CN106291542A - A kind of tunnel three-D imaging method - Google Patents
A kind of tunnel three-D imaging method Download PDFInfo
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- CN106291542A CN106291542A CN201510396844.7A CN201510396844A CN106291542A CN 106291542 A CN106291542 A CN 106291542A CN 201510396844 A CN201510396844 A CN 201510396844A CN 106291542 A CN106291542 A CN 106291542A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The present invention provides a kind of tunnel three-D imaging method, comprises the following steps: tunnel is carried out quality testing, collects raw sensor data record；Detection data after processing are analyzed, are calculated the three dimensional space coordinate value of each sampled point in each scan line record that each survey line is comprised；S4, based on three-dimensional imaging software, using the three dimensional space coordinate value of each sampled point and the parameter λ value after carrying out Digital Signal Processing as input, obtains reflecting the detections of radar three-dimensional imaging figure of bridge pier casting quality defect.Advantage is: (1) is not on the premise of affecting tunnel performance, tunnel quality is carried out Non-Destructive Testing, and, simple method can be used, quickly rebuild tunnel mass defect three-dimensional imaging figure, reflect the position of tunnel internal defect, shape and scope the most intuitively, and there is higher accuracy and reliability.(2) have that testing cost is low and the fireballing advantage of three-dimensional imaging, can promote the use of on a large scale.
Description
Technical field
The invention belongs to Inspection of Tunnel Quality detection technique field, be specifically related to a kind of tunnel three-D imaging method.
Background technology
Tunnel is applied widely in China, has occupied important position in China's transportation and economic development
Put.Tunnel quality testing is to ensure that the important means that tunnel safety is runed.
Traditional tunnel quality determining method is perforate or fluting sample detection method, but it has detection efficiency
Difference low, representative, occasionality are big and need to destroy the bigger limitation such as tunnel internal structure, the most gradually by it
He replaces by detection method.
Geologic radar detection method, is a kind of quick, efficient, continuous print lossless detection method, at tunnel
Quality testing field, road is increasingly widely applied.
Existing geologic radar detection method carries out the process of quality testing to tunnel: in tunnel, along tunnel
Abutment wall, arch springing, haunch, vault are evenly arranged 7 surveys line, by carrying out the sampled data of every survey line point
Analysis, obtains 7 Ground Penetrating Radar images, then comprehensively analyzes 7 Ground Penetrating Radar images,
Obtain tunnel quality condition.But, above-mentioned detection method has the disadvantage that Ground Penetrating Radar image not
Intuitively, it is unfavorable for that people's rapid examination is to tunnel Mass Distribution situation.
Summary of the invention
The defect existed for prior art, the present invention provides a kind of tunnel three-D imaging method, can efficient solution
Certainly the problems referred to above.
The technical solution used in the present invention is as follows:
The present invention provides a kind of tunnel three-D imaging method, comprises the following steps:
S1, carries out quality testing to tunnel, collects raw sensor data record；
Method particularly includes:
Inwall in described tunnel chooses the survey line of n and tunnel axis parallel；Wherein, n is natural number；
For any one survey line i, all use following metering system:
From the beginning of the survey line starting point of survey line i, equidistant movable radar antenna scanning is to end of line, wherein, and thunder
Reaching antenna each position on survey line is sensing point；
The tunnel section at arbitrary jth sensing point place is designated as jth tunnel section；Then: radar antenna is
The detection mode of j sensing point is: making radar antenna be in close contact with jth sensing point, radar antenna is along jth tunnel
The normal direction of road section and launch electromagnetic pulse towards tunnel internal, and record the echo constantly received
Two way travel time t and amplitude A, thus obtain a scan line record corresponding to jth sensing point；
S2, carries out Digital Signal Processing, after being processed to the amplitude A in described raw sensor data record
Detection data, will process after detection data be denoted as λ；
Detection data after described process are analyzed by S3, and be calculated that each survey line comprised is each
The three dimensional space coordinate value of each sampled point in scan line record；Specific analytical method is as follows:
S3.1, any jth sensing point comprised for arbitrary survey line i, by the tunnel at jth sensing point place
Road section is designated as tunnel section j, then:
Set up three-dimensional cartesian coordinate system, with tunnel direction of axis line as Y-axis, by the left arch springing of tunnel section j
Position is designated as B point, and the right arch springing position of tunnel section j is designated as C point, by the keystone of tunnel section j
It is designated as A point；Then: the midpoint of B point and C point line is designated as zero O, initial point O is pointed to C
Initial point O, as X-axis positive direction, is pointed to the direction of A point as Z axis positive direction by the direction of point；
S3.2, is expressed as L by the spacing of arbitrary two pointsPoint 1: 2；
By diastimeter, measure distance L obtaining initial point O to A pointOA=a；The distance of initial point O to B point
LOBDistance L with initial point O to C pointOCEqual, it may be assumed that LOB=LOC=b；
Y-axis coordinate corresponding to tunnel section j is it is known that be designated as LS；
Therefore, can be calculated A point coordinates for (0, LS, a)；B point coordinates is (-b, LS, 0)；C point is sat
It is designated as (b, LS, 0)；
S3.3, for jth sensing point, is designated as E point by its position, and detection radar is sweeping that E point measurement obtains
Retouch line and be designated as scan line j；
Scan line j starts along tunnel normal direction spread from E point, for any one sampled point in scan line j,
It is designated as M point, then:
Make vertical line from E point to straight line BC, be designated as F point with the intersection point of straight line BC, can measure and obtain E point
Distance L with F pointEF=d；
Distance L obtaining F point with B point can be measuredFB=c；
Then: be calculated F point distance L to O pointFO=LFB-LOB=c-b；
Therefore, being calculated E point coordinates is: (c-b, LS, d)；
S3.4, reads two way travel time t and velocity of electromagnetic wave v of sampled point M point, calculates according to following formula
To E point to distance L of M pointEM, it is designated as h；
H=vt/2；
The center of circle of circle determined by B point, A point and C point is designated as O', the radius of circle that O' is the center of circle is designated as
R；Then: in S3.3, scan line j starts along tunnel normal direction spread from E point, and tunnel normal direction is i.e.
Direction for O' to E point；
Therefore, LO'B=LO'A=R；
LO'O=LOA-LO'A=a-R；
Then to right angled triangle BOO', have with Pythagorean theorem:
(a-R)2+b2=R2
Solve equation and try to achieve:
Therefore, the z-axis coordinate of center of circle O' point is:
The coordinate being calculated center of circle O' point is:
O'(0,LS,)；
Again due to LEP=LEF-LPF=LEF-LO'O=d-(a-R)；LO'P=LFO=c-b, LEO'=R；
Then it is calculated:
Therefore, M point three-dimensional coordinate (Mx,My,Mz) be respectively as follows:
Mx=LO'N=LO'MCos θ=(R+h) cos θ
My=LS
Mz=LMN+LOO'=LMN=LO'MSin θ+a-R=(R+h) sin θ+a-R；
By S3, it is calculated the three dimensional space coordinate value of each sampled point；
S4, based on three-dimensional imaging software, with the three dimensional space coordinate value of each sampled point and carried out numeral
Parameter λ value after signal processing, as input, obtains reflecting that the detections of radar of bridge pier casting quality defect is three-dimensional
Image.
Preferably, in S4, in described detections of radar three-dimensional imaging figure, show each by different colourity
The λ value of sampled point.
Preferably, also include:
S5, is cut into terrace cut slice by described three-dimensional imaging figure.
The tunnel three-D imaging method that the present invention provides has the advantage that
(1) on the premise of not affecting tunnel performance, tunnel quality being carried out Non-Destructive Testing, and, can adopt
Use simple method, quickly rebuild tunnel mass defect three-dimensional imaging figure, in reflecting tunnel the most intuitively
The position of portion's defect, shape and scope, and there is higher accuracy and reliability.
(2) have that testing cost is low and the fireballing advantage of three-dimensional imaging, can promote the use of on a large scale.
Accompanying drawing explanation
The arrangement of measuring-line schematic diagram of the tunnel entirety that Fig. 1 provides for the present invention；
The Computing Principle schematic diagram of any one tunnel section that Fig. 2 provides for the present invention；
The sensing point of any one tunnel section that Fig. 3 provides for the present invention and sampling point distributions figure；
The geological radar tunnel hoop detection terrace cut slice figure that Fig. 4 provides for the present invention；
The geological radar tunnel hoop geological condition detection schematic diagram that Fig. 5 provides for the present invention；
The tunnel three-dimensional imaging actual effect figure that Fig. 6 provides for the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail:
The present invention provides a kind of tunnel three-D imaging method, and cardinal principle is: by geological radar every survey line
The coordinate of each sampled point all transform in the three-dimensional system of coordinate of definition, then use the three-dimensional imaging of specialty soft
Part realizes three-dimensional mapping, three-dimensional values and geology detecting thus realization becomes more meticulous, and reaches constructing tunnel quality
Become more meticulous detection or the purpose of tunnel surrounding disease detection.
Specifically include following steps:
S1, carries out quality testing to tunnel, collects raw sensor data record；
Method particularly includes:
Inwall in tunnel chooses the survey line of n and tunnel axis parallel；Wherein, n is natural number；
For any one survey line i, all use following metering system:
From the beginning of the survey line starting point of survey line i, equidistant movable radar antenna scanning is to end of line, wherein, and thunder
Reaching antenna each position on survey line is sensing point；
With reference to Fig. 1, the arrangement of measuring-line schematic diagram that the tunnel that provides for the present invention is overall, in FIG, H1,
H2 and H3 represents 3 surveys line respectively.For some sensing point that survey line H2, K1 are survey line H2,
K2 represents the scan line with sensing point K1 as starting point.
Herein it should be noted that for reaching the detection purpose that becomes more meticulous, it is desirable to the interval of survey line selected is little
Size in detection objective body.Every survey line is made up of a plurality of equally spaced scan line, and every surface sweeping line is by solid
The sampled point composition of determined number.
The tunnel section at arbitrary jth sensing point place is designated as jth tunnel section；Then: radar antenna is
The detection mode of j sensing point is: making radar antenna be in close contact with jth sensing point, radar antenna is along jth tunnel
The normal direction of road section and launch electromagnetic pulse towards tunnel internal, and record the echo constantly received
Two way travel time t and amplitude A, thus obtain a scan line record corresponding to jth sensing point；With reference to figure
3, the sensing point of any one tunnel section provided for the present invention and sampling point distributions figure；
S2, carries out Digital Signal Processing to the amplitude A in raw sensor data record, the inspection after being processed
Surveying data, the detection data after processing are denoted as λ；
Detection data after processing are analyzed, are calculated each scanning that each survey line is comprised by S3
The three dimensional space coordinate value of each sampled point in line record；Specific analytical method is as follows:
S3.1, any jth sensing point comprised for arbitrary survey line i, by the tunnel at jth sensing point place
Road section is designated as tunnel section j, then:
Set up three-dimensional cartesian coordinate system, with reference to Fig. 2, for the calculating of any one tunnel section that the present invention provides
Principle schematic；With tunnel direction of axis line as Y-axis, the left arch springing position of tunnel section j is designated as B point,
The right arch springing position of tunnel section j is designated as C point, the keystone of tunnel section j is designated as A point；Then:
The midpoint of B point and C point line is designated as zero O, initial point O is pointed to the direction of C point as X
Axle positive direction, points to the direction of A point as Z axis positive direction using initial point O；
S3.2, is expressed as L by the spacing of arbitrary two pointsPoint 1: 2；
By diastimeter, measure distance L obtaining initial point O to A pointOA=a；The distance of initial point O to B point
LOBDistance L with initial point O to C pointOCEqual, it may be assumed that LOB=LOC=b；
Y-axis coordinate corresponding to tunnel section j is it is known that be designated as LS；
Therefore, can be calculated A point coordinates for (0, LS, a)；B point coordinates is (-b, LS, 0)；C point is sat
It is designated as (b, LS, 0)；
S3.3, for jth sensing point, is designated as E point by its position, and detection radar is sweeping that E point measurement obtains
Retouch line and be designated as scan line j；
Scan line j starts along tunnel normal direction spread from E point, for any one sampled point in scan line j,
It is designated as M point, then:
Make vertical line from E point to straight line BC, be designated as F point with the intersection point of straight line BC, can measure and obtain E point
Distance L with F pointEF=d；
Distance L obtaining F point with B point can be measuredFB=c；
Then: be calculated F point distance L to O pointFO=LFB-LOB=c-b；
Therefore, being calculated E point coordinates is: (c-b, LS, d)；
S3.4, reads two way travel time t and velocity of electromagnetic wave v of sampled point M point, calculates according to following formula
To E point to distance L of M pointEM, it is designated as h；
H=vt/2；
The center of circle of circle determined by B point, A point and C point is designated as O', the radius of circle that O' is the center of circle is designated as
R；Then: in S3.3, scan line j starts along tunnel normal direction spread from E point, and tunnel normal direction is i.e.
Direction for O' to E point；
Therefore, LO'B=LO'A=R；
LO'O=LOA-LO'A=a-R；
Then to right angled triangle BOO', have with Pythagorean theorem:
(a-R)2+b2=R2
Solve equation and try to achieve:
Therefore, the z-axis coordinate of center of circle O' point is:
The coordinate being calculated center of circle O' point is:
O'(0,LS,)；
Again due to LEP=LEF-LPF=LEF-LO'O=d-(a-R)；LO'P=LFO=c-b, LEO'=R；
Then it is calculated:
Therefore, M point three-dimensional coordinate (Mx,My,Mz) be respectively as follows:
Mx=LO'N=LO'MCos θ=(R+h) cos θ
My=LS
Mz=LMN+LOO'=LMN=LO'MSin θ+a-R=(R+h) sin θ+a-R；
By S3, it is calculated the three dimensional space coordinate value of each sampled point；
S4, based on three-dimensional imaging software, with the three dimensional space coordinate value of each sampled point and carried out numeral
Parameter λ value after signal processing, as input, obtains reflecting that the detections of radar of bridge pier casting quality defect is three-dimensional
Image.
By the three-dimensional values image of tunnel geology radar, the geological state in tunnel can be analyzed, in order to preferably
Exploitation, detection, maintenance management.Tunnel 3-D view is carried out sectility, and the image after sectility may be implemented in one
In the range of Ding, geological condition finely detects, in order to can more directly perceived, become apparent from accurately seeing that tunnel is comprehensive
Condition diagram, the advantage that improve the precision of geological anomalous body three-dimensional localization.
Above-mentioned steps can simplified summary be:
(1) by diastimeter, such as, laser range finder, measure and obtain four values, be respectively as follows: a, b,
c、d；By analyzing geological radar survey line data record, obtain geological radar measuring point time t, electromagnetic wave exists
Speed v in medium；
(2) then, based on above-mentioned given value, the three-dimensional coordinate M of each sampled point M finally it is calculatedx、
My、Mz。
(3) final, after using three-dimensional process software that the three-dimensional coordinate of above sampled point is carried out gridding, i.e.
Can three-dimensional imaging, section etc..
The tunnel three-D imaging method that the present invention provides is applied to certain concrete tunnel carry out detecting imaging
After, available geological radar tunnel hoop detection terrace cut slice figure shown in Fig. 4；Obtain the geology shown in Fig. 5
Radar tunnel hoop geological condition detection schematic diagram；Also can get the tunnel three-dimensional imaging actual effect shown in Fig. 6
Figure.
As can be seen here, the tunnel three-D imaging method that the present invention provides has the advantage that
(1) on the premise of not affecting tunnel performance, tunnel quality being carried out Non-Destructive Testing, and, can adopt
Use simple method, quickly rebuild tunnel mass defect three-dimensional imaging figure, in reflecting tunnel the most intuitively
The position of portion's defect, shape and scope, and there is higher accuracy and reliability.
(2) have that testing cost is low and the fireballing advantage of three-dimensional imaging, can promote the use of on a large scale.
The above is only the preferred embodiment of the present invention, it is noted that common for the art
For technical staff, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications,
These improvements and modifications also should regard protection scope of the present invention.
Claims (3)
1. a tunnel three-D imaging method, it is characterised in that comprise the following steps:
S1, carries out quality testing to tunnel, collects raw sensor data record；
Method particularly includes:
Inwall in described tunnel chooses the survey line of n and tunnel axis parallel；Wherein, n is natural number；
For any one survey line i, all use following metering system:
From the beginning of the survey line starting point of survey line i, equidistant movable radar antenna scanning is to end of line, wherein, and thunder
Reaching antenna each position on survey line is sensing point；
The tunnel section at arbitrary jth sensing point place is designated as jth tunnel section；Then: radar antenna is
The detection mode of j sensing point is: making radar antenna be in close contact with jth sensing point, radar antenna is along jth tunnel
The normal direction of road section and launch electromagnetic pulse towards tunnel internal, and record the echo constantly received
Two way travel time t and amplitude A, thus obtain a scan line record corresponding to jth sensing point；
S2, carries out Digital Signal Processing, after being processed to the amplitude A in described raw sensor data record
Detection data, will process after detection data be denoted as λ；
Detection data after described process are analyzed by S3, and be calculated that each survey line comprised is each
The three dimensional space coordinate value of each sampled point in scan line record；Specific analytical method is as follows:
S3.1, any jth sensing point comprised for arbitrary survey line i, by the tunnel at jth sensing point place
Road section is designated as tunnel section j, then:
Set up three-dimensional cartesian coordinate system, with tunnel direction of axis line as Y-axis, by the left arch springing of tunnel section j
Position is designated as B point, and the right arch springing position of tunnel section j is designated as C point, by the keystone of tunnel section j
It is designated as A point；Then: the midpoint of B point and C point line is designated as zero O, initial point O is pointed to C
Initial point O, as X-axis positive direction, is pointed to the direction of A point as Z axis positive direction by the direction of point；
S3.2, is expressed as L by the spacing of arbitrary two pointsPoint 1: 2；
By diastimeter, measure distance L obtaining initial point O to A pointOA=a；The distance of initial point O to B point
LOBDistance L with initial point O to C pointOCEqual, it may be assumed that LOB=LOC=b；
Y-axis coordinate corresponding to tunnel section j is it is known that be designated as LS；
Therefore, can be calculated A point coordinates for (0, LS, a)；B point coordinates is (-b, LS, 0)；C point is sat
It is designated as (b, LS, 0)；
S3.3, for jth sensing point, is designated as E point by its position, and detection radar is sweeping that E point measurement obtains
Retouch line and be designated as scan line j；
Scan line j starts along tunnel normal direction spread from E point, for any one sampled point in scan line j,
It is designated as M point, then:
Make vertical line from E point to straight line BC, be designated as F point with the intersection point of straight line BC, can measure and obtain E point
Distance L with F pointEF=d；
Distance L obtaining F point with B point can be measuredFB=c；
Then: be calculated F point distance L to O pointFO=LFB-LOB=c-b；
Therefore, being calculated E point coordinates is: (c-b, LS, d)；
S3.4, reads two way travel time t and velocity of electromagnetic wave v of sampled point M point, calculates according to following formula
To E point to distance L of M pointEM, it is designated as h；
H=vt/2；
The center of circle of circle determined by B point, A point and C point is designated as O', the radius of circle that O' is the center of circle is designated as
R；Then: in S3.3, scan line j starts along tunnel normal direction spread from E point, and tunnel normal direction is i.e.
Direction for O' to E point；
Therefore, LO'B=LO'A=R；
LO'O=LOA-LO'A=a-R；
Then to right angled triangle BOO', have with Pythagorean theorem:
(a-R)2+b2=R2
Solve equation and try to achieve:
Therefore, the z-axis coordinate of center of circle O' point is:
The coordinate being calculated center of circle O' point is:
O'(0,LS,)；
Again due to LEP=LEF-LPF=LEF-LO'O=d-(a-R)；LO'P=LFO=c-b, LEO'=R；
Then it is calculated:
Therefore, M point three-dimensional coordinate (Mx,My,Mz) be respectively as follows:
Mx=LO'N=LO'MCos θ=(R+h) cos θ
My=LS
Mz=LMN+LOO'=LMN=LO'MSin θ+a-R=(R+h) sin θ+a-R；
By S3, it is calculated the three dimensional space coordinate value of each sampled point；
S4, based on three-dimensional imaging software, with the three dimensional space coordinate value of each sampled point and carried out numeral
Parameter λ value after signal processing, as input, obtains reflecting that the detections of radar of bridge pier casting quality defect is three-dimensional
Image.
Tunnel the most according to claim 1 three-D imaging method, it is characterised in that in S4, described
In detections of radar three-dimensional imaging figure, shown the λ value of each sampled point by different colourity.
Tunnel the most according to claim 1 three-D imaging method, it is characterised in that also include:
S5, is cut into terrace cut slice by described three-dimensional imaging figure.
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| CN109780999A (en) * | 2018-12-18 | 2019-05-21 | 杭州国电大坝安全工程有限公司 | Side wall measuring point coordinate information collecting method in tunnel |
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| CN111474542A (en) * | 2020-04-27 | 2020-07-31 | 云南航天工程物探检测股份有限公司 | Method for realizing three-dimensional detection by using geological radar space scanning |
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Denomination of invention: A Method for Tunnel 3D Imaging Effective date of registration: 20230626 Granted publication date: 20180817 Pledgee: Kunming Branch of China Everbright Bank Co.,Ltd. Pledgor: YUNNAN AEROSPACE ENGINEERING GEOPHYSICAL SURVEY INSPECTION Co.,Ltd. Registration number: Y2023530000043 |