Bridge engineering-oriented pile quality detection method and system

Abstract

The disclosure provides a pile quality detection method and system for bridge engineering, and relates to the technical field of material testing. The method comprises the following steps: establishing a pile section coordinate system and an initial section coordinate system of the sounding pipe and determining a section conversion matrix; determining the initial length and initial pressure of each pulley support in the ultrasonic probe, collecting the monitoring pressure of the pulley support, and determining the monitoring length of each pulley support based on the initial pressure, the initial length and the monitoring pressure; determining whether the sounding pipe is deformed based on the monitoring length; when no deformation occurs, a rotating section coordinate system of the sounding pipe is established, and the rotating coordinates of the ultrasonic probe thereunder are determined; a rotation matrix is determined, the rotating coordinates are converted into pile position coordinates in the pile section coordinate system based on the rotation matrix and the section conversion matrix; the water distance of the ultrasonic signal is determined based on the pile position coordinates, and the quality defects of the pile are detected based on the water distance and the ultrasonic signal. The disclosure improves the accuracy of pile quality detection.

Description

TECHNICAL FIELD

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

[0002] The bridge pile is the core load-bearing structure for transmitting load to the deep stable stratum in bridge engineering, and its quality is directly related to the stability and safety of the bridge. Therefore, the integrity detection of the pile is an important part of bridge engineering.

[0003] In the related art, the integrity detection of the pile is usually achieved by the following method: an ultrasonic transducer is used to emit and receive ultrasonic signals in the sounding pipe pre-buried in the pile body, and the sound velocity, amplitude, frequency and waveform are analyzed to determine the uniformity and defects of the pile body.

[0004] However, the existing ultrasonic detection method cannot obtain the offset of the ultrasonic probe in the sounding pipe, and cannot accurately determine the attenuation degree of the ultrasonic signal in water, which may cause errors in the pile quality detection and affect the detection accuracy. SUMMARY

[0005] Therefore, the present application provides a pile quality detection method and system for bridge engineering to solve the problem that the offset of the ultrasonic probe in the sounding pipe cannot be obtained, the attenuation degree of the ultrasonic signal in water cannot be accurately determined, and the pile quality detection is affected by errors and the detection accuracy is affected.

[0006] According to a first aspect of the present application, a pile quality detection method for bridge engineering is provided, and the technical solution is as follows:

[0007] A pile cross-section coordinate system and a sounding pipe initial cross-section coordinate system are established, and a cross-section conversion matrix of the pile cross-section coordinate system and the sounding pipe initial cross-section coordinate system is determined;

[0008] The initial length and the initial pressure of each pulley support in the ultrasonic probe are determined, the monitoring pressure of each pulley support during the descent of the ultrasonic probe along the sounding pipe is collected, and the monitoring length of each pulley support is determined based on the initial pressure, the initial length and the monitoring pressure;

[0009] Whether the sounding pipe is deformed is determined based on the monitoring length of each pulley support, and if it is determined that the sounding pipe is deformed, a replacement warning signal is fed back;

[0010] establishing a sounding pipe rotating section coordinate system based on the monitoring position of the ultrasonic probe, and determining a rotating coordinate of the ultrasonic probe in the sounding pipe rotating section coordinate system based on the monitoring length;

[0011] determining a rotating matrix of the sounding pipe initial section coordinate system and the sounding pipe rotating section coordinate system, and converting the rotating coordinate into a pile section coordinate system based on the rotating matrix and the section conversion matrix;

[0012] determining a water distance of an ultrasonic signal based on the pile position coordinate, and detecting a quality defect of the pile based on the water distance and the ultrasonic signal.

[0013] Exemplarily, the establishing of the pile section coordinate system and the sounding pipe initial section coordinate system comprises: establishing the pile section coordinate system of the pile in a corresponding section with the center of the pile in the corresponding section as an origin, a north-south direction as a longitudinal axis, and an east-west direction as a transverse axis; and establishing the sounding pipe initial section coordinate system of each sounding pipe arranged in the pile in a same section with the center of the sounding pipe as an origin, a direction passing through the center of the sounding pipe and parallel to the longitudinal axis of the pile section coordinate system as a longitudinal axis, and a direction passing through the center of the sounding pipe and parallel to the transverse axis of the pile section coordinate system as a transverse axis.

[0014] Exemplarily, the determining of the monitoring length of the pulley support based on the initial pressure, the initial length and the monitoring pressure comprises: obtaining a spring stiffness coefficient of the pulley support, and determining a pressure difference value of the monitoring pressure and the initial pressure; determining an elongation of the pulley support at the monitoring position based on the spring stiffness coefficient and the pressure difference value; and calculating a difference value between the initial length and the elongation, and recording the difference value as the monitoring length.

[0015] Exemplarily, the determining of whether the sounding pipe is deformed based on the monitoring length comprises: obtaining a square of a pipe diameter of the sounding pipe where the ultrasonic probe is located, and recording the square as a first square value; calculating a sum of squares of the monitoring lengths of each pulley support of the ultrasonic probe, and recording the sum of squares as a second square value; calculating an absolute value of a square difference between the first square value and the second square value; and determining that the sounding pipe is deformed if the absolute value of the square difference is greater than a first preset threshold value, otherwise determining that the sounding pipe is not deformed.

[0016] Exemplarily, the establishing the sound measuring pipe rotating section coordinate system based on the monitoring position of the ultrasonic probe and determining the rotating coordinate of the ultrasonic probe in the sound measuring pipe rotating section coordinate system based on the monitoring length comprises: establishing the sound measuring pipe rotating section coordinate system on the section corresponding to the monitoring position, taking the center of the sound measuring pipe as the origin, and taking the direction passing through the center of the sound measuring pipe and parallel to the pulley support as the horizontal and vertical coordinates; wherein each pulley support is symmetrically distributed at 90 degrees; recording the line connecting the center of the sound measuring pipe and the center of the ultrasonic probe as a first line, obtaining the pipe radius of the sound measuring pipe, determining the length of the first line based on the pipe radius and the monitoring length of each pulley support; determining the angle between the first line and the horizontal axis of the sound measuring pipe rotating section coordinate system based on the monitoring length of each pulley support; and determining the rotating coordinate of the ultrasonic probe in the sound measuring pipe rotating section coordinate system based on the length of the first line and the angle.

[0017] Exemplarily, the determining the rotation matrix of the sound measuring pipe initial section coordinate system and the sound measuring pipe rotating section coordinate system comprises: obtaining the rotating angle of the ultrasonic probe from the initial position to the monitoring position, and determining the rotation matrix of the sound measuring pipe initial section coordinate system and the sound measuring pipe rotating section coordinate system based on the rotating angle.

[0018] Exemplarily, the converting the rotating coordinate into the pile position coordinate in the pile section coordinate system based on the rotation matrix and the section conversion matrix comprises: converting the rotating coordinate of the ultrasonic probe in the sound measuring pipe rotating section coordinate system to the sound measuring pipe initial section coordinate system based on the rotation matrix, to obtain the corresponding position coordinate of the ultrasonic probe in the sound measuring pipe initial section coordinate system; and converting the position coordinate of the ultrasonic probe in the sound measuring pipe initial section coordinate system to the pile section coordinate system based on the section conversion matrix, to obtain the pile position coordinate of the ultrasonic probe in the pile section coordinate system.

[0019] Exemplarily, the ultrasonic probe comprises a transmitting end probe and a receiving end probe; and the pile position coordinate determines the water distance of the ultrasonic signal, which comprises: determining a second line between the center of the transmitting end probe and the receiving end probe, a first intersection point of the second line and the sound measuring pipe where the transmitting end probe is located, and a second intersection point of the second line and the sound measuring pipe where the receiving end probe is located in the pile section coordinate system; determining a first distance between the transmitting end probe and the first intersection point and a second distance between the receiving end probe and the second intersection point based on the pile position coordinate of the transmitting end probe and the pile position coordinate of the receiving end probe; and calculating the sum of the first distance and the second distance as the water distance.

[0020] Illustratively, the detecting the quality defect of the pile based on the water distance and the ultrasonic signal comprises: inputting the water distance and the ultrasonic signal into a pre-trained quality detection model to obtain a defect category of the pile.

[0021] According to a second aspect of the present disclosure, a pile quality detection system for bridge engineering is provided, and specifically comprises:

[0022] The data processing module is configured to establish a pile section coordinate system and an initial sonde section coordinate system, and determine a section conversion matrix of the pile section coordinate system and the initial sonde section coordinate system.

[0023] The data processing module is further configured to determine initial lengths and initial pressures of each pulley support in the ultrasonic probe, collect monitored pressures of each pulley support in the ultrasonic probe during the descent of the ultrasonic probe along the sonde, and determine monitored lengths of each pulley support based on the initial pressures, the initial lengths and the monitored pressures.

[0024] The data processing module is further configured to determine whether the sonde has been deformed based on the monitored lengths of each pulley support, and feed back a replacement warning signal if it is determined that the sonde has been deformed.

[0025] The data processing module is further configured to establish a sonde rotating section coordinate system based on the monitored position of the ultrasonic probe when the sonde has not been deformed, and determine a rotating coordinate of the ultrasonic probe in the sonde rotating section coordinate system based on the monitored lengths.

[0026] The data processing module is further configured to determine a rotation matrix of the initial sonde section coordinate system and the sonde rotating section coordinate system, and convert the rotating coordinate into a pile position coordinate in the pile section coordinate system based on the rotation matrix and the section conversion matrix.

[0027] The quality detection module is configured to determine a water distance of an ultrasonic signal based on the pile position coordinate, and detect a quality defect of a pile based on the water distance and the ultrasonic signal.

[0028] The present application can have the following partial or all beneficial effects:

[0029] In the pile quality detection method for bridge engineering provided by the application, the rotation coordinates of each pulley support in the ultrasonic probe in the acoustic pipe rotation section coordinate system are determined based on the monitoring length of each pulley support in the monitoring position, and the rotation coordinates are switched to the pile section coordinate system through the rotation matrix and the section conversion matrix, so as to determine the pile position coordinates of the ultrasonic probe in the pile section coordinate system, and thus the water distance of the ultrasonic signal can be determined based on the pile position coordinates. When calculating the water distance, the application considers the offset of the ultrasonic probe in the acoustic pipe section corresponding to each monitoring position in the lowering process, so that the calculation of the water distance can be corrected based on the offset, the misjudgment of the attenuation degree of the ultrasonic signal in the water caused by the ultrasonic probe close to the inner wall of the acoustic pipe is avoided, and the accuracy of the pile quality detection is improved. In addition, the application can also determine whether the acoustic pipe is deformed through the monitoring length, and continue to monitor the quality of the pile when it is determined that the acoustic pipe is not deformed, so as to avoid the influence of the pipe deformation on the pile quality monitoring.

[0030] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0032] Figure 1 A flow chart of the pile quality detection method for bridge engineering according to an exemplary embodiment of the present disclosure is shown;

[0033] Figure 2 A schematic diagram of the ultrasonic probe in the pile quality detection method for bridge engineering according to an exemplary embodiment of the present disclosure is shown;

[0034] Figure 3 A schematic diagram of any pulley support of the ultrasonic probe in the pile quality detection method for bridge engineering according to an exemplary embodiment of the present disclosure is shown;

[0035] Figure 4 A schematic diagram of the pile section coordinate system in the pile quality detection method for bridge engineering according to an exemplary embodiment of the present disclosure is shown;

[0036] Figure 5 A schematic diagram of the support direction of the ultrasonic probe in the pile quality detection method for bridge engineering according to an exemplary embodiment of the present disclosure is shown;

[0037] Figure 6 FIG. 8 shows a schematic diagram of a sound measuring tube cross section of a monitoring point in a pile quality detection method for bridge engineering according to an example embodiment of the present disclosure;

[0038] Figure 7 FIG. 9 shows a schematic diagram of a sound measuring tube rotating cross section coordinate system of a monitoring point in a pile quality detection method for bridge engineering according to an example embodiment of the present disclosure;

[0039] Figure 8 FIG. 10 shows a schematic diagram of a sound measuring tube rotating cross section coordinate system rotated from a sound measuring tube initial cross section coordinate system in a pile quality detection method for bridge engineering according to an example embodiment of the present disclosure; Figure 7

[0040] Figure 9 FIG. 13 shows a schematic diagram of determining a water distance in a pile quality detection method for bridge engineering according to an example embodiment of the present disclosure;

[0041] Figure 10 FIG. 14 shows a schematic block diagram of a pile quality detection system for bridge engineering according to an example embodiment of the present disclosure. DETAILED DESCRIPTION

[0042] In order to further illustrate the technical means and effects taken by the present application to achieve the predetermined object, the following describes in detail the specific implementation, structure, features and effects of a pile quality detection method and system for bridge engineering according to the present application in combination with the accompanying drawings and preferred embodiments. Different "one embodiment" or "another embodiment" in the following description do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0044] The following specifically describes a specific scheme of a pile quality detection method and system for bridge engineering provided by the present application in combination with the accompanying drawings.

[0045] Please refer to Figure 1 , which shows a method flowchart of a pile quality detection method for bridge engineering provided by an embodiment of the present application, as shown in Figure 1 , the pile quality detection method for bridge engineering specifically includes the following steps:

[0046] S110: establishing a pile cross section coordinate system and a sound measuring tube initial cross section coordinate system, and determining a cross section conversion matrix of the pile cross section coordinate system and the sound measuring tube initial cross section coordinate system;​

[0047] S120: determining initial lengths and initial pressures of the pulley supports in the ultrasonic probe, collecting monitoring pressures of the pulley supports during the descent of the ultrasonic probe along the calibrating tube, and determining monitoring lengths of the pulley supports based on the initial pressures, the initial lengths and the monitoring pressures;

[0048] S130: determining whether the calibrating tube is deformed based on the monitoring lengths of the pulley supports, and feeding back a replacement warning signal if it is determined that the calibrating tube is deformed;

[0049] S140: when the calibrating tube is not deformed, establishing a calibrating tube rotating section coordinate system based on the monitoring position of the ultrasonic probe, and determining rotating coordinates of the ultrasonic probe in the calibrating tube rotating section coordinate system based on the monitoring lengths;

[0050] S150: determining a rotation matrix of the calibrating tube initial section coordinate system and the calibrating tube rotating section coordinate system, and converting the rotating coordinates into pile position coordinates in the pile section coordinate system based on the rotation matrix and the section conversion matrix;

[0051] S160: determining a water distance of the ultrasonic signal based on the pile position coordinates, and detecting quality defects of the pile based on the water distance and the ultrasonic signal.

[0052] Next, each step of the above pile quality detection method for bridge engineering will be described in detail:

[0053] In step S110, a pile section coordinate system and a calibrating tube initial section coordinate system are established, and a section conversion matrix of the pile section coordinate system and the calibrating tube initial section coordinate system is determined.

[0054] In the embodiments of the present application, the pile is a core load-bearing structure in bridge engineering that transmits load to deep stable stratum.

[0055] In the embodiments of the present application, the calibrating tube is a pipeline embedded in the pile body for implementing quality detection of the pile. Exemplarily, the calibrating tube is usually uniformly and symmetrically distributed along the inner periphery of the reinforcement cage in a regular polygon arrangement, the number of which is not less than 3, and the material is generally carbon steel or other metal materials. When detecting the quality of the pile, the calibrating tube needs to be filled with clean water, which mainly provides a channel for the ultrasonic transducer to emit and receive ultrasonic waves, so as to analyze the ultrasonic signal to determine the uniformity and defect of the pile body concrete, thereby realizing quality detection of the pile. In addition, antifreeze can be added according to the expected temperature when filling the calibrating tube with clean water.

[0056] In the embodiment of the present application, the ultrasonic transducer is the main component of the ultrasonic probe, located at the center of the ultrasonic probe, and the overall probe is in the shape of a cylinder smaller than the inner diameter of the sounding tube. In the bridge pile quality detection, the role of the ultrasonic transducer is to transmit and receive ultrasonic signals, cooperate with the receiving or transmitting end in another sounding tube, use the sound wave signals penetrating the pile body, and combine the changes of acoustic parameters such as sound velocity, wave amplitude, frequency and waveform to judge the uniformity and defect of the pile body concrete.

[0057] In the embodiment of the present application, the ultrasonic probe is the core device for realizing the bridge pile quality detection, as shown in Figure 2 The ultrasonic probe is composed of a pulley support system and the ultrasonic transducer, and the overall probe is in the shape of a cylinder smaller than the inner diameter of the sounding tube. The support is a telescopic elastic pressure pulley support, located above the ultrasonic transducer, and the supports are distributed at 90 degrees. As shown in Figure 3 Each pulley support is composed of a spring, a pulley and a pressure sensor. The pressure sensor can monitor the pressure received by the support, so that the offset of the ultrasonic probe in the sounding tube can be judged through the support pressure signal, and the water distance of the ultrasonic signal can be calculated to reduce the error of the pile quality detection.

[0058] In the embodiment of the present application, the pile section coordinate system can be a coordinate system established on any horizontal section of the pile. For example, the pile section coordinate system can be established in the following way: taking the center of the pile on the corresponding section as the origin, taking the positive north-south direction as the longitudinal axis, and taking the positive east-west direction as the transverse axis, to establish the pile section coordinate system of the pile on the corresponding section.

[0059] In one specific embodiment of the present application, the pile section coordinate system established by the above process can be as shown in Figure 4 The center of the pile section is the origin of the coordinate system, the positive north-south direction is the y-axis, and the positive east-west direction is the x-axis. The sounding tubes embedded in the pile body are distributed in the form of a rectangle on the inner wall surface of the pile, with the negative direction of the x-axis as the starting point and the sounding tubes numbered 1, 2, 3 and 4 in the counterclockwise direction.

[0060] In the embodiment of the present application, the sound measuring tube initial section coordinate system is a coordinate system of the sound measuring tube on the corresponding section, which is established with reference to the foundation pile section coordinate system on the same section. Illustratively, the sound measuring tube initial section coordinate system is established by the following method: under the same section, for each sound measuring tube arranged in the foundation pile, taking the center of the sound measuring tube as the origin, taking the direction passing through the center of the sound measuring tube and parallel to the longitudinal axis of the foundation pile section coordinate system as the longitudinal axis, and taking the direction passing through the center of the sound measuring tube and parallel to the transverse axis of the foundation pile section coordinate system as the transverse axis. That is, for each sound measuring tube embedded in the pile body of the foundation pile, the sound measuring tube initial section coordinate system parallel to the foundation pile section coordinate system is established under the same section, and the origin of the sound measuring tube initial section coordinate system is set at the center of the sound measuring tube.

[0061] In the embodiment of the present application, the section conversion matrix is used to realize the coordinate conversion between the foundation pile section coordinate system and the sound measuring tube initial section coordinate system. Illustratively, the coordinates of the ultrasonic probe in the sound measuring tube initial section coordinate system can be converted into the corresponding coordinates in the foundation pile section coordinate system through the section conversion matrix. Since the coordinate axis directions of the foundation pile section coordinate system and the sound measuring tube initial section coordinate system are parallel, only the origin positions are different, the section conversion matrix can be determined based on the translation transformation between the foundation pile section coordinate system and the sound measuring tube initial section coordinate system.

[0062] In step S120, the initial length and the initial pressure of each pulley support in the ultrasonic probe are determined, the monitoring pressure of each pulley support during the descent of the ultrasonic probe along the sound measuring tube is collected, and the monitoring length of each pulley support is determined based on the initial pressure, the initial length and the monitoring pressure.

[0063] In the embodiment of the present application, the initial length refers to the length of the pulley support when the ultrasonic probe is at the initial position of the top end of the sound measuring tube, which is usually the distance from the contact point of the pulley and the inner wall of the sound measuring tube to the center of the ultrasonic transducer when the support pulley system is in a natural state.

[0064] In the embodiment of the present application, the initial pressure refers to the pressure value of the support pulley system when the ultrasonic probe is at the initial position of the top end of the sound measuring tube, which is usually the pressure reference value recorded by the pressure sensor when the pulley support is in contact with the inner wall of the sound measuring tube but does not undergo significant extrusion.

[0065] Preferably, in order to ensure the stability of the detection process, the embodiments of the present application can further perform the following operations before the pile quality detection: according to the actual needs of the quality detection task, two sound detection pipes are selected from the sound detection pipes embedded in the pile body as quality evaluation pipes, one as the ultrasonic signal emission side and the other as the ultrasonic signal receiving side; the cable pulley device is used to control the two ultrasonic probes to descend synchronously and uniformly; the data sampling frequency is set according to the descending speed of the ultrasonic probe, for example, the sampling frequency can be increased when the descending speed is fast to avoid missing key data; the frequency is reduced when the speed is slow to optimize the data amount, thereby ensuring that the number of sampling points per unit length is reasonable.

[0066] In the embodiments of the present application, the above-mentioned monitored pressure is the real-time pressure monitored by the pressure sensor of the pulley support during the descent of the ultrasonic probe along the sound detection pipe. If the real-time pressure monitored by the pressure sensor of a certain pulley support is greater than the initial pressure, it proves that the pulley support is compressed and the ultrasonic probe deviates from the inner wall of the sound detection pipe on that side. If the real-time pressure monitored by the pressure sensor of a certain pulley support is less than the initial pressure, it proves that the pulley support is stretched and the ultrasonic probe deviates from the inner wall of the sound detection pipe on that side.

[0067] In the embodiments of the present application, the above-mentioned monitored length is the real-time distance from the contact point of the pulley support and the edge of the sound detection pipe to the center of the ultrasonic transducer during the descent of the ultrasonic probe along the sound detection pipe, which can be determined according to Hooke's Law. For example, the determination process of the above-mentioned monitored length can be implemented as follows: the spring stiffness coefficient of the pulley support is obtained, and the pressure difference between the monitored pressure and the initial pressure is determined; the elongation of the pulley support at the monitoring position is determined based on the spring stiffness coefficient and the pressure difference; the difference between the initial length and the elongation is calculated and recorded as the monitored length.

[0068] Specifically, taking the i-th monitoring point in the descent of the ultrasonic probe along the sound detection pipe as an example, if the real-time pressure monitored by the pressure sensor of a certain pulley support at the i-th monitoring point is , and the initial pressure is , then according to Hooke's Law, the elongation of the above-mentioned pulley support at the i-th monitoring point relative to the initial position of the top end of the sound detection pipe is:

[0069]

[0070] wherein, is the elongation of the above-mentioned pulley support at the i-th monitoring point relative to the initial position of the top end of the sound detection pipe; = - is the difference between the real-time pressure and the initial pressure monitored by the above-mentioned pulley support at the i-th monitoring point; is the stiffness coefficient of the spring of the above-mentioned pulley support; if the calculated is positive, it indicates the compression amount of the spring, and if the calculated is negative, it indicates the stretching amount of the spring.

[0071] Further, the elongation amount of the pulley support at the i-th monitoring point relative to the initial position of the top end of the sound measuring tube calculated above determining the monitoring length of the pulley support at the i-th monitoring point

[0072]

[0073] wherein, is the monitoring length of the pulley support at the i-th monitoring point; is the initial length of the pulley support when the ultrasonic probe is at the initial position of the top end of the sound measuring tube; is the elongation amount of the pulley support at the i-th monitoring point relative to the initial position of the top end of the sound measuring tube.

[0074] It should be noted that in the pile quality detection method for bridge engineering provided by the embodiments of the present application, the monitoring points of the ultrasonic probe in the lowering process can be determined by the above-mentioned data sampling frequency set according to the lowering speed of the cable pulley, and data such as ultrasonic signals, monitored pressure and 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 end of the sound measuring tube, the directions of each pulley support need to be consistent with the pile section coordinate system and the initial sound measuring tube section coordinate system, as shown in FIG. 1, taking the positive direction of the y-axis as the starting point, the pulley supports in the ultrasonic probe are numbered as A, B, C and D in the counterclockwise direction, respectively, wherein the pulley supports A, B, C and D correspond to the positive direction of the y-axis, the negative direction of the x-axis, the negative direction of the y-axis and the positive direction of the x-axis, respectively, when the ultrasonic probe is at the initial position of the top end of the sound measuring tube. Figure 5

[0075] In step S130, it is determined whether the sound measuring tube is deformed based on the monitoring length of each pulley support, and if it is determined that the sound measuring tube is deformed, a replacement warning signal is fed back.

[0076] After determining the monitoring length of each pulley support in the ultrasonic probe at each monitoring point through the above process, the embodiments of the present application can also determine whether the sound measuring tube where the ultrasonic probe is located is deformed based on the monitoring length of each pulley support at any monitoring point. If the monitoring lengths of each pulley support of the ultrasonic probe at a certain monitoring point are different, it proves that the position of the ultrasonic probe relative to the center line of the sound measuring tube has deviated in the lowering process, and since the included angle between each pulley support is fixed, the pulley support after deviation is equivalent to two mutually perpendicular chords in the section circle of the sound measuring tube at the monitoring point, as shown in FIG. 2. Figure 6 ​​As shown, pulley bracket A and pulley bracket C form a chord, and pulley bracket B and pulley bracket D form another chord. At this time, the theorem of two mutually perpendicular chords in a circle (if two chords in a circle are perpendicular to each other, then the sum of the squares of the distances from the four endpoints of the two chords to the intersection is equal to the square of the circle diameter) can be used to determine whether the acoustic detection tube is deformed.

[0077] Exemplarily, the above-mentioned theorem based on two mutually perpendicular chords in a circle to determine whether the acoustic detection tube has been deformed can be achieved by the following method: obtain the square of the pipe diameter of the acoustic detection tube where the ultrasonic probe is located, recorded as the first square value; calculate the sum of the squares of the monitoring lengths of each pulley bracket of the ultrasonic probe, recorded 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 the first preset threshold, it is determined that the acoustic detection tube has been deformed, otherwise it is determined that the acoustic detection tube has not been deformed.

[0078] Specifically, Figure 6 Taking the acoustic detection pipe section at the i-th monitoring point as an example, AE is the bracket length of pulley bracket A at the i-th monitoring point, BE is the bracket length of pulley bracket B at the i-th monitoring point, CE is the bracket length of pulley bracket C at the i-th monitoring point, and DE is the bracket length of pulley bracket D at the i-th monitoring point. Assume that the values ​​of the bracket lengths of AE, BE, CE, and DE are , , , , the deformation degree of the acoustic testing tube (that is, the absolute value of the square difference between the first square value and the second square value) can be determined as follows:

[0079]

[0080] in, is the deformation degree of the acoustic detection tube at the i-th monitoring point; It is the inner diameter of the acoustic testing pipe after installation and without being affected by external factors; are the lengths of the corresponding pulley brackets at the i-th monitoring point; In the embodiment of the present invention, the normalization function is a linear normalization function. In other embodiments of the present invention, other normalization functions may also be used, which will not be described or limited here.

[0081] After determining the deformation degree of the acoustic detection tube at the i-th monitoring point, it is also possible to determine whether the acoustic detection tube has deformed at the i-th monitoring point by setting the above-mentioned first preset threshold. When the deformation degree of the acoustic detection tube exceeds the threshold, the propagation distance of the ultrasonic signal in water cannot be determined based on the ultrasonic data of the monitoring point. For example, if the first preset threshold is 0.2, then when When it is greater than 0.2, the acoustic detection tube is determined to be deformed, and the i-th monitoring point is marked as an abnormal point, and the water distance of the ultrasonic signal is not calculated for it.

[0082] In an embodiment of the present application, when it is determined that the acoustic detection tube is deformed 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 detection tube; the embodiment of the present application can re-identify the monitoring point through the replaced acoustic detection tube, or can use other detection methods such as manual labor to confirm the quality of the monitoring point. The embodiment of the present application does not impose any special restrictions on this.

[0083] In step S140 , when the acoustic tube is not deformed, a rotation section coordinate system of the acoustic tube 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 tube are determined based on the monitoring length.

[0084] In the embodiment of the present application, the above-mentioned monitoring position is the position of the ultrasonic probe in the cross section of the acoustic detection pipe corresponding to the monitoring point.

[0085] For example, the above-mentioned establishment of the ultrasonic tube rotation section coordinate system based on the monitoring position of the ultrasonic probe can be implemented as follows: on the section corresponding to the monitoring position, with the center of the ultrasonic tube as the origin, the directions passing through the center of the ultrasonic tube and parallel to the pulley bracket as the horizontal and vertical coordinate axes, the ultrasonic tube rotation section coordinate system is established. Specifically, Figure 7 As shown, the center of the section of the acoustic detection tube corresponding to the current monitoring point is taken as the coordinate origin, the longitudinal coordinate axis y' passes through the coordinate origin and is parallel to the line connecting pulley bracket A and pulley bracket C, and the transverse coordinate axis x' passes through the coordinate origin and is parallel to the line connecting pulley bracket B and pulley bracket D.

[0086] In determining the coordinate system of the rotating section of the acoustic detection tube, the above-mentioned method can be further implemented and the rotating coordinates of the ultrasonic probe in the rotating section coordinate system of the acoustic detection tube can be determined based on the monitoring length by the following method: the line between the center of the acoustic detection tube and the center of the ultrasonic probe is recorded as the first line, the pipe radius of the acoustic detection tube is obtained, and the length of the first line is determined based on the pipe radius and the monitoring length of each pulley bracket; the angle between the first line and the horizontal axis of the rotating section coordinate system of the acoustic detection tube is determined based on the monitoring length of each pulley bracket; and the rotating coordinates of the ultrasonic probe in the rotating section coordinate system of the acoustic detection tube are determined based on the line length and the angle.

[0087] Specifically, the above Figure 7The illustrated acoustic pipe rotating section coordinate system is an example, assuming that the acoustic pipe rotating section coordinate system is the acoustic pipe rotating section coordinate system corresponding to the i-th monitoring point. In the rotating acoustic pipe section circle, pulley supports A and C form a chord, pulley supports B and D form another chord, and the two chords are perpendicular to each other. According to the theorem of two mutually perpendicular chords in a circle (if there are two mutually 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 the two chords is equal to where R is the radius of the circle, and b is the distance from the center O to the intersection point E), in Figure 7 , the chord length formed by pulley supports A and C is = , where , are the values of the support lengths of pulley supports A and C at the i-th monitoring point, respectively; the chord length formed by pulley supports B and D is = , where , are the values of the support lengths of pulley supports B and D at the i-th monitoring point, respectively, then the length of the OE (i.e., the first connecting line) can be determined by the following formula:

[0088]

[0089] where r is the distance between the center position of the ultrasonic probe and the acoustic pipe circle at the i-th monitoring point (i.e., the length of the first connecting line; is the sum of the support lengths of pulley supports A and C at the i-th monitoring point; is the sum of the support lengths of pulley supports B and D at the i-th monitoring point; R is the radius of the inner wall circle of the acoustic pipe.

[0090] Further, the angle between the first connecting line OE and the x' axis of the acoustic pipe rotating section coordinate system of the i-th monitoring point can be determined:

[0091]

[0092] where is the angle between the first connecting line OE and the x' axis of the acoustic pipe rotating section coordinate system of the i-th monitoring point; = , which is the value of the support length of pulley support A at the i-th monitoring point in the positive direction of the y' axis; , which is the value of the support length of pulley support C at the i-th monitoring point in the negative direction of the y' axis; , which is the value of the support length of pulley support D at the i-th monitoring point in the positive direction of the x' axis; is the value of the length of the pulley support B at the i-th monitoring point in the negative direction of the x' axis; is the arctangent function; the minimum value in the denominator for preventing a division by zero error.

[0093] Thus, the rotation coordinates of the ultrasonic probe in the sound tube rotating section coordinate system corresponding to the i-th monitoring point (i.e., the position coordinates of the ultrasonic probe center E in the sound tube rotating section coordinate system) can be determined: .

[0094] In step S150, the rotation matrix of the sound tube initial section coordinate system and the sound tube rotating section coordinate system is determined, and the rotation coordinates are converted into the pile section coordinate system based on the rotation matrix and the section conversion matrix.

[0095] In the embodiments of the present application, the above-mentioned rotation matrix is a rotation matrix for realizing the coordinate conversion between the sound tube initial section coordinate system and the sound tube rotating section coordinate system. Illustratively, 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 sound tube initial section coordinate system and the sound tube rotating section coordinate system based on the rotation angle.

[0096] In the embodiments of the present application, the above-mentioned rotation angle of the ultrasonic probe from the initial position to the monitoring position can be monitored by the angle rotation monitoring unit arranged in the ultrasonic probe.

[0097] Illustratively, Figure 8 is the rotation angle of the sound tube initial section coordinate system counterclockwise to the sound tube rotating section coordinate system of the i-th monitoring point, which can be monitored by the above-mentioned angle rotation monitoring unit, and according to the rotation relationship between the sound tube initial section coordinate system counterclockwise and the sound tube rotating section coordinate system of the i-th monitoring point, the above-mentioned rotation matrix can be determined as follows: Figure 7 The schematic diagram of the sound tube rotating section coordinate system of the i-th monitoring point shown in FIG. 2, wherein Figure 8 It can be known that, is the rotation angle of the sound tube initial section coordinate system counterclockwise to the sound tube rotating section coordinate system of the i-th monitoring point, which can be monitored by the above-mentioned angle rotation monitoring unit, and according to the rotation relationship between the sound tube initial section coordinate system counterclockwise and the sound tube rotating section coordinate system of the i-th monitoring point, the above-mentioned rotation matrix can be determined as follows:

[0098]

[0099] After the rotation matrix is determined, further, the embodiment of the present application can also convert the rotation coordinates of the ultrasonic probe under the sound tube rotation section coordinate system to the pile section coordinate system by the rotation matrix C and the section conversion matrix of the pile section coordinate system and the sound tube initial section coordinate system determined in step S110, to unify the spatial reference frame, so that the water distance of the ultrasonic signal can be accurately calculated, and the accuracy of the pile quality detection is improved. Exemplarily, the conversion process can be implemented as follows: based on the rotation matrix, the rotation coordinates of the ultrasonic probe under the sound tube rotation section coordinate system are converted to the sound tube initial section coordinate system, to obtain the corresponding position coordinates of the ultrasonic probe under the sound tube initial section coordinate system; based on the section conversion matrix, the position coordinates of the ultrasonic probe under the sound tube initial section coordinate system are converted to the pile section coordinate system, to obtain the pile position coordinates of the ultrasonic probe under the pile section coordinate system.

[0100] Specifically, taking the sound tube initial section coordinate system counterclockwise rotating to the sound tube rotation section coordinate system of the i th monitoring point as an example, the corresponding position coordinates of the ultrasonic probe under the sound tube initial section coordinate system are as follows: Figure 8

[0101]

[0102] wherein, is the position coordinates obtained by converting the rotation coordinates of the ultrasonic probe under the sound tube rotation section coordinate system of the i th monitoring point to the sound tube initial section coordinate system; is the rotation matrix between the sound tube initial section coordinate system and the sound tube rotation section coordinate system of the i th monitoring point; is the rotation coordinates under the sound tube rotation section coordinate system of the i th monitoring point.

[0103] Further, by multiplying the above-mentioned pile section coordinate system and the section conversion matrix of the pile section coordinate system and the sound tube initial section coordinate system on the corresponding position coordinates of the ultrasonic probe under the sound tube initial section coordinate system, the pile position coordinates of the ultrasonic probe under the pile section coordinate system are obtained.

[0104] In step S160, the water distance of the ultrasonic signal is determined based on the pile position coordinates, and the quality defects of the pile are detected based on the water distance and the ultrasonic signal.

[0105] ​​In an embodiment of the present application, the above-mentioned water-through distance is the distance that the ultrasonic signal propagates in water. Exemplarily, the above-mentioned determination of the water-through distance of the ultrasonic signal based on the pile position coordinates can be implemented as follows: determine the second connecting line between the center of the transmitting end probe and the receiving end probe in the pile section coordinate system, the first intersection of the second connecting line and the acoustic detection tube where the transmitting end probe is located, and the second intersection of the second connecting line and the acoustic detection tube 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, and the second distance between the receiving end probe and the second intersection; calculate the sum of the first distance and the second distance, which is recorded as the water-through distance; wherein the above-mentioned transmitting end probe is an ultrasonic probe for transmitting ultrasonic signals; and the above-mentioned receiving end probe is an ultrasonic probe for receiving ultrasonic signals.

[0106] Specifically, if Figure 9 As shown, the pile position coordinate points of the transmitting probe and the receiving probe in the pile section coordinate system are connected, and the connecting line passes through the two acoustic detection tubes respectively. The intersection of the connecting line and the acoustic detection tube where the transmitting probe is located is recorded as the above-mentioned first intersection point, and the distance between the pile position coordinate point of the transmitting probe and the first intersection point is recorded as the first distance The intersection of the connecting line and the acoustic detection tube where the receiving probe is located is recorded as the second intersection point, and the distance between the base pile position coordinate point of the receiving probe and the second intersection point is recorded as the second distance , the distance through water is and .in, and The coordinates of the intersection of the first intersection point and the second intersection point can be determined, and then calculated using the coordinates of the intersection point and the coordinates of the base pile position of the corresponding ultrasonic probe.

[0107] In an embodiment of the present application, after determining the water distance, the aforementioned detection of pile quality defects based on the water distance and ultrasonic signals can be achieved by inputting the water distance and ultrasonic signals into a pre-trained quality detection model to determine the pile defect category. The quality detection model is trained based on a Long Short-Term Memory Network (LSTM) architecture, using a training dataset consisting of manually labeled pairs of ultrasonic signals, water distance, quality defect type, and defect grade.

[0108] Exemplarily, the above ultrasonic signal is time domain waveform data collected in ultrasonic detection, and characteristic values such as sound time, sound speed, wave amplitude and main frequency extracted after preprocessing, reflecting the compactness and uniformity of the pile concrete; the above water distance directly affects the attenuation degree of the ultrasonic signal, the longer the water distance, the longer the propagation time of the ultrasonic signal in water, and the greater the energy loss; the above quality defect type and defect level are defect types (such as cavity, crack, and mud) and levels (light / medium / heavy) marked by engineering detection personnel, which are based on ultrasonic signal feature abnormalities (such as sound speed below threshold, wave amplitude mutation) and water distance changes (such as local water distance abnormally increased, which may indicate concrete missing), and are comprehensively judged in combination with pile construction records.

[0109] The above mainly introduces the scheme provided by the embodiments of the present application from the perspective of method. In order to realize the above functions, it contains the hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or the combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered as beyond the scope of the present application.

[0110] Correspondingly, the present disclosure also provides a pile quality detection system for bridge engineering, referring to Figure 10 The pile quality detection system for bridge engineering 1000 can include a data processing module 1010 and a quality detection module 1020, wherein:

[0111] The data processing module is configured to establish a pile section coordinate system and an initial sound tube section coordinate system, and determine a section conversion matrix of the pile section coordinate system and the initial sound tube section coordinate system.

[0112] The data processing module is further configured to determine the initial length and the initial pressure of each pulley support in the ultrasonic probe, collect the monitoring pressure of each pulley support during the descent of the ultrasonic probe along the sound tube, and determine the monitoring length of each pulley support based on the initial pressure, the initial length and the monitoring pressure.

[0113] The data processing module is further configured to determine whether the sound tube has deformed based on the monitoring length of each pulley support, and if it is determined that the sound tube has deformed, feed back a replacement warning signal.

[0114] The data processing module is further configured to establish a sound measuring pipe rotating section coordinate system based on the monitoring position of the ultrasonic probe when the sound measuring pipe does not deform, and determine the rotating coordinates of the ultrasonic probe in the sound measuring pipe rotating section coordinate system based on the monitoring length.

[0115] The data processing module is further configured to determine a rotating matrix of the sound measuring pipe initial section coordinate system and the sound measuring pipe rotating section coordinate system, and convert the rotating coordinates into the pile position coordinates in the pile section coordinate system through the rotating matrix and the section conversion matrix.

[0116] The quality detection module is configured to determine the water distance of the ultrasonic signal based on the pile position coordinates, and detect the quality defects of the pile based on the water distance and the ultrasonic signal.

[0117] The specific implementation details of the pile quality detection system for bridge engineering described above have been described in detail in the corresponding positions of the pile quality detection method for bridge engineering, and therefore will not be described here.

[0118] The above description is only the preferred embodiments of the present disclosure and the explanation of the applied technical principles. Those skilled in the art should understand that the disclosed range of the present disclosure is not limited to the technical solutions formed by the specific combinations of the technical features described above, and should also cover other technical solutions formed by any combination of the above technical features or equivalent features without departing from the disclosed concept. For example, the technical solutions formed by replacing the above features with the technical features disclosed in the present disclosure (but not limited to) having similar functions.

[0119] In addition, although each operation is described in a specific order, this should not be understood as requiring the operations to be performed in the specific order shown or in a sequential order. In certain circumstances, multitasking and parallel processing can be advantageous. Similarly, although several implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments can also be combined in a single embodiment. Conversely, various features described in the context of a single embodiment can also be separated and implemented in multiple embodiments.

Claims

1. A method for pile quality detection for bridge engineering, characterized in that, The method comprises: establishing a pile section coordinate system and a sounding pipe initial section coordinate system, and determining a section conversion matrix of the pile section coordinate system and the sounding pipe initial section coordinate system; determining initial lengths and initial pressures of each pulley support in an ultrasonic probe, collecting monitored pressures of each pulley support in the ultrasonic probe during the descent of the sounding pipe, and determining monitored lengths of each pulley support based on the initial pressures, the initial lengths and the monitored pressures; determining whether the sounding pipe is deformed based on the monitored lengths of each pulley support, and feeding back a replacement warning signal if it is determined that the sounding pipe is deformed; when the sounding pipe is not deformed, establishing a sounding pipe rotating section coordinate system based on a monitored position of the ultrasonic probe, and determining a rotating coordinate of the ultrasonic probe in the sounding pipe rotating section coordinate system based on the monitored lengths, comprising: establishing the sounding pipe rotating section coordinate system on a section corresponding to the monitored position, taking the center of the sounding pipe as the origin, and taking a direction passing through the center of the sounding pipe and parallel to the pulley support as the horizontal and vertical coordinate axes; wherein each pulley support is symmetrically distributed at 90 degrees; recording a line connecting the center of the sounding pipe to the center of the ultrasonic probe as a first connecting line, obtaining a pipe radius of the sounding pipe, and determining a connecting line length of the first connecting line based on the pipe radius and the monitored lengths of each pulley support; determining an included angle between the first connecting line and the horizontal axis of the sounding pipe rotating section coordinate system based on the monitored lengths of each pulley support; determining the rotating coordinate of the ultrasonic probe in the sounding pipe rotating section coordinate system based on the connecting line length and the included angle; determining a rotation matrix of the sounding pipe initial section coordinate system and the sounding pipe rotating section coordinate system, converting the rotating coordinate into a pile position coordinate in the pile section coordinate system based on the rotation matrix and the section conversion matrix; determining a water distance of an ultrasonic signal based on the pile position coordinate, and detecting a quality defect of a pile based on the water distance and the ultrasonic signal; the ultrasonic probe comprises a transmitting end probe and a receiving end probe; determining a water distance of an ultrasonic signal based on the pile position coordinate comprises: determining a second connecting line between the center of the transmitting end probe and the receiving end probe, a first intersection point of the second connecting line and the sounding pipe where the transmitting end probe is located, and a second intersection point of the second connecting line and the sounding pipe where the receiving end probe is located in the pile section coordinate system; determining a first distance between the transmitting end probe and the first intersection point, and a second distance between the receiving end probe and the second intersection point based on the pile position coordinate of the transmitting end probe and the pile position coordinate of the receiving end probe; calculating a sum of the first distance and the second distance as the water distance.

2. The method for pile quality detection for bridge engineering according to claim 1, characterized in that, The establishment of the pile section coordinate system and the sounding pipe initial section coordinate system comprises: A base pile is taken as an origin, a north-south direction is taken as a longitudinal axis, and an east-west direction is taken as a transverse axis to establish a base pile section coordinate system of the base pile in the corresponding section; Under the same section, for each sound measuring tube arranged in the base pile, a center of the sound measuring tube is taken as an origin, a direction passing through the center of the sound measuring tube and parallel to the longitudinal axis of the base pile section coordinate system is taken as a longitudinal axis, and a direction passing through the center of the sound measuring tube and parallel to the transverse axis of the base pile section coordinate system is taken as a transverse axis to establish a sound measuring tube initial section coordinate system.

3. The method for pile quality detection for bridge engineering according to claim 1, characterized in that, The monitoring length of the pulley support is determined based on the initial pressure, the initial length, and the monitoring pressure, including: A spring stiffness coefficient of the pulley support is obtained, and a pressure difference between the monitoring pressure and the initial pressure is determined; An elongation of the pulley support at the monitoring position is determined based on the spring stiffness coefficient and the pressure difference; A difference between the initial length and the elongation is calculated as the monitoring length.

4. The method for pile quality detection for bridge engineering according to claim 1, characterized in that, The deformation of the sound measuring tube is determined based on the monitoring length, including: A square of a pipe diameter of the sound measuring tube where the ultrasonic probe is located is obtained as a first square value; A square sum of the monitoring length of each pulley support of the ultrasonic probe is calculated as a second square value; An absolute value of a square difference between the first square value and the second square value is calculated; If the absolute value of the square difference is greater than a first preset threshold, it is determined that the sound measuring tube is deformed, otherwise it is determined that the sound measuring tube is not deformed.

5. The method for pile quality detection for bridge engineering according to claim 1, characterized in that, The rotation matrix of the sound measuring tube initial section coordinate system and the sound measuring tube rotated section coordinate system is determined, including: A rotation angle of the ultrasonic probe from an initial position to the monitoring position is obtained, and the rotation matrix of the sound measuring tube initial section coordinate system and the sound measuring tube rotated section coordinate system is determined based on the rotation angle.

6. The method for pile quality detection for bridge engineering according to claim 5, wherein, The rotation coordinate is converted into a base pile position coordinate in the base pile section coordinate system based on the rotation matrix and the section conversion matrix, including: The rotation coordinate of the ultrasonic probe in the sound measuring tube rotated section coordinate system is converted into the sound measuring tube initial section coordinate system based on the rotation matrix, to obtain a corresponding position coordinate of the ultrasonic probe in the sound measuring tube initial section coordinate system; The position coordinate of the ultrasonic probe in the sound measuring tube initial section coordinate system is converted into the base pile section coordinate system based on the section conversion matrix, to obtain a base pile position coordinate of the ultrasonic probe in the base pile section coordinate system.

7. The method for pile quality detection for bridge engineering according to claim 1, characterized in that, The quality defect of the base pile is detected based on the water distance and the ultrasonic signal, including: The water distance and the ultrasonic signal are input into a pre-trained quality detection model to obtain a defect category of the base pile.

8. A pile quality detection system for bridge engineering, characterized by, The system includes: A data processing module is configured to establish a base pile section coordinate system and a sound measuring tube initial section coordinate system, and determine a section conversion matrix of the base pile section coordinate system and the sound measuring tube initial section coordinate system. The data processing module is further configured to determine initial lengths and initial pressures of each pulley support in the ultrasonic probe, collect monitored pressures of each pulley support during lowering of the ultrasonic probe along the caliper, and determine monitored lengths of each pulley support based on the initial pressures, the initial lengths and the monitored pressures. The data processing module is further configured to determine whether the caliper is deformed based on the monitored lengths of each pulley support, and feed back a replacement warning signal if it is determined that the caliper is deformed. The data processing module is further configured to, when the caliper is not deformed, establish a caliper rotating section coordinate system based on a monitored position of the ultrasonic probe, and determine a rotating coordinate of the ultrasonic probe in the caliper rotating section coordinate system based on the monitored lengths, including: establishing the caliper rotating section coordinate system on a section corresponding to the monitored position, taking a center of the caliper as an origin, and taking a direction passing through the center of the caliper and parallel to the pulley support as a horizontal and vertical coordinate axis, wherein the pulley supports are symmetrically distributed at 90 degrees; recording a first connecting line between the center of the caliper and a center of the ultrasonic probe as the first connecting line, obtaining a pipe radius of the caliper, and determining a connecting line length of the first connecting line based on the pipe radius and the monitored lengths of each pulley support; determining an included angle between the first connecting line and a horizontal axis of the caliper rotating section coordinate system based on the monitored lengths of each pulley support; determining the rotating coordinate of the ultrasonic probe in the caliper rotating section coordinate system based on the connecting line length and the included angle; The data processing module is further configured to determine a rotation matrix of the caliper initial section coordinate system and the caliper rotating section coordinate system, and convert the rotating coordinate into a pile position coordinate in the pile section coordinate system based on the rotation matrix and a section conversion matrix; The quality detection module is configured to determine a water distance of an ultrasonic signal based on the pile position coordinate, and detect quality defects of a pile based on the water distance and the ultrasonic signal; the ultrasonic probe includes a transmitting end probe and a receiving end probe; determining a water distance of an ultrasonic signal based on the pile position coordinate includes determining a second connecting line between a center of the transmitting end probe and the receiving end probe, a first intersection point of the second connecting line and the caliper where the transmitting end probe is located, and a second intersection point of the second connecting line and the caliper where the receiving end probe is located in the pile section coordinate system; determining a first distance between the transmitting end probe and the first intersection point and a second distance between the receiving end probe and the second intersection point based on the pile position coordinate of the transmitting end probe and the pile position coordinate of the receiving end probe; calculating a sum of the first distance and the second distance as the water distance.

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