CN108732546A - Remote contactless Tunnel testing distance compensation apparatus and method - Google Patents
Remote contactless Tunnel testing distance compensation apparatus and method Download PDFInfo
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- CN108732546A CN108732546A CN201810573616.6A CN201810573616A CN108732546A CN 108732546 A CN108732546 A CN 108732546A CN 201810573616 A CN201810573616 A CN 201810573616A CN 108732546 A CN108732546 A CN 108732546A
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- radar antenna
- distance
- air coupling
- laser ranging
- tunnel testing
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention relates to a kind of remote contactless Tunnel testing distance compensation apparatus and methods, belong to Tunnel testing field.The device includes Air Coupling radar antenna, laser ranging instrument and control system；Air Coupling radar antenna and laser ranging instrument close to, Air Coupling radar antenna emits to supporting and country rock and receives electromagnetic wave, simultaneously, laser ranging instrument is radiated at the position that Air Coupling radar antenna is detected, range data is imported into control system by cable and compensates calculating, adjusts test position.Air Coupling radar antenna frequency is 380MHz~1.6GHz.The present invention can be during Tunnel testing, the distance of real-time record radar antenna to lining cutting surface, and records the data for compensation calculation, and allows controllers to complete alignment of the antenna to survey line by the visible point of light of laser.
Description
Technical field
The invention belongs to Tunnel testing field, it is related to remote contactless Tunnel testing distance compensation apparatus and method.
Background technology
Geological radar is the subsurface wave reflection Detection Techniques to hyper band using very high frequency(VHF).Operation principle is transmitting
Device directional transmissions electromagnetic wave into preliminary bracing and country rock by transmitting antenna, electromagnetic wave is taken in encounter in the path of propagation electricity
Property (dielectric constant and conductivity) difference interface when reflect, from different depth return each back wave by reception day
Line and receiver are received, and are in addition also initially received from surface of the reflecting antenna through medium where two antennas and are traveled to reception day
The direct wave of line, and as the time leading zero's of system.After signal processing, for reflected after direct wave
The transmitted wave of each different time takes its time half, and the propagation velocity of electromagnetic wave for being multiplied by respective media is reflectance target
Depth.Differentiate reflection mesh further according to reflective information feature (reflected intensity, back wave characteristics of combination and lateral, longitudinally varying etc.)
Target property.Preliminary bracing and the empty or deficient compact zone in country rock, country rock, the water aquifer in country rock or crack, preliminary bracing
Crack etc. is good reflecting interface or objective body.
It is main at present that different frequency (there are commonly 270MHz, 400MHz, 900MHz) is used cooperatively using geological radar
Density parameter of the antenna between tunnel structure state, such as two lining concrete thickness, two linings and first branch is detected, antenna
The overwhelming majority is the ground coupling formula antenna, that is, radar antenna must be closely connected with detection object when detecting.
The main problem of this kind of detection mode has at 3 points：
(1) radar antenna cannot disengage detection object, otherwise will appear the bad phenomenon of signal, be unfavorable at later data
Reason and interpretation, severe patient results even in data invalid, and detects scene since there are various problems, often results in this kind of phenomenon difficulty
To avoid completely.
(2) it when being detected using this kind of method, usually by manually holding antenna, stands in high altitude vehicle fence aloft
There are larger to fall security risk when operation, Uneven road or slightly fast car speed.In addition long-time operation tunnel lining cutting table
Area ash is serious, and ground coupling antenna will cause flue dust in hole to float in the air after striking off dust stratification, influence environment.
(3) road occupying construction operation must be carried out when detecting, and road occupying construction examination and approval procedures are handled and collision risk control is also
A great problem.
Therefore, the working efficiency of existing detection technique it is relatively low, to larger, traffic safety the hidden danger of interference of existing traffic compared with
Greatly.
Invention content
In view of this, the purpose of the present invention is to provide a kind of remote contactless Tunnel testing distance compensation apparatus and
Method.
In order to achieve the above objectives, the present invention provides the following technical solutions：
Remote contactless Tunnel testing distance compensation apparatus, including Air Coupling radar antenna, laser ranging instrument
And control system；
Air Coupling radar antenna and laser ranging instrument emit close to, Air Coupling radar antenna to supporting and country rock and
Electromagnetic wave is received, meanwhile, laser ranging instrument is radiated at the position that Air Coupling radar antenna is detected, and range data is passed through
Cable imports control system and compensates calculating, adjusts test position.
The Air Coupling radar antenna frequency is 380MHz~1.6GHz.
Further, the onboard system detection speed is 50~70KM/ hours；The range accuracy of laser ranging instrument is
The distance interval of 1mm, sampling are 0.5m-2m.
Further, which further includes mechanical arm and onboard system；
Air Coupling radar antenna and laser ranging instrument are set on mechanical arm, and mechanical arm is set on onboard system.
Remote contactless Tunnel testing compensated distance method based on described device, in detection process, to ensure
The accuracy of laser ranging ensures signal results by the way of Real-Time Filtering, filtering method is：First with threshold values mistake
Filter, then it is filtered with the mode of interpolation of average value, specially：
If the distance value of laser ranging instrument sampling gained is L (t), L (t) is the one-dimensional matrix changed over time,
A threshold values F is set, according to actual conditions, F values are 0.3m, filter window 3；Assuming that in arbitrary continuous time t1, t2, t3
In time, | L (t1)-L(t2) | > F and | L (t3)-L(t2) | > F；
Depending on L (t2) it is noise point, and be L (t according to following formula2) assign new value：
L(t2)=(L (t1)+L(t3))/2
After filtering, the difference between the distance between radar antenna and lining cutting S is coupled with preset air according to L (t)
Uncompensation distance C as the compensated distance value of laser ranging instrument, i.e. Air Coupling radar antenna is：
C=S-L (t)
Wherein, C is that positive value indicates that Air Coupling radar antenna needs the distance far from lining cutting, indicates to need for negative value close
The distance of lining cutting.
Further, the laser ranging instrument is examined using visible laser light spot in Air Coupling radar antenna survey line
The position of survey allows the operating personnel of onboard system to observe whether detections of radar position meets the requirements in real time, and is carried out according to result
Adjustment in real time.
The beneficial effects of the present invention are：The present invention can record radar antenna in real time to lining cutting during Tunnel testing
The distance on surface, and the data are recorded for compensation calculation, and allow controllers to complete antenna pair by the visible point of light of laser
The alignment of survey line.
Description of the drawings
In order to keep the purpose of the present invention, technical solution and advantageous effect clearer, the present invention provides following attached drawing and carries out
Explanation：
Fig. 1 is schematic structural view of the invention.
Reference numeral：1- Air Coupling radar antennas, 2- laser ranging instruments, 3- mechanical arms, 4- onboard systems, 5- controls
System.
Specific implementation mode
Below in conjunction with attached drawing, the preferred embodiment of the present invention is described in detail.
As shown in Figure 1, remote contactless Tunnel testing distance compensation apparatus, including Air Coupling radar antenna, swash
Ligh-ranging instrument, mechanical arm 3, control system 5 and onboard system 4；
Air Coupling radar antenna 1 and laser ranging instrument 2 are set on mechanical arm 3, and mechanical arm 3 is set to onboard system 4
On, Air Coupling radar antenna 1 emits to supporting and country rock and receives electromagnetic wave, meanwhile, laser ranging instrument 2 is radiated at air
Range data is imported control system 5 by cable and compensates calculating, adjusted by the position that coupling radar antenna 1 is detected
Test position.
4 detection speed of onboard system is 60KM/ hours；The range accuracy of laser ranging instrument 2 is 1mm, and sample frequency is
The distance interval of 10Hz, sampling are 1.67m.
1 frequency of Air Coupling radar antenna is 380MHz~1.6GHz.
Remote contactless Tunnel testing compensated distance method based on described device, in detection process, to ensure
The accuracy of laser ranging ensures signal results by the way of Real-Time Filtering, filtering method is：First with threshold values mistake
Filter, then it is filtered with the mode of interpolation of average value, specially：
If the distance value of the sampling gained of laser ranging instrument 2 is L (t), L (t) is the one-dimensional matrix changed over time,
A threshold values F is set, according to actual conditions, F values are 0.3m, filter window 3；Assuming that in arbitrary continuous time t1, t2, t3
In time, | L (t1)-L(t2) | > F and | L (t3)-L(t2) | > F；
Depending on L (t2) it is noise point, and be L (t according to following formula2) assign new value：
L(t2)=(L (t1)+L(t3))/2
After filtering, the difference between the distance between radar antenna 1 and lining cutting S is coupled with preset air according to L (t)
Uncompensation distance C as the compensated distance value of laser ranging instrument 2, i.e. Air Coupling radar antenna 1 is：
C=S-L (t)
Wherein, C is that positive value indicates that Air Coupling radar antenna 1 needs the distance far from lining cutting, indicates to need to lean on for negative value
The distance of nearly lining cutting.
Laser ranging instrument 2 using visible laser light spot in the position that 1 survey line of Air Coupling radar antenna is detected,
It allows the operating personnel of onboard system 4 to observe whether detections of radar position meets the requirements in real time, and is adjusted in real time according to result.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (5)
1. remote contactless Tunnel testing distance compensation apparatus, it is characterised in that：Including Air Coupling radar antenna, laser
Distance mearuring equipment and control system；
Air Coupling radar antenna and laser ranging instrument are close to Air Coupling radar antenna emits and receives to supporting and country rock
Electromagnetic wave, meanwhile, laser ranging instrument is radiated at the position that Air Coupling radar antenna is detected, and range data is passed through cable
Line imports control system and compensates calculating, adjusts test position；
The Air Coupling radar antenna frequency is 380MHz~1.6GHz.
2. remote contactless Tunnel testing distance compensation apparatus according to claim 1, it is characterised in that：The vehicle
Loading system detection speed is 50~70KM/ hours；The range accuracy of laser ranging instrument is 1mm, and the distance interval of sampling is
0.5m-2m。
3. remote contactless Tunnel testing distance compensation apparatus according to claim 1, it is characterised in that：The device
Further include mechanical arm and onboard system；
Air Coupling radar antenna and laser ranging instrument are set on mechanical arm, and mechanical arm is set on onboard system.
4. the remote contactless Tunnel testing compensated distance method based on any one of Claims 2 or 3 described device,
It is characterized in that：
In detection process, to ensure the accuracy of laser ranging, signal results are protected by the way of Real-Time Filtering
Card, filtering method are：It is first filtered with threshold values, then it is filtered with the mode of interpolation of average value, specially：
If the distance value of laser ranging instrument sampling gained is L (t), L (t) is the one-dimensional matrix changed over time, setting
One threshold values F, according to actual conditions, F values are 0.3m, filter window 3；Assuming that in arbitrary continuous time t1, t2, t3Time
It is interior, | L (t1)-L(t2) | > F and | L (t3)-L(t2) | > F；
Depending on L (t2) it is noise point, and be L (t according to following formula2) assign new value：
L(t2)=(L (t1)+L(t3))/2
After filtering, the difference conduct between the distance between radar antenna and lining cutting S is coupled with preset air according to L (t)
The uncompensation distance C of the compensated distance value of laser ranging instrument, i.e. Air Coupling radar antenna is：
C=S-L (t)
Wherein, C is that positive value indicates that Air Coupling radar antenna needs the distance far from lining cutting, indicates to need close to lining cutting for negative value
Distance.
5. remote contactless Tunnel testing compensated distance method according to claim 4, it is characterised in that：The laser
Distance mearuring equipment in the position that Air Coupling radar antenna survey line is detected, allows the behaviour of onboard system using visible laser light spot
Make personnel and observe whether detections of radar position meets the requirements in real time, and is adjusted in real time according to result.
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| CN201810573616.6A CN108732546A (en) | 2018-06-06 | 2018-06-06 | Remote contactless Tunnel testing distance compensation apparatus and method |
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| CN201810573616.6A CN108732546A (en) | 2018-06-06 | 2018-06-06 | Remote contactless Tunnel testing distance compensation apparatus and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109581347A (en) * | 2018-12-10 | 2019-04-05 | 航天南湖电子信息技术股份有限公司 | A kind of radar fining distance measuring method |
| CN110954877A (en) * | 2019-11-05 | 2020-04-03 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Method for generating terrain of measurement area of scattering characteristics of vehicle-mounted radar |
| CN111152182A (en) * | 2019-10-09 | 2020-05-15 | 山东大学 | Multi-arm robot for tunnel lining detection and disease diagnosis in operation period |
| CN111208149A (en) * | 2020-02-19 | 2020-05-29 | 中国矿业大学(北京) | Subway tunnel disease synchronous detection experimental apparatus |
| US12031922B2 (en) | 2019-10-09 | 2024-07-09 | Shandong University | Multi-arm robot used for tunnel lining inspection and defect diagnosis in operation period |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109581347A (en) * | 2018-12-10 | 2019-04-05 | 航天南湖电子信息技术股份有限公司 | A kind of radar fining distance measuring method |
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| US12031922B2 (en) | 2019-10-09 | 2024-07-09 | Shandong University | Multi-arm robot used for tunnel lining inspection and defect diagnosis in operation period |
| CN110954877A (en) * | 2019-11-05 | 2020-04-03 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Method for generating terrain of measurement area of scattering characteristics of vehicle-mounted radar |
| CN110954877B (en) * | 2019-11-05 | 2022-04-26 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Method for generating terrain of measurement area of scattering characteristics of vehicle-mounted radar |
| CN111208149A (en) * | 2020-02-19 | 2020-05-29 | 中国矿业大学(北京) | Subway tunnel disease synchronous detection experimental apparatus |
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Application publication date: 20181102 |