98 results about "Depth sounding" patented technology

A system for estimating orientation of a target based on real-time video data uses depth data included in the video to determine the estimated orientation. The system includes a time-of-flight camera capable of depth sensing within a depth window. The camera outputs hybrid image data (color and depth). Segmentation is performed to determine the location of the target within the image. Tracking is used to follow the target location from frame to frame. During a training mode, a target-specific training image set is collected with a corresponding orientation associated with each frame. During an estimation mode, a classifier compares new images with the stored training set to determine an estimated orientation. A motion estimation approach uses an accumulated rotation / translation parameter calculation based on optical flow and depth constrains. The parameters are reset to a reference value each time the image corresponds to a dominant orientation.

The invention discloses a multiwave beam-based depth-sounding joint inversion method for a sound velocity profile and a submarine topography. The method comprises the following steps of: (1) transmitting multiwave beams to the seafloor of a sounded sea area through a transmitting transducer array of a multiwave-beam depth sounding system, and receiving echo signals through a receiving transducer array of the multiwave-beam depth sounding system; (2) obtaining the arrival angle and the arrival time of echoes according to the received echo signals by using the multiwave-beam depth sounding system; (3) establishing a state space model formed by using a state equation and a sounding equation; (4) obtaining inversion values of the sound velocity gradient and the seafloor depth of the sounded sea area by using a sequential filter method according to the established state space model and the arrival angle and the arrival time of received echoes, and obtaining an estimate of the sound velocity profile of the sounded sea area by using the inversion value of the sound velocity gradient; and further, calculating the water temperature profile of the sounded sea area by using the estimate of the sound velocity profile. According to the multiwave beam-based depth-sounding joint inversion method for the sound velocity profile and the submarine topography, disclosed by the invention, the estimates of the sound velocity profile and the depth of the seafloor can be obtained quickly and accurately.

The present invention belongs to an intelligent safety and guard technology, and especially relates to an indoor multi-camera intelligent linkage monitoring device based on depth sensing. The device comprises a collection module, a processing module and a communication module. The processing module comprises a switch, a server and monitoring system software. The monitoring system software completes the detection of abnormity invasion based on a depth image matching algorithm according to a three-dimensional point cloud image, performs structural abstraction of the obtained three-dimensional point cloud to complete the identification of the abnormity invasion, and finally transmits the collected video and images to a user terminal device to allow users to process abnormity invasion events. The intelligent linkage monitoring device can complete the passive monitoring for an invasion terminal to a user terminal and complete the active control from the user terminal to the invasion terminal. The indoor multi-camera intelligent linkage monitoring device based on the depth sensing is suitable for unattended operation indoor scene monitoring, has advantages of high invasion detection precision, low false alarm rate, monitoring without dead corners and can perform abnormal event early warning, etc.

The invention discloses a motion sensor array device and a depth sensing system and methods of using the same. In one example of the inventive concepts, a motion sensor array device includes a wafer and at least two motion sensors implemented on the wafer, each of the at least two motion sensors including a plurality of motion sensor pixels to sense a motion of an object and generate motion image data. The motion sensor array device further includes at least two lenses respectively arranged on the at least two motion sensors, wherein the motion sensor array is implemented in one of a chip and a package.

A depth camera assembly (DCA) for depth sensing of a local area. The DCA includes a polarized light generator, an imaging device, and a controller. The polarized light generator modulates one or more optical beams emitted from an illumination source to generate modulated light, and projects the modulated light into the local area as polarized light having a first polarization. The imaging device receives light from the local area, the received light including ambient light and a portion of the polarized light reflected from the local area. The imaging device reduces an intensity of the received light having polarization different from a second polarization to generate filtered light substantially composed of light of the second polarization, and detects the portion of the polarized light having the second polarization using the filtered light. The controller determines depth information for the local area based on the detected portion of the polarized light.

The invention belongs to the field of an underwater vehicle and discloses a robust BSLAM method for AUV terrain matching navigation. The method comprises the steps of (1), inputting depth sounding andinertia navigation data; (2), carrying out data preprocessing to obtain filtered depth sounding data; (3), establishing an attitude graph, specifically, computing weak data association, establishinga new subgraph, carrying out closed loop detection through terrain positioning, and then carrying out invalid closed loop detection; and (4), optimizing a rear end graph, specifically, computing consistency functions through utilization of clustered closed loop data, finding out the minimum values of the consistency functions in all classes, integrating data of key statuses of inertia navigation,and outputting a modified BSLAM track. According to the method, through processing and closed loop detection of the depth sounding and inertia navigation data, global optimization of the data is realized, timeliness and consistency of positioning and graph establishment are improved, robustness is high, and influence of noises of measurement data on navigation precision can be reduced.

Ground Potential Rise (GPR) systems and methods with depth sensing measure the GPR between the ground grid and the remote earth. Methods and systems described herein may provide a GPR measurement to an existing distance protection. A GPR system may comprise a set of potential transformers. The set of potential transformers may be coupled to different ground rods driven into the earth at different depths, respectively. One wire of the high voltage side of the potential transformer may be coupled to the ground grid of a substation, and the second wire of the potential transformer may be coupled to an insulated wire that is coupled to a ground rod or multiple of ground rods bonded together. The low voltage side of the potential transformer is used to connect Distance Relays, Voltage Relays, DFR or Alarms.

The invention provides an underwater terrain-aided navigation method based on an adaptive sampling particle filter. The method comprises the steps that a state space model based on an inertial navigation position error and a measurement model based multi-beam depth-sounding sonar are built; one-step predicted particle updating is conducted through initial state distribution and the state space model, the number of particles is adjusted according to predictive state distribution by adopting a KLD sampling technology, and a predicted particle set is obtained; when a multi-beam measured value isreached, the depth, the inertial navigation guiding position and an underwater reference digital map interpolation function are measured in combination with a pressure-depth meter, and particle measurement updating is conducted through the measurement model; finally, by means of the particle set and weight which are obtained after measurement updating is conducted, aircraft position error estimation is conducted by adopting mean squared error minimization rules, and the estimated error is used for correcting the inertial navigation guiding position. Accordingly, the navigation real-time property can be improved while the underwater terrain-aided navigation precision is guaranteed.

The invention discloses an interlocking control system for falling, floating and depth sounding of a main winch of a rotary drilling rig, and belongs to an electro-hydraulic interlocking control mechanism. The interlocking control system comprises a central processing unit (CPU), a display connected with the CPU, a depth sounding sensor and a main winch floating control solenoid valve; and a main winch falling control solenoid valve and the CPU which are connected together are serially connected on a hydraulic handle control circuit for main winch falling for the rotary drilling rig. In the invention, when lowering depth of a drill bit is close to depth of a bore hole, the CPU stops outputting a control signal to a switch solenoid valve so as to cut off a pressure control oil circuit which causes falling of the main winch, and meanwhile the CPU outputs a control signal to automatically control main winch floating, which prevents a steel wire rope from being loosen. The interlocking control system has the beneficial effects that application range of equipment is enlarged, construction risk of a user is lowered, and operating strength of a driver is greatly reduced; and the interlocking control system has the advantages of simple structure, reliable performance and low cost, and is convenient in operation.

The invention discloses an advance geology forecast method of a nearly omnibearing resistivity tunnel. The advance geology forecast method of the nearly omnibearing resistivity tunnel comprises the following steps: selecting a plurality of measuring lines which are parallel to one another in the tunnel, wherein a power supply electrode A is fixed on each measuring line and is used as a point power supply, the point power supplies A of the three measuring lines are required to be closely attached to a tunnel face, and a pole B is placed at a position which is relatively infinitely far from the measuring lines; measuring the measuring lines successively, and acquiring measurement of potential difference among measuring electrodes of a plurality of measuring points; calculating each apparent resistivity value according to measured potential, labeling measuring point positions corresponding to the apparent resistivity values, acquiring an apparent resistivity-polar distance curvilinear relationship, and carrying out depth sounding inversion on the positions corresponding to the measuring points of which the apparent resistivity values are changed obviously to obtain a true resistivity-depth map; and determining the depth in the true resistivity-depth map, drawing up an isobathic circle by taking the point power supply of each measuring line as a center of a circle and taking the depth of a radius, and determining the common point of intersection of the isobathic circles of the measuring lines as an accurate position of an unfavorable geologic body. The advance geology forecast method has the advantages of simplicity in field operation, high efficiency, good effect and the like.

The invention provides an underwater point cloud denoising method based on an airborne LiDAR depth sounding system. The underwater point cloud denoising method is characterized by comprising the following steps: analyzing a waveform and reading waveform information of a point cloud; judging the type of the point cloud through analyzing the waveform information; judging that the point cloud is an underwater topographic point, a suspicious point or a noise point and filtering the noise point; verifying depth sounding performance parameters and carrying out depth sounding performance parameter verification on the judged suspicious point; judging that the suspicious point is the underwater topographic point or the noise point according to depth sounding performance parameter verification and filtering the noise point; carrying out elevation mean-deviation iterative denoising; and carrying out the elevation mean-deviation iterative denoising on the judged underwater topographic point to obtain a final underwater topographic point. The method provided by the invention can be used for effectively eliminating block-shaped noises; and the reliability of a denoising result is improved and the extraction precision of an underwater topography is guaranteed.

The invention discloses an intelligent layered water sampler which comprises three water sampling bottles, a controlling cabin, an ultrasonic depth sounding instrument and an integrated framework, wherein the three water sampling bottles are evenly fixed to the integrated framework in the circumferential direction, the ultrasonic detector is fixed to the bottom of the integrated framework and is communicated with the controlling cabin through a cable, and the controlling cabin is fixed to the middle of the integrated framework through a flange along the axis of the integrated framework. The intelligent layered water sampler can finish layered sampling work of seawater of an appointed depth in a deepwater sea area. A multilayer water sampling task can be automatically finished once when the water sampler is used. The intelligent layered water sampler is accurate in water sampling depth, and the efficiency of the intelligent layered water sampler is greatly improved.

An apparatus, method, and computer-readable medium for high ping rate depth sounding. The apparatus may cause transmission of a first sonar beam having a first frequency and transmission of a second sonar beam having a second frequency with a transducer assembly. The transducer assembly maybe configured to transmit the first sonar beam and the second sonar beam into the underwater environment. The apparatus may receive sonar return data from the transducer assembly beginning either simultaneously with transmission of the first sonar beam or prior to transmission of the second sonar beam. The apparatus may further determine, based on sonar return data acquired after transmission of both the first sonar beam and the second sonar beam, that the sonar return data corresponds to the first sonar beam by determining that the sonar return data comprises the first frequency.

The invention relates to a distribution-source-model-based measuring method of a multi-beam depth sounding system complex terrain. The measuring method comprises the following steps: I, dividing an array received by a multi-beam depth sounding system into a plurality of subarrays which are interlaced; II, calculating a data covariance matrix of the subarrays by a signal processor of the multi-beam depth sounding system to obtain a corrected covariance matrix; III, carrying out characteristic value decomposition on the corrected data covariance matrix, and estimating a signal source quantity to obtain an estimation value of a noise subspace; IV, setting a spatial angle density function conforming to a given distribution of a distribution source, and calculating a generalized array manifold vector according to a specific mathematic form of the given distribution obeyed by the spatial angle density function of the distribution source; V, calculating a two-dimensional spatial spectrum of the distributive signal source, and carrying out the two-dimensional spectrum peak search to obtain the estimated value of an angle and angle extension reached by a center wave. By adopting the method, not only can the complicated seabed terrain be effectively measured, but also the measurement precision of the complicated terrain can be improved.

The present invention relates to a method for obtaining horizontal longitudinal correlation of a deep-sea great-depth sound field. Two testing positions with the same depth and different distances are selected near a deep-sea bottom; time delay differences between a direct wave of a deep sound source in a certain depth reaching two receiving positions and a surface-reflected wave are calculated according to a ray model; one testing position is fixed, and a horizontal spacing between the two positions is continuously changed to recalculate the time delay differences in different positions; and the time delay differences are substituted into a ray theory-based calculation formula of horizontal longitudinal correlation of the deep-sea great-depth sound field to obtain a change rule of the horizontal longitudinal correlation of a target region. The present invention greatly reduces amount of calculation, and is easy in engineering practice.

The invention discloses a real-time dynamic focusing wave beam forming method and system. The method specifically comprises the following steps: echo sound signals are pre-processed by an analog front end and are processed by an analog-to-digital converter so as to be converted into digital signals; the digital signals are subjected to orthogonal transformation, and the plural form Vm of echo signals is obtained; according to a preset angle theta k, a sampling point number n and an array element number m formed by wave beams, calculating a phase shift parameter tau mk of a current array element in real time according to a dynamic focusing wave beam forming method; Vm rotates by the corresponding phase shift parameter tau mk, V'm is obtained, and each channel result is accumulated so as to obtain a real-time dynamic focusing wave beam forming result V(theta k) in a theta k direction; according to an equiangular or equidistance mode, presetting a wave beam angle theta k, repeating the above steps, and completing real-time dynamic focusing wave beam formation. According to the real-time dynamic focusing wave beam forming method and system, the dynamic focusing wave beam formation precision is not lost, the quick calculation capability is achieved, the structure is simple, the method and the system are easy to achieve, and a near field efficiency problem can be greatly solved; and the real-time dynamic focusing wave beam forming method and system can be widely applied to the multiple-wave-beam depth-sounding sonar shallow water depth-sounding field.

The invention provides a two-dimensional decomposition displaying method for logging information of a large-gradient horizontal well. The method comprises the following steps: conducting decomposition displaying of the logging information respectively along the vertical displacement (vertical depth) and the horizontal displacement in a vertical projection plane, and displaying well track and stratum model according to coordinates of the vertical displacement and the horizontal displacement. With the adoption of the method, the disadvantage of displaying logging curves along depth sounding of the large-gradient horizontal well can be solved effectively, the maximum displacement of the stratum vertical depth and well track along the horizontal direction can be truly displayed, and the two-dimensional requirements on logging information explanation and geosteering of the large-gradient horizontal well can be met.

The invention discloses a multi-beam depth sounding sonar echo signal gain control system and a multi-beam depth sounding sonar echo signal gain control method. The gain control system includes upper computer software (101), a signal processing unit (102), a signal transmitting transducer array (103), a receiving transducer array (104), a pre amplifier (105), a variable gain controller (106), a band-pass filter (107) and an analog-to-digital converter (108). With the system and method of the invention adopted, the amplitude change of input signals can be tracked, and gain can be automatically adjusted, when the amplitude of the input signals becomes large, the gain of a receiver is decreased under control, when the amplitude of the input signals becomes smaller, the gain of the receiver is increased under control, and therefore, the output electric level of submarine echo signals is always maintained in a stable interval; and problems such as poor gain control effect and poor adjustment precision in a conventional multi-beam depth sounding system can be solved, and the accuracy of the measurement of complex seabed terrains by a multi-beam depth sounding sonar can be ensured.

The invention discloses a method for echo direction estimation of a sensor array and for multibeam echo depth sounding and bottom detection. The method for echo direction estimation of the sensor array comprises the following steps: (1) scanning beams and detecting echoes of data received by the array to obtain a space region corresponding to the echo and select more than three desired angles; (2) acquiring the output beams of each sub-array or each virtual sub-array at each desire angle and obtaining the delay relationship between every two sub-arrays or every two virtual sub-arrays; and (3) estimating the direction of each echo by utilizing a high-resolution signal arrival direction angle estimation algorithm based on the output beams and the delay relationship which are obtained in the step (2). The method disclosed in the invention is suitable for sensor arrays with irregular shapes, and can break up the restriction of the resolution by the array aperture so as to improve the bottom detection accuracy of edge beams of a multibeam echo detection system. By utilizing the method, the requirement for data while the high-resolution signal arrival direction angle estimation algorithm is conducted is lowered so as to facilitate the engineering application.

Methods and devices for correcting underwater photon displacement and for depth sounding with a single-photon Lidar are provided. The method includes: acquiring a pointing angle of a photon emitted by the single-photon Lidar, and coordinates of a water-surface photon signal and a water-bottom photon signal returned by the photon emitted by the single-photon Lidar; performing a sea wave fitting according to the water-surface photon signal to determine a sea wave model; determining an intersection of the photon and an air-water interface according to coordinates of any water-bottom photon, the pointing angle and the sea wave model; determining an underwater displacement error of the photon according to the intersection, the sea wave model and the pointing angle; and correcting the coordinates of the water-bottom photon according to the underwater displacement error. The invention performs sea wave modeling through water surface photon signal and determines intersection of the photon and water-air interface.

The invention discloses an active wave compensating device and a method applied to a depth sounder. The active wave compensating device comprises a first compensating unit, a second compensating unitand a detecting unit, wherein the first compensating unit is provided with supporting assemblies, a transmission component and a power component; the second compensating unit is in transmission connection with the first compensating unit, and comprises a platform assembly, compensating assemblies, a supporting component and a connecting piece; and the detecting unit is connected with the supporting assemblies. According to the active wave compensating device disclosed by the invention, the movement parameters of the swinging and the heaving of a hull are measured by a micro-inertial sensor, and are converted into digital signals; the digital signals are transmitted to a control system for processing, and the compensation capacity of the swinging and the compensation capacity of heaving arecalculated out; and a servo motor and a servo electric cylinder are driven by the processed signals to move, so that the compensation of a compensation platform in the swinging direction and in the heaving direction is realized. Through the adoption of the active wave compensating device disclosed by the invention, the depth sounder which is influenced by the movements of swinging and heaving canbe accurately and quickly compensated, so that the depth sounder can safely and efficiently execute a detection task under a complicated marine condition; and the active wave compensating device hasthe characteristics of being wide in compensation range, high in reliability, accurate and quick, simple and light in structure, and the like.

The embodiment of the invention provides a depth sounding system used for a rotary drilling rig. The rotary drilling rig comprises a drill. The depth sounding system comprises a bearing block, a winding drum, a rope, a rotary coder and a processing unit, wherein the winding drum comprises a winding drum main body and a winding drum output shaft and is arranged in the bearing block through a first bearing; one end of the rope is fixed on the winding drum main body and the other end is connected with the drill of the rotary drilling rig; a shell of the rotary coder is fixed on the bearing block, and an input shaft of the rotary coder is fixedly connected with the winding drum output shaft; and the processing unit is used for receiving an angle measured by the rotary coder and converting the angle into the length value of the rope according to the angle. In the invention, because the winding drum is arranged on the bearing block through the bearing, a slipping phenomenon cannot be generated, and moreover, the winding drum is directly wound with the rope and is not easy to abrade, therefore, the use precision cannot be affected after the winding drum is used for a long time. The embodiment of the invention also provides a rotary drilling rig equipped with the depth sounding system.

The invention discloses a reconstruction method for terrain of a shallow-sea large-sized complicated sand wave area. According to the reconstruction method, the terrain reconstruction is carried out on multi-beam depth sounding data of the shallow-sea large-sized complicated sand wave area acquired in an interval measuring line way by utilizing characteristic information (sand wave ripples and wave ridges) in a remote sensing image and the distribution rule of the sand wave terrain, so that complete sand wave terrain information can be acquired. Aiming at the surveying and mapping requirement of the shallow-sea sand wave area which is widely distributed, the sand wave ripples and the sand wave ridges in the remote sensing image are used as reference control information to be introduced into the multi-beam depth sounding data terrain reconstruction, the high-precision terrain reconstruction of the multi-beam depth sounding data acquired in the interval measuring line way in the shallow-sea large-sized complicated sand wave area can be realized by virtue of partition combination and overlap continuous assignment treatment of the large-sized complicated sand wave area can be realized, and the reconstruction method is an innovation on the aspect of cross application of a remote sensing information technology and a multi-beam depth sounding technology and is relatively high in practical value.

The invention provides a depth-sounding fish-finding system achieving display by means of a mobile terminal and a depth-sounding fish-finding method thereof. The depth-sounding fish-finding system comprises a wireless device transmitting-receiving box and the mobile terminal which are wirelessly connected, wherein the wireless device transmitting-receiving box is provided with a power module, a transmitting module, a receiving module, a sensor controller, a GPS module, a wireless module and a controller. The mobile terminal is a smart tablet and a mobile phone based on an Android system, is operated in a touch mode and convenient to use. By means of a wireless Bluetooth technology, wireless data transmission is achieved, and installation and usage are facilitated. The product performance is improved by adopting the intelligent depth-sounding fish-finding method. The depth-sounding fish-finding system has a special depth-sounding fish-finding function, high definition and high stability. The user experience is strengthened through a cool human-computer interaction interface. The depth-sounding fish-finding system has multiple social contact functions and facilitates information sharing.

The invention provides a salvageable wireless while-drilling electromagnetic wave resistivity measuring nipple, and the resistivity measuring nipple is hung on the lower end of an underground device of a measurement while drilling (MWD) instrument, data transmission is carried out through a mud signal or an electromagnetic wave signal of the MWD, a wellhead is provided with a signal receiver and connected with a ground signal processing system through a data cable; and a circuit and an antenna of the resistivity nipple are integrated inside a resistivity exploring tube, the resistivity exploring tube is provided with a special module circuit for controlling the signal transmission and communication, and the resistivity exploring tube is arranged on the middle side surface part of a resistivity non-magnetic drill collar. The salvageable wireless while-drilling electromagnetic wave resistivity measuring nipple has the advantages that resistivity is measured through an electromagnetic wave way; different depth-sounding resistivity curves can be realized; through the unique design of the measuring nipple, a salvageable function is realized, and the dropping risk of the instrument is minimized; and through the design of a unique resistivity antenna and the design of the resistivity non-magnetic drill collar, tools can be loaded through the cable before the drilling, and well logging can be carried out in the drilling process, so that the operation risk can be reduced, and the operation efficiency can be improved.

The invention discloses a nondestructive inspection method for the roll neck of a support roll. The nondestructive inspection method is characterized by comprising the following steps of: 1, roll neck grinding; 2, surface wave detecting; 3, magnetic powder detecting; 4, coloring detection; and 5, crack depth sounding. According to the invention, crack detection is carried out on an R part of the roll neck, the sensitivity of the crack detection can be increased to 0.01mm, and the false alarm caused by repair welding of the R part of the roll neck can be effectively avoided. Meanwhile, the depth of a crank of the roll neck is accurately measured and the hazard assessment is carried out on the crack, and the significance is achieved in safety use of the support roll.

The invention relates to a real-time evaluation method for the submarine topographic survey quality of multi-beam sonar based on an amplitude method. The method comprises the steps that based on the statistical characteristics of submarine reverberation, the relative depth sounding error of a multi-beam sonar amplitude method is analyzed by adopting a method of probability statistics, thus an evaluation model of the depth sounding data quality of the amplitude method is established, quality factors of uncertainty of the depth measurement by the quantitative measurement amplitude method are obtained, the method has the characteristic of being independent of any equipment or hydrological conditions, and effective quality evaluation can be carried out on depth data obtained by the multi-beamsonar amplitude method.