An integrated vee block testing device and testing method

Abstract

The application provides a kind of integrated vane test device and test method, belong to marine engineering survey technical field, including main cabin body and test component. Main cabin body is cylindrical and is provided with gripping portion and control handle at one end, and the other end is movably provided with vane head. Test component includes power supply module, measurement and control and data acquisition module and drive module installed in main cabin body. Drive module includes load monitoring mechanism, propulsion mechanism, motor, angle sensor and torque sensor. Motor is in transmission connection with the rotating shaft of vane head, measurement and control and data acquisition module are controlled under the control of control handle, based on the feedback of angle sensor and torque sensor, the motor is controlled and data is recorded, and the vane head will be driven to stretch and retract combined with the feedback of load monitoring mechanism. It can solve the technical problems of low operation efficiency and difficult to guarantee data acquisition accuracy and reliability caused by technical means limitation in related art marine vane test.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of marine engineering investigation, in particular to an integrated vane shear testing device and testing method. BACKGROUND

[0002] The vane shear test is an in-situ testing technique widely used in geotechnical engineering, mainly for determining the undrained shear strength of soft soil, especially saturated soft clay. The basic principle is to press a cross-shaped plate head of a certain height into the soil to a predetermined depth, then twist at a constant rate, and record the relationship between the torque and the twist angle until the soil is sheared. Through theoretical conversion, the in-situ undrained shear strength of the soil can be obtained. This parameter is crucial for evaluating the bearing capacity of the foundation, the stability of the slope, and the design and safety of marine engineering facilities such as offshore platforms and submarine pipelines.

[0003] In marine engineering geological investigation, vane shear testing usually relies on large marine engineering ships as operation platforms. During operation, a special seabed vane shear instrument is first lowered to the seabed surface through a large support or crane system on the ship. The testing instrument is usually operated in conjunction with drilling equipment, i.e., connecting the vane probe to the bottom of the drill rod, and pressing the probe into the seabed to a specific depth through the drill rod. Subsequently, the drive motor on the deck transmits the torque to the probe below the seabed through the drill rod column that penetrates the entire water column, and simultaneously measures and records the torque and angle data at the top of the drill rod, from which the shear strength of the soil is calculated.

[0004] However, the above-mentioned traditional marine vane shear testing method has obvious defects. First, the entire testing system is highly dependent on large working mother ships and heavy support equipment, resulting in extremely high operating costs, difficulty in positioning the ship, large equipment size, high mobilization cost, and insufficient mobility for rapid retesting of the surface layer. Second, the testing accuracy is easily disturbed, the ultra-long drill rod column may twist, vibrate or even bend in complex marine environments, resulting in significant torque transmission loss and measurement error. In addition, during the penetration and shear process, hard layers or debris are encountered, which may cause jamming, device rotation with reaction force, or difficulty in maintaining a constant speed, etc. If adjustments are not made in time, the accuracy and reliability of the data cannot be guaranteed. Finally, the operation process is complicated and time-consuming, and it often takes several hours from equipment deployment to completion of a single point test, which is low in efficiency and greatly limits the application of this technology in large-scale and detailed marine engineering investigation. SUMMARY

[0005] The embodiments of the present application provide an integrated vane shear testing device and testing method, which can solve the technical problem of low operation efficiency and difficulty in ensuring the accuracy and reliability of data collection in marine vane shear testing due to technical limitations in the related art. The technical solution is as follows:

[0006] In a first aspect, the embodiment of the present application provides an integrated vane test device, comprising a main cabin body and a test assembly,

[0007] The main cabin body is in a cylindrical shape, one end of the main cabin body is closed and is provided with a holding part for being grabbed by a subsea robot, and the other end of the main cabin body is movably provided with a vane head.

[0008] The test 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 and are electrically connected with each other, the driving module comprises a load monitoring mechanism, a propulsion mechanism, a motor, an angle sensor and a torque sensor, the motor is in transmission connection with a rotating shaft of the vane head, the measurement and control and data acquisition module is configured to, under the control of the control handle, perform constant-speed closed-loop control on the motor based on the feedback of the angle sensor and the torque sensor and record torque and angular displacement data in real time, and drive the vane head to perform axial extension and retraction by using the propulsion mechanism in combination with the feedback of the load monitoring mechanism.

[0009] Optionally, one end of the main cabin body is detachably provided with a top cover, and a rotating handle of the control handle is axially arranged on the top cover.

[0010] Optionally, the holding part comprises a first flange plate which is radially arranged on a side wall of one end of the main cabin body, and a second flange plate which is arranged on the top cover and is matched with the first flange plate, and the main cabin body and the top cover are bolted by matching the first flange plate and the second flange plate.

[0011] Optionally, the top cover is provided with an indicator light connected with the measurement and control and data acquisition module.

[0012] Optionally, the top cover is provided with a charging port connected with the power supply module and a data interface connected with the measurement and control and data acquisition module.

[0013] Optionally, a plurality of counterforce blades for forming a counterforce against torque are arranged at equal angles on the side wall of the main cabin body.

[0014] Optionally, in the direction close to the vane head, the other end of the main cabin body is in a tapered structure with gradually reduced diameter.

[0015] In a second aspect, the embodiment of the present application provides a test method, which is realized based on the integrated vane test device of the first aspect, and comprises the following steps:

[0016] Step 1, the underwater robot is used to grab the gripping part at one end of the main cabin body, the integrated cross plate test device is lowered and transported to a designated underwater test site, and one end where the cross plate head is located is penetrated into the soil to a predetermined depth;

[0017] Step 2, the underwater robot is used to drive the control handle, the signal control of the driving module is performed by using the measurement and control and data acquisition module, the cross plate head is driven by the motor to rotate at a specified angular velocity to perform a shear test, and torque, angular displacement and time data are collected;

[0018] Step 3, shear characteristic quantities are obtained based on the torque, the angular displacement and the time data, and are used for soil strength parameter and sensitivity evaluation.

[0019] Optionally, the step 1 further comprises:

[0020] The penetration force data of the cross plate head in the process of penetrating into the soil are collected by using the load monitoring mechanism and are fed 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 is used to send an alarm information to an operator.

[0021] Optionally, the step 2 further comprises:

[0022] When the torque exceeds a preset threshold in the process of the shear test, the measurement and control and data acquisition module is used to send a control signal to the propulsion mechanism, the propulsion mechanism is used to advance the cross plate head to extend along the axial direction to realize obstacle avoidance or unjamming;

[0023] If the torque continuously or repeatedly exceeds the preset threshold, the measurement and control and data acquisition module is used to send an alarm information to an operator, and a control signal is sent to the motor to stop the rotation of the cross plate head.

[0024] The technical scheme provided by the embodiment of the application has at least the following beneficial effects:

[0025] In summary, the integrated vane test device provided by the embodiment of the present application has the integrated structure of integrating the power supply, electric control, collection and driving and vane head in the main cabin body, which can enable the device to operate independently, and can be grabbed, transported and controlled by the ROV underwater robot, without the need of special work vessels and large-scale penetration mechanisms to complete the penetration and shear test in the superficial layer of seabed. The operation efficiency is effectively improved, and the operation cost is reduced. By introducing the penetration and shear state monitoring structure and algorithm, the torque and load in the penetration and shear test state can be monitored in real time during the operation process, the structure overload is prevented, and the safety of the operation equipment is protected. Finally, for the rotation control of the vane head of the main test structure, the adaptive PID control technology is introduced, which can effectively improve the control accuracy of the vane head, maintain the stability of the rotation speed, and effectively improve the data acquisition accuracy. The technical problems of low operation efficiency and difficult guarantee of data acquisition accuracy and reliability caused by the limitation of technical means in the related art are solved. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 is a three-dimensional structural schematic diagram of the integrated vane test device provided by the embodiment of the present application;

[0028] Figure 2 is a three-dimensional structural schematic diagram of the integrated vane test device provided by the embodiment of the present application;

[0029] Figure 3 is a partial structural schematic diagram of the driving module provided by the embodiment of the present application;

[0030] Figure 4 is a three-dimensional structural schematic diagram of the integrated vane test device provided by the embodiment of the present application;

[0031] Figure 5 is a partial structural schematic diagram of the main cabin body and top cover position provided by the embodiment of the present application;

[0032] Figure 6 is a control structure block diagram of the test assembly provided by the embodiment of the present application;

[0033] Figure 7 is a control structure block diagram of the driving module provided by the embodiment of the present application;

[0034] Figure 8is a control logic diagram of the control handle provided by the embodiment of the present application;

[0035] Figure 9 is a control structure block diagram of the Vickers shear test under external load provided by the embodiment of the present application;

[0036] Figure 10 is a specific control condition sequence flow chart provided by the embodiment of the present application;

[0037] Figure 11 is a structure block diagram of the adaptive learning module introduced by the PID control system provided by the embodiment of the present application;

[0038] Figure 12 is a flow chart of a test method provided by the embodiment of the present application.

[0039] In the figure: 1-main cabin body; 2-test assembly; 11-grasping part; 12-control handle; 13-Vickers head; 14-top cover; 15-indicator light; 16-charging port; 17-data interface; 18-counterforce blade; 21-power supply module; 22-measurement and control and data acquisition module; 23-driving module; 111-first flange plate; 112-second flange plate; 221-measurement and control module; 222-data acquisition module; 231-load monitoring mechanism; 232-propelling mechanism; 233-motor; 234-angle sensor; 235-torque sensor. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the present application more clear, the following will make further detailed description to the embodiment of the present application in combination with the drawings.

[0041] Figure 1 is a three-dimensional structure schematic diagram of the integrated Vickers test device provided by the embodiment of the present application; Figure 2 is an internal structure schematic diagram of the integrated Vickers test device provided by the embodiment of the present application; Figure 3 is a local structure schematic diagram of the driving module provided by the embodiment of the present application; Figure 4 is a top view structure schematic diagram of the integrated Vickers test device provided by the embodiment of the present application; Figure 5 is a local structure schematic diagram of the position of the main cabin body and the top cover provided by the embodiment of the present application; Figure 6 is a control structure block diagram of the test assembly provided by the embodiment of the present application; Figure 7 is a control structure block diagram of the driving module provided by the embodiment of the present application; Figure 8 is a control logic diagram of the control handle provided by the embodiment of the present application; Figure 9 is a control structure block diagram of the Vickers shear test under external load provided by the embodiment of the present application; Figure 10is a specific control case sequence flowchart provided by the embodiment of the present application; Figure 11 is a structural block diagram of the adaptive learning module introduced by the PID control system provided by the embodiment of the present application. Figures 1 to 11 As shown in the figure, the embodiment of the present application provides an integrated cross plate testing device, which comprises a main cabin body 1 and a testing assembly 2.

[0042] The main cabin body 1 is in a cylindrical shape, one end of the main cabin body 1 is closed and is provided with a gripping part 11 for underwater robot grabbing, and the other end of the main cabin body 1 is also provided with a control handle 12, and the other end of the main cabin body 1 is movably provided with a cross plate head 13.

[0043] The testing assembly 2 comprises a power supply module 21, a measurement and control and data acquisition module 22 and a driving module 23 which are installed in the main cabin body 1 and are electrically connected with each other. The driving module 23 comprises a load monitoring mechanism 231, a propelling mechanism 232, a motor 233, an angle sensor 234 and a torque sensor 235, and the motor 233 is in transmission connection with the rotating 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 on the motor 233 based on the feedback of the angle sensor 234 and the torque sensor 235 and record the torque and angular displacement data in real time, and will drive the cross plate head 13 to perform axial extension and contraction by using the propelling mechanism 232 in combination with the feedback of the load monitoring mechanism 231.

[0044] In the embodiment of the present application, the integrated vane shear testing device is used for marine formation testing in cooperation with an ROV (Remotely Operated Vehicle). The device is clamped by the mechanical claw of the ROV on the gripping part 11 at the top of the main cabin body 1. The operator remotely controls the device from the surface ship or the shore. The integrated vane shear testing device is lowered to the underwater in a vertical posture and transported to the designated testing site by the ROV. The vane head 13 and the end of the main cabin body 1 with the vane head 13 are penetrated into the preset depth of the underwater soil by the propulsion power of the ROV. Inside the main cabin body 1, the power supply module 21, the measurement and control and data acquisition module 22 and the driving module 23 are arranged along the axis of the cylindrical structure. The power supply module 21 uses rechargeable lithium batteries to supply power to the electrical components in the integrated vane shear testing device. The measurement and control and data acquisition module 22 can be integrated or divided into a measurement and control module 221 and a data acquisition module 222. The two modules perform the functions of receiving and transmitting control instructions and collecting and processing the data obtained by the data detection elements such as the load monitoring mechanism 231, the angle sensor 234 and the torque sensor 235 under the driving of the driving control handle 12. Further, in the embodiment of the present application, the main cabin body 1 is clamped and transported by the ROV. The driving control handle 12 is connected to the mechanical arm or the corresponding driving mechanism. After the integrated vane shear testing device is penetrated into the designated soil position, the driving control handle 12 is driven by the ROV. The measurement and control and data acquisition module 22 controls the driving module 23. The motor 233 drives the vane head 13 to rotate at a specified angular velocity. The vane head 13 performs shear testing and collects torque, angular displacement and operation time data in real time. Finally, the shear characteristic quantity is obtained based on the collected torque, angular displacement and time data. The shear characteristic quantity is used for soil strength parameter and sensitivity evaluation. The marine formation testing is completed.

[0045] Optionally, the main cabin body 1 is detachably provided with a top cover 14. The handle of the control handle 12 is axially arranged on the top cover 14. In the embodiment of the present application, the top cover 14 is detachably arranged on the main cabin body 1 to seal the internal power supply module 21, the measurement and control and data acquisition module 22 and the driving module 23. When not working, the top cover 14 can be detached and separated for easy maintenance and replacement, thereby shortening the maintenance period. The control handle 12 is axially arranged on the top cover 14. The handle is located above the top cover 14 and occupies a small space. The ROV can be adjusted and controlled in a small range by the mechanical arm or the corresponding driving mechanism arranged inside the clamping structure, so as to realize the switching and mode switching of the working state and improve the interaction reliability.

[0046] Optionally, the gripping part 11 comprises a first flange plate 111 radially protruding on the end side wall of the main cabin body 1, and a second flange plate 112 provided on the top cover 14 and matched with the first flange plate 111, and the main cabin body 1 and the top cover 14 are bolted through the cooperation of the first flange plate 111 and the second flange plate 112. Further, in the embodiment of the present application, after the second flange plate 112 and the first flange plate 111 are matched and sealed between the detachable top cover 14 and the main cabin body 1, they are bolted through a plurality of coaxial bolt holes. The diameters of the first flange plate 111 and the second flange plate 112 are both greater than the outer diameters of the main cabin body 1 and the top cover 14, so as to form a flange-shaped disc-shaped gripping part 11 at one end of the main cabin body 1. While ensuring the reliability of the connection, the first flange plate 111 and the second flange plate 112 provide a gripping point for the underwater robot mechanical claw as a whole, and by clamping the lower end face of the first flange plate 111, the mechanical claw can be provided with an upper block to prevent the overall structure of the main cabin body 1 from falling during transportation, and to serve as a stress point for pulling out after the work is completed. During the process of pressing into the soil, the upper end face of the second flange plate 112 located above can serve as a pressing plane to provide a pressing support position for the mechanical claw of the underwater robot, and also prevent the mechanical claw from scratching the main cabin body 1 below and causing damage to other mechanisms.

[0047] Optionally, the top cover 14 is provided with an indicator lamp 15 connected with the measurement and control and data acquisition module 22. Exemplarily, in the embodiment of the present application, by providing the indicator lamp 15 on the top cover 14, the indicator lamp 15 can be used to feedback light signals to the camera on the underwater robot during the cross plate shear test, so as to enable the operator to obtain and judge various conditions during the test.

[0048] Specifically, in the embodiment of the present application, through the signal transmission and reception of the measurement and control and data acquisition module 22, the underwater robot operating control handle 12 can switch the working state and working mode of the cross plate head 13, and feedback the real-time working state to the underwater robot through the indicator lamp 15. The control logic of the control handle is as shown in Figure 8 When the control handle 12 is rotated to the leftmost position, the entire cross plate test device is in a closed state.

[0049] When the control handle 12 is rotated one step clockwise, the vane test device starts the first mode, i.e. the vane shear test of the undisturbed soil. From the direction of the top cover 14 to the vane head 13, the vane head 13 will rotate in the clockwise direction, and the vane on the vane head 13 will rotate clockwise at a speed of 0.2° / s and finally rotate 90° in the first mode. At the same time, the indicator light 15 will start to flash in green light in this mode for the underwater robot to monitor the operation state of the vane test device. The green light will cycle flash at an interval of 2 seconds in the first mode until the mode operation is completed, and after the vane head 13 stops, the indicator light 15 will be green constantly. In the embodiment of the present application, the control handle 12 has a rebound design between the open position and the switching position, and the operation mode can be switched by rotating the control handle 12 to the switching position and holding for 5 seconds, and then the control handle 12 will rebound to the open position. After the first mode is switched, it will become the second mode, and at this time the vane head 13 will perform the soil layer rapid disturbance test, and the vane on the vane head 13 will rotate clockwise at a speed of 6.0° / s for 720°. The indicator light 15 will cycle flash in green light at an interval of 0.5 seconds in this mode, and will become green constantly after the operation is completed. The control handle 12 can also be switched to the third mode, in which the vane head will rotate clockwise at a speed of 0.2° / s for 90°, and the remolded soil test can be performed on the rapidly disturbed soil layer, and at this time the indicator light 15 will cycle flash in green light at an interval of 2 seconds, and will become green constantly after the operation is completed.

[0050] Further, in the embodiment of the present application, in addition to the optical signal feedback during the normal test, the indicator light 15 can also feedback to the underwater robot through different optical signals when the operation triggers the protective mechanism abnormally. Specifically, in the embodiment of the present application, when the penetration operation of the vane test device is performed, the front end of the vane head 13 first contacts the ground layer, and when a hard object in the ground layer cannot be penetrated, if there is no effective monitoring means, it may cause the penetration force to overload and damage the vane head 13. By setting the load monitoring mechanism 231, the penetration force received by the vane head 13 can be monitored in real time, and the penetration force is transmitted upward through the motor 233 and the propulsion mechanism 232 to the load monitoring mechanism 231. When the penetration force is too large and exceeds the preset threshold, the indicator light 15 will turn red and start to flash rapidly, and then the abnormal situation will be fed back to the operator through the camera of the underwater robot, so that the operator can stop the penetration operation in time. Even if the control handle 12 is in the off position, the monitoring function can also work at the same time, effectively reducing the risk of equipment damage.

[0051] Further, in the embodiment of the present application, the angle sensor 234 and the torque sensor 235 are integrated on the motor 233, which can monitor the rotation angle (angular displacement) and the rotation torque of the crosshead 13, respectively. In combination with the load monitoring mechanism 231, another operation protection method can be formed. If the penetration operation is not hindered, the crosshead device will penetrate into the target formation and start the crosshead shear operation. However, during the crosshead shear operation, the crosshead 13 may encounter a hard obstacle during the shear test process, or the structure may be stuck due to equipment mechanism factors. In this case, the rotation motor torque will increase until it exceeds the set threshold of the normal working torque, triggering the protection mechanism. At this time, the integrated crosshead testing device will first trigger the movement of the pushing mechanism 232, which will extend the structure and then push the motor 233 and the crosshead 13 towards the formation, with the pushing depth exceeding the overall height of the crosshead 13. This operation can achieve two effects:

[0052] First, by pushing the crosshead 13 to avoid the obstacle encountered during the rotation process, a new shear operation position is achieved, reducing the need for repeated pulling and penetration of the integrated crosshead testing device, thereby saving operation time. If the obstacle for the rotation shear operation can be completely avoided at a deeper position, the shear operation can continue. If there is still a rotation obstacle, the final torque will again exceed the preset threshold, at which time the integrated crosshead testing device will stop operating under the control instructions preset in the measurement and control and data acquisition module 22, and the indicator light 15 will turn red and start flashing rapidly. At this time, the operation personnel can recover the integrated crosshead testing device according to the indicator light flashing condition and select a new operation position.

[0053] Second, if the front end mechanism of the pushing mechanism 232 is stuck, such as the crosshead 13 shaft and the main cabin body 1 connection being stuck, the motor 233 position will also have a torque exceeding the threshold, at which time the pushing mechanism 232 is triggered to push the front end mechanism, thereby attempting to disengage the stuck point and allow the front end mechanism to move again. If the stuck condition still exists, the reaction force of the pushing will trigger the load monitoring mechanism 231 to monitor the reaction force, which will also trigger the integrated crosshead testing device to stop and make the indicator light 15 red, flashing at two-second intervals, thereby notifying the operator to stop the current operation.

[0054] Optionally, the top cover 14 is provided with a charging port 16 connected with the power supply module 21 and a data interface 17 connected with the measurement and control and data acquisition module 22. Exemplarily, in the embodiment of the application, through the charging port 16 and the data interface 17 on the top cover 14, when leaving the underwater working environment, the internal power supply module 21 can be charged through an external charging cable, and the external transmission of the detected and stored data of the measurement and control and data acquisition module 22 can be connected through a data line. When performing underwater operation, the charging port 16 and the data interface 17 are both sealed and protected by special sealing covers or special plugs.

[0055] Optionally, a plurality of counterforce blades 18 for forming a torsional counterforce with the soil body are arranged at equal angles on the side wall of the main cabin body 1. Exemplarily, in the embodiment of the application, a plurality of plate-shaped or wing-shaped counterforce blades 18 are arranged at equal angles along the circumference on the outer side wall of the main cabin body 1. After following the main cabin body 1 to penetrate into the soil body, a torsional anchoring structure can be formed with the surrounding soil body, and the torsional counterforce is used to suppress the rotation of the shear counterforce generated when the entire device shears the stratum along with the cross plate head 13, thereby improving the operation stability.

[0056] Optionally, the other end of the main cabin body 1 is in a tapered structure with gradually reduced diameter in the direction close to the cross plate head 13. Exemplarily, in the embodiment of the application, by transitioning the side of the main cabin body 1 where the cross plate head 13 extends to a tapered structure with gradually reduced diameter, the local resistance and soil disturbance during the initial penetration into the soil body can be reduced, and the entire device can maintain a stable posture along the axis to enter the undisturbed soil layer.

[0057] On the other hand, the integrated cross plate testing device introduces a PID-based control technology. By integrating a related controller module in the measurement and control and data acquisition module 22, and combining the monitoring of the motor 233, the motor 233 can automatically control the output, so as to maintain the designed rotation speed. Further, the cross plate shear test of the stratum can be performed at the same rotation speed under different load conditions, so as to obtain the highest precision test data.

[0058] The control structure of the system for the cross plate shear test under external load conditions is as follows Figure 9As shown, the control system integrated with the data acquisition module 22 is designed with a PID controller, and the set rotating speed is input as the control standard. The data feedback from the optical encoder of the motor 233 is compared with the actual rotating speed of the motor 233 by the comparator, and the PID control is triggered. The data signal is obtained by the adder, and the current of the data signal is prevented from being too large under the action of the limiter and input to the motor driver to control the motor 233 to increase or decrease the output torque. The motor 233 is also provided with a current transformer to monitor the operating current of the motor 233 to prevent the current output from being too large. Finally, the output of the motor 233 and the change of the external load will cause the actual load of the motor 233 to change, thereby affecting the rotating speed of the motor 233. The rotating speed of the motor 233 is output feedback through the encoder, thereby completing the closed-loop control. The specific control sequence flow is as shown in Figure 10

[0059] Finally, as shown in Figure 11 , the PID control system can also introduce an adaptive learning module, which can record the key output parameters during the operation and perform calculation and analysis, automatically correct the PID data proportion parameters, and thus better adapt to the motor output control requirements in different formations, achieving adaptive control effect. To achieve output control needs faster, maximize motor 233 output control precision, and make the motor 233 rotate at a standard speed as much as possible, further improve data acquisition accuracy.

[0060] Among them, the load change detection part monitors the control current of the motor 233 through the current sensor, and then monitors the motor load change and automatically calculates the load change rate to estimate the torque output demand of the motor 233 and adjust the parameters. The rotating speed fluctuation analysis part analyzes the rotating speed fluctuation spectrum to identify the main disturbance frequency and actively adjust the parameters. As for the historical data learning module, it can establish a load-performance relationship model, form a fitting model according to the data load characteristics of previous operations, and compare and analyze the load data during each operation. If the current operation formation feedback data can complete model matching, the output parameters can be directly called to quickly complete output parameter adaptation and achieve high-precision data acquisition.

[0061] ​In summary, the integrated vane test device provided by the embodiment of the application has the integrated structure that the power supply, the electric control, the collection, the driving and the vane head 13 are integrated in the main cabin body 1, so that the device can independently operate, and the ROV underwater robot is used for grabbing, conveying and controlling, so that the penetration and shear test can be completed on the superficial layer of the seabed without the special work ship and the large-scale penetration mechanism, the operation efficiency is improved, and the operation cost is reduced. The penetration and shear state monitoring structure and algorithm are introduced, so that the torque and load in the penetration and shear test state can be monitored in real time during the operation, the structure overload is prevented, and the safety of the operation equipment is ensured. Finally, the adaptive PID control technology is introduced for the rotation control of the vane head 13 of the main test structure, so that the control accuracy of the vane head is effectively improved, the rotation speed is stabilized, the data collection accuracy is improved, and the technical problems that the operation efficiency is low and the data collection accuracy and reliability are difficult to guarantee due to the limitation of the technical means in the related art are solved.

[0062] Figure 12 is a flowchart of a test method provided by the embodiment of the application. As shown in Figure 12 , the embodiment of the application also provides a test method based on the integrated vane test device as shown in Figures 1 to 11 , and the test method comprises the following steps.

[0063] S1, the underwater robot is used to grab the holding part 11 at one end of the main cabin body 1, the integrated vane test device is sent to the specified underwater test site, and the vane head 13 at one end is penetrated into the soil to the predetermined depth.

[0064] S2, the underwater robot is used to drive the control handle 12, the signal control is performed on the driving module by using the measurement and control and data collection module 22, the vane head 13 is driven to rotate at the specified angular velocity by the motor 233 to perform the shear test, and the torque, the angular displacement and the time data are collected.

[0065] S3, the shear characteristic quantity is obtained based on the torque, the angular displacement and the time data, and is used for the soil strength parameter and the sensitivity evaluation.

[0066] Specifically, in the embodiment of the present application, the integrated vane shear testing device is used for marine formation testing in cooperation with a ROV (Remote Operated Vehicle). The integrated vane shear testing device is clamped by a mechanical claw of the ROV at the gripping part 11 located at the top of the main cabin body 1. An operator remotely controls the ROV from a surface ship or a shore. The integrated vane shear testing device is lowered to the underwater in a vertical posture and transported to a designated testing site by the ROV. The main cabin body 1 and the vane head 13 are penetrated into the preset depth of the underwater soil by the propulsion power of the ROV. Inside the main cabin body 1, the power supply module 21, the measurement and control and data acquisition module 22, and the driving module 23 are arranged along the axis direction of the cylindrical structure. The power supply module 21 uses a rechargeable lithium battery to supply power to the electrical components in the integrated vane shear testing device. The measurement and control and data acquisition module 22 can be integrally arranged or divided into a measurement and control module 221 and a data acquisition module 222 as in the embodiment of the present application. The measurement and control module 221 and the data acquisition module 222 respectively perform the transmission and reception of control instructions under the driving of the driving control handle 12 and the acquisition and processing of data obtained by the data detection elements such as the load monitoring mechanism 231, the angle sensor 234, and the torque sensor 235 under the shear testing. Further, in the embodiment of the present application, the main cabin body 1 is clamped and transported by the ROV. At the same time, the main cabin body 1 is connected to the driving control handle 12 through a mechanical arm or a corresponding driving mechanism. After the integrated vane shear testing device is penetrated into the designated soil position, the driving control handle 12 is driven by the ROV. The measurement and control and data acquisition module 22 controls the driving module 23. The motor 233 drives the vane head 13 to rotate at a specified angular velocity. The vane head 13 performs shear testing and real-time acquisition of torque, angular displacement, and operation time data of the integrated vane. Finally, the shear characteristic quantity is obtained based on the above-mentioned torque, angular displacement, and time data, and is used for soil strength parameter and sensitivity evaluation, and marine formation testing is completed.

[0067] Optionally, step 1 further comprises:

[0068] The load monitoring mechanism 231 is used to acquire the penetration force data of the vane head 13 during the penetration into the soil and feed back to the measurement and control and data acquisition module 22. When the penetration force data exceeds a preset threshold, the measurement and control and data acquisition module 22 sends an alarm information to the operator.

[0069] Specifically, by setting the load monitoring mechanism 231, the penetration force borne by the crosshead 13 can be monitored in real time, and the penetration force is transmitted upward through the motor 233 and the propulsion mechanism 232 to the load monitoring mechanism 231. When the penetration force exceeds the preset threshold, the control and data acquisition module 22 will control the indicator light 15 to turn red and start flashing rapidly, and then the abnormal situation will be fed back to the operator through the camera of the underwater robot, so that the operator can stop the penetration operation in time. Even if the control handle 12 is in the off position, the monitoring function can also operate at the same time, effectively reducing the risk of equipment damage.

[0070] Optionally, step 2 further comprises:

[0071] When the torque exceeds the preset threshold during the shear test, the control and data acquisition module 22 sends a control signal to the propulsion mechanism 232 to push the crosshead 13 outward along the axial direction to achieve obstacle avoidance or decarding.

[0072] If the torque continues or repeatedly exceeds the preset threshold, the control and data acquisition module 22 sends an alarm information to the operator and sends a control signal to the motor 233 to stop the rotation of the crosshead 13.

[0073] Specifically, in the embodiment of the present application, the angle sensor 234 and the torque sensor 235 are integrated on the motor 233, which can monitor the rotation angle (angular displacement) and the rotation torque of the cross plate head 13, respectively. In combination with the load monitoring mechanism 231, another operation protection method can be formed. If the penetration operation is not hindered, the cross plate device will penetrate into the target formation and start the cross plate shear operation. However, during the cross plate shear operation, the cross plate head 13 may encounter hard obstacles during the shear test process, or the structure may be stuck due to equipment mechanism factors. In this case, the rotation motor torque will increase until it exceeds the set threshold of the normal working torque, and the protection mechanism will be triggered. At this time, the integrated cross plate testing device will first trigger the movement of the pushing mechanism 232, which will extend the structure and then push the motor 233 and the cross plate head 13 towards the formation, and the pushing depth will exceed the overall height of the cross plate head 13. By pushing the cross plate head 13, it avoids the obstacles encountered during the rotation process to reach a new shear operation position, reduces the need for repeated pulling and penetrating the integrated cross plate testing device structure, and saves operation time. If the obstacles for rotation shear operation can be completely avoided at a deeper position, the shear operation can be continued. If there are still rotation obstacles, the final torque will again exceed the preset threshold, at which time the integrated cross plate testing device will stop operating under the control instruction preset in the measurement and control and data acquisition module 22, and the indicator light 15 will turn red and start flashing rapidly, at which time the operation personnel can recover the integrated cross plate testing device according to the indicator light flashing condition and select a new operation position. Alternatively, if the front end mechanism of the pushing mechanism 232 is stuck, for example, the rotating shaft of the cross plate head 13 is stuck at the connection with the main cabin body 1, the motor 233 position will also have a torque exceeding the threshold, at which time the pushing of the pushing mechanism 232 will be triggered to try to push the front end mechanism and then disengage the stuck point, so that the front end mechanism can move again. If the stuck condition still exists, the reaction force of the pushing will trigger the load monitoring mechanism 231 to monitor the reaction force, which will also trigger the integrated cross plate testing device to stop and make the indicator light 15 red, double flashing at two-second intervals, so as to inform the operator to stop the current operation.

[0074] Unless otherwise defined, technical terms or scientific terms used herein shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms "first", "second", and similar terms do not denote any order, quantity, or importance, but are used to identify different components. Also, the terms "one", "another", and similar terms mean at least one. The terms "including", "containing", and similar terms are meant to be inclusive and are meant not to be limited to the components or objects listed after the terms. The terms "connected", "coupled", and similar terms are meant to be broad terms of functional adaption, and can include wired or wireless terms of connection or connection or connection that is direct or indirect, and can include active or passive connection or connection. The terms "upper", "lower", "left", "right", and similar terms are only used to indicate relative positional relationships, and when the absolute positions of the described objects are changed, the relative positional relationships may also be changed accordingly.

[0075] The above description is only optional embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

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).

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