Bridge pier scouring depth dynamic monitoring method, device, equipment and medium

Abstract

The invention discloses a pier scouring depth dynamic monitoring method, device and equipment and a medium, and belongs to the technical field of bridge monitoring. The method comprises the steps that the movement track of a target in a target time period is obtained, and the target is located above the water surface and fixedly arranged at the top end of a vibration probe rod; determining a displacement time-history curve graph of the target in the water flow direction in the target time period based on the motion trail; on the basis of the displacement time history curve graph, vibration probe cantilever beam fundamental frequencies corresponding to the unit durations are identified; determining the length of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length and a pre-constructed relation model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod; the time history curve graph of the length of the cantilever beam of the vibration probe along with the time change is drawn, the time history curve graph reflects the condition of the pier scouring depth along with the time change, the mode of combining machine vision and the vibration probe is adopted, the pier scouring depth is dynamically monitored, and the monitoring cost is low.

Description

Technical Field

[0001] The present application relates to the technical field of bridge monitoring, and in particular to a method, device, equipment and computer-readable storage medium for dynamic monitoring of scour depth of bridge piers. Background Art

[0002] The piers of bridges built in rivers, lakes and oceans are in a complex hydrological environment and are often eroded by turbulent water. The mud and sediment around the piers are constantly carried away by the water, and the buried depth is reduced. Since the piers are located below the water surface, scouring damage is difficult to be discovered in time, resulting in the damage of the bridge caused by scouring often without obvious signs. When excessive scouring occurs, it will directly lead to the collapse of the bridge. Therefore, dynamic monitoring of the scouring depth of the piers is a necessary means to prevent the collapse of the bridge due to excessive scouring.

[0003] In the prior art, there are methods for detecting the scouring depth of bridge piers through sonar imaging, ground penetrating radar, underwater robots, etc., but the detection equipment is costly, the detection frequency is low, and only one detection result value can be obtained each time the detection is performed, and dynamic monitoring of the scouring depth of bridge piers cannot be achieved; there are also methods for dynamically monitoring the scouring depth of bridge piers by burying devices such as pendants, buoys, and magnetic tags at different depths of the riverbed around the bridge piers, but these devices are all triggered single-use devices, and can only obtain an approximate numerical range of the scouring depth of the bridge piers, and cannot obtain the real-time scouring depth of the bridge piers; there are also methods for dynamically monitoring the depth of bridge piers through instruments such as detectors, strain probes, conductivity probes, and thermal conductivity probes, but these instruments are located underwater when working, are easily damaged, have a short service life, and have high monitoring costs. Summary of the invention

[0004] The present application provides a method, device, equipment and computer-readable storage medium for dynamic monitoring of pier scour depth, which can solve the technical problems existing in the prior art such as the inability to obtain real-time pier scour depth and high monitoring cost when dynamically monitoring the pier scour depth.

[0005] In a first aspect, an embodiment of the present application provides a method for dynamically monitoring the scouring depth of a bridge pier, the method comprising:

[0006] Obtaining the movement trajectory of the target within the target time period, the target is located above the water surface and fixed on the top of the vibrating probe rod, and the bottom end of the vibrating probe rod is inserted into the riverbed;

[0007] Based on the motion trajectory, determining a displacement time history curve of the target in the water flow direction within a target time period;

[0008] Based on the displacement time history curve diagram, identifying the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length;

[0009] Determine the length of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length and a pre-constructed first relationship model, wherein the first relationship model is a relationship model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod;

[0010] Based on the cantilever beam length of the vibration probe rod corresponding to each unit time length, a time history graph of the cantilever beam length of the vibration probe rod changing with time is drawn, and the time history graph is used to reflect the change of the scouring depth of the bridge pier with time.

[0011] In combination with the first aspect, in one embodiment, determining the displacement time history curve of the target in the water flow direction within the target time period based on the motion trajectory includes:

[0012] The motion trajectory is solved using a machine vision displacement algorithm to obtain a displacement time history curve of the target in the water flow direction within a target time period.

[0013] In combination with the first aspect, in one implementation, the identifying the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the displacement time history curve graph includes:

[0014] The displacement time history curve diagram is processed by Fourier transform algorithm to obtain the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length.

[0015] In conjunction with the first aspect, in one implementation, the process of constructing the first relationship model includes:

[0016] Establish the finite element model of the vibration probe;

[0017] Setting the length of the cantilever beam of the vibration probe rod in the finite element model to a first length, wherein the first length is a length value extracted sequentially from a preset length data set;

[0018] Performing modal analysis on each first-length vibration probe cantilever beam to obtain the cantilever beam fundamental frequency corresponding to each first-length vibration probe cantilever beam;

[0019] A scatter plot is drawn using the natural logarithm of the fundamental frequency of the cantilever beam corresponding to each first length of the vibration probe cantilever beam as an independent variable and the natural logarithm of each first length as a dependent variable;

[0020] A linear regression analysis is performed on the data points in the scatter plot to obtain a relationship model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod.

[0021] In conjunction with the first aspect, in one implementation, the formula corresponding to the first relationship model is:

[0022] ln(l)=a*ln(f)+b

[0023] Among them, l is the length of the cantilever beam of the vibration probe rod, f is the fundamental frequency of the cantilever beam of the vibration probe rod, a is the slope, b is the intercept, ln(l) is the natural logarithm of the length of the cantilever beam of the vibration probe rod, and ln(f) is the natural logarithm of the fundamental frequency of the cantilever beam of the vibration probe rod.

[0024] In a second aspect, an embodiment of the present application provides a bridge pier scouring depth dynamic monitoring device, the bridge pier scouring depth dynamic monitoring device comprising:

[0025] An acquisition module is used to acquire the movement trajectory of the target within a target time period, wherein the target is located above the water surface and fixed on the top of a vibrating probe rod, and the bottom end of the vibrating probe rod is inserted into the riverbed;

[0026] A first determination module is used to determine a displacement time history curve of the target in the water flow direction within a target time period based on the motion trajectory;

[0027] An identification module, for identifying the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the displacement time history curve diagram;

[0028] A second determination module is used to determine the length of the vibration probe cantilever beam corresponding to each unit time length based on the fundamental frequency of the vibration probe cantilever beam corresponding to each unit time length and a pre-constructed first relationship model, wherein the first relationship model is a relationship model between the length of the vibration probe cantilever beam and the fundamental frequency of the vibration probe cantilever beam;

[0029] The drawing module is used to draw a time history curve of the vibration probe cantilever beam length changing with time based on the vibration probe cantilever beam length corresponding to each unit time length. The time history curve is used to reflect the change of the scouring depth of the bridge pier with time.

[0030] In conjunction with the second aspect, in one implementation, the first determining module is specifically configured to:

[0031] The motion trajectory is solved using a machine vision displacement algorithm to obtain a displacement time history curve of the target in the water flow direction within a target time period.

[0032] In conjunction with the second aspect, in one implementation, the identification module is specifically used to:

[0033] The displacement time history curve diagram is processed by Fourier transform algorithm to obtain the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length.

[0034] In a third aspect, an embodiment of the present application provides a device for dynamically monitoring the scour depth of a pier, the device comprising a processor, a memory, and a program for dynamically monitoring the scour depth of a pier stored in the memory and executable by the processor, wherein when the program for dynamically monitoring the scour depth of a pier is executed by the processor, the steps of the method for dynamically monitoring the scour depth of a pier as described in any one of the first aspects are implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program for dynamic monitoring of scour depth of piers is stored. When the program for dynamic monitoring of scour depth of piers is executed by a processor, the steps of the method for dynamic monitoring of scour depth of piers as described in any one of the first aspects are implemented.

[0036] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0037] The motion trajectory of the target in the target time period is obtained in a non-contact manner by a monitoring camera arranged above the water surface. The target is located above the water surface and fixed on the top of a vibration probe rod, and the bottom of the vibration probe rod is inserted into the riverbed. Based on the motion trajectory, a displacement time history curve of the target in the water flow direction in the target time period is calculated. Further, based on the displacement time history curve, the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length is identified through spectrum analysis calculation. Then, based on the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length and a pre-constructed first relationship model, the relative frequency of each unit time length to the target is calculated. The first relationship model is the relationship model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod; finally, based on the length of the cantilever beam of the vibration probe rod corresponding to each unit time length, a time-history graph of the length of the cantilever beam of the vibration probe rod changing with time is drawn, and the time-history graph is used to reflect the change of the scouring depth of the bridge pier over time. The present application adopts a combination of machine vision and vibration probe rod to realize dynamic monitoring of the scouring depth of the bridge pier, and can obtain the scouring depth of the bridge pier in real time. At the same time, since the monitoring camera is located above the water surface, it is not easy to be damaged, which can reduce the monitoring cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of the first embodiment of the method for dynamically monitoring the scouring depth of bridge piers of the present application;

[0039] Figure 2 This is the layout diagram of the dynamic monitoring system for scour depth of bridge piers;

[0040] Figure 3 It is a schematic diagram of the vibration of the cantilever beam of the vibration probe;

[0041] Figure 4 It is the displacement time history curve of the target at the top of the vibration probe rod;

[0042] Figure 5 This is the spectrum diagram of the target at the top of the vibration probe;

[0043] Figure 6 This is a schematic diagram of the cantilever beam length of the vibration probe rod based on the measured fundamental frequency;

[0044] Figure 7 It is a time history curve of the cantilever beam length of the vibration probe changing with time;

[0045] Figure 8 This is one of the model diagrams of the relationship between the cantilever beam length of the vibration probe and the fundamental frequency;

[0046] Fig. 9 This is the second model diagram of the relationship between the cantilever beam length of the vibration probe and the fundamental frequency;

[0047] Fig.10 This is a functional module diagram of an embodiment of a device for dynamically monitoring the scouring depth of a bridge pier according to the present application;

[0048] Fig.11 This is a schematic diagram of the hardware structure of the bridge pier scour depth dynamic monitoring equipment involved in the embodiment of the present application. DETAILED DESCRIPTION

[0049] 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 are within the scope of protection of this application.

[0050] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0051] In a first aspect, an embodiment of the present application provides a method for dynamically monitoring the scouring depth of a bridge pier.

[0052] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for dynamically monitoring the scouring depth of bridge piers in this application. Figure 1 As shown in the figure, the dynamic monitoring method of bridge pier scouring depth includes:

[0053] Step 110, obtaining the movement trajectory of the target within the target time period, wherein the target is located above the water surface and fixed on the top of the vibrating probe rod, and the bottom end of the vibrating probe rod is inserted into the riverbed;

[0054] It should be noted that before executing the dynamic monitoring method for bridge pier scour depth provided by this application, it is necessary to select a suitable riverbed location based on the survey results at the bridge site, historical scour data, etc., insert the vibration probe rod to a suitable depth, and fix a target at the top of the probe rod. In addition, according to the bridge structure, field of view conditions, etc., select a suitable camera model, and fix the monitoring camera in a suitable position, adjust the camera parameters, and ensure that the target at the top of the vibration probe rod and its movement trajectory can be clearly presented in the field of view of the monitoring camera.

[0055] For example, the dynamic monitoring of the scouring depth of a bridge pier in a mountainous area is used to illustrate. Figure 2 This is the layout diagram of the dynamic monitoring system for bridge pier scour depth. Figure 2 In the figure, number 1 is the monitoring camera, number 2 is the target, and number 3 is the vibration probe.

[0056] For example, according to the bridge design documents, hydrological data, etc., the outer diameter is 114 mm, the inner diameter is 104 mm, the length is 12 m, and the elastic modulus is 2*10 11 The hollow circular steel tube of Pa is used as the vibration probe, with a penetration depth of 7m and a cantilever beam length of 5m. The vibration probe vibrates in the form of a cantilever beam under the excitation of random loads such as earth pulsation, water flow, and wind. Figure 3 Schematic diagram of the vibration of the cantilever beam of the vibrating probe rod.

[0057] In specific implementation, the movement trajectory of the target within the target time period is captured in a non-contact manner by a monitoring camera arranged above the water surface.

[0058] Step 120: Determine a displacement time history curve of the target in the water flow direction within a target time period based on the motion trajectory;

[0059] Furthermore, after obtaining the motion trajectory, the motion trajectory is analyzed to obtain data used to describe the target motion trajectory, such as position, speed, acceleration, etc., and then based on these data, an algorithm for calculating displacement is used to determine the displacement time history curve of the target in the water flow direction within the target time period.

[0060] Furthermore, in one embodiment, determining the displacement time history curve of the target in the water flow direction within the target time period based on the motion trajectory includes:

[0061] The motion trajectory is solved using a machine vision displacement algorithm to obtain a displacement time history curve of the target in the water flow direction within a target time period.

[0062] Machine vision displacement algorithm is an important technology that can efficiently help determine the moving distance of an object in an image sequence and can provide very high-precision displacement measurement. This embodiment uses a machine vision displacement algorithm to solve the motion trajectory, which can improve the accuracy and efficiency of determining the displacement time history curve of the target in the water flow direction within the target time period. Figure 4 This is the displacement time history curve of the target at the top of the vibration probe rod.

[0063] Step 130, based on the displacement time history curve diagram, identifying the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length;

[0064] The unit time may be per hour, per day, per month, etc., which is not specifically limited in this application. The fundamental frequency of the cantilever beam of the vibrating probe refers to the fundamental frequency of the cantilever beam of the vibrating probe under the excitation of random loads such as earth pulsation, water flow, wind, etc.

[0065] Because the random load excitations such as earth pulsation, water flow, wind, etc. are different in each unit time, the fundamental frequency of the vibration probe cantilever beam corresponding to each unit time is different.

[0066] In a specific implementation, the displacement time history curve diagram within each unit time length is selected and converted into a frequency spectrum diagram, and then based on the frequency spectrum diagram, an automatic recognition algorithm is used to calculate the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length.

[0067] Further, in one embodiment, the identifying the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the displacement time history curve graph includes:

[0068] The displacement time history curve diagram is processed by Fourier transform algorithm to obtain the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length.

[0069] First, the displacement time history curve is analyzed to determine the displacement time history data of the cantilever beam of the vibration probe rod, and preprocessing such as denoising is performed; then the preprocessed displacement time history data is converted into frequency domain data using the Fourier transform algorithm; a spectrum diagram is drawn based on the frequency domain data; finally, the frequency component with the largest amplitude is found from the spectrum diagram, which represents the main frequency of the vibration, that is, the fundamental frequency. Figure 5 This is the spectrum diagram of the target at the top of the vibrating probe.

[0070] In this embodiment, the Fourier transform algorithm is used to process the displacement time history curve diagram to obtain the fundamental frequency of the vibration probe cantilever beam corresponding to each unit time length, thereby realizing the conversion from the time domain to the frequency domain, making it more intuitive and efficient to determine the fundamental frequency of the vibration probe cantilever beam corresponding to each unit time length.

[0071] Step 140, determining the length of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length and a pre-constructed first relationship model, wherein the first relationship model is a relationship model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod;

[0072] The first relationship model is a mathematical relationship between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod.

[0073] Furthermore, in one embodiment, the formula corresponding to the first relationship model is:

[0074] ln(l)=a*ln(f)+b

[0075] Among them, l is the length of the cantilever beam of the vibration probe rod, f is the fundamental frequency of the cantilever beam of the vibration probe rod, a is the slope, b is the intercept, ln(l) is the natural logarithm of the length of the cantilever beam of the vibration probe rod, and ln(f) is the natural logarithm of the fundamental frequency of the cantilever beam of the vibration probe rod.

[0076] In specific implementation, the fundamental frequency of the vibration probe cantilever beam corresponding to each unit time length is substituted into the above formula, and then both sides of the formula are raised to the power of natural numbers to solve the length of the vibration probe cantilever beam corresponding to each unit time length. Assume that the formula corresponding to the first relationship model is: ln(l) = -0.5016*lnf+2.3469, the fundamental frequency of the vibration probe cantilever beam corresponding to a certain unit time length f = 4.4Hz, substitute it into the above formula, and raise both sides of the formula to the power of natural numbers to solve the length of the vibration probe cantilever beam corresponding to the unit time length as 4.9716m. Figure 6 This is a schematic diagram of back-calculating the cantilever beam length of the vibration probe based on the measured fundamental frequency.

[0077] Step 150: based on the cantilever beam length of the vibration probe rod corresponding to each unit time length, a time history curve of the cantilever beam length of the vibration probe rod changing with time is drawn, wherein the time history curve is used to reflect the change of the scouring depth of the bridge pier with time.

[0078] It can be understood that the change in the scouring depth of the bridge pier is related to the change in the length of the cantilever beam of the vibration probe. By analyzing the time curve of the length of the cantilever beam of the vibration probe over time, the change in the scouring depth of the bridge pier over time can be reflected. For example, the length of the cantilever beam of the vibration probe becomes longer, which means that the scouring depth of the bridge pier increases; the length of the cantilever beam of the vibration probe becomes shorter, which means that the scouring depth becomes shallower.

[0079] In specific implementation, after determining the length of the cantilever beam of the vibration probe rod corresponding to each unit time length, a time history curve of the length of the cantilever beam of the vibration probe rod changing with time is drawn through drawing software or programming language. Figure 7The time history curve of the cantilever beam length of the vibration probe rod changing with time. When the length of the cantilever beam of the vibration probe rod corresponding to the unit time length is calculated to be 4.9716m, combined with the initial insertion depth of 7m and the initial length of the cantilever beam of 5m, it can be seen that the scouring depth of the bridge pier gradually deepens with the passage of time.

[0080] In this embodiment, the motion trajectory of the target in the target time period is obtained in a non-contact manner by a monitoring camera arranged above the water surface. The target is located above the water surface and fixed on the top of the vibration probe rod, and the bottom end of the vibration probe rod is inserted into the riverbed; based on the motion trajectory, the displacement time history curve of the target in the water flow direction in the target time period is solved; further based on the displacement time history curve, the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length is identified through spectrum analysis calculation; then, based on the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length and the pre-constructed first relationship model, the displacement time history curve of the target in the target time period is calculated. The length of the cantilever beam of the vibration probe rod corresponding to the time length, the first relationship model is the relationship model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod; finally, based on the length of the cantilever beam of the vibration probe rod corresponding to each unit time length, a time-history graph of the length of the cantilever beam of the vibration probe rod changing with time is drawn, and the time-history graph is used to reflect the change of the scouring depth of the bridge pier over time. The present application adopts a combination of machine vision and vibration probe rod to realize dynamic monitoring of the scouring depth of the bridge pier, and can obtain the scouring depth of the bridge pier in real time. At the same time, since the monitoring camera is located above the water surface, it is not easy to be damaged, which can reduce the monitoring cost.

[0081] Furthermore, in one embodiment, the process of constructing the first relationship model includes:

[0082] Step 210, establishing a finite element model of the vibration probe rod;

[0083] In the specific implementation, according to the bridge design documents, hydrological data, etc., the appropriate vibration probe section is selected, and the vibration probe is modeled in the general finite element software using numerical simulation as an example, so as to establish the finite element model of the vibration probe. The vibration probe section and material properties of the finite element model of the vibration probe are set, and a fixed constraint is applied to the bottom of the vibration probe to make it vibrate in the form of a cantilever beam.

[0084] Step 220, setting the length of the cantilever beam of the vibration probe rod in the finite element model to a first length, where the first length is a length value extracted sequentially from a preset length data set;

[0085] Step 230, performing modal analysis on each first length of the vibration probe cantilever beam to obtain the cantilever beam fundamental frequency corresponding to each first length of the vibration probe cantilever beam;

[0086] According to the project requirements, several vibration probe cantilever beam lengths are set to form a preset length data set L. The preset length data set can be expressed as L = {l1, l2, ..., l n First, l1 is extracted from the preset length data set, the length of the vibration probe cantilever beam in the finite element model is set to l1, and the modal analysis of the vibration probe cantilever beam with a length of l1 is performed through theoretical calculation or numerical simulation to obtain the cantilever beam fundamental frequency f1 corresponding to the vibration probe cantilever beam with a length of l1; then l2 is extracted from the preset length data set in turn, the length of the vibration probe cantilever beam in the finite element model is set to l2, and the modal analysis of the vibration probe cantilever beam with a length of l2 is performed through theoretical calculation or numerical simulation to obtain the cantilever beam fundamental frequency f2 corresponding to the vibration probe cantilever beam with a length of l2; ... until l1 is finally extracted from the preset length data set. n , the length of the cantilever beam of the vibration probe in the finite element model is set to l n , through theoretical calculation or numerical simulation, the length l n The modal analysis of the vibration probe cantilever beam is carried out and the length is l n The cantilever beam fundamental frequency f corresponding to the vibrating probe cantilever beam n The fundamental frequencies of the cantilever beams corresponding to the cantilever beams of the vibrating probe rods of the first length form a fundamental frequency data set F. The fundamental frequency data set can be expressed as F = {f1, f2, ..., f n}.

[0087] For example, L = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}, in m. After modal analysis, F = {106.95, 27.13, 12.09, 6.81, 4.36, 3.03, 2.22, 1.70, 1.35, 1.09, 0.90, 0.76}, in Hz. Directly use the cantilever beam fundamental frequency corresponding to the cantilever beam of the vibration probe rod of each first length as the independent variable, and each first length as the dependent variable to draw a scatter plot. Figure 8 This is one of the relationship model diagrams between the cantilever beam length of the vibration probe and the fundamental frequency. Figure 8 It can be seen that there is no obvious pattern between the data points in the figure.

[0088] Step 240, drawing a scatter plot using the natural logarithm of the fundamental frequency of the cantilever beam corresponding to each first length of the vibration probe cantilever beam as an independent variable and the natural logarithm of each first length as a dependent variable;

[0089] From the fundamental frequency calculation formula of cantilever beam with equal cross section, we know that f∝l -2 , after taking the natural logarithm of both sides, we know that: ln(f)∝ln(l). Therefore, the natural logarithm of the fundamental frequency of the cantilever beam corresponding to each first length of the vibration probe cantilever beam is used as the independent variable, and the natural logarithm of each first length is used as the dependent variable to redraw the scatter plot.

[0090] Exemplarily, first determine the natural logarithm of each value in the preset length data set L = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}, and then determine the natural logarithm of each value in the fundamental frequency data set F = {106.95, 27.13, 12.09, 6.81, 4.36, 3.03, 2.22, 1.70, 1.35, 1.09, 0.90, 0.76,}; then redraw the scatter plot using the natural logarithm of the fundamental frequency of the cantilever beam corresponding to the vibration probe rod cantilever beam of each first length as the independent variable and the natural logarithm of each first length as the dependent variable. Fig. 9 This is the second model diagram of the relationship between the cantilever beam length and the fundamental frequency of the vibration probe rod. Fig. 9 It can be seen from the figure that the independent variable and the dependent variable are negatively linearly correlated.

[0091] Step 250: Perform linear regression analysis on the data points in the scatter plot to obtain a relationship model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod.

[0092] Furthermore, by performing linear regression analysis on the data points in the redrawn scatter plot, the linear equation of the straight line where the data points in the scatter plot are located is fitted to be ln(l)=-0.5016×ln(f)+2.3469, thereby constructing a relationship model between the length of the vibration probe cantilever beam and the fundamental frequency of the vibration probe cantilever beam.

[0093] In this embodiment, a finite element model of a vibration probe is established; the length of the cantilever beam of the vibration probe in the finite element model is set to a first length, wherein the first length is a length value extracted from a preset length data set in sequence; modal analysis is performed on each first length of the vibration probe cantilever beam to obtain the cantilever beam fundamental frequency corresponding to each first length of the vibration probe cantilever beam; a scatter plot is drawn with the natural logarithm of the cantilever beam fundamental frequency corresponding to each first length of the vibration probe cantilever beam as the independent variable and the natural logarithm of each first length as the dependent variable; a linear regression analysis is performed on the data points in the scatter plot to obtain a relationship model between the length of the cantilever beam of the vibration probe and the fundamental frequency of the cantilever beam of the vibration probe, thereby laying a foundation for determining the length of the cantilever beam of the vibration probe corresponding to each unit time length.

[0094] In a second aspect, an embodiment of the present application also provides a device for dynamically monitoring the scouring depth of a bridge pier.

[0095] In one embodiment, referring to Fig.10 , Fig.10 This is a functional module diagram of an embodiment of a dynamic monitoring device for bridge pier scour depth of the present application. Fig.10 As shown, the bridge pier scouring depth dynamic monitoring device 100 includes:

[0096] The acquisition module 101 is used to acquire the movement trajectory of the target within the target time period, wherein the target is located above the water surface and fixed on the top of the vibration probe rod, and the bottom end of the vibration probe rod is inserted into the riverbed;

[0097] A first determination module 102 is used to determine a displacement time history curve of the target in the water flow direction within a target time period based on the motion trajectory;

[0098] An identification module 103 is used to identify the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the displacement time history curve diagram;

[0099] A second determination module 104 is used to determine the length of the vibration probe cantilever beam corresponding to each unit time length based on the fundamental frequency of the vibration probe cantilever beam corresponding to each unit time length and a pre-constructed first relationship model, wherein the first relationship model is a relationship model between the length of the vibration probe cantilever beam and the fundamental frequency of the vibration probe cantilever beam;

[0100] The drawing module 105 is used to draw a time history curve of the vibration probe cantilever beam length changing with time based on the vibration probe cantilever beam length corresponding to each unit time length, and the time history curve is used to reflect the change of the scouring depth of the bridge pier with time.

[0101] Further, in one embodiment, the first determining module is specifically configured to:

[0102] The motion trajectory is solved using a machine vision displacement algorithm to obtain a displacement time history curve of the target in the water flow direction within a target time period.

[0103] Furthermore, in one embodiment, the identification module is specifically used for:

[0104] The displacement time history curve diagram is processed by Fourier transform algorithm to obtain the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length.

[0105] Furthermore, in one embodiment, the bridge pier scouring depth dynamic monitoring device further includes a construction module, and the construction module is specifically used for:

[0106] Establish the finite element model of the vibration probe;

[0107] Setting the length of the cantilever beam of the vibration probe rod in the finite element model to a first length, wherein the first length is a length value extracted sequentially from a preset length data set;

[0108] Performing modal analysis on each first-length vibration probe cantilever beam to obtain the cantilever beam fundamental frequency corresponding to each first-length vibration probe cantilever beam;

[0109] A scatter plot is drawn using the natural logarithm of the fundamental frequency of the cantilever beam corresponding to each first length of the vibration probe cantilever beam as an independent variable and the natural logarithm of each first length as a dependent variable;

[0110] A linear regression analysis is performed on the data points in the scatter plot to obtain a relationship model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod.

[0111] Furthermore, in one embodiment, the formula corresponding to the first relationship model is:

[0112] ln(l)=a*ln(f)+b

[0113] Among them, l is the length of the cantilever beam of the vibration probe rod, f is the fundamental frequency of the cantilever beam of the vibration probe rod, a is the slope, b is the intercept, ln(l) is the natural logarithm of the length of the cantilever beam of the vibration probe rod, and ln(f) is the natural logarithm of the fundamental frequency of the cantilever beam of the vibration probe rod.

[0114] Among them, the functional implementation of each module in the above-mentioned bridge pier scour depth dynamic monitoring device corresponds to the various steps in the above-mentioned bridge pier scour depth dynamic monitoring method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0115] In a third aspect, an embodiment of the present application provides a device for dynamically monitoring the scouring depth of a bridge pier. The device for dynamically monitoring the scouring depth of a bridge pier may be a personal computer (PC), a laptop computer, a server, or other device having a data processing function.

[0116] Reference Fig.11 , Fig.11 Schematic diagram of the hardware structure of the bridge pier scour depth dynamic monitoring device involved in the embodiment of the present application. In the embodiment of the present application, the bridge pier scour depth dynamic monitoring device may include a processor, a memory, a communication interface and a communication bus.

[0117] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0118] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the bridge pier scour depth dynamic monitoring device, and the interface used to realize the interconnection of the bridge pier scour depth dynamic monitoring device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0119] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0120] The processor may be a general-purpose processor, which may call the dynamic monitoring program for the scour depth of bridge piers stored in the memory and execute the dynamic monitoring method for the scour depth of bridge piers provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the dynamic monitoring program for the scour depth of bridge piers is called may refer to the various embodiments of the dynamic monitoring method for the scour depth of bridge piers of the present application, which will not be described in detail here.

[0121] Those skilled in the art will understand that Fig.11 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0122] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0123] The computer-readable storage medium of the present application stores a bridge pier scour depth dynamic monitoring program, wherein when the bridge pier scour depth dynamic monitoring program is executed by a processor, the steps of the bridge pier scour depth dynamic monitoring method as described above are implemented.

[0124] Among them, the method implemented when the bridge pier scour depth dynamic monitoring program is executed can refer to the various embodiments of the bridge pier scour depth dynamic monitoring method of the present application, and will not be repeated here.

[0125] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0126] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0127] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0128] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0129] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0130] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods 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 is essentially 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, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0131] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for dynamically monitoring the scouring depth of a bridge pier, characterized in that: The method for dynamically monitoring the scouring depth of bridge piers comprises: Obtaining the movement trajectory of the target within the target time period, the target is located above the water surface and fixed on the top of the vibrating probe rod, and the bottom end of the vibrating probe rod is inserted into the riverbed; Based on the motion trajectory, determining a displacement time history curve of the target in the water flow direction within a target time period; Based on the displacement time history curve diagram, identifying the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length; Determine the length of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length and a pre-constructed first relationship model, wherein the first relationship model is a relationship model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod; Based on the cantilever beam length of the vibration probe rod corresponding to each unit time length, a time history graph of the cantilever beam length of the vibration probe rod changing with time is drawn, and the time history graph is used to reflect the change of the scouring depth of the bridge pier with time.

2. The method for dynamic monitoring of bridge pier scouring depth according to claim 1, characterized in that: The step of determining a displacement time history curve of the target in the direction of the water flow within a target time period based on the motion trajectory includes: The motion trajectory is solved using a machine vision displacement algorithm to obtain a displacement time history curve of the target in the water flow direction within a target time period.

3. The method for dynamic monitoring of bridge pier scouring depth according to claim 1, characterized in that: The method of identifying the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the displacement time history curve diagram includes: The displacement time history curve diagram is processed by Fourier transform algorithm to obtain the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length.

4. The method for dynamic monitoring of bridge pier scouring depth according to claim 1, characterized in that: The process of constructing the first relationship model includes: Establish the finite element model of the vibration probe; Setting the length of the cantilever beam of the vibration probe rod in the finite element model to a first length, wherein the first length is a length value extracted sequentially from a preset length data set; Performing modal analysis on each first-length vibration probe cantilever beam to obtain the cantilever beam fundamental frequency corresponding to each first-length vibration probe cantilever beam; A scatter plot is drawn using the natural logarithm of the fundamental frequency of the cantilever beam corresponding to each first length of the vibration probe cantilever beam as an independent variable and the natural logarithm of each first length as a dependent variable; A linear regression analysis is performed on the data points in the scatter plot to obtain a relationship model between the length of the cantilever beam of the vibration probe rod and the fundamental frequency of the cantilever beam of the vibration probe rod.

5. The method for dynamic monitoring of bridge pier scouring depth according to claim 1, characterized in that: The formula corresponding to the first relational model is: ln(l)=a*ln(f)+b Among them, l is the length of the cantilever beam of the vibration probe rod, f is the fundamental frequency of the cantilever beam of the vibration probe rod, a is the slope, b is the intercept, ln(l) is the natural logarithm of the length of the cantilever beam of the vibration probe rod, and ln(f) is the natural logarithm of the fundamental frequency of the cantilever beam of the vibration probe rod.

6. A dynamic monitoring device for bridge pier scouring depth, characterized in that: The bridge pier scouring depth dynamic monitoring device comprises: An acquisition module is used to acquire the movement trajectory of the target within a target time period, wherein the target is located above the water surface and fixed on the top of a vibrating probe rod, and the bottom end of the vibrating probe rod is inserted into the riverbed; A first determination module is used to determine a displacement time history curve of the target in the water flow direction within a target time period based on the motion trajectory; An identification module, for identifying the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length based on the displacement time history curve diagram; A second determination module is used to determine the length of the vibration probe cantilever beam corresponding to each unit time length based on the fundamental frequency of the vibration probe cantilever beam corresponding to each unit time length and a pre-constructed first relationship model, wherein the first relationship model is a relationship model between the length of the vibration probe cantilever beam and the fundamental frequency of the vibration probe cantilever beam; The drawing module is used to draw a time history curve of the vibration probe cantilever beam length changing with time based on the vibration probe cantilever beam length corresponding to each unit time length. The time history curve is used to reflect the change of the scouring depth of the bridge pier with time.

7. The bridge pier scouring depth dynamic monitoring device according to claim 6, characterized in that: The first determining module is specifically used for: The motion trajectory is solved using a machine vision displacement algorithm to obtain a displacement time history curve of the target in the water flow direction within a target time period.

8. The bridge pier scouring depth dynamic monitoring device according to claim 6, characterized in that: The identification module is specifically used for: The displacement time history curve diagram is processed by Fourier transform algorithm to obtain the fundamental frequency of the cantilever beam of the vibration probe rod corresponding to each unit time length.

9. A dynamic monitoring device for bridge pier scouring depth, characterized in that: The bridge pier scour depth dynamic monitoring device includes a processor, a memory, and a bridge pier scour depth dynamic monitoring program stored in the memory and executable by the processor. When the bridge pier scour depth dynamic monitoring program is executed by the processor, the steps of the bridge pier scour depth dynamic monitoring method as described in any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a bridge pier scour depth dynamic monitoring program, wherein when the bridge pier scour depth dynamic monitoring program is executed by a processor, the steps of the bridge pier scour depth dynamic monitoring method according to any one of claims 1 to 5 are implemented.

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