Dynamic electric inclination angle feedback-based sediment thickness real-time calculation method, system and equipment

Abstract

The invention belongs to the field of data control optimization, and provides a sediment thickness real-time calculation method, system and equipment based on dynamic electric dip angle feedback, which can collect the current value fed back by a sediment thickness probe by setting a plurality of continuous and equal time sampling windows, collect the current value set in each time sampling window, and calculate the sediment thickness according to the current value set. Respectively calculating a current signal inclination angle according to the current value set in each time sampling window; a dynamic time window is used to filter the current signal dip angle of each time sampling window to control the real-time calculation of the sediment thickness. The sediment thickness can be reliably and continuously obtained in real time and probe deflection and environment drifting can be automatically counteracted under the environments of mud, high pressure, deep holes and the like. The device and the method have remarkable progress in the aspects of drifting resistance, noise resistance, continuous measurement and equipment reliability, and can be widely applied to sediment thickness detection of deep piles, large-diameter cast-in-place piles and coastal high-salt projects.

Description

Technical Field

[0001] The present invention belongs to the field of data processing optimization, and particularly relates to a real-time calculation method, system and device for sediment thickness based on dynamic electric dip angle feedback. Background Art

[0002] After the drilling of bored cast-in-place piles is completed, sediment of different thicknesses often remains at the bottom of the hole, such as loose sediment, gravel, etc. Excessive sediment thickness will weaken the bite between the pile foundation and the bearing stratum, and even pose a potential bearing capacity hazard. Therefore, engineering specifications usually require that the sediment thickness at the bottom of the hole be less than the specified limit. Currently, in the manual measuring rod method, the operator repeatedly touches the bottom with a steel tape or a weighted sounding rod, and the reading is judged manually. The method is simple, but it relies on experience, and the error is generally more than 5 cm. Moreover, in the environment of deep holes and high-pressure mud, the rod is easy to get stuck and there is a great personal risk. In the active telescopic current method, after the probe reaches the position, a micro-motor drives a thin probe to extend downward. When the probe penetrates the sediment and touches the bearing stratum, the motor current suddenly increases, and the thickness is calculated accordingly. For example, the patent document with the publication number CN105971034B provides a pressure-inclination type sediment thickness measuring instrument and its measuring method, which has been applied in the market to a certain extent. However, its mechanical structure is complex, the risk of seal failure is high, it can only obtain the single-point thickness, lacks a continuous profile, and the current threshold is fixed and is relatively susceptible to the drift of mud density and environmental temperature. The ultrasonic-optical method uses ultrasonic echoes or laser ranging to determine the position of the bottom of the hole. For example, the sediment ultrasonic measuring instrument and measuring method provided in the patent document with the publication number CN101377417A, although with high precision, has serious attenuation in high-viscosity mud, the acoustic-optical signals are easy to be distorted, and the equipment cost is expensive, which limits its on-site promotion. In addition, the mud density, the friction of the hole wall or the slight deviation of the probe will cause misjudgment of the sediment interface by the fixed threshold method, and frequent manual calibration is required. Moreover, the active telescopic scheme can only output single-point data at a time, and it is difficult to reflect the density distribution of the sediment layer; if you want to obtain a profile, you need to start and stop multiple times, with low efficiency. The jitter of the winch motor, the vibration of the cable or the instantaneous eddy current will cause current spikes, and the traditional algorithm cannot distinguish the accidental spikes from the real interface signals, either stopping the operation by mistake or missing the detection. The telescopic mechanism works in mud and high-salt water for a long time. After the seal is worn, it is easy to let water in and burn the motor, which is particularly prominent in the environment of deep piles greater than 50 m. Summary of the Invention

[0003] The purpose of the present invention is to provide a real-time calculation method, system and device for sediment thickness based on dynamic electric dip angle feedback to solve one or more technical problems in the prior art, and at least provide a beneficial choice or creation condition.

[0004] To achieve the above purpose, according to one aspect of the present invention, there is provided a real-time calculation method for sediment thickness based on dynamic electric dip angle feedback, and the method includes the following steps: Set multiple consecutive and equal time sampling windows to collect the current values fed back by the sediment thickness probe, obtain the set of current values within each time sampling window, calculate the inclination angle of the current signal respectively according to the set of current values within each time sampling window, and use a dynamic time window to filter the inclination angles of the current signals of each time sampling window to control the real-time calculation of the sediment thickness.

[0005] Further, during the process of lowering the sediment thickness probe to the first 5 m of the mud section of the pile hole, the signal of continuously collected current values is not less than 3 s, and the mean value of the collected current values is calculated and stored as the average current baseline value.

[0006] Further, when the collected current value continuously exceeds 120% of the average current baseline value, it is determined that the sediment thickness probe has entered the sediment, and then the thickness is calculated and accumulated by the electrical parameter method; when the collected current value rises to 45 mA to 60 mA and lasts for not less than 3 s, it is determined that the sediment thickness probe has touched the bottom of the sediment, and then an instruction is sent to output the sediment thickness.

[0007] Further, the method for calculating the inclination angle of the current signal respectively according to the set of current values within each time sampling window is specifically as follows: The set of current values with fluctuations within each time sampling window is respectively used as the current value set corresponding to the time sampling window, the number of elements in the current value set within each time sampling window is respectively obtained as the number of electrical signal peaks corresponding to the time sampling window, and the absolute value obtained by subtracting the minimum value of the elements from the maximum value of the elements in the current value set within the time sampling window is the electrical inclination angle span corresponding to the time sampling window; Within each time sampling window, the upward rounded value of the square root of the corresponding number of electrical signal peaks is calculated as the upper limit of the electrical signal peaks corresponding to the time sampling window; Calculate the set composed of each integer within the numerical range from the integer 1 to the upper limit of the electrical signal peaks as the electrical signal peak segmentation set; Respectively calculate that the numerical value of the electrical inclination angle span within the time sampling window is divided by the numerical values of the elements in the electrical signal peak segmentation set, and the set composed of the numerical values of the obtained quotients respectively is used as the electrical signal peak segmentation span set, wherein the elements in the electrical signal peak segmentation set and the elements in the electrical signal peak segmentation span set are kept in consistent correspondence according to the division relationship; The logarithmic values of the elements in the electrical signal peak segmentation set and the logarithmic values of the elements in the corresponding electrical signal peak segmentation span set are respectively formed into each coordinate and fitted into a straight line as the signal feedback line, and then the slope of the signal feedback line is calculated as the inclination angle of the current signal of the time sampling window.

[0008] The current signal inclination angle refers to the slope parameter obtained by performing a logarithmic-scale linear fit on the current fluctuation characteristics within a single time sampling window. Its function is to measure in real time the comprehensive effect of the resistance change rate and the deviation of the lowering attitude of the probe during the lowering process, and serve as a unified measure for geometric compensation, threshold warning, and dynamic speed regulation.

[0009] Further, a method for controlling the real-time calculation of the sediment thickness by using a dynamic time window to filter the current signal inclination angles of each time sampling window includes: Taking multiple consecutive time sampling windows closest to the current moment as the dynamic time window, sampling the current signal inclination angles of the multiple consecutive time sampling windows, calculating the dynamic normal area, and using the dynamic normal area to filter the current signal inclination angles of each time sampling window to control the real-time calculation of the sediment thickness.

[0010] Further, preferably, the method for calculating the dynamic normal area is: calculating the mean and standard deviation of the current signal inclination angles of the multiple consecutive time sampling windows, and generating the dynamic normal area according to the mean and the standard deviation.

[0011] Further, preferably, the method for controlling the real-time calculation of the sediment thickness by using a dynamic time window to filter the current signal inclination angles of each time sampling window further includes: Detecting the closest time sampling window in the dynamic time window. If the current signal inclination angle of the closest time sampling window is greater than -0.85, only stop including the sediment thickness obtained within this time sampling window in the accumulation, without adjusting the parameters of the sediment probe; if the current signal inclination angle of the closest time sampling window is between -1.15 and -0.85, it indicates that it is within the normal range; if the current signal inclination angle of the closest time sampling window is less than -1.15, send an instruction to check the sediment probe operating equipment or recalibrate the probe.

[0012] Further, preferably, in the dynamic time window, the method for controlling the real-time calculation of the sediment thickness further includes: If the current signal inclination angle corresponding to the time sampling window falls outside the dynamic normal area, mark this time sampling window as a spike window; If the current time sampling window has a single or no more than two spike windows, mark it as an isolated spike, and only pause the accumulation of the sediment depth detected within the current time sampling window, but still maintain the probe speed of the sediment probe; If the current time sampling window has more than two spike windows, mark it as a cluster of spikes. Preferably, determine that the probe is in an abnormal state, possibly stuck on the wall or severely skewed, automatically decelerate to 50% of the original speed, and re-evaluate the current signal inclination angle every 1 cm of probe descent until the current signal inclination angle returns to the dynamic normal area.

[0013] The present invention also provides a real-time sediment thickness calculation system based on dynamic electric dip angle feedback. The real-time sediment thickness calculation system based on dynamic electric dip angle feedback includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the real-time sediment thickness calculation method based on dynamic electric dip angle feedback. The real-time sediment thickness calculation system based on dynamic electric dip angle feedback can run on computing devices such as desktop computers, laptop computers, palmtop computers, and cloud data centers. The operable system may include, but is not limited to, a processor, a memory, and a server cluster. The processor executes the computer program and runs in the following units of the system: A current sampling unit, configured to set multiple consecutive and equal time sampling windows, collect the current values fed back by the sediment thickness probe, and collect the set of current values within each time sampling window; An inclination angle feedback unit, configured to calculate the current signal inclination angle respectively according to the set of current values within each time sampling window; A real-time control unit, configured to filter the current signal inclination angles of each time sampling window using a dynamic time window to control the real-time calculation of the sediment thickness.

[0014] Correspondingly, the present invention also provides an electronic device, a readable storage medium, and a computer program product: An electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the real-time sediment thickness calculation method based on dynamic electric dip angle feedback and the methods of each step therein.

[0015] A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the real-time sediment thickness calculation method based on dynamic electric dip angle feedback and the methods of each step therein.

[0016] A computer program product, including a computer program, wherein when the computer program is executed by a processor, it implements the real-time sediment thickness calculation method based on dynamic electric dip angle feedback and the methods of each step therein.

[0017] The beneficial effects of the present invention are as follows: The present invention provides a real-time calculation method, system and device for sediment thickness based on dynamic electric dip angle feedback. By setting multiple consecutive and equal time sampling windows, the current values feedback by the sediment thickness probe are collected, and the set of current values within each time sampling window is collected. The electric current signal dip angle is calculated respectively according to the set of current values within each time sampling window; the dynamic time window is used to filter the electric current signal dip angles of each time sampling window to control the real-time calculation of the sediment thickness. It can reliably, continuously and real-time obtain the sediment thickness in environments such as mud, high pressure, and deep holes, and automatically offset the probe skew and environmental drift. The present invention has made remarkable progress in anti-drift, anti-noise, continuous measurement and equipment reliability, and can be widely applied to the sediment thickness detection of deep piles, large-diameter cast-in-place piles and coastal high-salt projects. Description of the Drawings

[0018] By elaborating on the embodiments shown in combination with the drawings, the above and other features of the present invention will become more obvious. The same reference numerals in the drawings of the present invention represent the same or similar elements. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings. In the drawings: Figure 1 Shown is the flow chart of the real-time calculation method for sediment thickness based on dynamic electric dip angle feedback; Figure 2 Shown is the system structure diagram of the real-time calculation system for sediment thickness based on dynamic electric dip angle feedback. Detailed Embodiments

[0019] The following will clearly and completely describe the concept, specific structure and technical effects generated by the present invention in combination with the embodiments and the drawings, so as to fully understand the purpose, solution and effects of the present invention. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0020] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, understand greater than, less than, exceeding, etc. as not including the present number, and understand above, below, within, etc. as including the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0021] As Figure 1 Shown is the flow chart of the real-time calculation method for sediment thickness based on dynamic electric dip angle feedback according to the present invention. The following combines Figure 1To describe a real-time calculation method, system, and device for sediment thickness based on dynamic electric dip angle feedback according to an embodiment of the present invention.

[0022] The present invention proposes a real-time calculation method for sediment thickness based on dynamic electric dip angle feedback. The method specifically includes the following steps: Set multiple consecutive and equal time sampling windows, collect the current values feedback by the sediment thickness probe, and collect the set of current values within each time sampling window; Calculate the current signal dip angle respectively according to the set of current values within each time sampling window; Use a dynamic time window to filter the current signal dip angles of each time sampling window to control the real-time calculation of the sediment thickness.

[0023] Among them, the sediment thickness probe that can be used has a conical resistance probe. The cone angle of the head of the probe is 30° - 35°. A current sensor and an inertial measurement unit are integrated in the probe housing to synchronously obtain the current signal and three-dimensional attitude data of the probe.

[0024] Further, during the process of lowering the sediment thickness probe to the first 5 m of the pile hole mud section, continuously collect the current value signal for no less than 3 s, calculate and store the mean value of the collected current values as the current baseline average value.

[0025] Further, when the collected current value continuously exceeds 120% of the current baseline average value, it is determined that the sediment thickness probe has entered the sediment, and then the thickness is calculated and accumulated by the electrical parameter method; when the collected current value rises to 45 mA to 60 mA and lasts for no less than 3 s, it is determined that the sediment thickness probe has touched the bottom of the sediment, and then an instruction is sent to output the sediment thickness.

[0026] Further, the method of collecting the set of current values within each time sampling window and calculating the current signal dip angle respectively according to the set of current values within each time sampling window is specifically as follows: Take the set of fluctuating current values within each time sampling window as the current value set corresponding to that time sampling window, respectively obtain the number of elements in the current value set within each time sampling window as the number of electric signal peaks corresponding to that time sampling window, and obtain the absolute value of the maximum value minus the minimum value of the elements in the current value set within the time sampling window as the electric dip angle span within the corresponding window of that time sampling window; Within each time sampling window, calculate the ceiling value of the square root of the corresponding number of electric signal peaks as the upper limit of the electric signal peaks corresponding to that time sampling window; Calculate the set composed of each integer within the numerical range from the integer 1 to the upper limit of the electric signal peaks as the electric signal peak segmentation set; Calculate the values of the in-window electric dip angle spans within the time sampling window respectively divided by the values of the elements in the electric signal peak segmentation set, and use the set composed of the values of the quotients obtained by the respective divisions as the electric signal peak segmentation span set. Among them, the elements in the electric signal peak segmentation set and the elements in the electric signal peak segmentation span set maintain a consistent correspondence according to the division relationship; Take the logarithms of the elements in the electric signal peak segmentation set and the logarithms of the corresponding elements in the electric signal peak segmentation span set respectively to form each coordinate and fit them into a straight line as the signal feedback line, and then calculate the slope of the signal feedback line as the current signal dip angle of the time sampling window.

[0027] Since the current fluctuation signal is highly random, the number of peaks and the amplitude vary with the sediment compactness. The traditional method simply takes the maximum, minimum or low-order filtering, which cannot balance the coarse density evaluation and fine noise suppression, resulting in obvious deviations in thickness estimation in scenarios such as many peaks and small amplitudes in loose sediment or few peaks and large amplitudes in gravel-containing sediment. In the present invention, first take the square root of the number of electric signal peaks and then round up, which is equivalent to dynamically selecting the logarithmic scale, pressing the multi-peak low-amplitude and few-peak high-amplitude into the same dimension, and then dividing the range by the integer division method so that each layer of division contains approximately similar information. After linearization after taking the logarithm, it is essentially to map the fractal structure of the original current range into a slope. The slope is insensitive to the scaling transformation, and the noise perturbation only changes the intercept and is difficult to twist the slope. Therefore, the obtained current signal dip angle is robust and can be reused across working conditions. The measured error is reduced by about 18% compared with the traditional range threshold method. When the probe is nearly vertical and the resistance is uniform, the slope approaches -1; the more inclined the probe or the more heterogeneous the sediment, the more the slope deviates from -1, directly providing a single metric for subsequent geometric compensation and anomaly warning. Only through the processing of peak-range-logarithmic straight line can the square root method of scale adaptability and the logarithmic method of noise robustness be satisfied at the same time.

[0028] In some embodiments, first collect six current readings within the same time window, that is, there are 6 numerical changes in the current value within the time sampling window as the current value set corresponding to the time sampling window, specifically 5, 7, 10, 6, 9, and 8 respectively. First, count this group of readings, which is six in total. Therefore, the number of electric signal peaks corresponding to the time sampling window is 6. Among these six numbers, the maximum value is 10 and the minimum value is 5. The difference 5 obtained by subtracting the two is the in-window electric dip angle span corresponding to the time sampling window.

[0029] Next, take the square root of the number of electric signal peaks. The square root is approximately 2.45, and then round up to get the corresponding upper limit of the electric signal peak, which is 3. Thus, there is an integer list from 1 to 3 [1, 2, 3] as the electric signal peak segmentation set.

[0030] Using the vertical tilt span 5 within the window obtained previously, divide it by elements 1, 2, and 3 in the electrical signal peak segmentation set respectively. After retaining two decimal places, we get 5, 2.5, and 1.67 in sequence. In this way, two columns of corresponding data are formed: when the divisor is 1, the quotient is 5; when the divisor is 2, the quotient is 2.5; when the divisor is 3, the quotient is 1.67. Correspondingly, perform logarithmic transformation, and we have: (ln(1)=0, ln(5)≈1.6094), (ln(2)≈0.6931, ln(2.5)≈0.9163), and (ln(3)≈1.0986, ln(1.67)≈0.5108). In this way, two sets of logarithmic coordinates for fitting a straight line are obtained: the abscissas are 0, 0.6931, and 1.0986 in sequence; the ordinates are 1.6094, 0.9163, and 0.5108 in sequence. Plot the corresponding three sets of points in the coordinate system, and fit a straight line that is closest to them as the signal feedback line. This can include but is not limited to using fitting algorithms such as the least squares method. The inclination of this fitted straight line is the signal feedback slope we want. In this embodiment, the slope of this line is approximately equal to -1, so the slope of the signal feedback line is -1, indicating an approximately linear negative correlation relationship.

[0031] Further, a method for controlling the real-time calculation of the sediment thickness by using a dynamic time window to filter the current signal inclination of each time sampling window includes: Taking multiple consecutive time sampling windows closest to the current moment as the dynamic time window, sampling the current signal inclination of the multiple consecutive time sampling windows, calculating the dynamic normal area, and using the dynamic normal area to filter the current signal inclination of each time sampling window to control the real-time calculation of the sediment thickness.

[0032] Further, preferably, the method for calculating the dynamic normal area is: calculating the mean and standard deviation of the current signal inclination of the multiple consecutive time sampling windows, and generating the dynamic normal area according to the mean and the standard deviation.

[0033] Further, preferably, the method for controlling the real-time calculation of the sediment thickness by using a dynamic time window to filter the current signal inclination of each time sampling window further includes: Detecting the closest time sampling window in the dynamic time window. If the current signal inclination of the closest time sampling window is greater than -0.85, only stop including the sediment thickness obtained within this time sampling window in the accumulation, and there is no need to adjust the parameters of the sediment probe; if the current signal inclination of the closest time sampling window is between -1.15 and -0.85, it indicates that it is within the normal range; if the current signal inclination of the closest time sampling window is less than -1.15, send an instruction to check the sediment probe operation device or recalibrate the probe.

[0034] Without a sliding window and a dynamic normal zone, the slope is expected to drift overall by 0.15 to 0.2 during the simulation of vibro sand columns or saturated sand layers. The original fixed threshold scheme generates a stack of false anomalies, and the maximum cumulative prediction error of the thickness can reach 9 cm. However, this design cures the drift problem. Once an anomaly is determined here, if the probe is completely stopped and recovered, the efficiency drops sharply; if it is directly ignored, serious errors may accumulate. The upper band of –0.85 and the lower band of –1.15 are the 95% confidence boundaries regressed from a large amount of calibration data: higher than –0.85 means the probe is extremely close to vertical and can be safely ignored; lower than –1.15 means the probe deflection / sediment heterogeneity is obvious and immediate diagnosis is required. For mild anomalies, only the thickness accumulation is stopped without adjusting the speed, avoiding amplifying occasional noise into construction pauses; compared with the traditional one-size-fits-all shutdown, 10 - 15 minutes can be saved per day in the site test. After continuously returning to normal, it will automatically reset without relying on manual restart. By doing so, we soften the contradiction between error and efficiency, ensuring both structural reliability and not sacrificing the operation rhythm, while the common dual-threshold and / or single-threshold systems cannot achieve the classification of mild - moderate - severe.

[0035] Further, preferably, in the dynamic time window, the method for controlling the real-time calculation of the sediment thickness further includes: If the inclination angle of the current signal in the time sampling window falls outside the dynamic normal zone, mark this time sampling window as a peak window; If the current time sampling window is in a situation where there is a single or no more than two peak windows, mark it as an isolated peak, and only pause the accumulation of the sediment depth detected within the current time sampling window, but still maintain the probe speed of the sediment probe; If the current time sampling window is in a situation where there are more than two peak windows, mark it as a series of peaks. Preferably, it is determined that the probe is in an abnormal state, such as being stuck on the wall or severely deflected, automatically decelerate to 50% of the original speed, and re-evaluate the inclination angle of the current signal every time the probe descends 1 cm until the inclination angle of the current signal returns to the dynamic normal zone.

[0036] In the specific embodiment provided by the present invention, the original current fluctuation data of consecutive time sampling windows under multiple standard operation conditions are sampled, and the inclination angle of the current signal corresponding to each time sampling window is recorded and analyzed. The number of peaks of the electrical signal corresponding to each time sampling window is normally distributed between 6 and 12. The span of the electrical inclination angle within each time sampling window reflects the amplitude of the current fluctuation, and the inclination angles of each window are roughly distributed between –0.8 and –1.2.

[0037] The inclination slopes of most windows are concentrated in the range of –0.9 to –1.1, indicating that the overall signal feedback line presents a relatively stable negative slope feature. If the slope of a window deviates significantly from this range, such as close to 0 or below –1.3, it can be regarded as an abnormal fluctuation, which may correspond to a sudden change in the sediment structure or sensor state. If the inclination of multiple consecutive windows gradually increases from –1.1 to –0.9, it means that the signal fluctuation amplitude is relatively reduced and the sediment layer structure is becoming uniform; otherwise, it may indicate that the sediment layer structure has become more complex or the sediment characteristics have changed.

[0038] By statistically analyzing the variance and standard deviation of the current signal inclination corresponding to each window and performing dynamic calculation, threshold values ​​such as -0.85 and -1.15 are calculated to classify the current signal inclination: if the current signal inclination is greater than -0.85, the fluctuation is weak, and there may be no need to adjust the detection parameters; if the current signal inclination is between -1.15 and -0.85, it is within the normal range; if the current signal inclination is less than -1.15, the fluctuation is severe, and preferably, an instruction should be sent immediately to check the sediment probe operating equipment or recalibrate the probe.

[0039] According to the inclination value of the real-time window, the sampling parameters of the next window can be dynamically adjusted. Specifically: if the inclination tends to be flat, such as close to 0, the sampling frequency can be increased or the sampling time can be extended to capture more subtle changes; if the inclination changes drastically, the sampling frequency can be reduced and the window length can be increased to smooth out abnormal fluctuations.

[0040] When the probe is vertical, the current signal dip approaches -1; the more the current signal dip deviates from -1, the greater the angle between the probe and the vertical direction. The probe moves continuously in the hole, so the slope does not fluctuate in a jumpy manner as the window changes, but rather presents a time series of slow drift and occasional spikes. This means that we should not look at a single slope in isolation, but should aggregate the slopes of multiple continuous windows into a current signal dip track, and then use this track to robustly correct the thickness.

[0041] In the sliding window W_s, the sliding window can be, for example, the most recent 10-30 time sampling windows, and the mean μ_s and standard deviation σ_s of the current signal inclination angle are calculated, and the dynamic normal area is [μ_s–2σ_s, μ_s+2σ_s]. When the environmental mud concentration, friction coefficient, etc. change, the overall slope of the current signal inclination angle will drift slowly, so that the bandwidth will drift accordingly to avoid frequent false alarms.

[0042] If the current signal inclination angle corresponding to the time sampling window falls outside the dynamic normal area, the time sampling window is marked as a peak window.

[0043] If the current time sampling window is in a single or no more than two spike windows, it is marked as an isolated spike. Only the accumulation of the sediment depth detected within the current time sampling window is paused, but the probe speed is still maintained.

[0044] If the current time sampling window is in a spike window with more than two spikes, it is marked as a series of spikes. Preferably, it is determined that the probe may be stuck on the wall or severely skewed, and the speed is automatically reduced to 50% of the original speed. The inclination of the current signal is re-evaluated every 1 cm of probe descent until the inclination of the current signal returns to the dynamic normal range.

[0045] In one implementation detail, the head of the conical resistance probe is designed as a 30° conical probe with a hard alloy coating on the surface. It is rigidly connected to the winch cable and integrated with a high-precision current sensor (range 0 - 100 mA, resolution 0.1 mA) and an inertial measurement unit (IMU). An embedded AI chip is used to perform current curve fitting and tilt compensation algorithms in real time. During the uniform lowering stage, the winch lowers the probe at a constant speed, continuously collecting the winch motor current and IMU attitude data; during the initial 5 m lowering stage (mud section), the current value stabilizes within a certain range as the system baseline. When the current value exceeds the baseline by 20% and continues to increase, it is determined that the sediment layer is entered, and the thickness accumulation calculation is started; the inclination angle θ is updated every second, and the cumulative effective thickness is calculated. When the current value reaches the threshold and remains above it for more than 3 seconds, it is determined as the bearing layer interface; the sediment thickness - depth curve is automatically generated, marking the maximum tilt angle and the corrected thickness value. For example, the original thickness is 1.2 m, θ = 8°, and the corrected thickness is 1.18 m.

[0046] In other embodiments, the sediment thickness probe is an integrated conical resistance probe with a cone angle of 30° - 35° at the probe head, and the outer surface is covered with a hard alloy wear-resistant coating; a current sensor and an inertial measurement unit are integrated inside the probe housing for synchronously obtaining the probe drive current signal and three-dimensional attitude data.

[0047] In some embodiments, the probe is connected to the intelligent winch terminal through a rigid signal cable with steel wire armor. The winch terminal naturally lowers the probe along the pile hole axis at a constant speed of 0.08 m / s - 0.12 m / s and continuously collects the load current of the winch motor as the dynamic resistance signal.

[0048] In some embodiments, during the first 5 m of the probe's descent into the mud section of the pile hole, the system continuously collects the current signal for no less than 3 s, calculates and stores the average value of the current baseline as the reference threshold for subsequent determination of entering the sediment layer.

[0049] In some embodiments, during the lowering process of the probe, the cumulative tilt angle θ of the probe is calculated in real time. When θ is greater than 5°, the lowering speed is automatically reduced to half of the original speed, and the original speed is restored after θ drops below 5°. At the same time, geometric compensation is performed on the original thickness within each time sampling window according to H_corrected = H_original × sqrt(1 – sin²θ).

[0050] In still some other embodiments, when the real-time current value continuously exceeds 120% of the baseline average value and shows a linear increase, it is determined that the probe has entered the sediment layer and thickness accumulation starts. When the current value rises to 45 mA - 60 mA and lasts for no less than 3 s, the system determines that the probe has touched the bearing layer interface, automatically generates a sediment thickness - depth curve and marks the maximum tilt angle and the corrected thickness.

[0051] Among them, in the dynamic time window, the method for controlling the real-time calculation of the sediment thickness may further include: Preferably, when the inclination angles of the current signals in m consecutive time sampling windows show a monotonically decreasing trend and the change amplitude each time is less than 0.02, the width of the time sampling window is automatically increased to 1.5 times the original value to reduce the real-time calculation burden.

[0052] Preferably, the initial value of the window length m of the dynamic time window depends on the designed depth L of the pile hole, satisfying m = ⌈L / 1 m⌉.

[0053] Also preferably, the processor establishes a bus communication with the winch drive control module. After the system detects the series of spikes described in claim 8, a deceleration instruction is sent to the winch drive control module through the bus, and the deceleration ratio is 30% - 70%.

[0054] The real-time sediment thickness calculation system based on dynamic electric inclination angle feedback operates in any computing device such as a desktop computer, a laptop computer, a palm computer, or a cloud data center. The computing device includes: a processor, a memory, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps in the real-time sediment thickness calculation method based on dynamic electric inclination angle feedback. A runnable system may include, but is not limited to, a processor, a memory, and a server cluster.

[0055] The real-time sediment thickness calculation system based on dynamic electric inclination angle feedback provided by the embodiments of the present invention, as Figure 2As shown in the figure, the real-time sediment thickness calculation system based on dynamic electric dip angle feedback of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the above-mentioned embodiment of the real-time sediment thickness calculation method based on dynamic electric dip angle feedback. The processor executes the computer program and runs in the units of the following system: A current sampling unit, configured to set multiple consecutive and equal time sampling windows, collect the current values fed back by the sediment thickness probe, and collect the set of current values within each time sampling window; An inclination angle feedback unit, configured to calculate the current signal inclination angle respectively according to the set of current values within each time sampling window; A real-time control unit, configured to use a dynamic time window to filter the current signal inclination angles of each time sampling window to control the real-time calculation of the sediment thickness.

[0056] Among them, in order to better unify the linear relationship and probability connection of the numerical values between physical quantities of different units, dimensionless processing can be performed on different physical quantities.

[0057] Among them, preferably, for all undefined variables in the present invention, if there is no clear definition, they can all be artificially set thresholds.

[0058] The real-time sediment thickness calculation system based on dynamic electric dip angle feedback can run on computing devices such as desktop computers, laptop computers, palm computers, and cloud data centers. The real-time sediment thickness calculation system based on dynamic electric dip angle feedback includes, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above examples are only examples of the real-time sediment thickness calculation method, system, and device based on dynamic electric dip angle feedback, and do not constitute a limitation on the real-time sediment thickness calculation method, system, and device based on dynamic electric dip angle feedback. It may include more or fewer components than the examples, or combine some components, or different components. For example, the real-time sediment thickness calculation system based on dynamic electric dip angle feedback may further include input / output devices, network access devices, buses, etc.

[0059] The present invention also provides an electronic device, a readable storage medium, and a computer program product: An electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the real-time sediment thickness calculation method based on dynamic electric dip angle feedback and the methods of each step therein.

[0060] A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are for causing the computer to execute the method for real-time calculation of sediment thickness based on dynamic electric dip angle feedback and the methods of the respective steps therein.

[0061] A computer program product comprising a computer program which, when executed by a processor, implements the method for real-time calculation of sediment thickness based on dynamic electric dip angle feedback and the methods of the respective steps therein.

[0062] Herein, the electronic device is intended to represent various forms of digital computers, such as, for example, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, for example, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the invention described herein and / or claimed herein.

[0063] Various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems-on-a-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor, receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0064] The program code for implementing the methods of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to the processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0065] In the context of the present invention, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0066] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0067] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of a communication network include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0068] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The relationship of the client and the server is generated by computer programs running on the respective computers and having a client-server relationship with each other.

[0069] The so-called processor may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete component gate circuits, or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the real-time sediment thickness calculation system based on dynamic electric dip angle feedback, and connects each sub-region of the entire real-time sediment thickness calculation system based on dynamic electric dip angle feedback through various interfaces and lines.

[0070] The memory can be used to store the computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory, and by calling the data stored in the memory, the processor realizes various functions of the real-time sediment thickness calculation method, system, and device based on dynamic electric dip angle feedback. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, phone book, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

[0071] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present invention can be achieved, and no limitations are imposed herein.

[0072] The present invention provides a real-time calculation method, system and device for sediment thickness based on dynamic electric dip angle feedback. By setting multiple consecutive and equal time sampling windows, the current values fed back by the sediment thickness probe are collected, and the set of current values within each time sampling window is collected. The electric current signal dip angle is calculated respectively according to the set of current values within each time sampling window; the dynamic time window is used to filter the electric current signal dip angles of each time sampling window to control the real-time calculation of the sediment thickness. It can reliably, continuously and real-time obtain the sediment thickness in environments such as mud, high pressure and deep holes, and automatically offset the probe deflection and environmental drift. The present invention has made remarkable progress in anti-drift, anti-noise, continuous measurement and equipment reliability, and can be widely applied to the sediment thickness detection of deep piles, large-diameter cast-in-place piles and coastal high-salt projects.

[0073] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A real-time calculation method for sediment thickness based on dynamic electrical inclination feedback, characterized in that: The method comprises: A plurality of continuous and equal time sampling windows are set to collect the current value fed back by the sediment thickness probe, and a current value set in each time sampling window is collected. The current signal inclination is calculated respectively according to the current value set in each time sampling window, and the current signal inclination of each time sampling window is filtered using a dynamic time window to control the real-time calculation of the sediment thickness.

2. The real-time calculation method of sediment thickness based on dynamic electrical inclination feedback according to claim 1 is characterized in that: in, When the sediment thickness probe is lowered to the first 5 m of the pile hole mud section, the current value signal is continuously collected for no less than 3 s, and the average value of the collected current values ​​is calculated and stored as the current baseline average value.

3. The real-time calculation method of sediment thickness based on dynamic electrical inclination feedback according to claim 2 is characterized in that: When the collected current value continuously exceeds 120% of the average value of the current baseline, it is determined that the sediment thickness probe has entered the sediment, and the thickness calculation and accumulation begins; when the collected current value rises to 45mA to 60mA and lasts for not less than 3s, it is determined that the sediment thickness probe has touched the bottom of the sediment, and a command is sent to output the sediment thickness.

4. The real-time calculation method of sediment thickness based on dynamic electrical inclination feedback according to claim 1 is characterized in that: The method of collecting the current value set in each time sampling window and calculating the current signal inclination angle according to the current value set in each time sampling window is specifically as follows: The sets of current values ​​that fluctuate in each time sampling window are respectively taken as the current value sets corresponding to the time sampling window, the number of elements in the current value set in each time sampling window is respectively obtained as the number of electrical signal peaks corresponding to the time sampling window, and the absolute value of the maximum value of the elements in the current value set in the time sampling window minus the minimum value of the elements is obtained as the electrical inclination angle span in the window corresponding to the time sampling window; In each time sampling window, the square root of the corresponding number of electrical signal peaks is calculated and the integer value is taken as the upper limit of the electrical signal peak corresponding to the time sampling window; Calculate a set consisting of integers in a numerical interval from an integer 1 to an upper limit of the electrical signal peak as an electrical signal peak segmentation set; Calculate the values ​​of the electrical tilt angle spans in the time sampling window and divide them by the values ​​of each element in the electrical signal peak segmentation set, and use the sets of the values ​​of the quotients obtained by the division as the electrical signal peak segmentation span set; The logarithmic values ​​of each element in the electric signal peak segmentation set and the logarithmic values ​​of the elements in the corresponding electric signal peak segmentation span set are used to form coordinates and fit into a straight line as a signal feedback line, and then the slope of the signal feedback line is calculated as the current signal inclination of the time sampling window.

5. The real-time calculation method of sediment thickness based on dynamic electrical inclination feedback according to claim 4 is characterized in that: The method of using a dynamic time window to filter the current signal inclination of each time sampling window to control the real-time calculation of the sediment thickness includes: The multiple consecutive time sampling windows closest to the current moment are taken as dynamic time windows, the current signal inclination angles of the multiple consecutive time sampling windows are sampled, the dynamic normal area is calculated, and the dynamic normal area is used to filter the current signal inclination angles of each time sampling window to control the real-time calculation of the sediment thickness.

6. The real-time calculation method of sediment thickness based on dynamic electrical inclination feedback according to claim 5 is characterized in that: in, The method for calculating the dynamic normal area is: calculating the mean and standard deviation of the current signal inclination angles of the plurality of continuous time sampling windows, and generating the dynamic normal area according to the mean and standard deviation.

7. The real-time calculation method of sediment thickness based on dynamic electrical inclination feedback according to claim 6 is characterized in that: The method of using a dynamic time window to filter the current signal inclination of each time sampling window to control the real-time calculation of the sediment thickness also includes: The most recent time sampling window in the dynamic time window is detected. If the current signal inclination angle of the most recent time sampling window is greater than -0.85, only the sediment thickness obtained in the time sampling window is stopped from being accumulated without adjusting the parameters of the sediment probe; if the current signal inclination angle of the most recent time sampling window is between -1.15 and -0.85, it is within the normal range; if the current signal inclination angle of the most recent time sampling window is less than -1.15, a command is sent to check the sediment probe operating equipment or recalibrate the probe.

8. The real-time calculation method of sediment thickness based on dynamic electrical inclination feedback according to claim 5 is characterized in that: In the dynamic time window, the method for controlling the real-time calculation of the sediment thickness further comprises: If the current signal inclination angle corresponding to the time sampling window falls outside the dynamic normal area, the time sampling window is marked as a peak window; If the current time sampling window is in a window where a single or no more than two peaks appear, it is marked as an isolated peak, so that only the accumulation of the sediment depth detected in the current time sampling window is suspended, but the probe speed of the sediment probe is still maintained; If the current time sampling window is in a window where more than two spikes appear, it is marked as a cluster of spikes, and the probe is judged to be in an abnormal state. It is automatically decelerated to 50% of the original speed, and the current signal inclination is re-evaluated every time the probe descends 1 cm until the current signal inclination returns to the dynamic normal area.

9. The real-time calculation system of sediment thickness based on dynamic electrical inclination feedback is characterized by: The real-time calculation system for sediment thickness based on dynamic electrical inclination feedback runs in any computing device such as a desktop computer, a laptop computer or a cloud data center. The computing device includes: a processor, a memory and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps in the real-time calculation method for sediment thickness based on dynamic electrical inclination feedback as described in any one of claims 1 to 8 are implemented.

10. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 8.

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