CN111102946B - Tunnel deformation monitoring method based on ultrasonic waves - Google Patents
Tunnel deformation monitoring method based on ultrasonic waves Download PDFInfo
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- CN111102946B CN111102946B CN201911311708.8A CN201911311708A CN111102946B CN 111102946 B CN111102946 B CN 111102946B CN 201911311708 A CN201911311708 A CN 201911311708A CN 111102946 B CN111102946 B CN 111102946B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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Abstract
The invention discloses a tunnel deformation monitoring method based on ultrasonic waves. The method is characterized in that a plurality of ultrasonic generators and a plurality of ultrasonic receivers are arranged on the same cross section of the tunnel, the coordinates of the ultrasonic transmitter and the ultrasonic receiver are calculated by utilizing the transmission information of ultrasonic waves between the ultrasonic generators and the ultrasonic receivers, and the convergence deformation of the tunnel is determined according to the change of the coordinates. The method is easy to implement on the section of the tunnel; the cost of the whole system is very low.
Description
Technical Field
The invention belongs to the tunnel safety monitoring technology, and particularly relates to a method for monitoring tunnel deformation by utilizing ultrasonic waves.
Background
A large number of health monitoring of tunnel deformation is required both in operating tunnels and buildings. Many methods have been developed to monitor changes in tunnel cross-section, the most traditional of which relies on surveyor's level and a total station, and other methods of measuring cross-sectional deformation by laser or optical fiber are discussed. Each of the above methods has its own drawbacks, such as the requirement for a worker to operate depending on the surveyor's level and the total station, and thus it is difficult to reach certain measuring points and to continuously and automatically monitor the deformation. Colored, glossy or transparent surfaces or adverse environmental conditions (such as dust, dirt or fog) can be a challenge for optical sensors. Furthermore, the optical fibers are fragile and the actuators are expensive.
Disclosure of Invention
The invention aims to provide a tunnel deformation monitoring method by utilizing ultrasonic waves, which realizes quick wireless detection and is particularly suitable for online quick wireless detection.
In order to realize the purpose of the invention, the technical scheme of the invention is as follows: the method for monitoring the deformation of the tunnel based on the ultrasonic waves comprises the steps of arranging a plurality of ultrasonic generators and a plurality of ultrasonic receivers on the same section of the tunnel, calculating coordinates of the ultrasonic transmitters and the ultrasonic receivers by utilizing transmission information of the ultrasonic waves between the ultrasonic generators and the ultrasonic receivers, and determining the deformation of the tunnel according to the change of the coordinates.
The invention receives the ultrasonic signals of the plurality of ultrasonic generators through the ultrasonic receiver, determines the coordinate change of the ultrasonic receiver and determines the deformation condition of the tunnel, and has simple method and convenient operation.
It is particularly preferred that the number of ultrasound generators is at least two.
It is particularly preferred that the number of ultrasonic receivers is at least four.
It is particularly preferred that at least three of the ultrasonic transmitters are arranged, wherein one ultrasonic transmitter and one ultrasonic receiver are arranged at the same position on the cross section.
It is particularly preferred that the ultrasonic transmitters have four, and that each ultrasonic receiver receives ultrasonic measurement signals emitted by three of the ultrasonic transmitters.
It is particularly preferred that the ultrasound generator and the ultrasound receiver are arranged uniformly along the tunnel wall.
Particularly preferably, the method for calculating the coordinates of the ultrasonic transmitter and the ultrasonic receiver by using the transmission information of the ultrasonic wave between the ultrasonic generator and the ultrasonic receiver comprises the following steps: by the following algorithm
(xm-xn)2+(ym-yn)2＝(Lmn+em)2
Wherein the coordinate (x)m,ym) Is the coordinate of the mth ultrasonic receiver, coordinate (x)n,yn) Is the coordinate of the nth ultrasonic transmitter, LmnIs the detected distance between the mth ultrasonic receiver and the nth ultrasonic generator; e.g. of the typemIs the lag error of the mth ultrasonic receiver; solving for x by iterative methodsm，ym，emThe value of (c).
The ultrasonic transducer is suitable for continuous automatic measurement of the deformation of the cross section of the tunnel; when the method is applied to the in-service traffic tunnel, the transportation is not interfered. However, due to the harsh environment in tunnel monitoring, the measurement accuracy of the ultrasound will be affected by the orientation of the transmitter-receiver ultrasound due to tunnel deformation; the technical scheme of the invention preferably considers the detection error; meanwhile, the progress of measurement monitoring is improved by utilizing a processing algorithm of a Redundant Ultrasonic Information (RUI) method based on more ultrasonic transmitters and receivers. The method is easy to implement on the section of the tunnel; the cost of the whole system is very low. The proposed measurement system is therefore an effective tool for tunnel monitoring.
Drawings
Fig. 1 is a distribution diagram of sensors of a tunnel deformation monitoring device over a tunnel cross-section, according to an exemplary embodiment.
Fig. 2 is a schematic view of the tunnel shown in fig. 1 after deformation.
Fig. 3 is a schematic illustration of the determination of the coordinates of an ultrasonic receiver by three ultrasonic transmitters.
FIG. 4 is a graph illustrating a sensor profile of another tunnel deformation monitoring device over a tunnel cross-section according to an exemplary embodiment.
Fig. 5 is a schematic view of the tunnel shown in fig. 4 after deformation.
Detailed Description
The tunnel deformation monitoring device based on ultrasonic waves comprises at least two ultrasonic transmitters, at least four ultrasonic receivers, a control module, a wireless adapter and a PC. The ultrasonic transmitter and the ultrasonic receiver are installed on the same section of the tunnel. The control module can adopt a singlechip, and the ultrasonic transmitter and the ultrasonic receiver are connected with the control module. The communication between the control module and the wireless adapter is wireless. The wireless adapter is plugged into a USB port at the PC end.
The method for monitoring the deformation of the tunnel by using the tunnel deformation monitoring device comprises the following steps: the PC generates an ultrasonic wave transmitting command which is sent to the control module through the wireless adapter; the control module controls at least two ultrasonic transmitters to transmit ultrasonic measurement signals; at least four ultrasonic receivers receive ultrasonic measuring signals transmitted by the at least two ultrasonic transmitters; feeding back ultrasonic measurement signals received by at least four ultrasonic receivers to the PC; and a processing unit on the PC calculates the coordinates of the ultrasonic transmitter and the ultrasonic receiver according to the transmission time of the measurement signal, and determines the convergence deformation of the tunnel according to the change of the coordinates. The device can realize wireless data transmission and real-time measurement.
Fig. 1 is a diagram illustrating a distribution of sensors of an ultrasonic-based tunnel deformation monitoring apparatus over a tunnel cross-section according to an exemplary embodiment, two ultrasonic transmitters 1, 2 and four ultrasonic receivers 3, 4, 5, 6 are uniformly fixed on a circular cross-section of a tunnel, and adjacent two ultrasonic sensors have a central angle of 60 ° therebetween. Wherein the ultrasonic receivers 3, 4, 5, 6 are directed towards the ultrasonic transmitters 1, 2, the ultrasonic transmitters 1, 2 may have two probes with an angle of 60 °.
The arrangement on the tunnel, which may be the arrangement of at least four ultrasonic receivers on the tunnel wall surface, is based on the uniform arrangement of the circular arcs of the circular tunnel wall except for the arrangement of the transmitters, which guarantees the measurement accuracy.
At least two transmitters, based on the receiver receiving two signals, can determine the coordinate minimum requirement of the receiver.
Principle of the inventionThe method comprises the following steps: referring to fig. 1, 2, it is assumed that the global coordinates of the ultrasonic transmitters 1, 2 do not change, i.e. the distance l between the ultrasonic transmitter 1 and the ultrasonic transmitter 20Is constant, the distance between the ultrasonic transmitter i and the ultrasonic receiver j is l before the tunnel is deformedijAnd the distance after deformation is l'ij，lijAnd l'ijBy ultrasonic measurement. Two ultrasonic transmitters 1, 2 and four ultrasonic receivers 3, 4, 5, 6 can obtain 8 distance values at a time, and the 8 distances are the minimum parameters to be measured for calculating the coordinates of each ultrasonic sensor. Then, after measuring the 8 distances before and after the tunnel deformation, the change of the coordinates at the position of the ultrasonic sensor can be determined.
Wherein, the ultrasonic measurement distance can be expressed as:
Ln＝v·tp
Lnrepresents the distance measurement result of the nth ultrasonic sensor, v represents the ultrasonic velocity, and if the required precision is not very high, v can be regarded as a constant, tpIs the transit time of the ultrasonic wave.
Based on the above, the coordinates of each ultrasonic transmitter and each ultrasonic receiver before the tunnel deformation can be determined, and then the coordinates of each ultrasonic receiver can be obtained in the continuous monitoring process, and the deformation state of the tunnel can be determined by comparing the change of the coordinates of the ultrasonic receivers before and after the change.
Of course, in actual testing, t is due to the hysteresis error of the ultrasonic wave and the circuitpThere is some error in the measured values of (a). The error in measuring the distance is:
e＝te·v
where e is the hysteresis error, teIs tpWhen the hysteresis errors of the ultrasonic receivers are consistent, the measurement errors can be determined and eliminated.
Referring to fig. 3, in order to reduce measurement errors, three ultrasonic transmitters may be provided, each having coordinates of (x)1,y1),(x2,y2) And (x)3,y3) Three ultrasonic transmittersThe distance traveled by the transmitted measurement signal (ultrasonic waves) is L1，L2，L3The coordinates R (x, y) of the measured point (ultrasonic receiver) can be determined based on each two results of the three ultrasonic transmitters. Thus, three different coordinates of R (x, y) can be obtained: r '(x', y '), R "(x", y "), R'" (x '", y'"). This difference in R (x, y) is mainly caused by the ultrasonic wave transmission distance error e. If the waveform lag error is constant, the coordinate calculation method of R (x, y) is as follows (1a) to (1 d).
(x-x1)2+(y-y1)2＝(L1+e)2 (1a)；
(x-x2)2+(y-y2)2＝(L2+e)2 (1b)；
(x-x3)2+(y-y3)2＝(L3+e)2 (1c)；
x2+y2＝L2(4) (1d)；
In the expressions (1a) to (1c), it can be known that a ternary quadratic equation in which x, y, and e are three unknown numbers exists, and the values of x, y, and e can be solved by an iterative method using computer software.
In equations (1a) to (1d), c is a measurement error, and L is a distance from the measured point to the origin of coordinates.
Therefore, based on the above description, more ultrasonic transmitters can be used in practical use.
Referring to fig. 4 and 5, two ultrasonic transmitters 7 and 8 are added, the ultrasonic transmitter 7 and the ultrasonic receiver 6 are arranged at the same position, and the ultrasonic transmitter 8 and the ultrasonic receiver 3 are arranged at the same position. The ultrasonic receiver 6 and the ultrasonic transmitter 7 may be formed by an ultrasonic sensor which is integrated with each other; the ultrasonic receiver 3 and the ultrasonic transmitter 8 may be formed by an ultrasonic sensor that transmits and receives ultrasonic waves together.
Position (x)6，y6) The ultrasonic receiver 6 receives three ultrasonic waves from the ultrasonic transmitters 1, 2, 8, in view of the fact that the receivers are identicalWave form lag error e in three tests1Should be consistent, therefore (x)6，y6) The calculation method (2a) to (2c) below.
(x6-x1)2+(y6-y1)2＝(L16+e1)2 (2a)；
(x6-x2)2+(y6-y2)2＝(L26+e1)2 (2b)；
(x6-x8)2+(y6-y8)2＝(L86+e1)2 (2c)；
In the formulae (2a) to (2c), L16、L26、L86The distances (x) between the ultrasonic receiver 6 and the ultrasonic transmitters 1, 2, 8, respectively1，y1) Is the coordinate of the ultrasonic transmitter 1, (x)2，y2) Is the coordinate of the ultrasonic transmitter 2, (x)8，y8) The coordinates of the ultrasonic transmitter 8.
Accordingly, (x)3，y3) The ultrasonic receiver 3 will also receive three ultrasonic waves from the ultrasonic transmitters 1, 2, 7, and other three sets of equations can be obtained:
(x3-x1)2+(y3-y1)2＝(L13+e2)2 (3a)；
(x3-x2)2+(y3-y2)2＝(L23+e2)2 (3b)；
(x3-x7)2+(y3-y7)2＝(L73+e2)2 (3c)；
in formulae (3a) to (3c), e2Is the waveform lag error, L13、L23、L73The distances (x) between the ultrasonic receiver 6 and the ultrasonic transmitters 1, 2, 7, respectively1，y1) Is the coordinate of the ultrasonic transmitter 1, (x)2，y2) Is the coordinate of the ultrasonic transmitter 2, (x)7，y7) The coordinates of the ultrasonic transmitter 7.
(x1，y1)、(x2，y2) Has known coordinates of (a), (b), and (x)6，y6)＝(x7，y7)、(x3，y3)＝(x8，y8)。
In the formulae (2a) to (3c), it can be seen that x is present8、y8、x7、y7、e1、e2Is six-element quadratic equation with six unknowns, and the equation is composed of six equations, we can use computer software to solve x by iteration method8、y8、x7、y7、e1、e2The value of (c).
When the coordinates (x) of the ultrasonic receiver 3 (ultrasonic transmitter 8)3，y3) And the coordinates (x) of the ultrasonic receiver 6 (ultrasonic transmitter 7)6，y6) After the determination, the position (x) of the ultrasonic receivers 4, 5 can be easily obtained by the following equations (4a) to (5c)4，y4)，(x5，y5)，：
(x4-x1)2+(y4-y1)2＝(L14+e3)2 (4a)；
(x4-x2)2+(y4-y2)2＝(L24+e3)2 (4b)；
(x4-x7)2+(y4-y6)2＝(L74+e3)2 (4c)；
(x5-x1)2+(y5-y1)2＝(L15+e4)2 (5a)；
(x5-x2)2+(y5-y2)2＝(L25+e4)2 (5b)；
(x5-x8)2+(y5-y3)2＝(L85+e4)2 (5c)；
In formulae (4a) to (5c), e3、e4Is the waveform lag error, L14、L24、L74The distances between the ultrasonic receiver 4 and the ultrasonic transmitters 1, 2, 7, respectively. L is15、L25、L85Respectively the distance between the third ultrasonic receiver (5) and the ultrasonic transmitters 1, 2, 8.
In the formulae (4a) to (4c), it can be seen that x is present4、y4、e3For three unknown ternary quadratic equations, which are composed of three equations, we can solve x by iteration method using computer software4、y4、e3The value of (c).
In the formulae (5a) to (5c), it can be seen that x is present5、y5、e4For three unknown ternary quadratic equations, which are composed of three equations, we can solve x by iteration method using computer software5、y5、e4The value of (c).
By the above method, the known division point (x) can be obtained1,y1)、(x2,y2) The coordinates of all points except the one need to measure and calculate 12 distances.
Compared with the least square method for obtaining the deformation of the tunnel section, the calculation method (redundant ultrasonic information (RUI) method) of the embodiment has high precision;
it was experimentally confirmed that when the actual displacement was 10mm, the deformation change at each point was 11.8mm, 9.9mm, 10.5mm and 9.6mm without using the method of the present invention, and the average measurement error was 7%. However, by the method of the present patent, the deformation change at each point was corrected to 10.2mm, 10.5mm, 10.5mm and 10.3mm with an average measurement error of 3.75%. The analysis shows that by introducing the method into an ultrasonic system, more accurate tunnel deformation monitoring is realized, and the effectiveness of the method is further verified.
Claims (2)
1. A tunnel deformation monitoring method based on ultrasonic waves is characterized in that: the method comprises the steps that a plurality of ultrasonic generators and a plurality of ultrasonic receivers are arranged on the same cross section of a tunnel, the coordinates of the ultrasonic transmitters and the ultrasonic receivers are calculated by utilizing transmission information of ultrasonic waves between the ultrasonic generators and the ultrasonic receivers, and the convergence deformation of the tunnel is determined according to the change of the coordinates, wherein the number of the ultrasonic generators is four, the number of the ultrasonic receivers is four, the seventh ultrasonic transmitter and the sixth ultrasonic receiver are arranged at the same position, and the eighth ultrasonic transmitter and the third ultrasonic receiver are arranged at the same position; the coordinates of eight points of the ultrasonic transmitter and the ultrasonic receiver are respectively as follows: first ultrasonic transmitter (x)1,y1) Second ultrasonic transmitter (x)2,y2) Third ultrasonic receiver (x)3,y3) Fourth ultrasonic receiver (x)4,y4) Fifth ultrasonic receiver (x)5,y5) Sixth ultrasonic receiver (x)6,y6) Seventh ultrasonic transmitter (x)7,y7) And an eighth ultrasonic transmitter (x)8,y8) (ii) a The coordinates of the first and second transmitters are known as (x)1,y1)，(x2,y2)；
Coordinates (x) of sixth ultrasonic receiver6,y6) The calculation method comprises the following steps:
(x6-x1)2+(y6-y1)2＝(L16+e1)2 (2a)；
(x6-x2)2+(y6-y2)2＝(L26+e1)2 (2b)；
(x6-x8)2+(y6-y8)2＝(L86+e1)2 (2c)；
in formulae (2a) to (2c), e1Is the waveform lag error; l is16、L26、L86Respectively being a sixth ultrasonic receiver and a first ultrasonic receiverDistance of two, eight ultrasonic transmitters, (x)1,y1) Is the coordinate of the first ultrasonic transmitter, (x)2,y2) Is the coordinate of the second ultrasonic transmitter, (x)8,y8) Coordinates of an eighth ultrasonic transmitter;
coordinate (x) of the third ultrasonic receiver3，y3) The calculation method comprises the following steps:
(x3-x1)2+(y3-y1)2＝(L13+e2)2 (3a)；
(x3-x2)2+(y3-y2)2＝(L23+e2)2 (3b)；
(x3-x7)2+(y3-y7)2＝(L73+e2)2 (3c)；
in formulae (3a) to (3c), e2Is the waveform lag error, L13、L23、L73The distance between the third ultrasonic receiver and the first, second and seventh ultrasonic transmitters, respectively, (x)1,y1) Is the coordinate of the first ultrasonic transmitter, (x)2,y2) Is the coordinate of the second ultrasonic transmitter, (x)7,y7) Coordinates of a seventh ultrasonic transmitter; wherein the coordinates (x) of the first ultrasonic transmitter are known1,y1) Coordinates (x) of the second ultrasonic transmitter2,y2)，
(x1,y1)、(x2,y2) Has known coordinates of (a), (b), and (x)6,y6)＝(x7,y7)、(x3,y3)＝(x8,y8)
In the equations (2a) to (3c), x is solved by an iterative method8、y8、x7、y7、e1、e2A value of (d);
coordinate (x) of the fourth ultrasonic receiver4，y4) The calculation method comprises the following steps:
(x4-x1)2+(y4-y1)2＝(L14+e3)2 (4a)；
(x4-x2)2+(y4-y2)2＝(L24+e3)2 (4b)；
(x4-x7)2+(y4-y6)2＝(L74+e3)2 (4c)；
coordinates (x) of the fifth ultrasonic receiver5，y5) The calculation method comprises the following steps:
(x5-x1)2+(y5-y1)2＝(L15+e4)2 (5a)；
(x5-x2)2+(y5-y2)2＝(L25+e4)2 (5b)；
(x5-x8)2+(y5-y3)2＝(L85+e4)2 (5c)
in formulae (4a) to (5c), e3、e4Is the waveform lag error, L14、L24、L74The distances between the fourth ultrasonic receiver and the first, second and seventh ultrasonic transmitters are respectively; l is15、L25、L85The distances between the fifth ultrasonic receiver and the first, second and eighth ultrasonic transmitters are respectively.
2. The method for monitoring tunnel deformation based on ultrasonic waves of claim 1, wherein: the ultrasonic generator and the ultrasonic receiver are uniformly arranged along the tunnel wall.
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