CN207176625U - A kind of imaging system for breakwater armor block installation - Google Patents
A kind of imaging system for breakwater armor block installation Download PDFInfo
- Publication number
- CN207176625U CN207176625U CN201720922437.XU CN201720922437U CN207176625U CN 207176625 U CN207176625 U CN 207176625U CN 201720922437 U CN201720922437 U CN 201720922437U CN 207176625 U CN207176625 U CN 207176625U
- Authority
- CN
- China
- Prior art keywords
- sonar
- computer
- breakwater
- installation
- imaging system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model provides a kind of imaging system for breakwater armor block installation, underwater lasting scanning is carried out using 3-D view sonar, positioning unit obtains the elements of a fix, attitude transducer correction motion error, physical model resolving is carried out through computer and generates the graphics for including coordinate information, instructs armour installation.The installation of breakwater underwater embankment surface protection body is carried out using sonar Real Time Imaging Technology, frequently positioning and diver's subaqueous survey can be saved to feel, the substantial amounts of time is saved, reduce security risk, the attitude rectification carried ensure that the accurate of positioning result, influence of the stormy waves to construction can effectively be reduced, realize that block is accurately put, it is mutually catching, density and towards controllable, improve block installation quality, ensure the anti-unrestrained ability of breakwater, loop wheel machine manipulator can learn the complete information on armour from computer in whole installation process, information asymmetry and misunderstanding, greatly construction precision is ensured.
Description
Technical field
Breakwater reason slope technical field of construction is the utility model is related to, is used for breakwater armor block more particularly to one kind
The imaging system of installation.
Background technology
Ghana spy code new container Wharf Engineering, positioned at the west side of the existing maximum artificial harbour spy Malaysia and Hong Kong in Africa.The work
3558 meters of journey breakwater total length, is ramp type jackstone embankment structure, maximum water depth 16m.The outer side slope of breakwater uses 300kg-
500kg bed course blocks stone, 2-5t armor stones and 2m3The safeguard structure of armour.Armour installs domatic maximum length
21.8m, wherein 12.5m grow domatic below 0.00m extreme low water level.
Armour used in engineering is the type armours of ACCROPODE II, and the type armour is domestic common torsion king
The modified of the type armours of the prototype of block -- ACCROPODE I.II type block is moulded compact, highly with length and width degree to
Approximately equal, four legs are in X-type, are furnished with prism-frustum-shaped projection thereon.Its energy dissipating, robustness and stability are superior to I type mask block
Body.In same breakwater, using II type armour, always the side's of pouring amount is less than I type block, and economy is more preferable.But the type block
Requirement to prefabricated installation is also more strict.
According to the requirement of specifications, the reference coordinate point position that the installation of armour should provide according to CLI companies is carried out.Phase
Between adjacent block should mutually catching and direction can not be identical.According to CLI research, put II reasonable, mutually catching type and protect
Face block storm resistance is more than five times when no hook connects.Special code port is influenceed by long-period wave throughout the year, and the wave is high for coastal wave, every year
Sea situation is severe during the rainy season of the 5-10 months, and to ensure the anti-unrestrained ability of breakwater, installation needs the requirement for following strictly CLI to carry out.
It is domatic longer under water, stormy waves bad environments, in the case of underwater visibility difference, using method of polar coordinates or it is arranged on
GPS location on loop wheel machine, the conventional method efficiency of diver's auxiliary installation is poor, and the safety of diver also lacks guarantee.
Utility model content
The problem of existing for prior art, the utility model offer is a kind of effectively to reduce influence of the stormy waves to construction,
Realize that block is accurately put, mutually catching, density and towards controllable, improve block installation quality, ensure the anti-unrestrained ability of breakwater
Be used for breakwater armor block installation imaging system.
To achieve these goals, the utility model adopts the following technical scheme that：
A kind of imaging system for breakwater armor block installation, including 3-D view sonar, posture sensing unit are fixed
Bit location, computer and power supply unit, the 3-D view sonar produce a plurality of simultaneous wave beam using phased-array technique,
Area of visual field is detected, draws the real-time three-dimensional map for including all objects accurate location in search coverage, the posture sensing list
Member includes comprehensive single-shaft-rotation device, attitude transducer and framework, and the comprehensive single-shaft-rotation device is used to adjusting and sensing described three
The angle of image sonar is tieed up, the attitude transducer is used for the attitude information and magnetic heading that the framework is provided to the computer
Angle, the positioning unit include GPS reference station, satellite antenna and split type GNSS receiver, and the GPS reference station is used for stream
Dynamic station sends the carrier phase observation data of themselves capture and survey station coordinate information is used as position correction signal, the satellite antenna
In receiving global navigational satellite signal, the split type GNSS receiver receives global navigational satellite signal and the GPS benchmark
Stand send coordinate modification signal, the elements of a fix of centimetre class precision are calculated by carrier phase dynamic real-time difference method, are
The computer provides the coordinate data of the framework, and the computer receives and handles the 3-D view sonar, be described comprehensive
The data that single-shaft-rotation device, the angular transducer, the attitude transducer and the split type GNSS receiver are transmitted are closed,
Calculate the coordinate of search coverage each point and be shown in the form of three-dimensional map on the screen of the computer.
Further, the frame front end is provided with baffle plate and is used to install the 3-D view sonar and the comprehensive single-shaft-rotation
Device, the satellite antenna is installed in the vertical rod of the frame mid portion, the height of the vertical rod is determined by maximum operating water depth, institute
The afterbody for stating framework is provided with suspension ring and ballast box.
Further, the antenna integrated interface of the split type GNSS receiver and UHF radio.
Further, digital input module, construction monitoring system, gesture stability module and underwater spy are provided with the computer
Device is surveyed, the digital input module is used for the communication interface and communication mode for setting the computer and other components, described to apply
Work monitoring system is used for the real-time three-dimensional map for showing the 3-D view sonar generation, and domatic any point can be drawn from figure
Three-dimensional coordinate, and couple sonar image and design domatic, analyze construction error, the gesture stability module is used to resolving described
The posture of framework.
Further, when the gesture stability module resolves, frame form is inputted in corresponding special-purpose software, each component exists
Mounting means, relative position, the parameter of coordinate setting mode on framework, establish resolving model and resolved.
Further, said supply unit includes an independent generator, multiple conversion electric powers, and is connected to each part
Cable.
Further, angular transducer is provided with the comprehensive single-shaft-rotation device, for sensing the 3-D view sonar quilt
The comprehensive unit circulator drives the angle of rotation.
The beneficial effects of the utility model：
(1) 3-D view sonar scanning range is wide, possesses moving object observing capacity, can show the mask block in rotating
The moving objects such as body；
(2) three-dimensional map is generated by computer, any point coordinate is measurable on figure, has with designing the work(coupled
Can, it can simultaneously show and design domatic, target point position and actual sonar image；
(3) Tthe utility model system provides current armour hanging position with designing putting position deviation and with different
Color gives the Target indication of installation process；
(4) the 3-D view sonar penetration power used in Tthe utility model system is strong, can be in the underwater work of muddiness.Posture passes
Sensor provides attitude rectification, and according to this engineering measurement, in the case that stormy waves is larger outside port, the image that system is presented is stable
, because of acutely rocking for framework etc. coordinate etc. will not be caused deviation occur.
(5) Tthe utility model system can preserve the data of installation process and image in a computer to check at any time,
It is provided simultaneously with recording armour real estate, direction and the function with the situation of block combination around, is while construction
Three-dimensional as-built drawing can be generated.
The utility model carries out underwater lasting scanning using 3-D view sonar, and positioning unit obtains the elements of a fix, posture
Sensor correction motion error, carry out physical model resolving through computer and generate the graphics for including coordinate information, instruct mask
Block installation.Use the underwater mask of the large-sized deep water breakwater under the influence of sonar Real Time Imaging Technology progress long-period wave
Block is installed, and can effectively be reduced influence of the stormy waves to construction, be realized that block is accurately put, mutually catching, density and towards controllable,
Block installation quality is improved, ensures the anti-unrestrained ability of breakwater.
Brief description of the drawings
Fig. 1 is the structural representation for the imaging system that the utility model is used for breakwater armor block installation；
Fig. 2 is the theory diagram for the imaging system that the utility model is used for breakwater armor block installation；
Fig. 3 is the structural representation of Fig. 1 middle frames；
Fig. 4 is the construction process figure that the utility model imaging system is applied to the installation of breakwater underwater embankment surface protection body；
In figure, 1-3-D view sonar, 2-comprehensive single-shaft-rotation device, 3-attitude transducer, 4-satellite antenna, 5-
Split type GNSS receiver, 6-computer, 7-generator, 8-conversion electric power, 9-cable, 10-framework, 11-baffle plate,
12-vertical rod, 13-suspension ring, 14-ballast box.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only part of the embodiment of the present utility model, rather than all
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belong to the scope of the utility model protection.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment
It is only used for explaining relative position relation under a certain particular pose (as shown in drawings) between each part, motion conditions etc., such as
When the fruit particular pose changes, then directionality instruction also correspondingly changes therewith.
Such as Fig. 1, the utility model provides a kind of imaging system for breakwater armor block installation (referred to as
ECHOSCOPE systems), the underwater installation quality of armour is ensured using visualization technique.ECHOSCOPE systems mainly include
3-D view sonar 1, posture sensing unit, positioning unit, computer 6 and power supply unit.
3-D view sonar 1 is the core of whole ECHOSCOPE systems.3-D view sonar 1 used in the utility model
16000 simultaneous wave beams are produced using phased-array technique, detect the area of visual field in its 50 ° × 50 ° of front.This three-dimensional
Image sonar 1 does not need extra fixed sonar to aid in, and just can independently draw comprising all objects accurate location in search coverage
Real-time three-dimensional map, scanning range is wide；Its is per second can to scan and generate 12 two field pictures, can show the motion of object in real time
Situation.
Such as Fig. 1 and Fig. 3, posture sensing unit includes comprehensive single-shaft-rotation device 2, attitude transducer 3 and framework 10, comprehensive single
Axle circulator 2 is used for the angle for adjusting and sensing 3-D view sonar 1.Single-shaft-rotation device 2 is integrated by 3-D view sonar 1 and frame
The baffle plate 11 of the front end of frame 10 is connected, and 3-D view sonar 1 can be driven to rotate, and comprehensive single-shaft-rotation device 2 is built-in with angle sensor
Device, the angle of the rotation of 3-D view sonar 1 can be perceived.Attitude transducer 3 is used to measure and provides framework 10 to computer 6
Attitude information (roll angle and the angle of pitch) and magnetic heading angle.Framework 10 includes the baffle plate 11 positioned at front end, and baffle plate 11 is used to install
3-D view sonar 1 and comprehensive single-shaft-rotation device 2, the middle part of framework 10 is provided with vertical rod 12, and satellite antenna is provided with vertical rod 12
4, the height of vertical rod 12 is determined by maximum operating water depth, and the afterbody of framework 10 is provided with suspension ring 13 and ballast box 14, and suspension ring 13 are provided with three
Individual, for lifting by crane, ballast box 14 is provided with two, for counterweight.After system installation, each group on total station survey framework need to be used
The three-dimensional relative position of part.
Such as Fig. 1, positioning unit includes GPS reference station, and satellite antenna 4 and split type GNSS (GLONASS) connect
Receive device 5.GPS reference station is responsible for carrier phase observation data and survey station coordinate information to rover station transmission themselves capture as position
Revise signal, auxiliary flow are stood firm position.Use Trimble SPS855 base stations in the present embodiment, RTK in 30km is (using carrying
Wave phase dynamic real-time difference method calculates the elements of a fix of centimetre class precision) position level precision 8mm+0.5ppm RMS, hang down
Straight precision 15mm+0.5ppm RMS, it is sufficient to meet the requirement of this engineering.Satellite antenna 4 is used to receive global navigational satellite signal,
F180 satellite antennas are used in the present embodiment, are made up of master and slave two antennas, installed in the top of vertical rod 12, are responsible for reception
GNSS satellite signal.Split type GNSS receiver 5 is integrated with F180 antennal interfaces and Trimble TDL450 UHF radios, connects
The coordinate modification signal that ball navigation satellite signal and GPS reference station are sent is received, passes through (the letter of carrier phase dynamic real-time difference method
Claim RTK) elements of a fix of centimetre class precision are calculated, the coordinate data of framework 10 is provided for computer.
Computer 6 receives and handles 3-D view sonar 1, comprehensive single-shaft-rotation device 2, angular transducer, attitude transducer 3
And the data that split type GNSS receiver 5 is transmitted, calculate the coordinate of search coverage each point and shown in the form of three-dimensional map
Show on the screen of computer 6.
Digital input module, construction monitoring system, gesture stability module and underwater detectoscope are provided with computer 6, numeral
Input module is used for the communication interface and communication mode for setting the computer 6 and other components, and construction monitoring system is used to show
Show the real-time three-dimensional map that 3-D view sonar 1 generates, the three-dimensional coordinate at domatic any point, and coupling sound can be drawn from figure
Image and design are domatic, analyze construction error, and gesture stability module is used for the posture for resolving framework 10.Underwater detectoscope and apply
Work monitoring system interface is the same.To realize above-mentioned function, computer is mounted with that the correspondence that Coda Octopus companies provide is above-mentioned
The special-purpose software of each module.Wherein construction monitoring system software possesses data importing, preserves and shows playback function, can change solution
The parameter of model is calculated, there is supporting softdog.When gesture stability module resolves, framework shape is inputted in corresponding special-purpose software
The parameters such as mounting means on framework of formula, each component, relative position, coordinate setting mode, establish and resolve model and resolved.
Power supply unit includes independent generator 7, a multiple conversion electric powers 8, and is connected to the cable 9 of each part,
It is responsible for each part and electric power is provided.
Such as Fig. 2, when ECHOSCOPE systems work, 3-D view sonar 1 carries out underwater lasting scanning, detects area of visual field,
Various point locations are measured, positioning unit obtains the elements of a fix, and coordinate data is sent to computer 6, while posture sensing unit
Sensing the operating attitude information of 3-D view sonar 1, positioning unit provides centimetre dimension accuracy elements of a fix, and by operating attitude
Information and coordinate data are sent to computer 6, and computer 6 carries out data calculation, generate simultaneously display image.Power supply unit is each portion
Part provides electric power.
The imaging system that the utility model is used for breakwater armor block installation is held under water using 3-D view sonar 1
Continuous scanning, positioning unit obtain the elements of a fix, posture sensing unit correction motion error, physical model solution are carried out through computer 6
The graphics that generation includes coordinate information is calculated, instructs armour installation.Carry out growing week using sonar Real Time Imaging Technology
The underwater embankment surface protection body installation of large-sized deep water breakwater under phase wave action, can effectively reduce influence of the stormy waves to construction, realize
Block is accurately put, mutually catching, density and towards controllable, is improved block installation quality, is ensured the anti-unrestrained ability of breakwater.
Such as Fig. 4, the tool in the installation of breakwater underwater embankment surface protection body using imaging system of the present utility model is described below
Body application.Armour installation is carried out using ECHOSCOPE systems to obtain in the case where not needing diver and measurement
The Target indication of underwater domatic, the block image installed and armour design putting position, enters under graphics guidance
Row pose adjustment, while the real-time rendering of as-built drawing can be realized to record the installation situation of block in construction.Its work progress
Including：
Installation and test system：The referenced drawing for needing to be provided according to producer before the installation of ECHOSCOPE systems designs system
Make framework 10.The installation of system needs to prepare the auxiliary equipments such as high-altitude operation vehicle, total powerstation, and total powerstation is used for each in gage frame
The three-dimensional relative position of component, is carried out under the guidance of producer technical staff.After installing, check computer 6 with it is each
Partial signal intelligence, using the positioning of independent GPS rover station check systems, then test its lifting and balance and do lower water survey
Examination.It should be noted that no matter testing or constructing, F180 antennas and attitude transducer 3 are all forbidden submerging in water.System is installed
And after being completed, the armour construction plan that CLI companies provide is imported in ECHOSCOPE systems, meanwhile, it is prefabricated right
The armour answered, and it is transported to job site.
Armour positions decentralization under ECHOSCOPE System guides：During construction, loop wheel machine sling ECHOSCOPE systems and
Armour is put into water, and system uses the location data according to positioning unit and construction plan in the computer screen lower left corner
Plan provides positioning instruction.The armour installed using the expression of purple cross is indicated, blueness represents sonar scanning
Domatic, the cross of changeable colour represents current block, and green represents mount point position and the point that need to currently install is irised out with concentric circles
Position.Manipulator indicates that operation loop wheel machine moves armour to the concentric center of circle according to system, if the cross presentation of current block is red
Color, represent that block position and design point position deviation are larger it is not recommended that decentralization；By red turn of Huang, represent block already close to target position
Put；Turn green by Huang and show that current block body position is consistent substantially with design point position, it is proposed that decentralization.Indicated by positioning, loop wheel machine operation
Hand finds the position for needing to transfer block and allows main hook to move downward, and makes block domatic close to installing.Meanwhile system can also be shown
Three-dimensional Imaging sonar figure, armour installation process simulation drawing and two-dimensional cross-section figure refer to for loop wheel machine manipulator.Peace every time
New armour is filled, ECHOSCOPE systems can be operated and indicate new mount point position.
Armour posture is adjusted under ECHOSCOPE guiding：The placement of armour will not only substantially meet position pendulum
Put requirement, it is also necessary to meet mutually catching needs.Design point position is reached in block, during being transferred, computer can
Shown with providing the real-time three-dimensional of installation course.Computer has pure sonar image to show the Three-dimensional Display mode of installation course,
Pure analog image is shown and three kinds of sonar and analog image coupling display.Pure sonar image display represents shield using different colors
Each pin of face block and the domatic distance apart from sonar capsule, so as to form the patch image of three-dimensional.It can be seen in pure sonar image
To the projection situation of domatic block of stone, more truly.Pure analog image is shown replaces real block using the threedimensional model of block
Image, form the emulating image of three-dimensional.Contact in such a mode between each armour is more simple and clear.Coupling display
Pattern is to show the outline and sonar patch image of threedimensional model simultaneously, the advantages of having both concurrently, is typically conventional pattern.
Loop wheel machine manipulator selects oneself pattern accustomed to using, by computer 6 it will be clear that underwater block
Posture is simultaneously adjusted as needed, when block is adjusted to satisfied direction and angle, is positioned over domatic upper by block and is turned
Dynamic 3-D view sonar 1 and system framework 10 confirm to ambient conditions.Determine that block is in and connect shape with the hook of other blocks
State and contact bed course it is domatic after, using automatic decoupling device pine hook, block lay finish.
When lifting water under new block every time, loop wheel machine manipulator clicks on New Block (new block) in software, and tab is simultaneously
Click on Movement Tracking (motion tracking) option and open tracing mode, system will track the peace of block in this mode
Dress process.After current armour installs, loop wheel machine manipulator clicks on Mark Laid (mark is placed) option, computer meeting
A model is generated as mark in block installation site.Above step is repeated to can be obtained by comprising original domatic coordinate and each
The graphics of individual block installation site information, it can be used after the graphics is exported directly as three-dimensional as-built drawing.
The imaging system that the utility model is used for breakwater armor block installation carries out breakwater underwater embankment surface protection body installation
When, frequently positioning and diver's subaqueous survey can be saved and felt, the substantial amounts of time has been saved, reduced security risk.From
The attitude rectification of band ensure that the accurate of positioning result, and almost imperceptible water surface stormy waves is made to Underwater Navigation in practical operation
Into influence.Loop wheel machine manipulator can learn the complete information on armour from computer in whole installation process, avoid
The third party command may caused by information asymmetry and misunderstanding.System whole process uses a variety of images to be used as and guided, simple and clear,
Visual installation the same on the water can be realized under water, has greatly ensured construction precision, it is ensured that armour position is accurate
Really, it is mutually catching, towards controllable.It ensure that its global density meets the requirement that volume deviation is less than 5% in practice of construction, reach
Good installation effect is arrived.
The underwater mask of the large-sized deep water breakwater under long-period wave effect is carried out using sonar real time three-dimensional imaging technology
Block installation, can effectively reduce the unfavorable factors such as stormy waves influences to caused by construction, realizes the exact placement of block,
It is mutually catching, the wave resistance effect of armour is ensure that, has ensured the construction quality of breakwater.Meanwhile this set system is applied to
The time of engineering is shorter, and referential engineering experience is less, and introducing for system can be carried for the construction of following similar engineering herein
For the experience of preciousness.
Above example is only to illustrate the technical solution of the utility model and unrestricted, although with reference to preferred embodiment pair
The utility model is described in detail, it will be appreciated by those skilled in the art that can enter to the technical solution of the utility model
Row modification or equivalent substitution, without departing from the objective and scope of the technical program, it all should cover in power of the present utility model
In sharp claimed range.
Claims (7)
- A kind of 1. imaging system for breakwater armor block installation, it is characterised in that including：3-D view sonar, posture Sensing unit, positioning unit, computer and power supply unit, the 3-D view sonar are a plurality of simultaneously using phased-array technique generation Existing wave beam, area of visual field is detected, draws the real-time three-dimensional map for including all objects accurate location in search coverage, it is described Posture sensing unit includes comprehensive single-shaft-rotation device, attitude transducer and framework, the comprehensive single-shaft-rotation device be used to adjust and Sense the angle of the 3-D view sonar, the posture that the attitude transducer is used to provide the framework to the computer is believed Breath and magnetic heading angle, the positioning unit include GPS reference station, satellite antenna and split type GNSS receiver, the GPS benchmark Stand for the carrier phase observation data to rover station transmission themselves capture and survey station coordinate information as position correction signal, it is described Satellite antenna is used to receive global navigational satellite signal, and the split type GNSS receiver receives global navigational satellite signal and institute The coordinate modification signal of GPS reference station transmission is stated, determining for centimetre class precision is calculated by carrier phase dynamic real-time difference method Position coordinate, the coordinate data of the framework is provided for the computer, and the computer receives and handles the 3-D view sound , the comprehensive single-shaft-rotation device, the angular transducer, the attitude transducer and the split type GNSS receiver passed Defeated data, calculate the coordinate of search coverage each point and be shown in the form of three-dimensional map on the screen of the computer.
- 2. the imaging system according to claim 1 for breakwater armor block installation, it is characterised in that：The framework Front end is provided with baffle plate and is used to install the 3-D view sonar and the comprehensive single-shaft-rotation device, in the vertical rod of the frame mid portion The satellite antenna is installed, the height of the vertical rod is determined by maximum operating water depth, the afterbody of the framework be provided with suspension ring and Ballast box.
- 3. the imaging system according to claim 1 for breakwater armor block installation, it is characterised in that：The split The antenna integrated interface of formula GNSS receiver and UHF radio.
- 4. the imaging system according to claim 1 for breakwater armor block installation, it is characterised in that：The calculating Digital input module, construction monitoring system, gesture stability module and underwater detectoscope are provided with machine, the digital input module is used In the communication interface and communication mode that set the computer and other components, the construction monitoring system is used to show described three The real-time three-dimensional map of image sonar generation is tieed up, the three-dimensional coordinate at domatic any point can be drawn from figure, and couple sonar figure Picture and design are domatic, analyze construction error, and the gesture stability module is used for the posture for resolving the framework.
- 5. the imaging system according to claim 4 for breakwater armor block installation, it is characterised in that：The posture When control module resolves, mounting means on framework of frame form, each component, relative position are inputted in corresponding special-purpose software Put, the parameter of coordinate setting mode, establish resolving model and resolved.
- 6. the imaging system according to claim 1 for breakwater armor block installation, it is characterised in that：The power supply Unit includes an independent generator, multiple conversion electric powers, and is connected to the cable of each part.
- 7. the imaging system according to claim 1 for breakwater armor block installation, it is characterised in that：The synthesis Angular transducer is provided with single-shaft-rotation device, rotation is driven by the comprehensive unit circulator for sensing the 3-D view sonar The angle turned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720922437.XU CN207176625U (en) | 2017-07-27 | 2017-07-27 | A kind of imaging system for breakwater armor block installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720922437.XU CN207176625U (en) | 2017-07-27 | 2017-07-27 | A kind of imaging system for breakwater armor block installation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207176625U true CN207176625U (en) | 2018-04-03 |
Family
ID=61736721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720922437.XU Active CN207176625U (en) | 2017-07-27 | 2017-07-27 | A kind of imaging system for breakwater armor block installation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207176625U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107419702A (en) * | 2017-07-27 | 2017-12-01 | 中交四航局第三工程有限公司 | A kind of imaging system and its application technology for breakwater armor block installation |
| CN108842719A (en) * | 2018-04-23 | 2018-11-20 | 苏州千层茧农业科技有限公司 | A kind of sand hill flinger in adjustable transmission direction |
-
2017
- 2017-07-27 CN CN201720922437.XU patent/CN207176625U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107419702A (en) * | 2017-07-27 | 2017-12-01 | 中交四航局第三工程有限公司 | A kind of imaging system and its application technology for breakwater armor block installation |
| CN108842719A (en) * | 2018-04-23 | 2018-11-20 | 苏州千层茧农业科技有限公司 | A kind of sand hill flinger in adjustable transmission direction |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110779498B (en) | Shallow river water depth mapping method and system based on unmanned aerial vehicle multi-viewpoint photography | |
| CN110941017B (en) | Submarine cable three-dimensional route measuring method and measuring instrument based on magnetic vector data | |
| CN110220502A (en) | It is a kind of that dynamic monitoring method is built based on paddling for stereoscopic monitoring technology | |
| CN108413926A (en) | Method for marine wind electric field clump of piles pile foundation underwater topography elevation high-acruracy survey | |
| CN107504971A (en) | A kind of indoor orientation method and system based on PDR and earth magnetism | |
| CN106525044B (en) | The personnel positioning navigation system and its method of large-scale naval vessels based on Ship Structure Graphing | |
| CN106199664B (en) | A kind of engineering ship localization method of GPS-RTK and radio compass composition | |
| CN206788371U (en) | A kind of far-reaching sea wave and tidal level based on satellite-based difference enhancing technology measure buoy | |
| CN110207681A (en) | Land subsidence monitoring method based on unmanned plane | |
| CN109490927A (en) | A kind of leveling frame positioning system and its localization method under water | |
| KR100805358B1 (en) | Depth-sounding apparatus mounted remote control survey ship using wireless internet and dgps | |
| CN207176625U (en) | A kind of imaging system for breakwater armor block installation | |
| CN104864858A (en) | Laying method and device of engineering control network | |
| CN109143297A (en) | A kind of real-time network RTK localization method of compatible geoid model | |
| CN114114361B (en) | Offshore platform precise positioning auxiliary system based on GNSS and working method | |
| CN112612046A (en) | Beidou-based water/underwater integrated high-precision navigation and positioning system | |
| KR101139473B1 (en) | Numerical map editing system for revision the details in numerical map by change of topographic | |
| KR101009355B1 (en) | 3d image drawing system for the topography image | |
| KR101009359B1 (en) | 3d image drawing system making the gps map by air picture and ground picture | |
| KR101896984B1 (en) | Topography modification system by the confirmation for the reference point`s location and geospatial data | |
| CN110186436A (en) | Underwater terrain measurement mapping system and method based on building informatization model | |
| CN213658956U (en) | Marine floating platform acoustic positioning monitoring system | |
| CN110082033A (en) | Carrier gravity center measurement device waterborne and method under a kind of motion state | |
| CN107419702A (en) | A kind of imaging system and its application technology for breakwater armor block installation | |
| CN108594281A (en) | Excavating equipment level based on carrier phase difference technology determines appearance positioning auxiliary method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |