Real-time calculation method, system and device for sediment thickness based on dynamic electric dip angle feedback

Abstract

The present application belongs to the field of data control optimization, and provides a real-time calculation method, system and equipment for sediment thickness based on dynamic electric dip angle feedback, which can collect the current value of the feedback of the sediment thickness probe by setting multiple continuous and equal time sampling windows, collect the current value set in each time sampling window, and calculate the current signal dip angle according to the current value set in each time sampling window; the current signal dip angle of each time sampling window is filtered by using a dynamic time window to control the real-time calculation of the sediment thickness. In the environment of mud, high pressure and deep hole, the sediment thickness can be reliably, continuously and real-timely obtained, and the probe deflection and environmental drift can be automatically offset. The present application has made significant progress in anti-drift, anti-noise, continuous measurement and equipment reliability, and can be widely applied to the detection of sediment thickness of deep piles, large-diameter bored piles and coastal high-salt engineering.

Description

TECHNICAL FIELD

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

[0002] After the hole of the cast-in-place pile is formed, different thickness of sediments, such as loose silt, gravel and the like, are often left at the bottom of the hole. The over-thick sediments will weaken the engagement of the pile foundation and the bearing stratum, and even cause the bearing capacity hidden danger. Therefore, the engineering specification usually requires that the thickness of the sediments at the bottom of the hole is less than the specified limit. At present, in the manual measuring rod method, the operator repeatedly touches the bottom with a steel ruler or a weighted probe rod, and the reading is manually judged. The method is simple, but it depends on experience, and the error is generally more than 5 cm. In the deep hole and high pressure mud environment, the rod is easy to be stuck, and the personal risk is large. In the active telescopic current method, after the probe is in place, a thin probe is driven downward by a micro motor. When the probe penetrates the sediments and touches the bearing stratum, the motor current increases sharply, and the thickness is calculated accordingly. For example, the patent document with the announcement number CN105971034B provides a pressure-dip angle type sediment thickness gauge and a thickness measuring method thereof. The method has obtained certain application in the market, but the mechanical structure is complex, the sealing failure risk is high, only single point thickness can be obtained, the continuous profile is lacked, and the current threshold is fixed, which is more susceptible to mud density and environmental temperature drift. The ultrasonic optical method is to determine the hole bottom position by using ultrasonic echo or laser ranging. For example, the patent document with the announcement number CN101377417A provides a sediment ultrasonic measuring instrument and a measuring method. Although the precision is high, the high viscosity mud is seriously attenuated, the sound and light signals are easy to be distorted, and the equipment cost is expensive, so the on-site promotion is limited. In addition, the mud density, hole wall friction or slight deflection of the probe will cause the fixed threshold method to misjudge the sediment interface, and frequent manual calibration is required. In addition, 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 the profile is to be obtained, the start and stop need to be performed multiple times, and the efficiency is low. The winch motor shaking, cable vibration or transient eddy current will cause current spikes, and the traditional algorithm cannot distinguish between accidental spikes and real interface signals, which will either misstop the operation or miss the detection. The telescopic mechanism works in mud and high salt water for a long time. After the sealing element is worn out, water is easy to enter and burn the motor, and the environment of the deep pile of more than 50 m is particularly prominent. SUMMARY

[0003] The present application aims to provide a method, system and device for real-time calculation of sediment thickness based on dynamic electric dip angle feedback, so as to solve one or more technical problems in the prior art, and at least provide a beneficial choice or create conditions.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for real-time calculation of sediment thickness based on dynamic electric dip angle feedback is provided, and the method comprises the following steps:

[0005] A plurality of continuous and equal time sampling windows are set to collect the current value of the feedback of the sediment thickness probe, and a current value set in each time sampling window is collected. The current signal inclination is calculated 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.

[0006] Further, during the process of lowering the sediment thickness probe to the first 5m of the pile hole mud section, the signal of the continuously collected current value is not less than 3s, and the average of the collected current value is calculated and stored as the current baseline average.

[0007] Further, when the collected current value continuously exceeds 120% of the current baseline average, it is determined that the sediment thickness probe has entered the sediment, and then the thickness is calculated and accumulated by the electric parameter method; 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 then an instruction is sent to output the sediment thickness.

[0008] Further, the current value set collected in each time sampling window is calculated according to the current value set in each time sampling window to calculate the current signal inclination.

[0009] The set of fluctuating current values in each time sampling window is respectively taken as the current value set corresponding to the time sampling window, the number of elements in the current value set in each time sampling window is respectively taken as the peak number of the electric signal corresponding to the time sampling window, and the maximum value of the elements in the current value set in the time sampling window minus the minimum value of the elements is taken as the window-in electric inclination span corresponding to the time sampling window.

[0010] In each time sampling window, the upward integer value of the square root of the corresponding electric signal peak number is calculated as the upper limit of the electric signal peak corresponding to the time sampling window.

[0011] The set of integers in the numerical interval from integer 1 to the upper limit of the electric signal peak is calculated as the electric signal peak segmentation set.

[0012] The numerical value of the window-in electric inclination span in the time sampling window is respectively divided by the numerical value of each element in the electric signal peak segmentation set to respectively divide the numerical value of the quotient obtained to form a set as the electric signal peak segmentation span set, wherein the elements in the electric signal peak segmentation set and the elements in the electric signal peak segmentation span set are consistent and corresponding according to the division relationship.

[0013] The logarithmic values of the elements in the peak segmentation set of the electrical signal are segmented, and the logarithmic values of the elements in the peak segmentation span set corresponding to the electrical signal are segmented, respectively, to form coordinates and be fitted into a straight line as a signal feedback line, and the slope of the signal feedback line is calculated as the current signal inclination angle of the time sampling window.

[0014] The current signal inclination angle refers to the slope parameter obtained by performing logarithmic scale linear fitting on the current fluctuation characteristics in a single time sampling window, which is used to measure the combined effect of the resistance change rate and the lowering posture deviation of the probe during lowering in real time, and serves as a unified measurement for geometric compensation, threshold early warning and dynamic speed regulation.

[0015] Further, the method for controlling real-time calculation of the sediment thickness by filtering the current signal inclination angle of each time sampling window using a dynamic time window comprises:

[0016] The current signal inclination angles of a plurality of continuous time sampling windows closest to the current time are sampled as the dynamic time window, the dynamic normal range is calculated, and the current signal inclination angle of each time sampling window is filtered using the dynamic normal range to control the real-time calculation of the sediment thickness.

[0017] Further, preferably, the method for calculating the dynamic normal range comprises: 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 range according to the mean and standard deviation.

[0018] Further, preferably, the method for controlling real-time calculation of the sediment thickness by filtering the current signal inclination angle of each time sampling window using a dynamic time window further comprises:

[0019] 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 included in accumulation, without the need to adjust 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, an instruction is sent to check the sediment probe operation equipment or recalibrate the probe.

[0020] Further, preferably, in the dynamic time window, the method for controlling real-time calculation of the sediment thickness further comprises:

[0021] If the current signal inclination angle corresponding to the time sampling window falls outside the dynamic normal range, the time sampling window is marked as a spike window.

[0022] If the current time sampling window is in a single or no more than two peak window, it is marked as isolated peak, only suspend the accumulation of the detected sediment depth in the current time sampling window, but still keep the probe speed of the sediment probe;

[0023] If the current time sampling window is in more than two peak window, it is marked as a string of peaks, preferably, it is determined that the probe is in an abnormal state, possibly stuck to the wall or severely skewed, automatically decelerate to 50% of the original speed, and re-evaluate the current signal inclination angle every 1cm of probe descent until the current signal inclination angle returns to the dynamic normal range.

[0024] The present application also provides a dynamic electric inclination angle feedback-based real-time sediment thickness calculation system, which comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in the dynamic electric inclination angle feedback-based real-time sediment thickness calculation method when executing the computer program. The dynamic electric inclination angle feedback-based real-time sediment thickness calculation system can be run in a desktop computer, a notebook computer, a palm computer, a cloud data center, and other computing devices. The executable system can include, but is not limited to, a processor, a memory, a server cluster, and the like. The processor executes the computer program to run in the following system units:

[0025] A current sampling unit is configured to set a plurality of continuous and equal time sampling windows, and collect the feedback current values of the sediment thickness probe, and collect a set of current values in each time sampling window;

[0026] An inclination angle feedback unit is configured to calculate the current signal inclination angle according to the set of current values in each time sampling window;

[0027] A real-time control unit is configured to filter the current signal inclination angle of each time sampling window using a dynamic time window, so as to control the real-time calculation of the sediment thickness.

[0028] Correspondingly, the present application also provides an electronic device, a readable storage medium, and a computer program product:

[0029] An electronic device comprises at least one processor and a memory in communication connection with 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 dynamic electric inclination angle feedback-based real-time sediment thickness calculation method and the steps therein.

[0030] A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to make the computer execute the method of the real-time calculation method of the sediment thickness based on dynamic electric dip angle feedback and the steps therein.

[0031] A computer program product comprising a computer program which, when executed by a processor, implements the method of the real-time calculation method of the sediment thickness based on dynamic electric dip angle feedback and the steps therein.

[0032] The present application has the following beneficial effects: the present application provides a real-time calculation method, system and device of sediment thickness based on dynamic electric dip angle feedback, by setting multiple continuous and equal time sampling windows, the current value of the feedback of the sediment thickness probe is collected, the current value set in each time sampling window is collected, and the current signal dip angle is calculated according to the current value set in each time sampling window; the current signal dip angle of each time sampling window is filtered using a dynamic time window to control the real-time calculation of the sediment thickness. In the environment of mud, high pressure and deep hole, the sediment thickness can be reliably, continuously and real-time obtained, and the probe deflection and environmental drift can be automatically offset. The present application has made significant progress in anti-drift, anti-noise, continuous measurement and device reliability, and can be widely applied to the sediment thickness detection of deep piles, large-diameter bored piles and coastal high-salt engineering. BRIEF DESCRIPTION OF DRAWINGS

[0033] The above and other features of the present application will become more apparent from the following detailed description of embodiments taken in conjunction with the accompanying drawings, in which like reference characters indicate the same or similar elements throughout the drawings, and in which:

[0034] Figure 1 A flowchart of the real-time calculation method of the sediment thickness based on dynamic electric dip angle feedback is shown;

[0035] Figure 2 A system structure diagram of the real-time calculation system of the sediment thickness based on dynamic electric dip angle feedback is shown. DETAILED DESCRIPTION

[0036] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in the following embodiments and drawings, so as to fully understand the purpose, scheme and effect of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0037] In the description of the present application, the meaning of one or more is one or more, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, within, etc. are understood as including the number. If the first, second is described, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0038] As shown in Figure 1 The flow chart of the real-time calculation method of the sediment thickness based on dynamic electric dip angle feedback according to the present application is shown, and the real-time calculation method of the sediment thickness based on dynamic electric dip angle feedback, the system and the equipment according to the embodiment of the present application will be described below in combination with Figure 1 The flow chart of the real-time calculation method of the sediment thickness based on dynamic electric dip angle feedback according to the present application is shown, and the real-time calculation method of the sediment thickness based on dynamic electric dip angle feedback, the system and the equipment according to the embodiment of the present application will be described below in combination with

[0039] The present application proposes a real-time calculation method of the sediment thickness based on dynamic electric dip angle feedback, which specifically includes the following steps:

[0040] A plurality of continuous and equal time sampling windows are set, and the current value feedback of the sediment thickness probe is collected, and a current value set in each time sampling window is collected;

[0041] The current signal dip angle is calculated according to the current value set in each time sampling window;

[0042] The current signal dip angle of each time sampling window is filtered using a dynamic time window to control the real-time calculation of the sediment thickness.

[0043] 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°, and the shell of the probe is integrated with a current sensor and an inertial measurement unit for synchronously acquiring the current signal and three-dimensional attitude data of the probe.

[0044] Further, in the process of lowering the sediment thickness probe to the first 5m of the pile hole mud section, the continuous collection of current value signals is not less than 3s, and the average value of the collected current value is calculated and stored as the current baseline average value.

[0045] 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 electric parameter method; 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 then an instruction is sent to output the sediment thickness.

[0046] Further, the current value set collected in each time sampling window is calculated according to the current value set in each time sampling window.

[0047] The set of fluctuating current values appearing in each time sampling window is obtained as the current value set corresponding to the time sampling window, respectively, the number of elements in the current value set in each time sampling window is obtained as the number of current signal peaks corresponding to the time sampling window, and the maximum value of the elements in the current value set in the time sampling window minus the absolute value of the minimum value of the elements is obtained as the window-in electric dip angle span corresponding to the time sampling window.

[0048] In each time sampling window, the upward integer value of the square root of the corresponding number of current signal peaks is calculated as the upper limit of the current signal peak corresponding to the time sampling window.

[0049] The set of integers in the numerical interval from integer 1 to the upper limit of the current signal peak is calculated as the current signal peak segmentation set.

[0050] The numerical value of the window-in electric dip angle span in the time sampling window is respectively divided by the numerical value of each element in the current signal peak segmentation set to respectively divide the numerical value of the quotient obtained, and the set of numerical values of the quotient obtained is taken as the current signal peak segmentation span set, wherein the elements in the current signal peak segmentation set and the elements in the current signal peak segmentation span set are consistent and corresponding according to the division relationship.

[0051] The logarithmic values of the elements in the current signal peak segmentation set and the logarithmic values of the corresponding elements in the current signal peak segmentation span set are combined into coordinates and fitted into a straight line as a signal feedback line, and the slope of the signal feedback line is calculated as the current signal dip angle of the time sampling window.

[0052] Because the current fluctuation signal is highly random, the number of peaks and the amplitude vary with the compactness of the sediment, and the traditional method simply takes the maximum and minimum or low-order filtering, which cannot balance the coarse density evaluation and fine noise suppression, resulting in obvious deviation in the thickness estimation of loose sediment with many peaks and small amplitude or gravel-containing sediment with few peaks and large amplitude. The present application first takes the square root of the number of current signal peaks and then takes the upward integer, which is equivalent to dynamically selecting the logarithmic scale, compressing the multi-peak low amplitude and the few-peak high amplitude to the same dimension, and dividing the range by the integer, so that each layer of division contains approximately similar information. Linearization after taking the logarithm is essentially mapping the fractal structure of the original current range into a slope, which is not sensitive to scaling transformation, and noise disturbance only changes the intercept and is difficult to twist the slope, so the current signal dip angle obtained is robust and can be reused across working conditions. The 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 tends to -1; the more inclined the probe or the more heterogeneous the sediment, the more the slope deviates from -1, which directly provides a single dimension for subsequent geometric compensation and anomaly warning. Only through the peak-range-logarithmic straight line processing can the scale-adaptive square root method and the noise-robust logarithmic method be satisfied at the same time.

[0053] In some embodiments, six current readings are collected in the same time window, i.e. 6 value changes of the current value occur in the time sampling window as the current value set corresponding to the time sampling window, specifically 5, 7, 10, 6, 9 and 8. First, the readings in this group are measured, a total of six, so the number of peaks of the electrical signal corresponding to the time sampling window is 6. Among the six numbers, the maximum value is 10 and the minimum value is 5, and the difference between the two is 5, which is the window-in electric dip angle span corresponding to the time sampling window.

[0054] Then, the square root of the number of peaks of the electrical signal is taken, which is about 2.45, and the upper integer is taken to obtain the corresponding upper limit of the peak of the electrical signal 3. Thus, there is an integer list [1, 2, 3] from 1 to 3 for the peak segmentation set of the electrical signal.

[0055] Using the previously obtained window-in electric dip angle span 5, divide it by the elements 1, 2 and 3 in the peak segmentation set of the electrical signal respectively, and keep two decimal places to obtain 5, 2.5 and 1.67 in turn. In this way, two corresponding data columns 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, the logarithmic change is made, i.e. (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 horizontal coordinates are 0, 0.6931 and 1.0986 in turn; the vertical coordinates are 1.6094, 0.9163 and 0.5108 in turn. Draw the corresponding three groups of points in the coordinate system, and fit a straight line closest to them as the signal feedback line, which can include but is not limited to using a fitting algorithm such as least squares method. The inclination of the fitted straight line is the signal feedback slope. In this embodiment, the slope of the line is approximately equal to -1, so the slope of the signal feedback line is -1, indicating an approximately linear negative correlation.

[0056] Further, the method for filtering the current signal dip angle of each time sampling window using a dynamic time window to control the real-time calculation of the thickness of the sludge includes:

[0057] Taking a plurality of continuous time sampling windows closest to the current time as a dynamic time window, sampling the current signal dip angle of the plurality of continuous time sampling windows, calculating a dynamic normal zone, and using the dynamic normal zone to filter the current signal dip angle of each time sampling window to control the real-time calculation of the thickness of the sludge.

[0058] Further, preferably, the method for calculating the dynamic normal zone comprises: calculating the mean and standard deviation of the current signal inclinations of the plurality of continuous time sampling windows; and generating the dynamic normal zone according to the mean and standard deviation.

[0059] Further, preferably, the method for controlling the real-time calculation of the sediment thickness using the dynamic time window to filter the current signal inclinations of each time sampling window further comprises:

[0060] detecting the most recent time sampling window in the dynamic time window; if the current signal inclination of the most recent time sampling window is greater than -0.85, only stop the accumulation of the sediment thickness obtained in the time sampling window without adjusting the parameters of the sediment probe; if the current signal inclination 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 of the most recent time sampling window is less than -1.15, send an instruction to check the sediment probe operation equipment or recalibrate the probe.

[0061] If there is no sliding window and dynamic normal zone, the slope will drift 0.15 to 0.2 overall in the simulation of sea sand piles or saturated sand layers, and the original fixed threshold scheme will produce false abnormal stacking, and the maximum prediction error of thickness accumulation can reach 9 cm, and the design solves the drift problem. Here, once an abnormality is determined, if the probe is completely stopped and recovered, the efficiency will drop sharply; if it is directly ignored, it may accumulate serious errors. The upper band of -0.85 and the lower band of -1.15 are the 95% confidence boundaries of a large number of calibration data regression: higher than -0.85 represents that the probe is almost vertical and can be safely ignored; lower than -1.15 represents that the probe is deflected / heterogeneous sediment is obvious, immediate diagnosis is required. Mild abnormalities only stop thickness accumulation without adjusting speed to avoid amplifying occasional noise into construction stoppage; compared with the traditional one-size-fits-all stoppage, field tests can save 10-15 minutes per day. Automatically reset after continuous regression to normal, not dependent on manual restart. We do this to flexibilize the contradiction between error and efficiency, ensuring structural reliability without sacrificing operation tempo, while the common double-threshold and / or single-threshold system cannot achieve light-medium-heavy grading.

[0062] Further, preferably, in the dynamic time window, the method for controlling the real-time calculation of the sediment thickness further comprises:

[0063] if the current signal inclination of the time sampling window falls outside the dynamic normal zone, mark the time sampling window as a spike window;

[0064] if the current time sampling window is in a single or no more than two spike windows, mark it as an isolated spike, and only temporarily stop the accumulation of the detected sediment depth in the current time sampling window, but still maintain the probe speed of the sediment probe;

[0065] If the current time sampling window is in the presence of more than two peak windows, it is marked as a string of peaks, and it can be preferred to determine that the probe is in an abnormal state, such as being stuck to the wall or being severely deflected, and to automatically slow down to the original speed of 50%, and the probe is re-evaluated for the current signal inclination every 1 cm of descent until the current signal inclination returns to the dynamic normal range.

[0066] In the specific embodiments provided by the present application, the original current fluctuation data of the continuous time sampling windows under multiple standard operation conditions are sampled, and the current signal inclination corresponding to each time sampling window is recorded and analyzed. The number of peaks of the electric signal corresponding to each time sampling window is normally distributed between 6-12, the window-in electric inclination span corresponding to each time sampling window reflects the current fluctuation amplitude, and the inclination of each window is roughly distributed between -0.8 and -1.2.

[0067] The inclination slope of most windows is concentrated in the interval of -0.9 to -1.1, indicating that the signal feedback line as a whole presents a relatively stable negative slope characteristic. If the slope of a window deviates greatly from this interval, for example, close to 0 or lower than -1.3, it can be considered as an abnormal fluctuation, which may correspond to a sudden change in the structure of the sediment or the state of the sensor. If the inclination of multiple consecutive windows gradually rises from -1.1 to -0.9, it indicates that the signal fluctuation amplitude is relatively reduced, and the structure of the sediment layer is tending to be uniform; on the contrary, it may indicate that the structure of the sediment layer becomes more complex or the properties of the sediment change.

[0068] By dynamically calculating the variance and standard deviation of the current signal inclination corresponding to each window, the threshold value such as but not limited to -0.85 and -1.15 is calculated to classify the current signal inclination: if the current signal inclination is greater than -0.85, the fluctuation is weak, and it can be preferred that no adjustment of the detection parameters is needed; if the current signal inclination is between -1.15 and -0.85, it belongs to the normal range; if the current signal inclination is less than -1.15, the fluctuation is severe, and it can be preferred that an instruction should be sent immediately to check the sediment probe operation equipment or recalibrate the probe.

[0069] 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 length can be prolonged to capture more subtle changes; if the inclination changes sharply, the sampling frequency can be reduced and the window length can be increased to smooth the abnormal fluctuation.

[0070] When the probe is vertical, the current signal inclination approaches -1; the more the current signal inclination 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 jump up and down with the window, but presents a slow drift and occasional spikes in time series. This means that we should not look at a single slope in isolation, but should gather the slopes of multiple consecutive windows into a current signal inclination trajectory, and then use this trajectory to robustly correct the thickness.

[0071] In the sliding window W_s, which can be, for example, the last 10-30 time sampling window, the mean value μ_s and the standard deviation σ_s of the current signal inclination are calculated, and the dynamic normal zone is [μ_s-2σ_s, μ_s+2σ_s]. When the environmental mud concentration, friction coefficient, etc. change, the overall current signal inclination slope will slowly drift, so the bandwidth will also drift, avoiding frequent false positives.

[0072] If the current signal inclination corresponding to the time sampling window falls outside the dynamic normal zone, the time sampling window is marked as a spike window.

[0073] If the current time sampling window is in a single or no more than two spike windows, it is marked as an isolated spike, and only the accumulated sediment depth detected in the current time sampling window is temporarily suspended, but the probe speed is still maintained.

[0074] If the current time sampling window is in more than two spike windows, it is marked as a string of spikes. Preferably, it is determined that the probe may be stuck to the wall or severely deviated, and the speed is automatically reduced to 50% of the original speed. The probe is re-evaluated every 1 cm of descent until the current signal inclination returns to the dynamic normal zone.

[0075] In one embodiment, the head of the conical resistance probe is designed as a 30° conical probe, the surface is coated with a hard alloy coating, it is connected to the winch cable through a rigid connection, it is integrated with a high-precision current sensor (range 0-100 mA, resolution 0.1 mA) and an inertial measurement unit (IMU), and it performs current curve fitting and inclination compensation algorithms in real time with an embedded AI chip. During the uniform descent phase, the winch lowers the probe at a constant speed, continuously collecting winch motor current and IMU attitude data; the current value is stable in a certain interval during the initial 5 m descent phase (mud section), which is used as the system baseline. When the current value exceeds 20% of the baseline and continues to increase, it is determined that the sediment layer is entered, and the thickness accumulation calculation is started; the inclination θ is updated every second, and the effective thickness is accumulated according to When the current value reaches the threshold and remains above 3 seconds, it is determined to be the force-bearing layer interface; the sediment thickness-depth curve is automatically generated, the maximum inclination angle and the corrected thickness value are labeled, for example: original thickness 1.2 m, θ = 8°, corrected thickness 1.18 m.

[0076] In some embodiments, the probe is connected to the intelligent winch terminal through a steel wire armored rigid signal cable, and 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 collects the load current of the winch motor in real time as a dynamic resistance signal.

[0077] In some embodiments, the probe is connected to the intelligent winch terminal through a steel wire armored rigid signal cable, and 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 collects the load current of the winch motor in real time as a dynamic resistance signal.

[0078] In some embodiments, during the process of lowering the probe into the first 5m of the mud section of the pile hole, the system continuously collects the current signal for not less than 3s, calculates and stores the average value of the current baseline as a reference threshold for subsequent determination of entering the sediment layer.

[0079] In some embodiments, the cumulative inclination angle θ of the probe is calculated in real time during the lowering of the probe, and 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 falls below 5°; at the same time, the original thickness in each time sampling window is geometrically compensated according to H_corrected=H_original×sqrt(1–sin²θ).

[0080] In some embodiments, when the real-time current value continuously exceeds 120% of the average baseline value and shows a linear increase, it is determined that the probe has entered the sediment layer and the thickness accumulation has begun; when the current value rises to 45mA-60mA and lasts for not less than 3s, the system determines that the probe has touched the interface of the bearing layer, automatically generates the sediment thickness-depth curve and marks the maximum inclination angle and the corrected thickness.

[0081] In the dynamic time window, the method for controlling real-time calculation of sediment thickness can further include:

[0082] Preferably, when the current signal inclination angle of the continuous m time sampling windows shows a monotonous decreasing trend and each change amplitude is less than 0.02, the time sampling window width is automatically increased to 1.5 times of the original value to reduce the real-time calculation burden.

[0083] Preferably, the initial value of the window length m of the dynamic time window depends on the design depth L of the pile hole, and satisfies m=⌈L / 1 m⌉.

[0084] Preferably, the processor establishes bus communication with the winch drive control module, and after detecting the series of spikes in claim 8, the system issues a speed reduction instruction to the winch drive control module through the bus, and the speed reduction ratio is 30%-70%.

[0085] The dynamic electric dip angle feedback-based real-time calculation system of the sediment thickness runs in any computing device of a desktop computer, a notebook computer, a palm computer or a cloud data center, and the computing device comprises a processor, a memory and a computer program stored in the memory and running on the processor, and the processor implements the steps in the dynamic electric dip angle feedback-based real-time calculation method of the sediment thickness when the computer program is run. The executable system can comprise, but is not limited to, a processor, a memory, a server cluster.

[0086] The embodiment of the present application provides the dynamic electric dip angle feedback-based real-time calculation system of the sediment thickness, as shown in the figure. Figure 2 The dynamic electric dip angle feedback-based real-time calculation system of the sediment thickness of the embodiment comprises a processor, a memory and a computer program stored in the memory and executable on the processor, and the processor implements the steps in the dynamic electric dip angle feedback-based real-time calculation method of the sediment thickness when the computer program is run.

[0087] The current sampling unit is used for setting a plurality of continuous and equal time sampling windows, collecting the current values of the feedback of the sediment thickness probe, and collecting the current value set in each time sampling window.

[0088] The dip angle feedback unit is used for calculating the current signal dip angle according to the current value set in each time sampling window.

[0089] The real-time control unit is used for filtering the current signal dip angle of each time sampling window by using a dynamic time window, so as to control the real-time calculation of the sediment thickness.

[0090] In order to better unify the linear relationship and probability relationship of the numerical values of physical quantities of different units, the dimensionless processing can be performed on different physical quantities.

[0091] Preferably, all undefined variables in the present application can be threshold values set by people if not defined.

[0092] The dynamic electric dip angle feedback based sludge thickness real-time calculation system can run in a desktop computer, a notebook computer, a palm computer, a cloud data center and other computing devices. The dynamic electric dip angle feedback based sludge thickness real-time calculation system includes, but is not limited to, a processor, a memory. Those skilled in the art can understand that the example is only an example of the dynamic electric dip angle feedback based sludge thickness real-time calculation method, system and device, and does not constitute a limitation on the dynamic electric dip angle feedback based sludge thickness real-time calculation method, system and device. It can include more or fewer components, or combine certain components, or different components, for example, the dynamic electric dip angle feedback based sludge thickness real-time calculation system can also include an input / output device, a network access device, a bus, etc.

[0093] The application also provides an electronic device, a readable storage medium and a computer program product:

[0094] An electronic device includes 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 perform the dynamic electric dip angle feedback based sludge thickness real-time calculation method and the steps therein.

[0095] A non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to perform the dynamic electric dip angle feedback based sludge thickness real-time calculation method and the steps therein.

[0096] A computer program product includes a computer program, which, when executed by a processor, implements the dynamic electric dip angle feedback based sludge thickness real-time calculation method and the steps therein.

[0097] The electronic device is intended to represent a variety of forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections, and their functions, as well as the software implemented by the electronic device, are meant only to be examples and are not intended to limit the implementations of the application described and / or claimed in this document.

[0098] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation 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 special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0099] Program code for carrying out methods of the present application can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, or entirely on a remote machine or server.

[0100] In the context of the present application, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The 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 an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0101] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user 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 be used to provide for interaction with a user as well; for example, 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, speech, or tactile input.

[0102] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end 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 communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0103] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0104] The processor can be a central processing unit (CPU), a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general purpose processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. The processor is the control center of the real-time calculation system for slurry thickness based on dynamic electric dip angle feedback, and connects each sub-area of the real-time calculation system for slurry thickness based on dynamic electric dip angle feedback through various interfaces and lines.

[0105] The memory can be used to store the computer program and / or modules, and the processor realizes various functions of the real-time calculation method, system and device for sediment thickness based on dynamic electric dip angle feedback by running or executing the computer program and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required for a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0106] It should be understood that the steps shown above can be reordered, added, or deleted using various forms of flow. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0107] The present application provides a real-time calculation method, system and device for sediment thickness based on dynamic electric dip angle feedback, which collects the current value of the feedback of the sediment thickness probe by setting multiple continuous and equal time sampling windows, collects the current value set in each time sampling window, and calculates the current signal dip angle according to the current value set in each time sampling window; and uses a dynamic time window 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, continuously and real-timely obtained and the probe deflection and environmental drift can be automatically offset in the environment of mud, high pressure, deep hole, etc. The present application has made significant progress in anti-drift, anti-noise, continuous measurement and device reliability, and can be widely applied to the sediment thickness detection of deep piles, large-diameter bored piles and coastal high-salt engineering.

[0108] The above detailed description does not constitute a limitation on the protection scope of the present application. 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 principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for real-time calculation of the thickness of the sediment based on dynamic electric dip angle feedback, characterized in that, The method comprises: Setting a plurality of continuous and equal time sampling windows, collecting current values of feedback of the sediment thickness probe, collecting a current value set in each time sampling window, calculating the current signal inclination angle according to the current value set in each time sampling window, and filtering the current signal inclination angle of each time sampling window using a dynamic time window to control real-time calculation of the sediment thickness; Wherein, the method of collecting a 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: The set of fluctuating current values in each time sampling window is respectively taken as the current value set corresponding to the time sampling window, the number of elements in the current value set in each time sampling window is respectively taken as the number of current 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 taken as the window internal electric inclination span corresponding to the time sampling window. In each time sampling window, the upward integer value of the square root of the corresponding current signal peak number is calculated as the current signal peak upper limit corresponding to the time sampling window. The set of integers in the numerical interval from integer 1 to the current signal peak upper limit is calculated as the current signal peak segmentation set. The numerical value of the window internal electric inclination span in the time sampling window is respectively divided by the numerical value of each element in the current signal peak segmentation set to respectively divide the obtained quotient to form a set of numerical values as the current signal peak segmentation span set. The logarithmic values of the elements in the current signal peak segmentation set and the logarithmic values of the elements in the corresponding current signal peak segmentation span set are respectively taken as coordinates and fitted into a straight line as a signal feedback line, and the slope of the signal feedback line is calculated as the current signal inclination angle of the time sampling window.

2. The method for real-time calculation of the thickness of the sediment based on dynamic electric dip angle feedback according to claim 1, characterized in that, Wherein, During the process of lowering the sediment thickness probe to the first 5m of the pile hole mud section, the continuous collection of current value signals is not less than 3s, and the average value of the collected current values is calculated and stored as the current baseline average value.

3. The method of claim 2, wherein, 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 calculation and accumulation are started; 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 then an instruction is sent to output the sediment thickness.

4. The method of claim 1, wherein, The method for filtering the current signal inclination angle of each time sampling window using a dynamic time window to control real-time calculation of the sediment thickness comprises: Taking a plurality of continuous time sampling windows closest to the current time as a dynamic time window, sampling the current signal inclination angle of the plurality of continuous time sampling windows, calculating a dynamic normal zone, and filtering the current signal inclination angle of each time sampling window using the dynamic normal zone to control real-time calculation of the sediment thickness.

5. The method of claim 4, wherein, Wherein, The method for calculating the dynamic normal zone is to calculate the mean and standard deviation of the current signal inclination angle of the plurality of continuous time sampling windows, and generate the dynamic normal zone according to the mean and standard deviation.

6. The method of claim 5, wherein, The method for controlling real-time calculation of the sludge thickness by filtering the current signal inclination of each time sampling window using a dynamic time window further comprises: detecting the most recent time sampling window in the dynamic time window, if the current signal inclination of the most recent time sampling window is greater than -0.85, only stop the accumulation of the sludge thickness obtained in the time sampling window without adjusting the parameters of the sludge probe; if the current signal inclination 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 of the most recent time sampling window is less than -1.15, send a command to check the sludge probe operation equipment or recalibrate the probe.

7. The method of claim 4, wherein the method further comprises: In the dynamic time window, the method for controlling real-time calculation of the sludge thickness further comprises: if the current signal inclination corresponding to the time sampling window falls outside the dynamic normal range, mark the time sampling window as a spike window; if the current time sampling window is in a single or no more than two spike windows, mark it as an isolated spike, and only suspend the accumulation of the detected sludge depth in the current time sampling window, but still maintain the probe speed of the sludge probe; if the current time sampling window is in more than two spike windows, mark it as a string of spikes, determine that the probe is in an abnormal state, automatically slow down to 50% of the original speed, and reevaluate the current signal inclination every time the probe drops 1 cm until the current signal inclination returns to the dynamic normal range.

8. A system for real-time calculation of the thickness of the sediment based on dynamic electrical dip angle feedback, characterized by, The real-time sludge thickness calculation system based on dynamic electric inclination feedback runs in any computing device of a desktop computer, a notebook computer or a cloud data center, and the computing device comprises a processor, a memory and a computer program stored in the memory and running on the processor, and the processor implements the steps in the real-time sludge thickness calculation method based on dynamic electric inclination feedback according to any one of claims 1 to 7 when executing the computer program.

9. An electronic device comprising: at least one processor; and a memory in communication connection with the at least one processor; 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 method of any one of claims 1 to 7.

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