Underwater rock drilling construction real-time monitoring system and method based on three-dimensional sonar

Abstract

The invention provides an underwater rock drilling construction real-time monitoring system and method based on a three-dimensional sonar. The monitoring system comprises a hardware system and a software system in communication connection with the hardware system. The hardware system comprises three-dimensional sonar equipment used for collecting three-dimensional acoustic data of an underwater rock drilling hammer and a rock mass in real time; the positioning and attitude determination equipment is used for providing centimeter-level position information and high-precision attitude data of the workboat and the sonar transducer; the auxiliary mounting module is used for stably mounting the three-dimensional sonar equipment on the broadside of a construction ship; and the software system is an underwater rock drilling real-time monitoring auxiliary construction platform and is used for fusing and processing data acquired by the hardware system to realize three-dimensional modeling, real-time monitoring, drop point prediction and effect evaluation. According to the scheme, three-dimensional visualization and centimeter-level precise positioning monitoring of the whole underwater rock drilling process are achieved, and the construction efficiency and safety are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of underwater engineering construction monitoring technology, and in particular to a real-time monitoring system and method for underwater rock drilling construction based on three-dimensional sonar. Background Technology

[0002] Domestic and international waterway engineering projects have completely banned underwater reef blasting and dredging. Currently, commonly used non-blasting rock excavation technologies include rock dredging by large cutter suction dredgers, rock drilling with a grab bucket, and rock breaking by large backhoes equipped with hydraulic breakers. These technologies have poor adaptability to high-strength rocks, low construction efficiency, and high costs.

[0003] In the field of port and waterway dredging engineering, achieving an optimal balance between ecological protection and construction efficiency, while efficiently dredging high-strength rock, has become a technical challenge for the industry. For underwater rock excavation of medium to high strength, pre-drilling is typically required, followed by rock breaking using hammering, and finally, the debris is cleared by grab boats or backhoes. During underwater rock excavation, precise hitting or proximity of the rock hammer to the pre-drilled location improves rock breaking efficiency; real-time monitoring of the rock fragmentation state enhances the accuracy of construction control.

[0004] Currently, underwater blasting dredging of reefs is completely prohibited. Non-blasting excavation techniques, such as large cutter suction dredgers and drilling combined with grab boats, are poorly adapted to high-strength rocks, resulting in low construction efficiency and high costs. Traditional underwater detection methods, such as side-scan sonar and multibeam echo sounders, can achieve positioning, but cannot provide real-time three-dimensional images. Furthermore, China lacks mature solutions and supporting software platforms for real-time visual monitoring of underwater excavation construction.

[0005] Therefore, the existing technology has the following shortcomings: 1. Insufficient positioning accuracy: Traditional GNSS positioning errors are on the order of meters, which cannot meet the requirements of precise drilling by rock drills; 2. Low level of visualization: It is impossible to monitor the rock mass fracture status in real time, relying on manual experience, resulting in poor accuracy of construction control.

[0006] 3. Data processing lag: Traditional sonar data requires post-processing and cannot meet the needs of real-time construction monitoring. Summary of the Invention

[0007] This application provides a real-time monitoring system and method for underwater rock drilling based on three-dimensional sonar, which enables visualization of the entire underwater rock drilling process, precise monitoring of the rock drill hammer's impact coordinates and the state of broken rock, and improves construction efficiency and safety.

[0008] This application provides a real-time monitoring system for underwater rock drilling based on three-dimensional sonar, including a hardware system and a software system communicatively connected to the hardware system. The hardware system includes: a three-dimensional sonar device for real-time acquisition of three-dimensional acoustic data of the underwater rock hammer and rock mass; a positioning and attitude determination device for providing centimeter-level position information and high-precision attitude data of the construction vessel and sonar transducer; and an auxiliary installation module for stably installing the three-dimensional sonar device on the side of the construction vessel. The software system is an underwater rock drilling real-time monitoring auxiliary construction platform for integrating and processing the data acquired by the hardware system to achieve three-dimensional modeling, real-time monitoring, impact point prediction, and effect evaluation.

[0009] In one embodiment, the three-dimensional sonar device employs phased array technology, its transducer emits a 54°×54° conical beam, and is equipped with a receiving matrix consisting of 48×48 hydrophones. The three-dimensional model obtained by the three-dimensional sonar device is updated at a frequency of no less than 20 times per second.

[0010] In one embodiment, the positioning and attitude determination device includes a BeiDou receiver employing RTK differential technology and an IMU gyroscope with an accuracy of not less than 0.15°.

[0011] In one embodiment, the auxiliary installation module includes a rigidly connected shipboard suspension bracket and an adjustable-angle underwater gimbal, with the three-dimensional sonar device fixed to the underwater gimbal.

[0012] In one embodiment, the software system further includes a data preprocessing unit for filtering and noise reduction of the raw acoustic signals acquired by the three-dimensional sonar device, and for calculating and generating point cloud data containing geographic information, distance and signal strength of the target object.

[0013] In one embodiment, the landing point prediction function of the software system constructs a three-dimensional motion differential equation of the rock drill hammer underwater based on Newton's second law and the fluid dynamics drag formula. The input parameters of the equation include at least the physical parameters of the rock drill hammer, environmental parameters and state parameters collected in real time by the positioning and attitude determination device and the three-dimensional sonar device.

[0014] In one embodiment, the landing point prediction function performs online calibration and correction of the fluid drag coefficient in the motion differential equation by fusing real-time data.

[0015] In one embodiment, the effect evaluation function of the software system includes a visualization interface that supports multi-view display, including at least a top view, a side view, and a first-view view of the rock drill hammer; the interface elements include at least the pre-drilling position, the real-time position of the rock drill hammer, the predicted landing point of the rock drill hammer, and the deviation vector between the predicted landing point and the pre-drilling position.

[0016] This application also provides a real-time monitoring method for underwater rock drilling based on three-dimensional sonar, applied to the aforementioned real-time monitoring system for underwater rock drilling based on three-dimensional sonar, including the following steps: S1: Installation and calibration of sonar equipment, fixing the three-dimensional sonar equipment to the side of the construction vessel through an auxiliary installation module, and adjusting its parameters to the optimal imaging state; S2: Acquisition of seabed topography and borehole location, using multi-beam sonar to scan the construction area and constructing an initial three-dimensional topography model containing borehole coordinates; S3: Real-time dynamic monitoring, using the three-dimensional sonar equipment to capture the movement trajectory of the rock drill hammer and the rock reflection signal in real time, and dynamically displaying the deviation between the hammer impact point and the borehole location in the three-dimensional model; S4: Impact point prediction, based on the established hydrodynamic model, combined with real-time collected water flow and vessel attitude data, calculating and outputting the predicted impact point coordinates of the rock drill hammer; S5: Visual feedback, displaying the construction status and comparing the predicted and actual values ​​from multiple perspectives through a software platform to guide construction adjustments.

[0017] In one embodiment, the specific process of predicting the landing point in step S4 is as follows: S4.1: Construct an underwater force model of the rock drill hammer and analyze the gravity, buoyancy, and fluid drag force acting on it in the vertical and horizontal directions; S4.2: Based on the force model, establish a three-dimensional motion differential equation for the rock drill hammer in water; S4.3: Input the real-time water flow velocity, the initial velocity of the rock drill hammer entering the water, the attitude angle, and the physical parameters of the hammer body calibrated through experiments into the motion differential equation; S4.4: Numerically solve the motion differential equation and output the three-dimensional coordinates of the rock drill hammer at the moment of contact with the rock as the predicted landing point.

[0018] The solution provided in the above embodiments of this application has the following advantages: 1. Real-time 3D imaging monitoring: Breaking through the limitations of traditional two-dimensional sonar imaging, it realizes real-time 3D visualization of the fractured state of underwater rock mass.

[0019] 2. Multi-source data fusion positioning: Combining RTK differential BeiDou positioning with sonar coordinate calculation, the positioning accuracy is improved from meter level to centimeter level, ensuring that the rock drill hammer impact point error is ≤10cm.

[0020] 3. Dynamic prediction and closed-loop control: Through hydrodynamic models and machine learning algorithms, the rock drill hammer impact point is predicted in real time and fed back to the construction control system, forming a "monitoring-prediction-adjustment" closed loop, which improves rock breaking efficiency by more than 30%.

[0021] 4. Lightweight software platform: Integrates data acquisition, processing, and visualization functions, supports switching between offline modeling and online real-time monitoring modes, and reduces hardware dependency costs. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0023] Figure 1 This is a schematic diagram of a real-time monitoring system for underwater rock drilling based on three-dimensional sonar provided in an embodiment of this application; Figure 2 This is a flowchart illustrating the real-time monitoring method for underwater rock drilling based on three-dimensional sonar provided in this application embodiment. Detailed Implementation

[0024] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0025] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Figure 1 This is a schematic diagram of a real-time monitoring system for underwater rock drilling based on 3D sonar, provided in an embodiment of this application. The system 100 includes a hardware system 101 and a software system 102 communicatively connected to the hardware system. The hardware system 101 includes: a 3D sonar device 103 for real-time acquisition of 3D acoustic data of the underwater rock drill hammer and rock mass; a positioning and attitude determination device 104 for providing centimeter-level position information and high-precision attitude data of the construction vessel and sonar transducer; and an auxiliary installation module 105 for stably installing the 3D sonar device on the side of the construction vessel. The software system 102 is an underwater rock drilling real-time monitoring auxiliary construction platform, used to integrate and process the data acquired by the hardware system to achieve 3D modeling, real-time monitoring, impact point prediction, and effect evaluation.

[0027] The three-dimensional sonar device 103 employs phased array technology, with its transducer emitting a 54°×54° conical beam and equipped with a receiving matrix consisting of 48×48 hydrophones. The three-dimensional model obtained by the three-dimensional sonar device 103 is updated at a frequency of no less than 20 times per second. The positioning and attitude determination device 104 includes a Beidou receiver using RTK differential technology and an IMU gyroscope with an accuracy of no less than 0.15°. The auxiliary installation module 105 includes a rigidly connected shipboard suspension bracket and an adjustable-angle underwater gimbal, on which the three-dimensional sonar device 103 is fixed.

[0028] The software system 102 also includes a data preprocessing unit, used to filter and reduce noise in the raw acoustic signals collected by the 3D sonar device 103, and calculate and generate point cloud data containing the geographic information, distance, and signal strength of the target object. The landing point prediction function of the software system 102 constructs a three-dimensional motion differential equation for the rock drill hammer underwater based on Newton's second law and the fluid dynamics drag formula. The input parameters of the equation include at least the physical parameters of the rock drill hammer, and environmental and state parameters collected in real time by the positioning and attitude determination device 104 and the 3D sonar device 103. The landing point prediction function performs online calibration and correction of the fluid resistance coefficient in the motion differential equation by fusing real-time data. The effect evaluation function of the software system 102 includes a visualization interface that supports multi-view display, including at least a top view, a side view, and a first-person view of the rock drill hammer; the interface elements include at least the pre-drilling position, the real-time position of the rock drill hammer, the predicted landing point of the rock drill hammer, and the deviation vector between the predicted landing point and the pre-drilling position.

[0029] Figure 2 This is a flowchart illustrating the real-time monitoring method for underwater rock drilling based on 3D sonar provided in this application embodiment. Applied to the above system, it includes the following steps: S1: Sonar equipment installation and calibration: The 3D sonar equipment is fixed to the side of the construction vessel using an auxiliary installation module, and its parameters are adjusted to the optimal imaging state; S2: Seabed topography and borehole location acquisition: A multi-beam sonar is used to scan the construction area, constructing an initial 3D topographic model including borehole coordinates; S3: Real-time dynamic monitoring: The 3D sonar equipment is used to capture the movement trajectory of the rock drill hammer and the rock reflection signal in real time, and the deviation between the hammer impact point and the borehole location is dynamically displayed in the 3D model; S4: Impact point prediction: Based on the established hydrodynamic model, combined with real-time collected water flow and vessel attitude data, the predicted impact point coordinates of the rock drill hammer are calculated and output; S5: Visual feedback: The construction status, predicted values, and actual values ​​are displayed from multiple perspectives through a software platform to guide construction adjustments.

[0030] The specific process of predicting the landing point in step S4 is as follows: S4.1: Construct an underwater force model of the rock drill hammer and analyze the gravity, buoyancy, and fluid drag force acting on it in the vertical and horizontal directions; S4.2: Based on the force model, establish the three-dimensional motion differential equation of the rock drill hammer in water; S4.3: Input the real-time water flow velocity, the initial velocity of the rock drill hammer entering the water, the attitude angle, and the physical parameters of the hammer body calibrated through experiments into the motion differential equation; S4.4: Numerically solve the motion differential equation and output the three-dimensional coordinates of the rock drill hammer at the moment of contact with the rock as the predicted landing point.

[0031] In one embodiment, the underwater real-time 3D sonar consists of a sonar transducer, a gimbal, a deck unit, a shipborne positioning and attitude determination system, and post-processing software. The transducer emits a 54°*54° conical beam, and the reflected acoustic signals are received by a sonar receiving array. The receiving array employs phased array technology, consisting of a matrix of 48*48 hydrophones, capable of simultaneously generating 16,384 (up to 32,400 in certain models) acoustic beams. Each echo includes the target's geographic information, distance, and signal strength data. After preliminary processing, a two-dimensional image is formed. The software then fuses position and attitude information to obtain a final 3D visualization model. This model updates 20 times per second (up to 40 times per second for different products), enabling stable real-time monitoring of moving objects. Compared to traditional multi-beam sonar measurement technology, the underwater real-time 3D sonar observation technology offers advantages such as real-time 3D imaging, high-precision high-frequency dynamic monitoring, and clear imaging under zero visibility conditions.

[0032] In one embodiment, the real-time monitoring system for underwater rock drilling based on 3D sonar includes a hardware system and a software system. The hardware system includes: ① a 3D sonar device, which employs phased array technology, equipped with a 54°x54° conical beam transducer and a 48°×48° hydrophone receiver matrix, supporting up to 40 ping rate updates per second for the 3D model. ② a positioning and attitude determination device, integrating a single BeiDou receiver with RTK differential technology, providing centimeter-level positioning accuracy and real-time tide data; and integrating an IMU gyroscope with 0.15° accuracy, providing high-precision roll, pitch, heading, and heave compensation corrections for the 3D sonar transducer. ③ an auxiliary installation module, including a hull-mounted suspension bracket for the construction vessel and an underwater gimbal control system, ensuring the attitude stability of the 3D sonar transducer.

[0033] In one embodiment, a real-time monitoring method for underwater rock drilling based on three-dimensional sonar includes the following steps: Step S10, Sonar Equipment Installation and Calibration: Install the bracket on the side of the construction vessel according to its structural design, and optimize the imaging clarity by adjusting the gimbal angle and sonar transmit / receive gain parameters.

[0034] Step S20: Obtaining the initial borehole locations based on seabed topography and rock: Using an unmanned surface vessel equipped with a multibeam sonar, a full-coverage scan of the seabed is conducted after drilling is completed to construct an initial three-dimensional topographic model, mark the borehole coordinates, and form a digital base.

[0035] The initial 3D terrain model is mainly constructed by using an unmanned vessel equipped with a multibeam sonar system to conduct multibeam water depth surveys of the underwater terrain before construction, thereby obtaining pre-construction xyz data of the construction area, and generating a 3D terrain model based on the xyz data through data modeling.

[0036] The borehole coordinates are obtained before rock hammer drilling. The actual location of the borehole can be found by using the 3D terrain model generated from the initial 3D terrain multibeam scanning mentioned earlier. (The water depth at the borehole will be deeper than the water depth in the surrounding area, which will appear as pits on the generated model.) The coordinates of the midpoint of the pits are identified by AI algorithm and used as the borehole coordinates for marking.

[0037] A 3D imaging sonar system transmits acoustic signals towards a target area. By processing the received echo signals using acoustic imaging methods, a series of two-dimensional images (frames) can be obtained. These frames are then synthesized into a 3D image using computer synthesis technology (information from each frame is combined into a 3D image using phased array technology). A single 3D imaging operation can acquire two types of frames: range images and amplitude images. Both types of sonar images can be processed simultaneously to achieve 3D imaging of the target. After filtering, the sonar images are segmented and reconstructed to generate a denoised, realistic image. Feature extraction and classification are then performed on the image to display the final 3D sonar image.

[0038] When the sonar system is in operation, it emits a 375kHz sound wave signal through the sonar probe, forming a 50° x 50° sector scanning area. Each sound wave emission contains 128 x 128 beams arranged at equal intervals, with each sound wave spaced 0.39° apart. After receiving the echo signal, the system performs acoustic imaging processing to generate a two-dimensional image (frame). The system updates the data at a rate of 20Hz, and then uses computer synthesis technology to synthesize this series of frames into a three-dimensional image. To ensure measurement accuracy, attitude correction is performed through the inertial navigation system to eliminate the effects of the ship's pitch and roll during navigation.

[0039] Step S30, Real-time dynamic monitoring: Three-dimensional sonar is used to capture the movement trajectory of the rock drill hammer and the rock reflection signal in real time. Combined with Beidou positioning data, the deviation between the hammer impact point and the borehole position is displayed in real time in the three-dimensional model.

[0040] The main method for determining the deviation between the hammer impact point and the borehole position is as follows: A three-dimensional point cloud data of the rock drill hammer's motion is captured in real time using an underwater three-dimensional sonar system. A target recognition algorithm is used to automatically and in real-time obtain the position of the bottom of the rock drill hammer body. Continuous position points are connected to form a line, thus obtaining its motion trajectory. The coordinates of the point closest to the mud surface in the rock drill hammer's motion trajectory are picked, and the deviation between these coordinates and the coordinates of surrounding borehole points is calculated based on arithmetic operations.

[0041] The main purpose of determining the deviation between the hammer impact point and the borehole position is to ensure that the hammer impact point avoids the borehole position and hammers the unbroken rock mass, thereby improving work efficiency.

[0042] In one embodiment, the position deviation of the chisel hammer is dynamically guided in real time based on the grid center point and GNSS positioning coordinates. The target position is the grid center point (x0, y0), and the dynamic position is the drilling center point (x1, y1). The deviation calculation method is as follows: (1) Calculation of Gaussian projection (2) Calculation of water flow offset (3) Calculation of plane coordinate deviation Step S40, Landing Point Prediction Algorithm: Establish a mathematical model of parameters such as water flow velocity, hammer weight, and water depth with the falling trajectory, and output the predicted landing point coordinates through fusion calculation to guide construction personnel to adjust the hammering angle.

[0043] Based on the real trajectory of the hammer's underwater movement as a reference, and combined with the actual water flow speed and direction, a mathematical model of the hammer's underwater movement was generated.

[0044] Multi-source data fusion correction integrates BeiDou RTK (centimeter-level positioning) + IMU attitude data, and corrects the initial position and velocity errors of the hammer using a Kalman filter algorithm; it also incorporates real-time monitoring data of the rock drill hammer trajectory from 3D sonar, compares the calculated trajectory with the model, and uses the least squares method to adjust the drag coefficient and flow coefficient in real time. Details are as follows: (1) Based on underwater engineering fluid mechanics, numerical calculation theory and three-dimensional sonar underwater rock drilling construction monitoring test data, this paper describes the mathematical model establishment process, core means and test adaptation scheme of the rock hammer drop point prediction algorithm in underwater rock drilling construction, aiming to achieve the technical requirement of rock hammer drop point prediction error ≤10cm, and provide algorithm support for the precise construction of underwater high-strength rock dredging projects.

[0045] (2) The core principle of model establishment is based on Newtonian mechanics and fluid mechanics. The underwater force state of the rock drill hammer is decomposed and the motion differential equation is constructed. Real-time data collected by equipment such as three-dimensional sonar, Beidou RTK, and IMU gyroscope are integrated to correct the model input parameters. Combined with three-dimensional sonar test data, the model parameters are calibrated and the scene is adapted. Through the "monitoring-prediction-adjustment" closed loop, the model error is corrected in real time to ensure the accuracy of the landing point prediction.

[0046] (3) Model input parameters and data sources The model input parameters are divided into three categories: basic physical parameters, real-time environmental parameters, and dynamic state parameters. The data are all collected from equipment or design parameters.

[0047] (4) The force model of the underwater rock drill hammer is constructed based on the drag force formula of fluid mechanics and Newtonian mechanics. The forces acting on the rock drill hammer in the vertical and horizontal directions during its underwater fall are decomposed, and the correspondence between force and acceleration is established. The details are as follows: The forces acting in the vertical direction (which determine the depth of fall and the time of impact with the rock) are as follows: Gravity (downward): In the formula: The mass of the buried body is in kg. The acceleration due to gravity (taken as 9.8 m / s²) 2 ).

[0048] Buoyancy (upward): In the formula: The density of seawater (taken as 1025 kg / m³) 3 ), The volume of water displaced by the buried body (m³) 3 ).

[0049] Water resistance (upward): In the formula: The power factor (test calibration takes 0.4-0.8). The vertical projected area of ​​the buried body (m²) 2 ), The instantaneous vertical velocity of the buried body is denoted as m / s.

[0050] The horizontal forces (which determine the horizontal offset of the landing point) are as follows: Water flow impact force (along the direction of water flow): In the formula: The horizontal projected area of ​​the buried body (m²) 2 ), The water flow velocity (m / s) is monitored in real time by three-dimensional sonar.

[0051] Water resistance (opposite to horizontal velocity): In the formula: The instantaneous horizontal velocity of the buried body is denoted as m / s.

[0052] (5) The three-dimensional motion differential equations are established as follows: Using time t as the independent variable, based on Newton's second law A differential equation for the vertical and horizontal motion of the rock hammer is constructed to describe the dynamic changes in its trajectory. Specifically: The equation of motion in the vertical direction is as follows: Acceleration: Velocity and displacement: The equations of motion in the horizontal direction are as follows: Acceleration: Velocity and displacement: The model ultimately outputs the three-dimensional coordinates (X,Y,Z) of the moment the rock drill hammer strikes the rock. Through the "underwater rock drilling real-time monitoring and auxiliary construction platform", the deviation between the predicted impact point and the pre-drilled hole position is visualized, guiding construction personnel to adjust the hammer angle and forming a "monitoring-prediction-adjustment" construction closed loop, which can improve rock breaking efficiency.

[0053] Step S50, Visual Feedback: The construction platform displays the rock drilling grid, the real-time settlement prediction value and the actual measurement value comparison curve from multiple perspectives, and supports historical data query and export.

[0054] The rock drilling grid generates 5m x 5m grid vector data based on the three-dimensional terrain model scanned before construction.

[0055] Real-time settlement prediction refers to the settlement value of the area drilled by the rock hammer if the rock mass has already broken.

[0056] The above embodiments of this application have the following beneficial effects: 1. Realized real-time 3D visualization monitoring: Due to the adoption of high-frequency 3D sonar based on phased array technology and combined with a dedicated data processing unit, the system can generate and refresh underwater 3D scenes at a frequency of no less than 20Hz, breaking through the limitation of traditional multibeam sonar requiring post-processing, allowing operators to observe the movement trajectory of the rock drill and the rock breaking process as intuitively as if they were in the air.

[0057] 2. Achieved centimeter-level collaborative positioning accuracy: By deeply fusing the centimeter-level absolute position provided by RTK-BeiDou with the ultra-high precision attitude data provided by IMU and the relative position data provided by three-dimensional sonar, the system overcomes the shortcomings of single GNSS meter-level error and realizes centimeter-level collaborative positioning of rock drills and underwater boreholes, making precise rock drilling possible.

[0058] 3. A forward-looking intelligent prediction and control closed loop has been formed: The impact point prediction algorithm based on the physical model can calculate the impact point of the rock drill hammer in advance. The prediction result is presented to the operator through an intuitive visualization interface, enabling them to adjust the ship or boom before the hammer strike, thus forming a proactive control closed loop of "monitoring-prediction-adjustment". This fundamentally changes the traditional operation mode that relies on experience and makes adjustments with lag, improving construction efficiency and first-shot success rate.

[0059] 4. A stable and reliable hardware integration solution is provided: The specially designed auxiliary installation module, through rigid brackets and controllable gimbal, effectively suppresses the interference of ship rolling on sonar imaging, ensures the stability of the data source, and lays the physical foundation for the high-precision operation of the entire system.

[0060] The systems and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The system and method embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0061] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0062] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A real-time monitoring system for underwater rock drilling based on three-dimensional sonar, characterized in that, This includes the hardware system and the software system that communicates with and connects to the hardware system; The hardware system includes: Three-dimensional sonar equipment is used to collect three-dimensional acoustic data of underwater rock drills and rock masses in real time; Positioning and attitude determination equipment is used to provide centimeter-level position information and high-precision attitude data for construction vessels and sonar transducers; An auxiliary installation module is used to stably install the three-dimensional sonar equipment on the side of the construction vessel; The software system is an underwater rock drilling real-time monitoring and auxiliary construction platform, used to integrate and process the data collected by the hardware system to achieve 3D modeling, real-time monitoring, landing point prediction and effect evaluation.

2. The system according to claim 1, characterized in that, The three-dimensional sonar device employs phased array technology. Its transducer emits a 54°×54° conical beam and is equipped with a receiving matrix consisting of 48×48 hydrophones. The three-dimensional model obtained by the three-dimensional sonar device is updated at a frequency of no less than 20 times per second.

3. The system according to claim 1, characterized in that, The positioning and attitude determination device includes a Beidou receiver using RTK differential technology and an IMU gyroscope with an accuracy of not less than 0.15°.

4. The system according to claim 1, characterized in that, The auxiliary installation module includes a rigidly connected shipboard suspension bracket and an adjustable underwater gimbal, and the three-dimensional sonar equipment is fixed on the underwater gimbal.

5. The system according to claim 1, characterized in that, The software system also includes a data preprocessing unit, which is used to filter and reduce noise in the raw acoustic signals collected by the three-dimensional sonar equipment, and calculate and generate point cloud data containing the geographic information, distance and signal strength of the target object.

6. The system according to claim 1, characterized in that, The landing point prediction function of the software system constructs a three-dimensional motion differential equation of the rock drill hammer underwater based on Newton's second law and the fluid dynamics drag formula. The input parameters of the equation include at least the physical parameters of the rock drill hammer, environmental parameters and state parameters collected in real time by the positioning and attitude determination device and the three-dimensional sonar device.

7. The system according to claim 6, characterized in that, The landing point prediction function performs online calibration and correction of the fluid drag coefficient in the equation of motion by integrating real-time data.

8. The system according to claim 1, characterized in that, The software system's performance evaluation function includes a visualization interface that supports multi-view display, including at least a top view, a side view, and a first-view perspective of the rock drill hammer; the interface elements include at least the pre-drilling position, the real-time position of the rock drill hammer, the predicted landing point of the rock drill hammer, and the deviation vector between the predicted landing point and the pre-drilling position.

9. A real-time monitoring method for underwater rock drilling based on three-dimensional sonar, characterized in that, Applied to the system as described in any one of claims 1-8, the method includes the following steps: S1: Installation and calibration of sonar equipment. The three-dimensional sonar equipment is fixed to the side of the construction vessel through the auxiliary installation module, and its parameters are adjusted to the best imaging state. S2: Obtaining seabed topography and borehole locations. Multibeam sonar is used to scan the construction area and construct an initial three-dimensional topographic model containing borehole coordinates. S3: Real-time dynamic monitoring, using three-dimensional sonar equipment to capture the movement trajectory of the rock drill hammer and the rock reflection signal in real time, and dynamically display the deviation between the hammer impact point and the drilling position in the three-dimensional model; S4: Landing point prediction. Based on the established hydrodynamic model and combined with real-time collected water flow and ship attitude data, the predicted landing point coordinates of the rock drill are calculated and output. S5: Visual feedback, which uses a software platform to display the construction status from multiple perspectives, compare predicted and actual values, and guide construction adjustments.

10. The method according to claim 9, characterized in that, The specific process of landing point prediction in step S4 is as follows: S4.1: Construct an underwater force model of the rock drill hammer and analyze the gravity, buoyancy and fluid drag force it experiences in the vertical and horizontal directions; S4.2: Based on the force model described above, establish the three-dimensional differential equation of motion of the rock drill hammer in water; S4.3: Input the real-time water flow velocity, the initial velocity of the rock drill hammer entering the water, the attitude angle, and the physical parameters of the hammer body calibrated through experiments into the motion differential equation; S4.4: Numerically solve the motion differential equations and output the three-dimensional coordinates of the moment the rock drill hits the rock as the predicted landing point.

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