CN-122015773-A - Intelligent auxiliary method and system for sinking and arranging construction based on unmanned ship

CN122015773ACN 122015773 ACN122015773 ACN 122015773ACN-122015773-A

Abstract

The application provides an intelligent auxiliary method and system for sinking and arranging construction based on an unmanned ship. The method comprises the steps of controlling an unmanned ship to navigate along a preset path, synchronously acquiring on-shore terrain laser point cloud data and underwater multi-beam scanning point cloud data, carrying three-dimensional laser radar equipment on the unmanned ship, synchronously acquiring on-shore terrain data in the process of measuring underwater terrain of a preset planning route, generating on-shore underwater point cloud three-dimensional data through processing software, constructing a continuous digital elevation model covering the whole river channel area, and carrying out auxiliary sediment construction by using the continuous digital elevation model. The system comprises a data synchronous acquisition module, a data fusion processing module, a model generation module and an auxiliary sinking and arranging construction module. The method can improve the precision of the sinking row construction.

Inventors

HE LIANG
GUO WEI
GAN XIAOQING
ZHOU NAN
ZOU SHUANGCHAO
LI XIAOSONG
CHEN HAORAN
LI GANG
Xia Fanfan
MA DONGMING

Assignees

长江水利委员会长江科学院
吉林水投投资建设有限公司

Dates

Publication Date: 20260512
Application Date: 20251015

Claims (10)

1. An intelligent auxiliary method for the submerged arc construction based on an unmanned ship is characterized by comprising the following steps: The method comprises the steps of synchronously acquiring data, namely controlling an unmanned ship carrying multi-base three-dimensional laser radar scanning equipment and underwater multi-beam detection equipment to navigate along a preset path, and synchronously acquiring on-shore terrain laser point cloud data and underwater multi-beam scanning point cloud data; The data fusion processing, namely merging the underwater multi-beam scanning data into a land topographic map for graphic editing and edge splicing after the processing of software, and drawing waterside lines to obtain a complete topographic map; model generation, namely constructing a continuous digital elevation model covering the whole river channel region based on a complete topographic map; and (5) auxiliary sediment construction, namely carrying out auxiliary sediment construction by using a continuous digital elevation model.
2. The intelligent auxiliary method for the sinking and arranging construction based on the unmanned ship is characterized in that the auxiliary sinking and arranging construction comprises the steps of cleaning a embankment base, and specifically comprises the following steps: Spatially aligning the actually measured and constructed continuous digital elevation model with a predesigned continuous digital elevation model; Performing grid node differential calculation on the aligned actually-constructed continuous digital elevation model and a predesigned continuous digital elevation model, and subtracting a design elevation value Z Design of from an actually-measured elevation value Z Actual measurement to obtain a residue thickness value delta H; Setting the thickness value of the grid nodes with negative residue thickness values delta H to be zero, and reserving the calculation result of the grid nodes with positive values; Checking the smoothness of the land topography data and underwater topography data border region, if the smoothness does not meet the preset requirement, carrying out local optimization adjustment to ensure that the calculated residual thickness on the two sides of land and water is continuous and reliable in the border region; based on the processed effective residual thickness data, a digital result which can be directly used by engineering is generated.
3. The intelligent auxiliary method for the submerged arc construction based on the unmanned ship according to claim 2, wherein the step of spatially aligning the actually-constructed continuous digital elevation model with the predesigned continuous digital elevation model comprises the following steps: Selecting the same known datum points with stable positions on the actually-measured and constructed continuous digital elevation model and the predesigned continuous digital elevation model, calculating coordinate translation and rotation parameters between the two datum points, and integrally registering the actually-measured and constructed continuous digital elevation model into an engineering coordinate system where the designed continuous digital elevation model is located by using the parameters.
4. The intelligent auxiliary method for the submerged arc construction based on the unmanned ship according to claim 3, wherein the step of generating the digital achievement directly usable by the engineering based on the processed effective residual thickness data comprises the following steps: Drawing a residual thickness distribution cloud chart, representing the thickness by using a color gradient, identifying and delineating the boundary of a region with the thickness exceeding a design permission threshold value to generate a vector range line, and counting the excessive area, the average thickness, the maximum thickness and the volume of residues to be cleaned according to the dike section and the pile number partition.
5. The intelligent auxiliary method for the sinking and arranging construction based on the unmanned ship is characterized in that the auxiliary sinking and arranging construction comprises the step of counting the amount of rubble, and specifically comprises the following steps: Respectively carrying out actual measurement before and after construction to construct a continuous digital elevation model before construction and a continuous digital elevation model after construction; After the alignment, subtracting the elevation value before construction from the elevation value after construction for each grid node covering the same area to obtain grid data delta Z Grid structure representing the terrain change, wherein positive values indicate that the grid node is filled up; Filtering out tiny measurement noise or natural disturbance by setting a lifting threshold value, and extracting an effective riprap change area; the method comprises the steps of regarding each DeltaZ Grid structure pixel of an effective stone throwing change area as a vertical prism, enabling the volume of the DeltaZ Grid structure pixel to be equal to the terrain change quantity of the pixel multiplied by the horizontal area of the pixel, directly calculating standard pixels which are completely located on land or under water, determining the area proportion of the part above the water surface and the part below the water surface in the pixels according to actual measurement shoreline data for the pixels crossing an amphibious boundary, respectively applying different volume calculation models, and accumulating the calculated volumes of all the effective pixels to obtain the total stone throwing quantity of the whole foot protection engineering.
6. The intelligent auxiliary method for the submerged arc construction based on the unmanned ship according to claim 5, wherein the step of spatially aligning the pre-construction continuous digital elevation model with the post-construction continuous digital elevation model comprises the steps of: At least three stable reference points which are not disturbed by construction are selected at the same position of the pre-construction continuous digital elevation model and the post-construction continuous digital elevation model, and the pre-construction continuous digital elevation model and the post-construction continuous digital elevation model are registered under the same engineering coordinate system through least square rigid body transformation so as to eliminate micro displacement or rotation deviation.
7. The intelligent auxiliary method for the sinking and arranging construction based on the unmanned ship, which is disclosed by the invention, is characterized in that the auxiliary sinking and arranging construction comprises deformation monitoring, and specifically comprises the following steps: The method comprises the steps of establishing a stable monitoring reference network and acquiring multi-period point cloud data, wherein a plurality of continuous monitoring reference stations are distributed in a stable area around a shoreside structure area, and precise measurement is carried out regularly to ensure the reliability of coordinates; The method comprises the steps of integrating point cloud data of each period into the same stable coordinate system and performing coarse registration, specifically, converting the point cloud data acquired in all different periods into the same stable engineering coordinate system defined by a reference network, performing manual or automatic initial alignment based on the integral range of the point cloud or a plurality of selected obvious and undeformed fixed characteristic points after completing the coordinate system, and eliminating large integral translation and rotation deviation to prepare for subsequent fine registration; selecting homonymous feature points from the undeformed region for fine registration; the method specifically comprises the steps of identifying and selecting stable areas which are judged to have no displacement or extremely small deformation during monitoring on a bank slope structure, and selecting a plurality of homonymous characteristic points or characteristic faces on the areas manually or automatically through an algorithm; Calculating the displacement of grid nodes in a three-dimensional space by a point cloud matching algorithm aiming at a bank slope structure area needing to be monitored, and generating dense displacement vector field data covering the surface of the whole monitoring structure.
8. An intelligent auxiliary system for submerged row construction based on unmanned ship, which is characterized by comprising: The system comprises a data synchronous acquisition module, a processing software and a control module, wherein the data synchronous acquisition module is configured to control an unmanned ship carrying multi-base three-dimensional laser radar scanning equipment and underwater multi-beam detection equipment to navigate along a preset path and synchronously acquire on-shore terrain laser point cloud data and underwater multi-beam scanning point cloud data; the data fusion processing module is configured to combine the underwater multi-beam scanning data into a land topography map for graphic editing and edge splicing after the processing of software, and draw waterside lines to obtain a complete topography map; the model generation module is configured to construct a continuous digital elevation model covering the whole river channel area based on the complete topography; an auxiliary sediment outflow construction module is configured to apply the continuous digital elevation model for auxiliary sediment outflow construction.
9. An electronic device, comprising: A memory for storing one or more programs; A processor; The method of any of claims 1-7 is implemented when the one or more programs are executed by the processor.
10. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-7.

Description

Intelligent auxiliary method and system for sinking and arranging construction based on unmanned ship Technical Field The application relates to the field of river channel sediment construction, in particular to an intelligent sediment construction auxiliary method and system based on an unmanned ship. Background The river bed topography survey before the construction of traditional river course sediment outflow still generally relies on artifical probe ship and dive measurement to combine together the mode, and operation safety risk is higher under complicated hydrologic environment, and traditional single beam depth finder adopts "line scanning" mode, is difficult to satisfy sediment outflow construction to the demand of high accuracy, and data concatenation relies on artifical experience, and the error is great. In particular, in areas of turbulent or narrow curves of water flow, it is more difficult for conventional methods to obtain complete terrain data. Disclosure of Invention The application aims to provide an intelligent auxiliary method and system for sinking and arranging construction based on an unmanned ship, which can improve the precision of sinking and arranging construction. The application is realized in the following way: in a first aspect, the application provides an intelligent auxiliary method for the submerged row construction based on an unmanned ship, which comprises the following steps: The method comprises the steps of synchronously acquiring data, namely controlling an unmanned ship carrying multi-base three-dimensional laser radar scanning equipment and underwater multi-beam detection equipment to navigate along a preset path, and synchronously acquiring on-shore terrain laser point cloud data and underwater multi-beam scanning point cloud data; The data fusion processing, namely merging the underwater multi-beam scanning data into a land topographic map for graphic editing and edge splicing after the processing of software, and drawing waterside lines to obtain a complete topographic map; model generation, namely constructing a continuous digital elevation model covering the whole river channel region based on a complete topographic map; and (5) auxiliary sediment construction, namely carrying out auxiliary sediment construction by using a continuous digital elevation model. Based on the first aspect, the auxiliary sediment construction comprises embankment cleaning; the method specifically comprises the following steps: Spatially aligning the actually measured and constructed continuous digital elevation model with a predesigned continuous digital elevation model; Performing grid node differential calculation on the aligned actually-constructed continuous digital elevation model and a predesigned continuous digital elevation model, and subtracting a design elevation value Z Design of from an actually-measured elevation value Z Actual measurement to obtain a residue thickness value delta H; Setting the thickness value of the grid nodes with negative residue thickness values delta H to be zero, and reserving the calculation result of the grid nodes with positive values; Checking the smoothness of the land topography data and underwater topography data border region, if the smoothness does not meet the preset requirement, carrying out local optimization adjustment to ensure that the calculated residual thickness on the two sides of land and water is continuous and reliable in the border region; based on the processed effective residual thickness data, a digital result which can be directly used by engineering is generated. Based on the first aspect, the step of spatially aligning the actual-measurement-constructed continuous digital elevation model with the pre-designed continuous digital elevation model comprises: Selecting the same known datum points with stable positions on the actually-measured and constructed continuous digital elevation model and the predesigned continuous digital elevation model, calculating coordinate translation and rotation parameters between the two datum points, and integrally registering the actually-measured and constructed continuous digital elevation model into an engineering coordinate system where the designed continuous digital elevation model is located by using the parameters. Based on the first aspect, the step of generating a digital result that can be directly used by engineering based on the processed effective residual thickness data comprises the following steps: Drawing a residual thickness distribution cloud chart, representing the thickness by using a color gradient, identifying and delineating the boundary of a region with the thickness exceeding a design permission threshold value to generate a vector range line, and counting the excessive area, the average thickness, the maximum thickness and the volume of residues to be cleaned according to the dike section and the pile number partition. Based on the first aspect, the auxilia