Integrated vane testing device and testing method

Abstract

The invention provides an integrated vane testing device and testing method, and belongs to the technical field of ocean engineering investigation, and the integrated vane testing device comprises a main cabin body and a testing assembly. The main cabin body is cylindrical, one end of the main cabin body is provided with a grasping part and a control handle, and the other end of the main cabin body is movably provided with a vane head in a penetrating mode. The testing assembly comprises a power supply module, a measurement and control and data acquisition module and a driving module which are installed in the main cabin body. The driving module comprises a load monitoring mechanism, a propelling mechanism, a motor, an angle sensor and a torque sensor. The motor is in transmission connection with a rotating shaft of the vane head, and the measurement and control and data acquisition module controls the motor and records data based on the feedback of the angle sensor and the torque sensor under the control of the control handle, and drives the vane head to stretch out and draw back in combination with the feedback of the load monitoring mechanism. The technical problems that the operation efficiency is low and the data acquisition accuracy and reliability are difficult to guarantee due to the fact that ocean vane testing is limited by technical means in the related technology can be solved.

Description

Technical Field

[0001] This invention relates to the field of marine engineering surveying technology, and in particular to an integrated vane test device and test method. Background Technology

[0002] The vane shear test is a widely used in-situ testing technique in geotechnical engineering, primarily used to determine the undrained shear strength of soft soils, especially saturated soft clay. Its basic principle involves pressing a vane-shaped plate of a specific height into the soil to a predetermined depth, then twisting it at a constant rate, recording the relationship between the torsional moment and the angle of twist, until the soil breaks down. The in-situ undrained shear strength of the soil can then be obtained through theoretical calculations. This parameter is crucial for evaluating foundation bearing capacity, slope stability, and the design and safety of marine engineering facilities such as offshore platforms and subsea pipelines.

[0003] In marine engineering geological exploration, vane shear testing typically relies on large marine engineering vessels as operating platforms. During operation, a specialized subsea vane shear tester is first lowered to the seabed via the vessel's massive support structure or crane system. This testing instrument is usually used in conjunction with drilling equipment; a vane probe is connected to the bottom of the drill pipe, which is then driven into the seabed at a specific depth. Subsequently, a drive motor on the deck transmits torsional torque to the probe below the seabed via the drill string that runs through the entire water column, simultaneously measuring and recording the torque and rotation data at the top of the drill string. This data is then used to calculate the shear strength of the soil.

[0004] However, the aforementioned traditional marine vane testing method has significant drawbacks. First, the entire testing system is highly dependent on large support vessels and heavy support equipment, resulting in extremely high operating costs. Furthermore, vessel positioning is difficult, the equipment is bulky, deployment costs are high, and the mobility for rapid retesting in shallow waters is insufficient. Second, testing accuracy is easily affected by interference. The extremely long drill string can twist, vibrate, or even bend in complex marine environments, generating significant torque transmission losses and measurement errors. Moreover, during penetration and shearing, encountering hard interlayers or debris can easily lead to jamming, device rotation due to reaction forces, or difficulty maintaining a constant speed. If adjustments cannot be made promptly, the accuracy and reliability of the data cannot be guaranteed. Finally, the operation process is cumbersome and time-consuming, often taking several hours from equipment deployment to completing a single-point test, resulting in low efficiency and severely limiting the application of this technology in large-scale, high-precision marine engineering surveys. Summary of the Invention

[0005] This invention provides an integrated vane testing device and method, which solves the technical problems of low operational efficiency and difficulty in ensuring the accuracy and reliability of data acquisition caused by limitations in technical means in marine vane testing. The technical solution is as follows: In a first aspect, embodiments of the present invention provide an integrated vane testing device, comprising: a main body and testing components. The main body is cylindrical, with one end closed and equipped with a gripping part for underwater robot to grasp, and a control handle at one end of the main body. A cross plate head is movably inserted through the other end of the main body. The test components include a power supply module, a measurement and control and data acquisition module, and a drive module, all installed in the main cabin and electrically connected to each other. The drive module includes a load monitoring mechanism, a propulsion mechanism, a motor, an angle sensor, and a torque sensor. The motor is connected to the rotating shaft of the crosshead. The measurement and control and data acquisition module is configured to perform constant-speed closed-loop control of the motor based on feedback from the angle sensor and the torque sensor, and to record torque and angular displacement data in real time, under the control of the control handle. It also combines feedback from the load monitoring mechanism to drive the crosshead to extend and retract axially using the propulsion mechanism.

[0006] Optionally, a top cover is detachably provided at one end of the main body, and the handle of the control handle is axially inserted through the top cover.

[0007] Optionally, the gripping part includes a first flange that protrudes radially from one end sidewall of the main body, and a second flange that matches the first flange on the top cover. The main body and the top cover are connected by bolts through the first flange and the second flange.

[0008] Optionally, the top cover is provided with an indicator light that is connected to the measurement and control and data acquisition module.

[0009] Optionally, the top cover is provided with a charging port connected to the power supply module and a data interface connected to the measurement and control and data acquisition module.

[0010] Optionally, the sidewalls of the main cabin are provided with multiple reaction blades at equal angles to generate anti-torsional reaction forces with the soil.

[0011] Optionally, in the direction near the head of the cross plate, the other end of the main body has a tapered structure with a gradually decreasing diameter.

[0012] Secondly, embodiments of the present invention provide a testing method, implemented based on the integrated vane testing device described in the first aspect, comprising: Step 1: Use an underwater robot to grab the gripping part at one end of the main body, lower the integrated cross plate testing device to the designated underwater testing location, and insert the end of the cross plate head into the soil to a predetermined depth. Step 2: Drive the control handle through the underwater robot, use the measurement and control and data acquisition module to control the drive module, drive the cross blade head to rotate at a specified angular velocity through the motor to perform a shearing test, and collect torque, angular displacement and time data; Step 3: Based on the torque, angular displacement, and time data, obtain the shear characteristic quantity and use it for soil strength parameters and sensitivity evaluation.

[0013] Optionally, step 1 further includes: The load monitoring mechanism collects the penetration force data of the vane head during the penetration into the soil and feeds it back to the measurement and control and data acquisition module. When the penetration force data exceeds a preset threshold, the measurement and control and data acquisition module sends an alarm message to the operator.

[0014] Optionally, step 2 further includes: During the shearing test, when the torque exceeds the preset threshold, the measurement and control and data acquisition module sends a control signal to the propulsion mechanism, and the propulsion mechanism pushes the cross plate head outward along the axial direction to achieve obstacle avoidance or disengagement. If the torque continuously or repeatedly exceeds a preset threshold, the measurement and control and data acquisition module sends an alarm message to the operator and sends a control signal to the motor to stop the rotation of the crosshead.

[0015] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: In summary, the integrated vane testing device provided in this invention, with its integrated structure that combines power supply, electrical control, data acquisition, drive, and vane head within the main body, allows the device to operate independently and coordinate with an ROV (Remotely Operated Vehicle) for grasping, transporting, and control operations. It can complete penetration and shear tests on the shallow seabed without the need for dedicated work vessels or large penetration mechanisms, effectively improving operational efficiency and reducing costs. By introducing a penetration and shear state monitoring structure and algorithm, the torque and load conditions during penetration and shear tests can be monitored in real time, preventing structural overload and protecting the safety of the equipment. Finally, for the rotation control of the vane head of the main testing structure, the introduction of adaptive PID control technology effectively improves the control accuracy of the vane head, maintains stable rotation speed, and significantly improves data acquisition accuracy. This solves the technical problems of low operational efficiency and difficulty in guaranteeing the accuracy and reliability of data acquisition in marine vane testing due to limitations in technical means. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the integrated cross-plate testing device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the integrated cross-plate testing device provided in an embodiment of the present invention; Figure 3 This is a partial structural diagram of the driving module provided in an embodiment of the present invention; Figure 4 This is a top view of the integrated vane test device provided in an embodiment of the present invention. Figure 5 This is a partial structural diagram of the main body and top cover provided in an embodiment of the present invention; Figure 6 This is a block diagram of the control structure of the test component provided in an embodiment of the present invention; Figure 7 This is a block diagram of the control structure of the driving module provided in an embodiment of the present invention; Figure 8 This is a control logic diagram of the control handle provided in an embodiment of the present invention; Figure 9 This is a block diagram of the control structure for the vane shear test under external load provided in an embodiment of the present invention. Figure 10 This is a flowchart illustrating the specific control sequence provided in the embodiments of the present invention; Figure 11 This is a structural block diagram of the adaptive learning module introduced into the PID control system provided in this embodiment of the invention; Figure 12 This is a flowchart of a testing method provided in an embodiment of the present invention.

[0018] In the diagram: 1-Main cabin; 2-Test component; 11-Grab part; 12-Control handle; 13-Cross plate head; 14-Top cover; 15-Indicator light; 16-Charging port; 17-Data interface; 18-Reaction blade; 21-Power supply module; 22-Measurement and control and data acquisition module; 23-Drive module; 111-First flange; 112-Second flange; 221-Measurement and control module; 222-Data acquisition module; 231-Load monitoring mechanism; 232-Propulsion mechanism; 233-Motor; 234-Angle sensor; 235-Torque sensor. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0020] Figure 1 This is a three-dimensional structural schematic diagram of the integrated cross-plate testing device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the integrated cross-plate testing device provided in an embodiment of the present invention; Figure 3 This is a partial structural diagram of the driving module provided in an embodiment of the present invention; Figure 4 This is a top view of the integrated vane test device provided in an embodiment of the present invention. Figure 5 This is a partial structural diagram of the main body and top cover provided in an embodiment of the present invention; Figure 6 This is a block diagram of the control structure of the test component provided in an embodiment of the present invention; Figure 7 This is a block diagram of the control structure of the driving module provided in an embodiment of the present invention; Figure 8 This is a control logic diagram of the control handle provided in an embodiment of the present invention; Figure 9 This is a block diagram of the control structure for the vane shear test under external load provided in an embodiment of the present invention. Figure 10 This is a flowchart illustrating the specific control sequence provided in the embodiments of the present invention; Figure 11 This is a structural block diagram of the adaptive learning module introduced into the PID control system provided in this embodiment of the invention. Figures 1 to 11 As shown, this embodiment of the invention provides an integrated cross-plate testing device, including a main body 1 and a testing component 2.

[0021] The main body 1 is cylindrical, with one end of the main body 1 closed and equipped with a gripping part 11 for underwater robot to grasp. One end of the main body 1 is also equipped with a control handle 12, and the other end of the main body 1 is movably equipped with a cross plate head 13.

[0022] Test component 2 includes a power supply module 21, a measurement and control and data acquisition module 22, and a drive module 23, all installed within the main cabin 1 and electrically connected to each other. The drive module 23 includes a load monitoring mechanism 231, a propulsion mechanism 232, a motor 233, an angle sensor 234, and a torque sensor 235. The motor 233 is connected to the shaft of the cross-plate head 13. The measurement and control and data acquisition module 22 is configured to, under the control of the control handle 12, perform constant-speed closed-loop control of the motor 233 based on feedback from the angle sensor 234 and the torque sensor 235, and record torque and angular displacement data in real time. It also combines feedback from the load monitoring mechanism 231 to drive the cross-plate head 13 to extend and retract axially using the propulsion mechanism 232.

[0023] In this embodiment of the invention, the integrated vane test device is used in conjunction with an ROV (Remotely Operated Vehicle) to conduct marine stratum testing. The underwater robot uses its mechanical claws to grip the gripping part 11 located on top of the main body 1. The operator remotely controls the device from a surface vessel or on shore. The underwater robot lowers the integrated vane test device vertically into the water and transports it to the designated test location. The underwater robot's propulsion propels the vane head 13 to penetrate the main body 1, where the vane head 13 is located, to a predetermined depth in the underwater soil. Inside the main body 1, along the axis of its cylindrical structure, there are power supply module 21, measurement and control and data acquisition module 22, and drive module 23 arranged at intervals. The power supply module 21 uses a rechargeable lithium battery to power the electrical components in the entire integrated cross-plate testing device. The measurement and control and data acquisition module 22 can be integrated into one unit, or it can be set separately as in this embodiment as measurement and control module 221 and data acquisition module 222, respectively, to perform the sending and receiving of control commands driven by drive control handle 12, and to collect, process and feedback the data obtained by data detection elements such as load monitoring mechanism 231, angle sensor 234 and torque sensor 235 during shearing test. Furthermore, in this embodiment of the invention, while the underwater robot clamps and transports the main cabin 1, it is also connected to the control handle 12 via a robotic arm or a corresponding drive mechanism. After the integrated vane test device penetrates to the designated soil position, the underwater robot drives the control handle 12, and the measurement and control and data acquisition module 22 controls the drive module 23 via signals. The motor 233 drives the vane head 13 to rotate at a specified angular velocity, and the vane integrated thereon is used to perform shear tests. The torque, angular displacement, and operation time data of the integrated vane are collected in real time. Finally, based on the collected torque, angular displacement, and time data, shear characteristics are obtained and used for soil strength parameters and sensitivity evaluation, completing the marine stratum test.

[0024] Optionally, a top cover 14 is detachably provided at one end of the main body 1, and the handle of the control handle 12 passes through the top cover 14 axially. Exemplarily, in this embodiment of the invention, the main body 1 is sealed with a detachable top cover 14 to enclose internal components such as the power supply module 21, the measurement and control and data acquisition module 22, and the drive module 23. When not in operation, these components can be disassembled for easy maintenance and replacement, shortening the maintenance cycle. The control handle 12 passes through the top cover 14 axially, and its entire structure is located within the outline of the top cover 14, occupying little space. This allows the ROV to perform small-range adjustments and controls underwater via the mechanical arm or corresponding drive mechanism inside the clamping structure, enabling switching of operating states and modes, and improving the reliability of interaction.

[0025] Optionally, the gripping part 11 includes a first flange 111 radially protruding from one end sidewall of the main body 1, and a second flange 112 matching the first flange 111 on the top cover 14. The main body 1 and the top cover 14 are bolted together by the first flange 111 and the second flange 112. Further, in this embodiment of the invention, after the detachable top cover 14 and the main body 1 are fitted and sealed by the second flange 112 and the first flange 111, they are bolted together by multiple coaxial bolt holes. The diameters of the first flange 111 and the second flange 112 are both larger than the outer diameters of the main body 1 and the top cover 14, so as to form a flange-shaped disc gripping part 11 at one end of the main body 1. While maintaining connection reliability, the first flange 111 and the second flange 112 together provide gripping points for the underwater robot's manipulator. By gripping the lower end face of the first flange 111, the manipulator can provide upper obstruction, preventing the main body 1 from slipping during transportation, and serving as a force point for lifting after the operation is completed. During the downward penetration into the soil, the upper end face of the second flange 112 can serve as a downward pressure plane, providing a support position for the underwater robot's manipulator, while also preventing the manipulator from scraping against the main body 1 below and causing damage to other mechanisms.

[0026] Optionally, the top cover 14 is provided with an indicator light 15 connected to the measurement and control and data acquisition module 22. Exemplarily, in this embodiment of the invention, by providing an indicator light 15 on the top cover 14, during the cross-plate shearing test, the indicator light 15 can be used to send light signals back to the camera on the underwater robot, allowing operators to acquire and judge various conditions during the test.

[0027] Specifically, in this embodiment of the invention, the underwater robot operates the control handle 12, and through the signal transmission and reception of the measurement, control, and data acquisition module 22, the working state and working mode of the cross-plate head 13 can be switched, and the real-time working status is fed back to the underwater robot via an indicator light 15. The control logic of the control handle is as follows: Figure 8 As shown, when the control handle 12 is rotated to the leftmost position, the entire cross-plate testing device is in the closed state.

[0028] When the control handle 12 is rotated clockwise one notch, the vane test device activates its first mode, which performs a vane shear test on undisturbed soil. Looking from the top cover 14 towards the vane head 13, the vane head 13 will rotate clockwise. In the first mode, the vane on the vane head 13 will rotate clockwise at a speed of 0.2° / s, eventually rotating 90°. Simultaneously, the indicator light 15 will flash green in this mode to allow the underwater robot to monitor the operation of the vane test device. The green light will flash cyclically at 2-second intervals in the first mode until the operation is complete. After the vane head 13 stops, the indicator light 15 will remain constantly green. In this embodiment of the invention, the control handle 12 has a spring-loaded design between the open and switch positions. Rotating the control handle 12 to the switch position and holding it for 5 seconds switches the operating mode; releasing the handle will cause it to spring back to the open position. After switching from the first mode, it will switch to the second mode. In this mode, the crosshead 13 will perform a rapid soil disturbance test, and the crosshead on the crosshead 13 will rotate 720° clockwise at a speed of 6.0° / s. In this mode, the indicator light 15 will flash green in a cycle at 0.5-second intervals, and then turn green and stay on after the operation is completed. The control handle 12 can also switch to the third mode. In this mode, the crosshead will rotate 90° clockwise at a speed of 0.2° / s, allowing for a remolded soil test on the rapidly disturbed soil layer. In this mode, the indicator light 15 will flash green in a cycle at 2-second intervals, and then turn green and stay on after the operation is completed.

[0029] Furthermore, in this embodiment of the invention, in addition to the light signal feedback during routine testing, the indicator light 15 can also provide feedback to the underwater robot via different light signals when an abnormality occurs during operation and the protective mechanism is triggered. Specifically, in this embodiment of the invention, during the penetration operation of the vane test device, the front end of the vane head 13 first contacts the stratum. If a hard and impenetrable object appears in the stratum, the lack of effective monitoring may lead to overload of the penetration force, causing damage to the vane head 13. By setting up a load monitoring mechanism 231, the penetration force received by the vane head 13 can be monitored in real time. The penetration force is transmitted upward to the load monitoring mechanism 231 through the motor 233 and the propulsion mechanism 232. When the penetration force is too large and exceeds the preset threshold, the indicator light 15 will turn red and start flashing rapidly, and then the abnormal situation will be fed back to the operator through the underwater robot's camera, so that the operator can stop the penetration operation in time. This monitoring function can also operate simultaneously even when the control handle 12 is in the off position, effectively reducing the risk of equipment damage.

[0030] Furthermore, in this embodiment of the invention, the angle sensor 234 and the torque sensor 235 are integrated on the motor 233, which can monitor the rotation angle (angular displacement) and rotation torque of the vane head 13, respectively. Combined with the load monitoring mechanism 231, another method for operation protection can be formed. If the penetration operation is unobstructed, the vane device will penetrate into the target formation and begin vane shearing operations. However, during the vane shearing operation, the vane head 13 may encounter hard obstacles during the shearing test, or the structure may become stuck due to factors of the equipment mechanism. In this case, the torque of the rotating motor will increase until it exceeds the set threshold of the normal operating torque, triggering the protection mechanism. At this time, the integrated vane testing device will first trigger the movement of the propulsion mechanism 232, which will extend the structure and then push the motor 233 and the vane head 13 toward the formation, with the propulsion depth exceeding the overall height of the vane head 13. This operation can achieve two effects: In the first scenario, the vane head 13 is advanced to avoid obstacles encountered during the current rotation, thus reaching a new shearing position. This reduces the need for repeated pulling and retraction of the integrated vane testing device, saving operation time. If the obstacle to the rotating shearing operation can be completely avoided at a deeper position, the shearing operation can continue. If a rotational obstacle still exists, the torque will eventually exceed the preset threshold again. At this point, the integrated vane testing device will stop operating under the preset control command in the measurement and control and data acquisition module 22, and the indicator light 15 will turn red and begin flashing rapidly. The operator can then retrieve the integrated vane testing device based on the flashing indicator light and select a new working position.

[0031] In the second scenario, if the front-end mechanism of the propulsion mechanism 232 becomes stuck—for example, if the shaft of the crossbow head 13 gets stuck at the connection point with the main body 1—the torque at the motor 233 will also exceed the threshold. This will trigger the propulsion mechanism 232 to attempt to push the front-end mechanism away from the stuck point, allowing it to resume operation. If the stuck situation persists, the reaction force from the push will trigger the load monitoring mechanism 231 to monitor the reaction force, which will also trigger the integrated crossbow test device to stop, and the indicator light 15 will illuminate red and flash twice at two-second intervals, thus notifying the operators to stop the current operation.

[0032] Optionally, the top cover 14 is provided with a charging port 16 connected to the power supply module 21 and a data interface 17 connected to the measurement and control and data acquisition module 22. Exemplarily, in this embodiment of the invention, the charging port 16 and data interface 17 on the top cover 14 allow the internal power supply module 21 to be charged via an external charging cable and the data to be transmitted externally to the measurement and control and data acquisition module 22 when leaving the underwater operating environment. During underwater operations, both the charging port 16 and the data interface 17 are sealed and protected with specially designed sealing caps or dedicated plugs.

[0033] Optionally, multiple reaction blades 18 for generating anti-torsional reaction forces with the soil are arranged at equal angles on the side wall of the main body 1. Exemplarily, in this embodiment of the invention, multiple plate-shaped or wing-shaped reaction blades 18 are arranged at equal angular intervals along the circumferential direction on the outer side wall of the main body 1. After penetrating the soil along with the main body 1, they can form an anti-torsional anchoring structure with the surrounding soil, using their anti-torsional reaction force to suppress the rotation of the entire device caused by the shear reaction force generated when the cross-plate head 13 shears the strata, thereby improving operational stability.

[0034] Optionally, in the direction near the vane head 13, the other end of the main body 1 has a tapered structure with a gradually decreasing diameter. Exemplarily, in this embodiment of the invention, by transitioning the side of the main body 1 from which the vane head 13 extends into a tapered structure with a gradually decreasing diameter, the local resistance and soil disturbance in the initial stage of penetration can be reduced when penetrating the soil, making it easier for the entire device to maintain a stable posture along the axis when entering the undisturbed soil layer.

[0035] On the other hand, this integrated vane shearing device incorporates PID-based control technology. By integrating a relevant controller module into the measurement, control, and data acquisition module 22, and combining this with monitoring of the motor 233, it can automatically control the output of the motor 233 to maintain the designed rotational speed. This allows for vane shearing tests of the formation at the same rotational speed under different load conditions, obtaining the most accurate test data.

[0036] The system's control structure for vane shear testing under external load conditions is as follows: Figure 9As shown, the control system integrated with the measurement, control, and data acquisition module 22 includes a PID controller, which uses a pre-set rotational speed as the control standard. A comparator compares the data fed back from the photoelectric encoder of motor 233 with the actual rotational speed of motor 233, triggering PID control. An adder obtains the data signal, and a limiter prevents excessive current in the data signal before inputting it to the motor driver to control the motor 233 to increase or decrease its output torque. Motor 233 is also equipped with a current transformer to monitor its operating current and prevent excessive current output. Ultimately, changes in the output of motor 233 and the external load will cause changes in the actual load of motor 233, thus affecting its rotational speed. The rotational speed of motor 233 is then fed back through the encoder, completing the closed-loop control. The specific control sequence flow is as follows: Figure 10 As shown.

[0037] Finally, as Figure 11 As shown, this PID control system can also incorporate an adaptive learning module, which can record and analyze key output parameters during operation, automatically correct the PID data proportional parameters, and thus better adapt to the motor output control requirements of operations in different strata, achieving an adaptive control effect. This allows for faster achievement of output control needs, maximizes the output control accuracy of motor 233, and ensures that motor 233 rotates at its standard speed as much as possible, further improving data acquisition accuracy.

[0038] The load change detection section monitors the control current of motor 233 using a current sensor, thereby monitoring motor load changes and automatically calculating the load change rate to estimate the torque output demand of motor 233 and adjust parameters accordingly. The speed fluctuation analysis section analyzes the speed fluctuation spectrum to identify the main disturbance frequencies and proactively adjusts parameters. The historical data learning module establishes a load-performance relationship model, forming a fitting model based on the load data characteristics of previous operations. It compares and analyzes the load data during each operation; if the current operational stratum feedback data matches the model, it can directly call the output parameters, quickly achieving adaptive output parameters and high-precision data acquisition.

[0039] In summary, the integrated vane test device provided by this invention, with its integrated structure that combines power supply, electrical control, data acquisition, drive, and vane head 13 into the main cabin 1, allows the device to operate independently and cooperate with an ROV underwater robot for grasping, transporting, and control operations. It can complete penetration and shear tests in the shallow seabed without the need for dedicated work vessels or large penetration mechanisms, effectively improving operational efficiency and reducing operating costs. By introducing a penetration and shear state monitoring structure and algorithm, the torque and load conditions during penetration and shear tests can be monitored in real time during operation, preventing structural overload and protecting the safety of the work equipment. Finally, for the rotation control of the vane head 13, the introduction of adaptive PID control technology effectively improves the control accuracy of the vane head, maintains stable rotation speed, and effectively improves data acquisition accuracy. This solves the technical problems of low operational efficiency and difficulty in guaranteeing the accuracy and reliability of data acquisition in marine vane testing due to limitations in technical means in related technologies.

[0040] Figure 12 This is a flowchart of a testing method provided in an embodiment of the present invention. Figure 12 As shown, embodiments of the present invention also provide a testing method, based on, as Figures 1 to 11 The integrated vane test device shown includes: S1, using an underwater robot to grab the gripping part 11 at one end of the main cabin 1, lowering and transporting the integrated cross plate testing device to the designated underwater testing location, and inserting the end where the cross plate head 13 is located into the soil to a predetermined depth. S2, the underwater robot drives the control handle 12, and the measurement and control and data acquisition module 22 controls the drive module with signals. The motor 233 drives the cross plate head 13 to rotate at a specified angular velocity to perform shearing test, and collects torque, angular displacement and time data. S3, based on torque, angular displacement and time data, obtains shear characteristics and uses them for soil strength parameters and sensitivity evaluation.

[0041] Specifically, in this embodiment of the invention, the integrated vane test device is used in conjunction with an ROV (Remote Operated Vehicle) to conduct marine stratum testing. The underwater robot uses its mechanical claws to grip the gripping part 11 located on top of the main body 1. The operator remotely controls the device from a surface vessel or on shore. The underwater robot lowers the integrated vane test device vertically into the water and transports it to the designated test location. The underwater robot's propulsion propels the end of the main body 1, where the vane head 13 is located, into the underwater soil to a predetermined depth. Inside the main body 1, along the axis of its cylindrical structure, there are power supply module 21, measurement and control and data acquisition module 22, and drive module 23 arranged at intervals. The power supply module 21 uses a rechargeable lithium battery to power the electrical components in the entire integrated cross-plate testing device. The measurement and control and data acquisition module 22 can be integrated into one unit, or it can be set separately as in this embodiment as measurement and control module 221 and data acquisition module 222, respectively, to perform the sending and receiving of control commands driven by drive control handle 12, and to collect, process and feedback the data obtained by data detection elements such as load monitoring mechanism 231, angle sensor 234 and torque sensor 235 during shearing test. Furthermore, in this embodiment of the invention, while the underwater robot clamps and transports the main cabin 1, it is also connected to the control handle 12 via a robotic arm or a corresponding drive mechanism. After the integrated vane test device penetrates to the designated soil position, the underwater robot drives the control handle 12, and the measurement and control and data acquisition module 22 controls the drive module 23 via signals. The motor 233 drives the vane head 13 to rotate at a specified angular velocity, and the vane integrated thereon is used to perform shear tests. The torque, angular displacement, and operation time data of the integrated vane are collected in real time. Finally, based on the collected torque, angular displacement, and time data, shear characteristics are obtained and used for soil strength parameters and sensitivity evaluation, completing the marine stratum test.

[0042] Optionally, step 1 further includes: The load monitoring mechanism 231 collects the penetration force data of the vane head 13 during the penetration into the soil and feeds it back to the measurement and control and data acquisition module 22. When the penetration force data exceeds the preset threshold, the measurement and control and data acquisition module 22 sends an alarm message to the operator.

[0043] Specifically, by setting up a load monitoring mechanism 231, the penetration force on the cross plate head 13 can be monitored in real time. The penetration force is transmitted upward to the load monitoring mechanism 231 through the motor 233 and the propulsion mechanism 232. When the penetration force is too large and exceeds the preset threshold, the measurement and control and data acquisition module 22 will control the indicator light 15 to turn red and start flashing rapidly. Then, the abnormal situation will be fed back to the operator through the underwater robot's camera, so that the operator can stop the penetration operation in time. Even when the control handle 12 is in the off position, the monitoring function can still operate simultaneously, effectively reducing the risk of equipment damage.

[0044] Optionally, step 2 further includes: During the shearing test, when the torque exceeds the preset threshold, the measurement and control and data acquisition module 22 sends a control signal to the propulsion mechanism 232, and the propulsion mechanism 232 pushes the cross plate head 13 outward along the axial direction to achieve obstacle avoidance or unblocking. If the torque continuously or repeatedly exceeds the preset threshold, the measurement and control and data acquisition module 22 sends an alarm message to the operator and sends a control signal to the motor 233 to stop the rotation of the crosshead 13.

[0045] Specifically, in this embodiment of the invention, the angle sensor 234 and the torque sensor 235 are integrated on the motor 233, which can monitor the rotation angle (angular displacement) and rotation torque of the vane head 13, respectively. Combined with the load monitoring mechanism 231, another method for operation protection can be formed. If the penetration operation is unobstructed, the vane device will penetrate into the target formation and begin vane shearing operations. However, during the vane shearing operation, the vane head 13 may encounter hard obstacles during the shearing test, or the structure may become stuck due to factors of the equipment mechanism. In this case, the torque of the rotary motor will increase until it exceeds the set threshold of the normal operating torque, triggering the protection mechanism. At this time, the integrated vane testing device will first trigger the propulsion mechanism 232 to move. The propulsion mechanism 232 will extend the structure, thereby pushing the motor 233 and the vane head 13 towards the formation, with the propulsion depth exceeding the overall height of the vane head 13. By advancing the vane head 13, the device avoids obstacles encountered during rotation, reaching a new shearing position. This reduces the need for repeated pulling and inserting into the integrated vane testing device, saving time. If the obstacle to the rotating shearing operation can be completely avoided at a deeper position, the shearing operation can continue. If a rotational obstacle still exists, the torque will eventually exceed the preset threshold. In this case, the integrated vane testing device will stop operating under the preset control command in the measurement and control and data acquisition module 22, and the indicator light 15 will turn red and begin flashing rapidly. The operator can then retrieve the integrated vane testing device based on the indicator light flashing and select a new working position. Alternatively, if the front end of the propulsion mechanism 232 jams, for example, if the shaft of the vane head 13 is stuck at the connection point with the main body 1, the torque at the motor 233 will also exceed the threshold. This will trigger the propulsion mechanism 232 to attempt to push the front end mechanism away from the jammed point, allowing it to resume operation. If the jamming situation persists, the reaction force of the push will trigger the load monitoring mechanism 231 to monitor the reaction force, which will also trigger the integrated cross plate test device to stop and make indicator light 15 turn red and flash twice at two-second intervals, thereby notifying the operator to stop the current operation.

[0046] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, and do not exclude other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0047] The above description is merely an optional embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An integrated cross-plate testing device, characterized in that, include: Main cabin (1) and test components (2). The main body (1) is cylindrical. One end of the main body (1) is closed and is provided with a gripping part (11) for underwater robot to grab. One end of the main body (1) is also provided with a control handle (12). The other end of the main body (1) is movably provided with a cross plate head (13). The test component (2) includes a power supply module (21), a measurement and control and data acquisition module (22), and a drive module (23) installed in the main body (1) and electrically connected to each other. The drive module (23) includes a load monitoring mechanism (231), a propulsion mechanism (232), a motor (233), an angle sensor (234), and a torque sensor (235). The motor (233) is connected to the shaft of the cross plate head (13). The measurement and control and data acquisition module (22) is configured to perform constant speed closed-loop control on the motor (233) based on the feedback of the angle sensor (234) and the torque sensor (235) under the control of the control handle (12) and record torque and angular displacement data in real time. It will also use the propulsion mechanism (232) to drive the cross plate head (13) to perform axial extension and retraction in combination with the feedback of the load monitoring mechanism (231).

2. The integrated cross-plate testing device according to claim 1, characterized in that, One end of the main body (1) is detachably provided with a top cover (14), and the handle of the control handle (12) is axially inserted on the top cover (14).

3. The integrated cross-plate testing device according to claim 2, characterized in that, The gripping part (11) includes a first flange (111) that protrudes radially from one end side wall of the main body (1) and a second flange (112) that matches the first flange (111) on the top cover (14). The main body (1) and the top cover (14) are connected by bolts through the first flange (111) and the second flange (112).

4. The integrated cross-plate testing device according to claim 2, characterized in that, The top cover (14) is provided with an indicator light (15) that is connected to the measurement and control and data acquisition module (22).

5. The integrated cross-plate testing device according to claim 2, characterized in that, The top cover (14) is provided with a charging port (16) connected to the power supply module (21) and a data interface (17) connected to the measurement and control and data acquisition module (22).

6. The integrated vane test apparatus according to any one of claims 1 to 5, characterized in that, The main body (1) has multiple reaction blades (18) arranged at equal angles on its side wall to form anti-torsional reaction force with the soil.

7. The integrated vane test apparatus according to any one of claims 1 to 5, characterized in that, In the direction near the head (13) of the cross plate, the other end of the main body (1) has a tapered structure with a gradually decreasing diameter.

8. A testing method, implemented based on the integrated vane test device as described in any one of claims 1 to 7, characterized in that, include: Step 1: Use an underwater robot to grab the gripping part (11) at one end of the main cabin (1), lower the integrated cross plate test device to the designated underwater test location, and insert the end of the cross plate head (13) into the soil to a predetermined depth. Step 2: Drive the control handle (12) through the underwater robot, use the measurement and control and data acquisition module (22) to control the drive module (23) with signals, drive the cross plate head (13) to rotate at a specified angular velocity through the motor (233) to perform shearing test, and collect torque, angular displacement and time data; Step 3: Based on the torque, angular displacement, and time data, obtain the shear characteristic quantity and use it for soil strength parameters and sensitivity evaluation.

9. The test method according to claim 8, characterized in that, Step 1 further includes: The load monitoring mechanism (231) collects the penetration force data of the vane head (13) during the penetration into the soil and feeds it back to the measurement and control and data acquisition module (22). When the penetration force data exceeds the preset threshold, the measurement and control and data acquisition module (22) sends an alarm message to the operator.

10. The test method according to claim 8, characterized in that, Step 2 also includes: During the shear test, when the torque exceeds the preset threshold, the measurement and control and data acquisition module (22) sends a control signal to the propulsion mechanism (232), and the propulsion mechanism (232) pushes the cross plate head (13) outward along the axis to achieve obstacle avoidance or disengagement; If the torque continuously or repeatedly exceeds the preset threshold, the measurement and control and data acquisition module (22) sends an alarm message to the operator and sends a control signal to the motor (233) to stop the rotation of the cross plate head (13).

Images