Laser scanning detection method and system for underwater structure

The invention discloses a laser scanning detection method and system for an underwater structure. The method comprises the following steps: acquiring first sonar point cloud data of the underwater structure under a sonar coordinate system by using sonar equipment; performing coordinate transformation on the first sonar point cloud data to obtain second sonar point cloud data under a laser scanner coordinate system; according to the second sonar point cloud data, whether the underwater structure is in the scanning range of the laser scanner is judged; and scanning parameters of the laser scanner are adjusted according to a judgment result, and laser scanning detection is carried out. Through the above mode, whether the object detected and scanned by the current sonar device is in the current scanning range of the laser scanner can be judged in real time, the position posture of the underwater robot and the scanning parameters of the laser scanner can be adjusted in real time, the object expected to be measured