CN110764094A - Underwater three-dimensional visual detection system and detection method thereof - Google Patents
Underwater three-dimensional visual detection system and detection method thereof Download PDFInfo
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Abstract
The invention discloses an underwater three-dimensional visual detection system and a detection method thereof, and belongs to the technical field of engineering. Wherein, three-dimensional visual detection system includes: the device comprises a transmitting module, a receiving module, a GPS module, an upper computer module and an image output module, wherein the upper computer module comprises a network unit, a data processing unit and an image processing unit. Compared with the prior art, the method and the device can facilitate technicians to obtain underwater three-dimensional visual images, provide underwater geological and topographic information reference for engineering operation, facilitate the technicians to select proper operation sites, reduce the times of drilling operation, reduce the engineering period and reduce the labor intensity of the operators.
Description
Technical Field
The invention belongs to the technical field of engineering, and particularly relates to an underwater three-dimensional visual detection system and a detection method thereof.
Background
With the rapid development of modern science and technology, China gradually develops into a capital construction country, and the living standard of the nation is improved through the continuous development of infrastructure. For example, some bridges across rivers, rivers and sea have not only overground operation parts but also underwater operation parts, and relatively speaking, the above-ground operation is less complicated than the underwater operation, and the underwater operation needs to provide underwater terrain information. The three-dimensional visual detection system can detect the terrain conveniently, visual terrain information is provided for engineering technicians, and engineering design and construction difficulty are greatly reduced.
The existing three-dimensional visual detection system generally adopts a detector to scan terrain to acquire digital information of the terrain, combines three-dimensional coordinate data of the detector, generates a three-dimensional digital map through computer simulation, and displays the map through visual equipment. The terrain information detected by the detection system can provide a proper engineering construction position for engineering design so as to reduce the engineering construction difficulty, for example, the construction at a position with flat terrain is obviously superior to the construction at a position with hollow terrain.
However, in underwater operation, the geological condition and underwater sediment accumulation are considered in consideration of the terrain, the stability of engineering equipment is not suitable, and the operation depth is also influenced. Because no geological information is referenced, the drilling operation range is wide, the operation times are more, the engineering period is greatly influenced, and the labor intensity of operators is increased.
Disclosure of Invention
The purpose of the invention is as follows: an underwater three-dimensional visualization detection system is provided to optimize existing detection systems.
The technical scheme is as follows: the invention provides an underwater three-dimensional visual detection system, which comprises: the device comprises a transmitting module for transmitting sound waves, a receiving module for receiving sound wave signals, a GPS module for providing positioning information, an upper computer module for processing the received sound wave signals to obtain underwater visual images and an image output module for displaying the images, wherein the transmitting module, the receiving module and the GPS module are integrated on the same detection equipment, the upper computer module comprises a network unit for realizing network connection, a data processing unit for processing the sound wave signals to obtain the distance between an underwater reflector and the detection equipment and an image processing unit for integrating the distance information to form the underwater three-dimensional visual images, the transmitting module, the receiving module and the GPS module are respectively in communication connection with the upper computer module, and the upper computer module is in communication connection with the image output module.
In a further embodiment, the receiving module comprises a signal amplifying unit, certain attenuation can be generated due to the influence of water flow and impurities in water in the sound wave in the transmission process, the sound wave signal received by the receiving module is amplified through the signal amplifying unit, the receiving module can conveniently receive and identify the sound wave signal, the detection result error caused by the fact that the received signal is weak is avoided, the accuracy of the detection result is improved, underwater terrain and geological information reference is provided for technicians, and underwater operation is facilitated.
In a further embodiment, the transmitting module further comprises a transmitting clock unit, the receiving module further comprises a receiving clock unit, the GPS module comprises a positioning clock unit, the transmitting clock unit, the receiving clock unit and the positioning clock unit are synchronous, time references of transmitting sound waves, receiving sound waves and coordinate data of detection points are consistent through the setting, the data processing module is convenient to perform data calculation, confusion of calculation data of the detection points due to non-uniform time references is prevented, accuracy of detection results is further improved, underwater terrain and geological information is accurately provided for technicians, the technicians can conveniently select proper operation sites, drilling operation efficiency is improved, and engineering period is shortened.
In a further embodiment, the upper computer module further comprises an image processing unit and an image storage unit, wherein a plurality of geological image units are prestored in the storage unit, each geological image unit comprises image particles and image colors, the image processing unit calls the geological image units in the image storage unit according to processing results to fill and render to form an underwater three-dimensional visual image, and through filling and rendering different geology in the visual image, the identifiability of the image can be improved, and technicians can conveniently know underwater topographic and geological information.
The invention also provides a detection method of the underwater three-dimensional visual detection system, which comprises the following steps:
step 1: the system comprises a transmitting module, a receiving module, a GPS module and a data processing module, wherein the transmitting module transmits high-frequency sound waves to the underwater, the sound waves are reflected back due to the blockage of an underwater geological layer, the receiving module receives the reflected sound waves, the transmitting module transmits transmitting signals to the upper computer module, the receiving module transmits receiving signals to the upper computer module, and meanwhile the GPS module transmits positioning information of detection equipment to the upper computer module in real time;
step 2: when the sound waves transmitted underwater by the transmitting module meet the sediment layer, part of the sound waves are blocked and returned to the receiving module to be received, the receiving module sends a receiving signal to the upper computer module, the data processing unit of the upper computer module calculates the transmission distance of the sound waves according to the time difference between the signal transmitting and receiving time and the signal transmitting time, the distance from the sediment layer to the detector is calculated, and meanwhile, the rest sound waves are continuously transmitted downwards;
and step 3: repeating the step 2, and calculating the distances from the underwater mud layer and the rock layer to the detector;
and 4, step 4: the detector adjusts the detection position to detect underwater data, and a data processing unit of the upper computer module calculates the underwater data of each detection point;
and 5: and the image processing unit of the upper computer module calls the calculation data of the data processing unit to simulate an underwater three-dimensional visual image, and the underwater three-dimensional visual image is displayed through the image output module.
In a further embodiment, the receiving module in step 2 includes a signal amplifying unit, and the signal amplifying unit amplifies the received sound wave signal for receiving and identifying by the receiving module.
In a further embodiment, in the step 5, the image processing unit calls the image particles in the image storage unit to fill the underwater image, and calls image colors to render the geological image to form a final underwater three-dimensional visualization image.
In a further embodiment, the image output module in the step 5 is a touch display screen, and an image observation visual angle is realized through finger operation, so that a technician can conveniently observe simulated images of underwater topography and geology from multiple angles, and reference is provided for the technician to select a proper operation place.
Has the advantages that: the invention provides an underwater three-dimensional visual detection system, which comprises: the device comprises a transmitting module, a receiving module, a GPS module, an upper computer module and an image output module, wherein the upper computer module comprises a network unit, a data processing unit and an image processing unit, high-frequency sound waves are transmitted to the underwater through the transmitting module, the high-frequency sound waves meet blocking return of different geological layers under the water and are received by the receiving module, the data processing unit in the upper computer module calculates the distance from each geological layer to a detection point under the water according to the receiving time and the transmitting time difference of sound wave signals and the coordinate data of the detection point of a GPS module system, the position of the detection point is continuously adjusted to obtain the topographic data of the geological layers in different places under the water, and the image processing unit simulates three-dimensional visual images of the underwater topography and the geology according to the data and displays the three-dimensional visual images through. Compared with the prior art, the method and the device can facilitate technicians to obtain underwater three-dimensional visual images, provide underwater geological and topographic information reference for engineering operation, facilitate the technicians to select proper operation sites, reduce the times of drilling operation, reduce the engineering period and reduce the labor intensity of the operators.
Drawings
Fig. 1 is a schematic diagram of the connection of the present invention.
FIG. 2 is a block diagram of the architecture of the present invention
Fig. 3 is a schematic circuit amplification diagram of the signal amplification unit of the present invention.
FIG. 4 is a schematic view of the underwater geology and topography of the present invention.
The reference numerals of fig. 1 to 4 are: the system comprises a transmitting module 10, a receiving module 20, a GPS module 30, a host computer module 40, a network unit 401, a data processing unit 402, an image processing unit 403, an image storage unit 404, an image output module 50 and a detector 60.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
Researches of researchers find that underwater operation is frequently encountered in the engineering operation process, underwater topography and geological information need to be known when the underwater operation is carried out, so that technicians can select proper operation sites, the three-dimensional visual detection system can provide underwater topography images for the technicians, and references can be provided for selection of underwater operation positions. However, the underwater operation needs to consider not only the terrain but also the geological condition, the underwater sediment deposition is also needed to be considered, the temperature of the engineering equipment is not suitable, and meanwhile, the operation depth is also affected.
As shown in fig. 1 and fig. 2, the underwater three-dimensional visualization detection system provided by the present invention includes: the system comprises a transmitting module 10 for transmitting sound waves, a receiving module 20 for receiving sound wave signals, a GPS module 30 for providing positioning information, an upper computer module 40 for processing the received sound wave signals to obtain underwater visual images and an image output module 50 for displaying the images. Wherein, the emission module 10, receiving module 20 and GPS module 30 assemble on same detection equipment, it is concrete, can install emission module 10, receiving module 20 and GPS module 30 are installed on unmanned aerial vehicle or by the fish that drags of survey ship under water, adopt in this embodiment with emission module 10, receiving module 20 and GPS module 30 integrate on same unmanned aerial vehicle under water, can comparatively conveniently select and adjust the detection position through artificially controlling unmanned aerial vehicle, unmanned aerial vehicle's electric power system can be for emission module 10 simultaneously, receiving module 20 and GPS module 30 provide power supply. The upper computer module 40 in this embodiment includes a network unit 401 for implementing network connection, a data processing unit 402 for processing the acoustic signal to obtain the distance between the underwater reflector and the detection device, and an image processing unit 403 for integrating the distance information to form an underwater three-dimensional visualization image. The transmitting module 10, the receiving module 20 and the GPS module 30 establish communication connection with the upper computer module 40 through the network unit 401, and meanwhile, the upper computer module 40 is also in communication connection with the image output module 50, and the simulated image of the upper computer can be displayed through the image output module 50, wherein the image processing module can be a display screen or wearable three-dimensional visual glasses.
In the transmission process, the sound waves are attenuated to a certain extent due to the influence of water flow and impurities in water, so that the receiving module 20 has certain difficulty in receiving the sound wave signals. With reference to fig. 3, receiving module 20 includes the signal amplification unit in this embodiment, amplify the sound wave signal that receiving module 20 received through the signal amplification unit, receiving module 20 accurately receives and discerns the sound wave that is launched out and is reflected back by the geological formation by emission module 10, avoid having the error because of the weaker detection result that leads to of received signal, can improve the accuracy of detection result through setting up the signal amplification unit, make the three-dimensional visual image under water of detection system detection simulation can be comparatively accurate provide topography under water and geological information reference for the technical staff, make the quick accurate selection underwater operation position of technical staff, provide the operating efficiency.
In a further embodiment, the transmitting module 10 further comprises a transmitting clock unit, the receiving module 20 further comprises a receiving clock unit, and the GPS module 30 comprises a positioning clock unit; and the transmit clock unit, the receive clock unit, and the positioning clock unit are synchronized. Because a certain time is needed for the sound wave to transmit and reflect underwater, the distance between the underwater reflector and the transmitting module 10 can be obtained correspondingly by calculating the distance of the sound wave in the time, so that the transmitting time and the receiving time of the sound wave need to be monitored in real time, and the positioning clock unit can provide coordinate data of a certain time detection point. The time references of transmitting sound waves, receiving sound waves and coordinate data of the detection points are consistent, so that the data processing module can calculate data conveniently, and the problem that the calculated data of a plurality of detection points are disordered due to the fact that the time references are not uniform is avoided. The accuracy of the detection result of the system can be further improved through the arrangement, underwater topography and geological information can be accurately provided for technicians, reference can be provided for the technicians to select proper operation places, the drilling operation efficiency is improved, and the engineering period is shortened.
In a further embodiment, the upper computer module 40 further includes an image processing unit 403 and an image storage unit 404, a plurality of geological image units are prestored in the storage unit, each geological image unit includes image particles and image colors, and the image processing unit 403 calls the geological image units in the image storage unit 404 according to the processing result to perform filling and rendering to form a stereoscopic underwater three-dimensional visualization image. In this embodiment, the image processing unit 403 adopts an OpenGL three-dimensional graphics application program developed by SGL corporation in the united states, and utilizes the data information provided by the data processing unit 402 to simulate and draw the topographic maps of different geological layers, superimpose the topographic maps of the same detection point, fill the image particles corresponding to each geological layer into the corresponding geological layer image, and call image colors for rendering, so as to improve the vivid effect of the image to increase identifiability, and a technician can quickly and conveniently know underwater topographic and geological information by observing the image, and find a weak position of a soft base layer for drilling operation.
The working principle is as follows: the underwater unmanned aerial vehicle is used for carrying the detection equipment to tour to a proper place, the transmitting module 10 transmits high-frequency sound waves to the underwater, the sound waves are reflected due to the blocking of an underwater geological layer, the receiving module 20 receives the reflected sound waves, the transmitting module 10 transmits transmitting signals to the upper computer module 40 in real time, the receiving module 20 transmits the receiving signals to the upper computer module 40 in real time, and meanwhile the GPS module 30 transmits positioning information of the detection equipment to the upper computer module 40 in real time, wherein the positioning information comprises a horizontal position, an altitude and a detection visual angle degree; referring to fig. 4, the underwater geologic formation is more complex, but can be simply summarized as a soft base layer and a hard base layer, wherein the soft base layer is mainly divided into a sediment layer and a mud layer, the sand particle size of the sediment layer is larger than that of the mud layer, but the density of the sediment layer is smaller than that of the mud layer, the sediment layer is positioned above the mud layer, the hard base layer is mainly composed of rock and hard soil, the layer is positioned below the mud layer, the water content of the layer is less, and the hardness of the layer is higher; when the sound waves transmitted underwater by the transmitting module 10 encounter a sediment layer, part of the sound waves are blocked and returned to the receiving module 20 for receiving, the receiving module 20 sends the received signals to the upper computer module 40, the data processing unit 402 of the upper computer module 40 calculates the transmission distance of the sound waves according to the time difference between the signal transmitting and receiving time and the signal transmitting time to obtain the distance from the sediment layer to the detector 60, meanwhile, the rest sound waves which are not blocked continue to be transmitted downwards and are reflected back by the mud layer and the rock layer or the hard soil layer in turn, and in turn received by the receiving module 20, the distances from the mud layer and the rock or hard earth layer to the probe 60 can be calculated accordingly, because the sound waves have certain attenuation in the transmission process, the sound wave signals received by the receiving module 20 are amplified by the signal amplifying unit, so that the receiving module 20 can accurately identify the sound wave signals; the underwater unmanned aerial vehicle is operated to enable the detector 60 to adjust the detection position, the data processing unit 402 of the upper computer module 40 calculates geological layer data of each detection point under water, the image processing unit 403 adopts an OpenGL three-dimensional graph application program to simulate and draw topographic maps of different geological layers on the data, superposes the topographic maps of the same detection point, fills image particles corresponding to the geological layers into corresponding geological layer images, calls image colors to render to form a final three-dimensional visual image, and displays the final three-dimensional visual image through the image output module 50.
In order to facilitate the technician to observe the image from multiple angles, the image output module 50 in the embodiment is a touch display screen, and the technician realizes the change of the image observation visual angle through finger operation, so as to observe the underwater geology and the terrain condition from different angles, and provide reference for the technician to select a proper operation place.
The underwater three-dimensional visual detection system provided by the invention transmits high-frequency sound waves to underwater through the transmitting module 10, the high-frequency sound waves are blocked by different geological layers in the underwater and return to the receiving module 20 to be received, the data processing unit 402 in the upper computer module 40 calculates the distance from each geological layer to a detection point in the underwater according to the receiving time and the transmitting time difference of sound wave signals and the coordinate data of the detection point of the GPS module 30 system, the position of the detection point is continuously adjusted to obtain the topographic data of the geological layers in different underwater places, the image processing unit 403 simulates three-dimensional visual images of the underwater topography and geology according to the data and displays the three-dimensional visual images through the image output module 50, technicians can conveniently obtain the underwater three-dimensional visual images, underwater geology and topographic information reference is provided for engineering operation, technicians can conveniently select proper operation places, and the number of drilling operation is, the engineering period is shortened, and the labor intensity of operators is reduced.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (8)
1. An underwater three-dimensional visualization detection system, comprising: the device comprises a transmitting module for transmitting sound waves, a receiving module for receiving sound wave signals, a GPS module for providing positioning information, an upper computer module for processing the received sound wave signals to obtain underwater visual images and an image output module for displaying the images, wherein the transmitting module, the receiving module and the GPS module are integrated on the same detection equipment, the upper computer module comprises a network unit for realizing network connection, a data processing unit for processing the sound wave signals to obtain the distance between an underwater reflector and the detection equipment and an image processing unit for integrating the distance information to form the underwater three-dimensional visual images, the transmitting module, the receiving module and the GPS module are respectively in communication connection with the upper computer module, and the upper computer module is in communication connection with the image output module.
2. The underwater three-dimensional visualization detection system of claim 1, wherein the receiving module comprises a signal amplification unit.
3. The underwater three-dimensional visualization detection system as claimed in claim 1, wherein the transmitting module further comprises a transmitting clock unit, the receiving module further comprises a receiving clock unit, the GPS module comprises a positioning clock unit, and the transmitting clock unit, the receiving clock unit and the positioning clock unit are synchronized.
4. The underwater three-dimensional visualization detection system according to claim 1, wherein the upper computer module further comprises an image processing unit and an image storage unit, a plurality of geological image units are prestored in the storage unit, the geological image units comprise image particles and image colors, and the image processing unit calls the geological image units in the image storage unit according to processing results to perform filling to form a stereoscopic underwater three-dimensional visualization image.
5. A detection method of an underwater three-dimensional visual detection system is characterized by comprising the following steps:
step 1: the system comprises a transmitting module, a receiving module, a GPS module and a data processing module, wherein the transmitting module transmits high-frequency sound waves to the underwater, the sound waves are reflected back due to the blockage of an underwater geological layer, the receiving module receives the reflected sound waves, the transmitting module transmits transmitting signals to the upper computer module, the receiving module transmits receiving signals to the upper computer module, and meanwhile the GPS module transmits positioning information of detection equipment to the upper computer module in real time;
step 2: when the sound waves transmitted underwater by the transmitting module meet the sediment layer, part of the sound waves are blocked and returned to the receiving module to be received, the receiving module sends a receiving signal to the upper computer module, the data processing unit of the upper computer module calculates the transmission distance of the sound waves according to the time difference between the signal transmitting and receiving time and the signal transmitting time, the distance from the sediment layer to the detector is calculated, and meanwhile, the rest sound waves are continuously transmitted downwards;
and step 3: repeating the step 2, and calculating the distances from the underwater mud layer and the rock layer to the detector;
and 4, step 4: the detector adjusts the detection position to detect underwater data, and a data processing unit of the upper computer module calculates the underwater data of each detection point;
and 5: and the image processing unit of the upper computer module calls the calculation data of the data processing unit to simulate an underwater three-dimensional visual image, and the underwater three-dimensional visual image is displayed through the image output module.
6. The detection method of the underwater three-dimensional visualization detection system as claimed in claim 5, wherein the receiving module in step 2 comprises a signal amplification unit, and the signal amplification unit amplifies the received acoustic signals for the receiving module to receive and identify.
7. The detection method of the underwater three-dimensional visualization detection system according to claim 5, wherein in the step 5, the image processing unit calls the image particles in the image storage unit to fill the underwater image, and calls image colors to render the geological image to form a final underwater three-dimensional visualization image.
8. The detection method of the underwater three-dimensional visualization detection system according to claim 5, wherein the image output module in the step 5 is a touch display screen, and the image observation visual angle is realized through finger operation.
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