Method and system for processing measurement values ​​of a pile driving vessel

Abstract

A method and system for processing the measured values ​​of a pile-driving ship, belonging to the field of information processing technology, which analyzes the trend attributes and change coordination attributes of the wind speed and wind force value at the location of the pile hammer, calculates the hidden effect factor on the speed value of the pile hammer, and can enhance the recognition function of the abnormal speed value of the pile hammer; then the speed queue is cut, and the mixed random amount of the sub-queue is calculated according to the maximum attribute of the speed sub-queue and the change random attribute of the attribute sub-queue, and the speed smooth credible amount of the speed queue is calculated by combining the mixed random amount and the self-coherence of the speed queue, which reflects the smooth attribute of the speed value of the pile hammer and the amount of the noise value, and obtains the single input amount of the random forest method according to the speed smooth credible amount, so as to perform error correction on the sampled speed value of the pile hammer. The sampling accuracy of the speed sensor is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of information processing, and in particular relates to a method and system for processing measurement values ​​of a pile-driving ship. Background Art

[0002] A pile-driving ship is a vessel used for pile driving operations on water. The hull is a steel box structure, and a pile-driving frame is installed at the end of the deck. It can be tilted forward and backward to meet the needs of driving inclined piles. A pile-driving ship is a non-self-propelled ship, which is towed into place by a pusher (tug) wheel. Pile-driving ships are widely used in the construction of bridges, docks, and water conservancy projects.

[0003] In the operation control of a pile-driving barge, an existing technical solution with a patent publication number of "CN109914408B" is often used to perform operation control on the pile-driving barge, which includes a speed sensor connected to a control device provided on a pile hammer fixing plate of the pile-driving barge, the speed sensor is used to instantly sample the speed value of the pile hammer and send it to the control device, and the control device performs corresponding disposal according to the speed value of the pile hammer collected.

[0004] That is to say, in the operation control of the pile-driving ship, the real-time sampling of the speed of the pile hammer of the pile-driving ship is very critical. At present, the speed value of the pile hammer of the pile-driving ship is directly obtained based on the speed sensor. However, due to the fluctuation of wind speed and wind force at the place where the pile hammer is located, as well as the disturbance of magnetic field clutter around the pile hammer, the sampled speed value of the pile hammer often has some clutter values ​​and complex changes, which brings about the problem of poor sampling accuracy of the speed sensor. To improve the accuracy of sampling, there must be relevant error correction methods to weaken the disturbance of such deviations. Summary of the invention

[0005] In order to solve the defects in the prior art, the present invention proposes a processing system and method for the measurement values ​​of a pile-driving ship, which reflects the smoothness attribute of the velocity value of the pile hammer and the amount of clutter value contained, and obtains the single input amount of the random forest method based on the speed smoothness credible amount, thereby performing error correction on the sampled velocity value of the pile hammer, thereby improving the sampling accuracy of the speed sensor.

[0006] The present invention uses the following technical solutions.

[0007] A method for processing measurement values ​​of a pile driving vessel, comprising:

[0008] The method of using a wind force sensor, a wind speed sensor and a speed sensor to respectively sample the wind force value, the wind speed value and the speed value of the pile hammer at the location of the pile driving ship and send them to a control device for error correction, including:

[0009] S1: obtaining the wind force value, wind speed value and speed value of the pile hammer at each time point during the pile hammer operation of the pile driving ship, and arranging the wind force value, wind speed value and speed value of the pile hammer at each time point to form a source wind force queue, a source wind speed queue and a source speed queue respectively according to the sequence of their time points, and performing standardization on the source speed queue, the source wind speed queue and the source wind force queue to form a speed queue, a wind speed queue and a wind queue;

[0010] S2: According to the numerical variation trend and numerical dispersion amplitude of the wind speed value and wind force value during the working period of the pile hammer of the pile driving ship, as well as the coherence between the sub-sequences of wind speed and the sub-sequences of wind force, the hidden effect factor of the speed value of the pile hammer at each time point is determined;

[0011] S3: cutting the speed queue into a number of speed sub-queues according to each maximum value point in the speed queue, analyzing the change of the speed value of the pile hammer in the speed sub-queue and the number of elements in the speed sub-queue, and combining the product of the speed value of the pile hammer at each time point and its hidden effect factor to determine the randomness of the speed sub-queue;

[0012] S4: according to the average of the randomness of the chaos of all speed sub-queues and the queue-related attributes of the speed queue, the speed smoothness reliability is obtained;

[0013] S5: Obtain the single delivery amount based on the reliable value of the speed smoothness, and use the random forest method to perform error correction on the speed value of the pile hammer.

[0014] Furthermore, the wind force sensor, wind speed sensor and speed sensor respectively sample the wind force value at the location of the pile hammer of the pile driving ship, the wind speed value at the location of the pile hammer and the speed value of the pile hammer in real time and send them to the control device for error correction. The control device performs corresponding treatment according to the speed value of the pile hammer after error correction.

[0015] In S1, the sampling period of the wind force value at the location of the pile hammer of the pile driving ship, the wind speed value at the location of the pile hammer and the speed value of the pile hammer is defined as The wind force value at the location of the pile hammer of the pile driving ship, the wind speed value at the location of the pile hammer and the speed value of the pile hammer are arranged in the order of their time points to form a source wind force queue, a source wind speed queue and a source speed queue, and the source speed queue, the source wind speed queue and the source wind force queue are subjected to standardized processing to form a speed queue, a wind speed queue and a wind queue;

[0016] In S1, the speed values ​​in the source speed queue, the wind speed values ​​in the source wind speed queue and the wind force values ​​in the source wind force queue are standardized using the min-max standardization method, and the standardized source speed queue, the standardized source wind speed queue and the standardized source wind force queue are defined as the wind speed queue, the wind force queue and the speed queue, respectively.

[0017] Further, in S2, in the wind speed queue and the wind force queue, use the first The time point is the midpoint, and the subqueue with fifteen elements is defined as the The sub-queue at the time point, that is, in the wind speed queue and wind force queue, the sub-queue at the wind speed queue The wind speed value corresponding to the time point, together with the seven adjacent wind speed values ​​before and the seven adjacent wind speed values ​​after, forms the first wind speed in the wind speed queue. The number of elements corresponding to the time point is fifteen, and the number of elements in the wind queue is The wind force value corresponding to the time point, together with the seven adjacent wind force values ​​before it and the seven adjacent wind force values ​​after it, form the first wind force in the wind force queue. The number of elements corresponding to the time point is fifteen.

[0018] Furthermore, in S2, the Cox-Stuart method is used to obtain the trend change of the values ​​in each sub-queue in the wind speed queue, that is, the corresponding value change trend, and the dispersion factor of the wind speed value in the sub-queue is calculated. The dispersion factor is the quotient obtained by dividing the standard deviation of the wind speed value in the sub-queue by its mean, that is, the corresponding value dispersion amplitude. Then, the value obtained by multiplying the trend change of the value in the sub-queue and the dispersion factor is taken as the first The trend dispersion factor parameter of the corresponding wind speed value at a time point is defined as ;

[0019] The Cox-Stuart method is used to obtain the trend change of the values ​​in each sub-queue of the wind force queue, that is, the corresponding value change trend, and the dispersion factor of the wind force value in the sub-queue is calculated. The dispersion factor is the quotient obtained by dividing the standard deviation of the wind force value in the sub-queue by its mean, that is, the corresponding value dispersion amplitude. Then, the value obtained by multiplying the trend change of the value in the sub-queue by the dispersion factor is taken as the first The trend dispersion factor parameter of the corresponding wind force value at a time point is defined as .

[0020] Furthermore, in S2, the operation The Tanimoto index between the total wind speed value and the total wind force value of the sub-queue at the time point is defined as The coherence at each time point .

[0021] Furthermore, in S2, the operation equation of the hidden action factor of the velocity value of the pile hammer at each time point is:

[0022] ;

[0023] In the equation, Representative The hidden factor of the velocity value of the pile hammer at a certain point in time.

[0024] Furthermore, in S3, the comparison method is used to obtain the maximum point in the speed queue, that is, if a speed value in the speed queue is higher than the two speed values ​​on its two adjacent sides, the speed value is identified as the maximum point, and the total maximum point is used as the cutting point to cut the speed queue into several speed sub-queues.

[0025] Further, in S3, for the The speed sub-queue is divided by the accumulated value of the speed values ​​of all the hammers in the speed sub-queue and the number of elements in the speed sub-queue, and the quotient is taken as the speed variation complexity, which is defined as .

[0026] Further, in S3, a queue formed by multiplying the hidden effect factor of the speed value of the pile hammer at each time point in the speed sub-queue by the speed value of the pile hammer is defined as a product value queue corresponding to the speed sub-queue;

[0027] Then, each product value queue is sent to the Hurst index method to calculate and obtain the corresponding measurement value of each product value queue, and the measurement value is defined as ; Combine this metric with the speed variation complexity and use the following equation to calculate the speed sub-queue's complexity randomness:

[0028] ;

[0029] In the equation, Representative The randomness of the speed sub-queue.

[0030] Further, in S4, the average of the randomness of the entire speed sub-queue is calculated and defined as ; Then, the autocovariance of the speed queue is regarded as its autocoherence, and the modulus of the autocoherence is regarded as the queue coherence property of the speed queue, which is defined as ;

[0031] Based on this, according to the average of the randomness of the entire speed sub-queue and the queue-related properties of the speed queue, the speed smoothness reliability is calculated, and the calculation equation is:

[0032] ;

[0033] In the equation, Represents a reliable amount of slow speed.

[0034] Furthermore, in S5, the calculation equation of the single feeding amount is: ; here is the single feed amount, is the Euler number;

[0035] The speed values ​​in the source speed queue are sent to the random forest method one by one in order of their sequence and the number of speed values ​​sent in a single time to remove the noise value, thereby obtaining the speed value after removing the noise value, and the speed value after removing the noise value is used as the speed value of the pile hammer after error correction.

[0036] A system for processing measured values ​​of a pile driving vessel, comprising:

[0037] Control device; the modules running on the control device include:

[0038] A queue module, which is used to obtain the wind force value, wind speed value and speed value of the pile hammer at each time point during the operation of the pile hammer of the pile driving ship;

[0039] The first determination module is used to determine the hidden effect factor of the speed value of the pile hammer at each time point according to the numerical change trend and numerical dispersion amplitude of the wind speed value and the wind force value during the working period of the pile hammer of the pile driving ship, as well as the coherence between the sub-queues of the wind speed and the sub-queues of the wind force;

[0040] The second determination module is used to divide the speed queue into several speed sub-queues according to each maximum value point in the speed queue, and determine the randomness of the speed sub-queue by analyzing the change of the speed value of the pile hammer in the speed sub-queue and the number of elements in the speed sub-queue, and combining the product value of the speed value of the pile hammer at each time point and its hidden effect factor;

[0041] A correlation module is used to obtain a speed smoothness reliability according to the average of the randomness of the disorder of all speed sub-queues and the queue correlation attribute of the speed queue;

[0042] The error correction module is used to obtain the single delivery amount based on the reliable amount of speed smoothness, and use the random forest method to perform error correction on the speed value of the pile hammer.

[0043] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0044] By analyzing the trend attributes and change coordination attributes of the wind speed and wind force values ​​at the location of the pile hammer, and calculating the hidden factors affecting the speed value of the pile hammer, the recognition function of the abnormal speed value of the pile hammer can be enhanced; then the speed sequence is segmented, and the mixed randomness of the sub-sequence is calculated according to the maximum attribute of the speed sub-sequence and the change randomness attribute of the attribute sub-sequence. The speed smoothness reliability of the speed sequence is calculated by combining the mixed randomness and the autocorrelation of the speed sequence, which reflects the smoothness attribute of the speed value of the pile hammer and the amount of noise value. The single input of the random forest method is obtained according to the speed smoothness reliability, so as to perform error correction on the sampled speed value of the pile hammer. The sampling accuracy of the speed sensor is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of the method for processing the measured values ​​of a pile-driving vessel according to the present invention;

[0046] Figure 2 It is a partial structural diagram of the system for processing the measured values ​​of the pile-driving vessel in the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely express the technical solution of the present invention. The embodiments expressed in this application are only partial embodiments of the present invention, not all embodiments. According to the spirit of the present invention, other embodiments obtained by technicians in this field without creative work are all within the protection scope of the present invention.

[0048] like Figure 1 As shown, a method for processing measurement values ​​of a pile driving vessel according to the present invention comprises:

[0049] The wind force sensor, the wind speed sensor and the speed sensor respectively sample the wind force value at the location of the pile hammer of the pile driving ship, the wind speed value at the location of the pile hammer and the speed value of the pile hammer in real time and send them to the control device for error correction, and the control device performs corresponding treatment according to the speed value of the pile hammer after error correction; the method for the control device to perform corresponding treatment according to the speed value of the pile hammer after error correction includes: when the speed value of the pile hammer after error correction is not higher than the upper limit of the normal speed, the control device sends a normal working signal; when the speed value of the pile hammer after error correction is between the upper limit of the normal speed and the first brake speed value, the control device sends a signal to the oil cylinder of the first brake device on the pile hammer to send an extension signal; when the speed value of the pile hammer after error correction is higher than the first brake speed value, the control signal sends an extension signal to the oil cylinder of the first brake device on the pile hammer.

[0050] The method of using a wind force sensor, a wind speed sensor and a speed sensor to respectively sample the wind force value, the wind speed value and the speed value of the pile hammer at the location of the pile driving ship and send them to a control device for error correction, including:

[0051] S1: Obtain the wind force value, wind speed value and speed value of the pile hammer at the location of the pile hammer of the pile driving ship at each sampling time point during the operation of the pile hammer of the pile driving ship. The wind force value, wind speed value and speed value of the pile hammer at the location of the pile hammer of the pile driving ship are arranged in the order of the sampling time points to form a source wind force queue, a source wind speed queue and a source speed queue, and the source speed queue, the source wind speed queue and the source wind force queue are subjected to standardized processing to form a speed queue, a wind speed queue and a wind queue; the time point in this application is the sampling time point.

[0052] In a preferred but non-limiting embodiment of the present invention, in S1, the simultaneous sampling period of the wind force value at the location of the pile hammer of the pile driving ship, the wind speed value at the location of the pile hammer and the speed value of the pile hammer is defined as , the sampling time for one error correction is The wind force value at the location of the pile hammer, the wind speed value at the location of the pile hammer and the speed value of the pile hammer sampled therein respectively form a source wind force queue, a source wind speed queue and a source speed queue.

[0053] In a preferred but non-restrictive implementation of the present invention, in S1, the speed values ​​in the source speed queue, the wind speed values ​​in the source wind speed queue and the wind force values ​​in the source wind force queue of a single error correction process are standardized using the min-max standardization method, and the standardized source speed queue, the standardized source wind speed queue and the standardized source wind force queue are defined as a wind speed queue, a wind force queue and a speed queue, respectively.

[0054] S2: According to the numerical variation trend and numerical dispersion amplitude of the wind speed value and wind force value during the working period of the pile hammer of the pile driving ship, as well as the coherence between the sub-sequences of wind speed and the sub-sequences of wind force, the hidden effect factor of the speed value of the pile hammer at each time point is determined;

[0055] In the operation control of the pile driving ship, the real-time sampling of the speed of the pile hammer of the pile driving ship is very important. Initially, the various sampled values ​​are processed and analyzed in the error correction process. The effect of the wind force and wind speed at the location of the pile hammer of the pile driving ship on the speed value of the pile hammer is as follows:

[0056] The change of wind speed at the place where the pile hammer is located will cause the resistance encountered by the pile hammer during operation to change, thereby affecting its speed. The increase of wind speed will increase the resistance encountered by the pile hammer during operation, causing the speed value of the pile hammer sampled by the speed sensor to decrease; otherwise, the decrease of wind speed will reduce the resistance encountered by the pile hammer during operation, often causing the speed value of the pile hammer sampled by the speed sensor to increase; on the other hand, the increase of wind force at the place where the pile hammer is located will increase the intensity of air flow, often causing the resistance generated by friction with the surface of the pile hammer to increase accordingly, thereby reducing the speed value of the pile hammer sampled by the speed sensor.

[0057] It can be obtained from the above analysis that the changes in wind speed and wind force at the location of the pile hammer often cause the speed value to fluctuate. Therefore, the following analysis is performed on the change amplitude of wind speed and wind force to identify the disturbing effect of the change of wind speed and wind force on the speed. Because the changes in wind speed and wind force at the location of the pile hammer are obvious, and often produce a large amplitude change in a short period of time, therefore, in a preferred but non-restrictive embodiment of the present invention, in S2, in the wind speed queue and the wind force queue, the first The time point is the midpoint, and the subqueue with fifteen elements is defined as the The sub-queue at the time point, that is, in the wind speed queue and wind force queue, the sub-queue at the wind speed queue The wind speed value corresponding to the time point, together with the seven adjacent wind speed values ​​before and the seven adjacent wind speed values ​​after, forms the first wind speed in the wind speed queue. The number of elements corresponding to the time point is fifteen, and the number of elements in the wind queue is The wind force value corresponding to the time point, together with the seven adjacent wind force values ​​before it and the seven adjacent wind force values ​​after it, form the first wind force in the wind force queue. The number of elements corresponding to each time point is fifteen. Then, the wind speed value and wind force value in the subqueue are obtained accordingly. When the value in the subqueue is insufficient, the bilinear interpolation method is used in this application to perform supplementation.

[0058] In a preferred but non-limiting embodiment of the present invention, in S2, the Cox-Stuart method is used to obtain the trend change amount of the values ​​in each sub-queue in the wind speed queue, that is, the corresponding value change trend, that is, the wind speed queue is used as the first For the sub-queue at a time point, The corresponding wind speed values ​​of all sub-queues at a certain time point are sent to the Cox-Stuart method. The modulus of the result value obtained by calculation is the trend change of the value in the sub-queue. The high or low trend change reflects the obvious amplitude of the increase or decrease of the wind speed value in the sub-queue, and the dispersion factor of the wind speed value in the sub-queue is calculated. The dispersion factor is the quotient obtained by dividing the standard deviation of the wind speed value in the sub-queue by its mean, that is, the corresponding numerical dispersion amplitude. The high or low dispersion factor reflects the dispersion factor amplitude of the wind speed queue in the sub-queue. Then, the The amount obtained by multiplying the trend change of the value in the sub-queue at a time point by the dispersion factor is taken as the The trend dispersion factor parameter of the corresponding wind speed value at a time point is defined as ; The higher the value, the higher the instantaneous change amplitude of the wind speed value in the sub-queue.

[0059] The Cox-Stuart method is used to obtain the trend change of the values ​​in each sub-queue in the wind queue, that is, the corresponding value change trend, that is, the wind queue's first For the sub-queue at a time point, The corresponding wind force values ​​of all sub-queues at a certain time point are sent to the Cox-Stuart method. The modulus of the result value obtained by calculation is the trend change of the value in the sub-queue. The high or low trend change reflects the obvious amplitude of the increase or decrease of the wind force value in the sub-queue, and the dispersion factor of the wind force value in the sub-queue is calculated. The dispersion factor is the quotient obtained by dividing the standard deviation of the wind force value in the sub-queue by its mean, that is, the corresponding numerical dispersion amplitude. The high or low dispersion factor reflects the dispersion factor amplitude of the wind force queue in the sub-queue. Then, the The amount obtained by multiplying the trend change of the value in the sub-queue at a time point by the dispersion factor is taken as the The trend dispersion factor parameter of the corresponding wind force value at a time point is defined as . The higher the value, the higher the instantaneous change amplitude of the wind force queue in the sub-queue. In addition, there are some related properties between the wind speed and wind force at the location of the pile hammer. Under normal circumstances, when the wind speed at the location of the pile hammer increases, the wind force at the location of the pile hammer will increase due to the effect of the wind speed impulse, thereby causing the speed value of the pile hammer to fluctuate.

[0060] To obtain the effect of wind speed and wind force changes on the speed value of the pile hammer, it is necessary to analyze the coherence factor (coherence) between the overall wind speed value and the overall wind force value corresponding to each sub-queue at each time point. In a preferred but non-limiting embodiment of the present invention, in S2, the calculation of the first The Tanimoto index between the total wind speed value and the total wind force value of the sub-queue at the time point is defined as The coherence at each time point . The higher the value, the closer the wind speed and wind force variation properties at the location of the pile hammer are.

[0061] In a preferred but non-limiting embodiment of the present invention, in S2, the sum of the trend dispersion factor parameter of the wind speed value and the trend dispersion factor parameter of the wind force value at each time point is analyzed, and the value aggregated by the sum and the coherence at the time point is used as the hidden effect factor of the speed value of the pile hammer at each time point. The calculation equation of the hidden effect factor of the speed value of the pile hammer at each time point is:

[0062] ;

[0063] In the equation, Representative The hidden factor of the velocity value of the pile hammer at a certain time point is The higher the value, the higher the instantaneous change amplitude of the wind speed and wind force at the location of the pile hammer at that time point, and the higher the effect on the speed value of the pile hammer.

[0064] Therefore, according to the above method of the present application, the hidden action factor corresponding to the speed value of the pile hammer at each time point can be obtained.

[0065] S3: cutting the speed queue into a number of speed sub-queues according to each maximum value point in the speed queue, analyzing the change of the speed value of the pile hammer in the speed sub-queue and the number of elements in the speed sub-queue, and combining the product of the speed value of the pile hammer at each time point and its hidden effect factor to determine the randomness of the speed sub-queue;

[0066] During the operation of the pile hammer of the pile-driving ship, the place where the pile hammer is located often produces obvious disturbances from the surrounding magnetic field clutter. Since the speed sensor generally determines the speed based on the rules of magnetic induction, the surrounding magnetic field clutter at the place where the pile hammer is located often disturbs the normal operation of the speed sensor under magnetic induction, which will weaken the sampling accuracy. In other words, the speed queue often represents disordered maximum values ​​and clutter values. Therefore, it is also necessary to analyze the maximum value attributes of the speed queue and the random quantities generated by the clutter values.

[0067] In a preferred but non-restrictive embodiment of the present invention, in S3, a comparison method is used to obtain the maximum point in the speed queue, that is, if a speed value in the speed queue is higher than the two speed values ​​on its two adjacent sides, the speed value is identified as a maximum point, and the speed queue is cut into several speed sub-queues according to the various maximum points in the speed queue. In this application, all the maximum points are used as cutting points to cut the speed queue into several speed sub-queues. The larger the maximum value here, the more uneven the speed change, and the lower the interval between the maximum values, the higher the rate of speed change. The interval between the maximum values ​​here is the number of elements in the speed sub-queue.

[0068] Therefore, in a preferred but non-limiting embodiment of the present invention, in S3, for the The speed sub-queue is divided by the accumulated value of the speed values ​​of all the hammers in the speed sub-queue and the number of elements in the speed sub-queue, and the quotient is taken as the speed variation complexity, which is defined as , The higher the value, the faster the disordered change of speed in the time period of the subqueue (that is, the span of the sampling time points of the subqueue) is.

[0069] The variation of the speed value of the pile hammer is the speed variation complexity.

[0070] Next, the level of noise in the velocity value of the pile hammer is analyzed, because the changes in wind speed and wind force, in addition to affecting the velocity value of the pile hammer, will also form differences in the surrounding magnetic field noise at the location of the pile hammer in some aspects, which determines the sampling accuracy of the velocity sensor. Based on this, in a preferred but non-restrictive embodiment of the present invention, in S3, the queue formed by multiplying the hidden action factor of the velocity value of the pile hammer at each time point in the velocity sub-queue by the velocity value of the pile hammer is defined as the product value queue corresponding to the velocity sub-queue, which is suitable for enhancing the sensitivity of detecting abnormal velocity values ​​of the pile hammer; just as, if the velocity value of the pile hammer at a time point has a noise value and the hidden action factor is not low, it means that the probability of abnormal velocity at that time point is greater.

[0071] Then, each product value queue is sent to the Hurst index method to calculate and obtain the corresponding measurement value of each product value queue, and the measurement value is defined as ; The higher the value, the higher the variation randomness of the product queue. Combining this value with the speed variation complexity, the following equation is used to calculate the complexity randomness of the speed sub-queue:

[0072] ;

[0073] In the equation, Representative The randomness of the speed sub-queue. The higher the value, the greater the impact of the surrounding magnetic field clutter at the location of the pile hammer on the speed sensor sampling, and the clutter value contained in the speed queue is often higher.

[0074] S4: according to the average of the randomness of the chaos of all speed sub-queues and the queue-related attributes of the speed queue, the speed smoothness reliability is obtained;

[0075] Through the above analysis, the corresponding randomness of each speed sub-queue is obtained. Each speed sub-queue corresponds to a time period (that is, the span of the sampling time points of the speed sub-queue). The value reflects the disturbance amplitude of the wind speed, wind force and surrounding magnetic field clutter of the pile hammer at the location where the speed sensor is located during the sampling period in different time periods. If the disturbance amplitude of the above factors in a time period is lower, it means that the sampling value of the speed sensor in this time period is closer to the actual speed value of the pile hammer, and the greater the queue coherence of the speed queue, the greater the similarity of the speed queue at different time points, which means that the change of the sampling value of the speed sensor is smoother.

[0076] Therefore, this application is to analyze the speed smoothness reliability of the speed sensor sampling value, that is:

[0077] In a preferred but non-limiting embodiment of the present invention, in S4, the average of the random amount of confusion of all speed sub-queues is calculated and defined as ; The lower the value, the less the sampling value is disturbed by the wind speed, wind force and surrounding magnetic field clutter at the location of the pile hammer.

[0078] Then, the autocovariance of the speed queue corresponding to the sampling time is taken as its autocoherence to analyze the change of the speed queue. In this application, the modulus of the autocoherence is taken as the queue coherence attribute of the speed queue and is defined as ; The higher the value, the smoother the speed value sampled by the speed sensor.

[0079] Based on this, according to the average of the randomness of the entire speed sub-queue and the queue-related properties of the speed queue, the speed smoothness reliability is calculated, and the calculation equation is:

[0080] ;

[0081] In the equation, Represents the speed of the credible amount, A higher value means a smoother queue of samples.

[0082] S5: Obtain the single delivery amount based on the reliable value of the speed smoothness, and use the random forest method to perform error correction on the speed value of the pile hammer.

[0083] The present application analyzes the wind speed, wind force and speed value of the pile hammer at the location of the pile hammer, and obtains the speed smoothness credible quantity attribute of the speed queue before error correction. The speed smoothness credible quantity reflects the stability attribute of the speed value of the pile hammer and the amount of clutter value. In the present application, the random forest method is combined to perform error correction on the speed queue. If the speed smoothness credible quantity calculated is The higher the value, the smoother the sampling speed queue is, the lower the corresponding noise value is, and the lower the single input amount required by the random forest method is, to prevent the amount of noise value removed from being too large so that the legal speed value is also removed, fully maintaining the legal speed value of the speed queue. If the speed of the operation is smooth and reliable, The lower it is, the more uneven the sampling speed queue is and the more complex its changes are. A higher single input amount is required to use the random forest method to remove noise values ​​and reduce the disturbance of noise values.

[0084] In a preferred but non-limiting embodiment of the present invention, in S5, the operation equation of the single feeding amount is: ; here is the single feed amount, is the Euler number;

[0085] Under normal circumstances, the single input amount of the random forest method should not be too high or too low, so in this application, when calculating the single input amount, a constraint is imposed on the single input amount, and the speed values ​​in the source speed queue are successively fed into the random forest method in order of their sequence and the speed values ​​of the single input amount are fed at one time to remove the clutter value, thereby obtaining the speed value after removing the clutter value, and the speed value after removing the clutter value is used as the speed value of the pile hammer after error correction, so as to achieve error correction of the speed value sampled by the speed sensor. The modulus in this application is the absolute value.

[0086] like Figure 2 As shown, a system for processing measurement values ​​of a pile driving vessel according to the present invention comprises:

[0087] A control device; a speed sensor, a wind force sensor and a wind speed sensor connected to the control device are arranged on a pile hammer fixing plate of a pile driving ship, the wind sensor, the wind speed sensor and the speed sensor are used to respectively and instantly sample the wind force value, the wind speed value and the speed value of the pile hammer at the location of the pile driving ship and send them to the control device for error correction, and the control device performs corresponding treatment according to the speed value of the pile hammer after error correction; the method in which the control device performs corresponding treatment according to the speed value of the pile hammer after error correction comprises: when the speed value of the pile hammer after error correction is not higher than the upper limit of the normal speed, the control device sends a normal working signal; when the speed value of the pile hammer after error correction is between the upper limit of the normal speed and the first brake speed value, the control device sends a signal to the oil cylinder of the first brake device on the pile hammer to send an extension signal; when the speed value of the pile hammer after error correction is higher than the first brake speed value, the control signal sends an extension signal to the oil cylinder of the first brake device on the pile hammer.

[0088] The modules running on the control device include:

[0089] A queue module, which is used to obtain the wind force value, wind speed value and speed value of the pile hammer at each time point during the pile hammer operation of the pile driving ship, the wind force value, wind speed value and speed value of the pile hammer at the location of the pile hammer of the pile driving ship are arranged in the order of their time points to form a source wind force queue, a source wind speed queue and a source speed queue, and the source speed queue, the source wind speed queue and the source wind force queue are subjected to standardization processing to form a speed queue, a wind speed queue and a wind queue;

[0090] The first determination module is used to determine the hidden effect factor of the speed value of the pile hammer at each time point according to the numerical change trend and numerical dispersion amplitude of the wind speed value and the wind force value during the working period of the pile hammer of the pile driving ship, as well as the coherence between the sub-queues of the wind speed and the sub-queues of the wind force;

[0091] The second determination module is used to divide the speed queue into several speed sub-queues according to each maximum value point in the speed queue, and determine the randomness of the speed sub-queue by analyzing the change of the speed value of the pile hammer in the speed sub-queue and the number of elements in the speed sub-queue, and combining the product value of the speed value of the pile hammer at each time point and its hidden effect factor;

[0092] A correlation module is used to obtain a speed smoothness reliability according to the average of the randomness of the disorder of all speed sub-queues and the queue correlation attribute of the speed queue;

[0093] The error correction module is used to obtain the single delivery amount based on the speed smoothness reliability, and use the random forest method to perform error correction on the speed value of the pile hammer. The control device can be a PLC or an industrial computer.

[0094] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0095] By analyzing the trend attributes and change coordination attributes of the wind speed and wind force values ​​at the location of the pile hammer, and calculating the hidden factors affecting the speed value of the pile hammer, the recognition function of the abnormal speed value of the pile hammer can be enhanced; then the speed sequence is segmented, and the mixed randomness of the sub-sequence is calculated according to the maximum attribute of the speed sub-sequence and the change randomness attribute of the attribute sub-sequence. The speed smoothness reliability of the speed sequence is calculated by combining the mixed randomness and the autocorrelation of the speed sequence, which reflects the smoothness attribute of the speed value of the pile hammer and the amount of noise value. The single input of the random forest method is obtained according to the speed smoothness reliability, so as to perform error correction on the sampled speed value of the pile hammer. The sampling accuracy of the speed sensor is improved.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modification or equivalent replacement that does not deviate from the spirit and scope of the present invention should be covered within the protection space of the claims of the present invention.

Claims

1. A method for processing measurement values ​​of a pile-driving ship, characterized in that: include: The method of using a wind force sensor, a wind speed sensor and a speed sensor to respectively sample the wind force value, the wind speed value and the speed value of the pile hammer at the location of the pile driving ship and send them to a control device for error correction, including: S1: obtaining the wind force value, wind speed value and speed value of the pile hammer at the location of the pile hammer at each time point during the pile hammer operation of the pile driving ship; S2: According to the numerical variation trend and numerical dispersion amplitude of the wind speed value and wind force value during the working period of the pile hammer of the pile driving ship, as well as the coherence between the sub-sequences of wind speed and the sub-sequences of wind force, the hidden effect factor of the speed value of the pile hammer at each time point is determined; S3: cutting the speed queue into a number of speed sub-queues according to each maximum value point in the speed queue, analyzing the change of the speed value of the pile hammer in the speed sub-queue and the number of elements in the speed sub-queue, and combining the product of the speed value of the pile hammer at each time point and its hidden effect factor to determine the randomness of the speed sub-queue; S4: according to the average of the randomness of the chaos of all speed sub-queues and the queue-related attributes of the speed queue, the speed smoothness reliability is obtained; S5: Obtain the single delivery amount based on the speed smoothness credibility, and use the random forest method to perform error correction on the speed value of the pile hammer; In S2, in the wind speed queue and wind force queue, use The time point is the midpoint, and the subqueue with fifteen elements is defined as the The sub-queue at the time point, that is, in the wind speed queue and wind force queue, the sub-queue at the wind speed queue The wind speed value corresponding to the time point, together with the seven adjacent wind speed values ​​before and the seven adjacent wind speed values ​​after, forms the first wind speed in the wind speed queue. The number of elements corresponding to the time point is fifteen, and the number of elements in the wind queue is The wind force value corresponding to the time point, together with the seven adjacent wind force values ​​before it and the seven adjacent wind force values ​​after it, form the first wind force in the wind force queue. The number of elements corresponding to the time point is fifteen in the subqueue; In S2, the Cox-Stuart method is used to obtain the trend change of the values ​​in each sub-queue in the wind speed queue, that is, the corresponding value change trend, and the dispersion factor of the wind speed value in the sub-queue is calculated. The dispersion factor is the quotient obtained by dividing the standard deviation of the wind speed value in the sub-queue by its mean, that is, the corresponding value dispersion amplitude. Then, the value obtained by multiplying the trend change of the value in the sub-queue and the dispersion factor is used as the first The trend dispersion factor parameter of the corresponding wind speed value at a time point is defined as ; The Cox-Stuart method is used to obtain the trend change of the values ​​in each sub-queue of the wind force queue, that is, the corresponding value change trend, and the dispersion factor of the wind force value in the sub-queue is calculated. The dispersion factor is the quotient obtained by dividing the standard deviation of the wind force value in the sub-queue by its mean, that is, the corresponding value dispersion amplitude. Then, the value obtained by multiplying the trend change of the value in the sub-queue by the dispersion factor is taken as the first The trend dispersion factor parameter of the corresponding wind force value at a time point is defined as ; In S2, the operation The Tanimoto index between the total wind speed value and the total wind force value of the sub-queue at the time point is defined as The coherence at each time point ; In S2, the calculation equation of the hidden action factor of the velocity value of the pile hammer at each time point is: ; In the equation, Representative The hidden effect factor of the speed value of the pile hammer at a certain time point; In S3, the comparison method is used to obtain the maximum point in the speed queue, that is, if a speed value in the speed queue is higher than the two speed values ​​on its two adjacent sides, the speed value is identified as the maximum point, and all the maximum points are used as cutting points to cut the speed queue into several speed sub-queues; In S3, for The speed sub-queue is divided by the sum of the speed values ​​of all the hammers in the speed sub-queue and the number of elements in the speed sub-queue, and the quotient is taken as the speed variation complexity, which is defined as ; In S3, a queue formed by multiplying the hidden effect factor of the speed value of the pile hammer at each time point in the speed sub-queue by the speed value of the pile hammer is defined as a product value queue corresponding to the speed sub-queue; Then, each product value queue is sent to the Hurst index method to calculate and obtain the corresponding measurement value of each product value queue, and the measurement value is defined as ; Combine this metric with the speed variation complexity and use the following equation to calculate the speed sub-queue's complexity randomness: ; In the equation, Representative The randomness of the speed sub-queues; In S4, the average of the randomness of all speed sub-queues is calculated and defined as ; Then, the autocovariance of the speed queue is regarded as its autocoherence, and the modulus of the autocoherence is regarded as the queue coherence property of the speed queue, which is defined as ; Based on this, according to the average of the randomness of the entire speed sub-queue and the queue-related properties of the speed queue, the speed smoothness reliability is calculated, and the calculation equation is: ; In the equation, Represents a reliable amount of slow speed.

2. The method for processing the measured values ​​of a pile-driving ship according to claim 1, characterized in that: The wind force sensor, wind speed sensor and speed sensor respectively sample the wind force value, wind speed value and speed value of the pile hammer at the location of the pile driving ship and send them to the control device for error correction. The control device performs corresponding treatment according to the speed value of the pile hammer after error correction. In S1, the sampling period of the wind force value at the location of the pile hammer of the pile driving ship, the wind speed value at the location of the pile hammer and the speed value of the pile hammer is defined as The wind force value at the location of the pile hammer of the pile driving ship, the wind speed value at the location of the pile hammer and the speed value of the pile hammer are arranged in the order of their time points to form a source wind force queue, a source wind speed queue and a source speed queue, and the source speed queue, the source wind speed queue and the source wind force queue are subjected to standardized processing to form a speed queue, a wind speed queue and a wind queue; In S1, the speed values ​​in the source speed queue, the wind speed values ​​in the source wind speed queue and the wind force values ​​in the source wind force queue are standardized using the min-max standardization method, and the standardized source speed queue, the standardized source wind speed queue and the standardized source wind force queue are defined as the wind speed queue, the wind force queue and the speed queue, respectively.

3. The method for processing the measured values ​​of a pile-driving ship according to claim 2, characterized in that: In S5, the calculation equation for the single feed amount is: ; here is the single feed amount, is the Euler number; The speed values ​​in the source speed queue are sent to the random forest method one by one in order of their sequence and the number of speed values ​​sent in a single time to remove the noise value, thereby obtaining the speed value after removing the noise value, and the speed value after removing the noise value is used as the speed value of the pile hammer after error correction.

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