A diagnostic method for spatial stability of underwater structures based on three-dimensional through-scanning

Abstract

The present invention provides a method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning. The method comprises: S11, performing a bidirectional scan of the underwater structure to extract point cloud data; S12, generating a three-dimensional structure model based on the point cloud data to obtain the buried depth of the underwater structure; S13, obtaining the lateral settlement difference based on the buried depth of the underwater structure, and calculating the inclination angle between the horizontal axis of the underwater structure and the horizontal plane; S14, obtaining the longitudinal elevation deviation based on the buried depth of the underwater structure, and calculating the angle between the longitudinal axis of the underwater structure and the horizontal plane; S15, setting the intersection point of the horizontal and vertical tangents along the direction of the underwater structure as A, finding an arbitrary point on the horizontal tangent as B, and finding an arbitrary point on the vertical tangent as C, and given the coordinates of the three points, calculating the angle at point A; S16, comparing the angle at point A with a preset threshold to determine the stability of the underwater structure. The stability diagnosis method provided by the present invention improves the safety and service life of underwater structures.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater structure spatial stability diagnosis, and in particular to an underwater structure spatial stability diagnosis method based on three-dimensional through-scanning. Background Art

[0002] At present, the stability diagnosis of underwater structures mainly relies on the one-way profile scanning method. This method uses a shallow layer profiler to obtain horizontal or vertical profile data of the strata around the underwater structure along the survey line to evaluate the burial depth, sedimentary environment and surrounding geological characteristics. However, this technology has obvious shortcomings. First, one-way scanning can only provide local profile information and cannot fully reflect the three-dimensional state of the underwater structure. Especially in sea areas with large stratum fluctuations and complex sedimentary environments, it is easy to lead to inaccurate stability assessments. Secondly, key factors such as scouring, backlog and displacement of sediments around underwater structures are difficult to accurately identify through one-way scanning, which may lead to errors in stability judgment. In addition, existing methods rely on manual data interpretation, are easily affected by subjective factors, and lack intelligent analysis methods, which affects the efficiency and accuracy of diagnosis. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning. By adding longitudinal profile scanning on the basis of traditional transverse profile scanning, two-way detection of the stratigraphic structure around the underwater structure is achieved to provide more complete geological information and improve the accuracy of the depth, environment and stability assessment of the underwater structure.

[0004] To achieve the above-mentioned object, the present invention provides a method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning, the method comprising:

[0005] S11. Performing transverse profile scanning and longitudinal profile scanning on the underwater structure, respectively, and extracting transverse profile point cloud data and longitudinal profile point cloud data;

[0006] S12. generating a three-dimensional structure model based on the transverse section point cloud data and the longitudinal section point cloud data, and obtaining the buried depth of the underwater structure based on the three-dimensional structure model;

[0007] S13. Obtaining a lateral settlement difference based on the buried depth of the underwater structure, and calculating an inclination angle between the horizontal axis of the underwater structure and the horizontal plane based on the lateral settlement difference;

[0008] S14. Obtaining a longitudinal elevation deviation based on the buried depth of the underwater structure, and calculating an angle between a longitudinal axis of the underwater structure and a horizontal plane based on the longitudinal elevation deviation;

[0009] S15. Set the intersection point of the horizontal and vertical tangent lines along the direction of the underwater structure as A, find any point on the horizontal tangent line as B, find any point on the vertical tangent line as C, and give the coordinates of the three points. , first get the vector calculation formula The vector modulus, and then the angle at point A is obtained by the dot product formula;

[0010] S16. Compare the angle at point A with a preset threshold to determine the stability of the underwater structure.

[0011] Furthermore, in step S12, a three-dimensional structure model is generated based on the transverse section point cloud data and the longitudinal section point cloud data, specifically including:

[0012] After pre-processing the collected transverse section point cloud data and longitudinal section point cloud data, they are aligned to the same coordinate system and merged to generate a point cloud dataset;

[0013] Based on the point cloud dataset, a three-dimensional structure model is constructed using three-dimensional reconstruction technology.

[0014] Furthermore, in step S12, based on the three-dimensional structure model and the formula of the two-way travel time of the acoustic wave and the medium sound velocity, the expression for the buried depth of the underwater structure is obtained as follows:

[0015]

[0016] in, The burial depth of underwater structures, is the sound velocity of the sediment layer, The round-trip time from the emission to the reception of the sound wave.

[0017] Furthermore, in step S13, the lateral settlement difference is obtained based on the buried depth of the underwater structure, and its expression is:

[0018]

[0019] in, is the height of the underwater structure, is the DGPS height correction value, is the lateral settlement difference, Height of the left side of the underwater structure, It is the height of the right side of the underwater structure.

[0020] Furthermore, in step S13, the inclination angle between the horizontal axis of the underwater structure and the horizontal plane is calculated based on the lateral settlement difference, and the expression is:

[0021]

[0022] in, is the inclination angle between the horizontal axis of the underwater structure and the horizontal plane, Measure the length of the underwater structure.

[0023] Furthermore, in step S14, two longitudinal points are taken along the longitudinal direction of the top plate of the underwater structure based on the preset rules. ,set up As the initial point, the longitudinal elevation deviation is obtained by the buried depth of the underwater structure. The expression is:

[0024]

[0025] in, It is the value of a point along the longitudinal direction of the top plate of the underwater structure. It is obtained by integrating real-time water level monitoring data with DGPS elevation. is the longitudinal elevation deviation.

[0026] Furthermore, in step S14, the angle between the longitudinal axis of the underwater structure and the horizontal plane is calculated based on the longitudinal elevation deviation, and the expression is:

[0027]

[0028] in, is the angle between the longitudinal axis of the underwater structure and the horizontal plane, Measure the length of the underwater structure.

[0029] Furthermore, in step S15, the angle at point A is obtained by the dot product formula, which is expressed as:

[0030]

[0031] in, is the angle between the intersection point A of the horizontal and vertical tangent lines; is the vector between the intersection point A of the transverse and longitudinal tangent lines and any point B on the transverse tangent line, It is the vector between the intersection point A of the horizontal and vertical tangents and any point C on the vertical tangent line.

[0032] Furthermore, in step S16, the angle at point A is compared with a preset threshold. If it is less than or equal to the preset threshold, the inclination of the underwater structure has no effect on stability. If it is greater than the preset threshold, the inclination of the underwater structure will affect stability.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention provides a method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning. By adding longitudinal profile scanning to the traditional transverse profile scanning, it achieves two-way detection of the stratigraphic structure around the underwater structure, thereby providing more complete geological information, effectively making up for the limitations of one-way scanning, and improving the accuracy of the depth, environment and stability assessment of underwater structures. At the same time, the two-way scanning combined with data cross-analysis can more accurately identify the scour pits, backlogs and settlement deformations of sediments around underwater structures, reducing the risk of misjudgment. In addition, the method optimizes the data acquisition and analysis process, making it more suitable for intelligent processing and automatic stability assessment, and improving diagnostic efficiency. Compared with traditional methods, the data integrity, diagnostic accuracy and adaptability to complex environments of the present invention are significantly improved, and it is suitable for underwater structure stability monitoring, submarine energy transmission pipeline maintenance, marine engineering infrastructure safety assessment and other fields. The present invention not only improves the safety and service life of underwater structures, but also provides a new efficient and intelligent stability diagnosis solution for the marine engineering field. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0036] Figure 1 A schematic flow chart of a method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0038] Reference Figure 1 This embodiment provides a method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning, the method comprising:

[0039] S11. Perform transverse profile scanning and longitudinal profile scanning on the underwater structure respectively, and extract transverse profile point cloud data and longitudinal profile point cloud data.

[0040] S12. Generate a three-dimensional structure model based on the transverse section point cloud data and the longitudinal section point cloud data, and obtain the buried depth of the underwater structure based on the three-dimensional structure model.

[0041] S13. Obtain a lateral settlement difference based on the buried depth of the underwater structure, and calculate an inclination angle between the horizontal axis of the underwater structure and the horizontal plane based on the lateral settlement difference.

[0042] S14. Obtain a longitudinal elevation deviation based on the buried depth of the underwater structure, and calculate an angle between the longitudinal axis of the underwater structure and the horizontal plane based on the longitudinal elevation deviation.

[0043] S15. Set the intersection point of the horizontal and vertical tangent lines along the direction of the underwater structure as A, find any point on the horizontal tangent line as B, find any point on the vertical tangent line as C, and give the coordinates of the three points. , first get the vector calculation formula The vector modulus of , and then the angle at point A is obtained by the dot product formula.

[0044] S16. Compare the angle at point A with a preset threshold to determine the stability of the underwater structure.

[0045] In this embodiment, using a deep-buried submarine pipeline as an example, the ground depth of the target area (underwater structure) is measured based on the formula for acoustic two-way travel time and medium sound velocity. Based on the ground depth of the target area (underwater structure), the lateral settlement difference and longitudinal elevation deviation of the target area are calculated. The inclination angle between the horizontal axis and the horizontal plane and the angle between the vertical axis and the horizontal plane are calculated based on the lateral settlement difference and longitudinal elevation deviation, respectively. By understanding the angles between the horizontal and vertical axes and the horizontal plane, the orientation of the target area in three-dimensional space is determined, thereby determining the directions of the horizontal and vertical tangents. By determining the directions of the horizontal and vertical tangents, the intersection of the two tangents is determined. Based on the intersection and the coordinates of points B and C on the horizontal and vertical tangents, the angle at point A is calculated using the dot product formula. The angle at point A is compared with a preset threshold to diagnose the stability of the target area (underwater structure). For example, the stability of a submarine pipeline can be determined using this method.

[0046] As a preferred embodiment, in step S12, generating a three-dimensional structure model based on the transverse section point cloud data and the longitudinal section point cloud data specifically includes:

[0047] After preprocessing, the collected transverse section point cloud data and longitudinal section point cloud data are aligned to the same coordinate system and merged to generate a point cloud dataset.

[0048] Based on the point cloud dataset, a three-dimensional structure model is constructed using three-dimensional reconstruction technology.

[0049] In this embodiment, by merging point cloud data from different directions, the geometric features of underwater structures are captured more comprehensively, reducing data loss and errors. The merged point cloud dataset contains more detailed information, providing a data basis for the subsequent construction of a more detailed and realistic three-dimensional model.

[0050] As a preferred embodiment, in step S12, based on the three-dimensional structure model and the formula of the two-way travel time of the acoustic wave and the medium sound velocity, the expression for obtaining the buried depth of the underwater structure is:

[0051]

[0052] in, is the depth of underwater structures (m, measured from the seabed surface), is the sound velocity in the sediment layer (m / s), which needs to be determined through on-site calibration or empirical values (e.g., about 1500 m / s for silt layers and 1700–1900 m / s for sand layers). is the round-trip time (s) of the sound wave from emission to reception. Note: The denominator 2 corrects the sound wave propagation path (round-trip distance).

[0053] As a preferred embodiment, in step S13, the lateral settlement difference is obtained based on the buried depth of the underwater structure, and its expression is:

[0054]

[0055] in, is the height of the underwater structure, is the DGPS height correction value, is the lateral settlement difference, Height of the left side of the underwater structure, It is the height of the right side of the underwater structure.

[0056] In this embodiment, the core parameter values for uneven foundation settlement on both sides of the underwater structure's cross section are obtained based on the lateral settlement differential formula. Zleft and Zright represent the heights of the left and right sides of the pipeline, respectively. The lateral settlement differential of the underwater structure is calculated using the acoustic two-way traveltime formula. The DGPS elevation correction value is obtained using Differential Global Positioning System (DGPS) technology. For elevation measurement, DGPS uses differential technology to calibrate and improve GPS altimeters. This method uses the difference between the measured values of a reference station with known coordinates and the measured station to perform corrections. The corrected data can improve measurement precision and accuracy. The Differential Global Positioning System (DGPS) utilizes differential technology based on GPS, enabling users to obtain higher precision from the GPS system. It offers advantages such as real-time, continuous, and high-precision measurement. DGPS technology uses a GPS receiver at a reference station with a known precise location to calculate the distance correction from the underwater structure to the satellite and transmit this correction to the user in real time or afterward.

[0057] As a preferred embodiment, in step S13, the inclination angle between the horizontal axis of the underwater structure and the horizontal plane is calculated based on the lateral settlement difference, and the expression is:

[0058]

[0059] in, is the inclination angle between the horizontal axis of the underwater structure and the horizontal plane, Measure the length of the underwater structure.

[0060] In this embodiment, the angle between the horizontal axis of the pipeline and the horizontal plane is obtained based on the inclination angle θ formula.

[0061] As a preferred embodiment, in step S14, two longitudinal points are taken along the longitudinal direction of the top plate of the underwater structure based on the preset rules. ,set up As the initial point, the longitudinal elevation deviation is obtained by the buried depth of the underwater structure. The expression is:

[0062]

[0063] in, It is the value of a point along the longitudinal direction of the top plate of the underwater structure. It is obtained by integrating real-time water level monitoring data with DGPS elevation. is the longitudinal elevation deviation.

[0064] In this embodiment, based on the longitudinal elevation deviation calculation formula , take 2 longitudinal points along the longitudinal direction of the top plate of the underwater structure ,Will The vertical elevation deviation of the underwater structure is calculated using the acoustic two-way travel time formula as the initial point. Real-time water level monitoring data, measured and recorded in real time by equipment such as tide gauges and water level gauges, reflects the actual water level at different points in time. DGPS elevation data provides precise elevation information for the measurement point, i.e., its vertical distance relative to a reference datum. Because tidal correction values need to take into account both the actual water level at the measurement point and its elevation relative to the reference datum, real-time water level monitoring data is combined with DGPS elevation data to derive the tidal correction value.

[0065] As a preferred embodiment, in step S14, the angle between the longitudinal axis of the underwater structure and the horizontal plane is calculated based on the longitudinal elevation deviation, and the expression is:

[0066]

[0067] in, is the angle between the longitudinal axis of the underwater structure and the horizontal plane, Measure the length of the underwater structure.

[0068] In this embodiment, the angle between the longitudinal axis of the pipeline and the horizontal plane is obtained based on the inclination angle θ formula.

[0069] As a preferred embodiment, in step S15, the angle at point A is obtained by the dot product formula, which is expressed as:

[0070]

[0071] in, is the angle between the intersection point A of the horizontal and vertical tangent lines; is the vector between the intersection point A of the transverse and longitudinal tangent lines and any point B on the transverse tangent line, It is the vector between the intersection point A of the horizontal and vertical tangents and any point C on the vertical tangent line.

[0072] In this embodiment, the angle A between the transverse tangent line and the longitudinal tangent line is calculated to determine the degree of inclination of the entire underwater structure or a local section thereof.

[0073] As a preferred embodiment, in step S16, the angle at point A is compared with a preset threshold. If it is less than or equal to the preset threshold, the degree of inclination of the underwater structure has no effect on stability. If it is greater than the preset threshold, the degree of inclination of the underwater structure will affect stability.

[0074] In this embodiment, according to the standards and safety specifications of marine engineering, we set the preset threshold of the inclination angle of the underwater structure to 3 degrees. If the inclination angle of the underwater structure is less than or equal to 3 degrees, it is considered that the degree of inclination has no effect on stability.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning, characterized in that: The method comprises: S11. Performing transverse profile scanning and longitudinal profile scanning on the underwater structure, respectively, to extract transverse profile point cloud data and longitudinal profile point cloud data; S12. generating a three-dimensional structure model based on the transverse section point cloud data and the longitudinal section point cloud data, and obtaining the buried depth of the underwater structure based on the three-dimensional structure model; Based on the three-dimensional structure model and the formula of acoustic two-way travel time and medium sound velocity, the expression for obtaining the buried depth of underwater structures is: in, The burial depth of underwater structures, is the sound velocity of the sediment layer, The round-trip time of the sound wave from emission to reception; S13. Obtaining a lateral settlement difference based on the buried depth of the underwater structure, and calculating an inclination angle between the horizontal axis of the underwater structure and the horizontal plane based on the lateral settlement difference; The lateral settlement difference is obtained based on the buried depth of the underwater structure, and its expression is: in, is the height of the underwater structure, is the DGPS height correction value, is the lateral settlement difference, Height of the left side of the underwater structure, is the height of the right side of the underwater structure; S14. Obtaining a longitudinal elevation deviation based on the buried depth of the underwater structure, and calculating an angle between a longitudinal axis of the underwater structure and a horizontal plane based on the longitudinal elevation deviation; S15. Set the intersection point of the horizontal and vertical tangent lines along the direction of the underwater structure as A, find any point on the horizontal tangent line as B, find any point on the vertical tangent line as C, and give the coordinates of the three points. , first get the vector calculation formula The vector modulus, and then the angle at point A is obtained by the dot product formula; S16. Compare the angle at point A with a preset threshold to determine the stability of the underwater structure.

2. The method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning according to claim 1 is characterized in that: In step S12, a three-dimensional structure model is generated based on the transverse section point cloud data and the longitudinal section point cloud data, specifically including: After pre-processing the collected transverse section point cloud data and longitudinal section point cloud data, they are aligned to the same coordinate system and merged to generate a point cloud dataset; Based on the point cloud dataset, a three-dimensional structure model is constructed using three-dimensional reconstruction technology.

3. The method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning according to claim 1 is characterized in that: In step S13, the inclination angle between the horizontal axis of the underwater structure and the horizontal plane is calculated based on the lateral settlement difference, and the expression is: in, is the inclination angle between the horizontal axis of the underwater structure and the horizontal plane, Measure the length of the underwater structure.

4. The method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning according to claim 1 is characterized in that: In step S14, two longitudinal points are taken along the longitudinal direction of the top plate of the underwater structure based on the preset rules. ,set up As the initial point, the longitudinal elevation deviation is obtained by the buried depth of the underwater structure. The expression is: in, It is the value of a point along the longitudinal direction of the top plate of the underwater structure. It is obtained by integrating real-time water level monitoring data with DGPS elevation. is the longitudinal elevation deviation.

5. The method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning according to claim 4 is characterized in that: In step S14, the angle between the longitudinal axis of the underwater structure and the horizontal plane is calculated based on the longitudinal elevation deviation, and the expression is: in, is the angle between the longitudinal axis of the underwater structure and the horizontal plane, Measure the length of the underwater structure.

6. The method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning according to claim 1 is characterized in that: In step S15, the angle at point A is obtained by the dot product formula, which is expressed as: in, is the angle between the intersection point A of the horizontal and vertical tangent lines; is the vector between the intersection point A of the transverse and longitudinal tangent lines and any point B on the transverse tangent line, It is the vector between the intersection point A of the horizontal and vertical tangents and any point C on the vertical tangent line.

7. The method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning according to claim 1 is characterized in that: In step S16, the angle at point A is compared with a preset threshold. If it is less than or equal to the preset threshold, the inclination of the underwater structure has no effect on stability. If it is greater than the preset threshold, the inclination of the underwater structure will affect stability.

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