Underwater structure space stability diagnosis method based on three-dimensional through scanning

Abstract

The invention provides an underwater structure space stability diagnosis method based on three-dimensional through scanning, and the method comprises the steps: S11, carrying out the bidirectional scanning of an underwater structure, and extracting point cloud data; s12, generating a three-dimensional structure model based on the point cloud data, and obtaining the burial depth of the underwater structure; s13, obtaining a transverse settlement difference based on the burial depth of the underwater structure, and calculating an inclination angle between the transverse axis of the underwater structure and the horizontal plane; s14, acquiring longitudinal elevation deviation based on the burial depth of the underwater structure, and calculating an included angle between the longitudinal axis of the underwater structure and the horizontal plane; s15, setting an intersection point of a transverse tangent line and a longitudinal tangent line along the trend of the underwater structure as A, finding any point on the transverse tangent line as B, finding any point on the longitudinal tangent line as C, giving coordinates of the three points, and calculating an included angle at the point A; and S16, comparing the included angle at the point A with a preset threshold value to judge the stability of the underwater structure. The stability diagnosis method provided by the invention improves the safety and the service life of the underwater structure.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater structure spatial stability diagnosis, and particularly to a method for diagnosing the spatial stability of underwater structures based on three-dimensional penetration scanning. Background Art

[0002] Currently, the stability diagnosis of underwater structures mainly relies on the one-way profile scanning method. This method uses a shallow seismic profiler to obtain transverse or longitudinal profile data of the strata around the underwater structure along the survey line to evaluate the burial depth, sedimentary environment, and surrounding geological features. However, this technology has obvious deficiencies. First, one-way scanning can only provide local profile information and cannot comprehensively reflect the three-dimensional state of the underwater structure. Especially in sea areas with large undulations in the strata and complex sedimentary environments, it is easy to lead to inaccurate stability assessments. Second, key factors such as scouring, compaction, and displacement of sediments around the underwater structure are difficult to accurately identify through one-way scanning, which may lead to misjudgments of stability. In addition, the existing methods rely on manual data interpretation, are easily affected by subjective factors, lack intelligent analysis means, and affect the diagnostic efficiency and accuracy. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for diagnosing the spatial stability of underwater structures based on three-dimensional penetration scanning. By adding longitudinal profile scanning on the basis of traditional transverse profile scanning, two-way detection of the strata structure around the underwater structure is realized to provide more complete geological information and improve the accuracy of the depth, environment, and stability assessment of the underwater structure.

[0004] To achieve the above purpose, the present invention provides a method for diagnosing the spatial stability of underwater structures based on three-dimensional penetration scanning, and the method includes: S11. Respectively perform transverse profile scanning and longitudinal profile scanning on the underwater structure, and extract transverse profile point cloud data and longitudinal profile point cloud data; S12. Generate a three-dimensional structure model based on the transverse profile point cloud data and the longitudinal profile point cloud data, and obtain the burial depth of the underwater structure based on the three-dimensional structure model; S13. Obtain the transverse settlement difference based on the burial depth of the underwater structure, and calculate the inclination angle between the transverse axis of the underwater structure and the horizontal plane based on the transverse settlement difference; S14. Obtain the longitudinal elevation deviation based on the burial depth of the underwater structure, and calculate the included angle between the longitudinal axis of the underwater structure and the horizontal plane based on the longitudinal elevation deviation; S15. Set the intersection point of the transverse and longitudinal tangents along the trend of the underwater structure as point A, find any point on the transverse tangent as point B, and find any point on the longitudinal tangent as point C, and given the coordinates of the three points , first obtain the vector modulus of by the vector calculation formula, and then obtain the included angle at point A by the dot product formula; S16. Compare the included angle at point A with a preset threshold to judge the stability of the underwater structure.

[0005] Further, in step S12, generating a three-dimensional structure model based on the transverse profile point cloud data and the longitudinal profile point cloud data specifically includes: After preprocessing the collected transverse profile point cloud data and longitudinal profile point cloud data, align them to the same coordinate system for merging to generate a point cloud data set; Based on the point cloud data set, construct a three-dimensional structure model through three-dimensional reconstruction technology.

[0006] Further, in step S12, based on the three-dimensional structure model and the acoustic wave two-way travel time and medium sound speed formula, the expression for obtaining the buried depth of the underwater structure is:

[0007] Where, is the buried depth of the underwater structure, is the sound speed of the sediment layer, is the round-trip time of the acoustic wave from transmission to reception.

[0008] Further, in step S13, obtaining the transverse settlement difference based on the buried depth of the underwater structure, and its expression is:

[0009] Where, is the height of the underwater structure, is the DGPS elevation correction value, is the transverse settlement difference, is the height on the left side of the underwater structure, is the height on the right side of the underwater structure.

[0010] Further, in step S13, calculating the inclination angle between the transverse axis of the underwater structure and the horizontal plane based on the transverse settlement difference, and the expression is:

[0011] Where, is the inclination angle between the transverse axis of the underwater structure and the horizontal plane, is the length of the measurement section of the underwater structure.

[0012] Further, in step S14, take 2 longitudinal points along the longitudinal direction of the top plate of the underwater structure according to a preset rule , set as the initial point, and obtain the longitudinal elevation deviation through the buried depth of the underwater structure, and the expression is:

[0013] Where, The value obtained by taking points along the longitudinal direction of the top plate of the underwater structure, is obtained by fusing real-time water level monitoring data and DGPS elevation, which is the longitudinal elevation deviation.

[0014] Furthermore, in step S14, based on the longitudinal elevation deviation, the angle between the longitudinal axis of the underwater structure and the horizontal plane is calculated, and the expression is:

[0015] where, is the angle between the longitudinal axis of the underwater structure and the horizontal plane, is the length of the measured section of the underwater structure.

[0016] Furthermore, in step S15, the angle at point A is obtained from the dot product formula, and the expression is:

[0017] where, is the angle at the intersection point A of the horizontal and vertical tangents; is the vector from the intersection point A of the horizontal and vertical tangents to any point B on the horizontal tangent, is the vector from the intersection point A of the horizontal and vertical tangents to any point C on the vertical tangent.

[0018] Furthermore, in step S16, the angle at point A is compared with a preset threshold. If it is less than or equal to the preset threshold, the inclination degree of the underwater structure has no impact on stability. If it is greater than the preset threshold, the inclination degree of the underwater structure will have an impact on stability.

[0019] Compared with the prior art, the beneficial effects of the present invention are: The method for diagnosing the spatial stability of underwater structures based on three-dimensional penetration scanning provided by the present invention realizes two-way detection of the surrounding stratum structure of underwater structures by adding longitudinal profile scanning on the basis of traditional transverse profile scanning, thereby providing more complete geological information, effectively making up for the limitations of one-way scanning, and improving the accuracy of the evaluation of the depth, environment and stability of underwater structures. At the same time, the two-way scanning combined with data cross-analysis can more accurately identify the scouring pits, extrusion and settlement deformation of the sediments around the underwater structure, reducing the risk of misjudgment. In addition, this method optimizes the data acquisition and analysis process, making it more suitable for intelligent processing and automatic stability evaluation, and improving the diagnosis efficiency. Compared with traditional methods, the data integrity, diagnosis accuracy and complex environment adaptability of the present invention are significantly improved, and it is applicable to multiple fields such as the stability monitoring of underwater structures, the maintenance of submarine energy transmission pipelines, and the safety assessment of marine engineering infrastructure. The present invention not only improves the safety and service life of underwater structures, but also provides an efficient and intelligent new scheme for stability diagnosis in the field of marine engineering. Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings. Figure 1 It is a schematic flow chart of a method for diagnosing the spatial stability of underwater structures based on three-dimensional penetration scanning provided by an embodiment of the present invention. Detailed Embodiments

[0021] The present invention will be further described in detail below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings, rather than all the structures.

[0022] Referring to Figure 1 , this embodiment provides a method for diagnosing the spatial stability of underwater structures based on three-dimensional penetration scanning. The method includes: S11. Perform transverse profile scanning and longitudinal profile scanning on the underwater structure respectively, and extract transverse profile point cloud data and longitudinal profile point cloud data.

[0023] S12. Generate a three-dimensional structure model based on the transverse profile point cloud data and the longitudinal profile point cloud data, and obtain the buried depth of the underwater structure based on the three-dimensional structure model.

[0024] S13. Obtain the transverse settlement difference based on the buried depth of the underwater structure, and calculate the inclination angle between the transverse axis of the underwater structure and the horizontal plane based on the transverse settlement difference.

[0025] S14. Obtain the longitudinal elevation deviation based on the buried depth of the underwater structure, and calculate the included angle between the longitudinal axis of the underwater structure and the horizontal plane based on the longitudinal elevation deviation.

[0026] S15. Set the intersection point of the transverse and longitudinal tangents along the direction of the underwater structure as point A, find any point on the transverse tangent as point B, and find any point on the longitudinal tangent as point C, and given the coordinates of the three points , first obtain the vector modulus of by the vector calculation formula, and then obtain the included angle at point A by the dot product formula.

[0027] S16. Compare the included angle at point A with a preset threshold to judge the stability of the underwater structure.

[0028] In this embodiment, taking the submarine buried pipeline as an example, based on the two-way travel time of sound waves and the medium sound speed formula, the formation depth of the target area (subaqueous structure) is measured. Based on the formation depth of the target area (subaqueous structure), the lateral settlement difference and the longitudinal elevation deviation of the target area are calculated respectively. Based on the lateral settlement difference and the longitudinal elevation deviation, the inclination angle between the transverse axis and the horizontal plane and the included angle between the longitudinal axis and the horizontal plane of the target area are calculated respectively. By understanding the included angles between the transverse and longitudinal axes and the horizontal plane, the orientation of the target area in the three-dimensional space is clarified, so as to determine the direction of the transverse and longitudinal tangents. By determining the direction of the transverse and longitudinal tangents, the intersection point of the transverse and longitudinal tangents is obtained. Based on the intersection point and arbitrarily taking 1 point B and C on the transverse and longitudinal tangents respectively, based on the coordinates of points A, B, and C, the included angle of point A is calculated through the dot product formula. The included angle of point A is compared with the preset threshold, so as to diagnose the stability of the target area (subaqueous structure), for example, judging the stability of the submarine pipeline by the above method.

[0029] As a preferred embodiment, in step S12, generating a three-dimensional structure model based on the transverse profile point cloud data and the longitudinal profile point cloud data specifically includes: After preprocessing the collected transverse profile point cloud data and longitudinal profile point cloud data, align them to the same coordinate system for merging to generate a point cloud data set.

[0030] Based on the point cloud data set, a three-dimensional structure model is constructed through three-dimensional reconstruction technology.

[0031] In this embodiment, by merging the point cloud data in different directions, the geometric features of the underwater structure are captured more comprehensively, reducing data loss and errors. The merged point cloud data set contains more detailed information, providing a data basis for constructing a more refined and realistic three-dimensional model later.

[0032] As a preferred embodiment, in step S12, based on the three-dimensional structure model and the two-way travel time of sound waves and the medium sound speed formula, the expression for obtaining the burial depth of the underwater structure is:

[0033] Wherein, is the burial depth of the underwater structure (m, starting from the seabed surface), is the sound speed of the sediment layer (m / s), which needs to be determined by on-site calibration or empirical value (such as about 1500 m / s for the silt layer and 1700 - 1900 m / s for the sand layer), is the round-trip time of the sound wave from transmission to reception (s). Note: The denominator 2 corrects the sound wave propagation path (round-trip distance).

[0034] As a preferred embodiment, in step S13, based on the burial depth of the underwater structure, the lateral settlement difference is obtained, and its expression is:

[0035] Among them, is the height of the underwater structure, is the DGPS elevation correction value, is the lateral settlement difference, The height on the left side of the underwater structure, is the height on the right side of the underwater structure.

[0036] In this embodiment, based on the lateral settlement difference formula, the core parameter values of the uneven settlement of the foundation on both sides of the cross-section of the underwater structure are obtained. Zleft and Zright are the heights on the left and right sides of the pipeline respectively. Combining with the acoustic two-way travel time formula, the lateral settlement difference of the underwater structure is calculated. The DGPS elevation correction value is obtained through the Differential Global Positioning System (DGPS) technology. In terms of measuring elevation, the DGPS method is a method of correcting and improving the GPS altimeter by using differential technology. This method is corrected by using the difference between the measured values of the reference station with known coordinates and the station to be measured. The corrected data can improve the accuracy and precision of the measurement. The Differential Global Positioning System (DGPS) is based on GPS and uses differential technology to enable users to obtain higher precision from the GPS system, with the advantages of real-time continuity, high precision, etc. The DGPS technology sets a GPS receiver on the reference station with known precise position, calculates the distance correction number from the underwater structure to the satellite, and sends this correction amount to the user in real time or afterwards.

[0037] As a preferred embodiment, in step S13, based on the lateral settlement difference, the inclination angle between the transverse axis of the underwater structure and the horizontal plane is calculated, and the expression is:

[0038] Among them, is the inclination angle between the transverse axis of the underwater structure and the horizontal plane, is the length of the measured section of the underwater structure.

[0039] In this embodiment, based on the inclination angle θ formula, the included angle between the transverse axis of the pipeline and the horizontal plane is obtained.

[0040] As a preferred embodiment, in step S14, 2 longitudinal points are taken along the longitudinal direction of the top plate of the underwater structure based on a preset rule , and let be the initial point. The longitudinal elevation deviation is obtained through the buried depth of the underwater structure, and the expression is:

[0041] Among them, is the value of the point taken along the longitudinal direction of the top plate of the underwater structure, It is obtained by fusing real-time water level monitoring data and DGPS elevation, which is the longitudinal elevation deviation.

[0042] In this embodiment, based on the longitudinal elevation deviation calculation formula , two longitudinal points are taken along the longitudinal direction of the top plate of the underwater structure , and is set as the initial point, and the longitudinal elevation deviation of the underwater structure is calculated by combining with the acoustic two-way travel time formula. The real-time water level monitoring data is the water level data measured and recorded in real time by devices such as tide gauges and water level gauges, reflecting the actual water level height of the water body at different time points. The DGPS elevation data is used to provide the accurate elevation information of the measurement point, that is, the vertical distance of the measurement point relative to a certain reference datum. Since the tide correction value needs to consider the actual water level height of the measurement point and the elevation of the measurement point relative to the reference datum, the real-time water level monitoring data and the DGPS elevation data are combined to obtain the tide correction value.

[0043] As a preferred embodiment, in step S14, the angle between the longitudinal axis of the underwater structure and the horizontal plane is calculated based on the longitudinal elevation deviation, and the expression is:

[0044] where, is the angle between the longitudinal axis of the underwater structure and the horizontal plane, is the length of the measured section of the underwater structure.

[0045] In this embodiment, based on the inclination angle θ formula, the angle between the longitudinal axis of the pipeline and the horizontal plane is obtained.

[0046] As a preferred embodiment, in step S15, the angle at point A is obtained from the dot product formula, and the expression is:

[0047] where, is the angle at the intersection point A of the horizontal and longitudinal tangents; is the vector from the intersection point A of the horizontal and longitudinal tangents to any point B on the horizontal tangent, is the vector from the intersection point A of the horizontal and longitudinal tangents to any point C on the longitudinal tangent.

[0048] In this embodiment, by calculating the angle A between the horizontal tangent and the longitudinal tangent, the inclination degree of the whole or local section of the underwater structure is judged.

[0049] As a preferred embodiment, in step S16, the angle at point A is compared with a preset threshold. If it is less than or equal to the preset threshold, the inclination degree of the underwater structure has no influence on the stability. If it is greater than the preset threshold, the inclination degree of the underwater structure will have an impact on the stability.

[0050] In this embodiment, according to the standards and safety specifications of ocean engineering, we set the preset threshold of the inclination angle of the underwater structure to 3 degrees. If the inclination angle of the underwater structure is less than or equal to 3 degrees, it is considered that its inclination degree has no impact on stability.

[0051] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An underwater structure spatial stability diagnosis method based on three-dimensional penetration scanning, characterized in that The method includes: S11. Conduct transverse profile scanning and longitudinal profile scanning on the underwater structure respectively, and extract the transverse profile point cloud data and longitudinal profile point cloud data; S12. Generate a three-dimensional structure model based on the transverse profile point cloud data and longitudinal profile point cloud data, and obtain the burial depth of the underwater structure based on the three-dimensional structure model; S13. Obtain the transverse settlement difference based on the burial depth of the underwater structure, and calculate the inclination angle between the transverse axis of the underwater structure and the horizontal plane based on the transverse settlement difference; S14. Obtain the longitudinal elevation deviation based on the burial depth of the underwater structure, and calculate the included angle between the longitudinal axis of the underwater structure and the horizontal plane based on the longitudinal elevation deviation; S15. Set the intersection point of the horizontal and vertical tangents along the underwater structure as point A, find any point on the horizontal tangent as point B, and find any point on the vertical tangent as point C, and given the coordinates of the three points , first obtain the vector modulus of by the vector calculation formula, and then obtain the included angle at point A by the dot product formula; S16. Compare the included angle at point A with a preset threshold value to judge the stability of the underwater structure.

2. The underwater structure spatial stability diagnosis method based on three-dimensional penetration scanning according to claim 1, characterized in that, In step S12, generating a three-dimensional structure model based on the transverse profile point cloud data and longitudinal profile point cloud data specifically includes: After preprocessing the collected transverse profile point cloud data and longitudinal profile point cloud data, align them to the same coordinate system for merging to generate a point cloud data set; Based on the point cloud data set, construct a three-dimensional structure model through three-dimensional reconstruction technology.

3. The method for diagnosing the spatial stability of underwater structures based on three-dimensional penetration scanning according to claim 1, wherein In step S12, the expression for obtaining the burial depth of the underwater structure based on the three-dimensional structure model and the two-way travel time of sound wave and medium sound speed formula is: Wherein, is the burial depth of the underwater structure, is the sound velocity of the sediment layer, is the round-trip time of the sound wave from transmission to reception.

4. The method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning according to claim 2, wherein In step S13, the expression for obtaining the transverse settlement difference based on the burial depth of the underwater structure is: Wherein, is the height of the underwater structure, is the DGPS elevation correction value, is the lateral settlement difference, is the height of the left side of the underwater structure, is the height of the right side of the underwater structure.

5. The method for diagnosing the spatial stability of underwater structures based on three-dimensional through-scanning according to claim 3, wherein In step S13, the expression for calculating the inclination angle between the transverse axis of the underwater structure and the horizontal plane based on the transverse settlement difference is: Among them, is the inclination angle of the transverse axis of the underwater structure to the horizontal plane, is the length of the surveyed section of the underwater structure.

6. The underwater structure spatial stability diagnosis method based on three-dimensional penetration scanning according to claim 2, characterized in that In step S14, two longitudinal points are taken along the longitudinal direction of the top plate of the underwater structure based on a preset rule , let be the initial point, and the longitudinal elevation deviation is obtained through the buried depth of the underwater structure. The expression is: Among them, is the value obtained by taking points along the longitudinal direction of the underwater structure roof, is obtained by fusing the real-time water level monitoring data and the DGPS elevation, is the longitudinal elevation deviation.

7. The underwater structure spatial stability diagnosis method based on three-dimensional penetration scanning according to claim 5, characterized in that In step S14, the expression for calculating the included angle between the longitudinal axis of the underwater structure and the horizontal plane based on the longitudinal elevation deviation is: wherein, is the included angle between the longitudinal axis of the underwater structure and the horizontal plane, is the length of the surveyed section of the underwater structure.

8. The underwater structure spatial stability diagnosis method based on three-dimensional penetration scanning according to claim 1, characterized in that In step S15, the included angle at point A is obtained from the dot product formula, and the expression is: Among them, is the included angle of the intersection point A of the horizontal and vertical tangents; is the vector from the intersection point A of the horizontal and vertical tangents to any point B on the horizontal tangent, is the vector from the intersection point A of the horizontal and vertical tangents to any point C on the vertical tangent.

9. The method for diagnosing the spatial stability of underwater structures based on three-dimensional penetration scanning according to claim 1, wherein In step S16, compare the included angle at point A with a preset threshold value. If it is less than or equal to the preset threshold value, the inclination degree of the underwater structure has no influence on the stability. If it is greater than the preset threshold value, the inclination degree of the underwater structure will have an influence on the stability.

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