Wharf bottom pile detection method based on multi-beam scanning and BIM technology

Abstract

The invention relates to the field of wharf construction, and particularly discloses a wharf bottom pile detection method based on multi-beam scanning and a BIM technology, and the method comprises the following steps: S1, installing and debugging data collection equipment which comprises an underwater three-dimensional sonar multi-beam measurement system and an unmanned ship matched with a high-precision inertial navigation system; s2, acquiring three-dimensional point cloud data of the underwater structure of the wharf by using a multi-beam sonar system, and performing data correction; s3, splicing, noise reduction and three-dimensional output processing are conducted on the collected wharf pile foundation data; s4, establishing a Revit model of the underwater pile foundation based on a building information model (BIM) technology; and S5, pile collision checking calculation is conducted on the basis of the Revit model of the underwater pile foundation, and the position of the pile foundation is adjusted and optimized till pile collision detection can be passed. The method has the advantages of being accurate in evaluation and high in checking calculation efficiency.

Description

Technical Field

[0001] The present application relates to the field of wharf construction, and in particular to a wharf bottom pile detection method based on multi-beam scanning and BIM technology. Background Art

[0002] A high-pile wharf is a common port facility, consisting of foundation piles and superstructures. The lower part of the pile is driven into the soil, and the upper part is above the water surface. The superstructure includes beam-slab type, beamless large slab type, frame type, and pedestal type. The high-pile wharf is a permeable structure, and waves and water flow can pass below the wharf plane. It does not reflect waves and has strong adaptability to the foundation. Globally, high-pile wharves have been widely used in port construction, especially on soft soil foundations, where this type of wharf structure is almost the only feasible form. The external force and self-weight of the building can be transmitted to the deep foundation soil through the pile foundation. In China, the application of high-pile wharves is also becoming more and more widespread. With the continuous expansion of water transportation demand, high-pile wharves play an important role in the construction of inland ports in my country.

[0003] As the port expands, it is necessary to expand the old wharf, lengthen and widen it based on the original wharf, and reinforce and renovate the old wharf. Since both the expanded structure and the old wharf are supported by pile foundations, the pile foundations of the expanded part are prone to position conflicts with the original pile foundations, so it is necessary to perform pile collision calculations and plan the location of the new piles.

[0004] However, the traditional pile collision verification method relies on on-site measurement and manual calculation, which is inefficient and prone to errors. Summary of the invention

[0005] In order to improve the efficiency of pile collision verification of high-pile docks, the present application provides a dock bottom pile detection method based on multi-beam scanning and BIM technology, which has the advantages of accurate evaluation and high verification efficiency.

[0006] The present application provides a method for detecting dock piles based on multi-beam scanning and BIM technology, which adopts the following technical solutions: A method for detecting dock piles based on multi-beam scanning and BIM technology comprises the following steps: S1: Install and debug data acquisition equipment, including underwater 3D sonar multi-beam measurement system and unmanned boat with high-precision inertial navigation system; S2: Use a multi-beam sonar system to collect 3D point cloud data of the underwater structure of the dock and perform data correction; S3: splicing, noise reduction and three-dimensional output processing of the collected wharf pile foundation data; S4: Establish the Revit model of underwater pile foundation based on building information modeling (BIM) technology; S5: Perform pile collision verification based on the Revit model of the underwater pile foundation, and adjust and optimize the pile foundation position until it can pass the pile collision detection.

[0007] Optionally, step S1 includes: S11: First, install the mounting bracket for carrying the multi-beam measurement system on the side of the unmanned boat, ensure that the mounting bracket is located at the midpoint of the length direction of the unmanned boat hull, and calibrate the mounting bracket using a spirit level. Then install the three-dimensional sonar multi-beam measurement system and the inertial navigation system, and ensure that the two antenna heads of the inertial navigation system are parallel to the side of the ship, and the main antenna head faces the stern.

[0008] Optionally, step S1 further includes: S121: Multi-beam measurement system uses PPS time synchronization technology; S122: According to the system calibration requirements, two parallel survey lines are designed in the underwater flat area, and round-trip measurements are performed to ensure that there is a 70% overlap between the two pings; calibration is performed between two adjacent pings along the same survey line in the flat area, and the correction parameters are adjusted to make the data in the two pings overlap as much as possible to obtain the best roll calibration result; S123: Calibrate between two adjacent pings of the angular structure along the same survey line, and adjust the calibration parameters so that the target objects in the 3D view overlap as much as possible to obtain the best heading calibration result; S124: Calibrate between the opposite pings of the two survey lines in the flat area, and adjust the correction parameters so that the data in the two pings overlap as much as possible to obtain the best pitch calibration result.

[0009] Optionally, step S3 includes: S31: Image stitching and noise processing, select the area to be scanned for image stitching, and after the stitching is completed, perform primary and secondary noise processing; S32: extract the three-dimensional point cloud data of the pile foundation, output the three-dimensional image of the pile foundation, and the three-dimensional original XYZ data of the pile position, and complete the drawing of the original pile position map.

[0010] Optionally, step S4 includes: S41: splicing the original pile position information with the pile position map of the proposed new wharf according to the GNSS coordinates obtained during the pile position scanning; S42: Create a Revit model of the pier pile foundation.

[0011] Optionally, step S42 includes: S421: Establishment of elevation and axis grid, summarize the elevation of the wharf structure design according to the design drawings; S422: Create a parametric family, use tools to draw the geometry of the pile foundation, align the geometry to the reference plane, and use the lock function to fix the position of the geometry. Then add the corresponding parameters according to the design drawing to ensure that the family model can respond correctly as the parameters change; S423: Through the previously set elevation and axis grid system, different types of components and pile foundations are imported into the corresponding elevations and positions to complete the model establishment.

[0012] Optionally, step S5 includes: S51: Convert Revit models to Navisworks compatible file format (NWC); S52: Use Navisworks to perform "Clearance Clash" detection. Navisworks will automatically scan and list all detected collision points; S53: Analyze the feedback pile collision results and adjust and optimize the pile foundation position; S54: Repeat S42-S53 until all pile foundations can pass the pile collision detection.

[0013] Optionally, step S2 includes: S21: Use the inertial navigation system connected to the differential signal to correct the three-dimensional positioning to provide high-precision positioning data and calculated real-time tide data; S22: Using the inertial navigation system to provide time synchronization to eliminate time delay errors; S23: Use the attitude and heading data output by the attitude meter in the inertial navigation system to correct the ship's attitude in real time and eliminate the influence of waves on the ship's attitude; S24: Use a sound velocity profiler to collect sound velocity profile data in the survey area, calculate the average sound velocity in the survey area for sound velocity correction, and eliminate the error caused by sound velocity changes on water depth measurement; S25: The pan / tilt and transducer are adjusted through data acquisition software. The pan / tilt direction is adjusted according to the position and shape of the measurement target to align the transducer direction with the target. Then, the transducer gain, threshold, range and other parameters are adjusted in real time according to the received image to optimize the image data.

[0014] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through automated data collection and processing procedures, the time and labor intensity of traditional methods that rely on on-site measurements and manual calculations are reduced, thereby significantly improving the efficiency of dock bottom pile detection; using BIM technology for combined pile collision detection can find potential pile position conflict risks in the design drawings in advance, avoiding later rework and waste of resources; BIM technology integrates various component models for collision detection, optimizes the design and construction process, and improves construction efficiency.

[0015] 2. Multi-beam bathymetry technology uses a multi-channel sonar system to measure a large range of underwater depths under and on both sides of the hull. It is a new technology that can obtain underwater topography with high efficiency, high precision and high resolution. The application of this technology makes the detection of dock piles more accurate and provides more detailed underwater structure data. At the same time, combined with BIM technology, the dock pile foundation model is drawn, which can intuitively understand the three-dimensional spatial position of each pile foundation, making the data more accurate and easier to analyze.

[0016] 3. By combining multi-beam scanning data with BIM technology, data integration and visualization are achieved, which facilitates data management and analysis; and this method is applicable to various underwater environments, including soft soil foundations and complex underwater structures, and has strong environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall pile position of the dock after splicing in the embodiment of the present application; Figure 2 It is a Revit modeling rendering of the wharf structure in the embodiment of the present application; Figure 3 It is a diagram of the dock pile foundation collision detection result in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The following is combined with Figure 1-3 This application is described in further detail.

[0019] The embodiment of the present application discloses a method for detecting dock piles based on multi-beam scanning and BIM technology, comprising the following steps: S1: Install and debug data acquisition equipment, including the following steps: S11: The data acquisition equipment of the present invention uses an underwater three-dimensional sonar multi-beam measurement system (hereinafter referred to as the multi-beam measurement system) and an unmanned ship equipped with a high-precision inertial navigation system. First, the mounting bracket for carrying the multi-beam measurement system is installed on the side of the unmanned ship, and it is ensured that the mounting bracket is located at the midpoint of the length direction of the unmanned ship hull; at the same time, a spirit level is used to adjust and calibrate to ensure that the bearing surface of the top of the mounting bracket for installing the multi-beam measurement system is in a horizontal state, and then the multi-beam measurement system is installed and fixed on the mounting bracket; in addition, when installing the high-precision inertial navigation system, it is necessary to ensure that its two antenna heads are parallel to the side of the ship, and the main antenna head is facing the stern.

[0020] S12: Calibrate the inertial navigation system, including the following steps: S121: Positioning delay calibration. The multi-beam measurement system of this application adopts PPS time synchronization technology to achieve time synchronization of major equipment such as GNSS, computers, inertial navigation systems and transducers, without the need for additional positioning delay calibration work.

[0021] S122: According to the system calibration requirements, two parallel survey lines are designed in the underwater flat area, and round-trip measurements are performed to ensure that there is a 70% overlap between the two pings; calibration is performed between two adjacent pings along the same survey line in the flat area, and the correction parameters are adjusted to make the data in the two pings overlap as much as possible to obtain the best roll calibration result.

[0022] S123: Calibrate between two adjacent pings of the angular structure along the same survey line, and adjust the correction parameters so that the target objects in the 3D view overlap as much as possible to obtain the best heading calibration result.

[0023] S124: Calibrate between the opposite pings of the two survey lines in the flat area, and adjust the correction parameters so that the data in the two pings overlap as much as possible to obtain the best pitch calibration result.

[0024] In addition, in the sonar system, "ping" usually refers to the complete process of sonar equipment emitting sound waves and receiving their echoes. This process includes emitting sound waves (ping), propagating in the water, reflecting back after hitting an object, and then being received by the sonar receiver (listen). By analyzing these echo signals, the location, distance, shape and other information of underwater objects can be determined.

[0025] S2: Use the multi-beam sonar system to collect the 3D point cloud data of the underwater structure of the dock and perform data correction, which specifically includes the following steps: S21: Use the inertial navigation system connected to the differential signal to correct the three-dimensional positioning to provide high-precision positioning data and calculated real-time tide data.

[0026] S22: Use the inertial navigation system to provide time synchronization to eliminate time delay errors.

[0027] S23: Use the attitude and heading data output by the attitude meter in the inertial navigation system to correct the ship's attitude in real time and eliminate the impact of waves on the ship's attitude.

[0028] S24: Use a sound velocity profiler to collect sound velocity profile data in the survey area, calculate the average sound velocity in the survey area for sound velocity correction, and eliminate the error caused by sound velocity changes in water depth measurement.

[0029] S25: The pan / tilt and transducer are adjusted through data acquisition software. The pan / tilt direction is adjusted according to the position and shape of the measurement target to align the transducer direction with the target. Then, the transducer gain, threshold, range and other parameters are adjusted in real time according to the received image to optimize the image data.

[0030] Preferably, the data acquisition software is 4G USE, which allows full integration of all data sources, visualization and processing, and is a new generation multi-deployment and multi-sensor software platform for real-time 3D acquisition and visualization.

[0031] Preferably, the measurement method is a covering measurement parallel to the wharf, with a measuring line laid out at a parallel distance of 7m from the wharf. Each measuring line is scanned back and forth at 25°, and the measuring lines are reasonably laid out under the wharf according to the distribution of wharf piles and under the condition of navigation safety to ensure the accuracy of the high pile foundation scanning and the safety of the high pile foundation and the measuring equipment.

[0032] Preferably, the scanning frequency should be set to 375KHZ, the beam width should be 50°×50°, and the ship speed should not exceed 4 knots during the scanning process. Under some conditions, the number of measuring points per unit area can be increased by changing the transmission frequency to 610Khz and adjusting the field of view to 25°×25° to make the image more delicate and clear.

[0033] S3: stitching, noise reduction and three-dimensional output processing of the collected data, including the following steps: S31: Image stitching and noise processing. Select the area to be scanned for image stitching. After the stitching is completed, perform primary and secondary noise processing. When processing 3D sonar data, noise is deleted mainly by hiding useful point clouds through the intensity, depth and range of the point cloud, and deleting useless noise points displayed to ensure that the image data is clean and reliable.

[0034] S32: Data acquisition and output, using USE software to extract the three-dimensional point cloud of the pile foundation. Output the three-dimensional image of the pile foundation and the three-dimensional original XYZ data of the pile position. Based on the extracted three-dimensional information of the pile position, the original pile position map is drawn in AutoCAD.

[0035] S4: Establish a 3D model of underwater pile foundation based on building information modeling (BIM) technology. The specific steps are as follows: S41: Reference Figure 1 , and splicing the pile positions. According to the GNSS coordinates obtained during the pile position scanning, the original pile position information is spliced ​​with the pile position map of the planned new wharf to obtain the overall pile position map of the lower part of the wharf, and determine the positional relationship between the new and old pile foundations at the lower part of the wharf.

[0036] S42: Reference Figure 2 , build the Revit model of the pier pile foundation, including the following steps; S421: Establishment of elevation and axis network. According to the design drawings, summarize the elevation of the wharf structure design. In Revit, enter the "Architecture" tab and select the "Elevation" tool. In the elevation view, draw the elevation line and establish the elevation system of the wharf. In this way, the elevation of the wharf pile foundation is accurately positioned during the model establishment process. After the elevation system is established, the axis network is drawn according to the distribution of the wharf racks and the horizontal position and size of the components. Since this project consists of the newly built wharf part and the rear pile platform formed by the reconstruction of the original wharf, the axis network system in the model also consists of the newly built wharf area and the rear pile platform, and they are named separately to distinguish them.

[0037] S422: To create a parametric family, first establish the family geometry and use tools to draw the geometry of the pile foundation. Create a reference plane in the family editor as the baseline of the family. The reference plane can define the boundaries and reference positions of the geometry to ensure the flexibility and accuracy of the family. Align the geometry to the reference plane and use the lock function to fix the position of the graphics to ensure that the geometry will adjust when the size parameters change. Then add the corresponding parameters according to the design drawings, such as: section size, pile length, width, height, etc. Adjust the parameter value in the "Family Type" dialog box, observe the changes in the geometry, and ensure that the family model can respond correctly to the parameter changes.

[0038] S423: Establish the model. Through the previously set elevation and axis grid system, import the components and pile foundations of different categories to the corresponding elevations and positions to complete the establishment of the model.

[0039] S5: Perform pile collision verification, including the following steps: S51: After the Revit model is built, use the model to perform pile collision detection in Navisworks. In Revit, click "File" → "Export" → "Navisworks (NWC)", set the export location and file name, and click "Save". This will convert the Revit model to a compatible file format (NWC) for Navisworks. After the model is built, ensure the integrity of the model, such as the model's geometry, component location, and naming. Hide unnecessary elements to reduce the complexity of the model and ensure the accuracy of the detection target.

[0040] S52: To perform a collision detection, in the "Home" tab of Navisworks, click the "Clash Detective" tool to open the collision detection panel. Under the "Select" tab, select the model group, which represents the part of the model to be detected for collision. Set the "Clash Detection Type", you can choose "Hard Clash" or "Clearance Clash"; after setting the "Rules", click "Run Test" to start the collision detection. Reference Figure 3 , Navisworks will automatically scan and list all detected collision points.

[0041] Taking into account the deviation between the actual pile position and the designed pile position during the construction process, a clearance value (150mm) needs to be set during the pile collision detection. This application selects "Clearance Clash" for detection. Clearance collision means that there is no complete collision between the components, but the distance between them is less than the preset safety clearance value.

[0042] S53: Analyze the feedback of pile collision results, adjust and optimize the pile foundation position, and modify the problematic pile foundation position, torsion angle or slope in Revit according to the pile collision report generated by Navisworks.

[0043] S54: Export the NWC file again after modification, and repeat steps S422-S53 until all pile foundations can pass the pile collision detection.

[0044] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for detecting dock piles based on multi-beam scanning and BIM technology, characterized in that: The following steps are involved: S1: Install and debug data acquisition equipment, including underwater 3D sonar multi-beam measurement system and unmanned boat with high-precision inertial navigation system; S2: Use a multi-beam sonar system to collect 3D point cloud data of the underwater structure of the dock and perform data correction; S3: splicing, noise reduction and three-dimensional output processing of the collected wharf pile foundation data; S4: Establish the Revit model of underwater pile foundation based on building information modeling (BIM) technology; S5: Perform pile collision verification based on the Revit model of the underwater pile foundation, and adjust and optimize the pile foundation position until it can pass the pile collision detection.

2. According to claim 1, a method for detecting dock piles based on multi-beam scanning and BIM technology is characterized in that: Step S1 includes: S11: First, install the mounting bracket for carrying the multi-beam measurement system on the side of the unmanned boat, ensure that the mounting bracket is located at the midpoint of the length direction of the unmanned boat hull, and calibrate the mounting bracket using a spirit level. Then install the three-dimensional sonar multi-beam measurement system and the inertial navigation system, and ensure that the two antenna heads of the inertial navigation system are parallel to the side of the ship, and the main antenna head faces the stern.

3. The method for detecting dock piles based on multi-beam scanning and BIM technology according to claim 2 is characterized in that: Step S1 also includes: S121: Multi-beam measurement system uses PPS time synchronization technology; S122: According to the system calibration requirements, two parallel survey lines are designed in the underwater flat area, and round-trip measurements are performed to ensure that there is a 70% overlap between the two pings; calibration is performed between two adjacent pings along the same survey line in the flat area, and the correction parameters are adjusted to make the data in the two pings overlap as much as possible to obtain the best roll calibration result; S123: Calibrate between two adjacent pings of the angular structure along the same survey line, and adjust the calibration parameters so that the target objects in the 3D view overlap as much as possible to obtain the best heading calibration result; S124: Calibrate between the opposite pings of the two survey lines in the flat area, and adjust the correction parameters so that the data in the two pings overlap as much as possible to obtain the best pitch calibration result.

4. The method for detecting dock piles based on multi-beam scanning and BIM technology according to claim 1 is characterized in that: Step S3 includes: S31: Image stitching and noise processing, select the area to be scanned for image stitching, and after the stitching is completed, perform primary and secondary noise processing; S32: extract the three-dimensional point cloud data of the pile foundation, output the three-dimensional image of the pile foundation, and the three-dimensional original XYZ data of the pile position, and complete the drawing of the original pile position map.

5. The method for detecting dock piles based on multi-beam scanning and BIM technology according to claim 4 is characterized in that: Step S4 includes: S41: splicing the original pile position information with the pile position map of the proposed new wharf according to the GNSS coordinates obtained during the pile position scanning; S42: Create a Revit model of the pier pile foundation.

6. The method for detecting dock piles based on multi-beam scanning and BIM technology according to claim 5 is characterized in that: Step S42 includes: S421: Establishment of elevation and axis grid, summarize the elevation of the wharf structure design according to the design drawings; S422: Create a parametric family, use tools to draw the geometry of the pile foundation, align the geometry to the reference plane, and use the lock function to fix the position of the geometry. Then add the corresponding parameters according to the design drawing to ensure that the family model can respond correctly as the parameters change; S423: Through the previously set elevation and axis grid system, different types of components and pile foundations are imported into the corresponding elevations and positions to complete the model establishment.

7. The method for detecting dock piles based on multi-beam scanning and BIM technology according to claim 5 is characterized in that: Step S5 includes: S51: Convert Revit models to Navisworks compatible file format (NWC); S52: Use Navisworks to perform "Clearance Clash" detection. Navisworks will automatically scan and list all detected collision points; S53: Analyze the feedback pile collision results and adjust and optimize the pile foundation position; S54: Repeat S42-S53 until all pile foundations can pass the pile collision detection.

8. The method for detecting dock piles based on multi-beam scanning and BIM technology according to claim 1 is characterized in that: Step S2 includes: S21: Use the inertial navigation system connected to the differential signal to correct the three-dimensional positioning to provide high-precision positioning data and calculated real-time tide data; S22: Using the inertial navigation system to provide time synchronization to eliminate time delay errors; S23: Use the attitude and heading data output by the attitude meter in the inertial navigation system to correct the ship's attitude in real time and eliminate the influence of waves on the ship's attitude; S24: Use a sound velocity profiler to collect sound velocity profile data in the survey area, calculate the average sound velocity in the survey area for sound velocity correction, and eliminate the error caused by sound velocity changes on water depth measurement; S25: The pan / tilt and transducer are adjusted through data acquisition software. The pan / tilt direction is adjusted according to the position and shape of the measurement target to align the transducer direction with the target. Then, the transducer gain, threshold, range and other parameters are adjusted in real time according to the received image to optimize the image data.

Images