CN112327375B - Electromagnetic exploration method of anti-interference air-ground unmanned aerial vehicle for barrier dam leakage channel - Google Patents
Electromagnetic exploration method of anti-interference air-ground unmanned aerial vehicle for barrier dam leakage channel Download PDFInfo
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Abstract
The invention relates to an anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method for a barrier dam leakage channel, and belongs to the technical field of geophysical exploration. The method is based on the electrical property difference between the underground target good conductor and the surrounding rock-soil body, and the position of the leakage channel is judged by measuring the magnetic field change formed by the applied primary electric field, so that the method is an electromagnetic exploration method specially suitable for searching the leakage channel of the barrage dam. The invention mainly comprises a ground system and an unmanned aerial vehicle system, wherein the ground system comprises a remote control communication device and a pseudorandom current transmitting system; the unmanned aerial vehicle system comprises an unmanned aerial vehicle body, an unmanned aerial vehicle flight control sensor, a magnetic field measurement system and a data recording device. In addition, the invention also provides a scheme for judging the internal condition of the weir dam according to the abnormal magnetic field, and the abnormal magnetic field is used for calculating the magnetoresistance value and quantizing the magnetoresistance value so as to provide a reference basis for detecting the existence condition of the internal leakage channel of the weir dam.
Description
Technical Field
The invention relates to the field of geophysical detection, in particular to an anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method for a barrier dam leakage channel, and belongs to the technical field of measurement and testing.
Background
In recent years, with the development of economy, the barrage dam is vigorously developed as a new hydraulic engineering project, and the barrage dam is gradually paid attention to due to low cost. Because the internal structure of the weir dam is complex, potential safety hazards such as leakage channels and the like generally exist; and because the forming terrain is complex, construction safety problems often exist. Therefore, the exploration of the leakage channel is always the key point and the difficulty for solving the safety problem of the barrage dam.
At present, electrical exploration is an effective technical means for leakage channel detection, but because a damming dam mostly occurs in mountainous areas with poor geological conditions and severe terrain, the traditional ground electrical exploration is often difficult to develop, and because an electrical signal decays too fast along with the depth, the exploration precision often cannot meet the engineering requirements.
The aeroelectromagnetic exploration technology has high working efficiency, can be used for disregarding the influence caused by the terrain, can ensure the safety problem of workers, is the best choice for carrying out the leakage detection of the dam body of the damming dam, and has wide development prospect. However, the magnetometer is very easily affected by external noise, so the signal-to-noise ratio of the unmanned aerial vehicle equipment can be reduced, and the detection result is affected. Therefore, the accuracy of the traditional aviation electromagnetic exploration technology is often difficult to meet the requirement.
In a word, the ground electromagnetic exploration technology is difficult to meet the geological conditions of the occurrence area of the damming dam, and the traditional aviation electromagnetic exploration technology is too low in signal-to-noise ratio and difficult to meet the engineering requirements in precision. In order to solve the problems, the invention provides a novel electromagnetic exploration method of an anti-interference air-ground unmanned aerial vehicle of a weir dam.
Disclosure of Invention
The invention aims to provide an anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method for a leakage channel of a damming dam aiming at the defects of the background technology, an unmanned aerial vehicle platform is used for carrying a magnetic field measurement system, the method has the advantages of high precision and strong anti-interference capability and can be used for various geological conditions, and the technical problems that the ground electromagnetic exploration technology is difficult to meet the geological conditions of a leakage occurrence area of the damming dam and the traditional aviation electromagnetic exploration technology is low in signal-to-noise ratio are solved.
The invention adopts the following technical scheme for realizing the aim of the invention:
an anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method comprises an unmanned aerial vehicle system and a ground system, and a pseudo-random electromagnetic exploration technology is used for replacing a traditional magnetic field measurement system. The unmanned aerial vehicle carrying platform can completely eliminate the influence of the terrain, the construction safety is guaranteed, and the working efficiency is high; the pseudo-random electromagnetic exploration technology can improve the signal-to-noise ratio, so that the exploration precision and depth are greatly improved.
During measurement, the two electrodes are respectively arranged at the upstream and the downstream of a dam body of a damming dam, and the power supply cable is arranged into a U shape and is far away from a dam measurement area as far as possible; injecting random alternating current into the ground through an electric field electrode rod by using a pseudorandom current transmitter to form an alternating electric field inside the dam body, and further generating a magnetic field in a space range; the ground station monitors and controls the flight state of the unmanned aerial vehicle through the remote control communication device; the fluxgate magnetometer carried by the unmanned aerial vehicle platform measures a space magnetic field in real time, converts measurement data into an electric signal and inputs the electric signal into the pseudo-random code receiver, and the pseudo-random code receiver is responsible for performing cross-correlation calculation on the measured magnetic field data and the input current to obtain a magnetic field H.
An anti-interference leakage channel detection method for a barrage dam air-ground unmanned aerial vehicle by using the device comprises the following steps:
step 1: arranging a pseudo-random current transmitting system in a region to be detected to form a loop with a ground system; the two electrodes are respectively arranged on two sides of the dam, the electrode distance is twice of the width of the dam body, and the direction of the electrodes is vertical to the trend of the dam body; arranging measuring lines and measuring points along the direction of the dam body, wherein the interval between the measuring lines is 20m, and the interval between the measuring points is 5-10 m;
step 2: the unmanned aerial vehicle is started, the body state of the unmanned aerial vehicle is checked, the normal communication between the unmanned aerial vehicle flight control sensor and the ground remote control communication device is determined, and the flight speed, the flight track, the flight height and the like of the unmanned aerial vehicle are set on the control platform;
and step 3: opening the magnetic field measurement system and the data recording device, controlling the unmanned aerial vehicle to take off, measuring the unmanned aerial vehicle point by point according to a pre-planned measuring line, and inputting the measured data into the data recording device;
and 4, step 4: after the measurement is finished, the measured data is further processed by using a data recording device to obtain a normalized magnetic field strength value HNAnd a magnetoresistance ratio value MMR:
and 5: calculating range R of MMR of measuring regionMAccording to RMThe internal condition of the dam body of the damming dam is judged according to the size of the dam body, and the next work is planned:
RM＝MMRmax-MMRmin
if R isMIf the leakage rate is less than 0.5, no leakage channel exists;
if R is 0.5. ltoreq.RMIf the current is less than 1, changing the position of an electrode to increase the distance between the motors, increasing the supply voltage of a pseudo-random current emitter, and increasing the current output to further detect;
if 1. ltoreq.RMIf the current is less than 2, increasing the supply voltage of the pseudo-random current emitter to increase the current output, and repeating the detection step to determine the specific position of the leakage channel;
if 2. ltoreq.RMThen a magnetic field contour map can be drawn from the detection data and the location of the leak path can be determined by comparing the magnetic field contour map with the uniform normal field.
By adopting the technical scheme, the invention has the following beneficial effects:
(1) the anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method for the leakage channel of the damming dam, which is provided by the invention, uses an unmanned aerial vehicle platform to carry a magnetic field measurement system, can completely disregard the influence of the terrain and ensure the engineering safety.
(2) The electromagnetic exploration method of the anti-interference air-ground unmanned aerial vehicle for the leakage channel of the damming dam, provided by the invention, has the advantages that an unmanned aerial vehicle platform is used for carrying a measurement system, a grounding electrode is not arranged, the influence of complex geological conditions is small, and the measurement of a space magnetic field is simpler; meanwhile, the influence of electrochemical action caused by contact of the electrode and the ground is avoided without the grounding electrode, so that the exploration result is more accurate.
(3) Compared with the traditional aviation electromagnetic exploration, the anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method for the barrier dam leakage channel provided by the invention uses the pseudo-random electromagnetic exploration technology to replace the traditional electromagnetic exploration technology, so that the influence of unmanned aerial vehicle equipment can be reduced to the maximum extent, and the detection result is more accurate.
(4) Compared with the electromagnetic exploration technology used at the present stage, the electromagnetic exploration method of the anti-interference air-ground unmanned aerial vehicle for the leakage channel of the weir dam, provided by the invention, has the advantages that the unmanned aerial vehicle platform is used for carrying the magnetic field measurement system to carry out work, the workload is small, the magnetic field measurement speed is high, and the work efficiency can be greatly improved.
(5) The invention provides an anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method for a leakage channel of a damming dam, which provides a scheme for judging the internal condition of the damming dam according to an abnormal magnetic field on the basis of the existing magnetoelectric exploration.
Drawings
Fig. 1 is a perspective view of the arrangement of the anti-interference air-ground unmanned aerial vehicle electromagnetic exploration device of the barrage dam.
FIG. 2 is a side view of the arrangement of the anti-interference air-ground unmanned aerial vehicle electromagnetic surveying device of the barrage dam of the present invention.
FIG. 3 is a plan view of the arrangement of the anti-interference air-ground unmanned aerial vehicle electromagnetic surveying device of the barrage dam.
Fig. 4 is a front view of the unmanned aerial vehicle system in the anti-interference air-ground unmanned aerial vehicle electromagnetic surveying method for the barrage dam of the invention.
Fig. 5 is a magnetic field distribution diagram of a uniform electric field when the weir dam of the present invention has no leakage path.
FIG. 6 shows a schematic view of the invention RMAbnormal magnetic field contour plot at 0.65.
FIG. 7 shows a schematic view of the invention RMAbnormal magnetic field contour map at 1.2.
FIG. 8 shows a schematic view of the invention RMAbnormal magnetic field contour diagram at 2.6.
The reference numbers in the figures illustrate: 1. the utility model provides a current measuring device, including upstream electrode, 2, downstream electrode, 3, unmanned aerial vehicle organism, 4, magnetic field measurement system, 5, pseudo-random current transmitter, 6, remote control communication device, 7, seepage passageway, 8, unusual magnetic field, 9, dam body, 10, cable, 11, survey line, 12, data recording device.
Detailed Description
The technical scheme of the invention is explained in detail in the following with reference to the attached drawings.
The invention discloses an anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method for a leakage channel of a damming dam, which is realized by an electromagnetic exploration system comprising a ground system and an unmanned aerial vehicle system. As shown in fig. 1, 2, 3 and 4, the ground system comprises a pseudo-random current transmitter 5 and a remote control communication device 6, the unmanned aerial vehicle system mainly comprises four parts, namely an unmanned aerial vehicle body 3, a magnetic field measuring system 4, a data recording device 12 and an unmanned aerial vehicle flight control sensor, and the magnetic field measuring system 4 and the data recording device 12 are arranged on an unmanned aerial vehicle holder; the pseudorandom current transmitter 5 forms a loop with the upstream electrode 1, the downstream electrode 2, the cable 10 and the dam body 9 during measurement, and current concentration is formed inside the dam body due to the existence of the leakage channel 7 to generate an abnormal magnetic field 8; the remote control communication device 6 can realize the flight path planning before the measurement of the unmanned aerial vehicle, and can take off and land, the flight path and the flight state of the unmanned aerial vehicleReal-time monitoring and controlling states and the like, performing manual intervention on emergency situations which may occur, and monitoring the state of magnetic field measurement in real time; the measuring lines 11 are arranged in a mode of being parallel to the trend of the damming dam, the interval of the measuring lines is 10m, and the distance between measuring points on each measuring line is 5-10 m; the magnetic field measuring system 4 can measure the space magnetic field in real time, preprocess the measured magnetic field and input data into the data recording device 12; the data recording device 12 may further process the preprocessed data to obtain the normalized magnetic field value HNAnd a magnetoresistance ratio value MMR.
The upstream electrode is placed in the body of water away from the surface of the dam and the downstream electrode is placed in a leaky or other downstream body of water, the spacing between the electrodes being dependent on the radial width of the barrage and the depth of detection required, the greater the spacing between the electrodes, the deeper the depth of detection. The cable can cause the influence to the measuring result, so the cable should be half frame type when arranging and arrange, and should keep away from the region that awaits measuring as far as possible when arranging, makes things convenient for the noise elimination processing in later stage.
The unmanned aerial vehicle body uses a rotor gasoline unmanned aerial vehicle to reduce the influence of the unmanned aerial vehicle on electromagnetic detection, the unmanned aerial vehicle can bear 20kg of weight, and the flying height can reach 100 m; the unmanned aerial vehicle holder carrying the magnetic field measurement system is made of non-metal materials, is located 0.5-1m below the unmanned aerial vehicle body, and is connected with the unmanned aerial vehicle body through four plastic rods.
When the magnetic field measurement system is used for measurement, at least two times of data measurement are carried out on each measuring point, if the difference of the two times of data measurement is more than 1%, the data measurement needs to be carried out again, and the measuring time of each measuring point is generally 10-15 minutes.
Finally, judging whether the leakage channel exists or not according to the MMR value during data processing, wherein the signal-to-noise ratio of the x component in the magnetic field of the three components of x, y and z is the maximum when the three-dimensional magnetic field is actually observed, so that the distribution condition of the leakage channel can be deduced by comparing the magnetic contour map of the x-axis abnormal magnetic field with the magnetic contour map of the x-axis normal magnetic field, and the size of the x-axis magnetic field conforms to the following rule:
in the formula (1), HnThe magnetic field size of any point of the x-axis in the uniform field is shown in fig. 7, I is the supply current, x and y are the coordinates of any point in the plane coordinate system (the coordinate system is shown in fig. 1 and fig. 3), l is the half-electrode distance, and the distribution of the x-axis magnetic field size of the measuring region is shown in fig. 7. When x is 0 and y is 0, its magnetic field H0Comprises the following steps:
in the formula (2), H0Is the magnitude of the magnetic field at the center of the coordinate system (i.e., the center of the surface of the dam body), H0Can be used as a standard for measuring the magnitude of the abnormal value of the x-axis magnetic field.
Normalizing the x-axis magnetic field size rule shown in the formula (1) to obtain a normalized magnetic field value H shown in the formula (3)N，
In the formula (3), HpThe actual magnetic field outliers obtained are measured.
The magnetoresistance value MMR is calculated according to equation (4),
range size R of available MMRMTo determine whether a leakage channel exists, as shown in equation (5):
RM＝MMRmax-MMRmin (5)。
the criteria for this are as follows:
when R isMWhen the time is less than 0.5, the dam bodyThe inside can be regarded as a homogeneous medium, and the magnitude of the x-axis magnetic field is shown in FIG. 5;
when R is more than or equal to 0.5MWhen the current is concentrated in the dam body, a leakage channel possibly exists, and the contour map of the x-axis abnormal magnetic field is shown in FIG. 6;
when R is more than or equal to 1MWhen the current concentration in the dam body is obvious and a leakage channel exists, but the position of the leakage channel cannot be determined, the electrode distance and the current output need to be changed for further measurement, and the x-axis abnormal magnetic field contour map is shown in FIG. 7;
when 2 is less than or equal to RMWhen the current concentration in the dam body is obvious, the x-axis abnormal magnetic field contour map is shown in fig. 8, and the position of a leakage channel can be directly determined according to the peak position or the ridge line trend in the contour map.
An anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method for a barrage dam by using the device comprises the following 5 steps.
Step 1: arranging a pseudo-random current transmitting system in a region to be detected to form a loop with a ground system; the two electrodes are respectively arranged on two sides of the dam, the distance between the electrodes is twice of the width of the dam body, and the direction of the electrodes is vertical to the trend of the dam body; and arranging measuring lines and measuring points along the direction of the dam body, wherein the interval between the measuring lines is 20m, and the interval between the measuring points is 5-10 m.
Step 2: open unmanned aerial vehicle, the inspection unmanned aerial vehicle organism state and confirm that communication between unmanned aerial vehicle flight control sensor and the ground remote control communication device is normal to set up its flying speed, flight track, flying height etc. on control platform.
And step 3: and opening the magnetic field measurement system and the data recording device, controlling the unmanned aerial vehicle to take off, measuring the unmanned aerial vehicle point by point according to a pre-planned trajectory measuring line, and inputting the measurement data into the data recording device.
And 4, step 4: after the measurement is finished, the measured data is further processed by using a data recording device to obtain a normalized magnetic field strength value HNAnd a magnetoresistance ratio value MMR.
And 5: calculating range R of MMR of measuring regionMAccording to RMThe size of the dam body of the damming dam is judgedAnd (3) planning the next work:
if R isMIf the leakage rate is less than 0.5, no leakage channel exists;
if R is 0.5. ltoreq.RMIf the current is less than 1, the electrode distance is increased, the power supply voltage of a pseudorandom current transmitter is increased, and the pseudorandom current output is increased for further detection;
if 1. ltoreq.RMIf the current is less than 2, increasing the power supply voltage of the pseudorandom current transmitter, increasing the pseudorandom current output, and repeating the detection step to determine the specific position of the leakage channel;
if 2. ltoreq.RMAnd drawing a magnetic field contour map according to the detection data, comparing the magnetic field contour map with a uniform normal field, and determining the position of the leakage channel by utilizing the peak position and the contour ridge line running direction, wherein the internal space of the dam body corresponding to the lower part of the contour peak or the lower part of the ridge line is the position of the leakage channel.
The above embodiments are only used for illustrating the technical idea of the present invention, and the technical scope of the present invention should not be limited thereby, and any modifications made on the technical idea of the present invention fall within the technical scope of the present invention.
Claims (6)
1. An anti-interference air-ground unmanned aerial vehicle electromagnetic exploration method for a barrier dam leakage channel is characterized in that,
arranging a pseudo-random current transmitter in a region to be measured, placing an upstream electrode in a water body far away from the surface of a dam, placing a downstream electrode in a leakage water area or a downstream water area, and arranging a measuring line and a measuring point along the direction of the dam body;
connecting a loop formed by a pseudorandom current transmitter, an upstream electrode, a downstream electrode, a cable and a dam body;
the magnetic field measurement system and the data recording device are carried on the unmanned aerial vehicle holder, the flight track of the unmanned aerial vehicle is controlled so that the carried magnetic field measurement system measures the magnetic field on the surface of the dam line by line and point by point, and the magnetic field of each measuring point vertical to the trend direction of the dam body is measuredThe line normalization processing is carried out to obtain a normalized magnetic field value, a magnetic resistance value is calculated according to the normalized magnetic field value, and the range R of the magnetic resistance is determined by the difference value between the maximum value and the minimum value of the magnetic resistanceMThe flight path of the unmanned aerial vehicle is obtained by processing data of a flight control sensor through a remote control communication device arranged on a dam body, wherein the flight control sensor comprises but is not limited to a thermometer, an altimeter, a speed sensor, an angular velocity sensor and a level;
according to the magneto-resistivity range RMJudging whether a leakage channel exists or not and determining the leakage position:
when R isMWhen the pressure is less than 0.5, the pressure indicates that no leakage channel exists in the dam body,
when R is more than or equal to 0.5MWhen the current is less than 1, the output current of the pseudo-random current transmitter is increased to further detect whether a leakage channel exists in the dam body,
when R is more than or equal to 1MWhen the current is less than 2, the leakage channel exists in the dam body, but the output current of the pseudo-random current transmitter needs to be increased to determine the position of the leakage channel,
when 2 is less than or equal to RMAnd at the moment, comparing the acquired magnetic contour map of the abnormal magnetic field with the magnetic contour map of the normal magnetic field to determine the position of the leakage channel.
2. The method of claim 1, wherein R is 0.5. ltoreq. R.ltoreq.R for electromagnetic prospecting of unmanned aerial vehicle for interference resistance of air-ground leakage pathMWhen the current is less than 1, the method for increasing the output current of the pseudorandom current transmitter comprises the following steps: the spacing between the upstream and downstream electrodes is increased while increasing the supply voltage of the pseudo-random current emitter.
3. The method of claim 1, wherein R is greater than or equal to 1 and is greater than or equal to 1MWhen the current is less than 2, the method for increasing the output current of the pseudo-random current emitter comprises the following steps: the supply voltage of the pseudo-random current emitter is increased.
4. The electromagnetic surveying method of the dam leakage channel anti-interference air-ground unmanned aerial vehicle is characterized in that when measuring lines and measuring points are arranged along the direction of the dam body, the interval between the measuring lines is 20m, and the interval between the measuring points is 5-10 m.
5. The electromagnetic surveying method for the anti-interference air-ground unmanned aerial vehicle of the dam leakage channel as claimed in claim 1, wherein the expression for normalizing the magnitude of the magnetic field of each measuring point perpendicular to the direction of the dam body is as follows:
HNto normalize the magnetic field value, HnThe magnetic field is the magnetic field intensity of any point in the uniform magnetic field, H, which is vertical to the direction of the dam bodypThe actual magnetic field abnormal value measured at any point is represented by I as a power supply current, x and y are coordinates of any point in a dam body plane coordinate system, and l is a half-electrode distance.
6. The method of claim 5, wherein the expression for calculating the magnetic resistance value based on the normalized magnetic field value is as follows:
and the MMR is the magnetoresistance value of any point vertical to the direction of the dam body in the uniform magnetic field.
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| CN113075738A (en) * | 2021-03-26 | 2021-07-06 | 桂林理工大学 | Ground penetrating radar measurement system based on unmanned aerial vehicle |
| CN113031077B (en) * | 2021-04-06 | 2022-03-18 | 中南大学 | Total field correction electrical prospecting method for refuse landfill leakage detection |
| CN113514535B (en) * | 2021-06-23 | 2022-12-23 | 长江水利委员会长江科学院 | Movable dam permeation path weak magnetic detection data acquisition device and method |
| CN114114433B (en) * | 2021-12-08 | 2023-12-05 | 黄河勘测规划设计研究院有限公司 | Device and method for detecting leakage channel of dam body with full tensor gradient |
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| Research of concrete dam leakage detection based on anomaly current field of reservoir water;Yongdong Meng et al.;《Journal of Applied Geophysics》;20191231(第160期);第242-253页 * |
| Unique applications of MMR to track preferential groundwater flow paths in dams, mines, environmental sites, and leach fields;Val O.Kofoed et al.;《The Leading Edge》;20111231;第30卷(第2期);第192-204页 * |
| 伪随机流场法在水库渗漏检测中的应用;舒连刚 等;《工程地球物理学报》;20120531;第9卷(第3期);第332-336页 * |
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