CN108732546A - Remote contactless Tunnel testing distance compensation apparatus and method - Google Patents

Remote contactless Tunnel testing distance compensation apparatus and method Download PDF

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Publication number
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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丁浩
刘秋卓
刘永华
李科
朱炯
江星宏
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China Merchants Chongqing Communications Research and Design Institute Co Ltd
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China Merchants Chongqing Communications Research and Design Institute Co Ltd
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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

远距离非接触式隧道检测距离补偿装置及方法Long-distance non-contact tunnel detection distance compensation device and method

技术领域technical field

本发明属于隧道检测领域，涉及远距离非接触式隧道检测距离补偿装置及方法。The invention belongs to the field of tunnel detection and relates to a long-distance non-contact tunnel detection distance compensation device and method.

背景技术Background technique

地质雷达是使用甚高频至超高频段的地下电磁波反射探测技术。工作原理是发射器通过发射天线向初期支护与围岩中定向发射电磁波，电磁波在传播的路径上当遇到有电性(介电常数和电导率)差异的界面时即发生反射，从不同深度返回的各个反射波由接收天线和接收器所接收，另外还最先接收到从反射天线经两天线所在介质的表面传播到接收天线的直达波，并作为系统的时间起始零点。经过信号处理之后，对于直达波之后反射回来的各个不同时间的发射波，取其时间之半，乘以相应介质的电磁波传播速度即为反射目标的深度。再根据反射信息特征(反射强度、反射波组合特点以及横向、纵向变化等)判别反射目标的性质。初期支护与围岩、围岩中的空洞或欠密实区、围岩中的含水区或裂缝、初期支护裂缝等均为良好的反射界面或目标体。Geological radar is an underground electromagnetic wave reflection detection technology using the VHF to UHF band. The working principle is that the transmitter transmits electromagnetic waves directionally to the primary support and surrounding rock through the transmitting antenna, and the electromagnetic waves are reflected when they encounter an interface with a difference in electrical properties (dielectric constant and conductivity) on the path of propagation. The returned reflected waves are received by the receiving antenna and the receiver. In addition, the direct wave propagating from the reflecting antenna to the receiving antenna through the surface of the medium where the two antennas are located is also first received, and it is used as the starting zero point of the system. After signal processing, for the transmitted waves reflected back at different times after the direct wave, half of the time is taken, and multiplied by the electromagnetic wave propagation speed of the corresponding medium is the depth of the reflected target. Then according to the characteristics of reflection information (reflection intensity, characteristics of reflection wave combination, horizontal and vertical changes, etc.), the nature of the reflecting target is judged. Primary support and surrounding rock, cavities or under-dense areas in surrounding rock, water-bearing areas or cracks in surrounding rock, and primary support cracks are all good reflection interfaces or target objects.

目前主要采用地质雷达配合使用不同频率(常用的有270MHz、400MHz、900MHz)的天线对隧道结构状态，如二衬混凝土厚度、二衬与初支间的密实性等参数进行检测，其天线绝大多数为地面耦合式天线，即检测时雷达天线须与检测对象密贴。At present, geological radar is mainly used in combination with antennas of different frequencies (commonly used are 270MHz, 400MHz, 900MHz) to detect the tunnel structure status, such as the thickness of the second lining concrete, the compactness between the second lining and the primary support, etc. The antenna is extremely large. Most of them are ground-coupled antennas, that is, the radar antenna must be closely attached to the detection object during detection.

该种检测方式的主要问题有三点：There are three main problems with this detection method:

(1)雷达天线不能脱开检测对象，否则会出现信号不良的现象，不利于后期数据处理和判读，严重者甚至会导致数据无效，而检测现场由于存在各种问题，常导致该种现象难以完全避免。(1) The radar antenna cannot be disengaged from the detection object, otherwise there will be a phenomenon of poor signal, which is not conducive to the later data processing and interpretation, and in severe cases may even lead to invalid data. However, due to various problems at the detection site, this phenomenon is often difficult to detect. Avoid it altogether.

(2)采用该种方法进行检测时，通常由人工把握天线，站立于高空车围栏内在高处作业，路面不平或车辆速度稍快时存在较大的掉落安全风险。另外长时间运营隧道衬砌表面积灰严重，地耦天线刮除积灰后将导致洞内烟尘飘洒，影响行车环境。(2) When this method is used for detection, the antenna is usually manually grasped, standing in the fence of the high-altitude vehicle and working at a high place. When the road surface is uneven or the vehicle speed is slightly fast, there is a greater risk of falling safety. In addition, the long-term operation of the tunnel lining surface is seriously covered with dust. After the ground coupling antenna scrapes the dust, it will cause the dust to float in the tunnel and affect the driving environment.

(3)检测时须开展占道施工作业，而占道施工审批手续办理及撞车风险控制也是一大难题。(3) Road-occupied construction operations must be carried out during the inspection, and the approval procedures for road-occupied construction and the risk control of collisions are also a major problem.

因此，现有检测技术的工作效率较低、对既有交通的干扰较大、交通安全的隐患较大。Therefore, the work efficiency of the existing detection technology is low, the interference to the existing traffic is relatively large, and the hidden danger of traffic safety is relatively large.

发明内容Contents of the invention

有鉴于此，本发明的目的在于提供一种远距离非接触式隧道检测距离补偿装置及方法。In view of this, the purpose of the present invention is to provide a long-distance non-contact tunnel detection distance compensation device and method.

为达到上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:

远距离非接触式隧道检测距离补偿装置，包括空气耦合雷达天线、激光测距仪器和控制系统；Long-distance non-contact tunnel detection distance compensation device, including air-coupled radar antenna, laser ranging instrument and control system;

空气耦合雷达天线和激光测距仪器紧邻，空气耦合雷达天线向支护与围岩发射和接收电磁波，同时，激光测距仪器照射在空气耦合雷达天线所检测的位置，将距离数据通过电缆线导入控制系统进行补偿计算，调整检测位置。The air-coupled radar antenna and the laser rangefinder are close to each other. The air-coupled radar antenna emits and receives electromagnetic waves to the support and surrounding rock. At the same time, the laser rangefinder shines on the position detected by the air-coupled radar antenna, and the distance data is imported through the cable. The control system performs compensation calculation and adjusts the detection position.

所述空气耦合雷达天线频率为380MHz～1.6GHz。The frequency of the air-coupled radar antenna is 380MHz-1.6GHz.

进一步，所述车载系统检测速度为50～70KM/小时；激光测距仪器的测距精度为1mm，采样的距离间隔为0.5m-2m。Further, the detection speed of the vehicle-mounted system is 50-70KM/hour; the ranging accuracy of the laser ranging instrument is 1mm, and the sampling distance interval is 0.5m-2m.

进一步，该装置还包括机械臂和车载系统；Further, the device also includes a mechanical arm and a vehicle-mounted system;

空气耦合雷达天线和激光测距仪器设于机械臂上，机械臂设置于车载系统上。The air-coupled radar antenna and the laser ranging instrument are set on the manipulator, and the manipulator is set on the vehicle system.

基于所述装置的远距离非接触式隧道检测距离补偿方法，在检测过程中，为保证激光测距的准确性，采用实时滤波的方式来对信号结果进行保证，滤波方法为：先用阀值过滤，再用平均值插值的方式对其进行滤波，具体为：Based on the long-distance non-contact tunnel detection distance compensation method of the device, in the detection process, in order to ensure the accuracy of laser ranging, a real-time filtering method is used to ensure the signal result. The filtering method is: first use the threshold Filter, and then use the average value interpolation method to filter it, specifically:

设激光测距仪器采样所得的距离值为L(t)，L(t)是随时间变化的一个一维矩阵，设定一个阀值F，根据实际情况，F取值为0.3m，滤波窗口为3；假设在任意连续时间t1，t2，t3时间内，|L(t1)-L(t2)|＞F且|L(t3)-L(t2)|＞F；Suppose the distance value sampled by the laser ranging instrument is L(t), L(t) is a one-dimensional matrix that changes with time, set a threshold F, according to the actual situation, the value of F is 0.3m, the filter window is 3; assuming that |L(t 1 )-L(t 2 )|＞F and |L(t 3 )-L(t 2 )|＞F in any continuous time t 1 , t 2 , t 3 ;

视L(t2)为噪音点，并根据以下公式为L(t2)赋予新值：Treat L(t 2 ) as a noise point, and assign a new value to L(t 2 ) according to the following formula:

L(t2)＝(L(t1)+L(t3))/2L(t 2 )=(L(t 1 )+L(t 3 ))/2

滤波结束后，根据L(t)与预设空气耦合雷达天线与衬砌之间的距离S之间的差值作为激光测距仪器的距离补偿值，即空气耦合雷达天线的补偿距离C为：After filtering, the difference between L(t) and the preset distance S between the air-coupled radar antenna and the lining is used as the distance compensation value of the laser ranging instrument, that is, the compensation distance C of the air-coupled radar antenna is:

C＝S-L(t)C=S-L(t)

其中，C为正值表示空气耦合雷达天线需要远离衬砌的距离，为负值表示需要靠近衬砌的距离。Among them, C is a positive value indicating that the air-coupled radar antenna needs to be far away from the lining, and a negative value indicates the distance that needs to be close to the lining.

进一步，所述激光测距仪器采用可见激光光点照射在空气耦合雷达天线测线所检测的位置，让车载系统的操作人员实时观察雷达检测位置是否符合要求，并根据结果进行实时调整。Further, the laser rangefinder uses visible laser light spots to irradiate the position detected by the air-coupled radar antenna line, allowing the operator of the vehicle system to observe in real time whether the radar detection position meets the requirements, and make real-time adjustments based on the results.

本发明的有益效果在于：本发明能在隧道检测过程中，实时记录雷达天线到衬砌表面的距离，并记录该数据用于补偿计算，并通过激光的可见光点让控制人员完成天线对测线的对准。The beneficial effect of the present invention is that: the present invention can record the distance from the radar antenna to the lining surface in real time during the tunnel detection process, and record the data for compensation calculation, and let the control personnel complete the detection of the antenna to the survey line through the visible light spot of the laser. alignment.

附图说明Description of drawings

为了使本发明的目的、技术方案和有益效果更加清楚，本发明提供如下附图进行说明：In order to make the purpose, technical scheme and beneficial effect of the present invention clearer, the present invention provides the following drawings for illustration:

图1为本发明结构示意图。Fig. 1 is a schematic diagram of the structure of the present invention.

附图标记：1-空气耦合雷达天线，2-激光测距仪器，3-机械臂，4-车载系统，5-控制系统。Reference signs: 1—air-coupled radar antenna, 2—laser distance measuring instrument, 3—mechanical arm, 4—vehicle system, 5—control system.

具体实施方式Detailed ways

下面将结合附图，对本发明的优选实施例进行详细的描述。The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

如图1所示，远距离非接触式隧道检测距离补偿装置，包括空气耦合雷达天线、激光测距仪器、机械臂3、控制系统5和车载系统4；As shown in Figure 1, the long-distance non-contact tunnel detection distance compensation device includes an air-coupled radar antenna, a laser ranging instrument, a mechanical arm 3, a control system 5 and a vehicle-mounted system 4;

空气耦合雷达天线1和激光测距仪器2设于机械臂3上，机械臂3设置于车载系统4上，空气耦合雷达天线1向支护与围岩发射和接收电磁波，同时，激光测距仪器2照射在空气耦合雷达天线1所检测的位置，将距离数据通过电缆线导入控制系统5进行补偿计算，调整检测位置。The air-coupled radar antenna 1 and the laser distance measuring instrument 2 are arranged on the mechanical arm 3, and the mechanical arm 3 is arranged on the vehicle-mounted system 4. The air-coupled radar antenna 1 transmits and receives electromagnetic waves to the support and surrounding rock, and at the same time, the laser distance measuring instrument 2. Irradiate on the position detected by the air-coupled radar antenna 1, import the distance data into the control system 5 through the cable for compensation calculation, and adjust the detection position.

车载系统4检测速度为60KM/小时；激光测距仪器2的测距精度为1mm，采样频率为10Hz，采样的距离间隔为1.67m。The detection speed of the vehicle-mounted system 4 is 60KM/hour; the ranging accuracy of the laser ranging instrument 2 is 1mm, the sampling frequency is 10Hz, and the sampling distance interval is 1.67m.

空气耦合雷达天线1频率为380MHz～1.6GHz。The frequency of the air-coupled radar antenna 1 is 380MHz-1.6GHz.

基于所述装置的远距离非接触式隧道检测距离补偿方法，在检测过程中，为保证激光测距的准确性，采用实时滤波的方式来对信号结果进行保证，滤波方法为：先用阀值过滤，再用平均值插值的方式对其进行滤波，具体为：Based on the long-distance non-contact tunnel detection distance compensation method of the device, in the detection process, in order to ensure the accuracy of laser ranging, a real-time filtering method is used to ensure the signal result. The filtering method is: first use the threshold Filter, and then use the average value interpolation method to filter it, specifically:

设激光测距仪器2采样所得的距离值为L(t)，L(t)是随时间变化的一个一维矩阵，设定一个阀值F，根据实际情况，F取值为0.3m，滤波窗口为3；假设在任意连续时间t1，t2，t3时间内，|L(t1)-L(t2)|＞F且|L(t3)-L(t2)|＞F；Assume that the distance value obtained by the sampling of the laser ranging instrument 2 is L(t), and L(t) is a one-dimensional matrix that changes with time, and a threshold F is set. According to the actual situation, the value of F is 0.3m, and the filtering The window is 3; assuming that in any continuous time t 1 , t 2 , t 3 time, |L(t 1 )-L(t 2 )|＞F and |L(t 3 )-L(t 2 )|＞ F;

视L(t2)为噪音点，并根据以下公式为L(t2)赋予新值：Treat L(t 2 ) as a noise point, and assign a new value to L(t 2 ) according to the following formula:

L(t2)＝(L(t1)+L(t3))/2L(t 2 )=(L(t 1 )+L(t 3 ))/2

滤波结束后，根据L(t)与预设空气耦合雷达天线1与衬砌之间的距离S之间的差值作为激光测距仪器2的距离补偿值，即空气耦合雷达天线1的补偿距离C为：After filtering, the difference between L(t) and the preset distance S between the air-coupled radar antenna 1 and the lining is used as the distance compensation value of the laser ranging instrument 2, that is, the compensation distance C of the air-coupled radar antenna 1 for:

C＝S-L(t)C=S-L(t)

其中，C为正值表示空气耦合雷达天线1需要远离衬砌的距离，为负值表示需要靠近衬砌的距离。Wherein, C is a positive value indicating that the air-coupled radar antenna 1 needs to be far away from the lining, and a negative value indicates a distance that needs to be close to the lining.

激光测距仪器2采用可见激光光点照射在空气耦合雷达天线1测线所检测的位置，让车载系统4的操作人员实时观察雷达检测位置是否符合要求，并根据结果进行实时调整。The laser ranging instrument 2 uses a visible laser spot to irradiate the position detected by the air-coupled radar antenna 1 measuring line, allowing the operator of the vehicle system 4 to observe in real time whether the radar detection position meets the requirements, and make real-time adjustments based on the results.

最后说明的是，以上优选实施例仅用以说明本发明的技术方案而非限制，尽管通过上述优选实施例已经对本发明进行了详细的描述，但本领域技术人员应当理解，可以在形式上和细节上对其作出各种各样的改变，而不偏离本发明权利要求书所限定的范围。Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that it can be described in terms of form and Various changes may be made in the details without departing from the scope of the invention defined by the claims.

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.
CN201810573616.6A 2018-06-06 2018-06-06 Remote contactless Tunnel testing distance compensation apparatus and method Pending CN108732546A (en)

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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
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 A multi-arm robot for tunnel lining detection and disease diagnosis during operation
CN111208149A (en) * 2020-02-19 2020-05-29 中国矿业大学(北京) Subway tunnel disease synchronous detection experimental apparatus
CN115541620A (en) * 2022-09-28 2022-12-30 中国铁道科学研究院集团有限公司基础设施检测研究所 Tunnel lining detection device and method
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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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
CN111152182A (en) * 2019-10-09 2020-05-15 山东大学 A multi-arm robot for tunnel lining detection and disease diagnosis during operation
CN111152182B (en) * 2019-10-09 2022-02-08 山东大学 Multi-arm robot for tunnel lining detection and disease diagnosis in operation period
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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CN111208149A (en) * 2020-02-19 2020-05-29 中国矿业大学(北京) Subway tunnel disease synchronous detection experimental apparatus
CN115541620A (en) * 2022-09-28 2022-12-30 中国铁道科学研究院集团有限公司基础设施检测研究所 Tunnel lining detection device and method

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