A method and device for dynamic detection of verticality of underwater pile body

Abstract

The present application relates to the technical field of measuring inclination, and specifically to a method and device for dynamically detecting the verticality of an underwater pile body. The method comprises: collecting the laser point position of a laser plummet and the distortion data of the pile body during the sinking process of the pile body; calculating the offset coefficients of the light spot in the horizontal and vertical directions at each moment based on the degree of jitter and the change trend characteristics of the light spot coordinate data collected by the laser plummet; calculating the offset influence index due to dynamic distortion by analyzing the autocorrelation of the light spot coordinate sequence and the correlation characteristics between the offset degree and the distortion state; calculating the vertical offset index based on the change state of the offset influence index; and observing the pile body with an underwater camera to perform underwater pile body verticality detection. The present application improves the accuracy and reliability of dynamic detection of the verticality of the underwater pile body.

Description

Technical Field

[0001] The present application relates to the technical field of measuring inclination, and in particular to a method and device for dynamically detecting the verticality of an underwater pile body. Background Art

[0002] Underwater pile sinking, a pile foundation construction technology used in aquatic environments, plays a key role in the construction of projects such as bridges and docks. In these projects, pile verticality is crucial for ensuring structural safety and stability. Any tilting of the pile reduces the structural bearing capacity, and in severe cases, can even lead to structural damage. Therefore, testing the verticality of underwater pile sinking not only effectively ensures project safety, effectively improves structural bearing capacity, and reduces settlement, but also provides precise control over construction quality.

[0003] The detection of pile verticality mainly relies on a variety of instruments and equipment such as total stations, spirit levels, laser plummets, and image processing methods. With the help of these instruments, the verticality of the sinking pile body can be dynamically monitored, so that the sinking direction of the pile can be adjusted in real time based on the monitoring results. However, the environment in which underwater piles are located is extremely complex, and the underwater soil is soft. During the pile sinking process, the pile body is easily subjected to uneven soil resistance, which in turn leads to uneven force and increases the deviation of the verticality of the pile. In addition, underwater pile sinking has high requirements for the accuracy of verticality. Conventional detection methods are often easily interfered with by the above-mentioned complex factors, making it difficult to quickly and accurately obtain verticality data. There are obvious deficiencies in the accuracy of dynamic detection, which cannot meet engineering needs and urgently need to be improved and optimized. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide a method and device for dynamic detection of the verticality of the underwater pile body. The technical solutions adopted are as follows:

[0005] The present invention provides a method for dynamically detecting the verticality of a submerged pile, comprising the following steps:

[0006] Collect the laser plummet's spot coordinates and pile distortion data during the sinking process, and use an underwater camera to synchronously capture images of each underwater pile during the hammering process.

[0007] Based on the degree of change and trend characteristics of the horizontal and vertical coordinate values ​​of the light spot coordinates, the offset coefficients of the light spot in the horizontal and vertical directions at each moment are calculated, and then the offset degree of the light spot at each moment is obtained;

[0008] By analyzing the autocorrelation of the light spot coordinate data at each moment and the previous moments, as well as the correlation between the light spot offset at each moment and the pile body distortion data, the offset influence index due to dynamic distortion at each moment is calculated.

[0009] Based on the difference between the offset effect index at each moment and that at other moments due to dynamic distortion, and the fluctuation of the spot coordinate data at each moment and the previous moments, the vertical offset index at each moment is calculated;

[0010] According to the degree of overlap of contour pixels in each underwater pile body image, the contour offset value at each moment is calculated, and the offset state coefficient at each moment is determined based on the vertical offset index and the contour offset value to perform verticality detection on the underwater pile body.

[0011] Preferably, the calculation process of the offset coefficients of the light spot in the horizontal and vertical directions at each moment is:

[0012] For the horizontal coordinate data of the light spot at each moment, the horizontal coordinate data of each moment and the previous moments are combined into the nearest neighbor subsequence of each moment, and the exponential smoothing algorithm is used to obtain the first exponential smoothing prediction value of the nearest neighbor subsequence. Then the potential offset coefficient of the light spot in the horizontal coordinate direction at the i-th moment is The expression is:

[0013] Where, represents the potential offset coefficient of the light spot in the horizontal direction at the i-th moment, represents the mean difference of the neighbor subsequences at the i-th moment, represents the total number of data in the nearest neighbor subsequence at the i-th moment, represents the exponential smoothing prediction value of the neighbor subsequence at the i-th moment, Represents the jth data in the nearest neighbor subsequence at the i-th moment;

[0014] For the ordinate data of the light spot at each moment, the potential shift coefficient of the light spot in the horizontal coordinate direction at each moment is obtained by using the calculation method of the potential shift coefficient of the light spot in the horizontal coordinate direction at each moment.

[0015] Preferably, the degree of deviation of the light spot at each moment is the sum of the deviation coefficients of the light spot in the horizontal and vertical directions at each moment.

[0016] Preferably, the calculation formula corresponding to the offset impact index due to dynamic distortion at each moment is:

[0017] Where, represents the offset impact index due to dynamic distortion at the i-th moment, represents the autocorrelation coefficient of the spot coordinate sequence at the i-th moment, 、 Respectively represent the offset degree subsequence and distortion degree subsequence at the i-th moment, represents the Spearman correlation coefficient.

[0018] Preferably, the two-dimensional coordinate points formed by the horizontal and vertical coordinates of the light spot at each moment and the previous multiple moments are arranged in ascending time order to form a light spot coordinate sequence at each moment; the offset and distortion data at each moment and the previous multiple moments are arranged in ascending time order to form an offset subsequence and distortion subsequence at each moment.

[0019] Preferably, the calculation formula of the vertical offset index at each moment is:

[0020] Where, Represents the vertical offset index at the i-th moment, Indicates the range of the corresponding spot coordinate sequence at the i-th moment, represents an exponential function with a natural constant as the base, 、 Respectively represent , No. The offset impact index due to dynamic distortion at each moment.

[0021] Preferably, the calculation process of the contour offset value at each moment is:

[0022] Perform edge detection on the underwater pile image at each moment to obtain the pile contour image in the underwater pile image at each moment;

[0023] The pile contour image corresponding to the underwater pile image before the first hammering is recorded as the standard contour image. The number of non-overlapping pixels between the pile contour image and the standard contour image at each moment during the hammering process is counted. The ratio of the number of non-overlapping pixels to the total number of edge pixels in the standard contour image is used as the contour offset value at each moment.

[0024] Preferably, the offset state coefficient at each moment is an average value of a normalized result of a vertical offset index at each moment and a contour offset value at each moment.

[0025] Preferably, the verticality detection of the underwater pile body further includes:

[0026] When the offset state coefficient is higher than the preset offset threshold, the pile sinking construction is stopped; when the offset state coefficient is lower than the preset offset threshold, the pile sinking construction is continued.

[0027] An embodiment of the present application also provides a dynamic detection device for the verticality of an underwater pile body, comprising a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of any one of the above methods are implemented.

[0028] As can be seen from the above, the method and device for dynamic detection of the verticality of a submerged pile provided by this application have at least the following beneficial effects:

[0029] In underwater pile-sinking projects, this application conducts an in-depth analysis of the amplitude and trend characteristics of the horizontal and vertical coordinates of the light spot generated by the laser plumb line, and comprehensively considers the autocorrelation of the light spot coordinate sequence, as well as the degree of displacement and distortion of the pile body due to uneven soil resistance, to accurately calculate the displacement influence index due to dynamic distortion. Compared with traditional laser plumb line detection methods, its significant advantage is that it fully considers the influence of the distortion of the pile body due to the non-uniform soil resistance on the verticality during underwater pile sinking, so that the dynamic change characteristics of the verticality can be evaluated more accurately. According to the change of the displacement influence index, the vertical displacement index is further calculated, and the pile body contour is monitored and compared with the help of underwater cameras, and finally the displacement state coefficient is obtained;

[0030] The detection technology that combines a laser plummet with camera observation can effectively and promptly detect and avoid the risk of excessive verticality deviation, significantly improving the accuracy and reliability of dynamic verticality detection, and providing strong guarantees for quality control and construction safety of underwater pile driving projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] Figure 1 This is a flowchart of the steps of a method for dynamically detecting the verticality of an underwater pile body provided in this application. DETAILED DESCRIPTION

[0033] To further illustrate the technical means and effectiveness of this application to achieve the intended purpose of the invention, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail a method and device for dynamically detecting the verticality of a submerged pile shaft, including its specific implementation, structure, features, and effectiveness. In the following description, different references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0034] Unless otherwise specified and limited, terms such as "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a circuit structure, article or device comprising a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the article or device comprising the element. In addition, the term "and\or" used herein includes any and all combinations of one or more related listed items. All technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs.

[0035] The following describes in detail a method and device for dynamically detecting the verticality of an underwater pile provided by the present application with reference to the accompanying drawings.

[0036] See also Figure 1 , which shows a flowchart of a method for dynamically detecting the verticality of an underwater pile provided by one embodiment of the present application, comprising the following steps:

[0037] Step 1: Collect the coordinates of the laser plummet's light spot and the distortion data of the pile during the sinking process, and synchronously obtain the images of each underwater pile during the hammering process through the underwater camera.

[0038] Underwater pile driving differs from conventional pile driving techniques in that the piles are longer and have larger bore diameters, resulting in a longer continuous pile driving operation. To minimize pile top displacement, this embodiment utilizes a hydraulic hammer for pile driving. To enhance stability during the subsequent pile driving process, the hammer is fixed with a single strike during the initial stages of the pile driving process, stopping after each strike. Penetration and verticality changes are monitored. Penetration testing is a well-known construction technique.

[0039] In this embodiment, a laser plumb line and camera observation are used for comprehensive verticality testing. Relying solely on a laser plumb line or camera observation may produce inaccurate results during continuous operation. The laser plumb line is a JZC-E Laser Automatic Leveling and Verticality Digital Tester. If the detected verticality deviation exceeds 1%, immediate correction is performed. Calculating verticality deviation is a well-known technique and will not be further described.

[0040] When the pile penetration reaches 50 mm, the hydraulic hammer is controlled to enter the continuous hammering phase. During the continuous hammering process, a digital receiving light target is used to obtain the laser plumb line's light spot coordinate data, which includes the horizontal and vertical coordinates of the light spot's center point. The laser plumb line also collects pile body torsional data. Simultaneously, an underwater camera captures the underwater pile body, capturing real-time images of the underwater pile body after each hammering. It should be noted that the time interval for collecting the light spot coordinates, torsional data, and underwater pile body images is consistent with the frequency of the continuous hammering. In specific application scenarios, this is determined based on actual construction and is not specifically limited in this embodiment.

[0041] Step 2: Based on the degree of change and the change trend characteristics of the horizontal and vertical coordinate values ​​of the light spot coordinates, calculate the offset coefficients of the light spot in the horizontal and vertical directions at each moment, and then obtain the offset degree of the light spot at each moment.

[0042] S1: During the underwater pile sinking construction process, when the pile body sinks to a predetermined depth, its stability will be significantly improved. At this time, continuous pile sinking operations can achieve higher stability. In this process, it is necessary to collect real-time pile body verticality data for continuous pile sinking operations, and timely adjust the drooping angle of the pile according to the dynamic change characteristics of the verticality and its potential influencing factors. During the pile sinking operation, since the underwater soil is softer than the road soil, has a higher pore water pressure and unique permeability, the pile body may suffer from uneven soil resistance. At the same time, due to the errors caused by the pile itself in the manufacturing and installation links, the pile body may be unevenly twisted or deformed in the axial direction. This distortion phenomenon is relatively common in pile sinking projects, especially in soft soil foundations or areas with uneven geological conditions, and will further cause deviations in verticality. Therefore, this application adopts the method of analyzing the changing characteristics of the horizontal and vertical coordinates of the laser point and the related characteristics of the distortion to achieve dynamic detection of verticality.

[0043] The general method of pile driving construction is to stop construction every time the pile body sinks to a certain depth, calculate the precise vertical deviation value based on the data collected by the equipment and the actual construction situation, and then determine whether to make corrections. During the continuous hammering stage of the hydraulic hammer, the vertical state of the pile body changes dynamically. If the vertical deviation value is calculated directly, large errors are likely to occur. Therefore, this application analyzes the offset state of the pile body during the continuous hammering process. Before the predetermined penetration depth is reached, if the vertical state result is abnormal, the construction is stopped to calculate the vertical deviation value and make corrections in time. This can avoid the problem of excessive vertical deviation.

[0044] During the continuous pile driving phase, each time the hydraulic hammer strikes the top of the pile, its contact point isn't completely fixed, but rather deviates slightly. Because each hammer strike is relatively shallow, repeated hammer strikes can cause the verticality of the pile to shift beyond construction requirements. These slight differences in the contact point during each hydraulic hammer strike cause the horizontal and vertical coordinates of the light spot's center to fluctuate to varying degrees, causing the center coordinate to fluctuate in all directions. When the amplitude of these coordinate fluctuations increases, and the center coordinate's short-term fluctuations become increasingly significant, it indicates a high likelihood of vertical deviation. Therefore, by analyzing the changing characteristics of the light spot's center coordinates after each hammer strike compared to previous strikes, as well as any abnormal fluctuations in the light spot's center after each strike, we can accurately capture potential verticality anomalies, providing a powerful basis for quality control during pile driving.

[0045] The changes in the horizontal and vertical coordinate data reflect the offset status of the light spot in different directions. In this embodiment, taking the horizontal coordinate as an example, the horizontal coordinate data of the i-th moment and the previous N moments are set to form the nearest neighbor subsequence of the i-th moment, and N is 8. In order to obtain the short-term trend characteristics of the horizontal coordinate, this embodiment uses a single exponential smoothing algorithm for smoothing prediction. The input of the algorithm is the nearest neighbor subsequence of the i-th moment, and the smoothing coefficient is set to 0.6. The output of the algorithm is the next predicted value of the nearest neighbor subsequence. During the calculation process, the missing values ​​in the nearest neighbor subsequence of the first 8 data are filled in by edge filling. The difference between the predicted value and the nearest neighbor subsequence reflects the potential trend characteristics of the change, and then the potential offset coefficient of the light spot in the horizontal coordinate direction at each moment is calculated. In this embodiment, the specific calculation formula is:

[0046] Where, represents the potential offset coefficient of the light spot in the horizontal direction at the i-th moment, represents the mean difference of the neighbor subsequences at the i-th moment, represents the total number of data in the nearest neighbor subsequence at the i-th moment, represents the exponential smoothing prediction value of the neighbor subsequence at the i-th moment, represents the jth number in the nearest neighbor subsequence at the i-th moment. It can be understood that The larger the value is, the greater the amplitude of the light spot's jump in the horizontal axis direction in a short period of time, and the more unstable the contact point may be during the hammering process. The larger is the value, the greater the overall difference between the predicted value and the nearest subsequence, and the more obvious the change trend in the short term. The larger , the greater the potential deviation of the light spot in the horizontal axis direction at the i-th moment.

[0047] Thus, according to the above method of this embodiment, the potential deviation coefficient of the light spot in the horizontal coordinate direction at each moment can be obtained. By analyzing the deviation degree of the center point of the vertical instrument light spot in the horizontal coordinate direction, the potential deviation coefficient of the light spot in the vertical coordinate direction at each moment can be obtained by using the same calculation steps as above for the vertical coordinate data of the light spot at each moment. The deviation coefficient of the light spot in the vertical coordinate direction at the i-th moment is recorded as , The larger the value, the greater the potential vertical offset of the light spot at the i-th moment. During pile driving, the direction of the pile's offset is uncertain. The dynamic change between the light spot position and the initial position reflects the overall vertical state of the pile.

[0048] Furthermore, in order to accurately analyze the offset of the light spot at each moment, in this embodiment, the sum of the potential offset coefficients of the light spot in the horizontal and vertical coordinate directions at the i-th moment is used as the offset degree of the light spot at the i-th moment. The offset degree of the light spot at each moment reflects the overall offset degree of the pile body after each hammering from the offset angle of the light spot.

[0049] Step 3: By analyzing the autocorrelation of the light spot coordinate data at each moment and the previous moments, as well as the correlation between the light spot offset at each moment and the pile body distortion data, the offset influence index due to dynamic distortion at each moment is calculated.

[0050] In addition, when the pile body deflects rapidly, the probability of the light spot coordinates continuously changing along a certain direction increases, which manifests as a high degree of autocorrelation in the short-term changes in the light spot coordinates. Therefore, the two-dimensional coordinate points consisting of the horizontal and vertical coordinates of the light spot at the i-th moment and the N moments before it are arranged in ascending time order to obtain the light spot coordinate sequence at the i-th moment, and the autocorrelation coefficient of the light spot coordinate sequence is calculated.

[0051] During the underwater pile sinking operation, the soil environment presents high pore water pressure and different permeability characteristics. When encountering uneven soil resistance, the pile body is very likely to experience non-uniform distortion or deformation, which in turn causes corresponding changes in the distortion of the pile body. Affected by this distortion or deformation, the pile body may not be able to remain completely perpendicular to the ground during pile sinking, and the possibility of verticality error will increase significantly. Moreover, the greater the distortion of the pile body, the greater the overall offset. When the two show certain synchronous change characteristics, it is more likely to cause verticality deviation. The distortion data of the i-th moment and the previous N moments are arranged in ascending time order to form a distortion subsequence of the i-th moment, recorded as Furthermore, the offsets of the light spots at the i-th moment and the N moments before it are arranged in ascending order of time to obtain the offset subsequence at the i-th moment, which is recorded as .

[0052] Based on the above analysis, the offset impact index due to dynamic distortion at each moment is calculated through the autocorrelation of the spot coordinate sequence at each moment, and the correlation between the distortion degree subsequence and the cheapness degree subsequence at each moment. In this embodiment, the specific calculation formula is as follows:

[0053] Where, Represents the offset impact index due to dynamic distortion at the i-th moment. Represents the autocorrelation coefficient of the spot coordinate sequence at the i-th moment, and the obtained The larger the value is, the higher the degree of autocorrelation of the spot coordinate position change is. 、 Respectively represent the offset degree subsequence and distortion degree subsequence at the i-th moment, represents the Spearman correlation coefficient, and The larger the value is, the greater the positive correlation between the pile body torsion and the potential offset state is. The larger it is, the greater the influence of pile body distortion on vertical offset.

[0054] Step 4: Calculate the vertical offset index at each moment based on the difference in the offset impact index due to dynamic distortion at each moment and at other moments, as well as the fluctuation of the spot coordinate data at each moment and at multiple moments before that.

[0055] As the construction continues, the insertion depth of the pile body gradually increases. The greater the downward pressure applied to the pile body, the greater the possibility of distortion and vertical deviation of the pile body due to the soil squeezing effect caused by uneven soil quality. The corresponding deviation influence index due to dynamic distortion can be calculated at each moment. If the obtained deviation influence index gradually increases, it means that the possibility of deviation of the pile body at this time is greater. Therefore, the difference between the vertical distortion anomaly coefficient at each moment and the previous moment is calculated. The size of the difference reflects the variation range of the deviation influence index, and the sign of the difference reflects the increase or decrease state of the deviation influence index. Therefore, combined with the degree of fluctuation of the light spot coordinates, the vertical deviation index is calculated. In this embodiment, the calculation formula is:

[0056] Where, Represents the vertical offset index at the i-th moment, Indicates the range of the corresponding spot coordinate sequence at the i-th moment, The larger it is, the greater the fluctuation of the light spot. represents an exponential function with a natural constant as the base, 、 Respectively represent , No. The offset impact index due to dynamic distortion at each moment.

[0057] It should be noted that the The larger the value is, the more significant the gradual increase in the offset impact index is. The larger it is, the greater the possibility that the verticality of the pile will deviate.

[0058] Step 5: Calculate the contour offset value at each moment based on the degree of overlap of contour pixels in each underwater pile image, and determine the offset state coefficient at each moment based on the vertical offset index and the contour offset value to perform verticality detection on the underwater pile body.

[0059] This example analyzes the changing characteristics of the laser spot coordinate data collected by a plummeting instrument during construction, as well as the influence of pile torsion on vertical deviation. It then calculates a vertical deviation index based on the changing state of these influencing characteristics and the degree of fluctuation in the laser spot. This value reflects the likelihood of vertical deviation during pile driving.

[0060] The above-mentioned detection method based on the laser plumb line is obtained by observing the above-water part of the pile body. It may be affected by the shaking of the pile body, the construction method and the real-time operation angle. Finally, the detection technology combining the laser plumb line and the camera observation method is adopted to further improve the accuracy of vertical detection. During the construction process, a camera is installed underwater to shoot the underwater part of the pile body. During the continuous hammering process, the underwater pile body image after each hammering is collected in real time. It should be noted that the acquisition time of the underwater pile body image is consistent with the acquisition time of the light spot coordinates and the distortion data of the pile body. In this embodiment, the data acquisition is synchronized in time.

[0061] Furthermore, edge detection is performed on the underwater pile image at each moment to obtain a pile contour image in the underwater pile image at each moment, and the pile contour image corresponding to the underwater pile image before the first hammering is recorded as the standard contour image. In this embodiment, the pile contour image of the underwater pile image is obtained using an edge extraction algorithm based on the Laplacian operator. The edge detection process is a prior art and will not be described in detail in this embodiment. It should be noted that the underwater pile image corresponding to the standard contour image is the image data of the pile body in water before the first hammering.

[0062] Furthermore, if the pile body is in a vertical state during the sinking process, the obtained contour pixel points should overlap with the standard contour pixel points; if the vertical offset is larger, the number of overlapping pixels between the obtained contour pixel points and the standard contour pixel points will be smaller. Therefore, the offset of the underwater pile body contour is analyzed by counting the number of non-overlapping pixels in the pile body contour image and the standard contour image at each moment. Specifically, in this embodiment, the number of non-overlapping pixels in the pile body contour image and the standard contour image at each moment during the hammering process is counted, and the ratio of the number of non-overlapping pixels to the total number of edge pixels in the standard contour image is used as the contour offset value at each moment. The contour offset value at the ith moment is recorded as The larger the contour offset value is, the greater the vertical offset obtained by the camera observation is.

[0063] Finally, a comprehensive evaluation is performed by combining the vertical offset index and the contour offset value. First, the vertical offset index is normalized using the sigmoid function, and the normalized result of the vertical offset index at the i-th moment is recorded as , further, in this embodiment, and The average value of is taken as the offset state coefficient at the i-th moment. It can be understood that the larger the offset state coefficient is, the higher the degree of pile body offset of the underwater pile at the corresponding moment.

[0064] During the underwater pile sinking process, a vertical deviation calculation and correction is usually performed based on the unit penetration rate. For example, the verticality of the pile body is checked every 0.25m of sinking. In this embodiment, the offset state coefficient is obtained in real time during the sinking process, and the offset threshold is set to 0.75. If the obtained offset state coefficient is higher than 0.75, the pile sinking construction is stopped, indicating that the underwater pile has a vertical deviation. The accurate vertical deviation value is obtained based on the data collected by the laser plummet. The calculation of the vertical deviation value is a well-known technology, and the deviation correction is performed. If the obtained offset state coefficient is lower than 0.75, the pile sinking construction can continue, which helps to improve the accuracy of the pile sinking construction.

[0065] Based on the same inventive concept as the above method, an embodiment of the present application also provides a dynamic detection device for the verticality of the pile body of an underwater pile, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any one of the above-mentioned methods for dynamic detection of the verticality of the pile body of an underwater pile.

[0066] It should be understood that the order in which the embodiments of the present application are presented is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. Furthermore, the foregoing descriptions of specific embodiments of this specification are provided. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential sequence shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0067] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0068] The above content is only an implementation method of the present application and is not intended to limit the scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the scope of protection of the present application.

Claims

1. A method for dynamic detection of the verticality of an underwater pile, characterized in that: The following steps are involved: Collect the laser plummet's spot coordinates and pile distortion data during the sinking process, and use an underwater camera to synchronously capture images of each underwater pile during the hammering process. Based on the degree of change and trend characteristics of the horizontal and vertical coordinate values ​​of the light spot coordinates, the offset coefficients of the light spot in the horizontal and vertical directions at each moment are calculated, and then the offset degree of the light spot at each moment is obtained; By analyzing the autocorrelation of the light spot coordinate data at each moment and the previous moments, as well as the correlation between the light spot offset at each moment and the pile body distortion data, the offset influence index due to dynamic distortion at each moment is calculated. Calculate the vertical offset index at each moment using the following formula: Where, Represents the vertical offset index at the i-th moment, Indicates the range of the corresponding spot coordinate sequence at the i-th moment, represents an exponential function with a natural constant as the base, 、 Respectively represent , No. The offset impact index due to dynamic distortion at each moment; Calculate the contour offset value at each moment based on the degree of overlap of contour pixels in each underwater pile image, and determine the offset state coefficient at each moment based on the vertical offset index and the contour offset value to perform verticality detection on the underwater pile body; The calculation process of the offset coefficient of the light spot in the horizontal and vertical directions at each moment is: For the horizontal coordinate data of the light spot at each moment, the horizontal coordinate data of each moment and the previous moments are combined into the nearest neighbor subsequence of each moment, and the exponential smoothing algorithm is used to obtain the first exponential smoothing prediction value of the nearest neighbor subsequence. Then the potential offset coefficient of the light spot in the horizontal coordinate direction at the i-th moment is The expression is: Where, represents the potential offset coefficient of the light spot in the horizontal direction at the i-th moment, represents the mean difference of the neighbor subsequences at the i-th moment, represents the total number of data in the nearest neighbor subsequence at the i-th moment, represents the exponential smoothing prediction value of the neighbor subsequence at the i-th moment, Represents the jth data in the nearest neighbor subsequence at the i-th moment; For the ordinate data of the light spot at each moment, the potential shift coefficient of the light spot in the horizontal coordinate direction at each moment is obtained by using the calculation method of the potential shift coefficient of the light spot in the horizontal coordinate direction at each moment; The corresponding calculation formula for the offset influence index due to dynamic distortion at each moment is: Where, represents the offset impact index due to dynamic distortion at the i-th moment, represents the autocorrelation coefficient of the spot coordinate sequence at the i-th moment, 、 Respectively represent the offset degree subsequence and distortion degree subsequence at the i-th moment, represents the Spearman correlation coefficient.

2. A method for dynamic detection of verticality of an underwater pile body according to claim 1, characterized in that: The degree of deviation of the light spot at each moment is the sum of the deviation coefficients of the light spot in the abscissa direction and the ordinate direction at each moment.

3. A method for dynamic detection of verticality of an underwater pile as claimed in claim 1, characterized in that: The two-dimensional coordinate points formed by the horizontal and vertical coordinates of the light spot at each moment and the previous moments are arranged in ascending time order to form a light spot coordinate sequence at each moment; the offset and distortion data at each moment and the previous moments are arranged in ascending time order to form an offset subsequence and distortion subsequence at each moment.

4. A method for dynamic detection of verticality of an underwater pile as claimed in claim 1, characterized in that: The calculation process of the contour offset value at each moment is: Perform edge detection on the underwater pile image at each moment to obtain the pile contour image in the underwater pile image at each moment; The pile contour image corresponding to the underwater pile image before the first hammering is recorded as the standard contour image. The number of non-overlapping pixels between the pile contour image and the standard contour image at each moment during the hammering process is counted. The ratio of the number of non-overlapping pixels to the total number of edge pixels in the standard contour image is used as the contour offset value at each moment.

5. A method for dynamic detection of verticality of an underwater pile as claimed in claim 1, characterized in that: The offset state coefficient at each moment is an average value of a normalized result of the vertical offset index at each moment and the contour offset value at each moment.

6. A method for dynamic detection of verticality of an underwater pile as claimed in claim 1, characterized in that: The verticality detection of the underwater pile body further includes: When the offset state coefficient is higher than the preset offset threshold, the pile sinking construction is stopped; when the offset state coefficient is lower than the preset offset threshold, the pile sinking construction is continued.

7. A device for dynamically detecting the verticality of an underwater pile, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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