. According to the invention, the aspects of structure scale, terrain coupling and measurement and control feedback intelligence are comprehensively upgraded, and a more real and reliable test basis with strong engineering adaptability is provided for research on scouring stability of major ocean engineering.

The invention relates to a bimodal detection device for an underwater bridge pile and a detection and repair robot system, and belongs to the technical field of underwater structure detection and repair robots, the bimodal detection device comprises a turbidity sensor used for continuously sampling a working water area to determine the turbidity; the main controller is used for controlling the forward-looking sonar to scan the bridge pile to obtain an acoustic image when the turbidity is greater than or equal to a preset value; the data processing unit is used for identifying a suspected disease area based on the acoustic image; the main controller is also used for controlling the laser scanner to obtain three-dimensional point cloud of the suspected disease area and controlling the visible light camera to obtain a visible light image of the suspected disease area; and the data processing unit is also used for carrying out defect identification on the bridge pile based on the three-dimensional point cloud and the visible light image. According to the bimodal detection device for the underwater bridge pile, through a bimodal detection mode combining acoustics and optics, accurate recognition of apparent defects of the bridge pile in a muddy water environment is achieved.

The invention discloses a sea-air integrated multi-source heterogeneous sensing intelligent system which comprises an intelligent system power module, a high-endurance energy module, a multi-source heterogeneous sensing module, an unmanned aerial vehicle folding and unfolding and intelligent system positioning correction module and a multi-source data heterogeneous communication and integrated sensing module. By designing the high-endurance energy module and adopting the wide-temperature-range inorganic solid-state battery and the intelligent battery management module, the energy guarantee capability of the system in an extreme environment is improved, and the problem that an existing sensing system is insufficient in endurance in a cold region or in long-time operation is solved. According to the invention, a multi-source heterogeneous sensing module is constructed, multiple groups of optical cameras and laser scanners are fused, full-visual-angle three-dimensional sensing of underwater, water surface and airspace is realized, the space coverage rate and precision of sensing are effectively improved, and the problems of large blind area and single data of a traditional single sensing means are solved.

The application relates to a kind of calibration installation method and system of underwater block, belong to underwater block installation technical field.The calibration installation method of underwater block includes block calibration, hoisting block, generating navigation route, guiding block hoisting step;Wherein, block calibration step includes: after block prefabrication is completed, target is installed on the top surface of block, the top surface of block and the target arranged on the top surface of block are scanned by three-dimensional laser scanner on the top of gantry crane, the size parameter of the top surface of block, the relative position relationship between target feature point and the top surface of block are acquired.The calibration installation method of underwater block accurately acquires the size parameter of block and target feature point position by three-dimensional laser scanner, provides reliable data basis for subsequent hoisting;The position and posture of block are monitored in real time by measuring and control device, and navigation route is autonomously generated in combination with design position coordinates, so that block can be accurately hoisted to target position.

The invention discloses a nondestructive testing method for an exposure test of a concrete structural member, which comprises the following steps of: pre-embedding a sensor for detection in the concrete member, and acquiring detection data of the concrete member under the condition of alternate change of salt water and fresh water in real time; calculating by using data of an ultrasonic detector to obtain relative dynamic elastic modulus change characteristics; a high-resolution optical camera system and a three-dimensional laser scanner are adopted to quantify concrete member denudation area distribution characteristic information; a concrete member degradation model and a bearing capacity calculation model under the salt and fresh water alternating change condition are established, and the remaining service life of the concrete member in the salt and fresh water alternating environment is predicted according to a set failure standard; integrating and storing various detection data obtained in the whole exposure test process, and establishing a database; through multi-modal data association analysis, a synergistic effect mechanism of the concrete member in a salt-fresh water alternating environment is disclosed, a data footstone is provided for cross-sea-area engineering, and nondestructive testing of the exposure test of the concrete structural member is realized.

The invention discloses a deformation detection method based on three-dimensional point cloud data of a river sluice, and the method comprises the steps: 1), carrying out the observation station arrangement of the river sluice, scanning the surface of the river sluice through a ground three-dimensional laser scanner, and obtaining the point cloud data of the river sluice; 2) extracting contour points of the river sluice based on a river sluice stable area control point extraction method; 3) registering two-stage river sluice point cloud data based on a registration algorithm optimized by a symmetric objective function; and 4) based on a multi-scale river sluice surface deformation algorithm of a point cloud roughness confidence interval, calculating a deformation amount between two registered river sluice point clouds. According to the method, accurate control points are extracted as feature input based on a non-deformation stable region in an overall environment, a registration correction algorithm objective function is optimized, the spatial position of the river sluice is corrected, and a confidence interval is set by using each part of the river sluice and an overall point cloud roughness distribution rule; and accurate detection of actual deformation of the river sluice is completed based on multi-period prototype observation data.

The invention provides an online eddy current flaw detection automatic detection device for shaft forging silver bright rods of maritime work equipment, and relates to the technical field of detection equipment. The online eddy current flaw detection automatic detection device comprises a conveying table, a conveying belt is arranged on the conveying table, a plurality of placing grooves are formed in the center of the conveying belt, and the silver bright rods are placed in the placing grooves; a righting assembly, a dust removal assembly and a flaw detection assembly are sequentially arranged on the conveying table in the conveying direction of the conveying belt, and the flaw detection assembly comprises an eddy current flaw detection scanner. A traditional manual handheld flaw detection mode is replaced by an automatic conveying structure that the conveying belt is matched with the placing groove, silver bright rods can be orderly positioned and conveyed through the placing groove, and continuous detection can be completed without manual intervention, so that the detection efficiency is greatly improved, and the labor intensity of operators is reduced; and the silver bright rods are limited through the containing grooves, the problem of relative slipping between a traditional conveying belt and the smooth silver bright rods is effectively solved, and the stability of the conveying speed is guaranteed.

The invention discloses a motion detection method for an underwater building structure, and provides the following scheme aiming at the problem of inconvenient manual detection in the prior art: the motion detection method comprises the following steps: S1, cleaning a building by using a cleaning handle, and removing attachments adhered to the underwater of a wharf; s2, a plurality of marker groups are fixed to the surface of the underwater building structure, and each marker group is composed of a plurality of mark points arranged in an array; s3, performing visual capture on the same building structure from different directions by adopting a plurality of visual capture devices, detecting different parts and different types of damages of a wharf by adopting different carriers and technologies, and performing large-range scanning by adopting an aerial detection module carrying a 3D laser scanner for overall deformation and deviation of an overwater structure part, obtaining point cloud data; an aerial module is adopted to carry a high-definition camera to carry out close-range imaging on a water panel structure crack part.

The utility model discloses a deep sea unmanned visual pile sinking positioning system which comprises a suction bucket type pile sinking guide frame and a pile sinking positioning monitoring system. The suction bucket type pile sinking guide frame comprises a vertical frame body with a truss structure, and a suction bucket group is arranged at the bottom of the vertical frame body; a top layer platform and a plurality of middle platforms are horizontally arranged on the top of the self-standing frame body from top to bottom in sequence at intervals, a plurality of guide mechanisms are evenly distributed on the top layer platform in the circumferential direction, each guide mechanism comprises a limiting frame and a guide limiting cylinder which are coaxially arranged, and guide extending frames of the limiting frames and the guide limiting cylinders are connected with the platforms. The pile sinking positioning monitoring system comprises a plurality of GNSS receivers, a plurality of distance measuring scanners, at least one clinometer and a plurality of underwater altimeters. The system is reasonable in structural design, low in cost and convenient and safe to operate, in the whole pile sinking positioning process, visual construction of the guide frame and the steel pipe pile and monitoring and adjustment of the construction process are achieved through real-time monitoring data, and the high-quality construction requirement is met.

The application provides a robust laser scanner ship unloader bulk material grabbing positioning method and equipment, the method comprises the following steps: activating a walking scanning module, a fixed-point scanning module and a grab bucket monitoring module by a message bus; obtaining the positions of all bulk cargo holds of a bulk cargo ship; collecting and obtaining real data; obtaining point cloud coordinates and calculating coordinate ranges; standardizing the material surface in the hold; obtaining the hold opening position and the material surface information in the hold; updating the hold opening position and the material surface height in the hold; standardizing the material surface in the hold; calculating monitoring angles; starting grab bucket monitoring and obtaining parameters; and calculating the collision between the entity and the hold opening. The application can plan the bulk material grabbing in advance, position the grabbing process and provide real-time anti-collision alarms, and through the perpendicular installation of the single-line scanning directions of the sea-side single-line laser scanning pan-tilt and the land-side single-line laser scanning pan-tilt, the real-time monitoring of the hold opening position drift monitoring, the immediate feedback of the grab bucket safety situation and the robustness of the whole system are realized.

The utility model relates to a kind of auxiliary device integrated with measurement unmanned ship and hand-held scanner, comprising: auxiliary platform, two installation holes for fixing hand-held measurement scanner are equipped in middle part, four through holes are equipped around;Anti-falling double-threaded pillar, both ends are equipped with thread, and one end is fixedly connected with anti-falling device;Fixed nut, for locking auxiliary platform and anti-falling double-threaded pillar;Screw slot, set in the edge of auxiliary platform, for adjusting the levelness of auxiliary platform;One end of anti-falling double-threaded pillar is connected with measurement unmanned ship through screw slot, the other end penetrates auxiliary platform, and is fixed by fixed nut, hand-held measurement scanner is installed in the middle part of auxiliary platform. It connects unmanned ship and auxiliary platform with horizontal adjusting slot by anti-falling double-threaded pillar, to realize the stable loading of hand-held scanner. Solve the problem of water and underwater terrain data fragmentation, significantly improve surveying efficiency and safety, reduce operating cost.

The present application relates to the technical field of laser scanning, and particularly relates to a three-dimensional laser scanning workbench for measuring damaged areas of underwater objects, comprising: an instrument mounting platform, a suction cup type fixing device and a water bottom auxiliary fixing table; a transparent sealing cover and a supporting leg are arranged on the lower side of the instrument mounting platform, a first mechanical arm is arranged in the sealing cover, a mechanical hand for clamping a scanner is arranged at the end of the first mechanical arm, a second mechanical arm for cleaning is mounted on the supporting leg, and the suction cup type fixing device is mounted on the lower side of the supporting leg; the water bottom auxiliary fixing table comprises a top platform and an inclined supporting leg, the suction cup type fixing device can be adsorbed to the top platform, and an inclined pointed cone capable of being inserted into silt is arranged at the bottom of the inclined supporting leg. Through cooperation of the suction cup type fixing device and the water bottom auxiliary fixing table, relative stillness of the scanner and the target object under different conditions is ensured, and more accurate point cloud data is obtained.

The application discloses a nondestructive testing method for concrete structure member exposure test, a sensor for detection is pre-buried in a concrete member, and detection data of the concrete member under the condition of salt and fresh water alternation is acquired in real time; a relative dynamic elastic modulus change characteristic is obtained by using ultrasonic detector data calculation; a high-resolution optical camera system and a three-dimensional laser scanner are used to quantize concrete member denudation area distribution characteristic information; a concrete member deterioration model and a bearing capacity calculation model under the condition of salt and fresh water alternation are established, the remaining service life of the concrete member under the salt and fresh water alternation environment is predicted according to a set failure standard; various detection data acquired in the whole exposure test process are integrated and stored, and a database is established; and the application discloses a multi-modal data correlation analysis, reveals a synergistic mechanism of the concrete member under the salt and fresh water alternation environment, provides a data cornerstone for a cross-sea area project, and realizes nondestructive testing of the concrete structure member exposure test.

The invention discloses a land and water comprehensive topographic measurement method based on unmanned ship depth measurement and three-dimensional laser scanning, which comprises two parts: (1) for an underwater part of a measurement area, carrying a multi-beam depth measurement system on an unmanned measurement ship, and carrying out water depth measurement on the measurement area by using the multi-beam depth measurement system; and (2) carrying out panoramic scanning measurement on the overwater part of the measurement area by adopting a ground three-dimensional laser scanner. According to the invention, the measurement advantages and technical characteristics of the small unmanned multi-beam measurement platform and the ground type three-dimensional laser scanning system are combined, the terrain three-dimensional point cloud data can be efficiently and accurately obtained through the combination of the two technical means, and land and water comprehensive measurement and data fusion are realized.

The invention discloses an intelligent pose adjusting device suitable for noise testing of a marine turboset rack and a testing method of the intelligent pose adjusting device, and belongs to the technical field of noise testing of marine turbosets. According to the invention, the technical problem that the error between the actual test position and the predetermined test point position is large when the noise value is measured by using the existing turboset bench noise test instrument is solved. The laser radar is arranged above the intelligent base main body; the combined mechanical arm is mounted on the intelligent base main body; the 3D laser scanner is used for acquiring a three-dimensional image of the marine turboset; the microphones are used for collecting noise data of the positions where the microphones are located. The integrated controller is used for processing data of the laser radar and the 3D laser scanner and planning moving and scanning paths; the mobile terminal is used for establishing a three-dimensional model of the marine turboset, setting noise measuring point coordinates based on the model, and sending a measuring point coordinate sequence to the integrated controller for autonomous navigation and pose adjustment. And the measuring point position error is reduced. The method is used for testing the noise of the marine turboset bench.

The application provides a shore bridge ship container arrangement adaptive positioning method, comprising the following steps: installing a depth camera on a gantry beam and installing a laser scanner at the bottom of a shore bridge trolley; establishing a reference coordinate system at a PLC; the depth camera acquires an RGB image and a depth image of a clamp plate region, and positions the clamp plate region in the RGB image; the clamp plate region in the RGB image is point by point to obtain three-dimensional coordinates in the depth camera coordinate system, to obtain a clamp plate point cloud of the depth camera, and then the clamp plate point cloud of the depth camera is uniformly converted into the reference coordinate system at the PLC; the ship body point cloud acquired by the laser scanner is converted into the reference coordinate system at the PLC, and the ship body point cloud generated by the laser scanner in the reference coordinate system is positioned and conditionally filtered to obtain the point cloud of the clamp plate part in the ship body point cloud generated by the laser scanner in the reference coordinate system at the PLC; and the position of the container to be placed in the running direction of the shore bridge trolley is further determined.