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 transformatio...
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| creator | TANG JUAN HU BINWEI ZHU YINGGU TIAN ZHAOZHAO WANG YONG MEI XUEDONG LI MENGQIAO ZHANG DINGHUA LU NIBIN WEN YANXIANG ZHU QUANPING ZHU JUN YANG JIN ZHAO JIA TU SHAOPING LI XINYU WAN GANG ZHAO CHUNLU |
| description | 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 |
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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. 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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</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION TESTING |
| title | Laser scanning detection method and system for underwater structure |
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