CN109440721B - A kind of identification of river channel sedimentation object and preprocess method - Google Patents
A kind of identification of river channel sedimentation object and preprocess method Download PDFInfo
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- CN109440721B CN109440721B CN201811568397.9A CN201811568397A CN109440721B CN 109440721 B CN109440721 B CN 109440721B CN 201811568397 A CN201811568397 A CN 201811568397A CN 109440721 B CN109440721 B CN 109440721B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/02—Stream regulation, e.g. breaking up subaqueous rock, cleaning the beds of waterways, directing the water flow
- E02B3/023—Removing sediments
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of identification of river channel sedimentation object and preprocess methods comprising following steps: S1, the 3-D view that river bed is obtained using Imaging sonar system, and preset pressure threshold value；S2, the average height for obtaining 3-D view, and calibrated altitude is higher than the position of average height；S3, the position for hitting calibration is successively stabbed using the barred body with pressure sensor, obtain the pressure value during stamp is hit；S4, the shape information and hardness information that area, pressure value and pressure threshold obtain sediment are hit according to stamp；S5, the sediment is salvaged or is smash vibration break process using gripper or underwater reamer according to the shape information and hardness information of sediment；S6, step S3-S5 is repeated until the sediment in target area meets the job requirement of silt remover, the identification and pretreatment of completion river channel sedimentation object.The present invention can prevent sediment from blocking silt remover pipeline, and the loose hardened situation of sediment improves the production efficiency of river sand and underwater material.
Description
Technical field
The present invention relates to river course clear up fields, and in particular to a kind of identification of river channel sedimentation object and preprocess method.
Background technique
Silt particle is pooled to middle formation sediment before river, reservoir, high dam with rivers current, has raised the level of tail water, becomes silted up
Product object be easy to cause river to block, and seriously affects the performance of river process.And these sediment grading limits are wide, generally include
The rubble great soil group sediment of larger proportion, and locating section flow velocity and range of stage are big, and dredging work amount is big.
To slow down river siltation, extend reservoir service life, the power benefit and flood carrying capacity of high dam, especially in the depth of water
The working efficiency of underwater desilting is improved in biggish place, before laying desilting equipment, carry out river training under water
The identification of shape feature and surrounding enviroment and pre- judgement.
Summary of the invention
For above-mentioned deficiency in the prior art, a kind of identification of river channel sedimentation object provided by the invention and preprocess method
Solves the problems, such as direct dredging river channel sedimentation object low efficiency, time-consuming and laborious.
In order to achieve the above object of the invention, the technical solution adopted by the present invention are as follows:
There is provided identification and the preprocess method of a kind of river channel sedimentation object comprising following steps:
S1, the 3-D view that river bed is obtained using Imaging sonar system, and preset pressure threshold value；
S2, the average height for obtaining 3-D view, and calibrated altitude is higher than the position of average height；
S3, the position for hitting calibration is successively stabbed using the barred body with pressure sensor, obtain the pressure value during stamp is hit；
S4, the shape information and hardness information that area, pressure value and pressure threshold obtain sediment are hit according to stamp；
S5, the sediment is beaten using gripper or underwater reamer according to the shape information and hardness information of sediment
Fish out or smash vibration break process；
S6, step S3-S5 is repeated until the sediment in target area meets the job requirement of silt remover, completion river
The identification and pretreatment of sediment.
Further, step S3 method particularly includes:
Pressure sensor is arranged in the front end of barred body, the position demarcated with one is that the stamp of a round hits range, is adopted
The spacing distance for using distance identical with pressure sensor sensitive face length to hit as stamp, and with the calibration position highest point and its
Drop value between surrounding minimum point is that stamp hits depth and carries out stamp and hits, and obtains the pressure value during stamp is hit each time.
Further, step S4 method particularly includes:
Using the position of each calibration as at least one sediment there are points, and by identical stamp in same stamp striking wheel time
Coverage area of the maximum pressure value position as same sediment is hit, the shape information of sediment is obtained；When any stamp
When hitting maximum pressure value obtained in process more than or equal to the pressure threshold upper limit, skips the secondary stamp and hit, and the secondary stamp is hit into position
The sediment at place is recorded as sediment with high hardness；Maximum pressure value is located at the pressure threshold upper limit and pressure threshold during stamp is hit
Sediment between value lower limit is denoted as the moderate sediment of hardness；Maximum pressure value is in pressure threshold lower limit during stamp is hit
Sediment is denoted as the low sediment of hardness.
Further, step S5 method particularly includes:
Sediment with high hardness is salvaged using gripper, silt remover is greater than or equal to shape using underwater reamer
The moderate sediment of the sediment and hardness of line size carries out smashing vibration break process.
Further, the sediment that silt remover job requirement is met in step S6 is line size of the shape less than silt remover
And maximum pressure value is less than the sediment of pressure threshold lower limit during stamp is hit.
The invention has the benefit that the present invention can be greater than the sediment of silt remover pipeline to size in river channel sedimentation object
It is identified and is handled with the sediment for being difficult to be drawn up by silt remover, cleared up sediment for subsequent silt remover and be ready, it can be with
Prevent sediment from blocking silt remover pipeline, the loose hardened situation of sediment improves the production efficiency of river channel sedimentation object.
Detailed description of the invention
Fig. 1 is flow diagram of the invention.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
As shown in Figure 1, the identification of the river channel sedimentation object and preprocess method the following steps are included:
S1, the 3-D view that river bed is obtained using Imaging sonar system, and preset pressure threshold value；
S2, the average height for obtaining 3-D view, and calibrated altitude is higher than the position of average height；
S3, the position for hitting calibration is successively stabbed using the barred body with pressure sensor, obtain the pressure value during stamp is hit；
S4, the shape information and hardness information that area, pressure value and pressure threshold obtain sediment are hit according to stamp；
S5, the sediment is beaten using gripper or underwater reamer according to the shape information and hardness information of sediment
Fish out or smash vibration break process；
S6, step S3-S5 is repeated until the sediment in target area meets the job requirement of silt remover, completion river
The identification and pretreatment of sediment.
Step S3's method particularly includes: pressure sensor is arranged in the front end of barred body, the position demarcated with one is one
The stamp of a round hits range, the spacing distance hit using distance identical with pressure sensor sensitive face length as stamp, and with
Drop value between the calibration position highest point and its surrounding minimum point is that stamp hits depth and carries out stamp and hits, and obtains stamp each time and hit
Pressure value in journey.
Step S4's method particularly includes: using the position of each calibration as at least one sediment there are points, and will be same
Identical stamp hits coverage area of the maximum pressure value position as same sediment in one stamp striking wheel time, obtains sediment
Shape information；When any stamp hits maximum pressure value obtained in process more than or equal to the pressure threshold upper limit, the secondary stamp is skipped
It hits, and the sediment that the secondary stamp is hit at position is recorded as sediment with high hardness；Maximum pressure value is located at during stamp is hit
Sediment between the pressure threshold upper limit and pressure threshold lower limit is denoted as the moderate sediment of hardness；Maximum pressure during stamp is hit
Force value is denoted as the low sediment of hardness in the sediment of pressure threshold lower limit.
Step S5's method particularly includes: salvaged sediment with high hardness using gripper, using underwater reamer pair
The shape sediment moderate more than or equal to the sediment of silt remover line size and hardness carries out smashing vibration break process.
The sediment for meeting silt remover job requirement in step S6 is that shape is less than the line size of silt remover and hits in stamp
Maximum pressure value is less than the sediment of pressure threshold lower limit in the process.
In one embodiment of the invention, if the sediment of bottom of river channel is mainly sand, it is constant that speed is hit in stamp
In the case of, stamp is hit water-immersed sand heap as pressure threshold lower limit by the pressure value that stamp can be hit water-immersed sand heap
3 times of pressure value be used as the pressure threshold upper limits.When judging whether pressure value is identical, the error allowed is in 0.2 times of pressure
Bottom threshold.Assuming that pressure threshold lower limit is 1, the maximum pressure value that stamp obtains during hitting at same calibration position is 2, then not
With stamp hit pressure value of the maximum pressure value obtained in process in 1.8 to 2 ranges be accordingly to be regarded as it is identical.
In the specific implementation process, pressure sensor of the invention use piezoresistive transducer, when piezoresistive transducer by
To after the effect of power, resistivity changes, and can be obtained by the electric signal for being proportional to pressure change by measuring circuit, in turn
Pressure value is converted electrical signals to by host computer.In order to enable stabbing the effective range hit every time meets current scene, Ke Yi
The sensitive face of piezoresistive transducer increases baffle, and the area of sensitive face is increasedd or decreased by baffle, after change senses area,
Need to carry out the correction of pressure value and electric signal, correction course can be by that will stab the electric signal for hitting water-immersed sand heap and obtaining
Corresponding pressure value is matched with the pressure value of script, and correction course is ordinary skill in the art means, is repeated no more.
The present invention can be greater than the sediment of silt remover pipeline to size in river channel sedimentation object and be difficult to be drawn up by silt remover
Sediment identified and handled, for subsequent silt remover clear up sediment be ready, can prevent sediment block dredging
Machine pipeline, the loose hardened situation of sediment improve the production efficiency of river channel sedimentation object.
Claims (3)
1. identification and the preprocess method of a kind of river channel sedimentation object, which comprises the following steps:
S1, the 3-D view that river bed is obtained using Imaging sonar system, and preset pressure threshold value；
S2, the average height for obtaining 3-D view, and calibrated altitude is higher than the position of average height；
S3, the position for hitting calibration is successively stabbed using the barred body with pressure sensor, obtain the pressure value during stamp is hit；
S4, the shape information and hardness information that area, pressure value and pressure threshold obtain sediment are hit according to stamp；
S5, the sediment salvage using gripper or underwater reamer according to the shape information and hardness information of sediment or
Smash vibration break process；
S6, step S3-S5 is repeated until the sediment in target area meets the job requirement of silt remover, completion river channel sedimentation
The identification and pretreatment of object；
The step S3's method particularly includes:
Pressure sensor is arranged in the front end of barred body, with one demarcate position be a round stamp hit range, using with
The spacing distance that the identical distance of pressure sensor sensitive face length is hit as stamp, and with the calibration position highest point and its surrounding
Drop value between minimum point is that stamp hits depth and carries out stamp and hits, and obtains the pressure value during stamp is hit each time；
The step S4's method particularly includes:
Using the position of each calibration as at least one sediment there are points, and stamp identical in same stamp striking wheel time is hit most
Coverage area of the big pressure value position as same sediment, obtains the shape information of sediment；When any stamp was hit
When maximum pressure value obtained in journey is more than or equal to the pressure threshold upper limit, skips the secondary stamp and hit, and the secondary stamp is hit at position
Sediment is recorded as sediment with high hardness；Maximum pressure value is located under the pressure threshold upper limit and pressure threshold during stamp is hit
Sediment between limit is denoted as the moderate sediment of hardness；Siltation of the maximum pressure value in pressure threshold lower limit during stamp is hit
Object is denoted as the low sediment of hardness.
2. identification and the preprocess method of river channel sedimentation object according to claim 1, which is characterized in that the step S5's
Method particularly includes:
Sediment with high hardness is salvaged using gripper, silt remover pipeline is greater than or equal to shape using underwater reamer
The moderate sediment of the sediment and hardness of size carries out smashing vibration break process.
3. identification and the preprocess method of river channel sedimentation object according to claim 2, which is characterized in that meet in step S6
The sediment of silt remover job requirement is that shape is less than the line size of silt remover and maximum pressure value is less than during stamp is hit
The sediment of pressure threshold lower limit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811568397.9A CN109440721B (en) | 2018-12-21 | 2018-12-21 | A kind of identification of river channel sedimentation object and preprocess method |
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| CN201811568397.9A CN109440721B (en) | 2018-12-21 | 2018-12-21 | A kind of identification of river channel sedimentation object and preprocess method |
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| CN109440721A CN109440721A (en) | 2019-03-08 |
| CN109440721B true CN109440721B (en) | 2019-08-06 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106597546A (en) * | 2016-12-08 | 2017-04-26 | 黄河水利委员会黄河水利科学研究院 | Method for detecting river bottom surface sediment physical properties |
| CN107227791A (en) * | 2017-07-13 | 2017-10-03 | 福建（泉州）哈工大工程技术研究院 | A kind of dredging robot and its application method |
| CN108646305A (en) * | 2018-05-17 | 2018-10-12 | 中国石油天然气股份有限公司 | A kind of inclination angle acquisition methods, device, electronic equipment and the storage medium at interface |
| CN108761469A (en) * | 2018-06-13 | 2018-11-06 | 中交基础设施养护集团有限公司 | A kind of detection method of the submerged structure damage and channel scour scanned based on sonar |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015209757A (en) * | 2014-04-30 | 2015-11-24 | 特定非営利活動法人シンクタンク日本 | Decontamination method for water and bottom sediment in closed sea area using ocean current |
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- 2018-12-21 CN CN201811568397.9A patent/CN109440721B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597546A (en) * | 2016-12-08 | 2017-04-26 | 黄河水利委员会黄河水利科学研究院 | Method for detecting river bottom surface sediment physical properties |
| CN107227791A (en) * | 2017-07-13 | 2017-10-03 | 福建（泉州）哈工大工程技术研究院 | A kind of dredging robot and its application method |
| CN108646305A (en) * | 2018-05-17 | 2018-10-12 | 中国石油天然气股份有限公司 | A kind of inclination angle acquisition methods, device, electronic equipment and the storage medium at interface |
| CN108761469A (en) * | 2018-06-13 | 2018-11-06 | 中交基础设施养护集团有限公司 | A kind of detection method of the submerged structure damage and channel scour scanned based on sonar |
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