Monitoring system and method for standard penetration under floating platform, medium and electronic device

Abstract

The present disclosure provides a monitoring system and method for standard penetration under a floating platform, a medium and an electronic device, and relates to the technical field of survey management. The monitoring system comprises an inertial measurement unit, a navigation positioning unit, at least one laser displacement sensor, a standard penetration adjustment system and a data processing unit. The data processing unit is configured to acquire detection data sent by the inertial measurement unit, the navigation positioning unit and the laser displacement sensor, determine a deviation type and a deviation degree of the standard penetrator according to the detection data, determine an adjustment instruction according to the deviation type and the deviation degree of the standard penetrator, and send the adjustment instruction to the standard penetration adjustment system to perform an adjustment operation, so as to control the standard penetrator to align with a standard penetration test point. The present disclosure can improve the accuracy of the standard penetration test result.

Description

Technical Field

[0001] This disclosure relates to the field of survey management technology, and more specifically, to a monitoring system and method, medium and electronic equipment for standard penetration testing under a floating platform. Background Technology

[0002] In offshore wind power surveys, floating platforms are the core carriers for conducting deep-sea geological surveys. They typically refer to mobile platforms that operate on the sea surface without fixed leg supports, relying on buoyancy or dynamic balancing systems. They are the core equipment for deep-sea (usually water depths exceeding 50 meters) wind power geological surveys.

[0003] The Standard Penetration Test (SPT) is a crucial method for obtaining mechanical parameters of seabed soil layers. When conducting SPTs on a floating platform, the platform may move and sway due to wind, waves, tides, and other factors, causing instability in the drop distance of the penetration hammer and resulting in inaccurate test results.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a monitoring system, method, medium, and electronic equipment for standard penetration testing on a floating platform, thereby overcoming, at least to some extent, the problem of inaccurate standard penetration test results.

[0006] According to a first aspect of this disclosure, a monitoring system for standard penetration testing (SPT) on a floating platform is provided, comprising: an inertial measurement unit (IMU) installed at the center of gravity of the floating platform, the IMU measuring the inertial data of the floating platform to determine the attitude information of the floating platform; a navigation and positioning unit installed at the highest point of the floating platform, the navigation and positioning unit acquiring the position information of the floating platform; at least one laser displacement sensor installed non-contactly at the connection point between the floating platform and the SPT, the laser displacement sensor detecting the displacement change of the SPT relative to the floating platform; an SPT adjustment system including a displacement adjustment device and an angle adjustment device, the displacement adjustment device including a servo motor, a lead screw and nut pair, and a linear track, the angle adjustment device including an electric rotary joint and an angle sensor; and a data processing unit acquiring detection data sent by the IMU, the navigation and positioning unit, and the laser displacement sensor, determining the deviation type and degree of the SPT based on the detection data, determining an adjustment command based on the deviation type and degree of the SPT, and sending the adjustment command to the SPT adjustment system; wherein the adjustment command instructs the SPT adjustment system to perform an adjustment operation on the SPT to control the SPT to align with the SPT test point.

[0007] Optionally, the process by which the data processing unit determines the deviation type and degree of the standard penetration tester based on the detection data includes: performing an initial calibration phase in advance to determine the initial attitude and initial position of the floating platform; comparing the detected attitude information with the initial attitude to obtain an attitude comparison result; comparing the detected position information with the initial position to obtain a position comparison result; comparing the detected displacement change with a displacement threshold range to obtain a displacement comparison result; and determining the deviation type and degree of the standard penetration tester based on the attitude comparison result, the position comparison result, and the displacement comparison result.

[0008] Optionally, the process by which the data processing unit compares the detected posture information with the initial posture to obtain a posture comparison result includes: comparing the detected posture information with the initial posture to determine the posture difference; comparing the posture difference with a posture difference threshold range; and determining a posture deviation indicator based on the degree of deviation of the posture difference from the posture difference threshold, as the posture comparison result.

[0009] Optionally, if the adjustment command includes a displacement adjustment command, the servo motor responds to the displacement adjustment command to drive the lead screw and nut pair to control the standard penetrator mounted on the linear track to perform horizontal and / or vertical displacement.

[0010] Optionally, the monitoring system further includes: an impact sensing unit installed at the hammer impact point of the test specimen, the impact sensing unit being used to emit a pulse signal when the test specimen is struck; wherein, the data processing unit is also used to identify the pulse signal and count the pulse signal.

[0011] Optionally, the monitoring system further includes: a meteorological and hydrological sensing unit for sensing meteorological and hydrological information of the environment in which the floating platform is located; wherein, the data processing unit is also used to acquire meteorological and hydrological information and combine the meteorological and hydrological information to determine the degree of influence of the environment in which the floating platform is located on the standard penetration test.

[0012] Optionally, the process by which the data processing unit determines the degree of influence of the floating platform's environment on the standard penetration test (SPT) by combining meteorological and hydrological information includes: determining a first correspondence between meteorological and hydrological information and the SPT test time; determining a second correspondence between the hammer count and the SPT test time; and determining the degree of influence of the floating platform's environment on the SPT test based on the first and second correspondences.

[0013] According to a second aspect of this disclosure, a method for monitoring standard penetration testing (SPT) on a floating platform is provided, comprising: acquiring attitude information of the floating platform detected by an inertial measurement unit (IMU); installing the IMU at the center of gravity of the floating platform; acquiring position information of the floating platform detected by a navigation and positioning unit; installing the navigation and positioning unit at the highest point of the floating platform; acquiring displacement changes of the SPT relative to the floating platform detected by at least one laser displacement sensor; installing at least one laser displacement sensor in a non-contact manner at the connection point between the floating platform and the SPT; determining the deviation type and degree of the SPT based on the attitude information, position information, and displacement changes; determining an adjustment command based on the deviation type and degree of the SPT; and sending the adjustment command to a SPT adjustment system, wherein the adjustment command instructs the SPT adjustment system to perform adjustment operations on the SPT to control the SPT to align with the SPT test point; wherein the SPT adjustment system includes a displacement adjustment device and an angle adjustment device, the displacement adjustment device including a servo motor, a lead screw and nut pair, and a linear track, and the angle adjustment device including an electric rotary joint and an angle sensor.

[0014] According to a third aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the above-described monitoring method for standard penetration under a floating platform.

[0015] According to a fourth aspect of this disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; the processor is configured to implement the above-described standard penetration monitoring method under a floating platform by executing the executable instructions.

[0016] In the technical solutions provided by some embodiments of this disclosure, on the one hand, by configuring various sensing units and the standard penetration test adjustment system, the position of the standard penetration tester can be adjusted in real time, thereby ensuring the accuracy of the hammer position of the standard penetration tester and improving the accuracy of the standard penetration test results; on the other hand, this solution automates the operation, reduces human intervention, the system data is real and reliable, and saves labor costs.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0019] Figure 1 A block diagram of a standard penetration monitoring system under a floating platform according to an embodiment of the present disclosure is shown schematically.

[0020] Figure 2 A flowchart illustrating the process of determining the type and degree of deviation of a standard penetration tester according to an embodiment of the present disclosure is shown.

[0021] Figure 3 A flowchart illustrating the determination of the influence of the environment in which the floating platform is located on the standard penetration test (SPT) is shown, according to an embodiment of the present disclosure.

[0022] Figure 4 A flowchart illustrating a standard penetration monitoring method under a floating platform according to an embodiment of the present disclosure is shown schematically.

[0023] Figure 5 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is shown schematically. Detailed Implementation

[0024] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this disclosure more comprehensive and complete, and to fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced with one or more of the specific details omitted, or other methods, components, apparatus, steps, etc., can be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0025] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0026] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all steps. For example, some steps may be broken down, while others may be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances. Furthermore, all terms such as "first," "second," etc., used below are for distinction purposes only and should not be construed as limiting the scope of this disclosure.

[0027] Figure 1 A block diagram of a standard penetration monitoring system under a floating platform according to an embodiment of this disclosure is shown schematically. (Reference) Figure 1 The standard penetration testing (SPT) monitoring system under the floating platform of this disclosure may include an inertial measurement unit, a navigation and positioning unit, at least one laser displacement sensor, a data processing unit, and a SPT adjustment system.

[0028] An inertial measurement unit (IMU) can be installed at the center of gravity of the floating platform to minimize measurement errors caused by installation misalignment. The IMU may include accelerometers, gyroscopes, and magnetometers, and can be used to measure the floating platform's inertial data, including acceleration, angular velocity, and magnetic field changes in three-dimensional space. Combined with a fusion algorithm, the floating platform's attitude information can be determined. For example, attitude information may include roll, pitch, and bow angles.

[0029] The navigation and positioning unit can be installed at the highest point of the floating platform. Considering further interference, it can also be configured to be located away from metallic obstacles and electronic interference sources to ensure good satellite signal reception. Specifically, the navigation and positioning unit can support multiple satellite navigation systems such as GPS, BeiDou, and GLONASS, enabling it to quickly and stably acquire the three-dimensional coordinate information of the floating platform, i.e., the platform's position information, even in complex environments. Furthermore, it can achieve centimeter-level or even millimeter-level positioning accuracy through differential positioning technology combined with reference station data.

[0030] Laser displacement sensors can be installed non-contactly at the connection point between the floating platform and the SPT (Standard Suppression Test Instrument), and can be used to measure the displacement changes of the SPT relative to the floating platform. The detection range and accuracy of each laser displacement sensor can be selected according to the actual SPT requirements; for example, the detection accuracy can be sub-millimeter level. By properly arranging the laser displacement sensors, the displacement of the SPT in all directions can be comprehensively monitored.

[0031] A standard penetration test (SPT) adjustment system may include a displacement adjustment device and an angle adjustment device.

[0032] The displacement adjustment device may include a servo motor, a lead screw and nut pair, and a linear guide. In other words, this embodiment of the present disclosure constructs an intelligent lifting and translation mechanism on a floating platform, consisting of a servo motor, a lead screw and nut pair, and a linear guide. For example, the accuracy of the lead screw can be 0.01 mm, and the straightness error of the linear guide is controlled within ±0.05 mm / m to ensure adjustment accuracy.

[0033] An angle adjustment device can be installed at the connection point between the displacement adjustment device and the standard penetration tester (SPT). Specifically, it may include an electric rotary joint and an angle sensor. The electric rotary joint enables automatic adjustment of the SPT angle, and the angle sensor provides real-time feedback on the SPT angle. The angle adjustment accuracy of this embodiment can reach ±0.1°.

[0034] The data processing unit can be used to acquire detection data sent by the inertial measurement unit, navigation and positioning unit and laser displacement sensor, and determine the type and degree of deviation of the standard penetration tester based on the detection data.

[0035] Figure 2 A flowchart illustrating the process for determining the type and degree of deviation of a standard penetration tester according to an embodiment of this disclosure is shown. (See also:) Figure 2 The process includes the following steps:

[0036] S202. Perform an initial calibration phase in advance to determine the initial attitude and initial position of the floating platform.

[0037] It should be understood that step S202 forms the basis for performing the standard penetration test of this disclosure. Before the specific test, initial data is determined through various units included in the aforementioned system. For example, the initial attitude of the floating platform is calibrated using an inertial measurement unit to determine the zero points of roll, pitch, and yaw. As another example, the operator places the standard penetration tester above the test point and fine-tunes its position using a displacement adjustment device to align its center with the test point. At this time, a laser displacement sensor measures the initial relative position between the standard penetration tester and the floating platform and records this information.

[0038] S204. Compare the detected attitude information with the initial attitude to obtain the attitude comparison result.

[0039] First, the detected attitude information can be compared with the initial attitude to determine the attitude difference. Next, the attitude difference can be compared with an attitude difference threshold range to determine the degree of deviation. This disclosure does not limit the specific value of the attitude difference threshold range. Then, an attitude deviation indicator can be determined based on the degree of deviation of the attitude difference relative to the attitude difference threshold, serving as the attitude comparison result.

[0040] It should be noted that using identifiers to characterize comparison results is merely an exemplary method of this disclosure, intended to facilitate subsequent processing. Alternatively, specific difference results can also be defined as attitude comparison results.

[0041] S206. Compare the detected location information with the initial location to obtain the location comparison result.

[0042] Similarly, firstly, the detected location information can be compared with the initial location to determine the location difference. Next, the location difference can be compared with a location difference threshold range to determine the degree of deviation. This disclosure does not limit the specific value of the location difference threshold range. Then, a location deviation indicator can be determined based on this degree of deviation of the location difference relative to the location difference threshold, serving as the location comparison result.

[0043] It should be noted that using identifiers to characterize comparison results is merely an exemplary method of this disclosure, intended to facilitate subsequent processing. Alternatively, specific difference results can also be defined as positional comparison results.

[0044] S208. Compare the detected displacement change with the displacement threshold range to obtain the displacement comparison result.

[0045] This disclosure does not impose any restrictions on the specific values ​​of the displacement threshold range. Similarly, the displacement comparison result can also be characterized as a displacement identifier.

[0046] S210. Determine the type and degree of deviation of the standard penetration tester based on the attitude comparison results, position comparison results, and displacement comparison results.

[0047] In exemplary embodiments of this disclosure, deviation type refers to one or more combinations of horizontal deviation, vertical deviation, and standard penetration tester displacement deviation. Each type of deviation may also have a direction; for example, for horizontal deviation, it refers to which direction the deviation occurs horizontally. This disclosure does not specifically limit this. Deviation degree refers to the magnitude of the deviation under a given deviation type. It is understood that a horizontal deviation of 20 cm due east is different from a horizontal deviation of 10 cm due east, and a horizontal deviation of 10 cm due east is also different from a horizontal deviation of 10 cm at 30° southeast.

[0048] According to some embodiments of this disclosure, a mapping relationship between attitude comparison results, position comparison results, displacement comparison results and the deviation type and degree of the standard penetration test (SPT) can be pre-constructed. After determining the specific comparison results, the deviation type and degree of the SPT can be directly determined using this mapping relationship. For example, a mapping relationship table containing this mapping relationship can be pre-stored in the data processing unit.

[0049] After determining the type and degree of deviation of the standard penetration test apparatus (SPT), the data processing unit can determine an adjustment instruction based on the deviation type and degree, and send the adjustment instruction to the SPT adjustment system. This adjustment instruction instructs the SPT adjustment system to perform the adjustment operation of the SPT to control the SPT to align with the SPT test point.

[0050] Adjustment commands can include displacement adjustment commands and angle adjustment commands.

[0051] For example, when the adjustment command includes a displacement adjustment command, the servo motor can respond to the displacement adjustment command to drive the lead screw and nut pair to control the standard penetrator mounted on the linear track to perform horizontal and / or vertical displacement.

[0052] It should be noted that different adjustment commands correspond to different adjustment operations. For example, even for horizontal displacement adjustment only, different adjustment commands correspond to different adjustment directions and degrees. This disclosure does not impose any limitations in this regard.

[0053] In addition, the monitoring system may include an impact sensing unit, which can be installed at the striking point of the standard penetration tester. This impact sensing unit is used to generate a pulse signal when the tester is struck. In this case, a data processing unit can also be connected to the impact sensing unit to identify and count the pulse signals.

[0054] Some embodiments of this disclosure also provide a scheme for determining the degree of influence of the environment in which the floating platform is located on the standard penetration test (SPT). In these embodiments, the monitoring system may further include a meteorological and hydrological sensing unit for sensing meteorological and hydrological information of the environment in which the floating platform is located, including one or more of temperature, humidity, ocean current velocity, ocean current direction, and wind speed.

[0055] In this context, the data processing unit can also be used to acquire this meteorological and hydrological information and, in conjunction with this information, determine the extent to which the environment in which the floating platform is located affects the standard penetration test.

[0056] Figure 3 A flowchart illustrating the determination of the influence of the floating platform's environment on the standard penetration test (SPT) is shown, according to an embodiment of this disclosure. (See also...) Figure 3 This process includes the following steps:

[0057] S302. Determine the primary correspondence between meteorological and hydrological information and the standard penetration test (SPT) time.

[0058] According to some embodiments of this disclosure, this correspondence can be presented using a graph, and this disclosure does not limit this.

[0059] S304. Determine a second correspondence between the number of hammer blows and the standard penetration test time.

[0060] Similarly, the correspondence between these two can also be presented, for example, using a graph.

[0061] S306. Determine the degree of influence of the floating platform's environment on the standard penetration test based on the first and second correspondences.

[0062] According to some embodiments of this disclosure, a first correspondence and a second correspondence can be shown for analysis by an analyst to determine the degree of influence.

[0063] According to other embodiments of this disclosure, the data processing unit can automatically perform analysis, for example, generating time statistics for different standard penetration test (SPT) adjustment processes to characterize the impact of applying the scheme of this disclosure on the total time of the SPT. Thus, while accurately obtaining the SPT results, the potential time costs can be assessed.

[0064] Furthermore, the various data generated during the aforementioned monitoring process can be stored on storage devices, allowing relevant personnel to query, analyze, and export this data. This data can also be uploaded to a remote server for further processing, analysis, and storage, generating detailed standard penetration test reports. Simultaneously, authorized users can log in to the remote server via the internet using computers, mobile phones, or other electronic devices to view the progress of the standard penetration test and data at each stage in real time, achieving remote monitoring and management.

[0065] Figure 4 A flowchart illustrating a standard penetration monitoring method under a floating platform according to an embodiment of this disclosure is shown schematically. (Reference) Figure 4 The monitoring method may include the following steps:

[0066] S42. Obtain the attitude information of the floating platform detected by the inertial measurement unit.

[0067] According to some embodiments of this disclosure, the inertial detection unit can be installed at the center of gravity of the floating platform.

[0068] S44. Obtain the location information of the floating platform detected by the navigation and positioning unit.

[0069] According to some embodiments of this disclosure, the navigation and positioning unit can be installed at the highest point of the floating platform.

[0070] S46. Acquire the displacement change of the standard penetration tester relative to the floating platform detected by at least one laser displacement sensor.

[0071] According to some embodiments of this disclosure, at least one laser displacement sensor can be installed in a non-contact manner at the location where the floating platform is connected to the standard penetration tester.

[0072] S48. Determine the deviation type and degree of the standard penetration tester based on the attitude information, position information, and displacement changes. Determine the adjustment command based on the deviation type and degree of the standard penetration tester and send the adjustment command to the standard penetration tester adjustment system.

[0073] According to some embodiments of this disclosure, the adjustment command is used to instruct the standard penetration test (SPT) adjustment system to perform adjustment operations on the SPT device to control the SPT device to align with the SPT test point; wherein, the SPT adjustment system includes a displacement adjustment device and an angle adjustment device, the displacement adjustment device includes a servo motor, a lead screw and nut pair and a linear track, and the angle adjustment device includes an electric rotary joint and an angle sensor.

[0074] The details of steps S42 to S48 have been explained in the above description of the system and will not be repeated here.

[0075] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0076] Regarding the monitoring scheme of this disclosure, on the one hand, by configuring various sensing units and the standard penetration test adjustment system, the position of the standard penetration tester can be adjusted in real time, thereby ensuring the accuracy of the hammer position of the standard penetration tester and improving the accuracy of the standard penetration test results; on the other hand, this scheme automates the operation, reduces human intervention, ensures the authenticity and reliability of system data, saves labor costs, avoids errors and oversights that may occur during manual monitoring, and further improves the reliability of test data.

[0077] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible implementations, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of this disclosure described in the "Exemplary Methods" section above.

[0078] The program product for implementing the above-described method according to embodiments of the present disclosure may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0079] The program product may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), an optical disk, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0080] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0081] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0082] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0083] In exemplary embodiments of this disclosure, an electronic device capable of implementing the above-described method is also provided. The data processing unit of this disclosure embodiment can be configured in the form of the following electronic device.

[0084] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0085] The following reference Figure 5 To describe an electronic device 500 according to such an embodiment of the present disclosure. Figure 5 The electronic device 500 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0086] like Figure 5 As shown, the electronic device 500 is presented in the form of a general-purpose computing device. The components of the electronic device 500 may include, but are not limited to: at least one processing unit 510, at least one storage unit 520, a bus 530 connecting different system components (including storage unit 520 and processing unit 510), and a display unit 540.

[0087] The storage unit stores program code that can be executed by the processing unit 510, causing the processing unit 510 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 510 can perform each of steps S42 to S48 of the embodiments of this disclosure.

[0088] Storage unit 520 may include readable media in the form of volatile storage units, such as random access memory (RAM) 5201 and / or cache memory 5202, and may further include read-only memory (ROM) 5203.

[0089] Storage unit 520 may also include a program / utility 5204 having a set (at least one) program module 5205, such program module 5205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0090] Bus 530 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0091] Electronic device 500 can also communicate with one or more external devices 600 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 500, and / or with any device that enables electronic device 500 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 550. Furthermore, electronic device 500 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 560. As shown, network adapter 560 communicates with other modules of electronic device 500 via bus 530. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0092] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0093] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0094] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0095] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0096] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A monitoring system for standard penetration testing of a floating platform, characterized by, The system comprises: an inertial measurement unit installed at the barycenter of the floating platform, which is used to measure the inertial data of the floating platform to determine the attitude information of the floating platform; a navigation positioning unit installed at the highest point of the floating platform, which is used to obtain the position information of the floating platform; at least one laser displacement sensor installed at the position where the floating platform is connected with the marker, which is used to detect the displacement change of the marker relative to the floating platform in a non-contact manner; a marker adjustment system, which comprises a displacement adjustment device and an angle adjustment device, the displacement adjustment device comprising a servo motor, a screw nut pair and a linear rail, and the angle adjustment device comprising an electric rotary joint and an angle sensor; a data processing unit, which is used to obtain the detection data sent by the inertial measurement unit, the navigation positioning unit and the laser displacement sensor, determine the deviation type and deviation degree of the marker according to the detection data, determine the adjustment instruction according to the deviation type and deviation degree of the marker, and send the adjustment instruction to the marker adjustment system; wherein the adjustment instruction is used to instruct the marker adjustment system to perform the adjustment operation of the marker to control the marker to align with the test point of the marker test; an impact sensing unit installed at the hammering position of the marker, which is used to send a pulse signal when the marker is hammered; a meteorological and hydrological sensing unit, which is used to sense the meteorological and hydrological information of the environment where the floating platform is located; wherein the data processing unit is further used to identify the pulse signal and count the pulse signal, and obtain the meteorological and hydrological information and determine the influence degree of the environment where the floating platform is located on the marker test in combination with the meteorological and hydrological information; the process of determining the deviation type and deviation degree of the marker based on the detection data comprises: performing an initial calibration stage in advance to determine the initial attitude and initial position of the floating platform; comparing the detected attitude information with the initial attitude to obtain an attitude comparison result; comparing the detected position information with the initial position to obtain a position comparison result; comparing the detected displacement change with a displacement threshold range to obtain a displacement comparison result; and determining the deviation type and deviation degree of the marker according to the attitude comparison result, the position comparison result and the displacement comparison result.

2. The monitoring system of claim 1, wherein, the process of comparing the detected attitude information with the initial attitude to obtain an attitude comparison result comprises: comparing the detected attitude information with the initial attitude to determine an attitude difference; comparing the attitude difference with an attitude difference threshold range; determining an attitude deviation identifier according to the deviation degree of the attitude difference relative to the attitude difference threshold range as the attitude comparison result.

3. The monitoring system of claim 1, wherein, in the case that the adjustment instruction comprises a displacement adjustment instruction, the servo motor drives the screw nut pair to control the marker installed on the linear rail to perform displacement in the horizontal direction and / or the vertical direction in response to the displacement adjustment instruction.

4. The monitoring system of claim 1, wherein, The data processing unit determines the influence degree of the environment of the floating platform on the standard penetration test in combination with the meteorological and hydrological information, and the process comprises: determining a first correspondence between the meteorological and hydrological information and the standard penetration test time; determining a second correspondence between the count of hammering and the standard penetration test time; determining the influence degree of the environment of the floating platform on the standard penetration test according to the first correspondence and the second correspondence.

5. A method of monitoring standard penetration under a floating platform, characterized by, comprise: obtaining attitude information of the floating platform detected by an inertial measurement unit; the inertial measurement unit is installed at the barycenter of the floating platform; obtaining position information of the floating platform detected by a navigation positioning unit; the navigation positioning unit is installed at the highest point of the floating platform; obtaining displacement change of a standard penetrator relative to the floating platform detected by at least one laser displacement sensor; the at least one laser displacement sensor is installed in a non-contact manner at the position where the floating platform is connected with the standard penetrator; obtaining pulse signals emitted by an impact sensing unit when the standard penetrator is hammered; the impact sensing unit is installed at the hammering position of the standard penetrator; obtaining meteorological and hydrological information of the environment of the floating platform sensed by a meteorological and hydrological sensing unit; determining the deviation type and deviation degree of the standard penetrator according to the attitude information, the position information and the displacement change, determining an adjustment instruction according to the deviation type and deviation degree of the standard penetrator, and sending the adjustment instruction to a standard penetration adjustment system; the adjustment instruction is used to instruct the standard penetration adjustment system to perform adjustment operation of the standard penetrator to control the standard penetrator to align with the standard penetration test point; recognizing the pulse signals and counting the pulse signals; obtaining the meteorological and hydrological information and determining the influence degree of the environment of the floating platform on the standard penetration test in combination with the meteorological and hydrological information; wherein the standard penetration adjustment system comprises a displacement adjustment device and an angle adjustment device; the displacement adjustment device comprises a servo motor, a screw-nut pair and a linear rail; the angle adjustment device comprises an electric rotary joint and an angle sensor; wherein the process of determining the deviation type and deviation degree of the standard penetrator comprises: performing an initial calibration stage in advance to determine the initial attitude and initial position of the floating platform; comparing the detected attitude information with the initial attitude to obtain an attitude comparison result; comparing the detected position information with the initial position to obtain a position comparison result; comparing the detected displacement change with a displacement threshold range to obtain a displacement comparison result; and determining the deviation type and deviation degree of the standard penetrator according to the attitude comparison result, the position comparison result and the displacement comparison result.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to realize the monitoring method of the standard penetration test under the floating platform according to claim 5.

7. An electronic device, comprising: comprise: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to realize the monitoring method of the standard penetration test under the floating platform according to claim 5 via execution of the executable instructions.

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