CN103901433B - Water-related project local scour monitoring system and method based on ultrasonic sensing - Google Patents
Water-related project local scour monitoring system and method based on ultrasonic sensing Download PDFInfo
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- CN103901433B CN103901433B CN201410100152.9A CN201410100152A CN103901433B CN 103901433 B CN103901433 B CN 103901433B CN 201410100152 A CN201410100152 A CN 201410100152A CN 103901433 B CN103901433 B CN 103901433B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 69
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title abstract description 29
- 239000000523 sample Substances 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000012876 topography Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000004576 sand Substances 0.000 abstract description 12
- 230000001681 protective effect Effects 0.000 abstract description 3
- 238000002604 ultrasonography Methods 0.000 description 22
- 238000005259 measurement Methods 0.000 description 10
- 238000011010 flushing procedure Methods 0.000 description 7
- 239000004575 stone Substances 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000013480 data collection Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000010813 municipal solid waste Substances 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a water-related project local scour monitoring system and method based on ultrasonic sensing. According to the system and method, a stepping motor fixed on the inner wall of a protective sleeve rotates to drive a built-in cylinder connected with the protective sleeve through a concentric bearing to rotate, and multiple ultrasonic probes are fixed in round holes in the lateral wall of the built-in cylinder; based on the connection, a computer remotely controls the stepping motor to rotate to enable the ultrasonic probes to scan the three-dimensional terrain, the rotating angle of the stepping motor and the distance between the surface of each ultrasonic probe and a sand bed surface are transformed into local scour terrain three-dimensional position coordinate point data by establishing a three-dimensional coordinate system, the data are remotely transmitted to the computer, and then automatic real-time monitoring of water-related project local scour is achieved. According to the method, various errors in movable ultrasonic monitoring can be avoided, damage of foreign matters contained in high-speed water flow to the ultrasonic probes in fixed ultrasonic monitoring can be avoided, automatic remote real-time monitoring is achieved, monitoring time is shortened, and monitoring accuracy is improved.
Description
Technical field
The present invention relates to Water-related Project local scour monitoring system and method and technology field, more particularly to it is a kind of based on ultrasound
The Water-related Project local scour monitoring system of sensing and method.
Background technology
Health monitoring and safety evaluation for major design engineering is more and more paid attention to by people in monitoring field,
Preventing and reducing natural disasters for Water-related Project becomes a research field arisen at the historic moment.Water-related Project is easily received due to special Service Environment
The damaged or destroyed by flood of the Water-related Project caused to local scour, local scour have it is sudden, often to people's lives and properties cause weight
It is big to lose.The many Water-related Projects of China lack effectively management and safeguard after building, act on through long-term local scour, paddle
The health status of engineering allow of no optimist, once flood is attacking, the probability that these Water-related Projects occur damaged or destroyed by floods is greatly improved, and water
The repair and reconstruction of the Water-related Project after ruining from technical elements consider be it is not easy-operating, it is even more infeasible from the economic viewpoint
's.Therefore, develop Water-related Project local scour monitoring method, find early problem to be washed away to take measures in time to be very must
Want.For this purpose, scientific worker has carried out various exploration work, many monitoring methods are have developed.Compare other monitoring technology and
Speech, ultrasonic monitoring method is due to delaying with low cost, strong directivity, high precision, working stability, workable, energy expenditure
It is slow and in media as well propagation distance farther out the advantages of and be frequently used for range measurement.Ultrasonic monitoring method can be divided into portable ultrasound
Monitoring method and fixed ultrasonic monitoring method.At present, portable ultrasonic monitoring method generally should be in river course, oceanic sounding.But the method
The precision of depth measurement except by tidal level harmony speed profile survey error affected in addition to, also by floor detection method, instrument alignment error,
The impact of many factors such as ship attitude measurement error, time delay error.And, during flood, near bridge pier, The turbulent river crashes its way through, mobile
Ultrasonic monitoring method often has the danger of shipwreck, therefore Water-related Project local scour nearby effectively can not be monitored.For fixed
Ultrasonic monitoring method, due to being required to work during flood, and be mingled with flood with current high-speed motion stone, drift
The debris such as float have sizable impulsive force and destructive power, are often the ultrasound spy of fragile piezoquartz to core
Headband is damaging, therefore is difficult significant surface to exceedingly odious flood environment.
Accordingly, it is desirable to provide a kind of Water-related Project local scour monitoring system and method based on ultrasound sensing is come on solving
State problem.
The content of the invention
In order to solve the problem, the invention discloses a kind of Water-related Project local scour monitoring system based on ultrasound sensing
And method, the method is that multiple ultrasonic probes are fixed in built-in cylinder side wall to form a line at a certain distance in the axial direction
Circular hole in, motor is connected with built-in cylinder by shaft coupling, built-in cylinder by concentric bearings with protection sleeve connection,
Motor is fixed on protection sleeve lining, is protected sleeve closed at both ends and is fixed on building of paddling by rigid cage
Side wall on, based on above-mentioned connection, computer is instructed to motor by wireless controller remote transmission, and motor is accurate
Rotate and drive built-in cylinder to rotate in the range of certain angle by setting stepping angle, the ultrasonic probe in built-in cylinder side wall circular hole
The Water-related Project after each stepping angle at corresponding position is rotated to built-in cylinder, and nearby dimensional topography is scanned, and is gathered
, by being wirelessly transferred main controller remote transmission to software platform, it is right to realize eventually through the rotation of built-in cylinder for Real-time Monitoring Data
Lay the complete collection of three dimensional topographic data on the outside of the building facade of paddling of local scour detecting system.This method is not only avoided
The various errors produced during portable ultrasonic monitoring, also effectively prevent the great flood phase during fixed ultrasonic monitoring
Between damage of the debris such as the stone of high-velocity flow entrained with to fixed ultrasonic monitoring probe, realize local around Water-related Project
The remotely control of flushing monitoring, it is no longer necessary to the manual operation at testing scene, greatly reduces the intermediate link of flushing monitoring, cuts
Subtract measurement cost, shortened the time of monitoring, improve the precision of monitoring.
It is preferred that this method is to manipulate motor rotation drive by computer remote to be fixed in built-in cylinder side wall
Multiple ultrasonic probe movements in the circular hole for forming a line at a certain distance in the axial direction, near automatic Real-time Collection Water-related Project
The local scour three dimensional topographic data of various location, and utilization is wirelessly transferred main controller by data remote transmission to computer,
The manual operation at testing scene is needed no longer, only needing remote computer to send operating instruction reception, to be wirelessly transferred main controller long-range
The three dimensional topographic data of the ultrasonic probe collection that transmission is returned can just complete whole Water-related Project local scour monitoring process, significantly
The intermediate link of flushing monitoring is reduced, measurement cost is reduced, the time of flushing monitoring is shortened, is improve flushing monitoring
Precision.
It is preferred that a kind of Water-related Project local scour monitoring system and method based on ultrasound sensing, is fixed on protective case
Motor on cylinder inwall rotates the built-in rotary drum driven by concentric bearings with protection sleeve connection, and multiple ultrasounds are visited
Head is fixed in the circular hole of built-in cylinder side wall, and based on above-mentioned connection, computer long-distance control motor is rotated realizes ultrasound
Scanning of the probe to dimensional topography, by setting up three-dimensional system of coordinate by motor rotational angle and ultrasonic probe surface to sand bed
The distance between face is converted into local scour landform three-dimensional location coordinates point data and remote transmission is to computer, right so as to realize
The auto-real-time monitoring of Water-related Project local scour.This method can avoid various errors of portable ultrasonic monitoring and fixed super
Damage of the high-velocity flow institute's field trash to ultrasonic probe when sound is monitored, realizes remote auto real-time monitoring, when shortening monitoring
Between, improve monitoring accuracy.
To achieve these goals, the present invention will take technical scheme below：
A kind of Water-related Project local scour monitoring system based on ultrasound sensing, it includes that computer, motor are wireless
Controller, motor, built-in cylinder, concentric bearings, protect sleeve, ultrasonic probe, data remote transmission main controller, rigidity
Support, motor are connected with built-in cylinder by shaft coupling, and built-in cylinder is by concentric bearings and protection sleeve connection, stepping
Motor is fixed on protection sleeve lining, is protected sleeve closed at both ends and is fixed on Water-related Project side wall by rigid cage
On, based on above-mentioned connection, remote computer control motor is rotated and drives built-in rotary drum, so as in realizing being fixed in
Put automatic data collection of the ultrasonic probe in cylinder side wall circular hole to three dimensional topographic data near Water-related Project.
A kind of Water-related Project local scour monitoring method based on ultrasound sensing, the method are comprised the following steps：
1st, computer controls motor rotation by remote wireless controller, and motor is driven built-in by shaft coupling
Casing is rotated, so as to the ultrasound being fixed in the circular hole that built-in cylinder side wall is formed a line in the axial direction at a certain distance is visited
Head realizes the scanning to the local scour dimensional topography of various location near Water-related Project；
2nd, by setting up several step angles and the ultrasonic probe acquisition that motor is rotated by three-dimensional cartesian coordinate system
The distance between detecting head surface and sand bed surface be converted into local scour landform three-dimensional location coordinates point data, and will be gathered
Three-dimensional data be transferred to computer by being wirelessly transferred main controller, so as to realize to local scour landform around Water-related Project
Auto-real-time monitoring.
Wherein, three-dimensional cartesian coordinate system zero is in built-in cylinder one end, x-axis along casing axis direction, y-axis be with it is interior
The vertical horizontal direction of cylinder axis is put, z-axis is vertical direction, and measurement point x-axis direction coordinate can be built-in according to being fixed in
Laying separation delta l of the ultrasonic probe in the circular hole that cylinder side wall is formed a line in the axial direction at a certain distance is defined as (m-
1) Δ l (Fig. 1), measurement point y-axis and z-axis direction coordinate can pass through the spy that motor rotational angle is obtained with ultrasonic probe
The distance between head surface and sand bed surface are converted into local scour landform three-dimensional location coordinates point data according to the following formula：
X=m Δ l (m=1,2 ..., M)
Y=Lsin n Δ θ (n=1,2 ..., N)
Z=Lcosn Δ θ (n=1,2 ..., N)
In formula, L is ultrasonic probe data measured, and m is to be fixed in built-in cylinder side wall to arrange at a certain distance in the axial direction
Into the number of the ultrasonic probe in the circular hole of string, n is that motor rotates stepping angle number, and Δ θ is that motor rotates step
Enter angle.
Therefore motor often rotates a stepping angle angle, built-in cylinder side wall is fixed in the axial direction by between certain
The three-dimensional terrain coordinate data point (x, y, z) that ultrasonic probe in the circular hole for forming a line is obtained for ((m-1) Δ l,
Lsinn Δ θ, Lcosn Δ θ).
Beneficial effects of the present invention are：
The present invention can be with the various errors that produce during can avoiding portable ultrasonic monitoring and fixed ultrasonic monitoring
During the damage of the debris to fixed ultrasonic monitoring probe such as the stone of high-velocity flow entrained with during great flood, reduce survey
Amount cost, improves certainty of measurement；According to the spy that the rotational angle and ultrasonic probe of the motor using remotely control are obtained
The distance between head surface and sand bed surface directly obtain the three-dimensional location coordinates data of local scour landform around Water-related Project
Point, and by the three-dimensional location coordinates data remote transmission of local scour landform to computer, it is no longer necessary to testing scene it is artificial
Operation, realize terrain data acquisition automatically control, greatly reduce the intermediate link of flushing monitoring, shorten monitoring when
Between.
A series of concept of reduced forms is introduced in Summary, this will enter in specific embodiment part
One step is described in detail.The key that present invention part is not meant to attempt to limit technical scheme required for protection is special
Seek peace essential features, more do not mean that the protection domain for attempting to determine technical scheme required for protection.
With reference to advantages and features of the invention described further below.
Description of the drawings
Fig. 1 is Water-related Project local scour monitoring system schematic diagram and three-dimensional terrain coordinate of the present invention based on ultrasound sensing
The data relationship schematic diagram calculation that data point is gathered with Probe arrangement, motor rotational angle, ultrasonic probe；
Fig. 2 is ultrasonic probe range measurement principle schematic diagram of the present invention；
Specific embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And, it will be apparent to one skilled in the art that the present invention can be able to without the need for one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, for some technical characteristics well known in the art do not enter
Row description.
In order to thoroughly understand the present invention, detailed structure will be proposed in following description.Obviously, execution of the invention is simultaneously
It is not limited to the specific details is familiar with by those skilled in the art.Presently preferred embodiments of the present invention is described in detail as follows, but
In addition to these detailed descriptions, the present invention can also have other embodiment.
Hereinafter embodiments of the invention are described in detail.
As shown in figure 1, a kind of Water-related Project local scour monitoring system based on ultrasound sensing of the present invention, it includes calculating
Machine (1), motor wireless controller (2), motor (3), built-in cylinder (4), concentric bearings (5), protection sleeve (6),
Ultrasonic probe (7), data remote transmission main controller (8), rigid cage (9), it is characterised in that described motor (3)
It is connected with built-in cylinder (4) by shaft coupling, and motor (3) is provided with motor wireless controller (2), built-in circle above
Cylinder (4) is provided with data remote transmission main controller (8) above, and built-in cylinder (4) is connected with protection sleeve (6) by concentric bearings (5)
Connect, motor (3) is fixed on protection sleeve (6) inwall, protect sleeve (6) closed at both ends and pass through rigid cage (9)
It is fixed on the wall of Water-related Project side, based on above-mentioned connection, computer (1) remotely control motor (3) is rotated and drives built-in circle
Cylinder (4) is rotated, so as to realize the ultrasonic probe (7) being fixed in the wall circular hole of built-in cylinder (4) side near Water-related Project three
The automatic Real-time Collection of dimension landform.
Using the Water-related Project local scour monitoring system based on ultrasound sensing to office at Water-related Project nearby a certain position
When three dimensional topographic data acquisition is washed away in portion, as depicted in figs. 1 and 2, according to the tool of Water-related Project local scour topographic survey precision
Body requirement, drills through several circular holes being arranged in a row with Δ l pitchs of holes in the axial direction on the wall of built-in cylinder (4) side, will be simultaneous
The ultrasonic probe (7) of tool transmitting and the super function of reception ultrasound wave is in the way of detecting head surface infinitely presses close to protect sleeve (6) inwall
It is fixed in circular hole, during local scour Geography monitor, with certain frequency to emission ultrasound wave, ultrasound wave exists ultrasonic probe (7)
Protection sleeve (6) outer wall and sand bed face on can occur reflection, reflected signal can by probe receive, between two reflected signals when
Difference is both the distance between ultrasonic probe surface and sand bed surface with the product of ultrasound wave water medium velocity.
A kind of Water-related Project local scour monitoring method based on ultrasound sensing, the method are comprised the following steps：
1st, using the Water-related Project local scour monitoring system based on ultrasound sensing to various location near Water-related Project
Local scour dimensional topography carry out real-time monitoring when, as shown in figure 1, computer (1) is by motor wireless controller (2)
Remote control motor (3) is rotated, and motor (3) is by the built-in cylinder (4) of drive that is rigidly connected with built-in cylinder (4)
Rotate, after motor (3) rotates a stepping angle, built-in cylinder (4) also turns over a stepping angle and suspends, with the spacing of Δ l
Several ultrasonic probes (7) the detection detecting head surface being fixed in the circular hole of built-in cylinder (4) side wall in the axial direction and sand bed
The distance between surface, turns when motor (3) rotated several stepping angles and got each difference by ultrasonic probe (7)
At position corresponding to dynamic stepping angle after the distance between detecting head surface and sand bed surface, a stepping angle is rotated again and can only but be connect
When receiving protection sleeve (6) outer wall reflected signal and not receiving sand bed surface ultrasonic reflection signal, computer (1) judges to complete
Whole local scour monitorings simultaneously manipulate built-in cylinder (4) reset, and then realize completely adopting to local scour terrain data
Collection.
2nd, using the Water-related Project local scour monitoring system based on ultrasound sensing to various location near Water-related Project
Local scour dimensional topography when carrying out real-time monitoring, as shown in figure 1, by setting up three-dimensional cartesian coordinate system, will using following formula
Motor (3) is rotated the distance between the detecting head surface that obtained with ultrasonic probe (7) of step angle and sand bed surface and is converted into
Local scour landform three-dimensional location coordinates point data (x, y, z), and local scour landform three-dimensional position is converted into by what is gathered
Coordinate point data is transferred to computer by data remote transmission main controller (8), so as to realize to locally rushing around Water-related Project
The auto-real-time monitoring of brush landform.
X=m Δ l (m=1,2 ..., M)
Y=Lsinn Δ θ (n=1,2 ..., N)
Z=Lcos n Δ θ (n=1,2 ..., N)
Wherein, in built-in cylinder (4) one end, x-axis along casing axis direction, y-axis is three-dimensional cartesian coordinate system zero
The horizontal direction vertical with built-in cylinder (4) axis, z-axis are vertical direction, and L is the ultrasonic probe table that ultrasonic probe (7) is obtained
The distance between face and sand bed surface, the number of ultrasonic probes of the m to be arranged on the wall of built-in cylinder (4) side in the axial direction, n
Stepping angle number is rotated for motor (3), Δ θ is that motor (3) rotates step angle.
The various errors that this method is produced during not only avoid portable ultrasonic monitoring, also effectively prevent fixed
Damage of the debris such as the stone of high-velocity flow entrained with during ultrasonic monitoring during great flood to fixed ultrasonic monitoring probe,
Realize the remotely control of local scour monitoring around Water-related Project, it is no longer necessary to the manual operation at testing scene, significantly reduce
The intermediate link of flushing monitoring, reduces measurement cost, shortens the time of monitoring, improve the precision of monitoring.
The present invention is illustrated by above-described embodiment, but it is to be understood that, above-described embodiment is only intended to
Citing and descriptive purpose, and be not intended to limit the invention in described scope of embodiments.In addition people in the art
Member is it is understood that the invention is not limited in above-described embodiment, teaching of the invention can also be made more kinds of
Variants and modifications, within these variants and modifications all fall within scope of the present invention.Protection scope of the present invention by
The appended claims and its equivalent scope are defined.
Claims (1)
1. a kind of based on the ultrasonic Water-related Project local scour monitoring system for sensing, it includes computer (1), motor is wireless
Controller (2), motor (3), built-in cylinder (4), concentric bearings (5), protection sleeve (6), ultrasonic probe (7), data are remote
Journey transmission main controller (8), rigid cage (9), it is characterised in that described motor (3) is by shaft coupling and built-in circle
Cylinder (4) connection, and motor (3) is provided with motor wireless controller (2) above, built-in cylinder (4) is provided with data above
Remote transmission main controller (8), built-in cylinder (4) are connected with protection sleeve (6) by concentric bearings (5), and motor (3) is fixed
On protection sleeve (6) inwall, protect sleeve (6) closed at both ends and Water-related Project side wall is fixed on by rigid cage (9)
On, based on above-mentioned connection, computer (1) remotely control motor (3) is rotated and drives built-in cylinder (4) to rotate, so as to realize
The ultrasonic probe (7) being fixed in the wall circular hole of built-in cylinder (4) side to Water-related Project, nearby sweep in real time by the automatic of dimensional topography
Retouch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410100152.9A CN103901433B (en) | 2014-03-12 | 2014-03-12 | Water-related project local scour monitoring system and method based on ultrasonic sensing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410100152.9A CN103901433B (en) | 2014-03-12 | 2014-03-12 | Water-related project local scour monitoring system and method based on ultrasonic sensing |
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| Publication Number | Publication Date |
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| CN103901433A CN103901433A (en) | 2014-07-02 |
| CN103901433B true CN103901433B (en) | 2017-05-03 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106645412A (en) * | 2017-01-15 | 2017-05-10 | 中机国能电力工程有限公司 | Sleeve-type chimney provided with normal non-destructive monitoring device |
| CN113074654A (en) * | 2021-03-19 | 2021-07-06 | 中国海洋大学 | Local scouring monitoring device and method for offshore wind power structure |
| CN114910047B (en) * | 2022-04-15 | 2023-07-14 | 浙江大学 | Pier scouring monitoring system based on laser triangulation method and application method thereof |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11271058A (en) * | 1998-03-25 | 1999-10-05 | Mitsubishi Heavy Ind Ltd | Bridge pier scour monitor |
| KR20040011400A (en) * | 2003-12-18 | 2004-02-05 | 한국유지관리 주식회사 | Monitoring system of underwater structure scour using TDR(Time Domain Reflectometry) or OTDR(Optical Time Domain Reflectometry) |
| KR100459007B1 (en) * | 2004-04-06 | 2004-12-03 | 주식회사 데이타 피씨에스 | System for real time bridge scour monitoring |
| CN101451830A (en) * | 2008-12-29 | 2009-06-10 | 浙江大学 | Harbor navigate construction underwater safety real time monitoring system based on GPRS |
| CN101776449A (en) * | 2010-01-11 | 2010-07-14 | 中国科学院力学研究所 | Method and device for measuring scouring topography of sand bed by using ultrasonic waves |
| CN101975570B (en) * | 2010-09-30 | 2012-07-04 | 大连理工大学 | Three-dimensional observation device for scouring terrain |
| CN102087360B (en) * | 2010-11-17 | 2013-05-15 | 北京交通大学 | System for observing local scour of pier |
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2014
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