Inclination value adjustment platform and method based on pile gripper of pile driving ship

Abstract

The invention discloses an inclination value adjustment platform and method based on a pile driver pile gripper, belonging to the technical field of inclination value adjustment. The platform and method obtain grouped outlier parameters of similar outliers based on sudden change amplitude and continuity attribute value of similar outliers, and use the grouped outlier parameters to perform active outlier detection on similar outliers to obtain outlier amplitude of similar outliers, and then obtain an optimal outlier critical value based on the outlier amplitude, and use the optimal outlier critical value to perform outlier detection on the inclination value of the pile driver pile gripper transmitted by instant sampling, thereby reducing the adverse effect of the error value formed by external magnetic field disturbance on the outlier detection of the inclination value, thereby improving the accuracy of outlier detection on the inclination value of the pile driver pile gripper.

Description

Technical Field

[0001] The invention belongs to the technical field of inclination value adjustment, and in particular relates to an inclination value adjustment platform and method based on a pile gripper of a pile driving ship. Background Art

[0002] An engineering vessel dedicated to underwater piling operations. Most of the piling vessels used are luffing type piling vessels powered by diesel hydraulic engines. Its working mechanism includes a pile frame and its luffing mechanism located at the bow. The pile frame is equipped with a pile hammer and its landing gear, a pile driver and a pile holder.

[0003] As for the pile gripper of the pile driving ship, as mentioned in the prior art solution with patent publication number "CN212670570U", it includes a double-layer pile gripper arranged on the pile driving ship, and the double-layer pile gripper is equipped with a pile frame inclination angle detection sensor arranged on the pile frame on one side of the steel pipe column, and the pile frame inclination angle detection sensor and the display screen are connected to the central processing unit, and the double-layer pile gripper is used to hold the steel pipe column during piling by the pile driving ship, and the pile frame inclination angle detection sensor is used to sample the pile frame inclination angle value on the pile frame on one side of the steel pipe column and transmit it to the central processing unit, and the central processing unit is used to transmit the received pile frame inclination angle value on the pile frame on one side of the steel pipe column to the display screen for display, and the pile frame inclination angle value on the pile frame on one side of the steel pipe column is the inclination angle value of the pile driving ship pile gripper, thereby achieving the monitoring of the inclination angle value of the pile driving ship pile gripper.

[0004] At present, the key to monitoring the inclination value of the pile driver's pile gripper is to define a critical value based on the historical records of abnormal inclination values ​​of the pile driver's pile gripper. Based on the defined critical value, if the inclination value of the pile driver's pile gripper exceeds the defined critical value, the central processing unit will transmit a message of abnormal inclination value of the pile driver's pile gripper to the display screen, thereby notifying the operator that the pile gripping function of the double-layer pile gripper is invalid when the inclination value is out of the group. The above method of performing outlier detection on the inclination value of the pile driver's pile gripper through the critical value defined according to the historical records has the advantages of efficient configuration, easy control and not difficult to construct.

[0005] However, since the efficiency and accuracy of the existing method for detecting the inclination angle of the pile gripper of a pile driver barge relies on the rich historical records and the precise definition of the critical quantity, the inclination angle value of the pile driver barge pile gripper sampled by the pile frame inclination angle detection sensor during the piling of the pile driver barge often contains erroneous values ​​caused by external magnetic field disturbances. Such erroneous values ​​will have an adverse effect on the outlier detection of the inclination angle value of the pile driver barge pile gripper, thereby causing the central processing unit to misinterpret the abnormal information of the inclination angle value of the pile driver barge pile gripper transmitted from the display screen, thereby inaccurately notifying the operator that the pile gripping function of the double-layer pile gripper is invalid under the outlier condition of the inclination angle value, thereby weakening the confidence of the central processing unit. Summary of the invention

[0006] In order to solve the defects in the prior art, the present invention proposes an inclination value adjustment platform and method based on a pile driver pile gripper, which obtains grouped outlier parameters of similar outliers based on the sudden change amplitude and continuity attribute value of similar outliers, and uses the grouped outlier parameters to perform active outlier detection on similar outliers to obtain the outlier amplitude of similar outliers, and then obtains the optimal outlier critical value based on the outlier amplitude, and uses the optimal outlier critical value to perform outlier detection on the inclination value of the pile driver pile gripper transmitted by real-time sampling, thereby reducing the adverse effect of the error value formed by the external magnetic field disturbance on the outlier detection of the inclination value, thereby improving the accuracy of outlier detection on the inclination value of the pile driver pile gripper.

[0007] The present invention uses the following technical solutions.

[0008] A method for adjusting the inclination value based on a pile gripper of a pile driving ship, comprising:

[0009] The double-layer pile gripper grips the steel pipe column during the piling process of the piling ship. The pile frame inclination angle detection sensor samples the pile frame inclination angle value on the pile frame on one side of the steel pipe column and transmits it to the central processing unit. The central processing unit processes the received pile frame inclination angle value on the pile frame on one side of the steel pipe column and then transmits the processed inclination angle value message to the display screen for display. The pile frame inclination angle value on the pile frame on one side of the steel pipe column is the inclination angle value of the pile gripper of the piling ship.

[0010] The method for the central processing unit to process the received pile frame inclination angle value on the pile frame on one side of the steel pipe column comprises:

[0011] Step 1: Obtain a queue of inclination values ​​of a pile-driving ship pile gripper in a predefined time period, associate the inclination values ​​of each pile-driving ship pile gripper in the queue with a rectangular coordinate system, an inclination value of a pile-driving ship pile gripper corresponds to a numerical point in the rectangular coordinate system, and select one or more similar outliers from all the numerical points in the rectangular coordinate system;

[0012] Step 2: facing any similar outlier point, according to the distance between the similar outlier point and any adjacent numerical point of the similar outlier point, obtain the sudden change amplitude of the similar outlier point, according to the arrangement attribute between the adjacent numerical points of the similar outlier point, obtain the continuity attribute value of the similar outlier point, according to the sudden change amplitude and the continuity attribute value, obtain the outlier grouping parameter of the similar outlier point;

[0013] Step 3: Based on the outlier grouping parameters of similar outliers and the adjacent numerical points of similar outliers, active outlier detection is performed on similar outliers to obtain the outlier amplitude of similar outliers, and the outlier amplitude of each similar outlier is obtained. Based on the outlier amplitude of each similar outlier, the optimal outlier critical value is obtained, and the optimal outlier critical value is used to perform outlier detection on the inclination value of the pile driver's pile gripper transmitted by real-time sampling.

[0014] Further, in step 1, the method for obtaining a queue of inclination values ​​of a pile driver's pile gripper in a predefined time period comprises: the predefined time period is one second, obtaining a queue of inclination values ​​of a pile driver's pile gripper formed by sampling and transmitting from a pile frame inclination angle detection sensor within one second and arranged in the order of sampling time points, associating the inclination values ​​of each pile driver's pile gripper in the queue of inclination values ​​of a pile driver's pile gripper into a rectangular coordinate system, and a numerical point in the rectangular coordinate system corresponds to an inclination value of a pile driver's pile gripper, the value of the numerical point on the X-axis is the sampling time point, and the value of the numerical point on the Y-axis is the numerical value of the inclination value of the pile driver's pile gripper.

[0015] Furthermore, in step 1, after obtaining the corresponding numerical points of the inclination angle values ​​of all pile-driving ship pile grippers in the inclination angle value queue of the pile-driving ship pile grippers in the rectangular coordinate system, a method of obtaining more than one similar outlier point from all numerical points includes:

[0016] The amount obtained by adding the mean of the inclination values ​​of all pile-driving ship pile holders in the inclination value queue of the pile-driving ship pile holder and three times the standard deviation of the inclination values ​​of all pile-driving ship pile holders in the inclination value queue of the pile-driving ship pile holder is taken as the outlier critical amount. If the inclination value of the pile-driving ship pile holder is higher than the outlier critical amount, the inclination value of the pile-driving ship pile holder is registered as a similar outlier point, and one or more similar outliers are obtained within the inclination values ​​of all pile-driving ship pile holders in the rectangular coordinate system.

[0017] Furthermore, in step 2, the method for obtaining the sudden change amplitude of the similar outlier point according to the distance between the similar outlier point and any adjacent numerical point of the similar outlier point includes:

[0018] Get The value of is defined as the modulus of numerical reduction between similar outliers and similar outliers, and the The value of is defined as the time point reduction modulus between similar outliers, where is the numerical value of the inclination angle of similar outliers, is the value of the inclination angle of the previous numerical point similar to the outlier point, is the sampling time point similar to the outlier point, is the sampling time point of the previous numerical point similar to the outlier point;

[0019] Obtain a reduction modulus ratio obtained by dividing the numerical reduction modulus by the time point reduction modulus, perform an arctan operation on the reduction modulus ratio to obtain a corresponding operation value, obtain a standardized value 1 of the operation value, and obtain a standardized value 2 of the numerical reduction modulus;

[0020] The standardized value 1 and the standardized value 2 are summed up, and the corresponding summed value is regarded as the sudden change amplitude similar to the outlier.

[0021] Further, in step 2, define The coordinates of similar outliers are , No. The coordinates of the previous numerical point similar to the outlier point are , No. The operational equation for the sudden change amplitude of a similar outlier is:

[0022]

[0023] Here, Representative The amplitude of the sudden change similar to the outlier point, Representative The coordinates of similar outliers, Representative The coordinates of the previous numerical point similar to the outlier point, Represents the use of Z-score method to Implement standardized disposal, Represents the use of Z-score method to Implement standardized disposal, Represents criticality one, Represents criticality two.

[0024] Furthermore, in step 2, the method of obtaining the continuity attribute value of the similar outlier point according to the arrangement attribute between the adjacent numerical points similar to the outlier point includes:

[0025] The similar outlier point and the predefined number of numerical points adjacent to the similar outlier point form a numerical queue 1, calculate the y-coordinate decrement and the x-coordinate decrement between any pair of adjacent numerical points in the numerical queue 1, obtain the decrement ratio modulus between the y-coordinate decrement and the x-coordinate decrement, and obtain the ratio mean of the numerical queue 1 according to the decrement ratio modulus of each pair of adjacent numerical points in the numerical queue 1;

[0026] Calculate the modulus of the ratio of the y-coordinate decrement to the x-coordinate decrement between the first numerical point and the last numerical point in the rectangular coordinate system;

[0027] The reduction modulus between the ratio mean and the reduction ratio modulus is obtained, and the reduction modulus is standardized. The corresponding standardized value is used as a continuity attribute value similar to an outlier.

[0028] Furthermore, the number defined in advance in step 2 is two, and the first The next two adjacent outliers are similar to the outliers, and the same Similar outliers form a numerical queue, the first The operation equation for the continuity attribute value of a similar outlier point is:

[0029]

[0030] Here, Representative outlier-like continuity attribute values, Representative The coordinates of similar outliers, Representative The coordinates of the next numerical point similar to the outlier point, Representative The number of numerical points following similar outliers, Represents the coordinates of the first numerical point in the rectangular coordinate system, Represents the coordinates of the last numerical point in the rectangular coordinate system, Represents the use of Z-score method to Perform standardized disposal.

[0031] Furthermore, in step 2, the method of obtaining outlier grouping parameters similar to outliers based on the sudden change amplitude and the continuity attribute value includes:

[0032] The sudden change amplitude and the continuity attribute value are summed up, and the corresponding summed value is used as the outlier grouping parameter similar to the outlier point.

[0033] Further, in step 2, The sudden change amplitude of the similar outlier point and the continuity attribute value of the similar outlier point are summed up, and the corresponding outlier grouping parameters similar to outliers, The operational equation for the outlier grouping parameters similar to outliers is:

[0034]

[0035] Here, Representative outlier grouping parameters similar to outliers, Representative The amplitude of the sudden change similar to the outlier point, Representative outlier-like continuity attribute values, represents the criticality of the sudden change amplitude, Represents the criticality of continuous attribute values.

[0036] Furthermore, in step 3, according to the outlier grouping parameter of the similar outlier point and the adjacent numerical points of the similar outlier point, the method of performing active outlier detection on the similar outlier point to obtain the outlier amplitude of the similar outlier point includes:

[0037] Step 3-1: Obtain the comparison value between the outlier grouping parameter of similar outliers and the pre-defined outlier grouping threshold, and identify the numerical category of similar outliers based on the comparison value, that is:

[0038] If the control value is that the outlier grouping parameter of the similar outlier point is not lower than the outlier grouping critical value, the similar outlier point is registered as a high outlier amplitude point;

[0039] If the control value is that the outlier grouping parameter of the similar outlier point is lower than the outlier grouping critical value, the similar outlier point is registered as a low outlier amplitude point;

[0040] Step 3-2: According to the numerical attributes of the adjacent numerical points of similar outliers, obtain the outlier amplitude of similar outliers, that is:

[0041] If the value of the outlier point is a high outlier amplitude point, use The norm obtains similar outliers adjacent numerical points, based on the relationship between similar outliers and each adjacent numerical point norm, get the highest The norm value is treated as the outlier amplitude similar to the outlier point;

[0042] If the value of the similar outlier point is a low outlier amplitude point, a predefined number of value points adjacent to the similar outlier point on both sides are obtained, and a second value queue is formed with the similar outlier point, and the value between each pair of adjacent value points in the second value queue is obtained. norm, get all The mean of the norm, The mean of the norm is taken as the outlier amplitude for similar outliers.

[0043] Furthermore, in step 3, the method for obtaining the optimal outlier threshold according to the outlier amplitude of each similar outlier point includes:

[0044] According to the outlier amplitudes of all similar outliers, the outlier amplitude mean is obtained. For any similar outlier, if the outlier amplitude of the similar outlier is higher than the outlier amplitude mean, the similar outlier is registered as an actual outlier, and the actual outlier in all similar outliers is obtained. After the actual outlier is obtained, the similar outliers other than the actual outliers in the similar outliers are deleted, and then the remaining numerical points after the similar outliers are deleted are sent to the display screen for display. When the actual outliers are sent to the display screen for display, a message that the inclination value of the pile gripper of the pile driver is abnormal is also transmitted to the display screen. Here, the remaining numerical points and the message that the inclination value of the pile gripper of the pile driver is abnormal form the inclination value message after treatment.

[0045] According to the outlier amplitude of each actual outlier point, the lowest outlier amplitude is selected as the optimal outlier critical value, so as to perform outlier detection on the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling using the optimal outlier critical value, that is, if the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is not higher than the optimal outlier critical value, only the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is transmitted to the display screen for display; if the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is higher than the optimal outlier critical value, the message that the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is abnormal with the inclination value of the pile-driving ship pile holder is transmitted to the display screen for display, and the message that the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is abnormal with the inclination value of the pile-driving ship pile holder here forms the inclination value message after treatment.

[0046] An inclination angle adjustment platform based on a pile gripper of a pile driving ship comprises:

[0047] A double-layer pile gripper is provided on the piling vessel, and the double-layer pile gripper is equipped with a pile frame inclination angle detection sensor provided on a pile frame on one side of the steel pipe column. The pile frame inclination angle detection sensor and the display screen are connected to the central processing unit. The double-layer pile gripper is used to hold the steel pipe column tightly during the piling of the piling vessel. The pile frame inclination angle detection sensor is used to sample the pile frame inclination angle value on the pile frame on one side of the steel pipe column and transmit it to the central processing unit. The central processing unit is used to process the received pile frame inclination angle value on the pile frame on one side of the steel pipe column and then transmit the processed inclination angle value message to the display screen for display. The pile frame inclination angle value on the pile frame on one side of the steel pipe column is the inclination angle value of the pile gripper of the piling vessel;

[0048] The modules running on the central processing unit include:

[0049] The inclination value processing module is used to obtain the inclination value queue of the pile-driving ship pile gripper in a predefined time period, associate the inclination values ​​of each pile-driving ship pile gripper in the inclination value queue with a rectangular coordinate system, and the inclination value of each pile-driving ship pile gripper corresponds to a numerical point in the rectangular coordinate system, and select and obtain one or more similar outliers from all the numerical points in the rectangular coordinate system;

[0050] A numerical grouping module is used to face any similar outlier point, obtain the sudden change amplitude of the similar outlier point according to the distance between the similar outlier point and any adjacent numerical point of the similar outlier point, obtain the continuity attribute value of the similar outlier point according to the arrangement attribute between the adjacent numerical points of the similar outlier point, and obtain the outlier grouping parameter of the similar outlier point according to the sudden change amplitude and the continuity attribute value;

[0051] The outlier detection module is used to perform active outlier detection on similar outliers based on outlier grouping parameters of similar outliers and adjacent numerical points of similar outliers to obtain outlier amplitudes of similar outliers, obtain the outlier amplitudes of each similar outlier, obtain the optimal outlier critical value based on the outlier amplitudes of each similar outlier, and use the optimal outlier critical value to perform outlier detection on the inclination value of the pile gripper of the pile driver transmitted by real-time sampling.

[0052] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0053] The inclination value processing module is used to obtain the inclination value queue of the pile-driving ship pile gripper in a predefined time period, and associate the inclination values ​​of each pile-driving ship pile gripper in the inclination value queue of the pile-driving ship pile gripper in a rectangular coordinate system. The inclination value of a pile-driving ship pile gripper corresponds to a numerical point in the rectangular coordinate system, and one or more similar outlier points are selected from all the numerical points in the rectangular coordinate system; the numerical grouping module is used to face any similar outlier point, and according to the value between the similar outlier point and any adjacent numerical point of the similar outlier point, The outlier detection module is used to perform active outlier detection on similar outliers based on the outlier grouping parameters of similar outliers and the adjacent numerical points of similar outliers, obtain the outlier amplitude of similar outliers, obtain the outlier amplitude of each similar outlier, and obtain the outlier grouping parameters of similar outliers based on the outlier grouping parameters of similar outliers and the adjacent numerical points of similar outliers. The outlier amplitude is used to obtain the optimal outlier critical value, and the outlier detection is performed on the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling. Here, all similar outliers are selected from the inclination value of the pile-driving ship pile holder according to the empirical critical value. The similar outliers contain the error values ​​caused by the external magnetic field disturbance and the actual outliers caused by the failure of the pile holding function of the double-layer pile holder. Because the error values ​​caused by the external magnetic field disturbance are not conducive to the detection of the actual outliers, the sudden change amplitude and Continuous attribute value, obtain grouped outlier parameters of similar outliers, and use the grouped outlier parameters to perform active outlier detection on similar outliers, obtain outlier amplitude of similar outliers, and then obtain the optimal outlier critical value based on the outlier amplitude, and use the optimal outlier critical value to perform outlier detection on the inclination value of the pile-driving ship pile gripper transmitted by real-time sampling, thereby reducing the adverse effect of the error value formed by the external magnetic field disturbance on the outlier detection of the inclination value, thereby improving the accuracy of the outlier detection of the inclination value of the pile-driving ship pile gripper. It effectively avoids the defects in the prior art that the error value will have an adverse effect on the outlier detection of the inclination value of the pile-driving ship pile gripper, make the central processing unit incorrectly receive the abnormal message of the inclination value of the pile-driving ship pile gripper transmitted from the display screen, thereby inaccurately notifying the operator of the failure of the pile gripping function of the double-layer pile gripper under the outlier state of the inclination value, and weaken the confidence of the central processing unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a flow chart of the inclination angle adjustment method based on the pile gripper of the pile driving ship described in the present invention;

[0055] Figure 2 It is a partial structural diagram of the inclination angle adjustment platform based on the pile gripper of the pile driving ship described in the present invention. DETAILED DESCRIPTION

[0056] 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 making creative work are all within the scope of protection of the present invention.

[0057] like Figure 1 As shown, the inclination angle adjustment method based on the pile gripper of a pile driving ship according to the present invention comprises:

[0058] The double-layer pile gripper grips the steel pipe column during the piling process of the pile driving ship. The pile frame inclination angle detection sensor samples the pile frame inclination angle value on the pile frame on one side of the steel pipe column and transmits it to the central processing unit. The central processing unit processes the received pile frame inclination angle value on the pile frame on one side of the steel pipe column and then transmits the processed inclination angle value message to the display screen for display. The pile frame inclination angle value on the pile frame on one side of the steel pipe column is the inclination angle value of the pile gripper of the pile driving ship, thereby achieving the monitoring of the inclination angle value of the pile gripper of the pile driving ship;

[0059] The method for the central processing unit to process the received pile frame inclination angle value on the pile frame on one side of the steel pipe column comprises:

[0060] Step 1: Obtain a queue of inclination values ​​of a pile-driving ship pile gripper in a predefined time period, associate the inclination values ​​of each pile-driving ship pile gripper in the queue with a rectangular coordinate system, an inclination value of a pile-driving ship pile gripper corresponds to a numerical point in the rectangular coordinate system, and select one or more similar outliers from all the numerical points in the rectangular coordinate system;

[0061] Step 2: facing any similar outlier point, according to the distance between the similar outlier point and any adjacent numerical point of the similar outlier point, obtain the sudden change amplitude of the similar outlier point, according to the arrangement attribute between the adjacent numerical points of the similar outlier point, obtain the continuity attribute value of the similar outlier point, according to the sudden change amplitude and the continuity attribute value, obtain the outlier grouping parameter of the similar outlier point;

[0062] Because the obtained similar outlier points contain the error values ​​formed by the external magnetic field disturbance and the actual outlier values ​​formed by the failure of the pile holding function of the double-layer pile gripper, here, the numerical attributes of the actual outlier values ​​are often characterized by sudden changes in values ​​or strong fluctuations. Such actual outliers will be higher than the compliance interval and will last for a period of time, thereby determining the trend of the inclination value of the pile gripper of the entire pile driver. The numerical attributes of the error values ​​formed by the external magnetic field disturbance are often characterized by random, disordered low-amplitude fluctuations, which cannot cause strong changes in values, nor can they form a significant change trend. Therefore, in this application, facing an arbitrary similar outlier point in a rectangular coordinate system, the sudden change amplitude of the similar outlier point is obtained based on the distance between the similar outlier point and an arbitrary adjacent numerical point of the similar outlier point, and then the continuity attribute value of the similar outlier point is obtained based on the arrangement attributes between the adjacent numerical points of the similar outlier point, and then the outlier grouping parameter of the similar outlier point is obtained based on the sudden change amplitude and the continuity attribute value.

[0063] In a preferred but non-limiting embodiment of the present invention, in step 2, the method for obtaining the sudden change amplitude of the similar outlier point according to the distance between the similar outlier point and any adjacent numerical point of the similar outlier point includes:

[0064] Get The value of is defined as the modulus of numerical reduction between similar outliers and similar outliers, and the The value of is defined as the time point reduction modulus between similar outliers, where is the numerical value of the inclination angle of similar outliers, is the value of the inclination value of the previous numerical point of the similar outlier (that is, the numerical point of the inclination value sampled at the previous sampling point of the similar outlier), is the sampling time point similar to the outlier point, The sampling time point of the previous numerical point of the similar outlier (that is, the numerical point of the inclination value sampled at the previous sampling time point of the similar outlier);

[0065] Obtain a reduction modulus ratio obtained by dividing the numerical reduction modulus by the time point reduction modulus, perform an arctan operation on the reduction modulus ratio to obtain a corresponding operation value, obtain a standardized value 1 of the operation value, and obtain a standardized value 2 of the numerical reduction modulus;

[0066] The standardized value 1 and the standardized value 2 are summed up, and the corresponding summed value is used as the sudden change amplitude similar to the outlier. The modulus of the present application can be an absolute value.

[0067] In a preferred but non-limiting embodiment of the present invention, in step 2, For a similar outlier point, define The coordinates of similar outliers are , No. The coordinates of the previous numerical point similar to the outlier point are , respectively, and obtain Similar outliers and The numerical reduction modulus and the time point reduction modulus between a numerical point on a similar outlier point are divided by the numerical reduction modulus by the time point reduction modulus to obtain the reduction modulus ratio. The arctan operation is performed to obtain the corresponding operation value. According to the numerical reduction modulus and the operation value, the first The amplitude of the sudden change similar to the outlier point, so the The operational equation for the sudden change amplitude of a similar outlier is:

[0068]

[0069] Here, Representative The amplitude of the sudden change similar to the outlier point, Representative The coordinates of similar outliers, Representative The coordinates of the previous numerical point similar to the outlier point, Represents the use of Z-score method to Implement standardized treatment, Represents the use of Z-score method to Implement standardized treatment, Represents criticality one, Represents criticality two.

[0070] and It reflects the The distance between a similar outlier point and the y coordinate value of the previous numerical point, The higher the value of The higher the value distance between a similar outlier point and its previous value point, the higher the value of the outlier point. The higher the fluctuation amplitude of the outlier point, the more likely it is that the actual outlier is caused by the failure of the double-layer pile gripper to hold the pile. The higher the amplitude of the sudden change of similar outliers.

[0071] and Depending on the specific requirements, it can be defined .

[0072] In a preferred but non-limiting embodiment of the present invention, in step 2, the method for obtaining the continuity attribute value of the similar outlier point according to the arrangement attribute between the adjacent numerical points similar to the outlier point includes:

[0073] The similar outlier point and the predefined number of numerical points adjacent to the similar outlier point form a numerical queue 1, calculate the y-coordinate decrement and the x-coordinate decrement between any pair of adjacent numerical points in the numerical queue 1, obtain the decrement ratio modulus between the y-coordinate decrement and the x-coordinate decrement, and obtain the ratio mean of the numerical queue 1 according to the decrement ratio modulus of each pair of adjacent numerical points in the numerical queue 1;

[0074] Calculate the modulus of the ratio of the y-coordinate decrement to the x-coordinate decrement between the first numerical point and the last numerical point in the rectangular coordinate system;

[0075] The reduction modulus between the ratio mean and the reduction ratio modulus is obtained, and the reduction modulus is standardized. The corresponding standardized value is used as a continuity attribute value similar to an outlier.

[0076] In a preferred but non-limiting embodiment of the present invention, in step 2, For a similar outlier point, the predefined number set in this application is two. The predefined number can be determined according to specific requirements. The next two adjacent outliers are similar to the outliers, and the same Similar outlier points form a numerical queue 1, calculate the y-coordinate decrement and x-coordinate decrement between any pair of adjacent numerical points in the numerical queue 1, obtain the decrement ratio modulus between the y-coordinate decrement and the x-coordinate decrement, obtain the ratio mean of the numerical queue 1 according to the decrement ratio modulus of each pair of adjacent numerical points in the numerical queue 1, calculate the decrement ratio modulus of the y-coordinate decrement and the x-coordinate decrement between the first numerical point and the last numerical point in the rectangular coordinate system, and obtain the first numerical point according to the decrement modulus between the ratio mean and the decrement ratio modulus. The continuity attribute value of a similar outlier point, so the The operation equation for the continuity attribute value of a similar outlier point is:

[0077]

[0078] Here, Representative outlier-like continuity attribute values, Representative The coordinates of similar outliers, Representative The coordinates of the next numerical point similar to the outlier point, Representative The number of numerical points following similar outliers, Represents the coordinates of the first numerical point in the rectangular coordinate system, Represents the coordinates of the last numerical point in the rectangular coordinate system, Represents the use of Z-score method to Perform standardized disposal.

[0079] and It reflects the overall inclination of all numerical points in the rectangular coordinate system. It reflects the Similar outliers and their neighbors The mean inclination between the numerical points, The higher the value of means, the higher the mean inclination of the i-th similar outlier point is. The higher the reduction, the The higher the distance between the mean inclination of similar outliers and the overall inclination, that is, The higher the probability that a similar outlier point is attributed to the actual outlier value formed by the failure of the double-layer pile gripper's pile gripping function, the higher the probability that the corresponding The higher the outlier continuity of similar outliers.

[0080] In a preferred but non-limiting embodiment of the present invention, in step 2, the method for obtaining outlier grouping parameters similar to outliers based on the sudden change amplitude and the continuity attribute value includes:

[0081] The sudden change amplitude and the continuity attribute value are summed up, and the corresponding summed value is used as the outlier grouping parameter similar to the outlier point.

[0082] In a preferred but non-limiting embodiment of the present invention, in step 2, For a similar outlier point, The sudden change amplitude of the similar outlier point and the continuity attribute value of the similar outlier point are summed up, and the corresponding outlier grouping parameter similar to the outlier point, then The operational equation for the outlier grouping parameters similar to outliers is:

[0083]

[0084] Here, Representative outlier grouping parameters similar to outliers, Representative The amplitude of the sudden change similar to the outlier point, Representative outlier-like continuity attribute values, represents the criticality of the sudden change amplitude, Represents the criticality of continuous attribute values.

[0085] and The higher the value of The higher the fluctuation amplitude of similar outliers, that is, The higher the amplitude of the sudden change of similar outliers, the The higher the outlier amplitude of similar outliers, that is, The probability that a similar outlier point is a high outlier amplitude point is higher; The higher the value of The higher the outlier continuity of similar outliers, the higher the corresponding The higher the outlier amplitude of similar outliers, that is, The probability that similar outliers are high outlier amplitude points is higher.

[0086] and The value of can be determined according to specific requirements, just as it can be defined .

[0087] So according to the Similar outliers and The arrangement properties of the numerical points adjacent to similar outliers are obtained. outlier grouping parameter similar to outliers.

[0088] The same basis as above obtains The outlier grouping parameters of similar outliers are obtained by using a method to obtain the outlier grouping parameters of each similar outlier point in the rectangular coordinate system.

[0089] Step 3: Based on the outlier grouping parameters of similar outliers and the adjacent numerical points of similar outliers, active outlier detection is performed on similar outliers to obtain the outlier amplitude of similar outliers, and the outlier amplitude of each similar outlier is obtained. Based on the outlier amplitude of each similar outlier, the optimal outlier critical value is obtained, and the optimal outlier critical value is used to perform outlier detection on the inclination value of the pile driver's pile gripper transmitted by real-time sampling.

[0090] It is necessary to highlight the outlier attributes of numerical points with high outlier amplitudes, and simultaneously reduce the outlier attributes of points with small outlier amplitudes, and perform active outlier detection on points with different outlier amplitudes, so as to reduce the adverse effect of error values ​​on outlier detection of the inclination value of the pile driver's pile gripper. Therefore, in this application, facing any similar outlier point in the rectangular coordinate system, it is necessary to perform active outlier detection on the similar outlier point based on the outlier grouping parameters of the similar outlier point and the adjacent numerical points of the similar outlier point to obtain the outlier amplitude of the similar outlier point. It is accurate to identify whether each similar outlier point in the rectangular coordinate system is an actual outlier point, and to obtain the optimal outlier threshold according to the outlier amplitude of each similar outlier point. When the inclination value of the pile driver's pile gripper transmitted by real-time sampling is used for outlier detection, the actual outlier point can be efficiently identified, thereby improving the detection function of the central processing unit for the outlier condition of the pile gripper's pile gripper, thereby ensuring the stability and confidence of notifying the operator of the failure of the pile gripper's pile gripper under the outlier condition of the inclination value.

[0091] In a preferred but non-limiting embodiment of the present invention, in step 3, the method of performing active outlier detection on similar outliers to obtain outlier amplitudes of similar outliers based on outlier grouping parameters of similar outliers and adjacent numerical points of similar outliers includes:

[0092] Step 3-1: Obtain the comparison value between the outlier grouping parameter of similar outliers and the pre-defined outlier grouping threshold, and identify the numerical category of similar outliers based on the comparison value, that is:

[0093] If the control value is that the outlier grouping parameter of the similar outlier point is not lower than the outlier grouping critical value, the similar outlier point is registered as a high outlier amplitude point;

[0094] If the control value is that the outlier grouping parameter of the similar outlier point is lower than the outlier grouping critical value, the similar outlier point is registered as a low outlier amplitude point;

[0095] As in the For a similar outlier point, the outlier grouping threshold defined in this application can be , the critical amount of outlier grouping can be determined according to specific requirements. The outlier grouping parameter of similar outliers is not less than , then put the first Similar outlier points are registered as high outlier amplitude points.

[0096] If The outlier grouping parameter for similar outliers is lower than , then put the first Similar outlier points are registered as low outlier amplitude points.

[0097] Step 3-2: According to the numerical attributes of the adjacent numerical points of similar outliers, obtain the outlier amplitude of similar outliers, that is:

[0098] If the value of the outlier point is a high outlier amplitude point, use The norm obtains similar outliers adjacent numerical points, based on the relationship between similar outliers and each adjacent numerical point norm, get the highest The norm value is treated as the outlier amplitude similar to the outlier point;

[0099] If the value of the similar outlier point is a low outlier amplitude point, a predefined number of value points adjacent to the similar outlier point on both sides are obtained, and a second value queue is formed with the similar outlier point, and the value between each pair of adjacent value points in the second value queue is obtained. norm, get all The mean of the norm, The mean of the norm is taken as the outlier amplitude for similar outliers.

[0100] As in the For a similar outlier point, if The values ​​of similar outliers are high outlier amplitude points, so we define The value of is four, so we get the value of The distance between similar outliers and all other numerical points Norm, optional Minimum The highest value within the norm The norm value is taken as The outlier amplitude of similar outliers is used to highlight the outlier properties similar to outliers.

[0101] In this application The value can be determined according to specific requirements.

[0102] If The values ​​of similar outliers are low outlier amplitude points. Here, the rectangular coordinate system uses the time point The X-axis is the value of the inclination angle of the pile driver's pile gripper. The Y axis is four. The number of predefined values ​​set in this application is four. The number of predefined values ​​can be determined according to specific requirements. There are four adjacent numerical points on both sides of the similar outlier point, that is, There are two adjacent numerical points on each side of a similar outlier, and the same Similar outliers form a second value queue, and obtain the value between each pair of adjacent value points in the second value queue. norm, get all The mean of the norm, the obtained The mean of the norm is taken as The outlier amplitude of similar outliers is reduced by The outlier amplitude of similar outliers is reduced The adverse effect of similar outliers on the identification of actual outliers.

[0103] The same basis as above obtains The outlier amplitude of each similar outlier point in the rectangular coordinate system is obtained by using the method of outlier amplitude of each similar outlier point.

[0104] In a preferred but non-limiting embodiment of the present invention, in step 3, the method for obtaining the optimal outlier threshold according to the outlier amplitude of each similar outlier point includes:

[0105] According to the outlier amplitudes of all similar outliers, the outlier amplitude mean is obtained. For any similar outlier, if the outlier amplitude of the similar outlier is higher than the outlier amplitude mean, the similar outlier is registered as an actual outlier, and the actual outlier in all similar outliers is obtained. After the actual outlier is obtained, the similar outliers other than the actual outliers in the similar outliers are deleted, and then the remaining numerical points after the similar outliers are deleted are sent to the display screen for display. When the actual outliers are sent to the display screen for display, a message that the inclination value of the pile gripper of the pile driving ship is abnormal is also transmitted to the display screen, so as to inform the operator that the pile gripping function of the double-layer pile gripper is invalid under the outlier condition. The remaining numerical points and the message that the inclination value of the pile gripper of the pile driving ship is abnormal form the inclination value message after treatment.

[0106] According to the outlier amplitude of each actual outlier point, the lowest outlier amplitude is selected as the optimal outlier critical value, so as to perform outlier detection on the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling using the optimal outlier critical value, that is, if the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is not higher than the optimal outlier critical value, only the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is transmitted to the display screen for display; if the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is higher than the optimal outlier critical value, the message that the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is abnormal with the inclination value of the pile-driving ship pile holder is transmitted to the display screen for display, so as to inform the operator that the pile holding function of the double-layer pile holder is invalid under the outlier condition of the inclination value, and the message that the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is abnormal with the inclination value of the pile-driving ship pile holder forms the inclination value message after treatment. The inclination angle value of the pile-driver's pile gripper transmitted by the instant sampling is the inclination angle value of the pile-driver's pile gripper transmitted by each subsequent current sampling.

[0107] Just as the outlier amplitudes of each similar outlier point are used to obtain the mean outlier amplitude, For a similar outlier point, if If the outlier amplitude of a similar outlier point is higher than the mean outlier amplitude, Similar outliers are registered as actual outliers.

[0108] Similarly, based on the above method of obtaining actual outliers, all actual outliers are obtained from all similar outliers in the rectangular coordinate system.

[0109] All actual outlier points obtained are arranged in descending order according to the outlier amplitude, and the lowest outlier amplitude is selected as the optimal outlier threshold. The optimal outlier threshold is used to perform outlier detection on the inclination value of the pile driver's pile gripper transmitted by real-time sampling.

[0110] Then, outlier detection is performed on the inclination angle value of the pile gripper of the pile driving ship transmitted by real-time sampling according to the obtained optimal outlier critical value.

[0111] In a preferred but non-limiting embodiment of the present invention, in step 1, a method for obtaining a queue of inclination values ​​of a pile driver's pile gripper in a predefined time period comprises: the time period defined in the present application is one second, obtaining the inclination values ​​of the pile driver's pile gripper within one second and arranged in the order of the sampling time points transmitted by the pile frame inclination angle detection sensor (the sampling frequency may be once per millisecond) to form a queue of inclination values ​​of the pile driver's pile gripper, and then processing the inclination values ​​of the pile driver's pile gripper in the queue of inclination values ​​of the pile driver's pile gripper, and associating the inclination values ​​of each pile driver's pile gripper in the queue of inclination values ​​of the pile driver's pile gripper into a rectangular coordinate system, where the rectangular coordinate system is a time point. is the X-axis, using the inclination value of the pile driver's pile gripper The Y-axis is constructed, and a numerical point in the rectangular coordinate system corresponds to the inclination value of the pile driver's pile gripper. The value of the numerical point on the X-axis is the sampling time point, and the value of the numerical point on the Y-axis is the numerical value of the inclination value of the pile driver's pile gripper.

[0112] At present, outliers in the inclination values ​​of pile driver's pile gripper are obtained through outlier critical values. Because the accuracy of such methods depends on the accumulation of historical records and the precise definition of critical values, outliers obtained through the traditional detection method of inclination values ​​of pile driver's pile gripper often contain erroneous values ​​formed by external magnetic field disturbances and actual outliers caused by the failure of the pile gripping function of the double-layer pile gripper. The erroneous values ​​formed by external magnetic field disturbances will have an adverse effect on the detection of actual outliers. It is necessary to identify whether the sampled outliers are actual outliers later. Therefore, in a preferred but non-restrictive embodiment of the present invention, in step 1, after obtaining the corresponding numerical points of the inclination values ​​of all pile driver's pile grippers in the inclination value queue of the pile driver's pile gripper in the rectangular coordinate system, a method of obtaining more than one similar outlier point from all numerical points is selected, including:

[0113] The amount obtained by adding the mean of the inclination values ​​of all pile-driving ship pile holders in the inclination value queue of the pile-driving ship pile holder and three times the standard deviation of the inclination values ​​of all pile-driving ship pile holders in the inclination value queue of the pile-driving ship pile holder is taken as the outlier critical amount. If the inclination value of the pile-driving ship pile holder is higher than the outlier critical amount, the inclination value of the pile-driving ship pile holder is registered as a similar outlier point, and one or more similar outliers are obtained within the inclination values ​​of all pile-driving ship pile holders in the rectangular coordinate system.

[0114] like Figure 2 As shown, the inclination angle adjustment platform based on the pile gripper of the pile driving ship described in the present invention comprises:

[0115] A double-layer pile gripper is arranged on the piling ship, and the double-layer pile gripper is equipped with a pile frame inclination angle detection sensor arranged on the pile frame on one side of the steel pipe column. The pile frame inclination angle detection sensor and the display screen are connected to the central processing unit. The double-layer pile gripper is used to hold the steel pipe column tightly during the piling of the piling ship. The pile frame inclination angle detection sensor is used to sample the pile frame inclination angle value on the pile frame on one side of the steel pipe column and transmit it to the central processing unit. The central processing unit is used to process the received pile frame inclination angle value on the pile frame on one side of the steel pipe column and then transmit the processed inclination angle value message to the display screen for display. The pile frame inclination angle value on the pile frame on one side of the steel pipe column is the inclination angle value of the pile gripper of the piling ship, so as to achieve the monitoring of the inclination angle value of the pile gripper of the piling ship;

[0116] The modules running on the central processing unit include:

[0117] The inclination value processing module is used to obtain the inclination value queue of the pile-driving ship pile gripper in a predefined time period, associate the inclination values ​​of each pile-driving ship pile gripper in the inclination value queue with a rectangular coordinate system, and the inclination value of each pile-driving ship pile gripper corresponds to a numerical point in the rectangular coordinate system, and select and obtain one or more similar outliers from all the numerical points in the rectangular coordinate system;

[0118] Therefore, one or more similar outlier points are selected from all numerical points in the rectangular coordinate system.

[0119] A numerical grouping module is used to face any similar outlier point, obtain the sudden change amplitude of the similar outlier point according to the distance between the similar outlier point and any adjacent numerical point of the similar outlier point, obtain the continuity attribute value of the similar outlier point according to the arrangement attribute between the adjacent numerical points of the similar outlier point, and obtain the outlier grouping parameter of the similar outlier point according to the sudden change amplitude and the continuity attribute value;

[0120] The outlier detection module is used to perform active outlier detection on similar outliers based on outlier grouping parameters of similar outliers and adjacent numerical points of similar outliers to obtain outlier amplitudes of similar outliers, obtain the outlier amplitudes of each similar outlier, obtain the optimal outlier critical value based on the outlier amplitudes of each similar outlier, and use the optimal outlier critical value to perform outlier detection on the inclination value of the pile gripper of the pile driver transmitted by real-time sampling.

[0121] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0122] The inclination value processing module is used to obtain the inclination value queue of the pile-driving ship pile gripper in a predefined time period, and associate the inclination values ​​of each pile-driving ship pile gripper in the inclination value queue of the pile-driving ship pile gripper in a rectangular coordinate system. The inclination value of a pile-driving ship pile gripper corresponds to a numerical point in the rectangular coordinate system, and one or more similar outlier points are selected from all the numerical points in the rectangular coordinate system; the numerical grouping module is used to face any similar outlier point, and according to the value between the similar outlier point and any adjacent numerical point of the similar outlier point, The outlier detection module is used to perform active outlier detection on similar outliers based on the outlier grouping parameters of similar outliers and the adjacent numerical points of similar outliers, obtain the outlier amplitude of similar outliers, obtain the outlier amplitude of each similar outlier, and obtain the outlier grouping parameters of similar outliers based on the outlier grouping parameters of similar outliers and the adjacent numerical points of similar outliers. The outlier amplitude is used to obtain the optimal outlier critical value, and the outlier detection is performed on the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling. Here, all similar outliers are selected from the inclination value of the pile-driving ship pile holder according to the empirical critical value. The similar outliers contain the error values ​​caused by the external magnetic field disturbance and the actual outliers caused by the failure of the pile holding function of the double-layer pile holder. Because the error values ​​caused by the external magnetic field disturbance are not conducive to the detection of the actual outliers, the sudden change amplitude and Continuous attribute value, obtain grouped outlier parameters of similar outliers, and use the grouped outlier parameters to perform active outlier detection on similar outliers, obtain outlier amplitude of similar outliers, and then obtain the optimal outlier critical value based on the outlier amplitude, and use the optimal outlier critical value to perform outlier detection on the inclination value of the pile-driving ship pile gripper transmitted by real-time sampling, thereby reducing the adverse effect of the error value formed by the external magnetic field disturbance on the outlier detection of the inclination value, thereby improving the accuracy of the outlier detection of the inclination value of the pile-driving ship pile gripper. It effectively avoids the defects in the prior art that the error value will have an adverse effect on the outlier detection of the inclination value of the pile-driving ship pile gripper, make the central processing unit incorrectly receive the abnormal message of the inclination value of the pile-driving ship pile gripper transmitted from the display screen, thereby inaccurately notifying the operator of the failure of the pile gripping function of the double-layer pile gripper under the outlier state of the inclination value, and weaken the confidence of the central processing unit.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions 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 modifications or equivalent replacements that do not deviate from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for adjusting the inclination angle of a pile driver based on a pile gripper, characterized in that: include: The double-layer pile gripper grips the steel pipe column during the piling process of the piling ship. The pile frame inclination angle detection sensor samples the pile frame inclination angle value on the pile frame on one side of the steel pipe column and transmits it to the central processing unit. The central processing unit processes the received pile frame inclination angle value on the pile frame on one side of the steel pipe column and then transmits the processed inclination angle value message to the display screen for display. The pile frame inclination angle value on the pile frame on one side of the steel pipe column is the inclination angle value of the pile gripper of the piling ship. The method for the central processing unit to process the received pile frame inclination angle value on the pile frame on one side of the steel pipe column comprises: Step 1: Obtain a queue of inclination values ​​of a pile-driving ship pile gripper in a predefined time period, associate the inclination values ​​of each pile-driving ship pile gripper in the queue with a rectangular coordinate system, an inclination value of a pile-driving ship pile gripper corresponds to a numerical point in the rectangular coordinate system, and select one or more similar outliers from all the numerical points in the rectangular coordinate system; Step 2: facing any similar outlier point, according to the distance between the similar outlier point and any adjacent numerical point of the similar outlier point, obtain the sudden change amplitude of the similar outlier point, according to the arrangement attribute between the adjacent numerical points of the similar outlier point, obtain the continuity attribute value of the similar outlier point, according to the sudden change amplitude and the continuity attribute value, obtain the outlier grouping parameter of the similar outlier point; Step 3: Based on the outlier grouping parameters of similar outliers and the adjacent numerical points of similar outliers, active outlier detection is performed on similar outliers to obtain outlier amplitudes of similar outliers, and the outlier amplitudes of each similar outlier are obtained. Based on the outlier amplitudes of each similar outlier, the optimal outlier critical value is obtained, and the optimal outlier critical value is used to perform outlier detection on the inclination angle value of the pile gripper of the pile driving ship transmitted by real-time sampling; In step 2, the method for obtaining the sudden change amplitude of the similar outlier point according to the distance between the similar outlier point and any adjacent numerical point of the similar outlier point includes: Get The value of is defined as the modulus of numerical reduction between similar outliers and similar outliers, and the The value of is defined as the time point reduction modulus between similar outliers, where is the value of the inclination angle of similar outliers, is the value of the inclination angle of the previous numerical point similar to the outlier point, is the sampling time point similar to the outlier point, is the sampling time point of the previous numerical point similar to the outlier point; Obtain a reduction modulus ratio obtained by dividing the numerical reduction modulus by the time point reduction modulus, perform an arctan operation on the reduction modulus ratio to obtain a corresponding operation value, obtain a standardized value 1 of the operation value, and obtain a standardized value 2 of the numerical reduction modulus; The standardized value 1 and the standardized value 2 are summed up, and the corresponding summed value is regarded as the sudden change amplitude similar to the outlier point; In step 2, define The coordinates of similar outliers are , No. The coordinates of the previous numerical point similar to the outlier point are , No. The operational equation for the sudden change amplitude of a similar outlier is: ； Here, Representative The amplitude of the sudden change similar to the outlier point, Representative The coordinates of similar outliers, Representative The coordinates of the previous numerical point similar to the outlier point, Represents the use of Z-score method to Implement standardized treatment, Represents the use of Z-score method to Implement standardized treatment, Represents criticality one, Represents criticality two.

2. The method for adjusting the inclination angle based on the pile gripper of a pile driving ship according to claim 1, characterized in that: In step 1, a method for obtaining a queue of inclination values ​​of a pile driver's pile gripper in a predefined time period includes: the predefined time period is one second, obtaining a queue of inclination values ​​of the pile driver's pile gripper formed by sampling the inclination values ​​of the pile driver's pile gripper within one second and arranged in the order of the sampling time points transmitted by the pile frame inclination angle detection sensor, associating the inclination values ​​of each pile driver's pile gripper in the queue of inclination values ​​of the pile driver's pile gripper into a rectangular coordinate system, and a numerical point in the rectangular coordinate system corresponds to an inclination value of the pile driver's pile gripper, the value of the numerical point on the X-axis is the sampling time point, and the value of the numerical point on the Y-axis is the numerical value of the inclination value of the pile driver's pile gripper; In step 1, after obtaining the corresponding numerical points of the inclination angle values ​​of all pile-driving ship pile grippers in the inclination angle value queue of the pile-driving ship pile grippers in the rectangular coordinate system, a method of obtaining more than one similar outlier point from all numerical points is selected, including: The amount obtained by adding the mean of the inclination values ​​of all pile-driving ship pile holders in the inclination value queue of the pile-driving ship pile holder and three times the standard deviation of the inclination values ​​of all pile-driving ship pile holders in the inclination value queue of the pile-driving ship pile holder is taken as the outlier critical amount. If the inclination value of the pile-driving ship pile holder is higher than the outlier critical amount, the inclination value of the pile-driving ship pile holder is registered as a similar outlier point, and one or more similar outliers are obtained within the inclination values ​​of all pile-driving ship pile holders in the rectangular coordinate system.

3. The method for adjusting the inclination angle based on the pile gripper of a pile driving ship according to claim 2, characterized in that: In step 2, the method of obtaining the continuity attribute value of the similar outlier point according to the arrangement attribute between the adjacent numerical points similar to the outlier point includes: The similar outlier point and the predefined number of numerical points adjacent to the similar outlier point form a numerical queue 1, calculate the y-coordinate decrement and the x-coordinate decrement between any pair of adjacent numerical points in the numerical queue 1, obtain the decrement ratio modulus between the y-coordinate decrement and the x-coordinate decrement, and obtain the ratio mean of the numerical queue 1 according to the decrement ratio modulus of each pair of adjacent numerical points in the numerical queue 1; Calculate the modulus of the ratio of the y-coordinate decrement to the x-coordinate decrement between the first numerical point and the last numerical point in the rectangular coordinate system; The reduction modulus between the ratio mean and the reduction ratio modulus is obtained, and the reduction modulus is standardized. The corresponding standardized value is used as a continuity attribute value similar to an outlier.

4. The method for adjusting the inclination angle based on the pile gripper of a pile driving ship according to claim 3 is characterized in that: In step 2, the number defined in advance is two, and the first The next two adjacent outliers are similar to the outliers, and the same Similar outliers form a numerical queue, the first The operation equation for the continuity attribute value of a similar outlier point is: ； Here, Representative outlier-like continuity attribute values, Representative The coordinates of similar outliers, Representative The coordinates of the next numerical point similar to the outlier point, Representative The number of numerical points following similar outliers, Represents the coordinates of the first numerical point in the rectangular coordinate system, Represents the coordinates of the last numerical point in the rectangular coordinate system, Represents the use of Z-score method to Perform standardized disposal.

5. The method for adjusting the inclination angle based on the pile gripper of a pile driving ship according to claim 4, characterized in that: In step 2, the method of obtaining outlier grouping parameters similar to outliers based on the sudden change amplitude and the continuity attribute value includes: The sudden change amplitude and the continuity attribute value are summed up, and the corresponding summed value is used as the outlier grouping parameter similar to the outlier point.

6. The method for adjusting the inclination angle based on the pile gripper of a pile driving ship according to claim 5, characterized in that: In step 2, The sudden change amplitude of the similar outlier point and the continuity attribute value of the similar outlier point are summed up, and the corresponding outlier grouping parameters similar to outliers, The operational equation for the outlier grouping parameters similar to outliers is: ; Here, Representative outlier grouping parameters similar to outliers, Representative The amplitude of the sudden change similar to the outlier point, Representative outlier-like continuity attribute values, represents the criticality of the sudden change amplitude, Represents the criticality of continuous attribute values.

7. The method for adjusting the inclination angle based on the pile gripper of a pile driving ship according to claim 6, characterized in that: In step 3, according to the outlier grouping parameter of the similar outlier point and the adjacent numerical points of the similar outlier point, the method of performing active outlier detection on the similar outlier point to obtain the outlier amplitude of the similar outlier point includes: Step 3-1: Obtain the comparison value between the outlier grouping parameter of similar outliers and the pre-defined outlier grouping threshold, and identify the numerical category of similar outliers based on the comparison value, that is: If the control value is that the outlier grouping parameter of the similar outlier point is not lower than the outlier grouping critical value, the similar outlier point is registered as a high outlier amplitude point; If the control value is that the outlier grouping parameter of the similar outlier point is lower than the outlier grouping critical value, the similar outlier point is registered as a low outlier amplitude point; Step 3-2: According to the numerical attributes of the adjacent numerical points of similar outliers, obtain the outlier amplitude of similar outliers, that is: If the value of the outlier point is a high outlier amplitude point, use The norm obtains similar outliers adjacent numerical points, based on the relationship between similar outliers and each adjacent numerical point norm, get the highest The norm value is treated as the outlier amplitude similar to the outlier point; If the value of the similar outlier point is a low outlier amplitude point, a predefined number of value points adjacent to the similar outlier point on both sides are obtained, and a second value queue is formed with the similar outlier point, and the value between each pair of adjacent value points in the second value queue is obtained. norm, get all The mean of the norm, The mean of the norm is taken as the outlier amplitude for similar outliers.

8. The method for adjusting the inclination angle based on the pile gripper of a pile driving ship according to claim 7, characterized in that: In step 3, the method for obtaining the optimal outlier threshold according to the outlier amplitude of each similar outlier point includes: According to the outlier amplitudes of all similar outliers, the outlier amplitude mean is obtained. For any similar outlier, if the outlier amplitude of the similar outlier is higher than the outlier amplitude mean, the similar outlier is registered as an actual outlier, and the actual outlier in all similar outliers is obtained. After the actual outlier is obtained, the similar outliers other than the actual outliers in the similar outliers are deleted, and then the remaining numerical points after the similar outliers are deleted are sent to the display screen for display. When the actual outliers are sent to the display screen for display, a message that the inclination value of the pile gripper of the pile driver is abnormal is also transmitted to the display screen. Here, the remaining numerical points and the message that the inclination value of the pile gripper of the pile driver is abnormal form the inclination value message after treatment. According to the outlier amplitude of each actual outlier point, the lowest outlier amplitude is selected as the optimal outlier critical value, so as to perform outlier detection on the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling using the optimal outlier critical value, that is, if the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is not higher than the optimal outlier critical value, only the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is transmitted to the display screen for display; if the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is higher than the optimal outlier critical value, the message that the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is abnormal with the inclination value of the pile-driving ship pile holder is transmitted to the display screen for display, and the message that the inclination value of the pile-driving ship pile holder transmitted by the real-time sampling is abnormal with the inclination value of the pile-driving ship pile holder here forms the inclination value message after treatment.

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