Management system and method for water pile foundation detection platform

Abstract

The invention relates to the technical field of overwater pile foundation detection platform management, and discloses an overwater pile foundation detection platform management system and method, and the method comprises the steps: recording the water flow speed and the water flow direction angle of a point location; executing a flow field modeling strategy, establishing a flow velocity vector diagram of a water surface area where the bridge is located, executing a path energy consumption modeling strategy, calculating the influence of water flow on the detection platform, and calculating the energy consumption of the detection platform moving at a constant speed between the two to-be-detected foundation pillars; acquiring a current node on a detection path where the detection platform is located and a next target node of the current node; executing an auxiliary drift strategy, adjusting the attitude of the detection platform through cooperation of a tail vane, and controlling the detection platform to move from the current node to a target node; when the detection platform moves from the current node to the target node, the current position of the control platform is detected in real time; and executing a fine-tuning positioning strategy, controlling the detection platform to stop on the pile foundation where the target node is located, and improving the endurance and operation efficiency of the platform.

Description

Technical Field

[0001] The present invention relates to the technical field of management of water-based pile foundation detection platforms, and specifically provides a management system and method for a water-based pile foundation detection platform. Background Technique

[0002] A water-based pile foundation detection platform is an important device for the safety assessment of pile foundations of water structures such as bridges and docks. It is usually equipped with sonar, cameras, and positioning devices to perform non-destructive detection of underwater structures. By using a water-based detection platform instead of manual diving detection, not only the operation efficiency and personnel safety are greatly improved, but also data standardization and remote management can be achieved. Especially in complex water environments, the detection platform has stronger environmental adaptability and controllability, which is conducive to the planned, automated, and intelligent management of detection tasks.

[0003] Existing water-based pile foundation detection systems have significant deficiencies in path scheduling and energy consumption control. On the one hand, most detection platforms operate in a fixed path or manual remote control mode, lacking a dynamic response mechanism and unable to flexibly adjust the travel path according to changes in the water flow environment, resulting in low detection efficiency. On the other hand, current technologies generally ignore the influence of water flow on the movement direction and speed of the platform. Especially in rivers with strong or complex water flow directions, when the platform moves against the water flow, the energy consumption often increases significantly, and even deviates from the predetermined course, affecting the detection accuracy and operation safety. In addition, existing technologies lack the ability to sense and analyze the water flow vector field, and cannot implement path optimization and scheduling strategies based on the hydrodynamic environment. In complex water operation scenarios, such technical defects limit the autonomous operation ability and energy-saving performance of the detection platform, and it is also difficult to meet the high-efficiency detection requirements in scenarios with multiple pile foundations such as bridges and docks. Therefore, it is necessary to develop a new detection system that can sense the water flow environment, reasonably schedule the movement path of the platform, and optimize energy consumption.

[0004] This solution proposes a management system and method for a water-based pile foundation detection platform, which realizes water flow-assisted energy-saving scheduling by intelligently sensing the water flow vector field and dynamically planning the detection path. Summary of the Invention

[0005] The present invention provides a management system and method for a water-based pile foundation detection platform to help solve the problems mentioned in the above background technique.

[0006] The present invention provides the following technical solution: A management method for a water-based pile foundation detection platform, including:

[0007] For the bridge with pile foundations to be detected, establish a two-dimensional coordinate system at an arbitrary point on the water surface;

[0008] Set multiple points in the water surface area where the bridge is located, and use water flow sensors to record the water flow velocity and water flow direction angle at each point;

[0009] Implement the flow field modeling strategy to establish a velocity vector map of the water area where the bridge is located;

[0010] Obtain the positions of each pile foundation on the bridge in the two-dimensional coordinate system;

[0011] Divide the pile foundations into detected pile foundations and pile foundations to be detected;

[0012] Obtain any two pile foundations to be detected, implement the path energy consumption modeling strategy, calculate the influence of the water flow on the detection platform, and calculate the energy consumption of the detection platform moving uniformly between the two pile foundations to be detected;

[0013] Obtain all the pile foundations to be detected, use each pile foundation to be detected as a node of the graph, and use the energy consumption between the nodes as the weight of the edge to construct an energy consumption relationship graph;

[0014] Apply the greedy algorithm to the energy consumption relationship graph to calculate the detection path with the lowest energy consumption;

[0015] Obtain the current node on the detection path where the detection platform is located and the next target node of the current node;

[0016] Implement the auxiliary drift strategy, and adjust the attitude of the detection platform with the cooperation of the tail rudder to control the detection platform to move from the current node to the target node;

[0017] During the process of the detection platform moving from the current node to the target node, continuously detect the current position of the control platform;

[0018] Set a distance threshold;

[0019] Implement the fine-tuning positioning strategy to control the detection platform to dock at the pile foundation where the target node is located.

[0020] Preferably, the implementation of the flow field modeling strategy to establish a velocity vector map of the water area where the bridge is located includes:

[0021] Set the counterclockwise direction as the positive direction, and the water flow direction angle at the j-th point relative to the due east direction is θ j ;

[0022] Obtain the water flow velocity v at the j-th point j ;

[0023] Represent the water flow at the j-th point as a two-dimensional vector where, cosθ j is the component of the two-dimensional vector on the horizontal axis, and sinθ j is the component of the two-dimensional vector on the vertical axis;

[0024] Establish a continuous velocity vector map for the water area where the bridge is located, specifically:

[0025] For any point on the water surface area, obtain the straight-line distance d from this point to all water flow sensors j ;

[0026] Calculate the weight function of this point α is a parameter for controlling the influence degree of distance;

[0027] Calculate the two-dimensional vector of this point

[0028] Convert the two-dimensional vector of this point into water flow velocity where, v x , v y are the magnitudes of the two-dimensional vector in the horizontal and vertical coordinates respectively;

[0029] Convert the two-dimensional vector of this point into the water flow direction angle θ = atan2(v y , v x ).

[0030] Preferably, for the acquisition of any two piles to be detected, execute the path energy consumption modeling strategy, calculate the influence of water flow on the detection platform, and calculate the energy consumption of the detection platform moving uniformly between the two piles to be detected, including:

[0031] Respectively represent the positions of the two piles to be detected in the two-dimensional coordinate system as and

[0032] Calculate the direction vector from to

[0033] Establish the movement path of the two piles to be detected from to On the movement path, sample multiple path points;

[0034] Obtain the two-dimensional vector of each path point, calculate the average value of the two-dimensional vectors of all path points, and the result is used as the average water flow vector on the movement path

[0035] Calculate the direction vector and the included angle θ between the average water flow vector AB ;

[0036] where, is the modulus length;

[0037] When cosθ AB ≥0, the water flow is beneficial to the movement of the detection platform;

[0038] When cosθ AB ​< 0, the water flow is not conducive to the movement of the detection platform.

[0039] Preferably, the steps of obtaining any two piles to be detected, implementing a path energy consumption modeling strategy, calculating the influence of water flow on the detection platform, and calculating the energy consumption of the detection platform moving at a constant speed between the two piles to be detected further include:

[0040] When the water flow is conducive to the movement of the detection platform:

[0041] Obtain the control power P0 of the detection platform, where the control power is used to control the detection platform to move at a constant speed;

[0042] Calculate the detection platform from to The power P of moving at a constant speed AB , β1 is the energy consumption coefficient caused by the water flow deviation, and β2 is the energy consumption coefficient caused by the moving distance;

[0043] Calculate the detection platform from to The energy consumption E of moving AB , E AB = P AB ×t AB , t AB is the length of the moving path divided by the moving speed of the detection platform.

[0044] Preferably, the steps of obtaining any two piles to be detected, implementing a path energy consumption modeling strategy, calculating the influence of water flow on the detection platform, and calculating the energy consumption of the detection platform moving at a constant speed between the two piles to be detected further include

[0045] When the water flow is not conducive to the movement of the detection platform:

[0046] Taking the position as the center and l as the radius to establish a transfer drift circle;

[0047] Control the detection platform to be stationary, and obtain the position point where the detection platform drifts with the water to the transfer drift circle

[0048] Calculate the detection platform from to The power P of moving at a constant speed AC , where θ AC is the included angle between the direction vector and the average water flow vector ,

[0049] Establish two piles to be detected from to The moving path, sample multiple path points on the moving path, obtain the two-dimensional vectors of each path point, calculate the mean value of the two-dimensional vectors, and obtain the average water flow vector

[0050] Calculate the energy consumption E of the detection platform moving from to ; E AC , E AC = P AC × t AC , t AC is the length of the moving path from to divided by the moving speed of the detection platform;

[0051] Compare the energy consumption E AB and the energy consumption E AC ;

[0052] If E AB ≤ E AC , then the detection platform moves uniformly from to

[0053] If E AB > E AC , then the detection platform drifts statically from to and then from moves uniformly to

[0054] Preferably, the execution of the assisted drift strategy, the tail rudder is coordinated to adjust the attitude of the detection platform, and the detection platform is controlled to move from the current node to the target node, including:

[0055] When the detection of the pile foundation where the current node is located is completed, control the detection platform to release the positioning and anchoring structure;

[0056] Obtain the current position of the detection platform and the position of the target node;

[0057] Calculate the target course angle θ0 of the detection platform = arctan2(y T - y q , x T - x q ), x q , y q are the horizontal and vertical coordinates of the current position respectively, and x T , y T are the horizontal and vertical coordinates of the target node respectively;

[0058] Use the course sensor to measure the orientation θ1 of the detection platform;

[0059] Calculate the difference Δθ between the orientation of the detection platform and the target heading angle, Δθ = θ0 - θ1;

[0060] Calculate the rudder deflection angle δ, where is the proportionality coefficient, is the differential coefficient;

[0061] Control the rudder to adjust the rudder deflection angle in real time, adjust the attitude of the detection platform, and control the detection platform to move uniformly towards the target node.

[0062] Preferably, the execution of the fine-tuning positioning strategy to control the detection platform to dock at the pile foundation where the target node is located includes:

[0063] Calculate the distance Δd between the current position of the detection platform and the target node;

[0064]

[0065] Compare the distance Δd with the distance threshold. If the distance Δd is less than or equal to the distance threshold, start the electric propeller to apply a thrust F to the detection platform so that the detection platform docks at the pile foundation where the target node is located;

[0066] where is the position control gain, is the velocity damping coefficient, and v is the uniform moving speed of the detection platform.

[0067] A management system for an underwater pile foundation detection platform, comprising:

[0068] A coordinate construction and pile foundation management module for establishing a detection area coordinate system and registering pile foundation information;

[0069] A water flow monitoring and flow field modeling module for obtaining water flow information and constructing a continuous velocity vector diagram;

[0070] A path energy consumption modeling and optimization module for establishing an energy consumption model and planning a lowest energy consumption detection path;

[0071] An auxiliary drift and rudder control module for controlling the drift direction of the platform and maintaining a stable attitude to move forward;

[0072] A precise berthing and fine-tuning positioning module for realizing the precise berthing of the platform to the target pile foundation;

[0073] Among them, the coordinate construction and pile foundation management module includes:

[0074] A coordinate system initialization unit for establishing a two-dimensional coordinate system at any point in the water surface area;

[0075] The pile foundation position registration unit records the positions of each pile foundation in a two-dimensional coordinate system and classifies the detected pile foundations and the pile foundations to be detected;

[0076] The water flow monitoring and flow field modeling module includes:

[0077] The multi-point water flow sensing unit is used to obtain the water flow velocity and direction angle of each point in the water surface area;

[0078] The flow velocity vector interpolation unit constructs a two-dimensional vector of any point on the water surface and establishes a complete flow velocity vector map;

[0079] The path energy consumption modeling and optimization module includes:

[0080] The uniform speed energy consumption modeling unit is used to establish an energy consumption model for uniform movement;

[0081] The transfer drift optimization unit uses energy consumption comparison to judge whether to drift to the transfer drift circle first and then advance at a uniform speed;

[0082] The optimal path planning unit applies the greedy algorithm to generate the lowest energy consumption detection path;

[0083] The auxiliary drift and rudder control module includes:

[0084] The positioning anchor release unit releases the anchoring device and prepares for the platform to drift;

[0085] The heading sensing and rudder control unit calculates the error between the target heading and the current heading, calculates the rudder angle, and adjusts the attitude;

[0086] The attitude maintenance and drift propulsion unit controls the detection platform to move forward to the target node;

[0087] The precise berthing and fine-tuning positioning module includes:

[0088] The distance threshold judgment unit detects whether the platform is approaching the target node;

[0089] The electric propulsion fine-tuning unit uses the micro-thrust of the electric propeller to precisely berth.

[0090] The present invention has the following beneficial effects:

[0091] 1. For the management method of the above water pile foundation detection platform, by establishing a continuous water surface flow velocity vector map, it effectively improves the platform's global cognitive ability of the flow field before path planning. By measuring the water flow velocity and direction angle of discrete points through sensors, converting them into two-dimensional vectors, and then combining with a weight function to smoothly expand these discrete vectors to the entire water area, continuous vector field modeling is achieved. The introduction of the weight function strengthens the accuracy of spatial interpolation, making the flow velocity vectors near a certain point have a greater impact on the result and being more in line with the actual flow field distribution. It provides basic data support for subsequent path optimization and energy consumption modeling.

[0092] 2. The management method of this water-based pile foundation detection platform finely models the water flow state on the path between two pile foundations, quantifies the advantages and disadvantages of the water flow on the platform movement. By sampling multiple points on the path and obtaining their average two-dimensional vectors, it accurately reflects the overall hydrodynamic environment of this path segment. According to the included angle, it judges whether the water flow assists or hinders the platform movement, thus providing a reasonable basis for path selection, achieving path decision-making aiming at energy conservation, and laying a foundation for the subsequent construction of energy consumption maps and scheduling algorithms.

[0093] 3. The management method of this water-based pile foundation detection platform, in the case where the water flow is in the favorable direction for the platform movement, by introducing a deviation coefficient and a distance coefficient, finely calculates the energy expenditure according to the actual control power of the platform, makes full use of the natural propulsion advantage of the favorable water environment, reasonably reduces the active propulsion energy consumption, and thus improves the overall energy efficiency ratio. Its advantage lies in achieving the optimization of the energy consumption sharing between the water flow forward propulsion and the platform active propulsion, avoiding unnecessary high-power output, and prolonging the equipment endurance time. It is suitable for dynamic path adjustment and energy budget evaluation in multi-path and multi-node decision-making scenarios.

[0094] 4. The management method of this water-based pile foundation detection platform, by introducing the concept of a transfer drift circle, solves the problem of high energy consumption caused by the unfavorable water flow direction. When there is a significant included angle between the path direction and the water flow direction, the platform does not go directly against the current, but controls the detection platform to drift with the water flow to the transfer area, and then starts to move forward uniformly from a point on the circumference of the transfer drift circle. Through the energy consumption comparison model, it dynamically selects the path with the lowest energy consumption between the two strategies of direct movement and drift + re-movement. By introducing environmental kinetic energy as an auxiliary power source, it greatly reduces the energy expenditure required for countercurrent propulsion. It improves the energy-saving efficiency of the system, enhances the flexibility of the scheduling path in a complex flow field, adds more feasible strategies for path optimization, and is more flexible and self-adaptive.

[0095] 5. The management method of this water-based pile foundation detection platform, the auxiliary drift strategy calculates the difference between the target heading angle and the current orientation of the platform in real time, and uses the heading sensor monitoring and the feedback of the tail rudder deflection angle to close the loop to control the direction of the platform, ensuring that the platform moves in the optimal posture. It improves the navigation stability and direction responsiveness of the platform, realizes dynamic heading correction under the premise of low energy consumption, and uses the tail rudder instead of high-power propulsion for fine direction adjustment, improving the energy efficiency ratio of the system control.

[0096] 6. The management method of the above-mentioned water-based pile foundation detection platform proposes a docking mechanism based on distance threshold for the precise positioning problem when the platform approaches the target pile foundation. By continuously monitoring the distance between the real-time position of the platform and the target pile foundation, when it is judged that fine adjustment is needed, a thrust is applied through the electric propeller, and attitude correction is carried out by combining the position control gain and the speed damping coefficient to achieve precise docking. It realizes the transition from global path navigation to local precise positioning, taking into account path optimization and end stability. Ensuring that the docking process is both stable and efficient is the last guarantee link for realizing highly reliable pile foundation detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] Figure 1 It is a schematic flow chart of the method of the present invention.

[0098] Figure 2 It is a schematic diagram of the system module of the present invention.

[0099] Figure 3 It is a schematic diagram of the transfer moving structure of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0100] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0101] Embodiment 1. Refer to Figure 1 , a management method for a water-based pile foundation detection platform, including:

[0102] For the bridge with pile foundations to be detected, establish a two-dimensional coordinate system at any point on the water surface;

[0103] Set multiple points in the water area where the bridge is located, and use water flow sensors to record the water flow velocity and water flow direction angle at each point;

[0104] Execute the flow field modeling strategy to establish a flow velocity vector map of the water area where the bridge is located;

[0105] Obtain the position of each pile foundation on the bridge in the two-dimensional coordinate system;

[0106] Divide the pile foundations into detected pile foundations and pile foundations to be detected;

[0107] Obtain any two pile foundations to be detected, execute the path energy consumption modeling strategy, calculate the influence of the water flow on the detection platform, and calculate the energy consumption of the detection platform moving uniformly between the two pile foundations to be detected;

[0108] Obtain all the pile foundations to be detected, use each pile foundation to be detected as a node of the graph, and use the energy consumption between nodes as the weight of the edge to construct an energy consumption relationship graph;

[0109] Apply the existing technology greedy algorithm to the energy consumption relationship graph to calculate the detection path with the lowest energy consumption;

[0110] Obtain the current node on the detection path where the detection platform is located and the next target node of the current node;

[0111] Execute the auxiliary drift strategy, adjust the attitude of the detection platform by the tail rudder, and control the detection platform to move from the current node to the target node;

[0112] During the process of the detection platform moving from the current node to the target node, continuously detect the current position of the control platform;

[0113] Set a distance threshold;

[0114] Execute the fine-tuning positioning strategy to control the detection platform to dock to the pile foundation where the target node is located.

[0115] The execution of the flow field modeling strategy to establish a flow velocity vector map of the water area where the bridge is located, including:

[0116] Set the counterclockwise direction as the positive direction, then the water flow direction angle at the j-th point relative to the due east direction is θ j ;

[0117] Obtain the water flow velocity v at the j-th point j ;

[0118] Represent the water flow at the j-th point as a two-dimensional vector where, cosθ j is the component of the two-dimensional vector on the horizontal axis, and sinθ j is the component of the two-dimensional vector on the vertical axis;

[0119] Establish a continuous flow velocity vector map for the water area where the bridge is located, specifically:

[0120] For any point on the water area, obtain the straight-line distance d from this point to all water flow sensors j ;

[0121] Calculate the weight function of this point α is a parameter used to control the influence degree of the distance;

[0122] Calculate the two-dimensional vector of this point

[0123] Convert the two-dimensional vector of this point into the water flow velocity where, v x , v yare the magnitudes of the two-dimensional vector in the horizontal and vertical coordinates respectively;

[0124] Convert the two-dimensional vector of this point into the water flow direction angle θ = atan2(v y , v x ).

[0125] By constructing a continuous velocity vector map of the area where the bridge is located, the conversion of the water area flow field from discrete points to continuous surface accuracy modeling is realized. The specific method is to convert the water flow velocity and direction of each sensor point into two-dimensional vectors, and then perform weighted interpolation according to the distance function to obtain the water flow direction and velocity information at any position within the area. This method significantly improves the system's perception ability of complex hydrodynamic environments, breaking through the limitations of traditional methods that only rely on local measurement point data. By constructing a continuous flow field map, the platform can comprehensively master the velocity distribution and direction change trend within the target area before path planning, effectively identify favorable water flow channels and high-resistance areas, and provide a high-quality input basis for subsequent path selection, energy consumption estimation, and scheduling optimization. This strategy not only enhances the scientific nature and environmental adaptability of path selection but also lays a solid data foundation for the energy-saving optimization of the intelligent scheduling system.

[0126] The method for obtaining any two piles to be detected, implementing the path energy consumption modeling strategy, calculating the influence of water flow on the detection platform, and calculating the energy consumption of the detection platform moving uniformly between the two piles to be detected includes:

[0127] Represent the positions of the two piles to be detected in the two-dimensional coordinate system as and

[0128] Calculate the direction vector from to as

[0129] Establish a moving path from to for the two piles to be detected, and sample multiple path points on the moving path;

[0130] Obtain the two-dimensional vector of each path point, calculate the average value of the two-dimensional vectors of all path points, and use the result as the average water flow vector on the moving path

[0131] Calculate the included angle θ between the direction vector and the average water flow vector AB ;

[0132] where, is the modulus length;

[0133] When cosθ AB≥0, the water flow is conducive to the movement of the detection platform;

[0134] When cosθ AB <0, the water flow is not conducive to the movement of the detection platform.

[0135] An evaluation model of the influence of water flow between target pile foundations is constructed. By sampling the water flow vectors at multiple points on the sampling path, calculating the average flow direction vector and comparing the included angle with the target movement direction, it is judged whether the water flow has an auxiliary effect on the movement of the platform. It breaks through the traditional thinking mode that only takes the shortest distance as the criterion in path optimization, and integrates environmental factors as key decision-making factors into the scheduling logic. Its significant advantage lies in realizing the "path feasibility analysis based on energy consumption prediction", enabling the system to predict possible high-energy consumption paths in advance and avoid them during the path selection process, improving the energy-saving and intelligent level of the scheduling strategy. In addition, the calculation of the direction included angle provides key parameters for accurately estimating the power consumption subsequently, truly realizing the transformation of platform scheduling from "route optimization" to "energy efficiency optimization", and significantly enhancing the autonomous scheduling ability of the system in complex flow fields.

[0136] The method of obtaining any two piles to be detected, implementing a path energy consumption modeling strategy, calculating the influence of water flow on the detection platform, and calculating the energy consumption of the detection platform moving uniformly between the two piles to be detected further includes:

[0137] When the water flow is conducive to the movement of the detection platform:

[0138] Obtain the control power P0 of the detection platform, where the control power is used to control the detection platform to move uniformly;

[0139] --Calculate the power P to when the detection platform moves uniformly AB , β1 is the energy consumption coefficient caused by the water flow deviation, and β2 is the energy consumption coefficient caused by the moving distance;

[0140] Calculate the energy consumption E from when the detection platform moves AB , E AB =P AB ×t AB , t AB is the length of the moving path divided by the moving speed of the detection platform.

[0141] For the case where the water flow is in the same direction as the forward direction of the platform, a uniform propulsion energy consumption estimation method combining the water flow deflection coefficient and the distance energy consumption coefficient is proposed. Quantifying the forward action of the water flow as an auxiliary power for the platform movement can actively reduce the propulsion power during the power control process. Accurately measure the actual control power when the platform is moving in the downstream direction to avoid energy waste caused by overestimating the power consumption. Its core advantage lies in realizing the integration of the "natural potential energy" of the water flow environment and the "active control" of the platform, effectively improving the overall energy use efficiency.

[0142] The method of obtaining any two piles to be detected, implementing the path energy consumption modeling strategy, calculating the influence of the water flow on the detection platform, and calculating the energy consumption of the detection platform moving uniformly between the two piles to be detected further includes

[0143] When the water flow is not conducive to the movement of the detection platform:

[0144] Taking the position as the center and l as the radius to establish a transfer drift circle;

[0145] Controlling the detection platform to be stationary and obtaining the position where the detection platform drifts with the water to the transfer drift circle

[0146] Calculating the power P of the detection platform moving uniformly from to where θ AC , is the included angle between the direction vector from AC to and the average water flow vector from to to ;

[0147] Calculating the energy consumption E of the detection platform moving from to where E AC , E AC =P AC ×t AC , t AC is the length of the movement path from to divided by the moving speed of the detection platform;

[0148] Comparing the energy consumption E AB and the energy consumption E AC ;

[0149] If E AB ≤E AC , then the detection platform moves uniformly from to

[0150] If EAB >E AC , the detection platform drifts from stationary to and then from moves uniformly to

[0151] In this embodiment, referring to Figure 3 , the detection platform moves from the position where the pile foundation to be detected is (10, 20) to the position of the pile foundation to be detected (40, 50), and calculates the direction vector Calculate the direction vector and the included angle θ between the average water flow vector AB , θ AB = 150°, and the water flow is not conducive to the movement of the detection platform;

[0152] Calculate the transfer point (10, 10) on the transfer drift circle, and calculate the energy consumption E from the transfer point to (40, 50) AC = 19354 joules, calculate the energy consumption E AB = 34945 joules, E AB >E AC , then the detection platform first travels along path 1 from stationary to and then travels along path 2 from moves uniformly to

[0153] When the required forward direction of the platform is inconsistent with the water flow direction, a transfer drift circle strategy is proposed. Using the natural thrust of the water flow, the platform is guided to a favorable transfer point, and then uniform propulsion is started to complete the remaining voyage. By comparing the energy consumption results of directly moving against the current and drifting + then propelling, the scheduling path with lower energy consumption is automatically selected to realize the dynamic application of the principle of minimizing energy consumption. Its greatest advantage is to convert the originally unfavorable water flow power in the environment into available auxiliary kinetic energy and build a more flexible and intelligent path switching mechanism. The transfer drift strategy significantly reduces the energy consumption when the platform advances in the strong flow resistance direction and improves the overall endurance and scheduling efficiency of the equipment.

[0154] The execution of the auxiliary drift strategy, with the tail rudder cooperating to adjust the attitude of the detection platform and control the detection platform to move from the current node to the target node, includes:

[0155] When the detection of the pile foundation where the current node is located is completed, control the detection platform to release the positioning and anchoring structure;

[0156] Obtain the current position of the detection platform and the position of the target node;

[0157] Calculate the target course angle θ0 of the detection platform = arctan2(y T -y q ,xT -x q ), x q , y q are the horizontal and vertical coordinates of the current position, respectively, where x T , y T are the horizontal and vertical coordinates of the target node, respectively;

[0158] Measure the orientation θ1 of the detection platform using a heading sensor;

[0159] Calculate the difference Δθ = θ0 - θ1 between the orientation of the detection platform and the target heading angle;

[0160] Calculate the rudder deflection angle δ, where, is the proportionality coefficient, is the differential coefficient;

[0161] Control the rudder to adjust the rudder deflection angle in real time, adjust the attitude of the detection platform, and control the detection platform to move uniformly towards the target node.

[0162] In this embodiment, from (10, 20) to (40, 50), calculate the heading angle θ0 = 45°, obtain the measured orientation θ1 of the detection platform = 40°, calculate the difference Δθ = 45° - 40° = 5° between the orientation of the detection platform and the target heading angle, calculate the rudder deflection angle δ, and control the rudder to adjust the rudder deflection angle in real time.

[0163] Obtain the target heading angle between the current coordinates and the target coordinates in real time, and obtain its own orientation through a heading sensor. After comparing the difference, adjust the rudder deflection angle according to the proportional - derivative control model, thereby dynamically correcting the heading error. The "closed - loop heading correction" mechanism is realized, effectively reducing the heading error of the platform under water flow interference or direction deviation, ensuring that it moves stably along the target path. By replacing frequent power adjustments with low - power rudder control, propulsion energy is saved and control efficiency is improved. Integrating heading control with energy conservation provides reliable support for high - precision navigation and attitude control of the platform in a complex flow field, which is a key link for high - performance path execution.

[0164] The execution of the fine - tuning positioning strategy to control the detection platform to dock at the pile foundation where the target node is located includes:

[0165] Calculate the distance Δd between the current position of the detection platform and the target node;

[0166]

[0167] Compare the distance Δd with the distance threshold. If the distance Δd is less than or equal to the distance threshold, start the electric propeller to apply a thrust F to the detection platform so that the detection platform docks at the pile foundation where the target node is located;

[0168] Among them, is the position control gain, is the speed damping coefficient, and v is the uniform moving speed of the detection platform.

[0169] In this embodiment, the distance threshold is 3 meters.

[0170] An intelligent docking control method based on a distance threshold is proposed, which monitors the distance between the platform and the target node in real time. After the distance is lower than the set threshold, the electric propeller is started for fine position adjustment, and the precise braking and attitude stability control of the platform movement are realized by setting the position control gain and speed damping parameters. It effectively realizes the seamless connection from path navigation to fine operation, and is particularly suitable for scenarios with high requirements for precise berthing of the platform during pile foundation detection. Ensure that the platform can be stably and accurately positioned near the pile foundation in the final stage, avoid berthing deviation caused by inertial sliding or fluid disturbance, and improve operation safety and detection accuracy.

[0171] Embodiment 2, referring to Figure 2 , a management system for an underwater pile foundation detection platform, including:

[0172] A coordinate construction and pile foundation management module, used to establish a detection area coordinate system and register pile foundation information;

[0173] A water flow monitoring and flow field modeling module, used to obtain water flow information and construct a continuous flow velocity vector map;

[0174] A path energy consumption modeling and optimization module, used to establish an energy consumption model and plan the lowest energy consumption detection path;

[0175] An auxiliary drift and rudder control module, used to control the drift direction of the platform and maintain a stable attitude to move forward;

[0176] A precise berthing and fine positioning module, used to realize the precise berthing of the platform to the target pile foundation;

[0177] Among them, the coordinate construction and pile foundation management module includes:

[0178] A coordinate system initialization unit, which establishes a two-dimensional coordinate system at any point in the water surface area;

[0179] A pile foundation position registration unit, which records the position of each pile foundation in the two-dimensional coordinate system and classifies the detected pile foundations and the pile foundations to be detected;

[0180] The water flow monitoring and flow field modeling module includes:

[0181] A multi-point water flow sensing unit, used to obtain the water flow speed and direction angle of each point in the water surface area;

[0182] The flow velocity vector interpolation unit constructs a two-dimensional vector at any point on the water surface and establishes a complete flow velocity vector diagram;

[0183] The path energy consumption modeling and optimization module includes:

[0184] The uniform motion energy consumption modeling unit is used to establish an energy consumption model for uniform motion;

[0185] The transfer drift optimization unit uses energy consumption comparison to determine whether to drift to the transfer drift circle first and then advance uniformly;

[0186] The optimal path planning unit applies the greedy algorithm to generate a detection path with the lowest energy consumption;

[0187] The auxiliary drift and rudder control module includes:

[0188] The positioning anchor release unit releases the anchoring device to prepare for the platform to drift;

[0189] The heading perception and rudder control unit calculates the error between the target heading and the current orientation, calculates the rudder angle, and adjusts the attitude;

[0190] The attitude maintenance and drift propulsion unit controls the detection platform to move forward towards the target node;

[0191] The precise berthing and fine positioning module includes:

[0192] The distance threshold judgment unit detects whether the platform is approaching the target node;

[0193] The electric propulsion fine-tuning unit uses the micro-thrust of the electric propeller to precisely berth.

[0194] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0195] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A management method for a water-based pile foundation detection platform, characterized in that, Including: For a bridge with pile foundations to be detected, establish a two-dimensional coordinate system at any point on the water surface; Set multiple points in the water area where the bridge is located, and use water flow sensors to record the water flow velocity and water flow direction angle at each point; Execute a flow field modeling strategy to establish a flow velocity vector diagram of the water area where the bridge is located; Obtain the positions of each pile foundation on the bridge in the two-dimensional coordinate system; Divide the pile foundations into detected pile foundations and pile foundations to be detected; Obtain any two pile foundations to be detected, execute a path energy consumption modeling strategy, calculate the influence of water flow on the detection platform, and calculate the energy consumption of the detection platform moving uniformly between the two pile foundations to be detected; Obtain all the pile foundations to be detected, use each pile foundation to be detected as a node of the graph, and use the energy consumption between the nodes as the weight of the edge to construct an energy consumption relationship graph; Apply a greedy algorithm to the energy consumption relationship graph to calculate the detection path with the lowest energy consumption; Obtain the current node on the detection path where the detection platform is located and the next target node of the current node; Execute an auxiliary drift strategy, and use the tail rudder to cooperate to adjust the attitude of the detection platform to control the detection platform to move from the current node to the target node; During the process of the detection platform moving from the current node to the target node, real-time detect the current position of the control platform; Set a distance threshold; Execute a fine-tuning positioning strategy to control the detection platform to dock at the pile foundation where the target node is located.

2. The management method of the water-based pile foundation detection platform according to claim 1, wherein The execution of the flow field modeling strategy to establish a flow velocity vector diagram of the water area where the bridge is located includes: Set the counterclockwise direction as the positive direction. Then, the water flow direction angle at the j-th point relative to the due east direction is θ j ; Obtain the water flow velocity v at the j-th point j ; Represent the water flow at the j-th point as a two-dimensional vector where cosθ j is the component of the two-dimensional vector on the horizontal axis, and sinθ j is the component of the two-dimensional vector on the vertical axis; Establish a continuous flow velocity vector diagram for the water area where the bridge is located, specifically: For any point on the water surface area, obtain the straight-line distance d from this point to all water flow sensors j ; Calculate the weight function of this point α is a parameter used to control the degree of influence of distance; Calculate the two-dimensional vector of this point Convert the two-dimensional vector of this point into the water flow velocity where v x , v y are the magnitudes of the two-dimensional vector in the horizontal and vertical coordinates respectively; Convert the two-dimensional vector of this point into the water flow direction angle θ = atan2(v y , v x ).

3. The management method of the water-based pile foundation detection platform according to claim 2, characterized in that, The obtaining of any two pile foundations to be detected, the execution of the path energy consumption modeling strategy, the calculation of the influence of water flow on the detection platform, and the calculation of the energy consumption of the detection platform moving uniformly between the two pile foundations to be detected include: The positions of two pile foundations to be detected in a two-dimensional coordinate system are respectively represented as and Calculate the direction vector from to ​ Establish the movement paths of two pile foundations to be detected from to , and sample multiple path points on the movement paths; Obtain the two-dimensional vectors of each path point, calculate the mean value of the two-dimensional vectors of all path points, and use the result as the average water flow vector on the moving path Calculate the direction vector and the included angle θ with the average water flow vector AB ; Among them, is the modulus length; When cosθ AB ≥ 0, the water flow is conducive to the movement of the detection platform; When cosθ AB < 0, the water flow is not conducive to the movement of the detection platform.

4. The management method of the water-based pile foundation detection platform according to claim 3, characterized in that, The obtaining of any two pile foundations to be detected, the execution of the path energy consumption modeling strategy, the calculation of the influence of water flow on the detection platform, and the calculation of the energy consumption of the detection platform moving uniformly between the two pile foundations to be detected further include: When the water flow is beneficial to the movement of the detection platform: Obtain the control power P0 of the detection platform, and the control power is used to control the detection platform to move uniformly; The power P of the computing detection platform moving at a constant speed from to is AB , where β1 is the energy consumption coefficient caused by the water flow deviation, and β2 is the energy consumption coefficient caused by the moving distance; The energy consumption E of the computing detection platform moving from to is AB E AB = P AB × t AB where t AB is the length of the moving path divided by the moving speed of the detection platform.

5. The management method of the water-based pile foundation detection platform according to claim 4, characterized in that, The obtaining of any two pile foundations to be detected, the execution of the path energy consumption modeling strategy, the calculation of the influence of water flow on the detection platform, and the calculation of the energy consumption of the detection platform moving uniformly between the two pile foundations to be detected further include when the water flow is not beneficial to the movement of the detection platform: Taking the position as the center and l as the radius to establish a transfer drift circle; Control the detection platform to be stationary and obtain the position point where the detection platform drifts with the water to the transfer drift circle The power P of the computing detection platform moving uniformly from to , where θ AC , is the included angle between the direction vector AC and the average water flow vector , , Establish the movement paths of two pile foundations to be detected from to On the movement paths, sample multiple path points, obtain the two-dimensional vectors of each path point, calculate the mean value of the two-dimensional vectors, and obtain the average water flow vector Calculate the energy consumption E of the detection platform moving from to E AC , E AC = P AC × t AC , t AC is the length of the movement path from to divided by the moving speed of the detection platform; Compare the energy consumption E AB with the energy consumption E AC ; If E AB ≤E AC , then the detection platform moves from to If E AB > E AC , then the detection platform drifts from stationary to and then from moves uniformly to 6. The management method of the underwater pile foundation detection platform according to claim 1, wherein The execution of the auxiliary drift strategy, and use the tail rudder to cooperate to adjust the attitude of the detection platform to control the detection platform to move from the current node to the target node includes: When the detection of the pile foundation where the current node is located is completed, control the detection platform to release the positioning and anchoring structure; Obtain the current position of the detection platform and the position of the target node; Calculate the target heading angle θ0 of the detection platform = arctan2(y T -y q , x T -x q ), where x q , y q are the horizontal and vertical coordinates of the current position respectively, and x T , y T are the horizontal and vertical coordinates of the target node respectively; Use a heading sensor to measure the orientation θ1 of the detection platform; Calculate the difference Δθ = θ0 - θ1 between the orientation of the detection platform and the target heading angle; Calculate the rudder deflection angle δ, wherein, is the proportionality coefficient, is the differential coefficient; Control the tail rudder to adjust the tail rudder deflection angle in real time, adjust the attitude of the detection platform, and control the detection platform to move uniformly towards the target node.

7. The management method of the water-based pile foundation detection platform according to claim 6, characterized in that, The execution of the fine-tuning positioning strategy to control the detection platform to dock at the pile foundation where the target node is located includes: Calculate the distance Δd between the current position of the detection platform and the target node; Compare the distance Δd with the distance threshold. If the distance Δd is less than or equal to the distance threshold, start the electric propeller to apply a thrust F to the detection platform, so that the detection platform docks at the pile foundation where the target node is located. Among them, is the position control gain, is the speed damping coefficient, and v is the uniform moving speed of the detection platform.

8. A management system for a water-based pile foundation detection platform, which is applied to the management method of the water-based pile foundation detection platform according to any one of claims 1-7, characterized in that, It includes: A coordinate construction and pile foundation management module, which is used to establish a detection area coordinate system and register pile foundation information; A water flow monitoring and flow field modeling module, which is used to obtain water flow information and construct a continuous velocity vector map; A path energy consumption modeling and optimization module, which is used to establish an energy consumption model and plan the lowest energy consumption detection path; An auxiliary drift and rudder control module, which is used to control the drift direction of the platform and maintain a stable attitude to move forward; A precise berthing and fine positioning module, which is used to achieve the precise berthing of the platform to the target pile foundation; Among them, the coordinate construction and pile foundation management module includes: A coordinate system initialization unit, which establishes a two-dimensional coordinate system at any point in the water surface area; A pile foundation position registration unit, which records the position of each pile foundation in the two-dimensional coordinate system, and classifies the detected pile foundations and the pile foundations to be detected; The water flow monitoring and flow field modeling module includes: A multi-point water flow sensing unit, which is used to obtain the water flow velocity and direction angle of each point in the water surface area; A flow velocity vector interpolation unit, which constructs a two-dimensional vector of any point on the water surface and establishes a complete flow velocity vector map; The path energy consumption modeling and optimization module includes: A uniform speed energy consumption modeling unit, which is used to establish an energy consumption model for uniform speed movement; A transfer drift optimization unit, which uses energy consumption comparison to judge whether to drift to the transfer drift circle first and then advance at a uniform speed; An optimal path planning unit, which applies the greedy algorithm to generate the lowest energy consumption detection path; The auxiliary drift and rudder control module includes: A positioning anchor release unit, which is used to release the anchoring device and prepare for the platform to drift; A heading sensing and rudder control unit, which is used to calculate the error between the target heading and the current heading, calculate the rudder angle, and adjust the attitude; An attitude maintenance and drift propulsion unit, which is used to control the detection platform to move forward to the target node; The precise berthing and fine positioning module includes: A distance threshold judgment unit, which is used to detect whether the platform is close to the target node; An electric propulsion fine adjustment unit, which uses the micro-thrust of the electric propeller for precise berthing.

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