45 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 the technical field of underwater operation equipment, solves the problems that existing dam underwater crack repairing depends on divers or complex equipment, the automation degree is low, the construction period is long, the comprehensive cost is high and the adaptability is poor, and particularly relates to concrete dam underwater crack repairing and leaking stoppage equipment which comprises a robot for underwater cruise, and the robot comprises a machine body; the cruise vision module comprises a foresight navigation lens group, a look-around lens group, a bottom wide-angle lens, an active illumination system, an obstacle avoidance sonar system and a topographic mapping sonar; the crack detection module comprises a crack scanning ultrasonic detector, a high-resolution strip-shaped scanning lens group, a laser ray scanner, a multispectral imager, a laser distance measuring sensor, a water flow sensor and an attitude sensor, the crack repairing module comprises two groups of mechanical arms for punching and grouting, and the central controller controls the robot to execute. Crack filling, structure bonding recovery and long-acting sealing are achieved, and meanwhile the construction difficulty and the comprehensive cost are reduced.

The invention relates to a calibration installation method and system for an underwater square block, and belongs to the technical field of underwater square block installation. The calibration and installation method of the underwater square block comprises the steps of square block calibration, square block hoisting, navigation route generation and square block hoisting guidance. Wherein the square block calibration step comprises the following steps: after the square block is prefabricated, mounting a target on the top surface of the square block, scanning the top surface of the square block and the target arranged on the top surface of the square block through a three-dimensional laser scanner at the top of the gantry crane, and obtaining the size parameters of the top surface of the square block and the relative position relationship between the feature points of the target and the top surface of the square block. According to the calibration and installation method of the underwater square block, the size parameters of the square block and the position of a target feature point are accurately obtained through a three-dimensional laser scanner, and a reliable data basis is provided for subsequent hoisting; the measurement and control device monitors the position and posture of the square block in real time and automatically generates a navigation route in combination with design position coordinates, and it is ensured that the square block can be accurately hoisted to the target position.

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 provides a satellite multi-load moon forecasting method and device and electronic equipment. The method comprises the following steps: acquiring coordinates of a satellite moon vector connecting line under preset time precision in an instrument coordinate system; performing cold air view field constraint, scanning view field constraint, earth night side observation constraint and lunar phase angle constraint on each instrument to obtain a rough time window of the moon entering the view field corresponding to each instrument; and carrying out dynamic adaptive golden section extremum search at a preset time interval, calculating the visibility of each instrument view field to the moon, and obtaining the optimal observation time of the moon. According to the satellite multi-load lunar forecasting method and device and the electronic equipment provided by the embodiment of the invention, the FY-3 F satellite multi-load lunar observation rapid forecasting method based on the combination of rough time search and adaptive golden section extremum search is constructed, and by optimizing the calculation of the cold air view field and the scanning view field angle, the accuracy of lunar observation is improved. The moon forecasting method for the cross-rail circular scanning instrument is provided, and limitation of a traditional rectangular view field is avoided.

The invention belongs to the technical field of ocean remote sensing, and particularly discloses a shore wave parameter extraction method and a shore wave height prediction method based on an airborne static laser radar. The problem that when a static laser radar scanner is used for scanning dynamic clapping shore waves, the periodic evolution form of the sea waves cannot be obtained is effectively solved. The parameter extraction method comprises the steps that an unmanned aerial vehicle is used for carrying a static laser radar scanner to collect data, the data are exported to be in a txt format, and geographic coordinates of point cloud, a scanning angle between a laser radar scanning beam and the direction perpendicular to the ground and relative time are obtained; sequencing the required data according to relative time, and slitting the sequenced data into a plurality of new txt files according to a self-defined time interval; extracting a wave beam from the txt file; de-noising and visualizing the data; and sea wave parameter extraction and environmental influence factor acquisition. According to the method, the beamwave beam state data of the self-defined time interval can be accurately captured, and the refined beamwave parameters can be effectively extracted.

The invention discloses a method for measuring the perpendicularity of an offshore super-long steel casing. The method comprises the following steps: uniformly mounting four measuring targets at the top of a to-be-measured steel casing; the three-dimensional coordinates of the four measurement targets are accurately obtained through a total station polar coordinate method, and after data collection is completed, the direction of the measurement marks is adjusted so that the measurement marks can directly face the position of an operation supporting rod of the three-dimensional laser scanner; the scanning time of the observation stations is about 57 s, and 2-4 observation stations are used to complete data acquisition; generating a three-dimensional point cloud; and the perpendicularity and three-dimensional space coordinates of the to-be-measured steel casing are obtained. According to the offshore super-long steel casing perpendicularity measuring method, the measuring field operation time is short, the scanning operation of each station of a field laser scanner only needs 57 seconds, and the operation efficiency is far higher than that of a conventional measuring means; and meanwhile, compared with a conventional measurement means, the three-dimensional laser scanning technology realizes non-contact measurement, three-dimensional coordinates of measurement points are obtained, and the safety of measurement work is greatly ensured in a complex sea area environment.

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 relates to portable offshore wind power wave height measuring equipment, and belongs to the technical field of offshore wind wave height measurement. Comprising a body mechanism, the body mechanism comprises a base and a stand column, the stand column is fixedly arranged at the upper end of the base, a processing mechanism is arranged on the stand column, the processing mechanism comprises an adjusting assembly and a dehumidifying assembly, the adjusting assembly comprises a liftable connecting frame, a fixing frame is rotationally arranged on the connecting frame, and an adjusting frame is rotationally arranged on the fixing frame; a moving table is arranged on the adjusting frame in a sliding manner; a laser measurement scanner main body and a laser range finder main body are arranged on the moving table; the dehumidification assembly comprises a dehumidifier body, a swing frame and a suction nozzle, the swing frame is rotationally arranged on the moving table, the suction nozzle is arranged on the swing frame, and the suction nozzle is connected with the dehumidifier body through a conveying pipe; the problem that data of an existing laser measuring device for measuring the wave height of offshore wind power is prone to deviation is solved.

The invention belongs to the technical field of underwater large building construction, and relates to a large component underwater butt joint guiding system and a butt joint positioning method. The system comprises a guide bracket arranged on the top face of the tail end of an installed component and a guide rod arranged on the top face of the head end of a to-be-installed component, and one end of the guide rod extends out of the head end of the to-be-installed component; a guiding groove and a positioning groove are formed in the guiding bracket, all-directional sonar scanners are arranged on the front side and the rear side of the guiding bracket respectively, a pair of corner instruments are oppositely arranged on the outer sides of the upper portions of the two side walls of the positioning groove in the guiding bracket, each corner instrument comprises a rotary encoder and a measuring rod, and the axis of a rotary shaft of each rotary encoder is parallel to the central axis of the positioning groove. One end of the measuring rod is vertically connected to the rotating shaft of the rotary encoder, and the other end horizontally extends towards the rotary encoder on the opposite side. Through the arrangement of the omni-directional sonar scanner and the corner instrument, accurate alignment of the guide rod and the guide bracket can be achieved when the to-be-mounted component is submerged and mounted, and the mounting precision of the to-be-mounted component is remarkably improved.

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.

This invention discloses a tooling and method for precise mapping of deformation defects in subsea pipelines, relating to the field of subsea pipeline inspection technology. It includes an outer frame, a scanning chamber, a scanning chamber drive device, a 3D scanner, a 3D scanning drive device, and a scanning chamber pumping device. The scanning chamber is housed within the outer frame. The pumping device removes seawater from the scanning chamber. The scanning chamber comprises a left scanning chamber and a right scanning chamber, which can be closed by the drive device, sealing the target mapping section of the subsea pipeline within the scanning chamber. The 3D scanner and the 3D scanning drive device are both located within the scanning chamber. The drive device enables the 3D scanner to perform a 3D scan of the target mapping section within the scanning chamber. This invention allows for normal underwater mapping in turbid or turbulent waters, and possesses advantages such as high positioning accuracy and high shape adaptability, enabling non-contact and non-destructive 3D mapping.

The present invention discloses a mobile pre-warning facility for ship navigation in bridge and dam areas and a working method. The facility is equipped with a 5G communication module, an ultrasonic anemometer, a hull scanner, and a visibility meter and is installed on an above-water mounting frame. A single-beam depth sounder and a current meter are installed on an underwater mounting frame. A floating body attitude measuring instrument, a solar panel, and a mounting frame are fixed on the floating body. A lithium battery pack, a main control processing computer, and an AIS transceiver are installed in the floating body cabin. The present invention can perform navigation safety detection on passing ships in the bridge and dam area, judge the results of ship navigation safety, and issue a navigation safety warning for ships. At the same time, it is equipped with solar panels, lithium battery packs, and 5G communication modules. When in use, there is no need to lay additional power supply cables and communication cables. It can be deployed in any waters in the bridge and dam area, and can be moved according to user requirements. When in use, the present invention does not require ships to dock, has flexible deployment, and accurate warnings. At the same time, the structure is light, which provides convenience for later equipment maintenance and maintenance.

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 present invention discloses a ship scanning and spreader anti-collision system and method based on the fusion of laser and vision. The system includes a laser scanner, a vision acquisition device, a ship scanning vision controller, a ship scanning laser controller, and a quay crane PLC controller. The laser scanner and the vision acquisition device continuously scan and take images of the ship contour and the container stacking contour on the ship according to the scanning instruction and the shooting instruction. The ship scanning vision controller processes the taken images to obtain a three-dimensional space image of the ship contour. The ship scanning laser controller obtains the ship contour point cloud data according to the received scanning data, and corrects the ship contour point cloud data according to the received three-dimensional space image of the ship contour, so as to realize the accurate scanning and recognition of the ship contour. And through the quay crane PLC controller, it controls the movement of the quay crane trolley and the lifting of the spreader to realize the anti-collision of the quay crane spreader and achieve the soft landing of the container on the sea and land sides.

The present invention belongs to the field of marine remote sensing technology, and specifically discloses a method for extracting shore wave parameters and a method for predicting shore wave height based on an airborne static laser radar. It effectively solves the problem that when a static laser radar scanner is used to scan dynamic shore waves, the periodic evolution morphology of the waves cannot be obtained. The parameter extraction method includes: using an unmanned aerial vehicle equipped with a static laser radar scanner to collect data, exporting the data into a txt format, obtaining the geographic coordinates of the point cloud, the scanning angle of the laser radar scanning beam and the vertical ground direction, and the relative time; sorting the required data according to the relative time, and cutting the sorted data into multiple new txt files according to a custom time interval; extracting the wave beam from the txt file; denoising and visualizing the data; extracting the wave parameters and obtaining the environmental impact factors. The present invention can accurately capture the shore wave beam status data at a custom time interval and effectively extract refined shore wave parameters.

Calibration method for shipborne integrated water-land measurement system, which relates to the technical field of calibration methods, includes the following steps: Step S1: Calibration of measuring instruments; Step S2: Calibration of the center of a single unit; Step S3: Obtaining the positional relationship between the center point of a single unit and the target; Step S4: Obtaining exterior orientation elements; Step S5: Accuracy calibration; The said Step S4 includes: Observing the target of the inertial navigation system single unit to obtain the position information of the target of the inertial navigation system single unit; Observing the target of the 3D laser scanner to obtain the position information of the target of the 3D laser scanner; According to the positional relationship between the center point of a single unit and the target and the position information of the target of the inertial navigation system single unit and the target of the 3D laser scanner, establishing the coordinate systems of the 3D laser scanner and the inertial navigation system, and obtaining exterior orientation elements. The present invention solves the technical problems of the existence of an included angle between the coordinate axes of the 3D laser scanner and the inertial navigation system and the high installation cost when installing the 3D laser scanner and the inertial navigation system.

The invention discloses a multi-source data integration system applied to intelligent recognition and detection of underwater defects of a hydropower station dam, and the system comprises a data collection module, a data integration module, an original data input module, a data detection module, a detection data output module, and a data display module. Integration of multi-source sensing information such as underwater high-definition camera shooting, image sonar, a three-dimensional laser scanner and mechanical arm contact detection is realized; through the data integration module, a multi-source information fusion processing technology is developed, an underwater station dam defect database is established, and data support is provided for underwater station dam defect detection; fusion and real-time extraction of multi-source data feature information are realized through a data detection module; and the stored data are screened, queried and analyzed through the data display module, so that the problems of non-transparent data management visualization processing and the like are solved. The whole system framework has the advantages of being clear in structure and convenient to operate, and a good and unified man-machine interaction platform is provided.

The present invention relates to an anti-scour device for pile foundations of a submarine data center and a construction and assembly method thereof, belonging to the technical field of marine foundation protection. The device comprises a fixed structure, an inclination structure for controlling the tilt angle and tilt direction, a rotation structure for controlling the rotation angle, and an anti-scour structure. A water flow sensor and a terrain scanner are used to detect the tidal direction and seabed scouring and silting conditions in real time. The control system dynamically adjusts the inclination and rotation angles of the device to reduce the scouring and erosion effects of ocean currents on the pile foundation. The construction and assembly method comprises the steps of anti-scour device design, block prefabrication, assembly, a first qualification test, pile foundation construction, a second qualification test, installation of the anti-scour device, and installation of a submarine data center. Multiple qualification tests are performed to ensure that the performance of the device under simulated marine environmental conditions is consistent with that in the actual environment, thereby improving the safety and reliability of the marine pile foundation and submarine data and ensuring long-term stable operation.

The invention discloses an underwater foundation bed riprap system which comprises an automatic riprap ship, a spherical joint riprap pipe is arranged on the automatic riprap ship, the spherical joint riprap pipe achieves multi-degree-of-freedom deflection through a hydraulic driving system so as to control the riprap direction, a telescopic flow guide cover is arranged at the tail end of the spherical joint riprap pipe, and the spherical joint riprap pipe is connected with the automatic riprap ship. The length is dynamically adjusted according to the deflection angle of the spherical joint; the seabed sonar beacon array is laid on the seabed of the riprap operation area, the automatic riprap ship calculates self positioning according to the time difference of receiving beacon signals, and the automatic riprap ship automatically plans a riprap line according to positioning data and underwater topographic surveying and mapping data; and the laser scanner is arranged at the bottom of the automatic riprap ship and used for monitoring the riprap falling point and monitoring the foundation bed stacking height in real time, and the automatic riprap ship conducts riprap adjustment according to monitored data. The system not only can accurately control the throwing direction and the falling point position of the stone, but also can automatically plan the stone throwing path and dynamically correct the stone throwing path, so that manual intervention is reduced, and the working efficiency is improved.

A position locating system to locate relative position information between a marine vessel and a trailer includes a laser scanner on a first object, that is one of a marine vessel and a trailer for the marine vessel, to reciprocatingly scan a predetermined range in a horizontal direction with laser light, a laser light receiver on a second object, that is the other of the marine vessel and the trailer, to receive laser light emitted from the laser scanner, and a position locator configured or programmed to locate relative position information between the marine vessel and the trailer based on light receiving timings when the laser light emitted from the laser scanner is received by the laser light receiver.

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 invention belongs to the technical field of underwater calibration, and particularly relates to a sealed viewport calibration method of a monocular and binocular three-dimensional scanning system. Installing a sealed viewport on a three-dimensional scanner shell, and obtaining the distance from the sealed viewport close to a camera side interface to the end face of the shell; detaching a sealing viewport mounted on the shell of the three-dimensional scanner, and meanwhile, fastening the camera to ensure that the pose of the internal camera is not changed; placing the calibration plate in the view field of the camera in the air, changing the pose of the calibration plate for multiple times, and solving the internal parameters and the distortion coefficient of the single-viewpoint model of the camera; the movable guide rail is connected with the scanner shell and the calibration plate through the clamping tool, the one-dimensional movable guide rail is perpendicular to the installation face of a sealing viewport of the three-dimensional scanner shell through positioning connection, and the one-dimensional movable guide rail is perpendicular to the calibration face of the calibration plate through positioning clamping. Namely, the calibration plate moving along the one-dimensional guide rail is parallel to the sealed viewport of the three-dimensional scanner shell. According to the invention, the sealing viewport key parameter calibration of the underwater three-dimensional scanning system can be rapidly completed.

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 present invention relates to a method for inverting the moisture content of the beach surface layer based on point cloud intensity. It includes: Step 1, select a beach sample plot and use a three-dimensional laser scanner to obtain the point cloud data of the beach; Step 2, preprocess the obtained point cloud data and construct a correction model for the incident angle and distance effect of the point cloud intensity; Step 3, conduct an indoor scanning experiment, calibrate the point cloud intensity of sand samples with different moisture contents, fit the function between the point cloud intensity and the moisture content, construct a moisture content inversion model, and finally obtain the inversion result of the moisture content of the beach surface layer. The present invention utilizes the point cloud intensity information obtained by the three-dimensional laser scanner to construct a moisture content inversion model for the beach surface layer, reduces the monitoring difficulty of the moisture content of the beach surface layer, and improves the monitoring efficiency and accuracy.

The present invention belongs to the technical field of underwater construction of large-scale structures, and relates to a large component underwater docking guiding system and a docking positioning method. The system includes a guiding bracket arranged on the top surface of the tail end of the already installed component, and a guiding rod arranged on the top surface of the head end of the component to be installed, with one end of the guiding rod extending out of the head end of the component to be installed; a guiding groove and a positioning groove are formed on the guiding bracket, omnidirectional sonar scanners are respectively arranged on the front and rear sides of the guiding bracket, and a pair of corner meters are oppositely arranged on the outer sides of the upper parts of the two side walls of the positioning groove on the guiding bracket. Each corner meter includes a rotary encoder and a measuring rod. The axis of the rotary encoder is parallel to the central axis of the positioning groove. One end of the measuring rod is perpendicularly connected to the rotary encoder's axis, and the other end extends horizontally towards the opposite rotary encoder. By setting the omnidirectional sonar scanner and the corner meter, the present invention can achieve precise alignment between the guiding rod and the guiding bracket during the underwater lowering and installation of the component to be installed, significantly improving the installation accuracy of the component to be installed.