Highway bridge pile foundation nondestructive testing system based on inspection robot

Abstract

The invention discloses a highway bridge pile foundation nondestructive testing system based on an inspection robot. The highway bridge pile foundation nondestructive testing system comprises an inspection robot cluster module, a data sensing module, an analysis model establishing module, a difference analysis module and a feedback module. The inspection robot cluster module is used for collecting physical parameters and geometric morphology parameters of a pile foundation and surrounding rock soil under the action of a vehicle load in real time; the physical parameters comprise pile foundation stress, side area and mechanical parameters of rock soil. The invention belongs to the technical field of highway bridge detection, and aims at solving the problems that in the prior art, pile foundation deformation, rock and soil parameters and multi-dimensional data of vehicle dynamic loads cannot be obtained, and damage to the interior of a pile foundation caused by the dynamic transfer effect is ignored. The method has the technical effects that the problems that multi-dimensional data of pile foundation deformation, rock and soil parameters and vehicle dynamic loads cannot be obtained, and damage to the interior of the pile foundation caused by the dynamic transfer effect is ignored are solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of highway bridge detection, and particularly relates to a highway bridge pile foundation nondestructive detection system based on a patrol robot. BACKGROUND

[0002] Highway bridges are key hubs of the transportation system, and their safety and stability are directly related to the smoothness of personnel exchanges, material transportation and social operation. In the construction and maintenance process of highway bridges, the stability of pile foundations, which support the bridge deck load and connect with deep soil, is directly related to the safe operation of the bridge. The pile foundation not only supports the core framework of the bridge weight, but also is the first line of defense against geological risks and environmental erosion.

[0003] After the completion of highway bridge construction, the self-weight of the bridge deck load and the vehicle load will be transmitted to the surrounding soil through the pile foundation. Once the pile foundation is damaged due to aging, disease or external impact, the overall safety of the highway bridge will be seriously threatened, and even catastrophic accidents such as collapse may occur. Therefore, regular and accurate nondestructive detection of the highway bridge pile foundation is of great significance to ensure the safe operation of the highway bridge, and can ensure the integrity and bearing capacity of the pile foundation, and has an irreplaceable role in maintaining the function of the bridge and prolonging the service life.

[0004] However, most of the current highway bridge pile foundation nondestructive detection systems can only perform single detection, such as pile foundation structural integrity, and cannot obtain multi-dimensional data of pile foundation deformation, soil parameters and vehicle dynamic load, ignoring the dynamic transmission effect on the internal damage of the pile foundation, resulting in poor nondestructive detection effect of the pile foundation. SUMMARY

[0005] The application provides a highway bridge pile foundation nondestructive detection system based on a patrol robot, which aims to solve the problem that the prior art cannot obtain multi-dimensional data of pile foundation deformation, soil parameters and vehicle dynamic load, and ignores the internal damage of the pile foundation caused by the dynamic transmission effect.

[0006] A highway bridge pile foundation nondestructive detection system based on a patrol robot, comprising a patrol robot cluster module, a data perception module, an analysis model establishment module, a difference analysis module and a feedback module.

[0007] The patrol robot cluster module is used to collect physical parameters and geometric parameters of the pile foundation and surrounding soil and vehicle load in real time; the physical parameters include pile foundation stress, lateral area and soil mechanical parameters; the geometric parameters include pile diameter and depth of the pile foundation bottom in the soil;

[0008] The data perception module is responsible for processing and fusing physical parameters and geometric parameters, and constructing the state matrix of the pile foundation through the fused data. Then, based on the inversion model, the actual load x borne by the pile foundation is calculated to obtain the pile foundation-superior bridge structure association;

[0009] The analysis model establishment module is used to determine the pile foundation-rock soil association, and establish an analysis model of the upper bridge structure-pile foundation-rock soil based on the pile foundation-upper bridge structure association, and calculate the distribution of the upper bridge load transmitted to the rock soil through the pile foundation through the analysis model;

[0010] The difference analysis module can output the total friction resistance Q of the pile foundation side and the pile foundation end resistance q b The load sharing ratio is sorted and compared to confirm the actual working condition signal S2 of the pile foundation, and the actual working condition signal S2 is processed to obtain the non-destructive pile foundation detection signal S5;

[0011] The feedback module is used to generate a graph from the non-destructive pile foundation detection signal S5 and display the detection data contained in the non-destructive pile foundation detection signal S5.

[0012] Furthermore, the inspection robot cluster module is composed of multiple inspection robot units, and the inspection robot unit includes a moving subunit, a multi-source sensor subunit, a survey subunit and a control subunit.

[0013] Furthermore, the mobile subunit is used to provide mobile power for the inspection robot unit and is equipped with a navigation subunit, so that the inspection robot unit can reach various parts of the pile foundation for inspection according to a preset path;

[0014] The multi-source sensor subunit is used to collect physical parameters and geometric parameters of the pile foundation under the action of its own weight and vehicle load through various sensors;

[0015] The survey subunit is used to obtain mechanical parameters of rock and soil through on-site geological surveys and indoor tests;

[0016] The control subunit can drive the multi-source sensor subunits to different parts of the pile foundation for detection.

[0017] Furthermore, the specific contents of the data perception module include parameter data preprocessing, parameter data fusion, construction of pile foundation state matrix and construction of inversion model.

[0018] Furthermore, the analysis model building module includes a determination unit, a construction unit and an analysis unit;

[0019] The determining unit is used to receive and obtain mechanical parameters of rock and soil;

[0020] The construction unit is capable of determining the pile foundation-rock soil correlation and establishing an analysis model of the upper bridge structure-pile foundation-rock soil correlation based on the pile foundation-upper bridge structure correlation;

[0021] The analysis unit is used to calculate the distribution of the upper bridge load transmitted to the rock and soil through the pile foundation, and compare the total friction resistance Q of the pile foundation side and the pile foundation end resistance q b load sharing ratio.

[0022] Furthermore, the specific contents of the construction unit include constructing a pile foundation-rock soil correlation and establishing an analysis model, wherein the pile foundation-rock soil correlation is used to determine the pile foundation-rock soil correlation by calculating the total friction resistance of the pile foundation side surface. The calculation formula is as follows:

[0023]

[0024] Among them, Q is the total friction resistance on the side of the pile foundation, q is the friction resistance per unit area on the side of the pile, D is the pile diameter, and L is the depth of the bottom of the pile foundation in the rock and soil.

[0025] Furthermore, the specific contents of the analysis unit are as follows:

[0026] a) Input the pile foundation-superstructure relationship into the analysis model through time history analysis;

[0027] b) Extract the distribution of the total frictional resistance on the pile foundation side in the pile foundation-rock soil relationship and calculate the distribution of the upper bridge load transferred to the rock soil through the pile foundation;

[0028] c) Calculate and output the total friction resistance Q of the pile foundation side and the pile foundation end resistance q respectively b load sharing ratio.

[0029] Furthermore, the specific contents of the difference analysis module include:

[0030] a) Through numerical simulation, obtain the benchmark value S1 of the pile foundation, rock soil and upper bridge structure under the condition of no defect pile foundation;

[0031] b) Determine the total friction resistance Q on the side of the pile foundation and the pile end resistance q b The load sharing ratio is calculated and the actual working condition value S2 of the pile foundation is determined based on the preset value.

[0032] Furthermore, the specific content of the difference analysis module also includes the calculation and output of the non-destructive pile foundation detection signal S5.

[0033] Compared with the prior art, this application has at least the following beneficial effects:

[0034] This application is based on further analysis and research on existing technical problems. By adopting a patrol robot cluster module, it can obtain multi-dimensional data streams related to pile foundations, upper bridge structures and rock and soil in real time, and determine the relationship between upper bridge structure-pile foundation-rock and soil through data perception module and analysis model building module, calculate the distribution of upper bridge load transmitted to rock and soil through pile foundation, and judge the damage to the pile foundation caused by dynamic transfer effect. With this systematic and comprehensive detection method, the goal of non-destructive testing of pile foundations is effectively achieved, and the work efficiency of non-destructive testing is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A module diagram of a nondestructive testing system for highway bridge pile foundations based on an inspection robot provided in one embodiment of the present application;

[0036] Figure 2 A schematic diagram of the module workflow of a nondestructive testing system for highway bridge pile foundations based on an inspection robot is provided as an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of this application more clear, this application is further described in detail below with reference to the accompanying drawings and embodiments.

[0038] like Figure 1 and Figure 2 As shown, the present application provides a non-destructive testing system for highway bridge pile foundations based on inspection robots, including an inspection robot cluster module, a data perception module, an analysis model building module, a difference analysis module and a feedback module.

[0039] The inspection robot cluster module is used to collect real-time physical and geometric parameters of the pile foundation, the surrounding rock and soil, and vehicle loads. Physical parameters include pile foundation stress, lateral area, and rock and soil mechanical parameters, reflecting the stress state of the pile foundation. Geometric parameters include the geometric dimensions and shape characteristics of the pile foundation, including the pile diameter and the depth of the pile base in the rock and soil.

[0040] The inspection robot cluster module consists of multiple inspection robot units, which include a mobile sub-unit, a multi-source sensor sub-unit, a survey sub-unit and a control sub-unit.

[0041] The mobile subunit provides power for the inspection robot unit and carries the navigation subunit, enabling it to reach various locations on the pile foundation for inspection along a pre-set path. The navigation subunit also utilizes a combination of LiDAR, visual sensors, and an inertial measurement unit (IMU) to enable autonomous positioning and path planning for the inspection robot unit, ensuring it accurately reaches the designated inspection location.

[0042] The multi-source sensor subunit uses a variety of sensors to collect the physical and geometric parameters of the pile foundation under its own weight and vehicle loads. These sensors include stress sensors, strain sensors, accelerometers, displacement sensors, acoustic sensors, electromagnetic sensors, and a 3D laser scanner. Stress and strain sensors measure the stress and strain distribution of the pile foundation; accelerometers and displacement sensors monitor vibration and deformation; acoustic sensors detect pile foundation integrity; electromagnetic sensors detect surrounding rock and soil properties and the distribution of weak soil layers; and 3D laser scanners capture the geometric parameters of the pile foundation and the bridge structure above.

[0043] The survey subunit is used to obtain the mechanical parameters of rock and soil through on-site geological surveys and indoor tests.

[0044] The control subunit drives the multi-source sensor subunit to different locations on the pile foundation for inspection. A force sensor installed on the control subunit monitors the contact force between the robotic arm and the pile foundation in real time to prevent damage. The control subunit also coordinates the various components of the inspection robot. Based on pre-set inspection tasks and path planning, it controls the operation of the mobile subunit and the multi-source sensor subunit, enabling automated inspection by the inspection robot unit.

[0045] The data perception module is responsible for processing and fusing physical parameters and geometric parameters, and constructing the pile foundation state matrix through the fused data. It then calculates the actual load x borne by the pile foundation based on the inversion model, and obtains the correlation between the pile foundation and the upper bridge structure, providing accurate data support for subsequent pile foundation testing. The specific contents are as follows:

[0046] a) Parameter data preprocessing

[0047] (1) Physical parameters:

[0048] Denoising: This effectively removes impulse noise (such as spikes or outliers) by replacing the current data point with the median of the neighboring data. Select a window size (e.g., an odd number of data points, such as 3, 5, or 7). For each data point, take the data points in the window before and after each half to form a window. Sort the data within the window and use the median as the correction value for the current data point. Centering a given data point, sort a certain number of data points before and after it and replace the original data point with the median value to eliminate impulse noise.

[0049] Normalization processing: Map physical parameter data of different dimensions to a unified numerical interval, such as [0, 1], calculate the minimum and maximum values ​​of the data, and apply the normalization formula to each data point to eliminate the dimension effect and facilitate subsequent processing.

[0050] (2) Geometric parameters:

[0051] Denoising: Based on the statistical analysis of the point's neighborhood, remove points (noise points) with large distance differences from surrounding points. During denoising, for each point, calculate the average distance of its k neighboring points. Calculate the deviation between the average distance from the current point to the neighboring points and the global average distance. If the deviation exceeds the set threshold, the point is marked as a noise point and removed. Then convolve the image with a Gaussian kernel to smooth the noise while retaining edge information. Set the size of the Gaussian kernel (such as 3x3 or 5x5). Set the standard deviation (sigma) to control the degree of smoothing, perform a convolution operation on the image, and generate a denoised image.

[0052] Correction: Correct the image to an orthographic perspective using an affine or perspective transformation. Select four reference points in the image (e.g., the four corners of a pile foundation) and map them to the target locations. Apply the transformation matrix to generate the corrected image.

[0053] b) Parameter data fusion

[0054] (1) Spatial alignment

[0055] Establish a unified coordinate system for the pile foundation: Select a fixed reference point as the coordinate origin, such as an endpoint of the pile foundation (such as the center of the pile top). Use the axis of the pile foundation as one coordinate axis, and two directions perpendicular to the axis of the pile foundation and perpendicular to each other as two other coordinate axes (such as the X and Y axes) to construct a right-handed coordinate system.

[0056] (2) Sensor position calibration

[0057] A laser rangefinder directly measures the distance and direction of each sensor's installation location on the pile foundation relative to the origin of the unified coordinate system. For example, the horizontal and vertical distances from the stress sensor to the center of the pile top, as well as the angle between the sensor's installation direction and the pile foundation axis, are measured to determine its position coordinates in the unified coordinate system.

[0058] (3) Data alignment and fusion

[0059] Point cloud processing software is used to convert the processed geometric parameters into a 3D model of the pile foundation. Distinctive geometric features, such as the pile foundation's edges, corners, and cylindrical surfaces, are extracted from the 3D model. An iterative closest point (ICP) algorithm is used to match the geometric features to the closest point pairs of the 3D model, optimizing the conversion parameters and improving registration accuracy. The converted parameters are then mapped to the 3D model. Physical parameters are displayed as color maps on the 3D model of the pile foundation, allowing each physical parameter to be mapped to a specific geometric location within the pile foundation. The model is then aligned to a unified coordinate system.

[0060] Based on the importance of different parameters of weighted average to the pile foundation status assessment, corresponding weights are assigned, and then weighted summation is performed to obtain the fused parameter value.

[0061] c) Construct pile foundation status matrix

[0062] Based on the fused parameters (stress, strain, vibration, pile diameter, pile length, and pile inclination), a 6-dimensional state vector is constructed at each time point or each detection location to form a state matrix. The elements of the state matrix are the fused parameter values.

[0063] d) Constructing the inversion model

[0064] An inversion model is established based on the least squares method. Each parameter value in the state matrix is ​​used as the input of the inversion model to match the calculated results of the model with the actual measurement results. The actual load x borne by the pile foundation is calculated by combining the inversion model and the state matrix. The calculation formula is as follows:

[0065] x=(H T H) -1 ×H T ×Y

[0066] Among them, H is the state matrix, H T is the transposed matrix of the state matrix, Y is the measured pile foundation load value, and the pile foundation-superstructure correlation is obtained.

[0067] The analytical model building module determines the pile foundation-rock soil relationship and, based on the pile foundation-superstructure relationship, establishes an analytical model for the superstructure-pile foundation-rock soil. This analytical model calculates the distribution of the superstructure load transmitted through the pile foundation to the rock soil, providing a foundation for the subsequent differential analysis module. The analytical model building module includes a determination unit, a construction unit, and an analysis unit.

[0068] The determination unit is used to receive and obtain the mechanical parameters of rock and soil, which include the density of rock and soil, the pressure coefficient of rock and soil, the gravity, the bearing capacity coefficient and the pile foundation-rock and soil friction angle.

[0069] The construction unit can determine the pile foundation-rock soil relationship and establish an analysis model of the upper bridge structure-pile foundation-rock soil relationship based on the pile foundation-superior bridge structure relationship. The specific contents are as follows:

[0070] a) Establishing pile foundation-rock and soil association

[0071] According to the theory of elastic mechanics, the pile body will undergo elastic deformation under load. The deformation of the pile body will change the relative displacement between the pile and the soil, which in turn affects the total friction resistance on the side of the pile foundation. By calculating the total friction resistance on the side of the pile foundation, the relationship between the pile foundation and the rock and soil can be determined, which facilitates the analysis of the impact of the pile foundation under the compression of the rock and soil. The calculation formula is as follows:

[0072]

[0073] Where Q is the total frictional resistance on the side of the pile foundation, q is the frictional resistance per unit area on the side of the pile, D is the pile diameter, and L is the depth of the pile bottom in the rock and soil. The calculation formula for q is as follows:

[0074]

[0075] Among them, K0 is the pressure coefficient of rock and soil, σ is the stress of pile foundation, is the pile-rock-soil friction angle.

[0076] b) Establish an analysis model

[0077] (1) Create an analytical model of the pile foundation and rock soil in finite element software. The analytical model accurately reflects the geometric size and shape of the pile foundation and the connection relationship between the pile foundation, rock soil and the upper bridge structure.

[0078] (2) Contact elements are set between the pile foundation and the rock soil to simulate the interaction between the pile foundation and the rock soil interface. The normal behavior is set to hard contact, allowing the pile foundation and the rock soil to contact under pressure and separate under tension. The tangential behavior is set to the Coulomb friction model with a friction coefficient of K0.

[0079] The analysis unit is used to calculate the distribution of the upper bridge load transmitted to the rock and soil through the pile foundation, and compare the total friction resistance Q of the pile foundation side and the pile foundation end resistance q b The load sharing ratio is as follows:

[0080] a) The pile foundation-superstructure relationship is input into the analysis model through time-history analysis. The deadweight and live load of the pile foundation in the pile foundation-superstructure relationship are included and applied to the pile foundation and superstructure through nodal forces.

[0081] b) Extract the distribution of the total frictional resistance on the pile foundation side in the pile foundation-rock soil relationship and calculate the distribution of the upper bridge load transferred to the rock soil through the pile foundation. The calculation formula is as follows:

[0082] C=∑Q·S+q b ·S i

[0083] Where C is the transferred load, S is the side area of ​​the pile foundation, and q b is the pile end resistance, S i is the area of ​​the pile end. b The calculation formula is as follows:

[0084] q b =K0·Nγ·D

[0085] Where N is the bearing capacity coefficient and γ is the density of the rock and soil.

[0086] c) Calculate and output the total friction resistance Q of the pile foundation side and the pile foundation end resistance q respectively b load sharing ratio.

[0087]

[0088] The difference analysis module can output the total friction resistance Q of the pile foundation side and the pile foundation end resistance q b The load sharing ratio is sorted and compared to confirm the actual working condition signal S2 of the pile foundation, and the actual working condition signal S2 is processed to obtain the non-destructive pile foundation detection signal S5. The specific contents are as follows:

[0089] a) Through numerical simulation, obtain the benchmark value S1 of the pile foundation, rock soil and upper bridge structure under the condition of defect-free pile foundation.

[0090] b) Determine the total friction resistance Q on the side of the pile foundation and the pile end resistance q b The load sharing ratio is calculated and the actual working condition value S2 of the pile foundation is determined based on the preset value.

[0091] For example, the design requires the pile end resistance q b When it is the main one, you need to ensure that m2>m1. If m2<m1则表示m1为实际工况数值S2,m2为缺陷工况数值S3。若m2> m1, then m2 means the actual working condition value S2, and m2 minus m1 is the defective working condition value S3.

[0092] c) Calculation and output of non-destructive pile foundation detection signal S5

[0093] By aligning the waveforms, S1 and S2 are aligned in time and space, and S1 is separated from S2 to obtain S4. Here, S4 = S2 - S1, which is used to eliminate the reference signal S1 from the actual working condition signal S2 and extract the interference signal S4.

[0094] By aligning waveforms, S3 and S4 are aligned in time and space, and S4 is separated from S3 to obtain a non-destructive pile foundation detection signal S5. Here, S5 = S3 - S4. The non-destructive pile foundation detection signal S5 is then output.

[0095] The feedback module is used to generate a graph from the non-destructive pile foundation test signal S5 and display the test data contained in the non-destructive pile foundation test signal S5. Users can view the pile foundation test data in real time through the interface. The test data includes the transferred load, the total lateral friction resistance of the pile foundation, and the pile foundation end resistance.

[0096] Meanwhile, the feedback module can also feed back the output nondestructive pile foundation detection signal S5 to the inspection robot cluster, replan the detection path of the inspection robot according to the nondestructive pile foundation detection signal S5, adjust the sampling frequency, sampling position and sampling mode of the multi-source sensor subunit, increase the sampling density of the key parts, and obtain more detailed and accurate detection data.

[0097] In the above-mentioned highway bridge pile foundation nondestructive detection system based on an inspection robot, the inspection robot cluster module can obtain real-time multi-dimensional data flow related to the pile foundation, the upper bridge structure and the rock-soil, determine the correlation between the upper bridge structure, the pile foundation and the rock-soil through the data perception module and the analysis model establishment module, calculate the distribution of the upper bridge load transmitted to the rock-soil through the pile foundation, and judge the damage to the pile foundation caused by the dynamic transmission effect. With this systematic and comprehensive detection method, the nondestructive detection target of the pile foundation is effectively achieved, and the work efficiency of the nondestructive detection is improved.

[0098] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

Claims

1. A non-destructive testing system for highway bridge pile foundations based on inspection robots, characterized in that: It includes inspection robot cluster module, data perception module, analysis model building module, difference analysis module and feedback module; The inspection robot cluster module is used to collect physical parameters and geometric parameters of the pile foundation, the surrounding rock and soil, and vehicle loads in real time; the physical parameters include pile foundation stress, lateral area, and mechanical parameters of the rock and soil; the geometric parameters include pile diameter and the depth of the pile foundation bottom in the rock and soil; The data perception module is responsible for processing and fusing physical parameters and geometric parameters, and constructing the state matrix of the pile foundation through the fused data. Then, based on the inversion model, the actual load x borne by the pile foundation is calculated to obtain the pile foundation-superior bridge structure association; The analysis model establishment module is used to determine the pile foundation-rock soil association, and establish an analysis model of the upper bridge structure-pile foundation-rock soil based on the pile foundation-upper bridge structure association, and calculate the distribution of the upper bridge load transmitted to the rock soil through the pile foundation through the analysis model; The difference analysis module can output the total friction resistance Q of the pile foundation side and the pile foundation end resistance q b The load sharing ratio is sorted and compared to confirm the actual working condition signal S2 of the pile foundation, and the actual working condition signal S2 is processed to obtain the non-destructive pile foundation detection signal S5; The feedback module is used to generate a graph from the non-destructive pile foundation detection signal S5 and display the detection data contained in the non-destructive pile foundation detection signal S5.

2. A nondestructive testing system for highway bridge pile foundations based on an inspection robot according to claim 1, characterized in that: The inspection robot cluster module is composed of multiple inspection robot units, and the inspection robot unit includes a moving subunit, a multi-source sensor subunit, a survey subunit and a control subunit.

3. The nondestructive testing system for highway bridge pile foundations based on a patrol robot according to claim 2, characterized in that: The mobile subunit is used to provide mobile power for the inspection robot unit and is equipped with a navigation subunit, so that the inspection robot unit can reach various parts of the pile foundation for inspection according to a preset path; The multi-source sensor subunit is used to collect physical parameters and geometric parameters of the pile foundation under the action of its own weight and vehicle load through various sensors; The survey subunit is used to obtain mechanical parameters of rock and soil through on-site geological surveys and indoor tests; The control subunit can drive the multi-source sensor subunits to different parts of the pile foundation for detection.

4. The nondestructive testing system for highway bridge pile foundations based on a patrol robot according to claim 1, characterized in that: The specific contents of the data perception module include parameter data preprocessing, parameter data fusion, construction of pile foundation state matrix and construction of inversion model.

5. The nondestructive testing system for highway bridge pile foundations based on a patrol robot according to claim 1, characterized in that: The analysis model building module includes a determination unit, a construction unit and an analysis unit; The determining unit is used to receive and obtain mechanical parameters of rock and soil; The construction unit is capable of determining the pile foundation-rock soil correlation and establishing an analysis model of the upper bridge structure-pile foundation-rock soil correlation based on the pile foundation-upper bridge structure correlation; The analysis unit is used to calculate the distribution of the upper bridge load transmitted to the rock and soil through the pile foundation, and compare the total friction resistance Q of the pile foundation side and the pile foundation end resistance q b load sharing ratio.

6. The nondestructive testing system for highway bridge pile foundations based on a patrol robot according to claim 5, characterized in that: The specific contents of the construction unit include constructing the pile foundation-rock soil correlation and establishing an analysis model, wherein the pile foundation-rock soil correlation is used to determine the pile foundation-rock soil correlation by calculating the total friction resistance on the pile foundation side. The calculation formula is as follows: Among them, Q is the total friction resistance on the side of the pile foundation, q is the friction resistance per unit area on the side of the pile, D is the pile diameter, and L is the depth of the bottom of the pile foundation in the rock and soil.

7. The nondestructive testing system for highway bridge pile foundations based on a patrol robot according to claim 5, characterized in that: The specific contents of the analysis unit are as follows: a) Input the pile foundation-superstructure relationship into the analysis model through time history analysis; b) Extract the distribution of the total frictional resistance on the pile foundation side in the pile foundation-rock soil relationship and calculate the distribution of the upper bridge load transferred to the rock soil through the pile foundation; c) Calculate and output the total friction resistance Q of the pile foundation side and the pile foundation end resistance q respectively b load sharing ratio.

8. The nondestructive testing system for highway bridge pile foundations based on a patrol robot according to claim 1, characterized in that: The specific contents of the difference analysis module include: a) Through numerical simulation, obtain the benchmark value S1 of the pile foundation, rock soil and upper bridge structure under the condition of no defect pile foundation; b) Determine the total friction resistance Q on the side of the pile foundation and the pile end resistance q b The load sharing ratio is calculated and the actual working condition value S2 of the pile foundation is determined based on the preset value.

9. The nondestructive testing system for highway bridge pile foundations based on a patrol robot according to claim 8, characterized in that: The specific content of the difference analysis module also includes the calculation and output of the non-destructive pile foundation detection signal S5.

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