Foundation pile quality detection method and system for bridge engineering

Abstract

The invention provides a foundation pile quality detection method and system for bridge engineering, and relates to the technical field of material testing. The method comprises the steps that a foundation pile tangent plane coordinate system and a sounding pipe initial tangent plane coordinate system are established, and a tangent plane conversion matrix is determined; determining the initial length and initial pressure of each pulley bracket in the ultrasonic probe, collecting the monitoring pressure of the pulley bracket, and determining the monitoring length of each pulley bracket based on the initial pressure, the initial length and the monitoring pressure; determining whether the sounding pipe is deformed or not based on the monitoring length; when deformation does not occur, establishing a sounding pipe rotating tangent plane coordinate system, and determining rotating coordinates of the ultrasonic probe under the sounding pipe rotating tangent plane coordinate system; a rotation matrix is determined, and based on the rotation matrix and the section conversion matrix, it is determined that the rotation coordinates are converted into foundation pile position coordinates under a foundation pile section coordinate system; and determining the water passing distance of the ultrasonic signal based on the foundation pile position coordinates, and detecting the quality defect of the foundation pile based on the water passing distance and the ultrasonic signal. The foundation pile quality detection accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material testing, and in particular to a foundation pile quality detection method and system for bridge engineering. Background Art

[0002] Bridge foundation piles are the core load-bearing structure that transfers loads to deep stable strata in bridge engineering. Their quality is directly related to the stability and safety of the bridge. Integrity testing of foundation piles is an important part of bridge engineering.

[0003] In the related art, the following method is usually used to achieve the above-mentioned integrity detection of foundation piles: through the acoustic detection tube embedded in the pile body, an ultrasonic transducer is used to transmit and receive ultrasonic signals in the acoustic detection tube, and the changes in acoustic parameters such as sound speed, amplitude, frequency and waveform are analyzed to determine the uniformity and defects of the pile body concrete.

[0004] However, existing ultrasonic detection methods have difficulty in obtaining the offset of the ultrasonic probe in the acoustic detection tube and cannot accurately determine the attenuation degree of the ultrasonic signal in water, which will lead to errors in the foundation pile quality detection and affect the detection accuracy. Summary of the Invention

[0005] In view of this, the embodiments of the present disclosure propose a foundation pile quality detection method and system for bridge engineering to solve the problem in the related technology that it is difficult to obtain the offset of the ultrasonic probe in the acoustic detection tube, and it is impossible to accurately judge the attenuation degree of the ultrasonic signal in water, which leads to errors in the foundation pile quality detection and affects the detection accuracy.

[0006] According to a first aspect of the present disclosure, a method for detecting the quality of foundation piles for bridge engineering is provided, and the technical solution adopted is as follows: Establishing a foundation pile section coordinate system and an acoustic detection tube initial section coordinate system, and determining a section conversion matrix of the foundation pile section coordinate system and the acoustic detection tube initial section coordinate system; determining an initial length and an initial pressure of each pulley bracket in the ultrasonic probe, collecting a monitoring pressure applied to each pulley bracket during the descent of the ultrasonic probe along the acoustic testing tube, and determining a monitoring length of each pulley bracket based on the initial pressure, the initial length, and the monitoring pressure; determining whether the acoustic detection tube has been deformed based on the monitored length of each pulley bracket, and feeding back a replacement warning signal if it is determined that the acoustic detection tube has been deformed; When the acoustic detection tube is not deformed, a rotation section coordinate system of the acoustic detection tube is established based on the monitoring position of the ultrasonic probe, and a rotation coordinate of the ultrasonic probe in the rotation section coordinate system of the acoustic detection tube is determined based on the monitoring length; Determine the rotation matrix of the initial cross-section coordinate system of the sonic logging tube and the rotation cross-section coordinate system of the sonic logging tube, and convert the rotation coordinates into the pile position coordinates in the pile cross-section coordinate system based on the rotation matrix and the cross-section conversion matrix; Determine the water path distance of the ultrasonic signal based on the pile position coordinates, and detect the quality defects of the pile based on the water path distance and the ultrasonic signal.

[0007] Exemplarily, the establishment of the pile cross-section coordinate system and the initial cross-section coordinate system of the sonic logging tube includes: taking the center of the pile in the corresponding cross-section as the origin, taking the due north-south direction as the longitudinal axis, and taking the due east-west direction as the transverse axis to establish the pile cross-section coordinate system of the pile in the corresponding cross-section; in the same cross-section, for each of the sonic logging tubes arranged in the pile, taking the center of the circle of the sonic logging tube as the origin, taking the direction passing through the center of the circle of the sonic logging tube and parallel to the longitudinal axis of the pile cross-section coordinate system as the longitudinal axis, and taking the direction passing through the center of the circle of the sonic logging tube and parallel to the transverse axis of the pile cross-section coordinate system as the transverse axis to establish the initial cross-section coordinate system of the sonic logging tube.

[0008] Exemplarily, the determination of the monitoring length of the pulley bracket based on the initial pressure, the initial length, and the monitoring pressure includes: obtaining the spring stiffness coefficient of the pulley bracket, and determining the pressure difference between the monitoring pressure and the initial pressure; determining the elongation of the pulley bracket at the monitoring position based on the spring stiffness coefficient and the pressure difference; calculating the difference between the initial length and the elongation, which is denoted as the monitoring length.

[0009] Exemplarily, the determination of whether the sonic logging tube is deformed based on the monitoring length includes: obtaining the square of the pipe diameter of the sonic logging tube where the ultrasonic probe is located, which is denoted as the first square value; calculating the sum of the squares of the monitoring lengths of the pulley brackets of the ultrasonic probe, which is denoted as the second square value; calculating the absolute value of the square difference between the first square value and the second square value; if the absolute value of the square difference is greater than the first preset threshold, it is determined that the sonic logging tube is deformed, otherwise it is determined that the sonic logging tube is not deformed.

[0010] Exemplarily, establishing a rotating cross-section coordinate system of the sonic logging tube based on the monitoring position of the ultrasonic probe, and determining the rotation coordinates of the ultrasonic probe in the rotating cross-section coordinate system of the sonic logging tube based on the monitoring length, includes: on the cross-section corresponding to the monitoring position, taking the center of the sonic logging tube as the origin, and taking the direction passing through the center of the sonic logging tube and parallel to the pulley bracket as the horizontal and vertical coordinates to establish the rotating cross-section coordinate system of the sonic logging tube; wherein, the pulley brackets are symmetrically distributed at 90 degrees; denoting the line connecting the center of the sonic logging tube to the center of the ultrasonic probe as the first line, obtaining the pipe radius of the sonic logging tube, and determining the length of the first line based on the pipe radius and the monitoring length of each pulley bracket; determining the angle between the first line and the horizontal axis of the rotating cross-section coordinate system of the sonic logging tube based on the monitoring length of each pulley bracket; and determining the rotation coordinates of the ultrasonic probe in the rotating cross-section coordinate system of the sonic logging tube based on the length of the line and the angle.

[0011] Exemplarily, determining the rotation matrix of the initial cross-section coordinate system of the sonic logging tube and the rotating cross-section coordinate system of the sonic logging tube includes: obtaining the rotation angle of the ultrasonic probe when descending from the initial position to the monitoring position, and determining the rotation matrix of the initial cross-section coordinate system of the sonic logging tube and the rotating cross-section coordinate system of the sonic logging tube based on the rotation angle.

[0012] Exemplarily, converting the rotation coordinates to the pile position coordinates in the pile cross-section coordinate system based on the rotation matrix and the cross-section conversion matrix includes: converting the rotation coordinates of the ultrasonic probe in the rotating cross-section coordinate system of the sonic logging tube to the initial cross-section coordinate system of the sonic logging tube based on the rotation matrix to obtain the corresponding position coordinates of the ultrasonic probe in the initial cross-section coordinate system of the sonic logging tube; and converting the position coordinates of the ultrasonic probe in the initial cross-section coordinate system of the sonic logging tube to the pile cross-section coordinate system based on the cross-section conversion matrix to obtain the pile position coordinates of the ultrasonic probe in the pile cross-section coordinate system.

[0013] Exemplarily, the ultrasonic probe includes a transmitting end probe and a receiving end probe; determining the water path distance of the ultrasonic signal based on the pile position coordinates includes: determining a second line between the center of the transmitting end probe and the receiving end probe in the pile cross-section coordinate system, the first intersection point of the second line and the sonic logging tube where the transmitting end probe is located, and the second intersection point of the second line and the sonic logging tube where the receiving end probe is located; determining the first distance between the transmitting end probe and the first intersection point, and the second distance between the receiving end probe and the second intersection point based on the pile position coordinates of the transmitting end probe and the pile position coordinates of the receiving end probe; and calculating the sum of the first distance and the second distance, which is denoted as the water path distance.

[0014] Exemplarily, detecting the quality defect of the foundation pile based on the water-passing distance and the ultrasonic signal includes: inputting the water-passing distance and the ultrasonic signal into a pre-trained quality detection model to obtain the defect category of the foundation pile.

[0015] According to a second aspect of the present disclosure, a quality detection system for foundation piles for bridge engineering is provided, specifically as follows: A data processing module, configured to establish a foundation pile section coordinate system and an initial section coordinate system of a sonic logging tube, and determine a section transformation matrix between the foundation pile section coordinate system and the initial section coordinate system of the sonic logging tube; The data processing module is further configured to determine the initial length and the initial pressure received by each pulley bracket in the ultrasonic probe, collect the monitored pressure received by each pulley bracket during the descent of the ultrasonic probe along the sonic logging tube, and determine the monitored length of each pulley bracket based on the initial pressure, the initial length, and the monitored pressure; The data processing module is further configured to determine whether the sonic logging tube is deformed based on the monitored length of each pulley bracket. If it is determined that the sonic logging tube is deformed, a replacement warning signal is fed back; The data processing module is further configured to, when the sonic logging tube is not deformed, establish a rotating section coordinate system of the sonic logging tube based on the monitored position of the ultrasonic probe, and determine the rotation coordinates of the ultrasonic probe in the rotating section coordinate system of the sonic logging tube based on the monitored length; The data processing module is further configured to determine a rotation matrix between the initial section coordinate system of the sonic logging tube and the rotating section coordinate system of the sonic logging tube, and convert the rotation coordinates into the foundation pile position coordinates in the foundation pile section coordinate system based on the rotation matrix and the section transformation matrix; A quality detection module, configured to determine the water-passing distance of the ultrasonic signal based on the foundation pile position coordinates, and detect the quality defect of the foundation pile based on the water-passing distance and the ultrasonic signal.

[0016] The present invention may have the following partial or all beneficial effects: In the method for detecting the quality of foundation piles for bridge engineering provided by the present invention, the rotation coordinates of each pulley bracket in the ultrasonic probe at the monitoring position are determined based on the monitoring length at the monitoring position, and the rotation coordinates are switched to the foundation pile section coordinate system through the above rotation matrix and section conversion matrix to determine the foundation pile position coordinates of the ultrasonic probe in the foundation pile section coordinate system. Thus, the water path distance of the ultrasonic signal can be determined based on the foundation pile position coordinates. When calculating the water path distance, the present invention takes into account the offset of the ultrasonic probe in the cross-section of the sound measuring tube corresponding to each monitoring position during the descending process, so that the calculation of the water path distance can be corrected based on this offset situation, avoiding misjudgment of the attenuation degree of the ultrasonic signal in water caused by the ultrasonic probe being close to the inner wall of the sound measuring tube, and improving the accuracy of the foundation pile quality detection. In addition, the present invention can also determine whether the sound measuring tube is deformed through the monitoring length, and when it is determined that the sound measuring tube is not deformed, continue to monitor the quality of the foundation pile, avoiding the influence of pipeline deformation on the foundation pile quality monitoring.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 Shows a flowchart of a method for detecting the quality of foundation piles for bridge engineering according to an exemplary embodiment of the present disclosure; Figure 2 Shows a schematic diagram of an ultrasonic probe in a method for detecting the quality of foundation piles for bridge engineering according to an exemplary embodiment of the present disclosure; Figure 3 Shows a schematic diagram of any pulley bracket of an ultrasonic probe in a method for detecting the quality of foundation piles for bridge engineering according to an exemplary embodiment of the present disclosure; Figure 4 Shows a schematic diagram of a foundation pile section coordinate system in a method for detecting the quality of foundation piles for bridge engineering according to an exemplary embodiment of the present disclosure; Figure 5 Shows a schematic diagram of the bracket direction when the ultrasonic probe is at the initial position at the top of the sound measuring tube in a method for detecting the quality of foundation piles for bridge engineering according to an exemplary embodiment of the present disclosure; Figure 6Shows a schematic diagram of the cross-section of a sonic logging tube at a certain monitoring point in the method for detecting the quality of foundation piles for bridge engineering according to an exemplary embodiment of the present disclosure; Figure 7 Shows a schematic diagram of the coordinate system of the rotated cross-section of the sonic logging tube at a certain monitoring point in the method for detecting the quality of foundation piles for bridge engineering according to an exemplary embodiment of the present disclosure; Figure 8 Shows the rotation from the initial cross-section coordinate system of the sonic logging tube to the Figure 7 Schematic diagram of the coordinate system of the rotated cross-section of the sonic logging tube shown; Figure 9 Shows a schematic diagram for determining the distance through water in the method for detecting the quality of foundation piles for bridge engineering according to an exemplary embodiment of the present disclosure; Figure 10 Shows a schematic block diagram of the system for detecting the quality of foundation piles for bridge engineering according to an exemplary embodiment of the present disclosure. Detailed implementation manners

[0020] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following, in combination with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features and effects of a method and system for detecting the quality of foundation piles for bridge engineering proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0022] The following specifically describes the specific solutions of a method and system for detecting the quality of foundation piles for bridge engineering provided by the present invention in conjunction with the accompanying drawings.

[0023] Please refer to Figure 1 , which shows the flowchart of the method for detecting the quality of foundation piles for bridge engineering provided by an embodiment of the present invention. As Figure 1 shown, the method for detecting the quality of foundation piles for bridge engineering specifically includes the following steps: S110: Establish a foundation pile cross-section coordinate system and an initial cross-section coordinate system of the sonic logging tube, and determine the cross-section transformation matrix of the foundation pile cross-section coordinate system and the initial cross-section coordinate system of the sonic logging tube; S120: Determine the initial lengths and initial pressures of the pulley brackets in the ultrasonic probe, collect the monitored pressures of the pulley brackets during the descent of the ultrasonic probe along the sonic logging tube, and determine the monitored lengths of the pulley brackets based on the initial pressures, initial lengths, and monitored pressures; S130: Determine whether the sonic logging tube is deformed based on the monitored lengths of the pulley brackets. If it is determined that the sonic logging tube is deformed, a replacement warning signal is fed back; S140: When the sonic logging tube is not deformed, establish a rotating section coordinate system of the sonic logging tube based on the monitored position of the ultrasonic probe, and determine the rotation coordinates of the ultrasonic probe in the rotating section coordinate system of the sonic logging tube based on the monitored lengths; S150: Determine the rotation matrices of the initial section coordinate system of the sonic logging tube and the rotating section coordinate system of the sonic logging tube, and convert the rotation coordinates into the pile foundation position coordinates in the pile foundation section coordinate system based on the rotation matrix and the section conversion matrix; S160: Determine the water path distance of the ultrasonic signal based on the pile foundation position coordinates, and detect the quality defects of the pile foundation based on the water path distance and the ultrasonic signal.

[0024] Next, each step of the above pile foundation quality detection method for bridge engineering will be described in detail: In step S110, establish the pile foundation section coordinate system and the initial section coordinate system of the sonic logging tube, and determine the section conversion matrix between the pile foundation section coordinate system and the initial section coordinate system of the sonic logging tube.

[0025] In the embodiment of the present application, the pile foundation is the core load-bearing structure that transfers the load to the deep stable stratum in bridge engineering.

[0026] In the embodiment of the present application, the sonic logging tube is a pipe embedded in the pile body of the pile foundation, which is used to implement the quality detection of the pile foundation. Exemplarily, the sonic logging tubes are usually evenly and symmetrically distributed along the inner circumference of the steel reinforcement cage, and the layout is a regular polygon, with the number not less than 3. The material is generally a metal material such as carbon steel. During the quality detection of the pile foundation, the sonic logging tubes need to be filled with clear water, and the main function is to provide a channel for the ultrasonic transducer so that the ultrasonic transducer can transmit and receive ultrasonic waves, and then judge the uniformity and defect conditions of the pile body concrete by analyzing the acoustic wave signals to achieve the quality detection of the pile foundation; among them, when injecting clear water into the sonic logging tubes, antifreeze can also be added according to the expected temperature.

[0027] In the embodiments of the present application, the above ultrasonic transducer is the main component of the ultrasonic probe, located at the center of the ultrasonic probe, and the overall probe is cylindrical with a diameter smaller than the inner diameter of the acoustic logging tube. In the quality inspection of bridge foundation piles, the function of the ultrasonic transducer is to transmit and receive ultrasonic signals. By cooperating with the receiving or transmitting end in another acoustic logging tube, using the acoustic wave signals penetrating the pile body, and combining the changes in acoustic parameters such as sound velocity, amplitude, frequency, and waveform, to judge the uniformity and defect conditions of the pile body concrete.

[0028] In the embodiments of the present application, the above ultrasonic probe is the core device for realizing the quality inspection of bridge foundation piles. As Figure 2 shown, the ultrasonic probe is composed of a pulley support system and the above ultrasonic transducer, and is overall cylindrical with a diameter smaller than the inner diameter of the acoustic logging tube. The support is a telescopic elastic pressure pulley support, located above the ultrasonic transducer, and the supports are distributed at 90 degrees; among them, as Figure 3 shown, each pulley support is composed of a spring, a pulley, and a pressure sensor. The pressure sensor can monitor the magnitude of the pressure received by the support, so that the offset situation of the ultrasonic probe in the acoustic logging tube can be judged through the support pressure signal, and by calculating the water distance of the ultrasonic signal, the quality inspection error of the foundation pile can be reduced.

[0029] In the embodiments of the present application, the above foundation pile section coordinate system can be a coordinate system established on any horizontal section of the foundation pile. Exemplarily, the above foundation pile section coordinate system can be established in the following way: taking the center of the foundation pile in the corresponding section as the origin, taking the due north-south direction as the longitudinal axis, and taking the due east-west direction as the transverse axis, to establish the foundation pile section coordinate system of the foundation pile in the corresponding section.

[0030] In a specific implementation manner of the embodiments of the present application, the foundation pile section coordinate system established through the above process can be as Figure 4 shown. The center of the foundation pile section is the coordinate origin, the due north-south direction is the y-axis, and the due east-west direction is the x-axis; each acoustic logging tube embedded in the pile body of the foundation pile is distributed in a regular rectangular shape on the inner wall surface of the foundation pile. Starting from the negative x-axis direction and in a counterclockwise direction, the acoustic logging tube numbers are 1, 2, 3, and 4 in sequence.

[0031] In an embodiment of the present application, the above-mentioned initial cross-section coordinate system of the sonic logging tube is a coordinate system of the sonic logging tube on the corresponding cross-section established based on the cross-section coordinate system of the basic pile on the same cross-section. Exemplarily, the initial cross-section coordinate system of the sonic logging tube is established by the following method: Under the same cross-section, for each sonic logging tube arranged in the basic pile, taking the center of the sonic logging tube as the origin, the direction passing through the center of the sonic logging tube and parallel to the longitudinal axis of the cross-section coordinate system of the basic pile as the longitudinal axis, and the direction passing through the center of the sonic logging tube and parallel to the transverse axis of the cross-section coordinate system of the basic pile as the transverse axis, the initial cross-section coordinate system of the sonic logging tube is established. That is, for each sonic logging tube embedded in the pile body of the basic pile, under the same cross-section, an initial cross-section coordinate system of the sonic logging tube parallel to the cross-section coordinate system of the basic pile is established, and the origin of the initial cross-section coordinate system of the sonic logging tube is set at the center of the sonic logging tube.

[0032] In an embodiment of the present application, the above-mentioned cross-section transformation matrix is used to realize the coordinate transformation between the cross-section coordinate system of the basic pile and the initial cross-section coordinate system of the sonic logging tube. Exemplarily, through this cross-section transformation matrix, the coordinates of the ultrasonic probe in the initial cross-section coordinate system of the sonic logging tube can be transformed into the corresponding coordinates in the cross-section coordinate system of the basic pile. Among them, since the axis directions of the cross-section coordinate system of the basic pile and the initial cross-section coordinate system of the sonic logging tube are parallel and only the origin positions are different, the cross-section transformation matrix can be determined based on the translation transformation between the cross-section coordinate system of the basic pile and the initial cross-section coordinate system of the sonic logging tube.

[0033] In step S120, determine the initial lengths and the initial pressures received by each pulley bracket in the ultrasonic probe, collect the monitored pressures received by each pulley bracket during the descent of the ultrasonic probe along the sonic logging tube, and determine the monitored lengths of each pulley bracket based on the initial pressures, the initial lengths, and the monitored pressures.

[0034] In an embodiment of the present application, the above-mentioned initial length refers to the length of the pulley bracket when the ultrasonic probe is at the initial position at the top of the sonic logging tube. Generally, it is the distance from the contact point of the pulley with the inner wall of the sonic logging tube to the center of the ultrasonic transducer when the bracket pulley system is in a natural state.

[0035] In an embodiment of the present application, the above-mentioned initial pressure refers to the pressure value received by the bracket pulley system when the ultrasonic probe is at the initial position at the top of the sonic logging tube. Generally, it is the pressure reference value recorded by the pressure sensor when the pulley bracket contacts the inner wall of the sonic logging tube but no significant extrusion occurs when the ultrasonic probe is at the initial position at the top of the sonic logging tube.

[0036] Preferably, in order to ensure the stability of the detection process, before the quality inspection of the foundation pile, the following operations can also be performed in the embodiments of the present application: according to the actual requirements of the quality inspection task, select two of the acoustic pipes embedded in the foundation pile as quality evaluation pipes, one as the ultrasonic signal emission side and the other as the ultrasonic signal reception side; use the cable pulley device to control the synchronous and uniform descent of the two ultrasonic probes; set the data sampling frequency according to the descent speed of the ultrasonic probe. Exemplarily, the sampling frequency can be increased when the descent speed is fast to avoid missing key data; the frequency can be decreased when the speed is slow to optimize the data volume, so as to ensure a reasonable number of sampling points per unit length.

[0037] In the embodiments of the present application, the above monitoring pressure is the real-time pressure monitored by the pressure sensor of the pulley bracket during the descent of the ultrasonic probe along the acoustic pipe. If the real-time pressure monitored by the pressure sensor of a certain pulley bracket is greater than the initial pressure, it proves that the pulley bracket is compressed and the ultrasonic probe deviates towards the inner wall of the acoustic pipe on this side; if the real-time pressure monitored by the pressure sensor of a certain pulley bracket is less than the initial pressure, it proves that the pulley bracket is stretched and the ultrasonic probe is away from the inner wall of the acoustic pipe on this side.

[0038] In the embodiments of the present application, the above monitoring length is the real-time distance from the contact point between the pulley bracket and the edge of the inner wall of the acoustic pipe to the center of the ultrasonic transducer during the descent of the ultrasonic probe along the acoustic pipe, which can be determined according to Hooke's law. Exemplarily, the determination process of the above monitoring length can be realized as follows: obtain the spring stiffness coefficient of the pulley bracket, and determine the pressure difference between the monitoring pressure and the initial pressure; determine the elongation of the pulley bracket at the monitoring position based on the spring stiffness coefficient and the pressure difference; calculate the difference between the initial length and the elongation, which is recorded as the monitoring length.

[0039] Specifically, taking the i-th monitoring point during the descent of the ultrasonic probe along the acoustic pipe as an example, if the real-time pressure monitored by the pressure sensor of a certain pulley bracket at the i-th monitoring point is , and the initial pressure is , then according to Hooke's law, the elongation of the above pulley bracket at the i-th monitoring point relative to the initial position at the top of the acoustic pipe is: Among them, is the elongation of the above pulley bracket at the i-th monitoring point relative to the initial position at the top of the acoustic pipe; = - , is the difference between the real-time pressure and the initial pressure monitored by the above pulley bracket at the i-th monitoring point; is the spring stiffness coefficient of the above pulley bracket; if the calculated is positive, it means the amount of spring compression. If the calculated If it is a negative value, it indicates the amount of spring stretch.

[0040] Furthermore, the elongation of the pulley bracket at the i-th monitoring point relative to the initial position of the top of the sonic logging tube obtained through the above calculation is used to determine the monitoring length of the pulley bracket at the i-th monitoring point : where is the monitoring length of the above pulley bracket at the i-th monitoring point; is the initial length of the pulley bracket when the ultrasonic probe is at the initial position of the top of the sonic logging tube; is the elongation of the above pulley bracket at the i-th monitoring point relative to the initial position of the top of the sonic logging tube.

[0041] It should be noted that in the method for detecting the quality of foundation piles for bridge engineering provided by the embodiments of the present application, the monitoring points of the ultrasonic probe during the descent process can be determined through the above data sampling frequency set according to the descent speed of the cable pulley, and ultrasonic signals, monitoring pressure, and the rotation angle of the ultrasonic probe in the corresponding section direction of the monitoring point are collected at each monitoring point; in addition, when the ultrasonic probe is at the initial position of the top of the sonic logging tube, the directions of the pulley brackets need to be consistent with the foundation pile section coordinate system and the initial section coordinate system of the sonic logging tube, as Figure 5 shown. Starting from the positive y-axis direction, the pulley brackets in the ultrasonic probe are numbered A, B, C, and D in the counterclockwise direction. Among them, when the pulley brackets A, B, C, and D are at the initial position of the top of the sonic logging tube, they correspond to the positive y-axis direction, the negative x-axis direction, the negative y-axis direction, and the positive x-axis direction respectively.

[0042] In step S130, based on the monitoring lengths of the pulley brackets, it is determined whether the sonic logging tube is deformed. If it is determined that the sonic logging tube is deformed, a replacement warning signal is fed back.

[0043] After determining the monitoring lengths of the pulley brackets in the ultrasonic probe at each monitoring point through the above process, the embodiments of the present application can also determine whether the sonic logging tube where the ultrasonic probe is located is deformed based on the monitoring lengths of the pulley brackets at any monitoring point. If the monitoring lengths of the pulley brackets at a certain monitoring point of the above ultrasonic probe are different, it proves that the ultrasonic probe has shifted relative to the center line position of the sonic logging tube during the descent process. Since the included angle degrees between the pulley brackets are fixed, the shifted pulley brackets are equivalent to two mutually perpendicular chords in the section circle of the sonic logging tube at this monitoring point, as Figure 6As shown, pulley support A and pulley support C form a chord, and pulley support B and pulley support D form another chord. At this time, the deformation of the acoustic pipe can be judged by Theorem 1 of two mutually perpendicular chords in a circle (if two chords in a circle are perpendicular to each other, the sum of the squares of the distances from the four endpoints of these two chords to the intersection point is equal to the square of the diameter of the circle).

[0044] Exemplarily, the above method for judging whether the acoustic pipe is deformed based on Theorem 1 of two mutually perpendicular chords in a circle can be implemented by the following steps: obtaining the square of the pipe diameter of the acoustic pipe where the ultrasonic probe is located, denoted as the first square value; calculating the sum of the squares of the monitoring lengths of each pulley support of the ultrasonic probe, denoted as the second square value; calculating the absolute value of the square difference between the first square value and the second square value; if the absolute value of the square difference is greater than the first preset threshold, it is determined that the acoustic pipe is deformed, otherwise it is determined that the acoustic pipe is not deformed.

[0045] Specifically, taking Figure 6 the cross-section of the acoustic pipe at the i-th monitoring point shown as an example, AE is the support length of pulley support A at the i-th monitoring point, BE is the support length of pulley support B at the i-th monitoring point, CE is the support length of pulley support C at the i-th monitoring point, and DE is the support length of pulley support D at the i-th monitoring point. Assuming that the values of the support lengths of AE, BE, CE, and DE are , , , , respectively, then the deformation degree of the acoustic pipe (i.e., the absolute value of the square difference between the above first square value and the second square value) can be determined as follows: wherein, is the deformation degree of the acoustic pipe at the i-th monitoring point; is the internal diameter size of the acoustic pipe when the installation is completed and not affected by external factors; are the support length sizes of the corresponding pulley supports at the i-th monitoring point, respectively; is a normalization function. In the embodiments of the present invention, the linear normalization function is selected as the normalization function. In other embodiments of the present invention, other normalization functions can also be selected, which will not be elaborated and limited herein.

[0046] After determining the deformation degree of the acoustic pipe at the i-th monitoring point, it is also possible to determine whether the acoustic pipe is deformed at the i-th monitoring point by setting the above first preset threshold. When the deformation degree of the acoustic pipe exceeds the threshold, the propagation distance of the ultrasonic signal in water cannot be determined according to the acoustic ultrasonic data at this monitoring point. Exemplarily, if the first preset threshold is 0.2, then when is greater than 0.2, it is determined that the acoustic pipe is deformed, and the i-th monitoring point is marked as an abnormal point, and the water-passing distance of the ultrasonic signal is not calculated for it.

[0047] In an embodiment of the present application, when it is determined that the acoustic pipe undergoes deformation at a certain monitoring point, a replacement warning signal is fed back, and the replacement warning signal is a signal used to prompt the replacement of the acoustic pipe; in the embodiment of the present application, the monitoring point can be re-identified by the replaced acoustic pipe, or other detection methods such as manual detection can be used to confirm the quality of the monitoring point, and the embodiment of the present application does not make special limitations on this.

[0048] In step S140, when the acoustic pipe does not undergo deformation, a rotation section coordinate system of the acoustic pipe is established based on the monitoring position of the ultrasonic probe, and the rotation coordinates of the ultrasonic probe in the rotation section coordinate system of the acoustic pipe are determined based on the monitoring length.

[0049] In an embodiment of the present application, the above-mentioned monitoring position is the position of the ultrasonic probe in the section of the acoustic pipe corresponding to the monitoring point.

[0050] Exemplarily, the establishment of the rotation section coordinate system of the acoustic pipe based on the monitoring position of the ultrasonic probe can be achieved as follows: on the section corresponding to the monitoring position, with the center of the acoustic pipe as the origin, the direction passing through the center of the acoustic pipe and parallel to the pulley bracket is used as the horizontal and vertical coordinate axes to establish the rotation section coordinate system of the acoustic pipe. Specifically, as Figure 7 shown, taking the center of the section of the acoustic pipe corresponding to the current monitoring point as the coordinate origin, the longitudinal coordinate axis y' passes through the coordinate origin and is parallel to the connection line between pulley bracket A and pulley bracket C, and the transverse coordinate axis x' passes through the coordinate origin and is parallel to the connection line between pulley bracket B and pulley bracket D.

[0051] After determining the rotation section coordinate system of the acoustic pipe, further, the above-mentioned determination of the rotation coordinates of the ultrasonic probe in the rotation section coordinate system of the acoustic pipe based on the monitoring length can be achieved by the following method: Denote the connection line between the center of the acoustic pipe and the center of the ultrasonic probe as the first connection line, obtain the pipe radius of the acoustic pipe, and determine the connection line length of the first connection line based on the pipe radius and the monitoring lengths of each pulley bracket; determine the included angle between the first connection line and the horizontal axis of the rotation section coordinate system of the acoustic pipe based on the monitoring lengths of each pulley bracket; determine the rotation coordinates of the ultrasonic probe in the rotation section coordinate system of the acoustic pipe based on the connection line length and the included angle.

[0052] Specifically, taking the rotation section coordinate system of the acoustic pipe shown above Figure 7 as an example, assuming that the rotation section coordinate system of the acoustic pipe is the rotation section coordinate system of the acoustic pipe corresponding to the above-mentioned ith monitoring point, in the rotated section circle of the acoustic pipe, pulley bracket A and pulley bracket C form a chord, and pulley bracket B and pulley bracket D form another chord, and the two chords are perpendicular to each other. According to the second theorem of two perpendicular chords in a circle (if there are two perpendicular chords AC and BD in a circle, and the two chords intersect at point E, then the sum of the squares of the lengths of these two chords is equal to , where R is the radius of the circle and b is the distance from the center O of the circle to the intersection point E), in Figure 7 , the chord length formed by the pulley bracket A and the pulley bracket C is = , where , are respectively the values of the bracket lengths of the pulley bracket A and the pulley bracket C at the i-th monitoring point; the chord length formed by the pulley bracket B and the pulley bracket D is = , where , are respectively the values of the bracket lengths of the pulley bracket B and the pulley bracket D at the i-th monitoring point. Then, the connection length of OE (i.e., the above-mentioned first connection) can be determined by the following formula: where r is the distance between the center position of the ultrasonic probe and the circular shape of the acoustic pipe under the i-th monitoring point (i.e., the connection length of the above-mentioned first connection); is the sum of the bracket lengths of the pulley bracket A and the pulley bracket C at the i-th monitoring point; is the sum of the bracket lengths of the pulley bracket B and the pulley bracket D at the i-th monitoring point; R is the inner wall circle radius of the acoustic pipe.

[0053] Further, the included angle between the first connection OE and the x'-axis of the acoustic pipe rotation section coordinate system at the i-th monitoring point can be determined: where is the included angle between the first connection OE and the x'-axis of the acoustic pipe rotation section coordinate system at the i-th monitoring point; = , which is the value of the bracket length of the pulley bracket A located in the positive direction of the y'-axis at the i-th monitoring point; , which is the value of the bracket length of the pulley bracket C located in the negative direction of the y'-axis at the i-th monitoring point; , which is the value of the bracket length of the pulley bracket D located in the positive direction of the x'-axis at the i-th monitoring point; , which is the value of the bracket length of the pulley bracket B located in the negative direction of the x'-axis at the i-th monitoring point; is the arctangent function; the minimum value in the denominator is used to prevent division by zero error.

[0054] Thus, the rotation coordinates of the ultrasonic probe in the acoustic pipe rotation section coordinate system corresponding to the i-th monitoring point can be determined (i.e., the position coordinates of the ultrasonic probe center position E in the acoustic pipe rotation section coordinate system): .

[0055] In step S150, the rotation matrix of the initial cross-section coordinate system of the acoustic logging tube and the rotated cross-section coordinate system of the acoustic logging tube is determined, and the rotated coordinates are converted into the pile position coordinates in the pile cross-section coordinate system based on the rotation matrix and the cross-section conversion matrix.

[0056] In the embodiment of the present application, the above rotation matrix is a rotation matrix for realizing the coordinate transformation between the initial cross-section coordinate system of the acoustic logging tube and the rotated cross-section coordinate system of the acoustic logging tube. Exemplarily, the rotation matrix can be determined by the following method: obtaining the rotation angle of the ultrasonic probe from the initial position to the monitoring position, and determining the rotation matrix of the initial cross-section coordinate system of the acoustic logging tube and the rotated cross-section coordinate system of the acoustic logging tube based on the rotation angle.

[0057] In the embodiment of the present application, the rotation angle of the ultrasonic probe from the initial position to the monitoring position can be monitored by an angle rotation monitoring unit deployed in the ultrasonic probe.

[0058] Exemplarily, Figure 8 is a schematic diagram of the rotated cross-section coordinate system of the acoustic logging tube when the initial cross-section coordinate system of the acoustic logging tube rotates to Figure 7 the i-th monitoring point shown. It can be known from Figure 8 that is the rotation angle of the initial cross-section coordinate system of the acoustic logging tube rotating counterclockwise to the rotated cross-section coordinate system of the acoustic logging tube at the i-th monitoring point. It can be obtained by the above angle rotation monitoring unit. Then, according to the rotation relationship between the initial cross-section coordinate system of the acoustic logging tube rotating counterclockwise and the rotated cross-section coordinate system of the acoustic logging tube at the i-th monitoring point, the above rotation matrix can be determined as follows: After determining the rotation matrix, further, in the embodiment of the present application, the rotation coordinates of the ultrasonic probe in the rotated cross-section coordinate system of the acoustic logging tube can also be converted to the pile cross-section coordinate system through the rotation matrix C and the cross-section conversion matrix of the pile cross-section coordinate system and the initial cross-section coordinate system of the acoustic logging tube determined in step S110 to unify the spatial reference frame, so as to accurately calculate the water path distance of the ultrasonic signal, and further improve the accuracy of pile quality detection. Exemplarily, the conversion process can be realized as follows: based on the rotation matrix, the rotation coordinates of the ultrasonic probe in the rotated cross-section coordinate system of the acoustic logging tube are converted to the initial cross-section coordinate system of the acoustic logging tube to obtain the corresponding position coordinates of the ultrasonic probe in the initial cross-section coordinate system of the acoustic logging tube; based on the cross-section conversion matrix, the position coordinates of the ultrasonic probe in the initial cross-section coordinate system of the acoustic logging tube are converted to the pile cross-section coordinate system to obtain the pile position coordinates of the ultrasonic probe in the pile cross-section coordinate system.

[0059] Specifically, taking Figure 8Taking the case where the initial cross-section coordinate system of the acoustic pipe shown is rotated counterclockwise to the rotated cross-section coordinate system of the acoustic pipe at the i-th monitoring point as an example, the position coordinates of the above ultrasonic probe in the initial cross-section coordinate system of the acoustic pipe are as follows: Among them, is the position coordinate obtained by converting the rotation coordinate of the ultrasonic probe in the rotated cross-section coordinate system of the acoustic pipe at the i-th monitoring point to the initial cross-section coordinate system of the acoustic pipe; is the rotation matrix between the initial cross-section coordinate system of the acoustic pipe and the rotated cross-section coordinate system of the acoustic pipe at the i-th monitoring point; is the rotation coordinate in the rotated cross-section coordinate system of the acoustic pipe at the i-th monitoring point.

[0060] Furthermore, by left-multiplying the position coordinates of the ultrasonic probe in the initial cross-section coordinate system of the acoustic pipe by the cross-section conversion matrix of the above-mentioned pile foundation cross-section coordinate system and the initial cross-section coordinate system of the acoustic pipe, the pile foundation position coordinates of the ultrasonic probe in the pile foundation cross-section coordinate system are obtained.

[0061] In step S160, the water-passing distance of the ultrasonic signal is determined based on the pile foundation position coordinates, and the quality defect of the pile foundation is detected based on the water-passing distance and the ultrasonic signal.

[0062] In the embodiment of the present application, the above water-passing distance is the distance that the ultrasonic signal propagates in water. Exemplarily, the above determination of the water-passing distance of the ultrasonic signal based on the pile foundation position coordinates can be achieved as follows: Determine the second connection line between the center of the transmitting end probe and the receiving end probe in the pile foundation cross-section coordinate system, the first intersection point of the second connection line and the acoustic pipe where the transmitting end probe is located, and the second intersection point of the second connection line and the acoustic pipe where the receiving end probe is located; Based on the pile foundation position coordinates of the transmitting end probe and the pile foundation position coordinates of the receiving end probe, determine the first distance between the transmitting end probe and the first intersection point, and the second distance between the receiving end probe and the second intersection point; Calculate the sum of the first distance and the second distance, denoted as the water-passing distance; Among them, the above transmitting end probe is the ultrasonic probe for transmitting ultrasonic signals; the above receiving end probe is the ultrasonic probe for receiving ultrasonic signals.

[0063] Specifically, as Figure 9 shown, connect the pile foundation position coordinate points of the transmitting end probe and the receiving end probe in the pile foundation cross-section coordinate system. The connection line passes through the two acoustic pipes respectively. Then, mark the intersection point of the connection line and the acoustic pipe where the transmitting end probe is located as the above first intersection point, and the distance between the pile foundation position coordinate point of the transmitting end probe and the first intersection point is denoted as the first distance ; Mark the intersection point of the connection line and the acoustic pipe where the receiving end probe is located as the above second intersection point, and the distance between the pile foundation position coordinate point of the receiving end probe and the second intersection point is denoted as the second distance , and the water-passing distance is and Among them, and can be obtained by determining the intersection coordinates of the first intersection point and the second intersection point, and calculating through the intersection coordinates and the pile foundation position coordinates of the corresponding ultrasonic probe.

[0064] In the embodiment of the present application, after determining the water-passing distance, the above-mentioned quality defect detection of the pile foundation based on the water-passing distance and ultrasonic signals can be achieved by the following method: inputting the water-passing distance and ultrasonic signals into a pre-trained quality detection model to obtain the defect category of the pile foundation. Among them, the above-mentioned quality detection model is trained based on the Long Short-Term Memory Network (LSTM) architecture, and the training data set used is the data pairs of artificially labeled ultrasonic signals, water-passing distances, quality defect types, and defect grades.

[0065] Exemplarily, the above-mentioned ultrasonic signals are time-domain waveform data collected in ultrasonic detection, and the characteristic values such as acoustic time, acoustic velocity, wave amplitude, and main frequency extracted after preprocessing, which reflect the density and uniformity of the pile foundation concrete; the above-mentioned water-passing distance directly affects the attenuation degree of ultrasonic signals. The longer the water-passing distance, the longer the propagation time of ultrasonic signals in water and the greater the energy loss; the above-mentioned quality defect types and defect grades are defect types (such as cavities, cracks, and muddy inclusions) and grades (light / medium / heavy) manually labeled by engineering inspectors. The labeling basis needs to be based on abnormal ultrasonic signal characteristics (such as acoustic velocity lower than the threshold, sudden change in wave amplitude) and changes in water-passing distance (such as abnormal increase in local water-passing distance, which may indicate concrete loss), and comprehensively judged in combination with the pile foundation construction records.

[0066] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the method. To implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed herein, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0067] Correspondingly, the embodiment of the present disclosure also provides a pile foundation quality detection system for bridge engineering. Referring to Figure 10 as shown, the pile foundation quality detection system 1000 for bridge engineering may include a data processing module 1010 and a quality detection module 1020, where: A data processing module, configured to establish a cross-section coordinate system of a foundation pile and an initial cross-section coordinate system of a sonic logging tube, and determine a cross-section transformation matrix between the cross-section coordinate system of the foundation pile and the initial cross-section coordinate system of the sonic logging tube; The data processing module is further configured to determine the initial lengths and initial pressures received by the pulley brackets in the ultrasonic probe, collect the monitored pressures received by the pulley brackets during the descent of the ultrasonic probe along the sonic logging tube, and determine the monitored lengths of the pulley brackets based on the initial pressures, initial lengths, and monitored pressures; The data processing module is further configured to determine whether the sonic logging tube is deformed based on the monitored lengths of the pulley brackets. If it is determined that the sonic logging tube is deformed, a replacement warning signal is fed back; The data processing module is further configured to, when the sonic logging tube is not deformed, establish a rotated cross-section coordinate system of the sonic logging tube based on the monitored position of the ultrasonic probe, and determine the rotated coordinates of the ultrasonic probe in the rotated cross-section coordinate system of the sonic logging tube based on the monitored lengths; The data processing module is further configured to determine the rotation matrix between the initial cross-section coordinate system of the sonic logging tube and the rotated cross-section coordinate system of the sonic logging tube, and convert the rotated coordinates into the foundation pile position coordinates in the cross-section coordinate system of the foundation pile based on the rotation matrix and the cross-section transformation matrix; A quality inspection module, configured to determine the water path distance of the ultrasonic signal based on the foundation pile position coordinates, and detect the quality defects of the foundation pile based on the water path distance and the ultrasonic signal.

[0068] The specific implementation details of the above-mentioned foundation pile quality inspection system for bridge engineering have been described in detail at the corresponding positions of the foundation pile quality inspection method for bridge engineering, so they will not be elaborated here.

[0069] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present disclosure.

[0070] In addition, although the operations are depicted in a specific order, this should not be construed as requiring the operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented separately or in any suitable sub-combination in multiple embodiments.

Claims

1. A method for detecting the quality of foundation piles for bridge engineering, characterized in that The method includes: Establish a pile foundation section coordinate system and an initial section coordinate system of the sonic logging tube, and determine the section transformation matrix between the pile foundation section coordinate system and the initial section coordinate system of the sonic logging tube; Determine the initial lengths and the initial pressures received by each pulley bracket in the ultrasonic probe, collect the monitored pressures received by each pulley bracket during the descent of the ultrasonic probe along the sonic logging tube, and determine the monitored lengths of each pulley bracket based on the initial pressure, the initial length, and the monitored pressure; Determine whether the sonic logging tube is deformed based on the monitored lengths of each pulley bracket. If it is determined that the sonic logging tube is deformed, a replacement warning signal is fed back; When the sonic logging tube is not deformed, establish a rotating section coordinate system of the sonic logging tube based on the monitored position of the ultrasonic probe, and determine the rotation coordinates of the ultrasonic probe in the rotating section coordinate system of the sonic logging tube based on the monitored length; Determine the rotation matrix between the initial section coordinate system of the sonic logging tube and the rotating section coordinate system of the sonic logging tube, and convert the rotation coordinates into the pile foundation position coordinates in the pile foundation section coordinate system based on the rotation matrix and the section transformation matrix; Determine the water path distance of the ultrasonic signal based on the pile foundation position coordinates, and detect the quality defects of the pile foundation based on the water path distance and the ultrasonic signal.

2. The method for detecting the quality of foundation piles for bridge engineering according to claim 1, wherein The establishment of the pile foundation section coordinate system and the initial section coordinate system of the sonic logging tube includes: Taking the center of the pile foundation in the corresponding section as the origin, taking the due north-south direction as the longitudinal axis, and taking the due east-west direction as the transverse axis, establish the pile foundation section coordinate system of the pile foundation in the corresponding section; Under the same section, for each sonic logging tube arranged in the pile foundation, taking the center of the circle of the sonic logging tube as the origin, taking the direction passing through the center of the circle of the sonic logging tube and parallel to the longitudinal axis of the pile foundation section coordinate system as the longitudinal axis, and taking the direction passing through the center of the circle of the sonic logging tube and parallel to the transverse axis of the pile foundation section coordinate system as the transverse axis, establish the initial section coordinate system of the sonic logging tube.

3. The method for detecting the quality of foundation piles for bridge engineering according to claim 1, characterized in that, The determination of the monitored length of the pulley bracket based on the initial pressure, the initial length, and the monitored pressure includes: Obtain the spring stiffness coefficient of the pulley bracket, and determine the pressure difference between the monitored pressure and the initial pressure; Determine the elongation of the pulley bracket at the monitored position based on the spring stiffness coefficient and the pressure difference; Calculate the difference between the initial length and the elongation, which is denoted as the monitored length.

4. The method for detecting the quality of foundation piles for bridge engineering according to claim 1, wherein The determination of whether the sonic logging tube is deformed based on the monitored length includes: Obtain the square of the pipe diameter of the sonic logging tube where the ultrasonic probe is located, which is denoted as the first square value; Calculate the sum of the squares of the monitored lengths of each pulley bracket of the ultrasonic probe, which is denoted as the second square value; Calculate the absolute value of the square difference between the first square value and the second square value; If the absolute value of the square difference is greater than a first preset threshold, it is determined that the sonic logging tube is deformed, otherwise it is determined that the sonic logging tube is not deformed.

5. The method for detecting the quality of foundation piles for bridge engineering according to claim 2, wherein, The establishment of the rotating section coordinate system of the sonic logging tube based on the monitored position of the ultrasonic probe, and the determination of the rotation coordinates of the ultrasonic probe in the rotating section coordinate system of the sonic logging tube based on the monitored length includes: On the section corresponding to the monitoring position, with the center of the acoustic pipe as the origin, the direction passing through the center of the acoustic pipe and parallel to the pulley bracket is used as the horizontal and vertical coordinate axes to establish the acoustic pipe rotation section coordinate system; wherein, the pulley brackets are symmetrically distributed at 90 degrees; The connection line between the center of the acoustic pipe and the center of the ultrasonic probe is denoted as the first connection line, the pipe radius of the acoustic pipe is obtained, and the connection line length of the first connection line is determined based on the pipe radius and the monitoring lengths of the pulley brackets; Based on the monitoring lengths of the pulley brackets, the included angle between the first connection line and the horizontal axis of the acoustic pipe rotation section coordinate system is determined; Based on the connection line length and the included angle, the rotation coordinates of the ultrasonic probe in the acoustic pipe rotation section coordinate system are determined.

6. The method for detecting the quality of foundation piles for bridge engineering according to claim 5, wherein, The rotation matrix for determining the initial section coordinate system of the acoustic pipe and the acoustic pipe rotation section coordinate system includes: Obtain the rotation angle of the ultrasonic probe when it descends from the initial position to the monitoring position, and determine the rotation matrix of the initial section coordinate system of the acoustic pipe and the acoustic pipe rotation section coordinate system based on the rotation angle.

7. The method for detecting the quality of foundation piles for bridge engineering according to claim 6, characterized in that, The conversion of the rotation coordinates to the pile position coordinates in the pile section coordinate system based on the rotation matrix and the section conversion matrix includes: Based on the rotation matrix, the rotation coordinates of the ultrasonic probe in the acoustic pipe rotation section coordinate system are converted to the initial section coordinate system of the acoustic pipe to obtain the corresponding position coordinates of the ultrasonic probe in the initial section coordinate system of the acoustic pipe; Based on the section conversion matrix, the position coordinates of the ultrasonic probe in the initial section coordinate system of the acoustic pipe are converted to the pile section coordinate system to obtain the pile position coordinates of the ultrasonic probe in the pile section coordinate system.

8. The method for detecting the quality of foundation piles for bridge engineering according to claim 1, characterized in that, The ultrasonic probe includes a transmitting end probe and a receiving end probe; the pile position coordinates for determining the water path distance of the ultrasonic signal include: Determine the second connection line between the center of the transmitting end probe and the receiving end probe in the pile section coordinate system, the first intersection point of the second connection line and the acoustic pipe where the transmitting end probe is located, and the second intersection point of the second connection line and the acoustic pipe where the receiving end probe is located; Based on the pile position coordinates of the transmitting end probe and the pile position coordinates of the receiving end probe, determine the first distance between the transmitting end probe and the first intersection point, and the second distance between the receiving end probe and the second intersection point; Calculate the sum of the first distance and the second distance, which is denoted as the water path distance.

9. The method for detecting the quality of foundation piles for bridge engineering according to claim 8, characterized in that, The detection of the quality defect of the pile based on the water path distance and the ultrasonic signal includes: Input the water path distance and the ultrasonic signal into a pre-trained quality detection model to obtain the defect category of the pile.

10. A pile foundation quality detection system for bridge engineering, characterized in that, The system includes: A data processing module for establishing a pile section coordinate system and an initial section coordinate system of the acoustic pipe, and determining the section conversion matrix of the pile section coordinate system and the initial section coordinate system of the acoustic pipe; The data processing module is further configured to determine the initial lengths and the initial pressures received by the pulley brackets in the ultrasonic probe, collect the monitored pressures received by the pulley brackets during the descent of the ultrasonic probe along the acoustic logging tube, and determine the monitored lengths of the pulley brackets based on the initial pressures, the initial lengths, and the monitored pressures; The data processing module is further configured to determine whether the acoustic logging tube is deformed based on the monitored lengths of the pulley brackets, and if it is determined that the acoustic logging tube is deformed, feedback a replacement warning signal; When the acoustic logging tube is not deformed, the data processing module is further configured to establish an acoustic logging tube rotation section coordinate system based on the monitored position of the ultrasonic probe, and determine the rotation coordinates of the ultrasonic probe in the acoustic logging tube rotation section coordinate system based on the monitored lengths; The data processing module is further configured to determine the rotation matrix of the initial section coordinate system of the acoustic logging tube and the acoustic logging tube rotation section coordinate system, and convert the rotation coordinates into the pile position coordinates in the pile foundation section coordinate system based on the rotation matrix and the section conversion matrix; The quality inspection module is configured to determine the water path distance of the ultrasonic signal based on the pile position coordinates, and detect the quality defects of the pile foundation based on the water path distance and the ultrasonic signal.

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