Pier scouring depth dynamic monitoring method, device, equipment and medium

Abstract

A kind of pier scouring depth dynamic monitoring method, device, equipment and medium, belong to bridge monitoring technical field.Wherein, method includes: obtaining the motion trajectory of target in target time period, target is located above water surface and is fixed in the top of vibrating probe rod;Based on motion trajectory, determine the displacement time history curve diagram of target in water flow direction in target time period;Based on displacement time history curve diagram, identify the vibrating probe rod cantilever beam fundamental frequency corresponding to each unit length;Based on the vibrating probe rod cantilever beam fundamental frequency corresponding to each unit length and the relationship model of vibrating probe rod cantilever beam length and vibrating probe rod cantilever beam fundamental frequency constructed in advance, determine the vibrating probe rod cantilever beam length corresponding to each unit length;Draw the time history curve diagram of vibrating probe rod cantilever beam length with time change, and time history curve diagram reflects the change of pier scouring depth with time, using the way of machine vision and vibrating probe rod combination, realize the dynamic monitoring to pier scouring depth, and monitoring cost is lower.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge monitoring, in particular to a bridge pier scouring depth dynamic monitoring method, device, equipment and computer readable storage medium. BACKGROUND

[0002] The bridge erected in rivers, lakes and oceans is in a complex hydrological environment, and is often eroded by turbulent water flow. The silt and sediment around the bridge pier are continuously carried away by the water flow, and the burial depth decreases. Since the bridge pier is located below the water surface, the scouring damage is difficult to be discovered in time, and the damage of the bridge caused by scouring often has no obvious premonition, and when excessive scouring occurs, it will directly lead to the collapse of the bridge. Therefore, dynamic monitoring of the scouring depth of the bridge pier is a necessary means to prevent the collapse of the bridge due to excessive scouring.

[0003] In the prior art, the scouring depth of the bridge pier is detected by sonar imaging, ground penetrating radar, underwater robots, etc., but the detection equipment has high cost, low detection frequency and can only obtain one detection result value each time, and cannot realize dynamic monitoring of the scouring depth of the bridge pier; there are also devices such as drop hammers, buoys, magnetic labels buried at different depths of the riverbed around the bridge pier to dynamically monitor the scouring depth of the bridge pier, but these devices are trigger type single-use devices, and can only obtain a rough numerical range of the scouring depth of the bridge pier, and cannot obtain the real-time scouring depth of the bridge pier; there are also instruments such as detectors, strain probes, electrical conductivity probes and thermal conductivity probes to dynamically monitor the depth of the bridge pier, but these instruments are located underwater during work and are easily damaged, have short service life and high monitoring cost. SUMMARY

[0004] The present application provides a bridge pier scouring depth dynamic monitoring method, device, equipment and computer readable storage medium, which can solve the technical problems in the prior art that real-time scouring depth of the bridge pier cannot be obtained and the monitoring cost is high when dynamically monitoring the scouring depth of the bridge pier.

[0005] In a first aspect, an embodiment of the present application provides a bridge pier scouring depth dynamic monitoring method, which comprises:

[0006] obtaining a motion trajectory of a target in a target time period, the target being located above the water surface and being fixed at the top end of a vibrating probe, and the bottom end of the vibrating probe being inserted into the riverbed;

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

[0008] identifying the fundamental frequency of the cantilever beam of the vibrating probe corresponding to each unit time length based on the displacement time history curve;

[0009] 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 the first relationship model constructed in advance, 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.

[0010] Draw a time-history curve of the length of the vibration probe cantilever beam changing with time based on the length of the vibration probe cantilever beam corresponding to each unit time length, wherein the time-history curve is used to reflect the change of the scour depth of the pier with time.

[0011] In combination with the first aspect, in an implementation manner, the determining the displacement time-history curve of the target in the water flow direction within the target time period based on the motion trajectory comprises:

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

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

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

[0015] In combination with the first aspect, in an implementation manner, the construction process of the first relationship model comprises:

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

[0017] Set the length of the vibration probe cantilever beam in the finite element model as a first length, wherein the first length is a length value extracted from the preset length data set in turn;

[0018] Respectively perform modal analysis on the vibration probe cantilever beams of each first length to obtain the corresponding cantilever beam fundamental frequencies of the vibration probe cantilever beams of each first length;

[0019] Draw a scatter plot with the natural logarithm of the cantilever beam fundamental frequencies corresponding to the vibration probe cantilever beams of each first length as independent variables and the natural logarithm of each first length as dependent variables;

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

[0021] In combination with the first aspect, in an implementation manner, the formula corresponding to the first relationship model is:

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

[0023] wherein, l is the length of the vibrating probe cantilever beam, f is the base frequency of the vibrating probe cantilever beam, a is a slope, b is an intercept, ln(l) is a natural logarithm of the length of the vibrating probe cantilever beam, and ln(f) is a natural logarithm of the base frequency of the vibrating probe cantilever beam.

[0024] In a second aspect, the embodiments of the present application provide a bridge pier scouring depth dynamic monitoring device, the bridge pier scouring depth dynamic monitoring device comprises:

[0025] An acquisition module is configured to acquire a motion trajectory of a target in a target time period, the target being located above a water surface and fixed at a top end of a vibrating probe, a bottom end of the vibrating probe being inserted into a riverbed;

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

[0027] An identification module is configured to identify a vibrating probe cantilever beam base frequency corresponding to each unit time length based on the displacement time history curve;

[0028] A second determination module is configured to determine a vibrating probe cantilever beam length corresponding to each unit time length based on the vibrating probe cantilever beam base frequency corresponding to each unit time length and a first relationship model pre-constructed, the first relationship model being a relationship model between the vibrating probe cantilever beam length and the vibrating probe cantilever beam base frequency;

[0029] A drawing module is configured to draw a time history curve of the vibrating probe cantilever beam length changing with time based on the vibrating probe cantilever beam length corresponding to each unit time length, the time history curve being used to reflect a situation of the bridge pier scouring depth changing with time.

[0030] In combination with the second aspect, in an implementation manner, the first determination module is specifically configured to:

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

[0032] In combination with the second aspect, in an implementation manner, the identification module is specifically configured to:

[0033] The displacement time history curve is processed by using a Fourier transform algorithm to obtain the vibrating probe cantilever beam base frequency corresponding to each unit time length.

[0034] In a third aspect, the embodiments of the present application provide a bridge pier scouring depth dynamic monitoring device, the bridge pier scouring depth dynamic monitoring device comprises a processor, a memory, and a bridge pier scouring depth dynamic monitoring program stored in the memory and executable by the processor, wherein when the bridge pier scouring depth dynamic monitoring program is executed by the processor, the steps of the bridge pier scouring depth dynamic monitoring method according to any one of the first aspect are implemented.

[0035] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium stores a bridge pier scouring depth dynamic monitoring program, wherein when the bridge pier scouring depth dynamic monitoring program is executed by a processor, the steps of the bridge pier scouring depth dynamic monitoring method according to any one of the first aspect are implemented.

[0036] The technical scheme provided by the embodiments of the present application has the following beneficial effects:

[0037] The motion trajectory of the target in the target time period is non-contact acquired by the monitoring camera arranged above the water surface, the target is located above the water surface and fixed at the top end of the vibrating probe rod, and the bottom end of the vibrating 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 vibrating probe rod cantilever beam fundamental frequency corresponding to each unit time is calculated and identified through frequency spectrum analysis; then, based on the vibrating probe rod cantilever beam fundamental frequency corresponding to each unit time and the first relationship model constructed in advance, the vibrating probe rod cantilever beam length corresponding to each unit time is calculated inversely, and the first relationship model is a relationship model between the vibrating probe rod cantilever beam length and the vibrating probe rod cantilever beam fundamental frequency; finally, based on the vibrating probe rod cantilever beam length corresponding to each unit time, a time history curve of the vibrating probe rod cantilever beam length changing with time is drawn, and the time history curve is used to reflect the change of the bridge pier scouring depth with time. The present application adopts the combination of machine vision and vibrating probe rod to realize the dynamic monitoring of the bridge pier scouring depth, and the bridge pier scouring depth can be acquired in real time. Since the monitoring camera is located above the water surface and is not easy to be damaged, the monitoring cost can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 It is a flowchart of the first embodiment of the bridge pier scouring depth dynamic monitoring method of the present application;

[0039] Figure 2 It is a layout diagram of the bridge pier scouring depth dynamic monitoring system;

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

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

[0042] Figure 5 spectrum diagram of the target at the top end of the vibration probe rod;

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

[0044] Figure 7 time history curve diagram of the length of the cantilever beam of the vibration probe rod changing over time;

[0045] Figure 8 model diagram of the relationship between the length of the cantilever beam of the vibration probe rod and the fundamental frequency;

[0046] Figure 9 model diagram of the relationship between the length of the cantilever beam of the vibration probe rod and the fundamental frequency;

[0047] Figure 10 schematic diagram of the functional modules of an embodiment of the bridge pier scouring depth dynamic monitoring device of the application;

[0048] Figure 11 schematic diagram of the hardware structure of the bridge pier scouring depth dynamic monitoring device involved in the embodiment of the application. DETAILED DESCRIPTION

[0049] In order for those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely 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. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0050] In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below in conjunction with the drawings.

[0051] In a first aspect, the embodiments of the present application provide a bridge pier scouring depth dynamic monitoring method.

[0052] In an embodiment, with reference to Figure 1 , Figure 1 schematic diagram of the flow of the first embodiment of the bridge pier scouring depth dynamic monitoring method of the present application. As Figure 1 shown, the bridge pier scouring depth dynamic monitoring method comprises:

[0053] Step 110, acquiring the motion trajectory of the target in the target time period, the target being located above the water surface and fixed at the top end of the vibration probe rod, the bottom end of the vibration probe rod being inserted into the riverbed;

[0054] It should be noted that before performing the bridge pier scouring depth dynamic monitoring method provided in the present application, a vibration probe rod is inserted to a suitable depth at a suitable riverbed position according to the bridge site survey results, historical scouring data, etc., and a target is fixed at the top end of the probe rod. In addition, according to the bridge structure form, field of view conditions, etc., a suitable camera model is selected, and the monitoring camera is fixedly installed at a suitable position, the camera parameters are adjusted, and it is ensured that the target at the top end of the vibration probe rod and its motion trajectory can be clearly presented in the field of view of the monitoring camera.

[0055] Exemplarily, the bridge pier scouring depth dynamic monitoring of a certain mountainous area bridge is taken as an example for illustration, Figure 2 The bridge pier scouring depth dynamic monitoring system layout is shown in FIG. 1, Figure 2 In FIG. 1, serial number 1 is a monitoring camera, serial number 2 is a target, and serial number 3 is a vibration probe rod.

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

[0057] In the specific implementation, the motion trajectory of the target in the target time period is captured non-contactly by the monitoring camera arranged above the water surface.

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

[0059] Further, after obtaining the motion trajectory, the motion trajectory is analyzed to obtain data for describing the motion trajectory of the target, such as position, velocity, acceleration, etc., and then based on the data, a displacement calculation algorithm is used to determine the displacement time history curve of the target in the water flow direction in the target time period.

[0060] Further, in an embodiment, the determining of the displacement time history curve of the target in the water flow direction in the target time period based on the motion trajectory comprises:

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

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

[0063] Step 130: identifying the vibration probe cantilever beam fundamental frequency corresponding to each unit time length based on the displacement-time curve.

[0064] The unit time length can be, for example, each hour, each day, each month, etc., which is not limited in the present application. The vibration probe cantilever beam fundamental frequency refers to the vibration fundamental frequency of the vibration probe cantilever beam under the excitation of random loads such as earth pulsation, water flow, wind, etc.

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

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

[0067] Further, in an embodiment, the identification of the vibration probe cantilever beam fundamental frequency corresponding to each unit time length based on the displacement-time curve includes:

[0068] The displacement-time curve is processed using the Fourier transform algorithm to obtain the vibration probe cantilever beam fundamental frequency corresponding to each unit time length.

[0069] First, the displacement-time curve is analyzed to determine the displacement-time data of the vibration probe cantilever beam and to perform preprocessing such as denoising; then the Fourier transform algorithm is used to convert the preprocessed displacement-time data into frequency domain data; a frequency spectrum graph is drawn based on the frequency domain data; finally, the frequency component with the largest amplitude is found from the frequency spectrum graph, which represents the main frequency of vibration, i.e., the fundamental frequency. Figure 5 The frequency spectrum graph of the target at the top end of the vibration probe.

[0070] In the present embodiment, the Fourier transform algorithm is used to process the displacement-time curve to obtain the vibration probe cantilever beam fundamental frequency corresponding to each unit time length, realizing the conversion from the time domain to the frequency domain, which makes it more intuitive and efficient to determine the vibration probe cantilever beam fundamental frequency corresponding to each unit time length.

[0071] In step 140, the length of the vibration probe cantilever beam corresponding to each unit time is determined based on the fundamental frequency of the vibration probe cantilever beam corresponding to each unit time and the first relationship model constructed in advance, and 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.

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

[0073] Further, in an embodiment, the formula corresponding to the first relationship model is:

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

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

[0076] In specific implementation, the length of the vibration probe cantilever beam corresponding to each unit time is substituted into the above formula, and then the power of natural number is taken on both sides of the formula, so that the length of the vibration probe cantilever beam corresponding to each unit time is solved. Assuming that the formula corresponding to the first relationship model is: ln(l)=-0.5016*lnf+2.3469, the fundamental frequency f of the vibration probe cantilever beam corresponding to a unit time is 4.4 Hz, which is substituted into the above formula, and the power of natural number is taken on both sides of the formula, so that the length of the vibration probe cantilever beam corresponding to the unit time is 4.9716 m. Figure 6 The schematic diagram for calculating the length of the vibration probe cantilever beam based on the measured fundamental frequency.

[0077] In step 150, a time-history curve of the length of the vibration probe cantilever beam changing with time is drawn based on the length of the vibration probe cantilever beam corresponding to each unit time, and the time-history curve is used to reflect the change of the scour depth of the bridge pier with time.

[0078] It can be understood that the change of the scour depth of the bridge pier is related to the change of the length of the vibration probe cantilever beam, and the time-history curve of the length of the vibration probe cantilever beam changing with time can reflect the change of the scour depth of the bridge pier with time. For example, the lengthening of the vibration probe cantilever beam means the deepening of the scour depth of the bridge pier, and the shortening of the length of the vibration probe cantilever beam means the shallowing of the scour depth.

[0079] In specific implementation, after the length of the vibration probe cantilever beam corresponding to each unit time is determined, the time-history curve of the length of the vibration probe cantilever beam changing with time is drawn by using drawing software or programming language. Figure 7A time-history curve diagram of the length of the vibrating probe cantilever beam changing with time is drawn. When the unit time is calculated, the length of the vibrating probe cantilever beam corresponding to the unit time is 4.9716 m. Combined with the initial driving depth of 7 m and the initial length of the cantilever beam of 5 m, it can be known that the scouring depth of the pier gradually deepens with the elapse of time.

[0080] In the embodiment, the motion trajectory of a target in a target time period is non-contact acquired by a monitoring camera arranged above the water surface, the target is located above the water surface and fixed at the top end of the vibrating probe, and the bottom end of the vibrating probe is driven into the riverbed; based on the motion trajectory, a displacement time-history curve diagram of the target in the water flow direction in the target time period is calculated; further based on the displacement time-history curve diagram, the vibrating probe cantilever beam fundamental frequency corresponding to each unit time is calculated and identified through frequency spectrum analysis; then, based on the vibrating probe cantilever beam fundamental frequency corresponding to each unit time and the first relationship model pre-constructed, the vibrating probe cantilever beam length corresponding to each unit time is back calculated, the first relationship model is a relationship model between the vibrating probe cantilever beam length and the vibrating probe cantilever beam fundamental frequency; finally, based on the vibrating probe cantilever beam length corresponding to each unit time, a time-history curve diagram of the vibrating probe cantilever beam length changing with time is drawn, the time-history curve diagram is used to reflect the change of the pier scouring depth with time, the machine vision and the vibrating probe are combined in the application, the dynamic monitoring of the pier scouring depth is realized, the pier scouring depth can be acquired in real time, and the monitoring cost can be reduced since the monitoring camera is located above the water surface and is not easy to be damaged.

[0081] Further, in an embodiment, the construction process of the first relationship model comprises:

[0082] Step 210, a finite element model of the vibrating probe is established;

[0083] In specific implementation, according to the bridge design file, hydrological data and the like, a suitable vibrating probe section is selected, for example, the vibrating probe is modeled in a general finite element software by numerical simulation, thereby the finite element model of the vibrating probe is established. The vibrating probe section and material properties of the finite element model of the vibrating probe are set, and a fixed constraint is applied to the bottom of the vibrating probe to make it vibrate in the form of a cantilever beam.

[0084] Step 220, the length of the vibrating probe cantilever beam in the finite element model is set as a first length, the first length is a length value extracted from the preset length data set in turn;

[0085] Step 230, modal analysis is respectively performed on the vibrating probe cantilever beams of each first length, thereby the cantilever beam fundamental frequency corresponding to each first length of the vibrating probe cantilever beam is obtained;

[0086] Based on project requirements, several cantilever beam lengths for vibration probes are set, forming a preset length dataset L. This preset length dataset can be represented as L = {l1, l2, ..., l...} n First, l1 is extracted from the preset length dataset. The length of the vibratory probe cantilever beam in the finite element model is set to l1. Modal analysis of the vibratory probe cantilever beam with length l1 is performed through theoretical calculation or numerical simulation to obtain the fundamental frequency f1 of the cantilever beam with length l1. Then, l2 is extracted from the preset length dataset. The length of the vibratory probe cantilever beam in the finite element model is set to l2. Modal analysis of the vibratory probe cantilever beam with length l2 is performed through theoretical calculation or numerical simulation to obtain the fundamental frequency f2 of the cantilever beam with length l2. ... until finally l1 is extracted from the preset length dataset. n The length of the cantilever beam of the vibratory probe in the finite element model is set to l. n Through theoretical calculations or numerical simulations, the length of l n Modal analysis was performed on the cantilever beam of the vibration probe, and the length was obtained as l. n The fundamental frequency f of the cantilever beam corresponding to the vibration probe cantilever beam n The fundamental frequencies of the cantilever beams corresponding to each first-length vibration probe form a fundamental frequency dataset F, which can be represented as F = {f1, f2, ..., f...} n}

[0087] For example, let L = {1,2,3,4,5,6,7,8,9,10,11,12}, in meters (m). After modal analysis, we obtain 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. Using the fundamental frequency of the cantilever beam corresponding to each first length of the vibrating probe as the independent variable and each first length as the dependent variable, we plot a scatter plot. Figure 8 This is one of the model diagrams showing the relationship between the length of the cantilever beam of a vibration probe and its fundamental frequency. Figure 8 As can be seen from the graph, there is no obvious pattern among the data points.

[0088] Step 240: Using the natural logarithm of the fundamental frequency of the cantilever beam corresponding to each first length of the vibration probe as the independent variable and the natural logarithm of each first length as the dependent variable, draw a scatter plot.

[0089] From the formula for calculating the fundamental frequency of a cantilever beam with a uniform cross-section, we know that f∝l -2 Taking the natural logarithm of both sides, we know that ln(f) ∝ ln(l). Therefore, we redraw the scatter plot with the natural logarithm of the fundamental frequency of the cantilever beam corresponding to each first length of the vibrating probe as the independent variable and the natural logarithm of each first length as the dependent variable.

[0090] For example, 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} is determined first, and 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,} is determined; then the natural logarithm of the natural logarithm of the fundamental frequency corresponding to the cantilever beam of the vibration probe cantilever beam of each first length is taken as the independent variable, and the natural logarithm of each first length is taken as the dependent variable, and a scatter plot is redrawn. Figure 9 For the second relationship model diagram of the length of the vibration probe cantilever beam and the fundamental frequency, the natural logarithm of the natural logarithm of the fundamental frequency corresponding to the cantilever beam of the vibration probe cantilever beam of each first length is taken as the independent variable, and the natural logarithm of each first length is taken as the dependent variable, and a scatter plot is redrawn. Figure 9 As can be seen from the scatter plot, the independent variable and the dependent variable have a negative linear correlation.

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

[0092] Further, by performing linear regression analysis on the data points in the redrawn scatter plot, the straight line equation of the straight line on which the data points in the scatter plot lie is fitted as ln(l) = -0.5016 x 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 the vibration probe is established; the length of the vibration probe cantilever beam in the finite element model is set as a first length, and the first length is a length value extracted from the preset length data set in turn; modal analysis is performed on the vibration probe cantilever beam of each first length respectively to obtain the fundamental frequency corresponding to the cantilever beam of the vibration probe cantilever beam of each first length; the natural logarithm of the natural logarithm of the fundamental frequency corresponding to the cantilever beam of the vibration probe cantilever beam of each first length is taken as the independent variable, and the natural logarithm of each first length is taken as the dependent variable, and a scatter plot is drawn; linear regression analysis is performed on the data points in the scatter plot to obtain a relationship model between the length of the vibration probe cantilever beam and the fundamental frequency of the vibration probe cantilever beam, thereby laying a foundation for determining the length of the vibration probe cantilever beam corresponding to each unit time length.

[0094] In a second aspect, the embodiments of the present application also provide a bridge pier scouring depth dynamic monitoring device.

[0095] In an embodiment, with reference to Figure 10 , Figure 10 is a functional module schematic diagram of an embodiment of the bridge pier scouring depth dynamic monitoring device of the present application. As shown in Figure 10 , the bridge pier scouring depth dynamic monitoring device 100 comprises:

[0096] The acquisition module 101 is configured to acquire a motion trajectory of a target in a target time period, the target being located above a water surface and fixed at a top end of a vibrating probe rod, a bottom end of the vibrating probe rod being inserted into a riverbed;

[0097] The first determination module 102 is configured to determine a displacement-time curve of the target in a flow direction in the target time period based on the motion trajectory.

[0098] The identification module 103 is configured to identify a vibrating probe rod cantilever beam fundamental frequency corresponding to each unit time length based on the displacement-time curve.

[0099] The second determination module 104 is configured to determine a vibrating probe rod cantilever beam length corresponding to each unit time length based on the vibrating probe rod cantilever beam fundamental frequency corresponding to each unit time length and a first relationship model pre-constructed, the first relationship model being a relationship model between the vibrating probe rod cantilever beam length and the vibrating probe rod cantilever beam fundamental frequency.

[0100] The drawing module 105 is configured to draw a time curve of the vibrating probe rod cantilever beam length changing with time based on the vibrating probe rod cantilever beam length corresponding to each unit time length, the time curve being used to reflect a situation of the bridge pier scouring depth changing with time.

[0101] Further, in an embodiment, the first determination module is specifically configured to:

[0102] The motion trajectory is calculated by using a machine vision displacement algorithm to obtain the displacement-time curve of the target in the flow direction in the target time period.

[0103] Further, in an embodiment, the identification module is specifically configured to:

[0104] The displacement-time curve is processed by using a Fourier transform algorithm to obtain the vibrating probe rod cantilever beam fundamental frequency corresponding to each unit time length.

[0105] Further, in an embodiment, the bridge pier scouring depth dynamic monitoring device further comprises a construction module, and the construction module is specifically configured to:

[0106] Establish a finite element model of the vibrating probe rod.

[0107] Set the vibrating probe rod cantilever beam length in the finite element model as a first length, the first length being a length value extracted from a preset length data set in turn;

[0108] Respectively perform modal analysis on vibrating probe rod cantilever beams of each first length to obtain cantilever beam fundamental frequencies corresponding to the vibrating probe rod cantilever beams of each first length.

[0109] Take the natural logarithm of the corresponding cantilever beam fundamental frequency of the vibration probe cantilever beam of each first length as the independent variable, and take the natural logarithm of each first length as the dependent variable to draw a scatter plot;

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

[0111] Further, in an embodiment, the first relationship model corresponds to the formula:

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

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

[0114] Wherein, the function implementation of each module in the above bridge pier scouring depth dynamic monitoring device corresponds to each step in the above bridge pier scouring depth dynamic monitoring method embodiment, and the functions and implementation processes will not be repeated here.

[0115] In a third aspect, the embodiments of the present application provide a bridge pier scouring depth dynamic monitoring device. The bridge pier scouring depth dynamic monitoring device can be a personal computer (PC), a notebook computer, a server, or other devices with data processing functions.

[0116] Reference Figure 11 , Figure 11 The figure is a hardware structure diagram of the bridge pier scouring depth dynamic monitoring device involved in the embodiments of the present application. In the embodiments of the present application, the bridge pier scouring depth dynamic monitoring device can include a processor, a memory, a communication interface, and a communication bus.

[0117] Wherein, the communication bus can be of any type, used to realize the interconnection of the processor, the memory, and the communication interface.

[0118] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, etc. for realizing the interconnection of devices inside the bridge pier scouring depth dynamic monitoring device, and interfaces for realizing the interconnection of the bridge pier scouring 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 interface, an ATM interface, etc.; the user device can be a display screen (Display), a keyboard (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), and the like.

[0120] The processor can be a general-purpose processor, which can invoke the pier scouring depth dynamic monitoring program stored in the memory and execute the pier scouring depth dynamic monitoring method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the pier scouring depth dynamic monitoring program is invoked can refer to the embodiments of the pier scouring depth dynamic monitoring method of the present application, which will not be described here.

[0121] Those skilled in the art can understand that the hardware structure shown in the above-mentioned embodiments is not a limitation of the present application, and can include more or less components than the illustrated components, or combine certain components, or different component arrangements. Figure 11 The hardware structure shown in the above-mentioned embodiments is not a limitation of the present application, and can include more or less components than the illustrated components, or combine certain components, or different component arrangements.

[0122] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium.

[0123] The computer readable storage medium of the present application stores the pier scouring depth dynamic monitoring program therein, wherein the pier scouring depth dynamic monitoring program, when executed by the processor, implements the steps of the pier scouring depth dynamic monitoring method as described above.

[0124] The method implemented when the pier scouring depth dynamic monitoring program is executed can refer to the embodiments of the pier scouring depth dynamic monitoring method of the present application, which will not be described here.

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

[0126] The terms “include,” “comprise,” “have,” and any variations thereof, in the Specification and in the Claims of the present application, and the above-mentioned drawings, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that includes a list of steps or units is not limited to the listed steps or units, but can optionally further include steps or units not listed, or can optionally further include other steps or units inherent to such processes, methods, products, or devices. The terms “first”, “second”, and “third” and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of “first”, “second”, and “third”.

[0127] In the description of the embodiments of the present application, “exemplary”, “for example”, or “for instance” is used to represent an example, illustration, or description. Any embodiment or design scheme described as “exemplary”, “for example”, or “for instance” in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words “exemplary”, “for example”, or “for instance” are intended to present the relevant concept in a specific manner.

[0128] In the description of the embodiments of the present application, unless otherwise specified, “ / ” represents the meaning of or, for example, A / B can represent A or B; “and / or” in the text only represents a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, “multiple” means two or more than two.

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

[0130] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and a general hardware platform as required, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) as described above, and includes a plurality of instructions for causing a terminal device to execute the methods described in the embodiments of the present application.

[0131] The preferred embodiments of the present application have been described above with the illustrated embodiments, and are not intended to limit the scope of patent protection for the present application. Any equivalent structure or equivalent process variations, which directly or indirectly apply to the content of the specification and drawings, or are directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for dynamic monitoring of bridge pier scour depth, characterized in that, The pier scouring depth dynamic monitoring method comprises: acquiring a motion trajectory of a target in a target time period, the target being located above a water surface and fixed at a top end of a vibrating probe rod, a bottom end of the vibrating probe rod being inserted into a riverbed, the vibrating probe rod being a hollow circular steel tube with an outer diameter of 114 mm, an inner diameter of 104 mm, an elastic modulus of 2*10 11 Pa, and a length of 7 m, a cantilever beam having a length of 5 m; Based on the motion trajectory, a displacement time history curve of the target in the water flow direction within a target time period is determined; Based on the displacement time history curve, a vibration probe cantilever beam fundamental frequency corresponding to each unit time length is identified, the vibration probe cantilever beam vibrates in the form of a cantilever beam under random load excitation such as earth pulsation, water flow and wind; Based on the vibration probe cantilever beam fundamental frequency corresponding to each unit time length and a first relationship model constructed in advance, a vibration probe cantilever beam length corresponding to each unit time length is determined, the first relationship model is a relationship model between the vibration probe cantilever beam length and the vibration probe cantilever beam fundamental frequency; The construction process of the first relationship model comprises: A finite element model of the vibration probe is established; The vibration probe cantilever beam length in the finite element model is set as a first length, the first length is a length value extracted from a preset length data set in turn; Modal analysis is respectively performed on the vibration probe cantilever beams of each first length, and a cantilever beam fundamental frequency corresponding to the vibration probe cantilever beam of each first length is obtained; A scatter plot is drawn with the natural logarithm of the cantilever beam fundamental frequency corresponding to the vibration probe cantilever beam of each first length as the independent variable and the natural logarithm of each first length as the dependent variable; Linear regression analysis is performed on the data points in the scatter plot, and a relationship model between the vibration probe cantilever beam length and the vibration probe cantilever beam fundamental frequency is obtained; Based on the vibration probe cantilever beam length corresponding to each unit time length, a time history curve of the vibration probe cantilever beam length changing with time is drawn, and the time history curve is used to reflect the change of the pier scouring depth with time.

2. The method of claim 1, wherein, The method comprises the following steps: The motion trajectory is calculated by 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 of claim 1, wherein, The method comprises the following steps: The displacement time history curve is processed by using a Fourier transform algorithm to obtain the vibration probe cantilever beam fundamental frequency corresponding to each unit time length.

4. The method of claim 1, wherein, The formula corresponding to the first relationship model is as follows: wherein, is the length of the cantilever beam of the vibrating probe, is the fundamental frequency of the cantilever beam of the vibrating probe, is the slope, is the intercept, is the natural logarithm of the length of the cantilever beam of the vibrating probe, is the natural logarithm of the fundamental frequency of the cantilever beam of the vibrating probe.

5. A bridge pier scour depth dynamic monitoring device, characterized in that, The pier scouring depth dynamic monitoring device comprises: An acquisition module is configured to acquire a motion trajectory of a target in a target time period, the target being located above a water surface and fixed at a top end of a vibrating probe rod, a bottom end of the vibrating probe rod being inserted into a riverbed, the vibrating probe rod having an outer diameter of 114 mm, an inner diameter of 104 mm, and an elastic modulus of 2*10 11 Pa, a hollow circular steel tube, an insertion depth of 7 m, and a length of a cantilever beam of 5 m. A first determination module is configured 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 is configured to identify a vibration probe cantilever beam fundamental frequency corresponding to each unit time length based on the displacement time history curve, the vibration probe cantilever beam vibrates in the form of a cantilever beam under random load excitation such as earth pulsation, water flow and wind; A second determination module is configured to determine a vibration probe cantilever beam length corresponding to each unit time length based on the vibration probe cantilever beam fundamental frequency corresponding to each unit time length and a first relationship model constructed in advance, the first relationship model is a relationship model between the vibration probe cantilever beam length and the vibration probe cantilever beam fundamental frequency; The construction process of the first relationship model comprises: A finite element model of the vibration probe is established; The vibration probe cantilever beam length in the finite element model is set as a first length, the first length is a length value extracted from a preset length data set in turn; respectively, the first length of the vibration probe cantilever beam is subjected to modal analysis, and a corresponding cantilever beam base frequency of the first length of the vibration probe cantilever beam is obtained; the natural logarithm of the corresponding cantilever beam base frequency of the first length of the vibration probe cantilever beam is taken as the independent variable, and the natural logarithm of the first length is taken as the dependent variable, and a scatter plot is drawn; linear regression analysis is performed on the data points in the scatter plot to obtain a relationship model between the vibration probe cantilever beam length and the vibration probe cantilever beam base frequency; the drawing module is configured to draw a time-history curve of the vibration probe cantilever beam length changing with time based on the corresponding vibration probe cantilever beam length of each unit time, and the time-history curve is used to reflect the change of the bridge pier scouring depth with time.

6. The pier scour depth dynamic monitoring device of claim 5, wherein, The first determination module is specifically configured to: a machine vision displacement algorithm is used to solve the motion trajectory to obtain a displacement time-history curve of the target in the water flow direction within the target time period.

7. The pier scour depth dynamic monitoring device of claim 5, wherein, The recognition module is specifically configured to: a Fourier transform algorithm is used to process the displacement time-history curve to obtain the corresponding vibration probe cantilever beam base frequency of each unit time.

8. A bridge pier scour depth dynamic monitoring device, characterized in that, The bridge pier scouring depth dynamic monitoring device comprises a processor, a memory, and a bridge pier scouring depth dynamic monitoring program stored on the memory and executable by the processor, wherein when the bridge pier scouring depth dynamic monitoring program is executed by the processor, the steps of the bridge pier scouring depth dynamic monitoring method according to any one of claims 1 to 4 are implemented.

9. A computer readable storage medium, characterized in that, The computer readable storage medium stores a bridge pier scouring depth dynamic monitoring program, wherein when the bridge pier scouring depth dynamic monitoring program is executed by the processor, the steps of the bridge pier scouring depth dynamic monitoring method according to any one of claims 1 to 4 are implemented.

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