CN112051570A - Boulder detection method and apparatus, terminal device and storage medium - Google Patents

Boulder detection method and apparatus, terminal device and storage medium Download PDF

Info

Publication number
CN112051570A
CN112051570A CN202010944271.8A CN202010944271A CN112051570A CN 112051570 A CN112051570 A CN 112051570A CN 202010944271 A CN202010944271 A CN 202010944271A CN 112051570 A CN112051570 A CN 112051570A
Authority
CN
China
Prior art keywords
target
data set
section information
boulder
obtaining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010944271.8A
Other languages
Chinese (zh)
Inventor
于祥涛
李增良
岳琳辉
仲维玲
徐娜
余雄军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Railway 20th Bureau Group Corp
Original Assignee
China Railway 20th Bureau Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Railway 20th Bureau Group Corp filed Critical China Railway 20th Bureau Group Corp
Priority to CN202010944271.8A priority Critical patent/CN112051570A/en
Publication of CN112051570A publication Critical patent/CN112051570A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/418—Theoretical aspects

Abstract

The invention discloses a boulder detection method, which comprises the following steps: emitting electromagnetic waves to a target stratum to obtain a forward modeling data set of a target boulder in the target stratum; dividing forward simulation data belonging to the same detection plane in the forward simulation data set into the same subdata set to obtain a plurality of subdata sets; obtaining a plurality of circular section information according to a preset circular section information obtaining strategy and the plurality of sub data sets, wherein one sub data set corresponds to one circular section information; and obtaining a detection result of the target boulder according to the plurality of circular section information. The invention also discloses a boulder detecting device, terminal equipment and a storage medium. The stratum does not need to be drilled, so that the method has low cost for boulder detection.

Description

Boulder detection method and apparatus, terminal device and storage medium
Technical Field
The invention relates to the technical field of shield machine construction, in particular to a boulder detection method, a boulder detection device, terminal equipment and a storage medium.
Background
Boulders are essentially spherical, weathered or slightly weathered granites. The joint and weathered properties of granite are important factors in the formation of boulders. Granite typically has three sets of primary joints, and is near perpendicular to each other, which cuts the rock mass into approximately cubic, rectangular blocks. Under the action of crustal movement, partial joint cracks develop into fracture structures. Because the main mineral feldspar distributed near the joints has poor weather resistance, the edges and corners of the blocky granite are gradually smooth under the combined action of physical weathering and chemical weathering, and finally the spherical granite is slowly formed. The weathering resistance of the granite rock-making minerals is greatly different, the granite with weak weathering resistance is completely weathered to form a completely weathered or strongly weathered stratum, and the spherical granite with strong weathering resistance finally forms boulders.
Research shows that the dispersion of the space distribution of the boulders in the stratum is large, the buried positions are deep and shallow, a large amount of boulders are distributed in the range of 0-40 m in the stratum, and no obvious rule can be followed. The size difference of the boulder is large, the minimum sphere diameter is only 0.3m, and the maximum sphere diameter can reach 15.8 m. In general, the diameter of the boulder ball is mainly concentrated in the range of 0-5 m. Overall, the larger the formation depth is, the smaller the number of boulders is, and the larger the volume of the boulders is, which can be simply summarized as "more upper and less lower, larger upper and smaller lower".
In addition, the uniaxial compressive strength of the boulder can be as high as 160MPa, and it is difficult to crush the boulder even with a cutter head equipped with a hob, which is extremely disadvantageous to shield tunnel construction. The boulder group with small spherical diameter and large quantity is easy to block the cutter head and the cutter, thereby causing serious abrasion, eccentric wear and the like of the shield cutter and causing the shield construction to be forced to frequently change the cutter. The boulders with the medium ball diameter can move and rotate randomly along with the tunneling of the shield tunneling machine, so that not only can strong disturbance be generated on the stratum, but also the reverse force with changeable directions can be applied to the cutter head, and the attitude of the shield tunneling machine is difficult to control. The boulder with large spherical diameter and high strength can directly cause the deformation and the damage of a shield cutter head and a cutter, and even can cause the damage to a main shaft of the shield machine. The boulders distributed in the excavation section of the shield tunneling machine seriously affect the construction efficiency of the shield tunnel, bring unpredictable construction risks to the engineering, cause uncontrollable construction period, and ensure the construction quality and safety.
In the related technology, a cylindrical stratum soil sample is obtained through a drilling method, the stratum geological condition is determined according to the cylindrical stratum soil sample, the boulder detection result is obtained through the bottom layer geological condition, and the accuracy of the boulder detection result is improved through arranging a plurality of drill holes.
However, the existing boulder detecting method with a plurality of drilled holes is high in boulder detecting cost.
Disclosure of Invention
The invention mainly aims to provide a boulder detection method, a boulder detection device, terminal equipment and a storage medium, and aims to solve the technical problem that in the prior art, the boulder detection method with a plurality of drilled holes is high in boulder detection cost.
In order to achieve the above object, the present invention provides a boulder detecting method, including the steps of:
emitting electromagnetic waves to a target stratum to obtain a forward modeling data set of a target boulder in the target stratum;
dividing forward simulation data belonging to the same detection plane in the forward simulation data set into the same subdata set to obtain a plurality of subdata sets;
obtaining a plurality of circular section information according to a preset circular section information obtaining strategy and the plurality of sub data sets, wherein one sub data set corresponds to one circular section information;
and obtaining a detection result of the target boulder according to the plurality of circular section information.
Optionally, the step of obtaining the plurality of circular cross-section information according to the preset circular cross-section information obtaining policy and the plurality of sub data sets includes:
determining a selected response point for each sub data set;
and obtaining the circular section information corresponding to each sub data set according to a preset circular section information obtaining strategy and the selected response point corresponding to each sub data set.
Optionally, before the step of obtaining the circular cross-section information corresponding to each sub-data set according to the preset circular cross-section information obtaining policy and the selected response point corresponding to each sub-data set, the method further includes:
performing hyperbolic fitting on the selected response points corresponding to each subdata set to obtain a plurality of fitting hyperbolic curves, wherein one subdata set corresponds to one fitting hyperbolic curve;
determining target points in the plurality of fitted hyperbolas;
processing the target point corresponding to each hyperbola by using a circular arc method to obtain a result point corresponding to each subdata set;
the step of obtaining the circular cross section information corresponding to each sub data set according to the preset circular cross section information obtaining strategy and the selected response point corresponding to each sub data set includes:
and obtaining the circular section information corresponding to each sub data set according to a preset circular section information obtaining strategy and the result point corresponding to each sub data set.
Optionally, before the step of determining the target point in the plurality of fitted hyperbolas, the method further comprises:
correcting the fitting hyperbolas by using a preset correction coefficient to obtain a plurality of target hyperbolas;
the step of determining target points in the plurality of fitted hyperbolas comprises:
a target point is determined in the plurality of target hyperbolas.
Optionally, the result points corresponding to each sub data set include three; the step of obtaining the circular cross section information corresponding to each sub data set according to the preset circular cross section information obtaining strategy and the result point corresponding to each sub data set comprises:
and obtaining circular section information corresponding to each sub data set according to a preset circular section information obtaining strategy and the three result points corresponding to each sub data set, wherein the circular section information comprises a target circle center and a target radius.
Optionally, the step of obtaining the circular cross-section information corresponding to each sub data set according to the preset circular cross-section information obtaining policy and the three result points corresponding to each sub data set includes:
obtaining circular section information corresponding to each sub data set according to the formula I and the three result points corresponding to each sub data set;
the first formula is as follows:
Figure BDA0002673896450000031
Figure BDA0002673896450000032
wherein, X0Is the abscissa, y, of the center of the circle of the object0Is the longitudinal coordinate of the center of the target circle, r is the radius of the target, XiThe abscissa, Y, of the first of the three result points corresponding to each sub data setiIs the ordinate, X, of the first result pointi+1The abscissa, Y, of the second of the three result points for each sub data seti+1Is the ordinate, X, of said second result pointi+2The abscissa, Y, of the third result point of the three result points corresponding to each sub data seti+2Is the ordinate of the third result point.
Optionally, the step of emitting electromagnetic waves to the target formation to obtain the forward modeling data set of the target boulder in the target formation includes:
transmitting electromagnetic waves to a target stratum to obtain electromagnetic wave reflection data of a target boulder in the target stratum;
based on the electromagnetic wave reflection data, a forward modeling data set is obtained.
In addition, in order to achieve the above object, the present invention also provides a boulder detecting apparatus, including:
the acquisition module is used for transmitting electromagnetic waves to a target stratum so as to acquire a forward modeling data set of a target boulder in the target stratum;
the dividing module is used for dividing forward simulation data belonging to the same detection plane in the forward simulation data set into the same subdata set to obtain a plurality of subdata sets;
the section information obtaining module is used for obtaining a plurality of circular section information according to a preset circular section information obtaining strategy and the plurality of sub data sets, wherein one sub data set corresponds to one circular section information;
and the result obtaining module is used for obtaining the detection result of the target boulder according to the plurality of circular section information.
In addition, to achieve the above object, the present invention further provides a terminal device, including: a memory, a processor, and a boulder detection program stored on the memory and running on the processor, the boulder detection program when executed by the processor implementing the steps of the boulder detection method as in any one of the above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a boulder detecting program that, when executed by a processor, implements the steps of the boulder detecting method according to any one of bisflavins.
The invention provides a boulder detection method, which comprises the steps of emitting electromagnetic waves to a target stratum to obtain a forward modeling data set of a target boulder in the target stratum; dividing forward simulation data belonging to the same detection plane in the forward simulation data set into the same subdata set to obtain a plurality of subdata sets; obtaining a plurality of circular section information according to a preset circular section information obtaining strategy and the plurality of sub data sets, wherein one sub data set corresponds to one circular section information; and obtaining a detection result of the target boulder according to the plurality of circular section information. Therefore, the method has the advantages that the forward modeling data set of the target boulder in the target stratum is obtained by emitting the electromagnetic wave to the target stratum, and the boulder detection result is obtained by the data processing method without drilling the stratum, so that the method is low in cost.
Drawings
Fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the boulder detection method of the present invention;
FIG. 3 is a forward simulation waveform response diagram corresponding to the forward simulation data set of the present invention;
FIG. 4 is a schematic diagram of a fitting hyperbola corresponding to the boulder detection method of the present invention;
FIG. 5 is a schematic diagram of formula one of the boulder detection method of the present invention;
fig. 6 is a block diagram showing the structure of the first embodiment of the boulder detecting device of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention.
The terminal device may be a User Equipment (UE) such as a Mobile phone, a smart phone, a laptop, a digital broadcast receiver, a Personal Digital Assistant (PDA), a tablet computer (PAD), a handheld device, a vehicle mounted device, a wearable device, a computing device or other processing device connected to a wireless modem, a Mobile Station (MS), etc. The device may be referred to as a user terminal, portable terminal, desktop terminal, etc.
In general, a terminal device includes: at least one processor 301, a memory 302, and an orphan stone detection program stored on the memory and executable on the processor, the orphan stone detection program configured to implement the steps of the orphan stone detection method as previously described.
Processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. Processor 301 may also include an AI (Artificial Intelligence) processor for processing relevant boulder detection method operations such that the boulder detection method model may be trained and learned autonomously, improving efficiency and accuracy.
Memory 302 may include one or more computer-readable storage media, which may be non-transitory. Memory 302 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 302 is used to store at least one instruction for execution by processor 801 to implement the method of boulder detection provided by method embodiments of the present invention.
In some embodiments, the terminal may further include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power source 306.
The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the communication interface 303 may be implemented on a single chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 304 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in the present invention.
The display screen 305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to capture touch signals on or over the surface of the display screen 305. The touch signal may be input to the processor 301 as a control signal for processing. At this point, the display screen 305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 305 may be one, the front panel of the electronic device; in other embodiments, the display screens 305 may be at least two, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, the display screen 305 may be a flexible display screen disposed on a curved surface or a folded surface of the electronic device. Even further, the display screen 305 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 305 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The power supply 306 is used to power various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of the boulder detecting apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a boulder detecting program, and the boulder detecting program, when executed by a processor, implements the steps of the boulder detecting method described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present invention, reference is made to the description of the method embodiments of the present invention. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Based on the hardware structure, the embodiment of the boulder detection method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the boulder detection method of the present invention, the method comprising the steps of:
step S11: and emitting electromagnetic waves to the target stratum to obtain a forward modeling data set of the target boulder in the target stratum.
Further, step S11 includes: transmitting electromagnetic waves to a target stratum to obtain electromagnetic wave reflection data of a target boulder in the target stratum; based on the electromagnetic wave reflection data, a forward modeling data set is obtained.
The method includes the steps that electromagnetic waves are transmitted to a target boulder by using an electromagnetic wave reflection principle, the electromagnetic waves reflected by the target boulder are received, and forward simulation data are obtained according to the transmitted electromagnetic waves and the received electromagnetic waves; the method includes the steps that electromagnetic waves are emitted at a plurality of different emission points corresponding to a target boulder, forward simulation data corresponding to the plurality of different emission points are obtained, and namely, a forward simulation data set is obtained.
It can be understood that, in practical application, the more the number of the emission points is, the more the number of the forward simulation data in the forward simulation data set is obtained, and the better the accuracy of the final detection result is obtained according to the forward simulation data.
It should be noted that, the forward modeling data set of the target boulder is acquired by using an electromagnetic wave reflection method of a geological radar, wherein the geological radar detector may be a portable geological radar instrument of GSSI company, or may be another radar instrument, which is not limited in the present invention.
The forward simulation data set of the target boulder acquired by the electromagnetic wave reflection method of the geological radar may be in the form of a data set, or may be in the form of a forward simulation waveform response diagram corresponding to the forward simulation data set, which is not limited in the present invention.
Referring to fig. 3, fig. 3 is a forward simulation waveform response diagram corresponding to the forward simulation data set of the present invention, the ordinate is a time difference between the emission of the electromagnetic wave and the reception of the reflected electromagnetic wave by the radar apparatus, and the abscissa is a radar apparatus stroke, wherein the forward simulation waveform response diagram is a forward simulation waveform response diagram corresponding to a stroke point of the radar apparatus within the same linear stroke, that is, the forward simulation waveform response diagram is a forward simulation waveform response diagram corresponding to forward simulation data (i.e., a sub data set described below) within a plane (the plane is a plane perpendicular to the ground).
Step S12: and dividing forward simulation data belonging to the same detection plane in the forward simulation data set into the same subdata set to obtain a plurality of subdata sets.
Step S13: and obtaining a plurality of circular section information according to a preset circular section information obtaining strategy and the plurality of sub data sets, wherein one sub data set corresponds to one circular section information.
It should be noted that, at least three circles not in a straight line determine a sphere, the shape of the boulder is similar to the sphere, in order to obtain the detection result of the target boulder, the obtained forward modeling data set needs to include three forward modeling data not in the same detection plane, wherein the detection plane may be any detection plane including the forward modeling data and having an included angle with the horizontal plane, the present invention takes the detection plane as a vertical plane (a plane perpendicular to the horizontal plane) as an example, that is, the forward modeling data set obtained by using the radar apparatus needs to include three forward modeling data corresponding to the stroke points of the radar apparatus not in the same straight line; and obtaining the circular section information corresponding to the subdata set according to a subdata set (namely, forward modeling data belonging to a detection plane) and a preset circular section information obtaining strategy, and traversing all the subdata sets to obtain all the circular section information corresponding to all the subdata sets.
Further, step S13 includes: determining a selected response point for each sub data set; and obtaining the circular section information corresponding to each sub data set according to a preset circular section information obtaining strategy and the selected response point corresponding to each sub data set.
It can be understood that a circle is determined at least at three points not on a straight line, each sub data set comprises a plurality of response points, at least three response points-selected response points-need to be determined in each sub data set respectively, and the circle section information corresponding to the sub data set is obtained according to any three response points in the selected response points and a preset circle section information obtaining strategy.
Further, before the step of obtaining the circular cross-section information corresponding to each sub-data set according to the preset circular cross-section information obtaining policy and the selected response point corresponding to each sub-data set, the method further includes: performing hyperbolic fitting on the selected response points corresponding to each subdata set to obtain a plurality of fitting hyperbolic curves, wherein one subdata set corresponds to one fitting hyperbolic curve; determining target points in the plurality of fitted hyperbolas; and processing the target point corresponding to each hyperbola by using a circular arc method to obtain a result point corresponding to each subdata set.
Correspondingly, the step of obtaining the circular cross section information corresponding to each sub data set according to the preset circular cross section information obtaining strategy and the selected response point corresponding to each sub data set includes: and obtaining the circular section information corresponding to each sub data set according to a preset circular section information obtaining strategy and the result point corresponding to each sub data set.
It should be noted that, when the selected response point of one sub data set is obtained, hyperbolic fitting is performed on all the selected response points to obtain a fitting hyperbolic curve, three target points are randomly selected from the fitting hyperbolic curve, and the three target points are processed by using an arc method to obtain three result points, so that a preset circular section information obtaining strategy and the three result points are used to obtain circular section information corresponding to the sub data set; and traversing all the subdata sets to obtain corresponding circular section information, and obtaining a plurality of circular section information.
In specific application, in order to ensure the accuracy of the circular section information, a plurality of selected response points need to be determined in one subdata set, and as a better choice, the invention proposes to take at least 8 selected response points; and simultaneously, when determining a target point in a fitting hyperbola corresponding to the selected response point, determining for many times, determining three target points each time to obtain three corresponding result points, and obtaining circular section information according to the three result points.
It can be understood that the fitting hyperbola obtained according to a plurality of selected response points has better accuracy, the target points are determined for a plurality of times, corresponding circular section information is obtained according to a plurality of groups of result points corresponding to the target points taken out for a plurality of times, the plurality of circular section information corresponding to different target points taken out for a plurality of times is averaged, the final circular section information corresponding to the sub data set is obtained, and the accuracy of the circular section information is better.
Referring to fig. 4, fig. 4 is a schematic diagram of a fitting hyperbola corresponding to the boulder detection method of the present invention, where boulder information is actual information of a target boulder, and the hyperbola is a fitting hyperbola corresponding to a certain sub data set of a forward simulation data set obtained by a radar instrument when the target boulder is detected; wherein the abscissa is the stroke of the radar (i.e. the radar instrument described above), and the ordinate is the depth of the formation; it is understood that the forward modeling data corresponding to fig. 4 is data corresponding to the travel points of the radar apparatus on the same straight travel.
Further, before the step of determining the target points in the plurality of fitted hyperbolas, the method further comprises: and correcting the fitting hyperbolas by using a preset correction coefficient to obtain a plurality of target hyperbolas.
Correspondingly, the step of determining the target points in the plurality of fitted hyperbolas comprises: a target point is determined in the plurality of target hyperbolas.
It should be noted that the accuracy of the fitting hyperbola obtained by using the selected response point is low, the fitting hyperbola needs to be corrected to obtain a target hyperbola with high accuracy, and a target point is determined in the target hyperbola, so that the accuracy of the target point is also improved.
It can be understood that the correction coefficient of the present invention may be different in different detection processes, and a user may set the correction coefficient according to the own requirement and the actual detection condition, which is not limited by the present invention.
Further, the result points corresponding to each sub data set include three; the step of obtaining the circular cross section information corresponding to each sub data set according to the preset circular cross section information obtaining strategy and the result point corresponding to each sub data set comprises: and obtaining circular section information corresponding to each sub data set according to a preset circular section information obtaining strategy and the three result points corresponding to each sub data set, wherein the circular section information comprises a target circle center and a target radius.
It can be understood that each circular section information includes a target circle center and a target radius, that is, the target circle center and the target radius at the circular section corresponding to one sub data set, and each sub data set corresponds to one target circle center and one target radius respectively; according to the target circle center and the target radius of each sub data set, obtaining target boulder information, namely the sphere center and the radius of the target boulder, and obtaining a target boulder detection result according to the target boulder information, namely the target boulder detection result comprises the sphere center and the radius.
In a specific application, as described above, since the target boulder is approximately spherical in shape, the number of the sub data sets at least includes three, so as to obtain corresponding circular cross section information according to the sub data sets, and in order to obtain corresponding circular cross section information, the number of the target points corresponding to the result point also includes at least three; at this time, the number of the circular section information corresponds to the number of the sub data sets, and the information of the target boulder, namely the sphere center and the radius of the target boulder, is obtained according to the plurality of circular section information.
It can be understood that more than three subdata sets can be determined, three subdata sets are taken each time, a plurality of taking actions can be performed, each taking action obtains corresponding three circular section information, corresponding target boulder information is obtained according to the three circular section information, finally, target boulder information corresponding to the plurality of taking actions is obtained, the average number of the target boulder information is calculated, the accuracy of the target boulder information can be improved, and the accuracy of the target boulder detection result is improved.
Further, the step of obtaining the circular cross-section information corresponding to each sub-data set according to the preset circular cross-section information obtaining policy and the three result points corresponding to each sub-data set includes: obtaining circular section information corresponding to each sub data set according to the formula I and the three result points corresponding to each sub data set;
the first formula is as follows:
Figure BDA0002673896450000121
Figure BDA0002673896450000122
wherein, X0Is the abscissa, y, of the center of the circle of the object0Is the longitudinal coordinate of the center of the target circle, r is the radius of the target, XiThe abscissa, Y, of the first of the three result points corresponding to each sub data setiIs the ordinate, X, of the first result pointi+1The abscissa, Y, of the second of the three result points for each sub data seti+1Is the ordinate, X, of said second result pointi+2A horizontal bar of a third result point of the three result points corresponding to each sub data setCoordinate, Yi+2Is the ordinate of the third result point.
It is understood that the preset circular cross section information obtaining strategy of the present invention may be the formula one described above, or may be other formulas capable of obtaining the target radius and the target center of the circular cross section.
Referring to fig. 5, fig. 5 is a schematic diagram of formula one of the boulder detection method of the present invention, wherein D, Di、Di+1And Di+2All travel points of the radar apparatus in the same straight travel, A, Ai、Ai+1And Ai+2Are all the result points of the present invention, i.e., points for obtaining circular section information, A'i+1、A′i+1And A'i+2All the selected response points are selected response points of the invention, and the selected response points are processed by using an arc method to obtain result points. According to the basic properties of a circle (i.e. a circular cross section of the present invention) (the center DO of two circumscribed circles is connected to cross the tangent point a), the distance between the point D and the point O can be calculated by the formula two:
|DO|＝rD+rO＝Y+r
obtaining a formula III for calculating the distance between the D point and the O point according to a definition formula of the distance between the two points in the space, wherein the formula III is as follows:
Figure BDA0002673896450000131
substituting the coordinate (X, 0) of the point D into the formula III to obtain the target circle center (X) of the circular section0，y0) And the target radius r and the D point coordinate (X, 0), i.e., formula four:
(X-xO)2+yO 2＝Y+r
formula IV contains X0、y0And r are 3 unknowns, so three result points need to be provided: a. thei、Ai+1And Ai+2All of the results of the present invention, it is understood that the three result points are obtained by processing three selected response points using the circular arc method, wherein the three results are obtained by processingThe coordinates of the fruit points are Ai(X1，Yi)、Ai+1(Xi+1，Yi+1) And Ai+2(Xi+2，Yi+2) Establishing an equation set for solving to obtain a formula five, wherein the formula five is as follows:
Figure BDA0002673896450000132
Figure BDA0002673896450000133
Figure BDA0002673896450000134
the formula five is simplified to obtain the formula one of the invention:
Figure BDA0002673896450000135
Figure BDA0002673896450000136
in specific application, when a target hyperbola corresponding to one sub data set is obtained, a target point is determined in the target hyperbola, the target point is processed by using a circular arc method to obtain a result point, and corresponding circular section information, namely a target radius and a target circle center corresponding to the sub data set, is obtained according to the result point.
Step S15: and obtaining a detection result of the target boulder according to the plurality of circular section information.
It should be noted that the target boulder is approximately spherical, information of the target boulder is obtained according to the obtained information of the plurality of circular cross sections, and a target boulder detection result is obtained according to the information of the target boulder, wherein the detection result includes a spherical center and a radius of the target boulder; wherein, three circles which are not in the same straight line define a sphere; referring to the above description, the plurality of circular section information includes at least three.
The embodiment provides a boulder detection method, which includes the steps that electromagnetic waves are emitted to a target stratum to obtain a forward modeling data set of a target boulder in the target stratum; dividing forward simulation data belonging to the same detection plane in the forward simulation data set into the same subdata set to obtain a plurality of subdata sets; obtaining a plurality of circular section information according to a preset circular section information obtaining strategy and the plurality of sub data sets, wherein one sub data set corresponds to one circular section information; and obtaining a detection result of the target boulder according to the plurality of circular section information. Therefore, the method has the advantages that the forward modeling data set of the target boulder in the target stratum is obtained by emitting the electromagnetic wave to the target stratum, and the boulder detection result is obtained by the data processing method without drilling the stratum, so that the method is low in cost.
In a specific experiment, the radius r of the target boulder is 2.0m, and the embedding depth is 20.0m (the depth value is the value obtained after the coordinate of the center of the circle is converted). The target boulder corresponds to a plurality of subdata sets, a forward simulation waveform response graph corresponding to one subdata set of the target boulder refers to the figure 3, 8 clear response points are selected in total to perform hyperbolic curve fitting, a fitting hyperbolic curve refers to the figure 4, a target point in a target hyperbolic curve corresponding to the fitting hyperbolic curve is processed by using a circular arc method to obtain a result point, obtaining corresponding circular section information, namely a target circle center and a target radius, by using the result points, and obtaining corresponding target boulder information according to the circular section information corresponding to a plurality of sub data sets, wherein the target boulder information refers to table 1, the left side of the table 1 is a fitting hyperbolic formula, a target hyperbolic formula and a correction coefficient corresponding to one sub data set, the front two groups of data on the right side of the table 1 are boulder information corresponding to the circular section information obtained according to the fitting hyperbolic, and the rear two groups of data on the right side of the table 1 are boulder information corresponding to the circular section information obtained according to the target hyperbolic; and calculating an average value of the target boulder information to obtain a target boulder radius r which is 2.36m, and a target circle center of the target boulder: and x is 20.01m, y is 20.94m, and the calculation result is accurate and within an error range.
Table 1: target boulder information table
Figure BDA0002673896450000141
Referring to fig. 6, fig. 6 is a block diagram of a structure of a first embodiment of the boulder detecting device of the present invention, the device comprising:
the acquisition module 10 is configured to emit an electromagnetic wave to a target stratum to acquire a forward modeling data set of a target boulder in the target stratum;
a dividing module 20, configured to divide the forward modeling data belonging to the same detection plane in the forward modeling data set into the same sub data set, so as to obtain multiple sub data sets;
a section information obtaining module 30, configured to obtain multiple circular section information according to a preset circular section information obtaining policy and the multiple sub data sets, where one sub data set corresponds to one circular section information;
and the result obtaining module 40 is used for obtaining the detection result of the target boulder according to the plurality of circular section information.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A boulder detection method, characterized in that said method comprises the steps of:
emitting electromagnetic waves to a target stratum to obtain a forward modeling data set of a target boulder in the target stratum;
dividing forward simulation data belonging to the same detection plane in the forward simulation data set into the same subdata set to obtain a plurality of subdata sets;
obtaining a plurality of circular section information according to a preset circular section information obtaining strategy and the plurality of sub data sets, wherein one sub data set corresponds to one circular section information;
and obtaining a detection result of the target boulder according to the plurality of circular section information.
2. The boulder detection method of claim 1, wherein said obtaining a plurality of circular cross-section information according to a preset circular cross-section information obtaining strategy and said plurality of sub data sets comprises:
determining a selected response point for each sub data set;
and obtaining the circular section information corresponding to each sub data set according to a preset circular section information obtaining strategy and the selected response point corresponding to each sub data set.
3. The boulder detection method of claim 2, wherein prior to the step of obtaining the circular cross-section information corresponding to each sub-data set according to a preset circular cross-section information obtaining policy and the selected response point corresponding to each sub-data set, the method further comprises:
performing hyperbolic fitting on the selected response points corresponding to each subdata set to obtain a plurality of fitting hyperbolic curves, wherein one subdata set corresponds to one fitting hyperbolic curve;
determining target points in the plurality of fitted hyperbolas;
processing the target point corresponding to each hyperbola by using a circular arc method to obtain a result point corresponding to each subdata set;
the step of obtaining the circular cross section information corresponding to each sub data set according to the preset circular cross section information obtaining strategy and the selected response point corresponding to each sub data set includes:
and obtaining the circular section information corresponding to each sub data set according to a preset circular section information obtaining strategy and the result point corresponding to each sub data set.
4. The boulder detection method of claim 3, wherein prior to the step of determining a target point in the plurality of fitted hyperbolas, the method further comprises:
correcting the fitting hyperbolas by using a preset correction coefficient to obtain a plurality of target hyperbolas;
the step of determining target points in the plurality of fitted hyperbolas comprises:
a target point is determined in the plurality of target hyperbolas.
5. The boulder detection method of claim 4, wherein the result points for each sub data set include three; the step of obtaining the circular cross section information corresponding to each sub data set according to the preset circular cross section information obtaining strategy and the result point corresponding to each sub data set comprises:
and obtaining circular section information corresponding to each sub data set according to a preset circular section information obtaining strategy and the three result points corresponding to each sub data set, wherein the circular section information comprises a target circle center and a target radius.
6. The boulder detection method of claim 5, wherein the step of obtaining the circular cross-section information corresponding to each sub data set according to a preset circular cross-section information obtaining strategy and the three result points corresponding to each sub data set comprises:
obtaining circular section information corresponding to each sub data set according to the formula I and the three result points corresponding to each sub data set;
the first formula is as follows:
Figure FDA0002673896440000021
Figure FDA0002673896440000022
wherein, X0Is the abscissa, y, of the center of the circle of the object0Is the longitudinal coordinate of the center of the target circle, r is the radius of the target, XiThe abscissa, Y, of the first of the three result points corresponding to each sub data setiIs the ordinate, X, of the first result pointi+1The abscissa, Y, of the second of the three result points for each sub data seti+1Is the ordinate, X, of said second result pointi+2The abscissa, Y, of the third result point of the three result points corresponding to each sub data seti+2Is the ordinate of the third result point.
7. The orphan rock detection method of any one of claims 1-6, wherein said step of emitting electromagnetic waves into a target formation to obtain a forward modeling data set of a target orphan rock in the target formation comprises:
transmitting electromagnetic waves to a target stratum to obtain electromagnetic wave reflection data of a target boulder in the target stratum;
based on the electromagnetic wave reflection data, a forward modeling data set is obtained.
8. A boulder detecting apparatus, comprising:
the acquisition module is used for transmitting electromagnetic waves to a target stratum so as to acquire a forward modeling data set of a target boulder in the target stratum;
the dividing module is used for dividing forward simulation data belonging to the same detection plane in the forward simulation data set into the same subdata set to obtain a plurality of subdata sets;
the section information obtaining module is used for obtaining a plurality of circular section information according to a preset circular section information obtaining strategy and the plurality of sub data sets, wherein one sub data set corresponds to one circular section information;
and the result obtaining module is used for obtaining the detection result of the target boulder according to the plurality of circular section information.
9. A terminal device, characterized in that the terminal device comprises: a memory, a processor, and an orphan stone detection program stored on the memory and running on the processor, which when executed by the processor, performs the steps of the orphan stone detection method of any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a boulder detection program that, when executed by a processor, implements the steps of the boulder detection method recited in any of claims 1-7.
CN202010944271.8A 2020-09-09 2020-09-09 Boulder detection method and apparatus, terminal device and storage medium Pending CN112051570A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010944271.8A CN112051570A (en) 2020-09-09 2020-09-09 Boulder detection method and apparatus, terminal device and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010944271.8A CN112051570A (en) 2020-09-09 2020-09-09 Boulder detection method and apparatus, terminal device and storage medium

Publications (1)

Publication Number Publication Date
CN112051570A true CN112051570A (en) 2020-12-08

Family

ID=73611765

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010944271.8A Pending CN112051570A (en) 2020-09-09 2020-09-09 Boulder detection method and apparatus, terminal device and storage medium

Country Status (1)

Country Link
CN (1) CN112051570A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1988003276A1 (en) * 1986-10-30 1988-05-05 Nippon Telegraph And Telephone Corporation Method of detecting object and apparatus therefor
GB0526098D0 (en) * 2004-12-23 2006-02-01 Sensors & Software Inc Data Acquisition for a Ground penetrating Radar System
CN1975112A (en) * 2006-12-14 2007-06-06 同济大学 Shield tunnel subsidence control method based on exploring radar
CN103675922A (en) * 2013-12-13 2014-03-26 南京工业大学 Operation period underground pipeline pipe diameter measuring method based on ground penetrating radar
CN104502951A (en) * 2015-01-20 2015-04-08 重庆大学 Rayleigh wave railway substructure monitoring cavity three-dimensional positioning method
CN108627875A (en) * 2018-05-14 2018-10-09 中国神华能源股份有限公司 Radar migration velocity determines and migration processing method, storage medium, electronic equipment

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1988003276A1 (en) * 1986-10-30 1988-05-05 Nippon Telegraph And Telephone Corporation Method of detecting object and apparatus therefor
GB0526098D0 (en) * 2004-12-23 2006-02-01 Sensors & Software Inc Data Acquisition for a Ground penetrating Radar System
CN1975112A (en) * 2006-12-14 2007-06-06 同济大学 Shield tunnel subsidence control method based on exploring radar
CN103675922A (en) * 2013-12-13 2014-03-26 南京工业大学 Operation period underground pipeline pipe diameter measuring method based on ground penetrating radar
CN104502951A (en) * 2015-01-20 2015-04-08 重庆大学 Rayleigh wave railway substructure monitoring cavity three-dimensional positioning method
CN108627875A (en) * 2018-05-14 2018-10-09 中国神华能源股份有限公司 Radar migration velocity determines and migration processing method, storage medium, electronic equipment

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
曾国春 等: "孤石形状与岩土介质对孤石探测的影响研究", 《路基工程》 *

Similar Documents

Publication Publication Date Title
CN104407709B (en) The disposal route of the wearing state of wearable device and device
CN102221684B (en) Wireless direction finding positioning search and rescue apparatus and search and rescue method
TWI550301B (en) Positioning system and method
CN103115602A (en) Mining subsidence monitoring information mobile acquisition terminal system and acquisition method thereof
CN102253749A (en) Touch screen and input control method thereof
CN104481534A (en) Coal-cutter roller automatic height-adjusting system
CN202814926U (en) Microcosmic fracture testing system for similar simulation experiment of backfill mining
WO2017079975A1 (en) Method and device for indoor positioning
CN203275645U (en) Positioning system based on RFID radio frequency technology
CN104238900A (en) Page positioning method and device
CN207249113U (en) A kind of Ground Penetrating Radar device of single hole detection boulder
CN103438883A (en) Positioning, navigating and locus plotting apparatus
CN112051570A (en) Boulder detection method and apparatus, terminal device and storage medium
CN102724755A (en) Method for accurately locating personnel in coal mine
CN102833671A (en) Method and system for positioning robot vision
CN107144253A (en) A kind of area measuring device and its system
CN110083851B (en) Method and device for determining bottom hole pressure of gas well and storage medium
CN112780237B (en) Horizontal well segmentation method and device and computer storage medium
CN111434888B (en) Supporting method and device for coal bed methane horizontal well
CN203024756U (en) Mobile acquisition terminal system for mining settlement monitoring information
CN114611417A (en) Low-permeability reservoir energizing method and device, computer equipment and medium
KR20020036472A (en) 3D Color Mobile Ground RADAR and Method for Managing it
CN108487902B (en) Method and device for determining bottom hole flow pressure and storage medium
CN104156112A (en) Underground pipe data terminal
CN103616727A (en) Dynamic orient electric field exciting coal road fully-mechanized excavating advanced detection launching system for mine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination