CN114910037A - Device and method for detecting form of pile foundation scour pit - Google Patents
Device and method for detecting form of pile foundation scour pit Download PDFInfo
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- 230000035515 penetration Effects 0.000 claims abstract description 44
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- 230000008569 process Effects 0.000 claims abstract description 17
- 238000009991 scouring Methods 0.000 claims abstract description 16
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- 238000012545 processing Methods 0.000 claims abstract description 4
- 238000011084 recovery Methods 0.000 claims abstract description 4
- 239000002689 soil Substances 0.000 claims description 21
- 230000003628 erosive effect Effects 0.000 claims description 14
- 238000011010 flushing procedure Methods 0.000 claims description 13
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention discloses a device and a method for detecting the form of a pile foundation scour pit, wherein the device comprises the following components: the device comprises pile climbing equipment, a probe rod support, a telescopic probe rod, a penetration resistance probe, a remote controller, a signal receiver, a wireless module and a resistance probe. The method comprises the following steps: s1, an installation preparation process, S2, an equipment descending process, S3, an equipment data acquisition process, S4, a data processing process and S5, an equipment recovery process. This patent adopts automatic machine detection under water, need not artifical dive, detects safety. The detection method can obtain the scouring depth and the specific form of the scouring pit. The device utilizes resistance sounding detection, is not influenced by the turbidity of the seawater and has small error. The device suitability is good, through adjusting pile climbing equipment specification, can be used to the pile foundation of different pile footpaths. High automation level and remote operation.
Description
Technical Field
The invention relates to the technical field of pile foundation stability analysis and disaster prevention and reduction, in particular to a device and a method for detecting the form of a pile foundation scour pit.
Background
The offshore wind power plant seriously scours the pile foundation, so that the scour pit form detection is very important. The direct manual diving measurement of the depth of the scouring pit is huge in difficulty and very dangerous, and only scouring depth data can be obtained, so that the specific form of the scouring pit cannot be obtained. The water quality in the flushing pit is turbid, laser/underwater camera shooting detection is not feasible, and the error is large. The existing multi-beam and single-beam detection is expensive and requires a water-borne operation ship, so that the existing multi-beam and single-beam detection is influenced by sea storms.
The patent No. 2017105697896 discloses a pier scouring measuring instrument in a model test, the invention adopts laser to measure depth, the structure is simple, but the whole device needs to be fixed and leveled manually, and the instrument is not suitable for the conditions of bad sea surface storm environment and muddy water body.
Patent No. 2021110232202 discloses an underwater detection device and method for a pile foundation erosion pit based on ultrashort baseline positioning, which constructs the form of the erosion pit through the action track (spiral line) of an underwater crawler traveling device, and the structure is greatly influenced by the topography in the erosion pit. If the inclination angle of the scouring pit is gentle, the detection form can be effective; if the inclination angle of the flushing pit is larger, the walking device cannot walk on the side wall of the flushing pit with a steeper gradient. In addition, when the device is used for determining the position of the underwater crawler travel device in the operation process, a large number of formulas are involved for calculation and conversion of a coordinate system. In the aspect of seabed environment adaptability, two devices are needed to be far apart, an underwater crawler traveling device (seabed) is matched with an ultra-short baseline positioning system (pile foundation) for use, the traveling device is greatly influenced by ocean currents, and if the underwater crawler traveling device is in an environment with a high ocean current velocity, the detection data of the traveling device can have a large error. If the water in the flushing pit is turbid, the underwater camera of the contrast file may not be used when the turbidity is high. Meanwhile, the comparison file needs the surface operation ship to put down the underwater crawler traveling device, and the surface operation ship is influenced by severe working conditions such as sea wind and sea waves when working, so that the operation can be carried out only by selecting the weather with better sea conditions, and the operation window period is short.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a device and a method for detecting the form of a pile foundation scour pit, wherein the detection device is not influenced by water turbidity, sea bottom topography and sea storms, and is simple to operate, remotely controlled and high in automation level.
The purpose of the invention is realized by the following technical scheme:
an apparatus for detecting the form of a pile foundation erosion pit, the apparatus comprising: the device comprises pile climbing equipment, a probe rod bracket, a telescopic probe rod, a penetration resistance probe, a remote controller, a signal receiver, a wireless module and a resistance probe; the pile climbing equipment is arranged on a tested pile base, can move longitudinally along the pile foundation and is used for driving the probe rod and the support thereof to vertically move along the pile foundation; the probe rod support is connected with pile climbing equipment, a resistance probe is installed at the bottom of the probe rod support, and the probe rod support can rotate around the axis of the pile foundation; one end of the telescopic probe rod is rigidly connected with the side wall of the probe rod bracket, and the other end of the telescopic probe rod is connected with the penetration resistance probe; the remote controller is wirelessly connected with the pile climbing equipment, the probe rod bracket and the telescopic probe rod and is used for controlling the operation of the corresponding equipment; the wireless module is used for data transmission and sending the penetration resistance probe detection data, the probe rod stretching length data and the resistance probe resistance data to the signal receiver.
Further, the pile climbing equipment is a pile climbing robot, the pile climbing equipment is controlled by the remote controller to vertically ascend, descend and stop along the pile foundation according to a set speed, and the driving equipment provides power for the process.
Further, the pile climbing robot is preferably rolled to formula and is climbed stake machine people, adopts the gyro wheel to encircle the pile foundation and overcomes self quality to frictional force between gyro wheel and the pile foundation is as drive power, drives the gyro wheel through the motor and rotates the realization pile climbing function. The climbing process has stable operation, accurate positioning, simple and easy control, can better control the speed and the stroke, and is suitable for climbing straight pipes. Common clamping type pole-climbing robots, bionic type pole-climbing robots, adsorption type pole-climbing robots and the like can also be adopted.
Furthermore, the diameter of the pile climbing equipment can be changed into different sizes according to the diameter of the pile foundation, so that the diameter of the pile climbing equipment is matched with the diameter of the pile foundation, and the outer diameter of the pile climbing equipment is smaller than the outer diameter of the probe rod support.
Furthermore, the feeler lever support is connected with the pile climbing equipment through a ball bearing and moves along the pile foundation along with the pile climbing equipment. And the telescopic feeler lever can rotate around the axis of the pile foundation under the control of a remote controller, so that the telescopic feeler lever just connected with the telescopic feeler lever is driven to rotate, and the driving equipment provides power for the process.
Furthermore, the telescopic probe rod is formed by nesting probe rod elements with different diameters, the diameters of the probe rod elements are increased from inside to outside and are adaptive to each other, the length of each probe rod element is 1-3m, the number of the probe rod elements is not less than 5, each telescopic probe rod is a cantilever beam, the total rigidity meets the requirements of being not easy to bend and break, and the deflection in the maximum extension state is less than 10 cm. The penetration resistance probe is arranged at the top end of the thinnest probe rod element and is used for probing the soil body on the side wall of the scour pit. The working principle of the penetration resistance probe is consistent with that of a static penetrometer (CPT), and when the probe is pressed into the soil at a certain speed, a force sensor in the probe can measure a corresponding resistance value. At this time, the wireless module synchronously transmits the penetration resistance value received by the probe to the signal receiver. When the penetration resistance probe is not in contact with the soil body, the penetration resistance value tends to zero; when the penetration resistance probe begins to contact the soil body, the penetration resistance value is changed from zero to a positive value.
Furthermore, the number of the telescopic probe rods is not less than 1.
Furthermore, the number of the telescopic probe rods can be determined according to actual engineering requirements, 4 telescopic probe rods are preferably selected in the invention, and 4 telescopic probe rods are used as specific embodiments for introduction.
Furthermore, the probe rod support is internally provided with a wireless module, and the wireless module can be other wireless data transmission modules such as 5G and Bluetooth.
The invention also provides a method for detecting the form of the pile foundation scour pit, which utilizes the device for detecting the form of the pile foundation scour pit to detect and comprises the following steps:
s1. installation preparation process
The telescopic probe rod is controlled to be contracted to the shortest length through the remote controller, the pile climbing equipment is controlled to be statically encircled on the pile foundation (self gravity is balanced by friction force between the equipment and the pile foundation), and the whole device is installed on the side wall of the pile foundation above the water surface. The pairing and debugging work of the remote controller, the signal receiver and the wireless module is completed, and the smooth signals among the remote controller, the signal receiver and the wireless module are ensured;
s2. equipment descending process
The remote controller is used for controlling the pile climbing equipment to move so as to drive the whole device to descend along the axis direction of the pile foundation, when the whole device descends to the bottom of the washout pit, the resistance probe penetrates into a soil body at the bottom of the pit, the resistance value changes from zero, the wireless module transmits a resistance data signal to the signal receiver, and the worker receives the resistance data signal and then controls the pile climbing equipment to brake;
s3. device data acquisition process
S31, the extension of the telescopic probe rod is controlled through the remote controller, when the penetration resistance probe contacts the soil body on the side wall of the scour pit, the contact point is used as a measuring point, the penetration resistance value changes suddenly from zero, and at the moment, the extension x of the telescopic probe rod is obtained immediately 10 After data acquisition is finished, the telescopic probe rod is controlled to shrink through the remote controller, the probe rod support is rotated by an angle alpha around the axis of the pile foundation, the telescopic probe rod is extended again, when the penetration resistance probe is contacted with the soil body on the side wall of the pit, the contact point is used as a measuring point, the penetration resistance value changes suddenly again from zero, and at the moment, the extension amount xij, i =1, 2, i>=8, the larger m, the smaller α, and the higher detection accuracy; repeating the above steps continuously to obtain at least 8 data (the 8 data are respectively along 8 directions shown in fig. 5) of the same horizontal plane; after the data is acquired, the telescopic probe rod is controlled to be contracted to the shortest length, the next step is carried out,
s32, controlling the pile climbing equipment to move upwards along the axis of the pile foundation at a certain speed through a remote controllerClimbing at constant speed and climbing height y 1 = creep speed v 1 Time of flight t 1 Climbing y 1 Braking after a distance, at rest at y 1 On the horizontal plane, repeating the operation of S31 to obtain the height y 1 Extension data of a telescopic probe of a horizontal plane;
s33, controlling the pile climbing equipment to ascend and then passing through the path y 2 、y 3 、y 4 、......、y n-1 When the telescopic probe rod is positioned on the horizontal plane, the operations are continuously repeated to obtain the extension data of the telescopic probe rod with the corresponding height until the telescopic probe rod is positioned on a certain horizontal plane y n The penetration resistance value (at the top of the flushing pit) is zero;
s4. data processing process
S41, scouring depth h = y 1 + y 2 + y 3 + …+ y n ；
S42, the flushing range is the last group of data x 1n 、x 2n 、x 3n 、...、x 7n 、...、x mn ；
S43, drawing points in a space coordinate system according to corresponding coordinate positions of a three-dimensional space by taking the elongation data with different heights and different directions obtained by the signal receiver as measuring points, and connecting the measuring points to fit a form of the erosion pit;
s5. equipment recovery process
Through remote control ware control pile climbing equipment motion, and then drive the integrated device and rise to above the surface of water along pile foundation axis direction, retrieve the integrated device.
The invention constructs the horizontal section of the scour pit through the extension of the telescopic probe rod, judges the position of each horizontal section through the climbing distance of the pile climbing equipment, and finally fits each horizontal section into a complete scour pit shape. Therefore, the invention is not influenced by the slope of the scour pit. Meanwhile, the method can directly judge the scouring depth through the climbing height of the pile climbing equipment under the condition of not fitting the contour line of the scouring pit. The principle of constructing the contour line is relatively simple, complex calculation and coordinate conversion are not needed, and only the extension amount of each telescopic probe rod is corresponding to the coordinate direction (x) 1 ......x m ) Can realize the extension and contraction of the inventionThe probe rod is rigidly connected with the bracket, has small flexibility, is not easy to bend, and is not influenced by the flow velocity of the seabed and the severe environment.
The invention utilizes the static sounding principle of the telescopic probe rod probe, does not need visual conditions and is not influenced by the turbidity of the seabed water body. The invention does not need a water surface supporting platform (an ocean platform, a sea surface operating ship and the like), and can detect the form of the flushing pit only by a remote control device, thereby being not influenced by sea surface storms, being capable of continuously operating at any time and having a longer operation window period. The pile climbing device is controlled to wholly climb above the water surface, so that the device can be recovered. The invention only utilizes the telescopic probe rod to probe the seabed soil body, does not damage the original substrate environment, and has little influence on the ecological environment. The device has good applicability, and can be used for pile foundations with different pile diameters by adjusting the specification of pile climbing equipment. High automation level and remote operation.
Advantageous effects
1. The invention provides a device for detecting the form of a pile foundation scour pit based on the existing mature climbing rod robot technology and soil static sounding technology, can detect the three-dimensional form of the scour pit in a remote control mode, and solves the problems of difficult detection and operation danger of the traditional manual diving;
2. the detection device provided by the invention has the advantages of simple working principle, high automation level and good operability, and workers can master the form of the flushing pit through simple operation, so that the flushing detection efficiency is improved, and the detection labor force is effectively saved;
3. the detection device provided by the invention can be repeatedly used, and is suitable for pile foundations with different diameters by adjusting the size of pile climbing equipment, so that the detection cost is low.
4. The detection method of the invention can not only obtain the scouring depth, but also obtain the specific form of the scouring pit, and can predict the scouring development rule through the specific form of the scouring pit.
5. The device provided by the invention detects by using a penetration resistance sounding mode, does not need visual conditions and is not influenced by seawater turbidity; the submarine soil body is probed, the original substrate environment is not damaged, and the influence on the ecological environment is small.
6. The invention adopts an underwater device for detection, does not need a water surface supporting platform during operation, is not influenced by severe marine environments such as sea wind, sea waves and the like, and has long operation window period.
Drawings
FIG. 1 is a schematic diagram of the operation of the apparatus for detecting the configuration of a pile foundation scour pit;
FIG. 2 is a schematic diagram of the apparatus arrangement for detecting pile foundation erosion pit morphology;
FIG. 3 is a plot of an example cone-flush pit;
FIG. 4 is a plot of an example irregular flush pit;
FIG. 5 is a schematic diagram of a method of detecting pile foundation erosion pit morphology;
reference numbers in the figures: 1. a pile foundation; 2. flushing the pit; 3. pile climbing equipment; 4. a probe rod bracket; 5. a telescopic feeler lever; 6. penetration resistance probe; 7. a ball bearing; 8. a roller; 9. a resistance probe; 10. a wireless module; 11. measuring points; 12. a remote controller; 13. a signal receiver.
Detailed Description
Example 1
As shown in fig. 1, 2, 3 and 5, an apparatus for detecting the configuration of a pile-based scour pit, the apparatus comprising: the device comprises pile climbing equipment 3, a probe rod support 4, a telescopic probe rod 5, a penetration resistance probe 6, a remote controller 12, a signal receiver 13, a wireless module 10 and a resistance probe 9, wherein the pile climbing equipment 3 is mounted on a pile foundation 1 to be detected, can move longitudinally along the pile foundation 1 and is used for driving the telescopic probe rod and the probe rod support to move vertically along the pile foundation; the probe rod support is connected with the pile climbing equipment 3, the bottom of the probe rod support 4 is provided with a resistance probe 9, when the support contacts the bottom of the scour pit 2, the resistance probe 9 penetrates into the soil body at the bottom of the pit, and the resistance value changes from zero; the probe rod bracket can rotate around the axis of the pile foundation 1; one end of the telescopic probe rod is rigidly connected with the probe rod bracket, and the other end of the telescopic probe rod is connected with the penetration resistance probe and used for adjusting the penetration distance of the penetration resistance probe; the remote controller is wirelessly connected with the pile climbing equipment 3, the probe rod bracket and the telescopic probe rod and is used for controlling the operation of corresponding equipment; the wireless module is used for data transmission, and the wireless module 10 sends penetration resistance probe detection data, probe rod stretching length data and resistance probe resistance data to the signal receiver. The present embodiment is only a simple illustration of the positions of the remote controller 12 and the signal receiver 13, and the positions of the remote controller 12 and the signal receiver 13 may be arranged according to the needs in practical applications.
Preferably, the equipment of climbing pile described in this embodiment is a climbing rod robot device, and the equipment of climbing pile is controlled by driving equipment, and rises, falls, stops longitudinally along the pile foundation at a certain speed.
Preferably, this embodiment pile climbing machine ware is for roll formula pile climbing machine ware, roll formula pile climbing machine ware is in order can be attached to on the pile foundation, generally adopts gyro wheel 8 to encircle the pile foundation and overcome self quality to frictional force between gyro wheel 8 and the pile foundation is as drive power, drives gyro wheel 8 through the motor and rotates the realization and climb a pile function. The climbing process has stable operation, accurate positioning, simple and easy control, can better control the speed and the stroke, and is suitable for climbing straight pipes. In practical application, the common clamping type pole-climbing robot, the bionic type pole-climbing robot, the adsorption type pole-climbing robot and the like can be adopted.
Preferably, this embodiment the diameter of climbing pile equipment can be adjusted according to the pile foundation diameter, and climbing pile equipment external diameter is less than probe rod support external diameter.
Preferably, this embodiment the probe rod support is connected through ball bearing 7 with the equipment of climbing the pile for it is rotatory around the pile foundation axis to drive scalable probe rod.
Preferably, the telescopic probe rod of the present embodiment is formed by nesting probe rod elements with different diameters, the diameters of the probe rod elements are increased from inside to outside and adapted to each other, the length of the probe rod elements is 1-3m, the number of the probe rod elements is not less than 5, each telescopic probe rod is a cantilever beam, the total stiffness should meet the requirements of uneasiness in bending and breaking, and the deflection in the maximum extension state should be less than 10cm so as to reduce the measurement error. The penetration resistance probe is fixed at the end part of the thinnest telescopic probe rod and is used for testing the extension length of the telescopic probe rod. The penetration resistance probe is arranged at the top end of the thinnest probe rod element and is used for probing the soil body on the side wall of the erosion pit 2. The working principle of the penetration resistance probe is consistent with that of a static penetrometer (CPT), the probe is pressed into the soil at a certain speed, a corresponding resistance value is measured by utilizing a force sensor in the probe, and the penetration resistance value received by the probe is transmitted to a signal receiver through the wireless module 10. When the penetration resistance probe is not in contact with the soil body, the penetration resistance value is close to zero; when the penetration resistance probe begins to contact the soil body, the penetration resistance value is gradually increased from zero.
Preferably, the number of the telescopic feeler levers is not less than 1. The telescopic feeler lever is driven to rotate by the driving device;
preferably, the number of the telescopic feeler levers in this embodiment is 4, and the telescopic feeler levers can rotate around the axis of the pile foundation under the action of the driving device, so as to drive the telescopic feeler levers rigidly connected with the telescopic feeler levers to rotate; as shown in fig. 1-4.
Preferably, this embodiment probe support internally mounted wireless module 10, wireless module is 5G or bluetooth etc. and wireless module is used for transmitting the signal to signal receiver, and the signal content is scalable probe extension length, penetration resistance probe resistance value, resistance probe resistance value. As shown in fig. 2. In practical applications, the position of the wireless module 10 can be adjusted according to actual needs.
The utility model provides a method for detecting pile foundation scour pit form, utilizes the device detect, and the used scalable probe rod quantity of this embodiment is 4, and in the practical application, the quantity of scalable probe rod sets up as required.
The method specifically comprises the following steps:
s1. installation preparation process
The telescopic feeler lever is controlled to be contracted to the shortest length through the remote controller 12, the pile climbing equipment 3 is controlled to be still encircled around the pile foundation 1, the self gravity is balanced by the friction force between the equipment and the pile foundation 1, the integral device is arranged on the side wall of the pile foundation 1 above the water surface, the pairing and debugging work of the remote controller, the signal receiver 13 and the wireless module 10 is completed, and the smooth signals among the equipment and the wireless module are ensured;
s2. equipment descending process
The remote controller 12 is used for controlling the pile climbing equipment 3 to move, so that the whole device is driven to descend along the axial direction of a pile foundation and continues to descend after entering water, when the whole device contacts and erodes the bottom of the pit 2, the resistance probe 9 at the bottom of the support pierces the soil body at the bottom of the pit, the resistance value changes from zero, the wireless module 10 transmits a resistance data signal to the signal receiver 13, and a worker controls the pile climbing equipment to brake after receiving the signal;
s3. device data acquisition process
S31, each telescopic probe rod 5 is controlled by the remote controller 12 to extend towards 4 directions respectively, when the penetration resistance probe 6 contacts the soil mass on the side wall of the erosion pit 2, the contact point is used as a measuring point, the penetration resistance value changes from zero suddenly, and at the moment, the extension x of the telescopic probe rod in 4 directions is obtained immediately 10 、x 20 、x 30 、x 40 . After the data acquisition is completed, the remote controller 12 controls each telescopic probe rod to contract, and controls the probe support to rotate around the pile foundation axis by an angle of alpha =45 degrees. Furthermore, the telescopic probe rod extends towards the new 4 directions respectively, when the penetration resistance probe 6 contacts the soil body on the side wall of the scour pit 2, the contact point is used as a measuring point, the penetration resistance value changes suddenly from zero, and the extension x of the telescopic probe rod in the new 4 directions is obtained immediately at the moment 50 、x 60 、x 70 、x 80 (when m =8, n = 0). After all the data are acquired, each telescopic probe 5 is controlled to be contracted to the shortest, and the next step is carried out. Thus, data of 8 directions on the same horizontal plane can be obtained. (if the detection precision requirement is higher, the data volume can be improved by adopting the modes of reducing the rotation angle each time and increasing the measurement direction to realize refined detection)
S32, controlling the pile climbing equipment 3 to climb upwards at a constant speed along the axis of the pile foundation at a constant speed through a remote controller, and controlling the climbing height y 1 = creep speed v 1 Time of flight t 1 . Climbing y 1 Braking after a distance, at rest at y 1 On the horizontal plane, repeating the operation of S31 to obtain the height y 1 Extension data (x) of a telescopic probe of a horizontal plane 11 、x 21 、x 31 ...x 61 、x 71 、x 81 ，m=8，n=1）。
S33, controlling the pile climbing equipment to ascend and then passing through the path y 2 、y 3 、y 4 、......、y n-1 When the table is on the horizontal plane, the above operations are repeated continuouslyThen, the extension data of the telescopic probe rod with the corresponding height is obtained until reaching a certain horizontal plane y n The penetration resistance value (at the top of the flushing pit) is zero.
S4. data processing process
S41, scouring depth h = y 1 + y 2 + y 3 + …+ y n ；
S42, the flushing range is the last group of data x 1n 、x 2n 、x 3n 、x 4n 、x 5n 、x 6n 、x 7n 、x 8n ，m=8；
S43, using the elongation data of different heights and different directions obtained by the signal receiver as measuring points 11, x ij I =1, 2, 1.. logue, m, j =0, 1, 2, 8.. logue, n, in this example m =8, points are plotted in a spatial coordinate system according to the corresponding coordinate positions of the three-dimensional space; connecting each measuring point 11, and fitting the form of the scour pit; as shown in fig. 3, a plot is shown for an example pyramidal flush pit.
S5. equipment recovery process
Through the motion of remote control ware control pile climbing equipment, and then drive the integrated device and rise to above the surface of water along pile foundation axis direction, retrieve the integrated equipment. The diameter of the pile climbing equipment can be adjusted according to different pile diameters.
In this embodiment, the number of the telescopic probe rods is 4, and in practical application, the number of the telescopic probe rods can be realized as long as the number is greater than or equal to 1 according to requirements.
Example 2
As shown in fig. 1, 2, 4 and 5, the apparatus and the specific implementation steps used in the method are the same as those in example 1, and the erosion pit pattern can be fit, as shown in fig. 4, which is a plot diagram of an example of irregular erosion pits.
In this embodiment, the number of the telescopic probe rods is 4, and in practical application, the number of the telescopic probe rods can be realized as long as the number is greater than or equal to 1 according to requirements.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby the features defined as "first", "second", "third", "fourth" may explicitly or implicitly include at least one such feature.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An apparatus for detecting the form of a pile foundation erosion pit, the apparatus comprising: the device comprises pile climbing equipment, a probe rod support, a telescopic probe rod, a penetration resistance probe, a remote controller, a signal receiver, a wireless module and a resistance probe, wherein the pile climbing equipment is arranged on a pile foundation to be detected and can move longitudinally along a pile foundation; the remote controller is wirelessly connected with the pile climbing equipment, the probe rod support and the telescopic probe rod, and the wireless module sends the penetration resistance probe detection data, the probe rod telescopic length data and the resistance probe resistance data to the signal receiver.
2. The apparatus of claim 1, wherein the pile climbing device is a pile climbing robot capable of ascending, descending and stopping along the pile foundation in the longitudinal direction at a set speed.
3. The device of claim 2, wherein the pile climbing robot is a rolling pile climbing robot, and adopts a roller to surround the pile foundation to overcome self-mass, and uses the friction force between the roller and the pile foundation as driving force, and the roller is driven by a motor to rotate to realize the pile climbing function.
4. The apparatus of claim 1, wherein the diameter of the pile-climbing device is adjustable according to the pile foundation diameter, and the outer diameter of the pile-climbing device is smaller than the outer diameter of the probe support.
5. The apparatus of claim 1, wherein the probe support is connected with the pile climbing device through a ball bearing.
6. The device as claimed in claim 1, wherein the telescopic probe is formed by nesting probe elements with different diameters, the diameters of the probe elements are increased from inside to outside and are adapted to each other, the length of the probe elements is 1-3m, the number of the probe elements is not less than 5, each telescopic probe is a cantilever beam, the total rigidity meets the requirements of uneasiness in bending and breaking, and the deflection in the maximum extension state is less than 10 cm.
7. The apparatus of claim 1, wherein the number of retractable probes is not less than 1.
8. The apparatus of claim 7, wherein the number of retractable probes is 4.
9. The device of claim 1, wherein the probe holder internally mounts a wireless module.
10. A method of testing the configuration of a pile foundation erosion pit using the apparatus of any one of claims 1 to 9, comprising the steps of:
s1. installation preparation process
The telescopic feeler lever is controlled to be contracted to the shortest length by the remote controller, the pile climbing equipment is controlled to be statically encircled on the pile foundation, the integral device is arranged on the side wall of the pile foundation above the water surface, the pairing and debugging work of the remote controller, the signal receiver and the wireless module is completed, and the smooth signals among the remote controller, the signal receiver and the wireless module are ensured;
s2. equipment descending process
The remote controller is used for controlling the pile climbing equipment to move so as to drive the whole device to descend along the axis direction of the pile foundation, when the whole device descends to the bottom of the washout pit, the resistance probe penetrates into a soil body at the bottom of the pit, the resistance value changes from zero, the wireless module transmits a resistance data signal to the signal receiver, and the worker receives the resistance data signal and then controls the pile climbing equipment to brake;
s3. device data acquisition process
S31, the extension of the telescopic probe rod is controlled through the remote controller, when the penetration resistance probe contacts the soil body on the side wall of the scour pit, the contact point is used as a measuring point, and the penetration resistance value is zeroGenerating sudden change, and immediately acquiring the elongation x of the telescopic probe rod at the moment 10 (ii) a After data acquisition is finished, the telescopic probe rod is controlled to shrink through the remote controller, the probe rod support is rotated by an angle alpha around the axis of the pile foundation, the telescopic probe rod is extended again, when the penetration resistance probe is contacted with the soil body on the side wall of the pit, the contact point is used as a measuring point, the penetration resistance value changes suddenly again from zero, and at the moment, the extension amount xij, i =1, 2, i>=8, the larger m, the smaller α, and the higher detection accuracy; repeating the above steps continuously to obtain at least 8 data of the same horizontal plane, wherein the 8 data are respectively along 8 directions shown in fig. 5; after data are obtained, the telescopic probe rod is controlled to be contracted to the shortest length, and the next step is carried out;
s32, controlling the pile climbing equipment to climb upwards along the axis of the pile foundation at a constant speed through a remote controller, and controlling the climbing height y 1 = creep speed v 1 Time of flight t 1 Climbing y 1 Braking after a distance, at rest at y 1 On the horizontal plane, repeating the operation of S31 to obtain the height y 1 Extension data of a telescopic probe of a horizontal plane;
s33, controlling the pile climbing equipment to ascend and then passing through the path y 2 、y 3 、y 4 、......、y n-1 When the pit is positioned on the horizontal plane, the operations are continuously repeated to obtain the extension data of the telescopic probe rod with the corresponding height until the top y of the pit is flushed n The penetration resistance values of the two parts are all zero;
s4. data processing process
S41, scouring depth h = y 1 + y 2 + y 3 + …+ y n ；
S42, the flushing range is the last group of data x 1n 、x 2n 、x 3n 、...、x 6n 、x 7n 、…、x mn ；
S43, drawing points of the elongation data with different heights and different directions obtained by the signal receiver in a space coordinate system according to corresponding coordinate positions of a three-dimensional space to serve as measuring points, connecting the measuring points, and fitting the form of the erosion pit;
s5. equipment recovery process
Through remote control ware control pile climbing equipment motion, and then drive the integrated device and rise to above the surface of water along pile foundation axis direction, retrieve the integrated device.
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| CN116295214A (en) * | 2023-05-22 | 2023-06-23 | 金乡蒜乡肥业化工有限公司 | Automatic detection device and control method for conical surface in spray cup for granulator |
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