A management system and method for an offshore pile foundation detection platform

Abstract

The application relates to the technical field of water pile foundation detection platform management, and discloses a water pile foundation detection platform management system and method, which comprises the following steps: recording the water flow speed and the water flow direction angle of a point; executing a flow field modeling strategy to establish a flow velocity vector diagram of a water surface area where a bridge is located; executing a path energy consumption modeling strategy to calculate the influence of water flow on the detection platform and the energy consumption of the detection platform moving at a constant speed between two pile foundations to be detected; 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 to adjust the posture of the detection platform by cooperation of a tail rudder, and controlling the detection platform to move from the current node to the target node; in the process that the detection platform moves from the current node to the target node, the current position of the detection platform is detected in real time; and a fine positioning strategy is executed to control the detection platform to stop at a pile foundation where the target node is located, so that the platform endurance and operation efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water pile foundation detection platform management, in particular to a water pile foundation detection platform management system and method. BACKGROUND

[0002] The water pile foundation detection platform is an important equipment for safety evaluation of water structure pile foundation such as bridge and wharf, which is usually equipped with sonar, camera and positioning device, and can non-destructively detect underwater structure. By using the water detection platform to replace manual diving detection, not only the operation efficiency and personnel safety are greatly improved, but also the data standardization and remote management are realized. Especially in complex water environment, the detection platform has stronger environmental adaptability and controllability, which is conducive to the planning, automation and intelligent management of detection tasks.

[0003] The existing water pile foundation detection system has significant deficiencies in path scheduling and energy consumption control. On the one hand, most detection platforms use fixed paths or manual remote control methods for operation, lack dynamic response mechanisms, and cannot flexibly adjust the travel path according to changes in water flow environment, resulting in low detection efficiency. On the other hand, the current technology generally ignores the influence of water flow on the movement direction and speed of the platform, especially in strong or complex water flow rivers, the platform often causes significant increase in energy consumption when moving against the water, and even deviates from the predetermined heading, affecting detection accuracy and operation safety. In addition, the existing technology lacks the ability to perceive and analyze the water flow vector field, and cannot realize path optimization and scheduling strategy based on 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 adapt to the efficient detection needs of multi-pile foundation distribution scenarios such as bridges and wharfs. Therefore, a new detection system that can perceive the water flow environment, reasonably schedule the platform movement path and optimize energy consumption is needed.

[0004] The present application provides a water pile foundation detection platform management system and method, which perceives the water flow vector field intelligently and dynamically plans the detection path, achieving water flow assisted energy saving scheduling. SUMMARY

[0005] The present application provides a water pile foundation detection platform management system and method to promote the solution to the problems mentioned in the background.

[0006] The present application provides the following technical scheme: a water pile foundation detection platform management method, comprising:

[0007] For the bridge of the detected pile foundation, a two-dimensional coordinate system is established at an optional point on the water surface;

[0008] A plurality of points are set in the water area where the bridge is located, and a water flow sensor is used to record the water flow speed and water flow direction angle of each point.

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

[0010] obtaining a position of each pile foundation on the bridge in a two-dimensional coordinate system;

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

[0012] obtaining any two to-be-detected pile foundations, performing a path energy consumption modeling strategy, calculating an influence of the water flow on the detection platform, and calculating an energy consumption of the detection platform moving at a constant speed between the two to-be-detected pile foundations;

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

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

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

[0016] performing an auxiliary drift strategy to adjust a posture of the detection platform by cooperation of a tail rudder to control the detection platform to move from the current node to the target node;

[0017] detecting a current position of the detection platform in real time in a process in which the detection platform moves from the current node to the target node;

[0018] setting a distance threshold;

[0019] performing a fine positioning strategy to control the detection platform to dock to a pile foundation where the target node is located.

[0020] Preferably, the performing of the flow field modeling strategy to establish the flow velocity vector diagram of the water surface area where the bridge is located comprises:

[0021] setting counterclockwise as a positive direction, then a water flow direction angle of a jth point relative to a positive east direction is ;

[0022] obtaining a water flow velocity of the jth point ;

[0023] representing the water flow of the jth point as a two-dimensional vector , wherein is a component of the two-dimensional vector in a horizontal axis, is a component of the two-dimensional vector in a vertical axis;

[0024] establishing a continuous flow velocity vector diagram of the water surface area where the bridge is located, and specifically:

[0025] For any point on the water surface, the straight-line distance from the point to all water flow sensors is obtained ;

[0026] The weight function of the point is calculated , The parameter for controlling the degree of distance influence;

[0027] The two-dimensional vector of the point is calculated ;

[0028] The two-dimensional vector of the point is converted into the water flow velocity , wherein , and respectively are the magnitudes of the two-dimensional vector in the horizontal and vertical coordinates;

[0029] The two-dimensional vector of the point is converted into the water flow direction angle .

[0030] Preferably, for any two pile foundations to be detected, a path energy consumption modeling strategy is performed, the influence of the water flow on the detection platform is calculated, and the energy consumption of the detection platform moving at a constant speed between the two pile foundations to be detected is calculated, including:

[0031] The positions of the two pile foundations to be detected in the two-dimensional coordinate system are respectively represented as and ;

[0032] The direction vector from to is calculated ;

[0033] A moving path of the two pile foundations to be detected from to is established, and a plurality of path points are sampled on the moving path;

[0034] The two-dimensional vector of each path point is obtained, and the average of the two-dimensional vectors of all path points is calculated, and the result is taken as the average water flow vector on the moving path ;

[0035] The included angle between the direction vector and the average water flow vector is calculated ;

[0036] wherein , is the module length;

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

[0038] When , the water flow is not conducive to the movement of the detection platform.

[0039] Preferably, the acquisition of any two to-be-detected pile foundations, the execution of the path energy consumption modeling strategy, the calculation of the influence of the water flow on the detection platform, and the calculation of the energy consumption of the detection platform moving at a constant speed between the two to-be-detected pile foundations further comprise:

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

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

[0042] Calculate the power of the detection platform moving at a constant speed from to , , , is the energy consumption coefficient caused by the water flow deflection, is the energy consumption coefficient caused by the moving distance;

[0043] Calculate the energy consumption of the detection platform moving from to , , , is the length of the moving path divided by the moving speed of the detection platform.

[0044] Preferably, the acquisition of any two to-be-detected pile foundations, the execution of the path energy consumption modeling strategy, the calculation of the influence of the water flow on the detection platform, and the calculation of the energy consumption of the detection platform moving at a constant speed between the two to-be-detected pile foundations further comprise

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

[0046] Establish a transfer drift circle with the position as the center and as the radius;

[0047] Control the detection platform to be stationary, and acquire the position point of the detection platform drifting with the water to the transfer drift circle ;

[0048] Calculate the power of the detection platform moving at a constant speed from to , , , wherein is the included angle between the direction vector and the average water flow vector ;

[0049] Establish two to-be-detected pile foundations from to ​The moving path of the detection platform, sampling a plurality of path points on the moving path, obtaining a two-dimensional vector of each path point, calculating the mean value of the two-dimensional vector to obtain the average water flow vector ;

[0050] Calculating the energy consumption of the detection platform moving from to , , The length of the moving path from to divided by the moving speed of the detection platform;

[0051] Comparing the energy consumption and the energy consumption ;

[0052] If , the detection platform moves uniformly from to ;

[0053] If , the detection platform drifts from to , and then moves uniformly from to .

[0054] Preferably, the auxiliary drift strategy is executed, the tail rudder is adjusted to cooperate with the adjustment of the detection platform posture, and the detection platform is controlled to move from the current node to the target node, comprising:

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

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

[0057] Calculating the target heading angle of the detection platform, respectively the horizontal and vertical coordinates of the current position, respectively the horizontal and vertical coordinates of the target node;

[0058] Using the heading sensor to measure the orientation of the detection platform;

[0059] Calculating the difference between the orientation of the detection platform and the target heading angle ;

[0060] Calculating the tail rudder deflection angle , wherein, is a proportional coefficient, is a differential coefficient;

[0061] ​The tail rudder controls the real-time adjustment of the tail rudder deflection angle, adjusts the detection platform posture, and controls the detection platform to move at a constant speed towards the target node.

[0062] Preferably, the fine positioning strategy is executed to control the detection platform to dock to the pile foundation where the target node is located, comprising:

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

[0064] ;

[0065] Compare the distance with the distance threshold value, if the distance is less than or equal to the distance threshold value, start the electric propeller to exert a thrust on the detection platform , so that the detection platform docks at the pile foundation where the target node is located;

[0066] , wherein, is the position control gain, is the speed damping coefficient, is the uniform speed of the detection platform.

[0067] A management system of an offshore pile 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 flow velocity vector diagram;

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

[0071] An auxiliary drift and tail rudder control module for detecting the drift direction of the detection platform and maintaining a stable posture for forward movement;

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

[0073] The coordinate construction and pile foundation management module comprises:

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

[0075] A pile foundation position registration unit for recording the position of each pile foundation in the two-dimensional coordinate system, and classifying the detected pile foundations and the pile foundations to be detected;

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

[0077] A multi-point water flow sensing unit is configured to obtain water flow velocity and direction angle at each point of the water surface area.

[0078] A flow velocity vector interpolation unit is configured to construct a two-dimensional vector at any point of the water surface, and to establish a complete flow velocity vector diagram.

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

[0080] A uniform speed energy consumption modeling unit is configured to establish an energy consumption model of uniform speed movement.

[0081] A transfer drift optimization unit is configured to determine whether to first drift to a transfer drift circle and then move at a uniform speed according to energy consumption comparison.

[0082] An optimal path planning unit is configured to generate a lowest energy consumption detection path by using a greedy algorithm.

[0083] The auxiliary drift and tail rudder control module comprises:

[0084] A positioning anchor releasing unit is configured to release an anchoring device and prepare the platform for drifting.

[0085] A heading sensing and tail rudder control unit is configured to calculate the error between the target heading and the current orientation, calculate the tail rudder angle, and adjust the attitude.

[0086] An attitude maintaining and drift propulsion unit is configured to control the detection platform to move towards the target node.

[0087] The precise berthing and fine positioning module comprises:

[0088] A distance threshold judgment unit is configured to detect whether the platform is close to the target node.

[0089] An electric propulsion fine adjustment unit is configured to use the micro-thrust of an electric propeller for precise berthing.

[0090] The present application has the following advantages:

[0091] 1. The management method of the water-based pile foundation detection platform effectively improves the global cognitive ability of the platform to the flow field before executing path planning by establishing a continuous water surface flow velocity vector diagram. The flow velocity and direction angle of discrete points are measured by sensors, and after being converted into two-dimensional vectors, these discrete vectors are smoothly expanded to the entire water area by combining a weight function, thereby realizing continuous vector field modeling. The introduction of the weight function strengthens the accuracy of spatial interpolation, so that the flow velocity vector close to a point has a greater impact on the result, and is more consistent with the actual flow field distribution. The method provides basic data support for subsequent path optimization and energy consumption modeling.

[0092] 2、The water pile foundation detection platform management method finely models the water flow state on the path between two pile foundations, quantifies the advantages and disadvantages of water flow on platform movement. By sampling multiple points on the path and calculating the average two-dimensional vector, the overall water dynamic environment of the path segment is accurately reflected. According to the included angle, it is judged whether the water flow assists or hinders the movement of the platform, thereby providing a reasonable basis for path selection, realizing the path decision with the goal of energy saving, and laying the foundation for subsequent energy consumption graph construction and scheduling algorithm.

[0093] 3、The water pile foundation detection platform management method, in the case that the water flow is beneficial to the movement of the platform, by introducing the bias coefficient and the distance coefficient, the energy consumption is finely calculated according to the actual control power of the platform, and the natural propulsion advantage of the downstream environment is fully utilized, and the active propulsion energy consumption is reasonably reduced, thereby improving the overall energy efficiency ratio. Its advantage lies in realizing the energy consumption allocation optimization of water flow and platform active propulsion, avoiding unnecessary high power output, and prolonging the endurance time of the equipment. It is suitable for dynamic path adjustment and energy budget evaluation in multi-path and multi-node decision-making scenarios.

[0094] 4、The water pile foundation detection platform management method solves the problem of high energy consumption caused by unfavorable water flow direction by introducing the concept of transfer drift circle. When there is a significant included angle between the path direction and the water flow direction, the platform does not directly move against the flow, but controls the detection platform to drift to the transfer area with the water flow, and then moves at a constant speed from a point on the circumference of the transfer drift circle. Through the energy consumption comparison model, the lowest energy consumption path is dynamically selected between the direct movement and the drift + re-movement strategies. The environmental kinetic energy is introduced as an auxiliary power source, which greatly reduces the energy consumption required for upstream propulsion. It improves the energy saving efficiency of the system and improves the flexibility of the scheduling path in complex flow fields, providing more feasible strategies for path optimization, and is more flexible and adaptive.

[0095] 5、The water pile foundation detection platform management method, the auxiliary drift strategy calculates the difference between the target heading angle and the current direction of the platform in real time, detects the direction of the platform through the feedback loop of the heading sensor and the rudder deflection angle, and ensures 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 adjusts the direction through the rudder instead of high-power dynamic propulsion, thereby improving the energy efficiency ratio of the system control.

[0096] 6、The management method of the offshore pile foundation detection platform, aiming at the accurate positioning problem when the platform approaches the target pile foundation, proposes a parking mechanism based on distance threshold. The distance between the real-time platform current position and the target pile foundation is judged, and when fine tuning is performed, the thrust is applied through the electric propeller, and the attitude correction is performed by combining the position control gain and the speed damping coefficient, to realize accurate parking. The transition from global path navigation to local accurate positioning is realized, and the path optimization and end stability are considered. Ensure that the parking process is stable and efficient, which is the last guarantee link to realize high reliability pile detection. BRIEF DESCRIPTION OF DRAWINGS

[0097] Figure 1 The method flowchart of the present application.

[0098] Figure 2 The system module schematic diagram of the present application.

[0099] Figure 3 The transfer mobile structure schematic diagram in the present application. DETAILED DESCRIPTION

[0100] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0101] Embodiment one, refer to Figure 1 A management method of an offshore pile foundation detection platform, comprising:

[0102] A two-dimensional coordinate system is established at any point on the water surface for detecting the bridge pile foundation;

[0103] A plurality of point positions are set in the water area where the bridge is located, and a water flow sensor is used to record the water flow speed and water flow direction angle of each point position;

[0104] A flow field modeling strategy is executed to establish a flow velocity vector diagram of the water surface area where the bridge is located;

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

[0106] The pile foundations are divided into detected pile foundations and to-be-detected pile foundations;

[0107] Any two to-be-detected pile foundations are obtained, a path energy consumption modeling strategy is executed, the influence of the water flow on the detection platform is calculated, and the energy consumption of the detection platform moving at a constant speed between the two to-be-detected pile foundations is calculated;

[0108] All to be detected pile foundation is acquired, each to be detected pile foundation is taken as node of graph, energy consumption between nodes is taken as weight of edge, and energy consumption relation graph is constructed;

[0109] The existing technology greedy algorithm is applied to the energy consumption relation graph to calculate the lowest energy consumption detection path;

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

[0111] The auxiliary drift strategy is executed, the tail rudder is matched to adjust the attitude of the detection platform, and the detection platform is controlled to move from the current node to the target node;

[0112] In the process that the detection platform moves from the current node to the target node, the current position of the detection platform is detected in real time;

[0113] The distance threshold is set;

[0114] The fine positioning strategy is executed, and the detection platform is controlled to stop at the pile foundation where the target node is located.

[0115] The flow field modeling strategy is executed, and a flow velocity vector diagram of a water surface area where the bridge is located is established, including:

[0116] The clockwise direction is taken as the positive direction, and then the water flow direction angle of the jth point relative to the positive east direction is ;

[0117] The water flow velocity of the jth point is acquired ;

[0118] The water flow of the jth point is expressed as a two-dimensional vector , wherein, is a component of the two-dimensional vector in the horizontal axis, is a component of the two-dimensional vector in the vertical axis;

[0119] The continuous flow velocity vector diagram of the water surface area where the bridge is located is established, and specifically,

[0120] For any one point on the water surface area, the straight-line distance from the point to all water flow sensors is acquired ;

[0121] The weight function of the point is calculated , a parameter for controlling the distance influence degree;

[0122] The two-dimensional vector of the point is calculated ;

[0123] The two-dimensional vector of the point is converted into the water flow velocity , wherein, , respectively are the size of the two-dimensional vector in the horizontal and vertical coordinates;

[0124] convert the two-dimensional vector of the point into the flow direction angle .

[0125] By constructing the continuous flow 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 precision modeling is realized. The specific method is to convert the flow velocity and direction of each sensor point into a two-dimensional vector, and then perform weighted interpolation according to the distance function to obtain the flow direction and velocity information at any position in the region. This method significantly improves the system's perception ability in complex hydrodynamic environment, breaking through the limitations of traditional methods that rely only on local measurement point data. By constructing a continuous flow field map, the platform can fully grasp the flow velocity distribution and direction change trend in the target area before path planning, effectively identifying favorable flow channels and high resistance areas, providing high-quality input basis for subsequent path selection, energy consumption estimation and scheduling optimization. This strategy not only enhances the scientificity and environmental adaptability of path selection, but also lays a solid data foundation for energy-saving optimization of intelligent scheduling system.

[0126] The acquisition of any two to-be-detected pile foundations, the implementation of the path energy consumption modeling strategy, the calculation of the influence of the water flow on the detection platform, and the calculation of the energy consumption of the detection platform moving at a constant speed between the two to-be-detected pile foundations, include:

[0127] respectively, the positions of the two to-be-detected pile foundations in the two-dimensional coordinate system are represented as and ;

[0128] The direction vector from to is calculated ;

[0129] A moving path of the two to-be-detected pile foundations from to is established, and a plurality of path points are sampled on the moving path;

[0130] The two-dimensional vector of each path point is obtained, and the average of all path point two-dimensional vectors is calculated as the average flow vector on the moving path ;

[0131] The included angle between the direction vector and the average flow vector is calculated ;

[0132] wherein , is the module length;

[0133] When , the flow is conducive to the movement of the detection platform;

[0134] When , 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 path, the average flow vector is calculated and compared with the target moving direction to determine whether the water flow is conducive to the movement of the detection platform. This breaks the traditional path optimization mindset of only considering the shortest distance as the criterion, and integrates environmental factors as key decision factors into the scheduling logic. Its significant advantage is to realize "path feasibility analysis based on energy consumption prediction", which enables the system to predict possible high-energy consumption paths and avoid them in advance, improving the energy-saving and intelligent level of the scheduling strategy. In addition, the direction angle calculation provides key parameters for subsequent accurate energy consumption estimation, truly realizing the transition of platform scheduling from "route optimization" to "energy efficiency optimization", significantly enhancing the autonomous scheduling capability of the system in complex flow fields.

[0136] The method comprises the following steps:

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

[0138] Obtaining the control power of the detection platform , the control power is used to control the uniform movement of the detection platform;

[0139] calculating the power of the detection platform moving at a constant speed from to , , , is the energy consumption coefficient caused by water flow deflection, is the energy consumption coefficient caused by the moving distance;

[0140] calculating the energy consumption of the detection platform moving from to , , , 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 consistent with the forward direction of the platform, an energy consumption estimation method combining the water flow deflection coefficient and the distance energy consumption coefficient is proposed. The forward effect of the water flow is quantified as an auxiliary power for the platform motion, which can actively reduce the propulsion power during power control. Accurately measure the actual control power of the platform when driving in the downstream direction, avoid energy waste caused by overestimating power consumption. Its core advantage lies in the integration of "natural potential energy" of the water flow environment and "active control" of the platform, effectively improving the overall energy efficiency.

[0142] The acquisition of any two to be detected pile, execute path energy consumption modeling strategy, calculate the influence of water flow on detection platform, and calculate the energy consumption of the detection platform moving at a constant speed between the two to be detected pile, also includes

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

[0144] The transfer drift circle is established with the position as the center and as the radius;

[0145] The detection platform is controlled to be stationary, and the position of the detection platform drifting with the water to the transfer drift circle is acquired ;

[0146] The power of the detection platform moving at a constant speed from to is calculated , wherein is the included angle between the direction vector from to and the average water flow vector from to ;

[0147] The energy consumption of the detection platform moving from to is calculated , , is the length of the moving path from to divided by the moving speed of the detection platform;

[0148] The energy consumption and the energy consumption are compared;

[0149] If , the detection platform moves at a constant speed from to ;

[0150] If , the detection platform drifts from to stationarily, and then moves at a constant speed from to .

[0151] In this embodiment, referring to Figure 3 , the detection platform moves from the position of the to-be-detected pile (10, 20) to the position of the to-be-detected pile (40, 50), the direction vector =(0.707, 0.707) is calculated, and the direction vector The angle between the average water flow vector and the direction of the detection platform , 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 from the transfer point to (40, 50) Joules, calculate the energy consumption Joules, Then the detection platform first drives path one from Stationary drift to , and then drives path two from Uniformly move to .

[0153] When the required forward direction of the platform is inconsistent with the direction of the water flow, a transfer drift circle strategy is proposed, which uses the natural thrust of the water flow to guide the platform to a favorable transfer point, and then starts uniform propulsion to complete the remaining voyage. By comparing the energy consumption results of direct counterflow movement and drift + re-propulsion, the scheduling path with lower energy consumption is automatically selected to realize the dynamic application of the energy consumption minimization principle. Its greatest advantage is to convert the originally unfavorable water flow power in the environment into available auxiliary kinetic energy, and to build a more flexible and intelligent path switching mechanism. The transfer drift strategy significantly reduces the energy consumption of the platform when it is propelled in the direction of strong flow resistance, and improves the overall endurance and scheduling efficiency of the device.

[0154] The auxiliary drift strategy is executed, and the tail rudder is adjusted to cooperate with the detection platform to control the detection platform to move from the current node to the target node, comprising:

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

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

[0157] Calculate the target heading angle of the detection platform , The horizontal and vertical coordinates of the current position are respectively The horizontal and vertical coordinates of the target node are respectively

[0158] Use the heading sensor to measure the orientation of the detection platform ;

[0159] Calculate the difference between the orientation of the detection platform and the target heading angle ;

[0160] Calculate the tail rudder deflection angle , , wherein is a proportional coefficient, is a differential coefficient;

[0161] The tail rudder is controlled to adjust the deflection angle of the tail rudder in real time, the attitude of the detection platform is adjusted, and the detection platform is controlled to move at a constant speed towards the target node.

[0162] In this embodiment, the heading angle is calculated from (10, 20) to (40, 50) The orientation of the detection platform is obtained The difference between the orientation of the detection platform and the target heading angle is calculated The deflection angle of the tail rudder is calculated The tail rudder is controlled to adjust the deflection angle of the tail rudder in real time.

[0163] The target heading angle between the current coordinates and the target coordinates is obtained in real time, and the orientation of the detection platform is obtained through the heading sensor. After comparing the difference, the deflection angle of the tail rudder is adjusted according to the proportional-differential control model, and the heading error is dynamically corrected. The "closed loop heading correction" mechanism is realized, which effectively reduces the heading error of the platform when the water flow is disturbed or the direction is deviated, and ensures that it moves stably along the target path. The low-power tail rudder control replaces frequent power adjustment, thereby saving propulsion energy and improving control efficiency. The heading control and energy saving are highly integrated, which provides reliable support for high-precision navigation and attitude control of the platform in complex flow fields, and is a key link for efficient path execution.

[0164] The execution fine positioning strategy is used to control the detection platform to stop at the pile foundation where the target node is located, comprising:

[0165] The current position of the detection platform and the distance to the target node are calculated ;

[0166] ;

[0167] The distance and the distance threshold value are compared, if the distance is less than or equal to the distance threshold value, the electric propeller is started to apply a thrust to the detection platform , so that the detection platform stops at the pile foundation where the target node is located;

[0168] , wherein, is the position control gain, is the speed damping coefficient, is the uniform movement speed of the detection platform.

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

[0170] An intelligent docking control method based on distance threshold is proposed. The distance between the platform and the target node is monitored in real time. When the distance is lower than the set threshold, the electric propeller is started to fine-tune the position. By setting the position control gain and speed damping parameters, precise braking and attitude stabilization control of the platform movement are realized. The seamless connection from path navigation to fine operation is effectively realized, which is especially suitable for scenarios with high requirements for platform precise docking in pile foundation detection. It ensures that the platform can be positioned stably and accurately near the pile foundation in the final stage, avoiding docking deviation caused by inertia sliding or fluid disturbance, and improving the operation safety and detection accuracy.

[0171] Embodiment two, with reference to Figure 2 A management system of a water-based pile foundation detection platform, comprising:

[0172] A coordinate construction and pile foundation management module for establishing a detection area coordinate system and registering pile foundation information;

[0173] A water flow monitoring and flow field modeling module for obtaining water flow information and constructing a continuous flow velocity vector diagram;

[0174] A path energy consumption modeling and optimization module for establishing an energy consumption model and planning a minimum energy consumption detection path;

[0175] An auxiliary drift and tail rudder control module for detecting the drift direction of the platform and maintaining stable attitude forward;

[0176] A precise docking and fine positioning module for realizing precise docking of the platform to the target pile foundation;

[0177] The coordinate construction and pile foundation management module comprises:

[0178] A coordinate system initialization unit for establishing a two-dimensional coordinate system at an optional point in the water surface area;

[0179] A pile foundation position registration unit for recording the position of each pile foundation in the two-dimensional coordinate system, and classifying the detected pile foundation and the pile foundation to be detected;

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

[0181] A multi-point water flow sensing unit for obtaining the water flow velocity and direction angle of each point in the water surface area;

[0182] A flow velocity vector interpolation unit for constructing a two-dimensional vector of any point on the water surface and establishing a complete flow velocity vector diagram;

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

[0184] A uniform speed energy consumption modeling unit for establishing an energy consumption model of uniform speed movement;

[0185] The transfer drift optimization unit judges whether to drift to the transfer drift circle first and then to push at a uniform speed by comparing energy consumption;

[0186] The optimal path planning unit generates a detection path with the lowest energy consumption by using a greedy algorithm;

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

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

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

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

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

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

[0193] The electric propulsion fine adjustment unit uses the micro-thrust of the electric propeller for precise berthing.

[0194] It should be noted that in this paper, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are 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 explicitly listed or inherent to such a process, method, article or device.

[0195] The above is only the preferred embodiment of the present application, and it should be noted that for ordinary skilled persons in the art, without departing from the technical principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A method of managing a platform for the inspection of offshore pile foundations, characterized in that, The method comprises the following steps: A two-dimensional coordinate system is established at an optional point on the water surface for detecting the pile foundation of a bridge; A plurality of points are arranged in the water area where the bridge is located, and a water flow sensor is used to record the water flow speed and direction angle of each point; A flow field modeling strategy is executed to establish a flow velocity vector diagram of the water area where the bridge is located; The positions of each pile foundation on the bridge in the two-dimensional coordinate system are obtained; The pile foundations are divided into detected pile foundations and to-be-detected pile foundations; Any two to-be-detected pile foundations are obtained, a path energy consumption modeling strategy is executed, the influence of the water flow on the detection platform is calculated, and the energy consumption of the detection platform moving at a constant speed between the two to-be-detected pile foundations is calculated; All to-be-detected pile foundations are obtained, each to-be-detected pile foundation is taken as a node of a graph, and the energy consumption between the nodes is taken as the weight of the edges to construct an energy consumption relationship graph; A greedy algorithm is applied to the energy consumption relationship graph to calculate a detection path with the lowest energy consumption; The current node and the next target node of the detection platform on the detection path are obtained; An auxiliary drift strategy is executed to adjust the posture of the detection platform by the rudder to control the detection platform to move from the current node to the target node; The current position of the detection platform is detected in real time during the movement of the detection platform from the current node to the target node; A distance threshold is set; A fine positioning strategy is executed to control the detection platform to dock to the pile foundation where the target node is located.

2. The method of claim 1, wherein The execution of the flow field modeling strategy to establish the flow velocity vector diagram of the water area where the bridge is located comprises: Setting counterclockwise as the positive direction, the flow direction angle of the jth point relative to the positive east direction is ; acquiring the water flow velocity of the jth point ; Let the water flow at the jth point be represented as a two-dimensional vector where, is the component of the two-dimensional vector in the horizontal axis, is the component of the two-dimensional vector in the vertical axis; A continuous flow velocity vector diagram of the water area where the bridge is located is established, specifically: For any one point on the water surface area, the straight-line distance from the point to all water flow sensors is obtained ; calculating a weight function for the point , a parameter for controlling the degree of distance influence calculating a two-dimensional vector of the point ; converts the two-dimensional vector of the point into a water flow velocity wherein, , are the magnitudes of the two-dimensional vector in the horizontal and vertical coordinates, respectively; Converting the two-dimensional vector of the point into a water flow direction angle .

3. The method of claim 2, wherein The acquisition of any two to-be-detected pile foundations, the execution of the path energy consumption modeling strategy, the calculation of the influence of the water flow on the detection platform, and the calculation of the energy consumption of the detection platform moving at a constant speed between the two to-be-detected pile foundations comprise: The positions of two pile foundations to be detected in a two-dimensional coordinate system are respectively represented as and ; Computes the direction vector from to ;​ establishing a movement path from to a plurality of path points are sampled on the movement path; obtaining a two-dimensional vector for each path point, calculating a mean of all two-dimensional vectors of the path points, the result being the average water flow vector on the movement path ; Computing a direction vector and the average water flow vector ; wherein , is the module length; When then the water flow favors the detection platform movement; When then the water flow is not conducive to the detection platform moving.

4. A management system of a water pile foundation detection platform, applied to the management method of the water pile foundation detection platform according to any one of claims 1-3, characterized in that, The method comprises the following steps: A coordinate construction and pile foundation management module is used to establish a detection area coordinate system and register pile foundation information; A water flow monitoring and flow field modeling module is used to obtain water flow information and construct a continuous flow velocity vector diagram; A path energy consumption modeling and optimization module is used to establish an energy consumption model and plan a detection path with the lowest energy consumption; An auxiliary drift and rudder control module is used to detect the drift direction of the detection platform and maintain a stable posture for advancing; A precise berthing and fine positioning module is used to realize precise berthing of the platform to a target pile foundation; The coordinate construction and pile foundation management module comprises: A coordinate system initialization unit establishes a two-dimensional coordinate system at an optional point on the water surface; A pile foundation position registration unit records the positions of each pile foundation in the two-dimensional coordinate system and classifies the detected pile foundations and the to-be-detected pile foundations; The water flow monitoring and flow field modeling module comprises: A multi-point water flow perception unit is used to obtain the water flow speed and direction angle of each point in the water area; A flow velocity vector interpolation unit constructs a two-dimensional vector of any point on the water surface and establishes a complete flow velocity vector diagram; The path energy consumption modeling and optimization module comprises: A constant speed energy consumption modeling unit is used to establish an energy consumption model of moving at a constant speed; A transfer drift optimization unit is used to determine whether to first drift to a transfer drift circle and then move at a constant speed by comparing the energy consumption; An optimal path planning unit is used to generate a detection path with the lowest energy consumption by applying a greedy algorithm; The auxiliary drift and rudder control module comprises: A positioning anchor release unit is used to release an anchoring device and prepare for platform drifting; The course sensing and tail rudder regulating unit is used for calculating the target course and the current heading error, calculating the tail rudder angle and adjusting the attitude. The attitude maintaining and drift propulsion unit is used for controlling the detection platform to advance to the target node. The accurate berthing and fine positioning module comprises: The distance threshold judging unit is used for detecting whether the detection platform approaches the target node. The electric propulsion fine adjusting unit uses the electric propeller micro-thrust to accurately berth.

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