CN111983622A - Visual measurement system and method for armor block - Google Patents
Visual measurement system and method for armor block Download PDFInfo
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- CN111983622A CN111983622A CN202010678907.9A CN202010678907A CN111983622A CN 111983622 A CN111983622 A CN 111983622A CN 202010678907 A CN202010678907 A CN 202010678907A CN 111983622 A CN111983622 A CN 111983622A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
Abstract
The invention discloses a visual measurement system and a visual measurement method for a facing block, which relate to the technical field of facing block measurement and comprise a sonar measurement mechanism for measuring an underwater area, an unmanned aerial vehicle for measuring an overwater area and a data processing unit; the sonar measuring mechanism is used for scanning the protective surface block measuring acceptance chart of the underwater slope surface at fixed points along the direction of the breakwater at the highest tide; the unmanned aerial vehicle is used for shooting a facing block measurement acceptance chart of the water slope surface at the lowest tide along the direction of the breakwater; the data processing unit is used for obtaining a water level change area measurement acceptance chart by combining the underwater slope surface facing block measurement acceptance chart and the underwater slope surface facing block measurement acceptance chart; the method effectively solves the problem of measuring each section of the facing block, provides reference for similar construction, overcomes the defect that underwater imaging is difficult or needs diver assistance, reduces the requirements on sea conditions, and has obvious effects on the aspects of efficiency improvement, cost control, safety control, timeliness control and the like.
Description
Technical Field
The invention relates to the technical field of facing block body measurement, in particular to a visual facing block body measurement system and method.
Background
The ACCROPODETM II artificial facing block structure is a product patented by French CLI company, and after years of body structure optimization and block linkage installation research and optimization, more concrete investment can be saved under the same wave resistance condition, and the structure has better economy, so the ACCROPODETM II artificial facing block structure is widely applied in the world. The underwater chain installation of the ACCROPODETM II artificial facing block needs to be carried out according to the relevant requirements of CLI company, and visual picture acceptance records are available. The acceptance measurement after installation requires the possibility of detecting the attitude of the block itself and the linkage state between the blocks using the form of an image. The current mainstream underwater part measurement in the world is sonar scanning, and can be completed by using an underwater camera under the condition of clear water quality. The overwater part can be checked and accepted by taking a picture through an optical camera.
In the inland bay where a new container terminal extension project is located, the tidal range of the area is small, the wave period is large, and the wave height in the large tidal period is large. In the water level change area for acceptance measurement of the facing block, sound waves and optical imaging are difficult due to wave breaking and interference of microorganisms in the sea, and the opportunity and range for utilizing the tidal range are limited due to small tidal range, so that the measurement difficulty is high.
The commonly used checking and measuring methods for the facing block at present include sonar scanning measurement, optical camera image acquisition and the like. The measurement is generally divided into a sub-underwater region, a water level variation region and a sub-underwater region according to the environment of the block. There are mainly four major disadvantages:
firstly, the cost consumption is high, in most project projects, the underwater armor block measures the attitude of the armor block through electric signals such as an installation inductor, an induction element needs to be installed before the armor block is installed, the cost consumption is high, and the inductor has the risk of damage failure;
secondly, the measurement result has large error, the performance is not reliable, the underwater electric signal has large error, the linkage state between the armor blocks cannot be well reflected, and only the attitude can be roughly confirmed;
thirdly, the risk is high, the diver underwater shoots the armor block outside the breakwater, the influence of outside swell is large, and the safety accident that the diver collides the block is easy to occur;
fourthly, the working efficiency is low, underwater imaging is fuzzy under the influence of floating objects in the sea, a lens is required to be close to the facing block body for confirmation, and the closer the optical camera is to the block body, the smaller the visual angle is, and the efficiency of observing the posture of the facing block body is very low.
Disclosure of Invention
The invention provides a visual measurement system and method for a facing block aiming at the problems of the background art, which effectively solve the problem of measurement methods for all sections of the facing block, provide reference for similar construction, overcome the defect that underwater imaging is difficult or needs diver assistance, reduce the requirements on sea conditions and have obvious effects on the aspects of efficiency improvement, cost control, safety control, timeliness control and the like.
In order to achieve the above object, the present invention provides a visual measurement system for a facing block, comprising: the system comprises a sonar measuring mechanism for measuring an underwater area, an unmanned aerial vehicle for measuring an overwater area and a data processing unit;
the sonar measuring mechanism comprises a positioning device and a sonar instrument, wherein the sonar instrument is installed on the positioning device, and is used for scanning a protective surface block of the underwater slope surface at fixed points along the direction of the breakwater to measure and check an acceptance picture and sending the picture to the data processing unit;
the unmanned aerial vehicle is used for shooting a facing block body measurement acceptance chart of the water slope surface at the lowest tide along the direction of the breakwater and sending the image to the data processing unit;
the data processing unit is used for acquiring an image of the underwater sloping surface protection block and an image of the underwater sloping surface protection block at a corresponding position, and acquiring a water level change area measurement acceptance chart at the position by combining the underwater sloping surface protection block measurement acceptance chart and the underwater sloping surface protection block measurement acceptance chart at the corresponding position.
Preferably, the sonar instrument is an echo sonar instrument, and the data processing unit is provided with echo system software.
Preferably, the positioning device is a land-based positioning device, and the positioning is performed by satellite signals.
Preferably, land positioner lie in breakwater land and move along the breakwater direction fixed point, land positioner be provided with the arm, the front end fixed mounting of arm has the probe of sonar appearance, the arm drives the probe and gets into the aquatic and carry out the fixed point and measure.
Preferably, the arm drive probe get into the aquatic and carry out the fixed point and measure, specifically be: the mechanical arm drives the probe to enter a fixed point position in water, and the probe rotates to scan the armor block on the underwater slope in the largest area.
Preferably, each section of the small arm of the mechanical arm is provided with a sensor, and the attitude data of the mechanical arm is collected and sent to the data processing unit.
The invention also provides a measuring method adopting the visual measuring system of the armor block, which comprises the following steps:
s10, scanning the armor block of the underwater slope surface at the highest tide at fixed points along the direction of the breakwater to measure and accept the chart;
s20, aerial photography is conducted along the breakwater direction, and a measurement acceptance chart is obtained for the armor block of the water slope at the lowest tide;
s30, combining the underwater slope surface protection block measurement acceptance chart and the underwater slope surface protection block measurement acceptance chart at the corresponding position to obtain a water level change area measurement acceptance chart at the position;
and S40, acquiring an acceptance chart of the full section of the breakwater in an image data superposition mode.
Preferably, the step S10 of scanning the facing block of the underwater slope at the highest tide at a fixed point along the breakwater direction to measure an acceptance chart specifically includes:
s101, moving a positioning device to a measuring point of the breakwater;
s102, placing a probe of the sonar instrument into water to rotationally scan a surface protection block of the slope at the highest tide;
s103, moving the positioning device to the next measuring point along the direction of the breakwater, and repeating the step S102.
Preferably, the step S103 further includes:
and S104, processing and checking bubbles in the scanned image to obtain a clear measurement acceptance chart.
Preferably, the processing checks bubbles in the scanned image, and the processing checks are specifically performed by Echoscope system software.
The invention provides a visual measurement system and a visual measurement method for a facing block, which have the following technical advantages:
(1) the invention provides a whole-section measurement scheme of a facing block, which adopts a measurement technology of a land device loaded with an echo sonar instrument and combines a method of shooting and acceptance of an overwater unmanned aerial vehicle, so that the full-section visual measurement covering overwater, underwater and water level change areas is realized, and a reliable guarantee means is provided for the installation quality of the facing block; an effective scheme can be provided for similar projects;
(2) the sea condition environment adaptation degree is high, underwater observation of a diver or photographing of a underwater camera is adopted to measure the surface protection block, and the surface protection block can be measured by waiting for good sea conditions, and the sea condition applicability is greatly improved by adopting the technology of the invention;
(3) the cost is saved, the induction element or the cooperation of other ship machinery equipment and a diver is not needed to be installed, the measurement and acceptance can be carried out by directly utilizing the installation equipment, and the cost is greatly saved;
(4) the safety is high, underwater operation of divers is not involved, the underwater operation is completely converted into onshore operation, and the safety risk is greatly reduced;
(5) the underwater measurement method has the advantages that the reliability is high, the underwater measurement result visually displays the posture and the linkage state of the armor block, and the installation quality of the armor block is guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a block diagram of a visual measurement system for a facing block according to a first embodiment of the present invention;
FIG. 2 is a schematic illustration of a position of a long arm excavator according to a second embodiment of the present invention;
FIG. 3 is a schematic view of a device of a long arm excavator according to a third embodiment of the present invention;
FIG. 4 is a flow chart of a visual measurement method of the armor block according to a fourth embodiment of the present invention;
FIG. 5 is a schematic view of a climax measurement in an embodiment of the present invention;
FIG. 6 is a schematic view of a low tide measurement in accordance with an embodiment of the present invention;
FIG. 7 is a flow chart of a visual measurement method of the armor block according to a fifth embodiment of the present invention;
FIG. 8 is a flow chart of a visual measurement method of the armor block according to a sixth embodiment of the present invention;
description of reference numerals:
first AS450 angle sensor; second AS450 angle sensor; ③ third AS450 angle sensors; fourth AS450 angle sensor; a course sensor; sixthly, a satellite receiver; seventhly, the SNRX20 radio station; eighty-SNM 940 gateway; ninthly-a battery; r-computer;
-a cable;
-Echoscope probe;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a visual measurement system for a facing block;
in a first preferred embodiment of the present invention, as shown in fig. 1, the system comprises: the system comprises a sonar measuring mechanism for measuring an underwater area, an unmanned aerial vehicle for measuring an overwater area and a data processing unit;
in the embodiment of the invention, sonar measurement is applied to an underwater area, and a visible area above a waterline is generally photographed and collected by an optical camera; waves can be reflected and damaged by shallow water after encountering a breakwater structure, bubbles are often generated in the range of 5-10m in front of the breakwater, the bubbles are mainly concentrated 2m below the water surface, meanwhile, more solid floating objects are arranged in the area, and the area is not suitable for being measured by a sonar instrument and is generally measured by optics;
in the embodiment of the invention, the sonar measuring mechanism comprises a positioning device and an echo sonar instrument, wherein the echo sonar instrument is installed on the positioning device, and is used for scanning a protective surface block of an underwater slope surface at a fixed point along the direction of a breakwater to measure and check an acceptance picture and sending the picture to a data processing unit;
in the embodiment of the invention, a protective surface block is scanned and measured by a positioning device, underwater measurement equipment and a Tianbao system; in the embodiment of the invention, 3D sonar echo of a CODA company is selected as checking and measuring equipment, and the echo is also real-time monitoring equipment for mounting a protective face block, so that the method realizes the unification of mounting real-time monitoring and measuring and rechecking measuring equipment after mounting, and one set of equipment completes the mounting, checking and accepting and measuring work, thereby saving the cost.
In the embodiment of the invention, a positioning device needs to be matched with a sky treasure system for controlling measurement, and the sky treasure (Trimble) system uses a carrier phase dynamic real-time differential (RTK) method to solve and calculate positioning coordinates with centimeter-level precision according to a GNSS signal received by a satellite receiver and a position correction signal from a reference station received by an airborne radio station, so as to provide positioning parameters for an echo system.
In the embodiment of the invention, the unmanned aerial vehicle is used for shooting a protective surface block body measurement acceptance chart of the water slope surface at the lowest tide along the direction of the breakwater and sending the image to the data processing unit;
in the embodiment of the invention, the data processing unit is used for acquiring an image of a facing block of the underwater slope surface and an image of a facing block of the underwater slope surface at a corresponding position, and acquiring a measurement acceptance chart of a water level change area at the position by combining a measurement acceptance chart of the facing block of the underwater slope surface and a measurement acceptance chart of the facing block of the underwater slope surface at the corresponding position, and the data processing unit is provided with echo scope system software.
In the embodiment of the invention, as the wave breaking zone and the solid floater are damaged, echo measurement sound wave data are damaged in the area and clear images cannot be obtained, about 3 layers of protective surface blocks in the water level variation area cannot be measured; at the moment, the tide difference is utilized to obtain a larger underwater measurement range as much as possible at a high tide level, and the low tide is utilized to obtain the optical measurement of the water part in a larger range as much as possible.
In a second preferred embodiment of the present invention, as shown in fig. 2, the first preferred embodiment is further defined, and the positioning device is specifically a land positioning device, in the embodiment of the present invention, the land positioning device is a long-arm excavator; the long-armed excavator is located breakwater land and moves along breakwater direction fixed point, land positioner be provided with the arm, the front end fixed mounting of arm has the probe of sonar appearance, the arm drives the probe and gets into aquatic fixed point position, the rotatory maximum area of probe scans domatic armor block under water.
In the embodiment of the invention, the echo probe is hung on a lengthened arm support at the front arm end of a long-arm excavator, the rotating arm support is operated by the excavator to enable the echo probe to obtain a proper scanning angle and distance, and meanwhile, a rotating system ISAR of the echo probe can enable the echo probe to have the capacity of rotating in an instrument plane, so that partial blind area of arm support rotation is compensated, and the scanning view angle of the system can cover the whole underwater bank slope section at one time. For clear measurement of each block and the pairwise linkage relationship between blocks, the beam width of Echoscope scan is adjusted to 1 facing block height, i.e. 1H ═ 2m, when measured as shown in fig. 2, and the image is optimal when Echoscope is about 2.5H away from the block surface.
In the embodiment of the invention, the echo sonar instrument can only be used underwater, so that the echo probe is kept at least at the depth of 1m below the water surface during measurement; the position of the surface protection block to be measured is determined by a system positioning technology, and corresponding serial numbers are recorded; in order to ensure that the measurement covers all the armor blocks in the measurement area, the step pitch of each measurement is not more than 1.5m, so that the overlapping of the two previous measurements and the two subsequent measurements is ensured to be more than 0.5 m.
In a third preferred embodiment of the present invention, as shown in FIG. 3, the Echoscope probe is further defined in the second preferred embodiment
The robot is hung on a lengthened arm support at the front arm end of a long-arm excavator, a first AS450 angle sensor is arranged on a remote rod at the front arm end of the long-arm excavator and used for sensing the rotating angle of the remote rod, a second AS450 angle sensor is arranged on a bucket rod and used for sensing the rotating angle of the bucket rod, a third AS450 angle sensor is arranged on a movable arm and used for sensing the rotating angle of the movable arm, a fourth AS450 angle sensor is arranged on a robot body and used for sensing the rotating angle of the robot body, a computer (namely a data processing unit) and an SNM940 gateway are further arranged on the robot body and used for processing and calculating data to generate images, and a probe passes through a cable to generate images
Connecting the SNM940 gateway to send data to the computer; the excavator body is also provided with an SNRX20 radio station for receiving coordinate correction signals, a satellite receiver for receiving GNSS satellite signals, and a course sensor for providing a course angle of the excavator arm relative to a coordinate system, and the course sensor is connected with a computer through a gateway; a battery inside the excavator is used for supplying power to the system;
the invention also provides a measuring method which is carried out by adopting the visual measuring system of the armor block;
in a fourth preferred embodiment of the present invention, as shown in fig. 4, the method comprises the following steps:
s10, scanning the armor block of the underwater slope surface at the highest tide at fixed points along the direction of the breakwater to measure and accept the chart;
in the embodiment of the invention, an echo sonar is installed to connect various devices, and a generator is started to ensure the normal operation of the various devices; introducing a 3D model of a cushion stone slope surface under a facing block, moving equipment to a formulated measurement position, placing an echo sonar below the water surface through an excavator at the time of the highest tide, rotating a sonar head through a rotating system, scanning the whole slope surface, moving the excavator for 2m along the direction of a breakwater after the completion of the scanning, continuing the previous operation scanning, and repeating the operation until the whole slope surface is completed;
s20, aerial photography is conducted along the breakwater direction, and a measurement acceptance chart is obtained for the armor block of the water slope at the lowest tide;
the measurement of the water part mainly depends on an optical camera (unmanned aerial vehicle), and the maximum photographing visible range can be obtained at the lowest point of the wave climbing. In the embodiment of the invention, a typical construction section of a breakwater mileage 1700m is taken as an example, as shown in fig. 5 and 6, the 9 th row of picture data can be obtained through underwater measurement, the 10 th row of data can be selected to be shot by using a shooting method under the conditions of relatively calm sea conditions and clear water quality, an optical camera can shoot 1-2 rows of armor blocks below the water surface, and visual acceptance of the full section is realized through superposition of sonar data and optical shooting data; in the embodiment of the invention, a mileage stake number marker plate is made by selecting the sea condition with the lowest tide water and clear water quality; taking off the unmanned aerial vehicle, adjusting the photographing angle to a specified measurement slope surface, ensuring that the image is clear enough, and continuously photographing more than 5 photos at the same position; and (4) deriving a shot picture, selecting the picture when the surge activity is lowest, and obtaining an acceptance measurement diagram of the facing block body above the 10 th layer.
S30, combining the underwater slope surface protection block measurement acceptance chart and the underwater slope surface protection block measurement acceptance chart at the corresponding position to obtain a water level change area measurement acceptance chart at the position;
in the embodiment of the invention, a typical construction section of the breakwater mileage 1700m is taken as an example, as shown in fig. 5 and 6, the 9 th, 10 th and 11 th layers in the section cannot be measured and scanned near the average tide level; as shown in fig. 5 below, at a high water level, the measurement range of Echoscope can reach the 9 th layer, and the measurement is performed by adopting an underwater checking measurement step; as shown in fig. 6, in low tide, the 10 th and 11 th layer blocks are exposed out of the water surface, and the photographing measurement is performed by adopting optical photographing of an unmanned aerial vehicle and the like, and the specific steps are measurement in the overwater area.
And S40, acquiring an acceptance chart of the full section of the breakwater in an image data superposition mode.
In a fifth preferred embodiment of the present invention, as shown in fig. 7, the method further defined on the basis of the fourth preferred embodiment comprises the following steps:
s101, moving a positioning device to a measuring point of the breakwater;
in the embodiment of the invention, an echo sonar is installed to connect various devices, and a generator is started to ensure the normal operation of the various devices; leading in a 3D model of the cushion stone slope surface under the facing block, and moving the equipment to a formulated measuring position;
s102, placing a probe of the sonar instrument into water to rotationally scan a surface protection block of the slope at the highest tide;
in the embodiment of the invention, when the tide is highest, the Echoscope sonar is placed below the water surface through the excavator, and the sonar head is rotated through the rotating system to scan the whole slope;
s103, moving the positioning device to the next measuring point along the direction of the breakwater, and repeating the step S102 until all scanning is finished.
In the embodiment of the invention, the excavator is moved for 2m along the direction of the breakwater after the operation is finished, the previous operation scanning is continued, and the operation is repeated until the whole slope is finished;
s20, aerial photography is conducted along the breakwater direction, and a measurement acceptance chart is obtained for the armor block of the water slope at the lowest tide;
the measurement of the water part mainly depends on an optical camera (unmanned aerial vehicle), and the maximum photographing visible range can be obtained at the lowest point of the wave climbing. In the embodiment of the invention, a typical construction section of a breakwater mileage 1700m is taken as an example, as shown in fig. 5 and 6, the 9 th row of picture data can be obtained through underwater measurement, the 10 th row of data can be selected to be shot by using a shooting method under the conditions of relatively calm sea conditions and clear water quality, an optical camera can shoot 1-2 rows of armor blocks below the water surface, and visual acceptance of the full section is realized through superposition of sonar data and optical shooting data; in the embodiment of the invention, a mileage stake number marker plate is made by selecting the sea condition with the lowest tide water and clear water quality; taking off the unmanned aerial vehicle, adjusting the photographing angle to a specified measurement slope surface, ensuring that the image is clear enough, and continuously photographing more than 5 photos at the same position; and (4) deriving a shot picture, selecting the picture when the surge activity is lowest, and obtaining an acceptance measurement diagram of the facing block body above the 10 th layer.
S30, combining the underwater slope surface protection block measurement acceptance chart and the underwater slope surface protection block measurement acceptance chart at the corresponding position to obtain a water level change area measurement acceptance chart at the position;
in the embodiment of the invention, a typical construction section of the breakwater mileage 1700m is taken as an example, as shown in fig. 5 and 6, the 9 th, 10 th and 11 th layers in the section cannot be measured and scanned near the average tide level; as shown in fig. 5 below, at a high water level, the measurement range of Echoscope can reach the 9 th layer, and the measurement is performed by adopting an underwater checking measurement step; as shown in fig. 6, in low tide, the 10 th and 11 th layer blocks are exposed out of the water surface, and the photographing measurement is performed by adopting optical photographing of an unmanned aerial vehicle and the like, and the specific steps are measurement in the overwater area.
And S40, acquiring an acceptance chart of the full section of the breakwater in an image data superposition mode.
In a sixth preferred embodiment of the present invention, as shown in fig. 8, the method further defined on the basis of the fourth preferred embodiment comprises the following steps:
s101, moving a positioning device to a measuring point of the breakwater;
in the embodiment of the invention, an echo sonar is installed to connect various devices, and a generator is started to ensure the normal operation of the various devices; leading in a 3D model of the cushion stone slope surface under the facing block, and moving the equipment to a formulated measuring position;
s102, placing a probe of the sonar instrument into water to rotationally scan a surface protection block of the slope at the highest tide;
in the embodiment of the invention, when the tide is highest, the Echoscope sonar is placed below the water surface through the excavator, and the sonar head is rotated through the rotating system to scan the whole slope;
s103, moving the positioning device to the next measuring point along the direction of the breakwater, and repeating the step S102.
In the embodiment of the invention, the excavator is moved for 2m along the direction of the breakwater after the operation is finished, the previous operation scanning is continued, and the operation is repeated until the whole slope is finished;
and S104, processing and checking bubbles in the scanned image to obtain a clear measurement acceptance chart.
In the embodiment of the invention, Echoscope system software is used for processing and checking bubbles in a scanned image obtained by measurement to obtain an underwater clear measurement acceptance chart;
s20, aerial photography is conducted along the breakwater direction, and a measurement acceptance chart is obtained for the armor block of the water slope at the lowest tide;
the measurement of the water part mainly depends on an optical camera (unmanned aerial vehicle), and the maximum photographing visible range can be obtained at the lowest point of the wave climbing. In the embodiment of the invention, a typical construction section of a breakwater mileage 1700m is taken as an example, as shown in fig. 5 and 6, the 9 th row of picture data can be obtained through underwater measurement, the 10 th row of data can be selected to be shot by using a shooting method under the conditions of relatively calm sea conditions and clear water quality, an optical camera can shoot 1-2 rows of armor blocks below the water surface, and visual acceptance of the full section is realized through superposition of sonar data and optical shooting data; in the embodiment of the invention, a mileage stake number marker plate is made by selecting the sea condition with the lowest tide water and clear water quality; taking off the unmanned aerial vehicle, adjusting the photographing angle to a specified measurement slope surface, ensuring that the image is clear enough, and continuously photographing more than 5 photos at the same position; and (4) deriving a shot picture, selecting the picture when the surge activity is lowest, and obtaining an acceptance measurement diagram of the facing block body above the 10 th layer.
S30, combining the underwater slope surface protection block measurement acceptance chart and the underwater slope surface protection block measurement acceptance chart at the corresponding position to obtain a water level change area measurement acceptance chart at the position;
in the embodiment of the invention, a typical construction section of the breakwater mileage 1700m is taken as an example, as shown in fig. 5 and 6, the 9 th, 10 th and 11 th layers in the section cannot be measured and scanned near the average tide level; as shown in fig. 5 below, at a high water level, the measurement range of Echoscope can reach the 9 th layer, and the measurement is performed by adopting an underwater checking measurement step; as shown in fig. 6, in low tide, the 10 th and 11 th layer blocks are exposed out of the water surface, and the photographing measurement is performed by adopting optical photographing of an unmanned aerial vehicle and the like, and the specific steps are measurement in the overwater area.
And S40, acquiring an acceptance chart of the full section of the breakwater in an image data superposition mode.
In describing embodiments of the present invention, it should be noted that any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A facing block visualization measurement system, comprising: the system comprises a sonar measuring mechanism for measuring an underwater area, an unmanned aerial vehicle for measuring an overwater area and a data processing unit;
the sonar measuring mechanism comprises a positioning device and a sonar instrument, wherein the sonar instrument is installed on the positioning device, and is used for scanning a protective surface block of the underwater slope surface at fixed points along the direction of the breakwater to measure and check an acceptance picture and sending the picture to the data processing unit;
the unmanned aerial vehicle is used for shooting a facing block body measurement acceptance chart of the water slope surface at the lowest tide along the direction of the breakwater and sending the image to the data processing unit;
the data processing unit is used for acquiring an image of the underwater sloping surface protection block and an image of the underwater sloping surface protection block at a corresponding position, and acquiring a water level change area measurement acceptance chart at the position by combining the underwater sloping surface protection block measurement acceptance chart and the underwater sloping surface protection block measurement acceptance chart at the corresponding position.
2. The visual armor block measuring system of claim 1, wherein the sonar instrument is an Echoscope sonar instrument, and the data processing unit is provided with Echoscope system software.
3. The armor block visual measurement system of claim 1, wherein the positioning device is a land-based positioning device, and is positioned by satellite signals.
4. The visual armor block measuring system of claim 3, wherein the land positioning device is located on the land of the breakwater and moves in a fixed-point manner along the direction of the breakwater, the land positioning device is provided with a mechanical arm, a probe of a sonar instrument is fixedly installed at the front end of the mechanical arm, and the mechanical arm drives the probe to enter water for fixed-point measurement.
5. The visual armor block measuring system of claim 4, wherein the mechanical arm drives the probe into the water for fixed-point measurement, specifically: the mechanical arm drives the probe to enter a fixed point position in water, and the probe rotates to scan the armor block on the underwater slope in the largest area.
6. The visual armor block measuring system of claim 4, wherein each arm of the robotic arm is provided with a sensor for collecting attitude data of the robotic arm and sending the attitude data to the data processing unit.
7. A measurement method using the facing block visualization measurement system of claim 1, comprising the steps of:
s10, scanning the armor block of the underwater slope surface at the highest tide at fixed points along the direction of the breakwater to measure and accept the chart;
s20, aerial photography is conducted along the breakwater direction, and a measurement acceptance chart is obtained for the armor block of the water slope at the lowest tide;
s30, combining the underwater slope surface protection block measurement acceptance chart and the underwater slope surface protection block measurement acceptance chart at the corresponding position to obtain a water level change area measurement acceptance chart at the position;
and S40, acquiring an acceptance chart of the full section of the breakwater in an image data superposition mode.
8. The method according to claim 7, wherein the step S10 of scanning the surface block of the underwater slope surface at the highest tide time in a fixed point manner along the direction of the breakwater is performed by:
s101, moving a positioning device to a measuring point of the breakwater;
s102, placing a probe of the sonar instrument into water to rotationally scan a surface protection block of the slope at the highest tide;
s103, moving the positioning device to the next measuring point along the direction of the breakwater, and repeating the step S102.
9. The method of claim 7, wherein the step S103 is followed by further comprising:
and S104, processing and checking bubbles in the scanned image to obtain a clear measurement acceptance chart.
10. The measurement method according to claim 9, wherein the processing checks for bubbles in the scanned image, in particular by means of Echoscope system software.
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