Suction type foundation soil plug state monitoring system and recoverable monitoring method

Abstract

The invention discloses a suction type foundation soil plug state monitoring system and recoverable monitoring method.The suction type foundation soil plug state monitoring system comprises a pressure stabilizing barrel and a guide pipe, one end of the top of the pressure stabilizing barrel communicates with a suction type foundation through the guide pipe, a soil plug is arranged in the suction type foundation, and the top of the suction type foundation is connected into a sonar scanning system through the guide pipe; the sonar scanning system comprises a retractable sonar installation mechanism and a sonar assembly installed on the sonar installation mechanism. The other end of the voltage stabilizing barrel is connected with a signal processor through a cable, and the signal processor is in communication connection with a computer. The umbrella body is unfolded to drive the sonar body to carry out annular section scanning on the soil plug, the three-dimensional form of the soil plug is reconstructed, and the limitation of single-point measurement is overcome; and after the suction type foundation is injected, the umbrella body is folded, the monitoring equipment is recycled, reutilization is achieved, and the engineering cost is reduced.

Description

Technical Field

[0001] This invention belongs to the field of civil engineering foundation monitoring technology, and specifically relates to a suction-type foundation soil plug condition monitoring system and a recyclable monitoring method. Background Technology

[0002] Suction foundations, widely used in offshore platforms, wind power foundations, and other marine engineering projects, have their construction quality directly impacting the overall structural stability. Soil plugging is a key characteristic of suction foundation penetration; the state and distribution of soil plugs significantly influence the foundation's bearing capacity, penetration resistance, and final stability. Therefore, precise monitoring of soil plugs is essential.

[0003] Existing soil plug condition measurement technologies have several drawbacks: First, single-point sensor measurements can only acquire localized data, failing to reflect the three-dimensional morphological distribution of the soil plug and making it difficult to comprehensively assess construction quality. Second, equipment such as distributed fiber optic sensors, laser sensors, industrial cameras, and structured light projectors are expensive, and the sensors must be embedded within the foundation, making them unrecoverable after construction and significantly increasing project costs. Third, sensor wiring requires additional holes in the suction foundation, compromising its airtightness, potentially affecting negative pressure injection, and increasing the risk of leakage. Therefore, it is necessary to propose a more effective suction-type foundation soil plug condition monitoring system and method. Summary of the Invention

[0004] To address the problems in the related technologies, this application provides a suction-type foundation soil plug condition monitoring system and a recyclable monitoring method, which solves the problems mentioned in the background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a suction-type foundation soil plug status monitoring system, comprising a pressure stabilizing tank and a conduit. One end of the top of the pressure stabilizing tank is connected to the suction-type foundation via the conduit. The suction-type foundation contains a soil plug. The top of the suction-type foundation is connected to a sonar scanning system via the conduit. The sonar scanning system includes a retractable sonar mounting mechanism and a sonar component mounted on the sonar mounting mechanism. The other end of the pressure stabilizing tank is connected to a signal processor via a cable, and the signal processor is connected to a computer for communication.

[0006] Furthermore, a model box is provided at the bottom of the suction foundation, a reaction frame is fixedly connected to the side wall of the model box, and a hoisting component is fixedly connected to the middle part of the reaction frame. Two lifting rings are installed at the top of the suction foundation. The lifting assembly on the reaction frame is connected to the lifting rings by steel wire rope. The lifting assembly is equipped with a position monitoring block to monitor the status of the suction foundation. A suction hole for the conduit to enter is provided at the top of the suction foundation. The suction hole is equipped with a check valve cover and is sealed.

[0007] Furthermore, the retractable sonar mounting mechanism is an umbrella-shaped structure, including a sliding rod; The upper end of the slide bar is connected to the magnetorheological fluid via a connector, and the connection between the connector and the magnetorheological fluid is reinforced. The slide bar is equipped with an electric cylinder inside, and a telescopic rod is provided at one end of the electric cylinder. A slide cylinder is fixedly connected to both the slide bar and the telescopic rod. Telescopic lightweight umbrella ribs are provided at both ends of the slide bar, and one end of the telescopic lightweight umbrella rib is connected to the slide cylinder on the slide bar via a hinge. The sliding cylinder hinge on the telescopic pole is connected to a connecting rod, and the other end of the connecting rod is hinged to the other end of the telescopic lightweight umbrella rib.

[0008] Furthermore, sonar components are provided at one end of the telescopic pole and at both ends of the telescopic lightweight umbrella ribs.

[0009] Furthermore, the sonar assembly includes a sonar body, a connecting platform, and mounting holes; the telescopic rod and one end of the telescopic lightweight umbrella ribs at both ends are all connected to the connecting platform, which has mounting holes. One end of the sonar body is provided with a pin for inserting the pin into the mounting hole of the connecting platform to fix the sonar body to the connecting platform; and the connecting platform is equipped with an angle sensor for real-time feedback of the horizontal attitude of the sonar scanning system. The sonar body is a multi-beam sonar body.

[0010] Furthermore, a connecting plate is provided on the upper inner side of the slide rod, one end of the electric cylinder is connected to the connecting plate, an inner through hole is provided on the connecting plate, an umbrella rib hole is provided on the outer wall of one end of the telescopic lightweight umbrella rib, and a wire outlet groove is provided on the upper outer wall of the slide rod.

[0011] Furthermore, the top of the pressure stabilizing tank is equipped with a conduit interface, a negative pressure interface, and a cable interface. A pressure gauge is installed in the middle of the top of the pressure stabilizing tank, and a cable winding and unwinding electric box is installed inside the pressure stabilizing tank. A tension and compression sensor is installed inside the cable winding and unwinding electric box. One end of the signal processor's cable is used to connect to the cable retraction and extension electric box via a cable interface. The other end of the cable retraction and extension electric box is used to pass through the internal conduit, magnetorheological fluid, slide bar, telescopic lightweight umbrella rib and sonar assembly; The negative pressure pump is connected to the negative pressure interface through a negative pressure connection pipeline, and the negative pressure pump is equipped with a negative pressure pump pressure gauge. The conduit interface, negative pressure interface, and cable interface are all equipped with solenoid valves and metal caps.

[0012] Furthermore, the conduit includes an inner conduit and an outer conduit, with the inner conduit nested inside the outer conduit. One end of the inner and outer conduits is used to insert into the suction hole, and the other end of the inner and outer conduits is used to insert into the conduit interface.

[0013] A method for monitoring the condition of a suction-type foundation soil plug, applied to a suction-type foundation soil plug condition monitoring system, includes: Step S1: Hoist the suction base to the designated position of the model box, place the voltage stabilizing tank on the work platform, insert the signal processor cable into the voltage stabilizing tank and connect it to the cable retraction electric box, and connect the other end of the cable retraction electric box through the retractable umbrella structure to the sonar body on the umbrella structure. Step S2: Pass the retracted umbrella structure of the connecting cable through the conduit, insert the conduit through the umbrella structure into the inside of the suction base, stop it above the inside of the suction base, and insert the other end of the conduit from the conduit interface into the top of the cable retraction and extension electric box. Step S3: The umbrella structure is opened by computer. At the same time, the attitude of the opened umbrella structure is adjusted in real time by angle sensor. After the attitude is adjusted, the soil plug is tested by the sonar body to obtain the test data of the sonar body. When the test data of the sonar body is stable, it means that it is working normally; otherwise, continue to adjust the attitude of the opened umbrella structure. Step S4: During normal operation, the gas in the suction foundation is extracted by the negative pressure pump to form a negative pressure chamber. The pressure difference between the inside and outside is used to make the suction foundation begin to penetrate into the soil plug of the model box. Step S5: Collect data of the soil plug in real time through the sonar body, transmit the collected data of the soil plug to the computer synchronously, process the collected data of the soil plug through the computer, and reconstruct the three-dimensional morphology of the soil plug surface. Step S6: When the soil plug approaches the top plate of the suction foundation, the umbrella structure is retracted by computer, the cable retraction and extension electric box is started to retract the cable, and the cable drives the retracted umbrella structure and the sonar body to move upward synchronously and stop at the safe detection position above the inside of the suction foundation. Step S7: At the safety detection position above, the umbrella structure is opened by computer. The attitude of the opened umbrella structure is adjusted in real time by angle sensor. After the attitude is adjusted, the sonar body detects the approaching soil plug and transmits the detection data to the computer. The computer processes the detection data and reconstructs the three-dimensional shape of the complete soil plug.

[0014] A method for recovering suction-type foundation soil plugs, applied to a suction-type foundation soil plug condition monitoring system, includes: Step S1: After the suction foundation has penetrated the soil plug to the required depth, turn off the negative pressure pump and use a computer to drive the umbrella structure to contract. The electric cylinder is driven in reverse by the computer, which moves the telescopic rod and the slide on the telescopic rod upward together, pulling one end of the connecting rod upward. The other end of the connecting rod moves one end of the telescopic lightweight umbrella rib downward. When the two ends of the telescopic lightweight umbrella rib gradually retract inward, the umbrella structure shrinks to its minimum volume, the electric cylinder stops, and the position of the telescopic lightweight umbrella rib is locked. Step S2: The cable is retracted through the cable retraction and extension electric box. The retracted cable drives the umbrella structure in its retracted state to pass through the suction hole of the suction base and the inner conduit into the pressure stabilizing tank.

[0015] Compared with existing technologies, the present invention has the following advantages: This invention employs a multibeam sonar unit with a deployable umbrella structure to perform annular cross-sectional scanning of the soil plug inside a suction foundation. Through multiple scans, the three-dimensional morphology of the soil plug surface can be reconstructed. Compared to traditional single-point sensor measurements, this invention can comprehensively capture the complex surface morphology of the soil plug, calculating key parameters such as the total volume, average condition, and locations of the highest and lowest points, providing comprehensive and accurate data support for foundation construction quality assessment.

[0016] This invention utilizes the foldable design of the umbrella structure and the rigid-flexible controllable characteristics of magnetorheological fluid to allow the sonar body and umbrella structure to be smoothly recovered into the pressure stabilizing tank via a conduit after the suction foundation is inserted, thus achieving the reusability of the entire monitoring equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall condition monitoring device for suction-type foundation soil plugs.

[0018] Figure 2 This is a schematic diagram of the soil plug structure measured under air extraction conditions.

[0019] Figure 3 This is a schematic diagram of the connection of the pressure stabilizing tank equipment.

[0020] Figure 4 This is a schematic diagram of the sonar component structure.

[0021] Figure 5 This is a schematic diagram of the umbrella structure.

[0022] Figure 6 This is a magnified structural diagram of A.

[0023] Figure 7 This is a magnified structural diagram of B.

[0024] Attached reference numerals: 1. Model box; 2. Reaction frame; 3. Lifting assembly; 4. Wire rope; 5. Soil plug; 6. Suction foundation; 61. Suction hole; 62. Lifting ring; 7. Conduit; 71. External conduit; 72. Internal conduit; 8. Cable; 9. Cable retraction and extension electric box; 10. Pressure stabilizing tank; 101. Conduit interface; 102. Pressure stabilizing tank pressure gauge; 103. Negative pressure connection pipeline; 104. Negative pressure interface; 105. Cable interface; 11. Signal processor; 12. Computer; 3. Negative pressure pump; 131. Negative pressure pump pressure gauge; 14. Umbrella structure; 141. Connector; 142. Slide rod; 1421. Cable outlet groove; 143. Slide cylinder; 144. Telescopic lightweight umbrella rib; 14401. Umbrella rib hole; 1411. Connecting rod; 145. Magnetorheological fluid; 146. Electric cylinder; 147. Telescopic rod; 148. Connecting plate; 149. Internal perforation; 15. Sonar assembly; 151. Sonar body; 152. Connecting platform; 153. Mounting hole. Detailed Implementation

[0025] like Figure 1 As shown, the present invention provides a technical solution: a suction-type foundation soil plug status monitoring system, including a pressure stabilizing tank 10 and a conduit 7. One end of the top of the pressure stabilizing tank 10 is connected to a suction-type foundation 6 through the conduit 7. The suction-type foundation 6 contains a soil plug 5. The top of the suction-type foundation 6 is connected to a sonar scanning system through the conduit 7. The sonar scanning system includes a retractable sonar mounting mechanism and a sonar component 15 mounted on the sonar mounting mechanism. The other end of the pressure stabilizing tank 10 is connected to a signal processor 11 through a cable 8. The signal processor 11 is communicatively connected to a computer 12.

[0026] like Figure 2 The bottom of the suction foundation 6 is provided with a model box 1, and a reaction frame 2 is fixedly connected to the side wall of the model box 1. A hoisting assembly 3 is fixedly connected to the middle part of the reaction frame 2. Two lifting rings 62 are installed at the top of the suction foundation 6. The lifting assembly 3 on the reaction frame 2 is connected to the lifting rings 62 by steel wire rope 4. The lifting assembly 3 is equipped with a monitoring block to monitor the status of the suction foundation 6 and synchronize the information to the computer 12. A suction hole 61 is provided at the top of the suction foundation 6 for the conduit 7 to enter. The suction hole 61 is equipped with a check valve cover and is sealed. Among them, the monitoring block is the location monitoring block.

[0027] like Figure 3As shown, the pressure stabilizing tank 10 is provided with a conduit interface 101, a negative pressure interface 104 and a cable interface 105 at the top. A pressure stabilizing tank pressure gauge 102 is provided at the middle part of the top of the pressure stabilizing tank 10. A cable winding and unwinding electric box 9 is provided inside the pressure stabilizing tank 10. The cable winding and unwinding electric box 9 is similar to the principle of a winding and unwinding machine. The cable winding and unwinding electric box 9 is used to precisely wind and unwind the cable 8. A tension and pressure sensor is provided inside the cable winding and unwinding electric box 9.

[0028] like Figure 4 As shown, the sonar assembly 15 includes a sonar body 151, a connecting platform 152, and a mounting hole 153. The sonar body 151 is a multi-beam sonar body 151, which can scan to obtain a ring-shaped cross-sectional data. Multiple scans can reconstruct the three-dimensional morphology of the surface of the soil plug 5. The connecting platform 152 is provided with a mounting hole 153, and one end of the sonar body 151 is provided with a pin for inserting the pin into the mounting hole 153 of the connecting platform 152 to fix the sonar body 151 to the connecting platform 152; and the connecting platform 152 is equipped with an angle sensor to provide real-time feedback on the horizontal attitude of the umbrella.

[0029] In this embodiment, the retractable sonar mounting mechanism is an umbrella structure 14, such as... Figures 5-7 As shown, it includes connector 141, slide rod 142, slide cylinder 143, telescopic lightweight umbrella rib 144, magnetorheological fluid 145, electric cylinder 146, telescopic rod 147, connecting plate 148, internal perforation 149, and cable outlet groove 1421. The upper end of the slide rod 142 is connected to the magnetorheological fluid 145 through the connector 141, and the connection is reinforced (such as anti-loosening glue + local welding). The slide rod 142 is equipped with an electric cylinder 146 inside. One end of the electric cylinder 146 is equipped with a telescopic rod 147. Slide cylinders 143 are fixedly connected to both the slide rod 142 and the telescopic rod 147. Telescopic lightweight umbrella ribs 144 are provided at both ends of the slide rod 142. One end of the telescopic lightweight umbrella rib 144 is hinged to the slide cylinder 143 on the slide rod 142. The slide cylinder 143 on the telescopic rod 147 is hinged to a connecting rod 1411, and the other end of the connecting rod 1411 is hinged to the other end of the telescopic lightweight umbrella rib 144; it is used to drive the telescopic rod 147 and the slide cylinder 143 on the telescopic rod 147 to move up or down by starting the electric cylinder 146, so as to open or retract the telescopic lightweight umbrella rib 144.

[0030] Sonar components 15 are provided on the telescopic pole 147 and the telescopic lightweight umbrella ribs 144 at both ends.

[0031] The upper inner side of the slide rod 142 is provided with a connecting plate 148. One end of the electric cylinder 146 is connected to the connecting plate 148. The connecting plate 148 is provided with an inner through hole 149. One end of the telescopic lightweight umbrella rib 144 is provided with an umbrella rib hole 14401. The upper outer wall of the slide rod 142 is provided with a cable outlet groove 1421, which is used for the cable 8 to pass through the magnetorheological fluid 145 and the connector 141 into the slide rod 142, and then pass through the inner through hole 149 of the connecting plate 148 to come out from the other end of the slide rod 142 and connect to the sonar assembly 15 at one end of the telescopic rod 147. At the same time, the cable 8 branches passing through the inner perforation 149 come out from the cable outlet grooves 1421 at both ends, and then enter the umbrella rib holes 14401 at both ends to connect to the sonar assembly 15 of the telescopic lightweight umbrella rib 144.

[0032] The telescopic lightweight umbrella rib 144 is made of carbon fiber, which combines lightweight and high strength. The double-sided umbrella ribs are designed as a telescopic structure, which can dynamically adjust the detection coverage range according to the diameter of the suction base 6 and the shape of the soil plug 5.

[0033] The cable 8 is used to pass through the magnetorheological fluid 145. In the absence of a magnetic field, the particles within the magnetorheological fluid 145 are randomly dispersed, and the fluid is a low-viscosity liquid (flexible). After the magnetorheological fluid 145 is energized through the cable 8, the magnetic field particles within the fluid form a chain-like structure along the magnetic field direction, causing a sharp increase in fluid viscosity and exhibiting solid-like mechanical properties (rigid). Furthermore, the particle transformation within the magnetorheological fluid 145 is reversible, and its intensity can be controlled by the current. This prevents the cable 8 from vibrating due to airflow and the folding of the umbrella structure 14, and automatically energizes or de-energizes based on the state of the umbrella structure 14. When the vibration of the cable 8 exceeds the limit, the current can be increased. When energized, the magnetic field-controllable flexible-rigid adaptive switching adapts to the extension and folding movements of the umbrella structure 14, buffering vibration, protecting the internal cable 8, ensuring stable signal and energy transmission, and simultaneously assisting in maintaining the accurate detection attitude of the sonar body 151.

[0034] The conduit 7 includes an inner conduit 72 and an outer conduit 71. The inner conduit 72 is nested inside the outer conduit 71. When the negative pressure pump 13 draws a vacuum, the airflow disturbance may cause the sonar component 15 to become unstable. Therefore, a double conduit (inner conduit 72 and outer conduit 71) is used, and both conduits are reinforced and sealed.

[0035] The pressure stabilizing tank 10 has its conduit interface 101 sealed to the suction base 6 via conduit 7. The inner conduit 72 is directly and fixedly connected to the cable retraction and extension electric box 9 via conduit interface 101. The joints of conduit interface 101, negative pressure interface 104, and cable interface 105 are sealed to prevent air pressure from entering the inner conduit 72 and causing instability in sonar monitoring. Conduit interface 101, negative pressure interface 104, and cable interface 105 are all equipped with solenoid valves and metal caps. Cable interface 105 serves as the inlet and outlet of cable 8, connected to the signal processor 11 and reinforced with a seal. The other end of cable 8 connects to the cable retraction and extension electric box 9. The other end of cable 8 in the cable retraction and extension electric box 9 passes through the inner conduit 72, magnetorheological fluid 145, slide bar 142, and telescopic lightweight umbrella rib 144 to connect to the sonar assembly 15. A pressure gauge 102 is installed on the pressure stabilizing tank 10 to monitor the internal pressure in real time and synchronize it to the computer 12.

[0036] The negative pressure pump 13 is connected to the negative pressure interface 104 through the negative pressure connection pipe 103, and the negative pressure pump 13 is equipped with a negative pressure pump pressure gauge 131.

[0037] The cable 8 includes a built-in signal transmission line and an energy line. One end is fixedly connected to the magnetorheological fluid 145 of the sonar scanning system, and the other end is connected to the signal processor 11 after being retracted and extended by the cable retraction electric box 9. The information scanned by the sonar component 15 is first processed by the signal processor 11 and finally synchronized to the computer 12.

[0038] This embodiment also provides a method for monitoring the condition of suction-type foundation soil plugs, the specific process of which is as follows. System installation and probe deployment The suction base 6 is hoisted to the designated position in the model box 1. The attitude of the suction base 6 is adjusted by the hoisting component 3 and the steel wire rope 4. The position monitoring block in the hoisting component 3 can monitor the attitude of the suction base 6 in real time. After adjusting the attitude of the suction base 6, it is lowered to the specified distance in the model box 1 and then paused. Fix the voltage stabilizer 10 on the work platform, insert the cable of the signal processor 11 into the voltage stabilizer 10 through the cable interface 105 and connect it to the cable retraction electric box 9, and pass the other end of the cable retraction electric box 9 through the retractable umbrella structure 14 and connect it to the sonar body 151 on the umbrella structure 14. After the connecting cable 8 is retracted, the umbrella structure 14 is passed through the conduit 7 (external conduit 71 and internal conduit 72). The conduit 7, which is inserted into the umbrella structure 14, is inserted into the interior of the suction base 6 through the suction hole 61 and stays above the interior of the suction base 6. The other end of the conduit 7 is inserted into the voltage stabilizing tank 10 through the conduit interface 101 and connected to the top of the cable winding and unwinding electric box 9. The two ends of the conduit 7 are then sealed (e.g., with anti-loosening adhesive and partial welding). The specific process of connecting the sonar body 151 on the retracted umbrella structure 14 is as follows: The other end of the cable retraction electric box 9, cable 8, passes through magnetorheological fluid 145 and connector 141 into slide rod 142, then passes through the inner perforation 149 of connecting plate 148 and comes out from the other end of slide rod 142, connecting to sonar assembly 15 at one end of telescopic rod 147. At the same time, the cable 8 branches passing through the inner perforation 149 come out from the cable outlet grooves 1421 at both ends, and then enter the umbrella rib holes 14401 at both ends to connect to the sonar assembly 15 of the telescopic lightweight umbrella rib 144. Take the negative pressure connection pipe 103, seal one end of it to the negative pressure interface 104 on the top of the pressure stabilizing tank 10, and precisely connect the other end to the negative pressure output end of the negative pressure pump 13; seal the joint between the negative pressure interface 104 and the negative pressure connection pipe 103. Once the umbrella is positioned above the suction-type base 6, the electric cylinder 146 is activated for forward drive, opening the telescopic lightweight umbrella ribs 144. Specifically: Driven in the forward direction by the electric cylinder 146, the telescopic rod 147 and the slide cylinder 143 on the telescopic rod 147 move downward together, causing one end of the connecting rod 1411 to push downward, and the other end of the connecting rod 1411 to drive one end of the telescopic lightweight umbrella rib 144 to move outward, so that the telescopic lightweight umbrella ribs 144 at both ends gradually open outward, and adjust the attitude of the umbrella structure 14 according to the angle sensor in the connecting platform 152, and ensure that the sonar body 151 is oriented accurately. By adjusting the folding angle of the umbrella structure 14 to the initial detection position, the sonar body 151 on the telescopic rod 147 and the telescopic lightweight umbrella rib 144 is tested. The surface morphology of the soil plug 5 is collected by the sonar body 15 to obtain the test data of the sonar body 151. The test data of the sonar body 151 is then transmitted to the computer 12 to check whether the test data of the sonar body 151 is stable. When the test data is stable, it indicates that it can work normally.

[0039] Specifically, when the cable 8 passes through the umbrella structure 14 and connects to the sonar component 15, and when the umbrella structure 14 after connecting the cable 8 passes through the inner conduit 72, the cable winding and unwinding electric box 9 is activated by the computer 12 to slowly lower the cable 8, so that the cable 8 can still maintain sufficient length during the insertion process. The cable winding and unwinding electric box 9 is similar to a winding and unwinding machine. When the cable winding and unwinding electric box 9 is activated during the insertion process, it rotates in the reverse direction to slowly lower the cable 8. When it rotates in the forward direction, it winds up the cable 8.

[0040] Basic penetration and real-time monitoring Turn on the negative pressure pump 13 and slowly open the solenoid valve on the negative pressure port 104. When the pressure inside the pressure stabilizing tank 10 drops to the specified value, open the check valve on the suction port 61. Since the pressure stabilizing tank 10 and the suction foundation 6 are sealed together through the conduit 7, a negative pressure is formed inside the suction foundation 6. After the suction foundation 6 forms a negative pressure, the pressure difference between the inside and outside is used to make the suction foundation 6 begin to penetrate the soil plug 5. The data of the pressure gauge 102 in the pressure stabilizing tank is viewed in real time through the computer 12, and the negative pressure is precisely controlled to ensure that the suction foundation 6 smoothly penetrates the soil plug 5. The sonar body 151 collects data from the soil plug 5 in real time and transmits it synchronously to the computer 12. The distance between the sonar body 151 on the umbrella structure 14 and the soil plug 5 can be controlled by the electric cable retraction box 9. The appropriate monitoring distance can be selected according to the model of the sonar body 151, while also meeting the requirements of allowing the sonar body 151 to meet certain resolution and the effective monitoring range.

[0041] The sonar body 151 is a multi-beam sonar body 151, which can scan to obtain a ring-shaped cross-sectional data, and the three-dimensional morphology of the surface of the soil plug 5 can be reconstructed by multiple scans.

[0042] Further effective monitoring radius of umbrella structure 14 Represented as: ; in, The radius of the umbrella structure is 14. This refers to the length of the umbrella rib extending on one side; The folding angle of the umbrella ribs; This refers to the effective detection range of sonar; To define the sonar beam angle; It is a sine function; It is the tangent function; The umbrella structure 14 can be internally connected to the conduit 72, and the bending radius that the internal conduit 72 must meet is... : ; in, The length of the umbrella structure 14 after it is folded up; The bending radius of the centerline of the internal conduit 72; This is the gap between the inner wall of the internal conduit 72 and the umbrella structure 14. D is the inner diameter of the inner conduit 72, and d is the diameter of the umbrella structure 14 after it is closed.

[0043] When the soil plug 5 approaches the top plate of the suction foundation 6, the telescopic lightweight umbrella ribs 144 and telescopic rod 147 are retracted by the electric cylinder 146. After retraction, the cable retraction box 9 is activated to retract the cable 8. The cable 8 drives the umbrella structure 14 to move upward, and the umbrella structure 14 drives the sonar assembly 15 to move upward synchronously. Finally, the umbrella structure 14 and the sonar assembly 15 stop at a safe detection position above the inside of the suction foundation 6, which avoids contact and collision between the soil plug 5 and the sonar assembly 15, and can capture the top shape of the soil plug 5 at close range; the middle sonar body 151 monitors the shape of the middle soil plug 5 in real time. After the umbrella structure 14 stops at the safe detection position above, the telescopic lightweight umbrella ribs 144 and telescopic rod 147 are deployed again by the electric cylinder 146. The folding angle of the telescopic lightweight umbrella ribs 144 is adjusted until the sonar bodies 151 on both ends of the telescopic lightweight umbrella ribs 144 are aligned with the edges of the soil plugs 5 on both sides. At this time, the scanning frequency of the sonar bodies 151 can be appropriately increased by the computer 12 to improve the data acquisition density of the sonar bodies 151 and monitor the condition of the soil plugs 5 on both sides in real time. The middle sonar body 151 and the sonar bodies 151 at both ends synchronously collect the reflected signals from the center, middle and edge areas of the soil plugs 5 to reconstruct the three-dimensional shape of the complete soil plugs 5.

[0044] Taking a typical suction-type foundation 6 with a diameter of 6m as an example, the sonar body 151 is a miniature sonar body 151. The longest side of a conventional miniature sonar is in the range of 80mm-300mm, and in this example, it is set to 100mm. The diameter of the suction hole 61 can be selected as 350mm, the diameter of the inner conduit 72 can be selected as 250mm, the length of the telescopic lightweight umbrella rib 144 can be designed as 300mm, and the length of the umbrella structure 14 after folding can reach 400mm, with a diameter of 150mm. The diameter of the inner conduit 72 can be selected as 250mm, and the bending radius of the centerline of the inner conduit 72 needs to be 375mm to allow the umbrella structure 14 to enter and exit the inner conduit 72. During monitoring, the central sonar unit 151 and the sonar units 151 at both ends collect data from the soil plug 5 in real time and transmit it synchronously to the computer 12. The distance between the central sonar unit 151, the sonar units 151 at both ends, and the soil plug 5 is controlled by the cable retraction and extension electric box 9. When the edge area of ​​the soil plug 5 is not covered, the telescopic rod 147 is extended by the electric cylinder 146, thereby adjusting the folding angle of the telescopic lightweight umbrella rib 144 to align the sonar units 151 at both ends with the soil plug 5. When precise detection of the central area of ​​the soil plug 5 is required, the angle of the telescopic lightweight umbrella rib 144 can be reduced. The central sonar unit 151 and the sonar units 151 at both ends simultaneously collect data from the central area of ​​the soil plug 5. After processing by the signal processor 11, the computer 12 updates the complete three-dimensional morphology of the soil plug 5 in real time, providing a direct basis for construction quality assessment.

[0045] Equipment recycling After the suction foundation 6 penetrates the soil plug 5 to the required depth, the negative pressure pump 13 is turned off. The computer 12 sends commands to retract the umbrella ribs and close the umbrella body in sequence. The electric cylinder 146 drives the telescopic lightweight umbrella ribs 144 and the telescopic rod 147 to retract to their shortest state, reducing the overall volume of the umbrella structure 14.

[0046] Computer 12 starts the cable winding and unwinding electric box 9. During the retrieval process, the cable winding and unwinding electric box 9 is equipped with tension and pressure sensors. The tension and pressure of the cable 8 is monitored in real time by the tension and pressure sensors on the cable winding and unwinding electric box 9. If the resistance of the guide tube 7 suddenly increases, the speed of the umbrella structure 14 will automatically decrease. After the resistance decreases, the speed will be appropriately accelerated. The speed adjustment is achieved according to the magnitude of the monitored resistance data. The data is synchronized to computer 12. The cable winding and unwinding electric box 9 continues to wind up the cable. The retrieved cable 8 drives the umbrella structure 14 in the folded state to pass through the suction hole 61 of the suction base 6 and the inner guide tube 72 in sequence into the pressure stabilizing tank 10 for reuse.

[0047] The sonar unit 151 employs multibeam echo sounding technology, enabling stable operation even in murky, muddy environments, outperforming optical cameras. Its monitoring accuracy reaches ±5mm, far exceeding the 0.05m accuracy requirement in the "Marine Survey Specifications (GB / T12763 series)," meeting the practical engineering needs of high-precision soil plug monitoring. Furthermore, the sonar's non-contact measurement method does not interfere with foundation penetration construction, ensuring the continuity of the construction process.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A suction-type foundation soil plug condition monitoring system, characterized in that, The device includes a pressure stabilizing tank and a conduit. One end of the pressure stabilizing tank is connected to a suction base via the conduit. The suction base contains a soil plug. The top of the suction base is connected to a sonar scanning system via the conduit. The sonar scanning system includes a retractable sonar mounting mechanism and a sonar component mounted on the sonar mounting mechanism. The other end of the pressure stabilizing tank is connected to a signal processor via a cable. The signal processor is connected to a computer for communication.

2. The suction-type foundation soil plug condition monitoring system according to claim 1, characterized in that: The bottom of the suction foundation is provided with a model box, and a reaction frame is fixedly connected to the side wall of the model box. A hoisting component is fixedly connected to the middle part of the reaction frame. Two lifting rings are installed at the top of the suction foundation. The lifting assembly on the reaction frame is connected to the lifting rings by steel wire rope. The lifting assembly is equipped with a position monitoring block to monitor the status of the suction foundation. A suction hole for the conduit to enter is provided at the top of the suction foundation. The suction hole is equipped with a check valve cover and is sealed.

3. The suction-type foundation soil plug condition monitoring system according to claim 2, characterized in that: The retractable sonar mounting mechanism is an umbrella-shaped structure, including a sliding rod; The upper end of the slide bar is connected to the magnetorheological fluid via a connector, and the connection between the connector and the magnetorheological fluid is reinforced. The slide bar is equipped with an electric cylinder inside, and a telescopic rod is provided at one end of the electric cylinder. A slide cylinder is fixedly connected to both the slide bar and the telescopic rod. Telescopic lightweight umbrella ribs are provided at both ends of the slide bar, and one end of the telescopic lightweight umbrella rib is connected to the slide cylinder on the slide bar via a hinge. The sliding cylinder hinge on the telescopic pole is connected to a connecting rod, and the other end of the connecting rod is hinged to the other end of the telescopic lightweight umbrella rib.

4. The suction-type foundation soil plug condition monitoring system according to claim 3, characterized in that: Sonar components are installed at one end of the telescopic pole and the telescopic lightweight umbrella ribs at both ends.

5. The suction-type foundation soil plug condition monitoring system according to claim 4, characterized in that: The sonar assembly includes a sonar body, a connecting platform, and mounting holes. The telescopic rod and one end of the telescopic lightweight umbrella ribs at both ends are connected to the connecting platform. The connecting platform has mounting holes, and one end of the sonar body has a pin for inserting the pin into the mounting holes of the connecting platform to fix the sonar body to the connecting platform. An angle sensor is configured in the connecting platform to provide real-time feedback on the horizontal attitude of the sonar scanning system. The sonar body is a multi-beam sonar body.

6. The suction-type foundation soil plug condition monitoring system according to claim 5, characterized in that: A connecting plate is provided on the upper inner side of the slide rod. One end of the electric cylinder is connected to the connecting plate. An internal through hole is provided on the connecting plate. An umbrella rib hole is provided on the outer wall of one end of the telescopic lightweight umbrella rib. A wire outlet groove is provided on the upper outer wall of the slide rod.

7. The suction-type foundation soil plug condition monitoring system according to claim 6, characterized in that: The top of the pressure stabilizing tank is equipped with a conduit interface, a negative pressure interface, and a cable interface. A pressure gauge is installed in the middle of the top of the pressure stabilizing tank. An electric cable winding and unwinding box is installed inside the pressure stabilizing tank. A tension and compression sensor is installed inside the electric cable winding and unwinding box. One end of the signal processor's cable is used to connect to the cable retraction and extension electric box via a cable interface. The other end of the cable retraction and extension electric box is used to pass through the internal conduit, magnetorheological fluid, slide bar, telescopic lightweight umbrella rib and sonar assembly; The negative pressure pump is connected to the negative pressure interface through a negative pressure connection pipeline, and the negative pressure pump is equipped with a negative pressure pump pressure gauge. The conduit interface, negative pressure interface, and cable interface are all equipped with solenoid valves and metal caps.

8. The suction-type foundation soil plug condition monitoring system according to claim 7, characterized in that: The conduit includes an inner conduit and an outer conduit, with the inner conduit nested inside the outer conduit. One end of the inner and outer conduits is used to insert into the suction hole, and the other end of the inner and outer conduits is used to insert into the conduit interface.

9. A method for monitoring the condition of a suction-type foundation soil plug, applied to a suction-type foundation soil plug condition monitoring system according to any one of claims 1-8, comprising: Step S1: Hoist the suction base to the designated position of the model box, place the voltage stabilizing tank on the work platform, insert the signal processor cable into the voltage stabilizing tank and connect it to the cable retraction electric box, and connect the other end of the cable retraction electric box through the retractable umbrella structure to the sonar body on the umbrella structure. Step S2: Pass the retracted umbrella structure of the connecting cable through the conduit, insert the conduit through the umbrella structure into the inside of the suction base, stop it above the inside of the suction base, and insert the other end of the conduit from the conduit interface into the top of the cable retraction and extension electric box. Step S3: The umbrella structure is opened by computer. At the same time, the attitude of the opened umbrella structure is adjusted in real time by angle sensor. After the attitude is adjusted, the soil plug is tested by the sonar body to obtain the test data of the sonar body. When the test data of the sonar body is stable, it means that it is working normally; otherwise, continue to adjust the attitude of the opened umbrella structure. Step S4: During normal operation, the gas in the suction foundation is extracted by the negative pressure pump to form a negative pressure chamber. The pressure difference between the inside and outside is used to make the suction foundation begin to penetrate into the soil plug of the model box. Step S5: Collect data of the soil plug in real time through the sonar body, transmit the collected data of the soil plug to the computer synchronously, process the collected data of the soil plug through the computer, and reconstruct the three-dimensional morphology of the soil plug surface. Step S6: When the soil plug approaches the top plate of the suction foundation, the umbrella structure is retracted by computer, the cable retraction and extension electric box is started to retract the cable, and the cable drives the retracted umbrella structure and the sonar body to move upward synchronously and stop at the safe detection position above the inside of the suction foundation. Step S7: At the safety detection position above, the umbrella structure is opened by computer. The attitude of the opened umbrella structure is adjusted in real time by angle sensor. After the attitude is adjusted, the sonar body detects the approaching soil plug and transmits the detection data to the computer. The computer processes the detection data and reconstructs the three-dimensional shape of the complete soil plug.

10. A method for recovering a suction-type foundation soil plug, applied to a suction-type foundation soil plug condition monitoring system according to any one of claims 1-8, comprising: Step S1: After the suction foundation has penetrated the soil plug to the required depth, turn off the negative pressure pump and use a computer to drive the umbrella structure to contract. The electric cylinder is driven in reverse by the computer, which moves the telescopic rod and the slide on the telescopic rod upward together, pulling one end of the connecting rod upward. The other end of the connecting rod moves one end of the telescopic lightweight umbrella rib downward. When the two ends of the telescopic lightweight umbrella rib gradually retract inward, the umbrella structure shrinks to its minimum volume, the electric cylinder stops, and the position of the telescopic lightweight umbrella rib is locked. Step S2: The cable is retracted through the cable retraction and extension electric box. The retracted cable drives the umbrella structure in its retracted state to pass through the suction hole of the suction base and the inner conduit into the pressure stabilizing tank.

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