Method and device for monitoring corrosion condition of metal structure and storage medium

Abstract

The invention discloses a method and device for monitoring the corrosion condition of a metal structure, a storage medium, an electronic device and a computer program product.The method comprises the steps that an initial track is determined on the surface of the metal structure according to structure parameters of the metal structure to be protected, and the initial track is used for bearing a sensor; under a set optimization target, parameters of the initial track are adjusted, a target track is determined, and the optimization target is that under the condition that the sensor moves on the track, the coverage area of a monitoring area of the sensor on the surface of the metal structure is maximized; adopting a preset motion mode to control the sensor to move along the target track so as to obtain monitoring data of the surface of the metal structure; and determining the corrosion condition of the surface of the metal structure according to the monitoring data. The comprehensiveness and accuracy of the monitoring data collected by the sensor are improved, and then the comprehensiveness and accuracy of determining the surface corrosion condition of the metal structure according to the monitoring data are improved.

Description

Technical Field

[0001] The present application relates to the field of corrosion monitoring, and more specifically, to a method and device for monitoring the corrosion of a metal structure, a storage medium, an electronic device, and a computer program product. Background Art

[0002] With the rapid development of science and technology, more and more underwater devices have emerged in order to make more effective use of marine resources. Underwater steel structures such as offshore platforms, ship hulls and submarine pipelines, offshore wind power metal structures, etc. are usually exposed to harsh marine environments and are affected by factors such as seawater salinity, temperature, flow rate, and marine biological attachment. They are susceptible to electrochemical corrosion, which leads to a decrease in the strength of the steel structure, a shortened fatigue life, and even structural failure. Therefore, it is necessary to monitor the corrosion of underwater metal structures.

[0003] In the related art, the corrosion condition of underwater metal structures is usually determined by installing sensors at certain key locations of the metal structures for long-term monitoring, or by performing regular inspections using remote-controlled submersibles.

[0004] However, the monitoring results of the corrosion conditions of underwater metal structures using the related technical methods are not accurate and comprehensive enough. Summary of the invention

[0005] Embodiments of the present application provide a method and device for monitoring the corrosion of a metal structure, a storage medium, an electronic device, and a computer program product.

[0006] According to one aspect of an embodiment of the present application, a method for monitoring the corrosion of a metal structure is provided, the method comprising: determining an initial track on the surface of the metal structure according to structural parameters of the metal structure to be protected, wherein the initial track is used to carry a sensor; adjusting the parameters of the initial track under a set optimization target to determine a target track, wherein the optimization target is to maximize the coverage area of ​​the monitoring area of ​​the sensor on the surface of the metal structure when the sensor moves on the track; controlling the sensor to move along the target track using a preset motion mode to obtain monitoring data of the metal structure surface; and determining the corrosion condition of the metal structure surface based on the monitoring data.

[0007] In an exemplary embodiment, under the set optimization objective, adjusting the parameters of the initial track to determine the target track includes: determining the constraints of the parameters of the initial track, wherein the parameters of the initial track include track spacing and track curvature; establishing a track coverage loss function, wherein the track coverage loss function is used to indicate the coverage of the surface of the metal structure by the monitoring area when the sensor is located at a certain point on the track; under the constraints of the parameters of the initial track, adjusting the coordinates of each position point on the initial track until it is determined according to the track coverage loss function that the adjusted track meets the optimization objective; and using the track that meets the optimization objective as the target track.

[0008] In an exemplary embodiment, the step of adjusting the coordinates of each position point on the initial orbit under the constraints of the parameters of the initial orbit until it is determined according to the orbit coverage loss function that the adjusted orbit satisfies the optimization objective comprises: adjusting the coordinates of each position point on the initial orbit under the constraints of the parameters of the initial orbit to obtain a first adjusted orbit; determining the loss function value of each position point on the first adjusted orbit according to the orbit coverage loss function; determining whether the first adjusted orbit satisfies the optimization objective based on the loss function value of each position point on the first adjusted orbit; if the first adjusted orbit does not meet the optimization objective, taking the first adjusted orbit as a new initial orbit, and returning to execute the step of adjusting the coordinates of each position point on the initial orbit under the constraints of the parameters of the initial orbit to obtain a first adjusted orbit until the first adjusted orbit meets the optimization objective.

[0009] In an exemplary embodiment, the constraints for determining the parameters of the initial track include: obtaining the monitoring radius of the sensor and the maximum bending angle of the track; determining the upper limit of the track spacing based on the monitoring radius of the sensor and the maximum bending angle of the track; determining the track curvature of the target position point of the track based on the tangent angle and the differential arc length of the target position point of the track, wherein the target position point is one of the multiple position points; the constraints include that the track spacing is less than or equal to the upper limit of the track spacing, and the curvature of each position point of the track is a determined track curvature.

[0010] In an exemplary embodiment, determining an initial track on the surface of the metal structure to be protected according to the structural parameters of the metal structure includes: determining the surface area of ​​the metal structure based on the structural parameters of the metal structure; establishing an initial track coverage area function according to the surface area of ​​the metal structure and the unit coverage area of ​​a track unit of the track, wherein the track coverage area function is used to indicate the coverage rate of the initial track on the surface of the metal structure; adjusting the layout positions of the plurality of track units on the surface of the metal structure so that the track coverage area function meets an optimization goal, wherein the optimization goal is to maximize the coverage rate of the initial track on the surface of the metal structure; determining the initial track on the surface of the metal structure according to the layout positions of the plurality of track units on the surface of the metal structure when the track coverage area function meets the optimization goal.

[0011] In an exemplary embodiment, the adopting a preset motion pattern to control the sensor to move along the target track to obtain monitoring data of the surface of the metal structure includes: controlling at least one of the sensors to continuously move along the target track to obtain comprehensive monitoring data of the surface of the metal structure;

[0012] and / or, controlling at least one of the sensors to stay at each preset position on the target track for a first preset time period to obtain high-resolution monitoring data of multiple positions on the surface of the metal structure;

[0013] And / or, controlling at least one of the sensors to move once on the target track at intervals of a second preset time length to obtain monitoring data of the surface of the metal structure in different time periods.

[0014] According to another aspect of the embodiment of the present application, a device for monitoring the corrosion of a metal structure is also provided, the device comprising:

[0015] An initial track determination module, used to determine an initial track on the surface of the metal structure to be protected according to structural parameters of the metal structure, wherein the initial track is used to carry the sensor;

[0016] a target track determination module, configured to adjust the parameters of the initial track to determine the target track under a set optimization goal, wherein the optimization goal is to maximize the coverage area of ​​the metal structure surface by the monitoring area of ​​the sensor when the sensor moves on the track;

[0017] A data acquisition module, used to control the sensor to move along the target track using a preset motion mode to acquire monitoring data of the surface of the metal structure;

[0018] The data analysis module is used to determine the corrosion condition of the surface of the metal structure according to the monitoring data.

[0019] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for monitoring the corrosion condition of the metal structure when running.

[0020] According to another aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for monitoring the corrosion of the metal structure through the computer program.

[0021] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0022] The above-mentioned method and device for monitoring the corrosion of the metal structure, storage medium, electronic device, and computer program product, the method for monitoring the corrosion of the metal structure, first determines the initial track on the surface of the metal structure according to the structural parameters of the metal structure to be protected. The track is used to carry the sensor, and the sensor can slide along the track to collect data from different positions of the metal structure. Then, under the set optimization target, the parameters of the initial track are adjusted to determine the target track. The optimization target is to maximize the coverage area of ​​the metal structure surface by the monitoring area of ​​the sensor when the sensor moves on the track, and then the preset motion mode is used to control the sensor to move along the target track to obtain the monitoring data of the metal structure surface. According to the monitoring data, the corrosion of the metal structure surface is determined. Therefore, by optimizing the parameters of the track carrying the sensor, it is ensured that the sensor can cover the metal structure surface to the greatest extent during the movement of the sensor along the target track on the metal structure surface, thereby improving the comprehensiveness and accuracy of the monitoring data collected by the sensor, and then improving the comprehensiveness and accuracy of determining the corrosion of the metal structure surface according to the monitoring data. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 is a hardware structure block diagram of a method for monitoring corrosion of a metal structure according to an embodiment of the present application;

[0026] Figure 2 is a flow chart of a method for monitoring corrosion of a metal structure according to an embodiment of the present application;

[0027] Figure 3 This is a second flow chart of a method for monitoring corrosion of a metal structure according to an embodiment of the present application;

[0028] Figure 4 This is a third flow chart of a method for monitoring corrosion of a metal structure according to an embodiment of the present application;

[0029] Figure 5 This is a fourth flow chart of a method for monitoring corrosion of a metal structure according to an embodiment of the present application;

[0030] Figure 6 is a fifth flow chart of a method for monitoring corrosion of a metal structure according to an embodiment of the present application;

[0031] Figure 7 is a sixth flow chart of a method for monitoring corrosion of a metal structure according to an embodiment of the present application;

[0032] Figure 8 is a schematic diagram of a metal structure according to an embodiment of the present application;

[0033] Fig. 9 is a schematic diagram of a metal structure and a track according to an embodiment of the present application;

[0034] Fig.10 It is a structural block diagram of a device for monitoring the corrosion of a metal structure according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0037] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 1 is a hardware structure block diagram of a computer terminal of the method for monitoring the corrosion of a metal structure according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 The computer terminal includes a processor 102 (only one is shown in the figure) (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, MPU for short) or a programmable logic device (PLD for short)) and a memory 104 for storing data. In an exemplary embodiment, the computer terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Equivalent functions or comparisons shown Figure 1 A different configuration with more features is shown.

[0038] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for monitoring the corrosion of the metal structure in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0039] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0040] In this embodiment, a method for monitoring the corrosion of a metal structure is provided. Figure 2 : is a flow chart of an optional method for monitoring corrosion of a metal structure according to an embodiment of the present application, the process includes the following steps S200-S230:

[0041] Step S200: determining an initial track on the surface of the metal structure according to the structural parameters of the metal structure to be protected.

[0042] The initial track is used to carry the sensor. The sensor is a movable sensor (Movable Sensor Transducer, MTS), which is installed on the track and can move on the track.

[0043] Specifically, the structural parameters include but are not limited to the diameter, length, shape, surface material, etc. of the metal structure. Computer-aided design software can be used to build a three-dimensional model of the metal structure to determine the preliminary layout of the track and design the initial track. The track can be arranged along the metal structure, for example, in a spiral arrangement along the surface of the metal structure. The track should at least cover the corrosion-prone areas of the metal structure, such as welds, stress concentration points, etc., while taking into account the monitoring radius of the sensor and the geometric characteristics of the metal structure to ensure that the sensor can effectively cover as much of the metal structure surface as possible.

[0044] The track material can be made of highly corrosion-resistant alloy steel or composite materials (such as glass fiber reinforced plastic) to ensure that it is not easily corroded under long-term seawater immersion conditions. The track cross-section can be designed as an I-shaped or C-shaped structure to improve strength and rigidity.

[0045] For example, the sensor can be connected to the track through a slider or roller, and the slider or roller is made of a low friction coefficient material (such as polytetrafluoroethylene or nylon) to ensure that the sensor can slide smoothly on the track. A motor or hydraulic drive device is used in conjunction with a gear rack or chain transmission mechanism to control the movement of the sensor on the track, and the movement (movement or stop) and movement speed of the sensor on the track can be controlled. The position of the sensor can be precisely controlled by a positioning system (such as ultrasound or laser) to ensure that it can reach the predetermined monitoring point. Data transmission between the sensor and the monitoring center can be achieved through underwater cables or wireless transmission technology (such as ultrasound or underwater radio). Lithium batteries or fuel cells are used to power the sensor, and the battery module can move along the track with the sensor to ensure continuous power supply.

[0046] Step S210, under the set optimization target, adjust the parameters of the initial orbit to determine the target orbit.

[0047] The optimization goal is to maximize the coverage of the metal structure surface by the sensor's monitoring area when the sensor moves on the track. The sensor has a monitoring blind area, so maximizing the coverage of the metal structure surface by the sensor's monitoring area is to minimize the sensor's monitoring blind area, so as to collect more comprehensive data on the metal structure surface.

[0048] For example, the spacing, curvature and layout form (such as spiral, grid, etc.) of the track can be adjusted to optimize the coverage of the track. At the same time, the monitoring radius of the sensor and the maximum bending angle of the track curve also need to be considered.

[0049] For example, the parameter design of the track also needs to consider the physical limitations of the metal structure, such as the minimum radius of curvature, the maximum load, the size and weight of the sensor, etc.

[0050] Step S220: Using a preset motion mode to control the sensor to move along the target track to obtain monitoring data of the surface of the metal structure.

[0051] The preset motion modes include, but are not limited to, continuous scanning mode, fixed-point monitoring mode, and periodic inspection mode. These modes can be used independently or in combination to meet different monitoring needs.

[0052] Step S230, determining the corrosion condition of the metal structure surface according to the monitoring data.

[0053] Among them, after obtaining the monitoring data, the monitoring data can be processed and analyzed through special algorithms (such as machine learning models) to identify corrosion conditions, corrosion rates and corrosion trends.

[0054] For example, the corrosion condition may be determined using the following formula:

[0055] R(t)=αv(t)+βC(t)+γM(t)

[0056] Among them, R(t) is the corrosion risk score, v(t) is the corrosion rate, C(t) is the environmental condition parameter, M(t) is the material property coefficient, and α, β, γ are weight coefficients. The model takes the corrosion rate, environmental conditions and material properties as input parameters, and evaluates the corrosion risk at a specific time point (t) by weighted summation. The specific steps for analyzing and processing data are as follows: Data preprocessing: The data collected by the sensor may contain noise, which needs to be cleaned and preprocessed, including but not limited to data cleaning, outlier detection and missing value processing to ensure the accuracy and integrity of the data. Features related to corrosion monitoring are extracted from the raw data, including: corrosion rate v(t). Environmental conditions C(t), including seawater salinity, temperature, flow rate, degree of marine biological attachment, etc. Material properties M(t), such as the corrosion resistance of the material, coating condition, etc., this information can be obtained in the design stage or through material testing. Then weights are assigned: α, β, γ are weight coefficients used to characterize the relative importance of corrosion rate, environmental conditions and material properties to corrosion risk. These weights may be based on historical data, expert knowledge or determined by training machine learning models.

[0057] After the corrosion risk score is determined, the calculated risk score can be interpreted and matched with the predefined risk level to provide an intuitive risk assessment result. Finally, a corrosion risk assessment report is generated, which should include the corrosion risk score, risk level, identification of potential corrosion hot spots, and recommended maintenance measures.

[0058] In this embodiment, first, according to the structural parameters of the metal structure to be protected, an initial track is determined on the surface of the metal structure. The track is used to carry the sensor, and the sensor can slide along the track to collect data from different positions of the metal structure. Then, under the set optimization goal, the parameters of the initial track are adjusted to determine the target track. The optimization goal is to maximize the coverage area of ​​the sensor's monitoring area on the surface of the metal structure when the sensor moves on the track, and then the sensor is controlled to move along the target track using a preset motion mode to obtain monitoring data on the surface of the metal structure. According to the monitoring data, the corrosion condition of the metal structure surface is determined. Therefore, by optimizing the parameters of the track carrying the sensor, it is ensured that the sensor can cover the metal structure surface to the greatest extent during the movement of the sensor along the target track on the surface of the metal structure, thereby improving the comprehensiveness and accuracy of the monitoring data collected by the sensor, and further improving the comprehensiveness and accuracy of determining the corrosion condition of the metal structure surface according to the monitoring data.

[0059] In one embodiment, Figure 3 As shown, step S210, under the set optimization target, adjust the parameters of the initial orbit to determine the target orbit. It includes: steps S300-S330. Among them:

[0060] Step S300, determining the constraints of the initial trajectory parameters.

[0061] The initial track parameters include track spacing and track curvature.

[0062] Specifically, the track spacing needs to meet constraints. This is because if the track spacing is too large, there may be areas between the tracks that cannot be monitored by the sensors, i.e., blind areas. This will result in corrosion on the surface of some metal structures not being detected in a timely manner, thus affecting the accuracy of the overall structural safety assessment. The track curvature also needs to meet constraints. This is because the shape of the surface of the metal structure is complex, such as welds, protrusions, or depressions. In order to ensure that the sensor moves more smoothly on the track and avoid jamming or damage in areas with excessive curvature, certain constraints on the track curvature are required.

[0063] Step S310, establishing a track coverage loss function.

[0064] Among them, the track coverage loss function is used to indicate the coverage of the metal structure surface by the monitoring area when the sensor is located at a certain point on the track. The track coverage loss function is used to evaluate the surface area of ​​the pile that is not covered by the monitoring area of ​​the sensor at a certain position on the track, that is, the monitoring blind area. When designing, this function can be defined as the ratio of the monitoring blind area to the total area of ​​the monitoring area. The goal is to minimize this ratio by optimizing the track path and parameters.

[0065] Exemplarily, the track coverage loss function can be expressed as: C(x, y), which represents the coverage of the metal structure surface by its monitoring area when the sensor is located at the (x, y) coordinate point on the track, or it can be said to be the loss value of its monitoring effect.

[0066] Step S320, under the constraint of the parameters of the initial track, the coordinates of each position point on the initial track are adjusted until it is determined according to the track coverage loss function that the adjusted track meets the optimization target.

[0067] The optimization goal is to maximize the coverage of the metal structure surface by the sensor's monitoring area when the sensor moves on the track. The coordinates of each position point on the initial track can be adjusted, and the coordinates of each position point can be determined by combining the track coverage loss function to find the optimal target track.

[0068] For example, a mathematical model between track layout and coverage loss function can be established, which needs to take into account the specific geometry of the pile surface, the monitoring radius of the sensor, track spacing and curvature and other parameters. Then, computer simulation software is used to simulate different track layouts, and the value of the track coverage loss function is calculated in real time as feedback for the optimization algorithm. Then, the optimization algorithm is applied to adjust the track parameters, handle complex constraints and objective functions, and find the optimal solution.

[0069] Step S330: taking the orbit that meets the optimization goal as the target orbit.

[0070] In this embodiment, by adjusting the coordinates of each position point on the track, a set of coordinates of position points that can maximize the coverage area of ​​the metal structure surface by the monitoring area is found, and then the optimal track position point layout is determined, so that the target track can be used to ensure that the monitoring area of ​​the sensor can cover the entire metal structure surface as much as possible, significantly improve the coverage of the monitoring area and reduce the monitoring blind area. Improve the comprehensiveness of the collected monitoring data.

[0071] In one embodiment, Figure 4 As shown, step S320, under the constraint of the parameters of the initial track, adjust the coordinates of each position point on the initial track until it is determined according to the track coverage loss function that the adjusted track meets the optimization target. It includes: steps S400-S430. Among them:

[0072] Step S400: Under the constraint condition of the parameters of the initial track, the coordinates of each position point on the initial track are adjusted to obtain a first adjusted track.

[0073] For example, a mathematical optimization algorithm (such as a genetic algorithm, a particle swarm optimization algorithm, or a gradient descent method) can be used to adjust the coordinates of each position point of the initial track to form a first adjusted track. The goal of the adjustment is to optimize the track path so that it is closer to the surface of the steel structure, covers more monitoring points, and avoids path intersection or duplication.

[0074] Step S410: determining the loss function value of each position point on the first adjustment track according to the track coverage loss function.

[0075] Step S420: determining whether the first adjustment trajectory meets the optimization target based on the loss function value of each position point on the first adjustment trajectory.

[0076] Specifically, the loss function value of each position point on the first adjustment track can be determined based on the track coverage loss function, and then the overall loss function value of the first adjustment track can be determined based on the loss function value of each position point, and the loss function value can be used to evaluate whether the first adjustment track meets the optimization goal. The formula is expressed as follows:

[0077]

[0078] Where: L represents the total length of the first adjustment track. C(x,y) is the track coverage loss function, which represents the loss of the monitoring situation of the track at the coordinate (x,y). The optimization goal is to minimize the track coverage loss function by optimizing the coordinates of each position point (x(t), y(t)), that is, to maximize the coverage area of ​​the sensor monitoring area on the track surface, which also means minimizing the monitoring blind area.

[0079] Step S430, when the first adjusted track does not meet the optimization target, the first adjusted track is used as the new initial track, and the process returns to step S400 to adjust the coordinates of each position point on the initial track under the constraint of the parameters of the initial track to obtain the first adjusted track until the first adjusted track meets the optimization target.

[0080] Among them, through continuous iteration, each adjustment can minimize the monitoring blind area and increase the effective coverage area. Multiple cycles may be required until the track path reaches the optimal state. Until the first adjusted track meets the optimization goal, that is, the coverage loss function value is lower than the set threshold, the monitoring blind area is minimized, and the track path at this time is the optimized track path.

[0081] Step S440: taking the first adjusted trajectory that meets the optimization target as the target trajectory.

[0082] In this embodiment, the track is iteratively optimized by continuously adjusting the positions of each position point on the track until a target track that meets the optimization goal is found, thereby achieving optimization of the track, ensuring that the monitoring area of ​​the sensor can cover the entire metal structure surface as much as possible, significantly improving the coverage of the monitoring area and reducing the monitoring blind area, thereby improving the comprehensiveness of the collected monitoring data.

[0083] In one embodiment, Figure 5 As shown, step S300, determining the constraint conditions of the initial trajectory parameters. It includes: steps S500-S520. Among them:

[0084] Step S500, obtaining the monitoring radius of the sensor and the maximum bending angle of the track.

[0085] Among them, the effective monitoring radius of the sensor can be determined by experiments or theoretical calculations. This usually involves the performance parameters of the sensor, such as signal strength, frequency range, etc.

[0086] The maximum bending angle of the track can be determined by the mechanical properties of the sensor and the track material. The size of the sensor and the sliding device, the elastic modulus and thickness of the track material, etc. will affect the bending angle of the track. Too large a bending angle may cause the sensor to derail or the track to be damaged, so a safe maximum bending angle needs to be determined through analysis and testing.

[0087] Step S510, determining the upper limit of the track spacing according to the monitoring radius of the sensor and the maximum bending angle of the track.

[0088] Specifically, it is necessary to ensure that the monitoring range of the sensor can fully cover the area between adjacent tracks. Since there may be areas between the tracks that cannot be monitored by the sensor, i.e., monitoring blind areas, this will result in the corrosion of some steel structure surfaces not being detected in time, thus affecting the accuracy of the overall structural safety assessment. Therefore, it is necessary to design an upper limit value for the track spacing.

[0089] Exemplarily, the upper limit of the track spacing can be calculated by the following formula:

[0090] d≤2Rtan(θ)

[0091] Where d is the track spacing, R is the sensor’s monitoring radius, and θ is the maximum curvature angle of the track curve. The upper limit of the track spacing is designed based on geometric principles to ensure that the sensor’s monitoring range can cover the surface of the metal structure between the tracks even at the maximum curvature of the track.

[0092] Step S520, determining the track curvature of the target position point of the track according to the phase tangent angle and the differential arc length of the target position point of the track.

[0093] The target location point is one of the multiple location points.

[0094] Specifically, the determination of the track curvature needs to consider the tangent angle and differential arc length of the target position point. By analyzing the shape of the steel structure, the tangent angle of the track at a specific position can be determined. The differential arc length Ds is a small increment in length between two points on the track, which is used to represent the curvature of the track at the position point. The track curvature at the target position point reflects the degree of curvature of the track at the target position point. The greater the track curvature, the sharper the track bends at that point, and the smaller the track curvature, the straighter the track is at that point. Therefore, it is necessary to constrain the track curvature to ensure that the sensor can move smoothly and effectively on the track without being affected by complex structural parts.

[0095] The curvature design of the track should take into account the complexity of the steel structure surface, and the path curvature k(t) should satisfy:

[0096]

[0097] Where: φ(t) is the tangent angle of the track at time t. Ds is the differential arc length along the path.

[0098] The constraint conditions include that the track spacing is less than or equal to the upper limit of the track spacing, and the curvature of each position point of the track is a certain track curvature.

[0099] In this embodiment, by satisfying the constraint condition that the track spacing is less than or equal to the upper limit of the track spacing, it can be ensured that when the sensor moves on the track, its monitoring range can ensure that there is no area between adjacent tracks that cannot be monitored. Even if the track path design needs to be bent to adapt to the shape of the steel structure, it can ensure that the corrosion of the entire structure surface is fully monitored. Improve monitoring efficiency and data integrity. By constraining the track curvature, it is ensured that the sensor can move smoothly and effectively on the track without being affected by complex structural parts, thereby ensuring the stability of the sensor movement.

[0100] In one embodiment, Figure 6 As shown, step S200, according to the structural parameters of the metal structure to be protected, determines the initial track on the surface of the metal structure. It includes: steps S600-S630. Among them:

[0101] Step S600: determining the surface area of ​​the metal structure based on the structural parameters of the metal structure.

[0102] Among them, the specific structural parameters of the metal structure can be obtained, including diameter, height or length, shape (such as straight column, cone, etc.) and any special structure that may affect the surface area calculation (such as protrusions, grooves, etc.). Based on these parameters, the surface area of ​​the metal structure can be calculated using a geometric formula.

[0103] Step S610: establishing an initial track coverage area function according to the surface area of ​​the metal structure and the unit coverage area of ​​a track unit of the track.

[0104] The track can be decomposed into multiple track units, that is, a track is composed of multiple track units. The unit coverage area of ​​the track unit can be determined by the monitoring radius R of the sensor. Assuming that the sensor monitoring radius is a circle, the unit coverage area of ​​a track unit is πR^2. The initial track coverage area function is established, which can be expressed as:

[0105] Among them, A i is the coverage area of ​​the ith track unit, n is the number of track units, A total is the surface area of ​​the metal structure.

[0106] The track coverage area function is used to indicate the coverage rate of the initial track on the surface of the metal structure.

[0107] Step S620, adjusting the arrangement positions of the plurality of track units on the surface of the metal structure so that the track coverage area function meets the optimization target.

[0108] The optimization goal is to maximize the coverage of the initial track on the surface of the metal structure. It can be expressed as

[0109]

[0110] Specifically, in order to maximize the coverage of the track on the surface of the pile, it is necessary to adjust the layout position of the track unit to ensure that the track path can cover most of the surface of the metal structure. This problem can be solved by mathematical optimization methods, such as genetic algorithms, particle swarm optimization algorithms or gradient descent methods. The optimization objective function is the above-mentioned track coverage area function, and the constraints include the spacing of the track units, the diameter and height of the metal structure, and the physical limitations of the track (such as the radius of curvature cannot be too small, etc.). The optimization process may include: the design of the initial track path, which can be spiral, grid or other forms. Adjust the position of the track unit on the track path, considering the overlap of the sensor monitoring range and the coverage blind area. Calculate the adjusted track coverage area function value and evaluate the coverage rate. After multiple rounds of optimization and adjustment, when the track coverage area function reaches the maximum value, it is the optimal track design solution. At this time, record and determine the final layout position of the track unit on the surface of the metal structure.

[0111] Step S630, determining an initial track on the surface of the metal structure according to the arrangement positions of multiple track units on the surface of the metal structure when the track coverage area function meets the optimization target.

[0112] In this embodiment, by optimizing the track design, the monitoring coverage of the metal structure of the pipe pile by the sensor can be significantly improved, the corrosion monitoring blind area can be reduced, and more comprehensive corrosion data can be provided. The optimized track design can more efficiently utilize sensor resources and reduce the additional costs caused by repeated monitoring or monitoring blind spots. The optimization of the track path can ensure the coverage of the sensor in the key corrosion hotspot area, thereby improving the accuracy and reliability of corrosion monitoring.

[0113] In one embodiment, Figure 7 As shown, step S220, using a preset motion mode to control the sensor to move along the target track to obtain monitoring data of the metal structure surface. It includes: steps S700-S720.

[0114] Step S700, controlling at least one sensor to continuously move along a target track to obtain comprehensive monitoring data of the surface of the metal structure.

[0115] Specifically, the sensor is connected to the track through sliders or rollers, and these connectors are designed with a low friction coefficient to ensure smooth sliding in underwater environments. In the continuous movement mode, the sensor is set to move continuously along the track to cover the entire surface of the pile. The power drive system (such as a motor, a hydraulic drive device) cooperates with a gear rack or chain transmission mechanism to provide stable power to ensure that the sensor moves at a constant speed. At the same time, the movement path and speed of the sensor can be controlled by a preset program to achieve automated monitoring. The sensor continuously collects data during movement and sends the data to the monitoring center in real time via underwater cables or wireless transmission technology.

[0116] And / or, step S710, controlling at least one sensor to stay at each preset position on the target track for a first preset time period to obtain high-resolution monitoring data of multiple positions on the surface of the metal structure.

[0117] Specifically, at a specific preset position (such as a weld, stress concentration point, etc.), the sensor will be controlled to stay for the first preset time. The selection of the preset position is based on previous data analysis or engineering experience to identify corrosion hot spots. When the sensor stays at these positions, more sophisticated monitoring techniques (such as electrochemical noise monitoring, local potential scanning, etc.) can be used to obtain high-resolution corrosion data. The sensor's stay and movement are precisely controlled by the power drive system and positioning system to ensure that the sensor can accurately reach and stay at the preset position.

[0118] And / or, step S720, controlling at least one sensor to move once on the target track at intervals of a second preset time length to obtain monitoring data of the surface of the metal structure in different time periods.

[0119] Specifically, the sensor moves periodically on the track according to a set second preset time, such as a comprehensive inspection every day, week or month. In this mode, the sensor can automatically run along the preset path and collect corrosion data in different time periods. By periodically collecting data, the trend of corrosion over time can be observed, a corrosion time series model can be established, and future corrosion conditions can be predicted.

[0120] For example, Figure 8 As shown, it is a schematic diagram of a metal structure, which may be a pipe pile, serving as a support for an offshore installation, with a portion thereof being located above the sea surface, a portion thereof being located above the mud surface below the sea surface, and a portion thereof being located below the mud surface.

[0121] like Fig. 9 As shown, a track is provided on the metal structure, and a movable sensor is installed on the track. The sensor moves on the track to collect monitoring data at different positions of the metal structure.

[0122] In this embodiment, by controlling at least one sensor to continuously move along the target track, the corrosion state of the pipe pile surface can be fully monitored, and continuous data on the corrosion rate and degree of corrosion of the pipe pile at different positions can be provided, which is helpful for overall assessment of the health of the pipe pile and timely detection of potential corrosion risks. By controlling at least one sensor to stay at each preset position on the target track for a first preset time, the local corrosion situation on the surface of the pipe pile can be analyzed in detail, especially in high-risk areas, which helps to deeply understand the corrosion mechanism and provide more accurate data support for corrosion protection. By controlling at least one sensor to move once on the target track at intervals of a second preset time, the long-term evolution of corrosion can be monitored, providing corrosion monitoring data in the time dimension for the maintenance and management of offshore wind power single piles, facilitating the determination of corrosion change trends over time, and helping to formulate more effective maintenance strategies and reduce the risk of structural failure.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0124] In this embodiment, a monitoring device for the corrosion of a metal structure is also provided. The monitoring device for the corrosion of a metal structure is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0125] Fig.10 FIG. 1 is a structural block diagram of an optional monitoring device for corrosion of a metal structure according to an embodiment of the present application. Fig.10 As shown, including:

[0126] The initial track determination module 1001 is used to determine an initial track on the surface of the metal structure according to the structural parameters of the metal structure to be protected, wherein the initial track is used to carry the sensor.

[0127] The target track determination module 1002 is used to adjust the parameters of the initial track and determine the target track under the set optimization goal, wherein the optimization goal is to maximize the coverage area of ​​the sensor's monitoring area on the metal structure surface when the sensor moves on the track.

[0128] The data acquisition module 1003 is used to control the sensor to move along the target track using a preset motion mode to acquire monitoring data of the metal structure surface.

[0129] The data analysis module 1004 is used to determine the corrosion condition of the metal structure surface according to the monitoring data.

[0130] Through the above device, firstly, according to the structural parameters of the metal structure to be protected, the initial track is determined on the surface of the metal structure. The track is used to carry the sensor, and the sensor can slide along the track to collect data from different positions of the metal structure. Then, under the set optimization goal, the parameters of the initial track are adjusted to determine the target track. The optimization goal is to maximize the coverage area of ​​the metal structure surface by the sensor's monitoring area when the sensor moves on the track, and then the sensor is controlled to move along the target track using a preset motion mode to obtain monitoring data on the metal structure surface. According to the monitoring data, the corrosion condition of the metal structure surface is determined. Therefore, by optimizing the parameters of the track carrying the sensor, it is ensured that the sensor can cover the metal structure surface to the greatest extent during the movement of the sensor along the target track on the metal structure surface, thereby improving the comprehensiveness and accuracy of the monitoring data collected by the sensor, and further improving the comprehensiveness and accuracy of determining the corrosion condition of the metal structure surface according to the monitoring data.

[0131] In an exemplary embodiment, the target trajectory determination module 1002 further includes:

[0132] The constraint condition determination unit is used to determine the constraint conditions of the initial track parameters, wherein the initial track parameters include track spacing and track curvature.

[0133] The loss function establishing unit is used to establish a track coverage loss function, wherein the track coverage loss function is used to indicate the coverage of the metal structure surface by the monitoring area when the sensor is located at a certain point on the track.

[0134] The track optimization unit is used to adjust the coordinates of each position point on the initial track under the constraints of the parameters of the initial track until it is determined according to the track coverage loss function that the adjusted track meets the optimization target.

[0135] The target orbit determination unit is used to take the orbit that meets the optimization target as the target orbit.

[0136] In an exemplary embodiment, the track optimization unit is further used to adjust the coordinates of each position point on the initial track under the constraints of the parameters of the initial track to obtain a first adjusted track. According to the track coverage loss function, the loss function value of each position point on the first adjusted track is determined. Based on the loss function value of each position point on the first adjusted track, it is determined whether the first adjusted track meets the optimization target. In the case that the first adjusted track does not meet the optimization target, the first adjusted track is used as the new initial track, and the step of adjusting the coordinates of each position point on the initial track under the constraints of the parameters of the initial track to obtain the first adjusted track is returned until the first adjusted track meets the optimization target.

[0137] In an exemplary embodiment, the constraint determination unit is further used to obtain the monitoring radius of the sensor and the maximum bending angle of the track. The upper limit of the track spacing is determined according to the monitoring radius of the sensor and the maximum bending angle of the track. The track curvature of the target position point of the track is determined according to the tangent angle and the differential arc length of the target position point of the track, wherein the target position point is one of the multiple position points. The constraint conditions include that the track spacing is less than or equal to the upper limit of the track spacing, and the curvature of each position point of the track is a determined track curvature.

[0138] In an exemplary embodiment, the initial trajectory determination module 1001 includes:

[0139] The surface area determination unit is used to determine the surface area of ​​the metal structure based on the structural parameters of the metal structure.

[0140] The function establishment unit is used to establish an initial track coverage area function according to the surface area of ​​the metal structure and the unit coverage area of ​​a track unit of the track, wherein the track coverage area function is used to indicate the coverage rate of the initial track on the surface of the metal structure.

[0141] The position optimization unit is used to adjust the layout positions of multiple track units on the surface of the metal structure so that the track coverage area function meets the optimization target, wherein the optimization target is to maximize the coverage rate of the initial track on the surface of the metal structure.

[0142] The position determination unit is used to determine the initial track on the surface of the metal structure according to the arrangement positions of multiple track units on the surface of the metal structure when the track coverage area function meets the optimization target.

[0143] In an exemplary embodiment, the data acquisition module 1003 includes:

[0144] The first control unit is used to control at least one sensor to continuously move along a target track to obtain comprehensive monitoring data of the surface of the metal structure.

[0145] And / or, a second control unit, used to control at least one sensor to stay at each preset position on the target track for a first preset time period to obtain high-resolution monitoring data of multiple positions on the surface of the metal structure.

[0146] And / or, a third control unit is used to control at least one sensor to move once on the target track every second preset time period to obtain monitoring data of the metal structure surface in different time periods.

[0147] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein the program executes any of the above methods when it is run.

[0148] Optionally, in this embodiment, the storage medium may be configured to store program codes for executing the following steps:

[0149] S1, determining an initial track on the surface of the metal structure according to the structural parameters of the metal structure to be protected, wherein the initial track is used to carry the sensor.

[0150] S2, under the set optimization goal, adjust the parameters of the initial track and determine the target track, wherein the optimization goal is to maximize the coverage area of ​​the sensor's monitoring area on the surface of the metal structure when the sensor moves on the track.

[0151] S3, uses a preset motion mode to control the sensor to move along the target track to obtain monitoring data of the metal structure surface.

[0152] S4. Determine the corrosion condition of the metal structure surface based on the monitoring data.

[0153] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0154] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0155] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0156] S1, determining an initial track on the surface of the metal structure according to the structural parameters of the metal structure to be protected, wherein the initial track is used to carry the sensor.

[0157] S2, under the set optimization goal, adjust the parameters of the initial track and determine the target track, wherein the optimization goal is to maximize the coverage area of ​​the sensor's monitoring area on the surface of the metal structure when the sensor moves on the track.

[0158] S3, uses a preset motion mode to control the sensor to move along the target track to obtain monitoring data of the metal structure surface.

[0159] S4. Determine the corrosion condition of the metal structure surface based on the monitoring data.

[0160] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0161] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores the computer program product, and when the computer program is executed by a processor, the steps of the method in each embodiment of the present application are implemented.

[0162] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0163] S1, determining an initial track on the surface of the metal structure according to the structural parameters of the metal structure to be protected, wherein the initial track is used to carry the sensor.

[0164] S2, under the set optimization goal, adjust the parameters of the initial track and determine the target track, wherein the optimization goal is to maximize the coverage area of ​​the sensor's monitoring area on the surface of the metal structure when the sensor moves on the track.

[0165] S3, uses a preset motion mode to control the sensor to move along the target track to obtain monitoring data of the metal structure surface.

[0166] S4. Determine the corrosion condition of the metal structure surface based on the monitoring data.

[0167] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0168] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0169] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for monitoring the corrosion of a metal structure. It is characterized in that The method comprises: According to the structural parameters of the metal structure to be protected, determining an initial track on the surface of the metal structure, wherein the initial track is used to carry the sensor; Under the set optimization goal, adjusting the parameters of the initial track to determine the target track, wherein the optimization goal is to maximize the coverage area of ​​the monitoring area of ​​the sensor on the surface of the metal structure when the sensor moves on the track; Using a preset motion mode to control the sensor to move along the target track to obtain monitoring data of the surface of the metal structure; The corrosion condition of the surface of the metal structure is determined based on the monitoring data.

2. The method according to claim 1, It is characterized in that The step of adjusting the parameters of the initial orbit and determining the target orbit under the set optimization target includes: Determining constraint conditions of parameters of the initial track, wherein the parameters of the initial track include track spacing and track curvature; Establishing a track coverage loss function, wherein the track coverage loss function is used to indicate the coverage of the metal structure surface by the monitoring area when the sensor is located at a certain point on the track; Under the constraint condition of the parameters of the initial track, adjusting the coordinates of each position point on the initial track until it is determined according to the track coverage loss function that the adjusted track meets the optimization goal; The orbit that meets the optimization target is taken as the target orbit.

3. The method according to claim 2, It is characterized in that The step of adjusting the coordinates of each position point on the initial track under the constraint of the parameters of the initial track until it is determined according to the track coverage loss function that the adjusted track satisfies the optimization goal includes: Under the constraint condition of the parameters of the initial orbit, adjusting the coordinates of each position point on the initial orbit to obtain a first adjusted orbit; Determining a loss function value of each position point on the first adjustment track according to the track coverage loss function; determining whether the first adjustment trajectory meets the optimization goal based on the loss function value of each position point on the first adjustment trajectory; In the case that the first adjusted orbit fails to meet the optimization objective, the first adjusted orbit is used as a new initial orbit, and the step of adjusting the coordinates of each position point on the initial orbit under the constraint condition of the parameters of the initial orbit to obtain the first adjusted orbit is returned to be executed until the first adjusted orbit meets the optimization objective.

4. The method according to claim 2, It is characterized in that The constraint conditions for determining the parameters of the initial trajectory include: Acquire the monitoring radius of the sensor and the maximum bending angle of the track; Determining an upper limit value of the track spacing according to a monitoring radius of the sensor and a maximum bending angle of the track; Determining the track curvature of the target position point of the track according to the phase tangent angle and the differential arc length of the target position point of the track, wherein the target position point is one of the plurality of position points; The constraint conditions include that the track spacing is less than or equal to the upper limit of the track spacing, and the curvature of each position point of the track is a determined track curvature.

5. The method according to any one of claims 1 to 4, It is characterized in that The step of determining an initial track on the surface of the metal structure according to the structural parameters of the metal structure to be protected comprises: determining a surface area of ​​the metal structure based on structural parameters of the metal structure; Establishing an initial track coverage area function according to the surface area of ​​the metal structure and the unit coverage area of ​​a track unit of the track, wherein the track coverage area function is used to indicate the coverage rate of the initial track on the surface of the metal structure; Adjusting the arrangement positions of the plurality of track units on the surface of the metal structure so that the track coverage area function satisfies an optimization target, wherein the optimization target is to maximize the coverage rate of the initial track on the surface of the metal structure; An initial track is determined on the surface of the metal structure according to the arrangement positions of the plurality of track units on the surface of the metal structure when the track coverage area function satisfies the optimization target.

6. The method according to any one of claims 1 to 4, It is characterized in that The adopting of a preset motion mode to control the sensor to move along the target track to obtain monitoring data of the surface of the metal structure includes: Controlling at least one of the sensors to continuously move along the target track to obtain comprehensive monitoring data of the surface of the metal structure; and / or, controlling at least one of the sensors to stay at each preset position on the target track for a first preset time period to obtain high-resolution monitoring data of multiple positions on the surface of the metal structure; And / or, controlling at least one of the sensors to move once on the target track at intervals of a second preset time length to obtain monitoring data of the surface of the metal structure in different time periods.

7. A monitoring device for corrosion of metal structures, It is characterized in that The device comprises: An initial track determination module, used to determine an initial track on the surface of the metal structure to be protected according to structural parameters of the metal structure, wherein the initial track is used to carry the sensor; a target track determination module, configured to adjust the parameters of the initial track to determine the target track under a set optimization goal, wherein the optimization goal is to maximize the coverage area of ​​the metal structure surface by the monitoring area of ​​the sensor when the sensor moves on the track; A data acquisition module, used to control the sensor to move along the target track using a preset motion mode to acquire monitoring data of the surface of the metal structure; The data analysis module is used to determine the corrosion condition of the surface of the metal structure according to the monitoring data.

8. A computer-readable storage medium, It is characterized in that The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6 when executed.

9. An electronic device comprising a memory and a processor, It is characterized in that A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

10. A computer program product comprising a computer program, It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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