CN112817039B - Three-dimensional detection method, device, equipment and storage medium - Google Patents

Three-dimensional detection method, device, equipment and storage medium Download PDF

Info

Publication number
CN112817039B
CN112817039B CN202110088827.2A CN202110088827A CN112817039B CN 112817039 B CN112817039 B CN 112817039B CN 202110088827 A CN202110088827 A CN 202110088827A CN 112817039 B CN112817039 B CN 112817039B
Authority
CN
China
Prior art keywords
sensor
signal
unit
preset
imaging
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.)
Active
Application number
CN202110088827.2A
Other languages
Chinese (zh)
Other versions
CN112817039A (en
Inventor
张邦
化希瑞
刘铁
孙红林
刘铁华
雷理
李凯
赵晓博
陈洪杰
王敏
陈支兴
刘瑞军
言利帮
汪文刚
杨磊
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 Siyuan Survey and Design Group Co Ltd
Original Assignee
China Railway Siyuan Survey and Design Group Co Ltd
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 Siyuan Survey and Design Group Co Ltd filed Critical China Railway Siyuan Survey and Design Group Co Ltd
Priority to CN202110088827.2A priority Critical patent/CN112817039B/en
Publication of CN112817039A publication Critical patent/CN112817039A/en
Application granted granted Critical
Publication of CN112817039B publication Critical patent/CN112817039B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/16—Receiving elements for seismic signals; Arrangements or adaptations of receiving elements
    • G01V1/20—Arrangements of receiving elements, e.g. geophone pattern

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Geophysics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The embodiment of the invention discloses a three-dimensional detection method, a three-dimensional detection device, three-dimensional detection equipment and a storage medium, wherein the method is applied to a detection system of a pile bottom karst, the detection system comprises a plurality of sensors which are arranged in a two-dimensional array, each sensor can transmit an acoustic wave signal and receive the acoustic wave signal, and the method comprises the following steps: acquiring a reflected signal of a second sensor for receiving the acoustic signal to cover the pile bottom based on the acoustic signal transmitted by a first sensor corresponding to a preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; processing the reflected signal to obtain a waveform signal of waveform imaging; and obtaining an imaging point in a preset three-dimensional space at the pile bottom, imaging the waveform signal to the imaging point, and determining the three-dimensional space imaging of the karst in a preset range below the pile bottom.

Description

Three-dimensional detection method, device, equipment and storage medium
Technical Field
The invention relates to the technical field of geotechnical engineering investigation, in particular to a three-dimensional detection method, a three-dimensional detection device, three-dimensional detection equipment and a storage medium.
Background
The pile bottom karst detection is an exploration technology for detecting the karst distribution characteristics in a certain range of a pile bottom bedrock bearing stratum by adopting a direct (drilling method) or indirect method (geophysical prospecting method).
The method for detecting the karst at the bottom of the pile in the exploration stage mainly comprises an advanced drilling method, a tube wave detection method, a borehole radar method, a borehole multifrequency acoustic wave detection method and a cross-hole elastic wave method. The single advanced drilling is easy to miss judgment of karst, and the drilling is increased, so that the construction period is greatly influenced. The tube wave detection method can detect the vertical distribution range of the karst in the rock mass within 1m of the drilling radius, has higher vertical precision, but has no directivity in the detection result, cannot indicate the karst around the hole and abnormal broken spatial distribution, and the detection result is easily influenced by non-karst cave wave impedance interfaces such as stratum interfaces, aperture changes, liquid level positions and the like. The drilling radar and the multi-frequency sound wave detection method have the similar principle as tube wave detection, and the detection directivity problem is not solved. The cross-hole elastic wave is obtained by observing the travel time, energy (amplitude), waveform and other changes of seismic waves when the seismic waves pass through the geologic body and reconstructing the internal structure of the geologic body through tomography, and has higher detection precision. However, in the karst area, the detectors cannot be effectively coupled when well fluid leaks from the hole, so that the method cannot be implemented.
The exploration method in the construction stage mainly comprises a geological radar method and a sound wave reflection method. The geological radar method carries out geological radar data acquisition by arranging an annular or cross section at the bottom of the pile, but is limited by the area of site detection, radar signals are interfered by the side wall, the detection depth is limited, and the method is only suitable for manual hole digging pile detection. The device has limited data acquisition and fixed offset distance, cannot acquire high-density reflected wave data with multi-angle and multi-offset distance, mainly depends on identifying reflected waveform change and waveform time-frequency characteristic analysis, cannot determine the height or range of a karst cave, and has the problems that detection is easily interfered by reflection of wave on the wall surface of a hole, and the like.
In conclusion, the existing pile bottom karst detection cannot meet the requirement of engineering investigation, and mainly has the defects of difficult detection implementation and drilling matching requirement; the requirement on the environment of the pile bottom is high; the collected data is less, and high-quality imaging cannot be realized; the detection result has no directionality, and the concrete condition of the development of the karst at the bottom of the pile cannot be determined. However, no effective solution is available at present.
Disclosure of Invention
In view of this, embodiments of the present invention are intended to provide a three-dimensional detection method, apparatus, device and storage medium.
The technical embodiment of the invention is realized as follows:
the embodiment of the invention provides a three-dimensional detection method, which is applied to a detection system of a pile bottom karst, wherein the detection system comprises a plurality of sensors which are arranged in a two-dimensional array, each sensor can transmit an acoustic signal and receive the acoustic signal, and the method comprises the following steps:
acquiring a reflected signal of a second sensor, which receives the acoustic signal to cover the pile bottom, based on the acoustic signal transmitted by a first sensor corresponding to a preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; the first sensor is any sensor in the preset unit; the second sensor is any sensor except the first sensor of the preset unit in the detection system;
processing the reflected signal to obtain a waveform signal of waveform imaging;
and obtaining an imaging point in a preset three-dimensional space at the pile bottom, imaging the waveform signal to the imaging point, and determining the three-dimensional space imaging of the karst in a preset range below the pile bottom.
In the above solution, the obtaining a reflected signal of the second sensor covering the pile bottom from the acoustic signal based on the acoustic signal emitted by the first sensor of the preset unit in the detection system includes:
acquiring a reflected signal of the acoustic signal covering the pile bottom received by a second sensor based on the acoustic signal transmitted by a first sensor corresponding to the point unit; the second sensor is other than the first sensor corresponding to the point unit.
In the above scheme, the obtaining a sound wave reflection signal that a second sensor receives the sound wave signal covering the pile bottom based on the sound wave signal emitted by a first sensor of a preset unit in the detection system includes:
acquiring a reflected signal of the pile bottom covered by the acoustic signal received by a second sensor based on the acoustic signal emitted by the first sensor corresponding to the line unit; the first sensors comprise sensors corresponding to preset rows or preset columns in the two-dimensional array; the second sensors include other sensors in the two-dimensional array except for the preset row or the preset column.
In the above scheme, the obtaining a sound wave reflection signal that a second sensor receives the sound wave signal covering the pile bottom based on the sound wave signal emitted by a first sensor of a preset unit in the detection system includes:
acquiring a reflected signal of the pile bottom covered by the sound wave signal received by a second sensor based on the sound wave signal emitted by a first sensor corresponding to the surface unit; the first sensor comprises a sensor corresponding to a surface area in the two-dimensional array; the second sensor comprises any other sensor in the two-dimensional array other than the face region.
In the above scheme, the processing the reflected signal to obtain a waveform signal of waveform imaging includes:
carrying out wave velocity analysis on the reflected signals to obtain the propagation velocity of the sound wave signals in the bedrock;
carrying out noise removal processing on the reflection signal to obtain a high-frequency reflection signal;
removing direct wave signals in the high-frequency reflection signals to obtain high-frequency reflection signals without the direct wave signals;
and compensating the high-frequency reflection signal without the direct wave signal according to the propagation speed to obtain a waveform signal of waveform imaging.
In the above scheme, the analyzing the wave velocity of the reflected signal to obtain the propagation velocity of the acoustic signal in the bedrock includes:
taking a reflection signal recorded by a preset track as a reference signal;
obtaining the correlation function of the reflection signals recorded except the preset track and the reference signal;
determining the delay time corresponding to the maximum value of the correlation function, and obtaining the propagation speed of the acoustic wave signal in the bedrock according to the delay time.
In the above scheme, the obtaining an imaging point in a preset three-dimensional space at the pile bottom, imaging the waveform signal onto the imaging point, and determining three-dimensional space imaging of a karst in a preset range below the pile bottom includes:
determining a first arrival time of the acoustic wave signal emitted by the first sensor to the imaging point according to the propagation speed;
obtaining a second arrival time of the reflection signal from the imaging point to the second sensor;
determining the time corresponding to the waveform signal on the imaging point according to the first arrival time and the second arrival time;
and accumulating the values of the waveform signals corresponding to the second sensor under the time, and determining the three-dimensional space imaging of the karst within a preset range below the pile bottom.
In the above aspect, the method further includes:
obtaining an initial direction angle of the detection system;
and rotating the three-dimensional space imaging by the initial direction angle to determine the corrected three-dimensional space imaging.
The embodiment of the invention provides a three-dimensional detection device, which is applied to a detection system of a pile bottom karst, wherein the detection system comprises a plurality of sensors which are arranged in a two-dimensional array, each sensor can transmit an acoustic signal and receive the acoustic signal, and the device comprises: an obtaining unit, a processing unit and a determining unit, wherein:
the acquisition unit is used for acquiring a reflected signal of the pile bottom covered by the acoustic signal received by the second sensor based on the acoustic signal transmitted by the first sensor corresponding to the preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; the first sensor is any sensor in the preset unit; the second sensor is any sensor except the first sensor of the preset unit in the detection system;
the processing unit is used for processing the reflection signals obtained by the obtaining unit to obtain waveform imaging waveform signals;
the determining unit is used for obtaining an imaging point in a preset three-dimensional space at the pile bottom, imaging the waveform signal obtained by the processing unit onto the imaging point, and determining three-dimensional space imaging of a karst in a preset range below the pile bottom.
In the above scheme, the obtaining unit is further configured to obtain a reflected signal of the second sensor covering the pile bottom, where the acoustic signal is received by the second sensor, based on the acoustic signal emitted by the first sensor corresponding to the point unit; the second sensor is other than the first sensor corresponding to the point unit.
In the above scheme, the obtaining unit is further configured to obtain a reflected signal of the second sensor covering the pile bottom, where the reflected signal is received by the second sensor, based on the acoustic signal emitted by the first sensor corresponding to the line unit; the first sensors comprise sensors corresponding to preset rows or preset columns in the two-dimensional array; the second sensor includes other sensors in the two-dimensional array except for the preset row or the preset column.
In the above scheme, the obtaining unit is further configured to obtain a reflected signal of the second sensor covering the pile bottom, where the reflected signal is received by the second sensor, based on the acoustic signal emitted by the first sensor corresponding to the surface unit; the first sensor comprises a sensor corresponding to a surface area in the two-dimensional array; the second sensor comprises any other sensor in the two-dimensional array other than the face region.
In the above scheme, the processing unit is further configured to perform wave velocity analysis on the reflected signal to obtain a propagation velocity of the acoustic signal in the bedrock; carrying out noise removal processing on the reflection signal to obtain a high-frequency reflection signal; removing direct wave signals in the high-frequency reflection signals to obtain high-frequency reflection signals without the direct wave signals; and compensating the high-frequency reflection signal without the direct wave signal according to the propagation speed to obtain a waveform signal of waveform imaging.
In the above scheme, the processing unit is further configured to obtain a first coordinate of the first sensor and a second coordinate of the second sensor; determining a distance of the second sensor relative to the first sensor from the first and second coordinates; determining a propagation velocity of the high frequency acoustic reflection signal in the karst based on the distance and the first arrival time.
In the above scheme, the processing unit is further configured to use a reflection signal recorded in a preset track as a reference signal; obtaining the correlation function of the reflection signals recorded except the preset track and the reference signal; and determining the delay time corresponding to the maximum value of the correlation function, and obtaining the propagation speed of the acoustic wave signal in the bedrock according to the delay time.
In the above solution, the determining unit is further configured to determine, according to the propagation speed, a first arrival time from the acoustic wave signal emitted by the first sensor to the imaging point; obtaining a second arrival time of the reflection signal from the imaging point to the second sensor; determining the time corresponding to the waveform signal on the imaging point according to the first arrival time and the second arrival time; accumulating the values of the waveform signals corresponding to the second sensor under the time to determine three-dimensional space imaging of the karst within a preset range below the pile bottom
In the above solution, the obtaining unit is further configured to obtain an initial direction angle of the detection system;
the determining unit is further configured to rotate the three-dimensional space imaging by the initial direction angle, and determine a corrected three-dimensional space imaging.
An embodiment of the present invention provides a three-dimensional detection device, which includes a memory and a processor, where the memory stores a computer program that can be run on the processor, and the processor implements any step of the above method when executing the program.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements any of the steps of the method described above.
The embodiment of the invention provides a three-dimensional detection method, a three-dimensional detection device, three-dimensional detection equipment and a storage medium, wherein the method is applied to a detection system of a pile bottom karst, the detection system comprises a plurality of sensors which are arranged in a two-dimensional array, each sensor can transmit an acoustic wave signal and receive the acoustic wave signal, and the method comprises the following steps: acquiring a reflected signal of a second sensor for receiving the acoustic signal to cover the pile bottom based on the acoustic signal transmitted by a first sensor corresponding to a preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; the first sensor is any sensor in the preset unit; the second sensor is any sensor except the first sensor of the preset unit in the detection system; processing the reflected signal to obtain a waveform signal of waveform imaging; and obtaining an imaging point in a preset three-dimensional space at the pile bottom, imaging the waveform signal to the imaging point, and determining the three-dimensional space imaging of the karst in a preset range below the pile bottom. By adopting the technical scheme of the embodiment of the invention, the reflected signal of the pile bottom covered by the sound wave signal received by the second sensor is obtained by transmitting the sound wave signal based on the first sensor corresponding to the preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; the first sensor is any sensor in the preset unit; the second sensor is any sensor in the detection system except the first sensor of the preset unit; further determining three-dimensional space imaging of the karst within a preset range below the pile bottom; by the design of the two-dimensional array, a flexible data acquisition mode can be designed, and by using a one-shot multi-shot mode, larger angle coverage can be achieved, so that the imaging quality at an imaging boundary is enhanced; by using the multi-sending and multi-receiving mode, the ultrasonic imaging device has a focusing characteristic which is not possessed by conventional ultrasonic detection, the acoustic beam signal is enhanced, more obvious reflection signals can be received, and then reflection data of ultrahigh-density coverage at different angles and different receiving and transmitting distances are acquired to realize high-precision three-dimensional imaging on the pile bottom karst.
Drawings
FIG. 1 is a schematic flow chart of a three-dimensional detection method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a point excitation manner in a three-dimensional detection method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a line excitation method in a three-dimensional detection method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a point-to-point method in a three-dimensional detection method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an equivalent of a two-dimensional slice of a three-dimensional arrival travel time of a seismic source wave in a surface excitation form in the three-dimensional detection method according to the embodiment of the invention;
FIG. 6 is a schematic diagram of imaging in a three-dimensional detection method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a corrected three-dimensional space imaging in a three-dimensional detection method according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a three-dimensional detection apparatus according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a hardware entity structure of a three-dimensional detection device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following describes specific technical solutions of the present invention in further detail with reference to the accompanying drawings in the embodiments of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The embodiment proposes a three-dimensional detection method, which is applied to a three-dimensional detection device, and the functions implemented by the method can be implemented by a processor in the three-dimensional detection device calling program codes, which of course can be stored in a computer storage medium, and the computing device at least includes a processor and a storage medium.
Fig. 1 is a schematic flow chart of a three-dimensional detection method according to an embodiment of the present invention, and as shown in fig. 1, the method is applied to a detection system of a pile bottom karst, the detection system includes a plurality of sensors arranged in a two-dimensional array, each sensor can transmit and receive an acoustic signal, and the method includes:
step S101: acquiring a reflected signal of a second sensor for receiving the acoustic signal to cover the pile bottom based on the acoustic signal transmitted by a first sensor corresponding to a preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; the first sensor is any sensor in the preset unit; the second sensor is any sensor in the detection system except the first sensor of the preset unit.
In an embodiment of the present invention, the three-dimensional detection method may be a pile bottom karst three-dimensional detection method based on a two-dimensional array, and the method is applied to a detection system of a pile bottom karst, where the detection system includes a plurality of sensors arranged in a two-dimensional array, each sensor may transmit an acoustic wave signal and receive an acoustic wave signal, where the plurality of sensors arranged in a two-dimensional array may be a plurality of sensors arranged in an m × n array, m and n are both greater than 2, m may refer to a number of rows or a number of columns, n may refer to a number of columns or a number of rows, and a first preset interval between rows and a second preset interval between columns may be determined according to an actual situation, which is not limited herein. In practical application, a plurality of sensors arranged in a two-dimensional array of m rows and n columns can be arranged at the bottom of a pile, and the first preset interval can be called as a row interval and can be marked as dy; the second preset pitch may be referred to as a column interval, which may be denoted dx. On one hand, the sensor can be a detection sensor, and can transmit an acoustic wave signal and also can receive an acoustic wave signal; in another aspect, the sensor may include a transmitting sub-sensor and a receiving sub-sensor, the transmitting sub-sensor may be configured to transmit an acoustic wave signal, the receiving sub-sensor may be configured to receive an acoustic wave signal, and the transmitting sub-sensor and the receiving sub-sensor are disposed at the same location.
For convenience of understanding, the plurality of sensors arranged in the two-dimensional array may be a plurality of sensors arranged in a 3 × 4 array, 3 refers to a sensor with 3 rows in the two-dimensional array, 4 refers to a sensor with 4 columns in the two-dimensional array, dy is 0.5 meter, and dx is 0.5 meter. Namely, a plurality of sensors with sound wave transmitting and receiving are arranged at the bottom of the pile in a two-dimensional array of 3 rows and 4 columns at equal intervals.
The preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; wherein, the preset unit can be understood as a partial unit in the two-dimensional array, and the partial unit can comprise a point unit, a line unit and a surface unit; the dot cells may be understood as dot firing patterns, e.g. Si,j(1<＝i<＝m，1<＝j<N) transducers exciting or emitting acoustic signals, the remaining points Rk,l(i<＝k<＝m，j<＝l<N) receiving the reflected signal, the remaining points Rk,lTo remove the Si,jAny sensor other than the sensor; the line unit may be understood as a line excitation manner, for example, the sensor in the ith row or the sensor in the jth column simultaneously excites or emits an acoustic signal, the sensors in the remaining rows or the sensors in the columns simultaneously receive a reflected signal, the sensors in the remaining rows are any sensors except the sensor in the ith row, and the sensors in the remaining columns are any sensors except the sensor in the jth column; the surface unit can be understood as a surface excitation mode, for example, the sensors of a part of sub-matrix units can simultaneously excite or emit acoustic signals, and the sensors of the other matrix units can simultaneously receive reflected signals, and the part of sub-matrix units can be l × k (1) in an m × n two-dimensional array<l<m，1<k<n) matrix, the rest matrix units can be any sensors except the l multiplied by k matrix; the point area can be understood as an area corresponding to the position of any sensor in the two-dimensional array; the line area can be understood as an area corresponding to the position of a certain row or a certain column of sensors in the two-dimensional array; the area of the surface is understood to be the middle of the two-dimensional arrayAnd the sensor of the sub-matrix is located in a corresponding area.
In the embodiment, a flexible data acquisition mode can be designed through the design of the two-dimensional array, a one-shot multi-shot mode can achieve larger angle coverage, and the imaging quality at the imaging boundary is enhanced; the multi-transmitting and multi-receiving mode is used, the focusing characteristic which is not possessed by the conventional ultrasonic detection is possessed, the sound beam signal is enhanced, and more obvious reflection signals can be received. The array mode does not need a mobile device, and the multi-transmitting and multi-receiving mode has higher data acquisition efficiency; and in a point excitation mode and a line excitation mode, reflected signals with different receiving and transmitting distances are more favorable for imaging defects at the bottom of the pile.
Step S102: and processing the reflection signal to obtain a waveform signal of waveform imaging.
In this embodiment, the processing of the acoustic wave reflection signals to obtain waveform imaging waveform signals may be to calculate coordinates of each sensor that transmits an acoustic wave signal and each sensor that receives a reflection signal in different acquisition modes among a plurality of sensors arranged in a two-dimensional array, and establish a detection data set, or may be to establish an observation system; then, carrying out wave velocity analysis on the acquired detection data set to obtain the propagation velocity of the sound wave signal in the bedrock; removing noise, and removing direct wave signals in the high-frequency reflected signals to obtain high-frequency reflected signals without the direct wave signals; and compensating the high-frequency reflection signal without the direct wave signal according to the propagation velocity to obtain a waveform signal of waveform imaging. The coordinates of each sensor for transmitting the acoustic wave signals and each sensor for receiving the reflected signals in different acquisition modes in the plurality of sensors arranged in the two-dimensional array are calculated by a coordinate system and the row spacing and the column spacing of the two-dimensional array arrangement, namely the coordinates of each sensor for transmitting the acoustic wave signals and each sensor for receiving the reflected signals; performing wave velocity analysis on the reflected signals to obtain the propagation velocity of the sound wave signals in the bedrock, wherein the sound wave velocity in the bedrock can be calculated by adopting a velocity scanning mode for all the collected reflected signals; denoising the acquired detection data set can be removing low-frequency noise by using methods such as band-pass filtering or wavelet transformation; removing the direct wave signal in the high-frequency reflection signal, obtaining the high-frequency reflection signal without the direct wave signal may be to obtain a preset window length, and setting all amplitudes of the high-frequency reflection signal from 0 to the preset window length range to 0 according to the preset window length, so as to obtain the high-frequency reflection signal without the direct wave signal.
For ease of understanding, it is exemplified herein that the relative relationship inside the detection system can be established as internal coordinates, and the coordinates of each sensor, P (X), can be calculatedij,Yij) Wherein i is the line number (i)<M) and j is the column number (j)<＝n)。
Step S103: and obtaining an imaging point in a preset three-dimensional space at the pile bottom, imaging the waveform signal to the imaging point, and determining the three-dimensional space imaging of the karst in a preset range below the pile bottom.
In this embodiment, obtaining the imaging point in the preset three-dimensional space at the pile bottom may be dividing grid points in the preset three-dimensional space at preset intervals, where each grid point is regarded as an imaging point; the preset three-dimensional space can be determined according to actual conditions, and is not limited herein; the preset distance may be determined according to an actual situation, and is not limited herein, and in practical applications, the preset distance may be an equal distance, and as an example, the equal distance may be 0.01 m.
Imaging the waveform signal to the imaging point, and determining that the three-dimensional space imaging of the karst in the preset range below the pile bottom can be obtained by accumulating signal values of different sensor pairs at all imaging points to obtain a three-dimensional space imaging result of the karst; wherein the sensor pair may be comprised of each sensor emitting an acoustic wave signal and each sensor receiving an acoustic wave reflection signal. As an example, the time for the signals of different sensor pairs to propagate to the imaging point may be calculated, and the signal values of all sensor pairs corresponding to the same time are accumulated, and the process may be repeated until the three-dimensional space imaging of the karst within the preset range below the pile bottom is determined.
In the embodiment, a second sensor receives a reflected signal of the acoustic signal covering the pile bottom, which is obtained by transmitting the acoustic signal based on a first sensor corresponding to a preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; the first sensor is any sensor in the preset unit; the second sensor is any sensor except the first sensor of the preset unit in the detection system; further determining three-dimensional space imaging of the karst within a preset range below the pile bottom; by the design of the two-dimensional array, a flexible data acquisition mode can be designed, and by using a one-shot multi-shot mode, larger angle coverage can be achieved, so that the imaging quality at the imaging boundary is enhanced; by using a multi-transmitting and multi-receiving mode, the ultrasonic imaging device has a focusing characteristic which is not possessed by conventional ultrasonic detection, the sound beam signal is enhanced, more obvious reflection signals can be received, and then reflection data with ultrahigh density coverage at different angles and different receiving and transmitting distances are acquired to realize high-precision three-dimensional imaging on the pile bottom karst.
In an optional embodiment of the present invention, the obtaining, based on a first sensor of a preset unit in the detection system transmitting an acoustic signal, a reflected signal of a second sensor receiving the acoustic signal to cover the pile bottom includes: acquiring a reflected signal of the pile bottom covered by the sound wave signal received by a second sensor based on the sound wave signal emitted by a first sensor corresponding to the point unit; the second sensor is other than the first sensor corresponding to the point unit.
In this embodiment, based on the acoustic signal transmitted by the first sensor corresponding to the point unit, obtaining the reflected signal that the second sensor receives the acoustic signal and covers the pile bottom may be that any one sensor in the two-dimensional array transmits the acoustic signal, and obtaining the reflected signal that the acoustic signal covers the pile bottom and is received by each sensor other than the sensor that transmits the acoustic signal. Any sensor in the two-dimensional array is equivalent to one point, any sensor in the two-dimensional array transmits a sound wave signal, reflected signals of other sensors except the sensor which transmits the sound wave signal and covering the pile bottom are obtained, the reflected signals can be understood as point excitation type transmitted sound wave signals, and the other points receive the reflected signals of the sound wave signal covering the pile bottom.
For convenience of understanding, fig. 2 is a schematic diagram of a point excitation manner in the three-dimensional detection method according to the embodiment of the present invention, and as shown in fig. 2, a plurality of sensors are arranged at the bottom of the pile in an m-row and n-column two-dimensional array with equal spacing, and the S-th sensor in the m × n two-dimensional array is arranged in an m-row and n-column two-dimensional array1,1The individual transducers exciting acoustic signals, except for the S1,1All sensors except the sensor receive the reflected signals of the sound wave signals covering the pile bottom, and data are collected.
In an optional embodiment of the present invention, the obtaining, based on a sound wave signal emitted by a first sensor of a preset unit in the detection system, a sound wave reflection signal of a second sensor receiving the sound wave signal covering the pile bottom includes: acquiring a reflected signal of the pile bottom covered by the acoustic signal received by a second sensor based on the acoustic signal emitted by the first sensor corresponding to the line unit; the first sensors comprise sensors corresponding to preset rows or preset columns in the two-dimensional array; the second sensors include other sensors in the two-dimensional array except for the preset row or the preset column.
In this embodiment, the first sensor including a sensor corresponding to a preset row or a preset column in the two-dimensional array may be the first sensor including a sensor of any row or a sensor of any column in the two-dimensional array; the preset row may be any row in the two-dimensional array, may be understood as a certain row, and specifically, the several rows may be determined according to actual situations, which is not limited herein, and as an example, the preset row may be a first row, a second row, a third row, or the like; the preset column may be any column in the two-dimensional array, and may be understood as a certain column, and specifically, the several columns may be determined according to actual situations, which is not limited herein.
Based on the acoustic signal transmitted by the first sensor corresponding to the line unit, obtaining a reflected signal that the second sensor receives the acoustic signal and covers the pile bottom may be based on the acoustic signal transmitted by the sensor in the preset row in the two-dimensional array, and obtaining reflected signals that the acoustic signal covers the pile bottom and received by the sensors in other rows except the sensor in the preset row; or, based on the acoustic wave signals transmitted by the sensors in the preset column in the two-dimensional array, obtaining the reflected signals of the acoustic wave signals covering the pile bottom, which are received by the sensors in other columns except the sensors in the preset column.
For convenience of understanding, fig. 3 is a schematic diagram of a line excitation manner in the three-dimensional detection method according to the embodiment of the present invention, as shown in fig. 3, a plurality of sensors are arranged at the bottom of the pile in m rows and n columns in a two-dimensional array at equal intervals, the sensor in the 1 st column in the m × n two-dimensional array simultaneously excites an acoustic wave signal, and the sensors in the columns except the 1 st column receive a reflected signal of the acoustic wave signal covering the pile bottom to collect data.
In an optional embodiment of the present invention, the obtaining, based on the first sensor of a preset unit in the detection system emitting an acoustic wave signal, an acoustic wave reflected signal of the second sensor that receives the acoustic wave signal and covers the pile bottom includes: acquiring a reflected signal of the pile bottom covered by the sound wave signal received by a second sensor based on the sound wave signal emitted by a first sensor corresponding to the surface unit; the first sensor comprises a sensor corresponding to a surface area in the two-dimensional array; the second sensor comprises any other sensor in the two-dimensional array other than the face region.
In this embodiment, the first sensor includes a sensor corresponding to the area in the two-dimensional array, and the first sensor may be a sensor of a partial sub-matrix unit in the two-dimensional array, for example, a sensor of a partial sub-matrix unit of 5 × 5, that is, a sensor of a partial sub-matrix unit composed of 5 rows and 5 columns in the two-dimensional array. The second sensor may include any other sensor in the two-dimensional array except the face area, and the second sensor may be a sensor in the two-dimensional array except a sensor in a partial sub-matrix unit, for example, all sensors in the two-dimensional array except a sensor in a partial sub-matrix unit composed of 5 rows × 5 columns.
For convenience of understanding, fig. 4 is a schematic diagram of a point-to-surface emission manner in the three-dimensional detection method according to the embodiment of the present invention, as shown in fig. 4, a plurality of sensors are arranged at equal intervals in a two-dimensional array of m rows and n columns at the pile bottom, the sensors of 5 × 5 partial sub-matrix units in the m × n two-dimensional array excite acoustic signals, and all sensors except for the 5 × 5 partial sub-matrix units receive reflected signals of the acoustic signals covering the pile bottom to collect data. In practical application, if the m × n whole matrix unit simultaneously excites the acoustic signal, the m × n whole matrix unit can simultaneously receive the reflected signal of the acoustic signal covering the pile bottom, and data is acquired.
In an optional embodiment of the present invention, the processing the reflection signal to obtain a waveform signal of waveform imaging includes: carrying out wave velocity analysis on the reflected signals to obtain the propagation velocity of the sound wave signals in the bedrock; carrying out noise removal processing on the reflection signal to obtain a high-frequency reflection signal; removing direct wave signals in the high-frequency reflection signals to obtain high-frequency reflection signals without the direct wave signals; and compensating the high-frequency reflection signal without the direct wave signal according to the propagation speed to obtain a waveform signal of waveform imaging.
In this embodiment, the wave velocity analysis is performed on the reflected signals to obtain the propagation velocity of the acoustic wave signals in the bedrock, and the acoustic wave velocity in the bedrock can be calculated by adopting a velocity scanning mode for all the collected reflected signals; the speed scanning mode may be that a preset reflection signal is used as a reference signal; obtaining correlation functions of other reflection signals except the preset reflection signal and the reference signal; and determining the delay time corresponding to the maximum value of the correlation function, and obtaining the propagation speed of the acoustic wave signal in the bedrock according to the delay time. In practical application, the preset reflection signal and the other reflection signals are acquired through channels corresponding to the sensors.
Carrying out noise removal processing on the reflection signal to obtain a high-frequency reflection signal; wherein, the denoising process can be a band-pass filtering process or a wavelet transform process; the pass filtering process may be a spectral analysis of the reflected signal to determine a peak frequency f of the signal0Setting a certain frequency band range containing effective signals for filtering, and removing low-frequency noise; the wavelet transform process may be wavelet transform of the data to remove low frequency noise.
Removing direct wave signals in the high-frequency reflection signals, obtaining the high-frequency reflection signals without the direct wave signals, wherein the high-frequency reflection signals without the direct wave signals can be a preset window length, and setting all amplitudes of the high-frequency reflection signals from 0 to the preset window length range to be 0 according to the preset window length so as to obtain the high-frequency reflection signals without the direct wave signals; the preset window length is a fixed value and can be determined by the signal length transmitted by a sensor or the width of the direct wave sub-wave picked up by the original received waveform signal. As an example, the preset window length is determined by the length of the signal emitted by the sensor, which may be a main frequency for obtaining a record of the emitted signal waveform, from which the preset window length is determined. For example, the preset window length is denoted as WL, the main frequency is denoted as f, and WL is 1/f.
Compensating the high-frequency reflection signal without the direct wave signal according to the propagation speed to obtain a waveform signal for waveform imaging, wherein the high-frequency reflection signal without the direct wave signal is subjected to gain compensation according to the propagation speed to obtain a waveform signal for waveform imaging; the gain compensation may be determined according to actual conditions, and is not limited herein. As an example, the gain compensation may be a wavefield dispersion compensation. In practical application, the wave field diffusion compensation mode is related to the excitation mode, different excitation modes and different formulas of the wave field diffusion compensation are used for recording the received reflection signalsEach time point is recorded as t, and the corresponding amplitude value is recorded as A0For example, when the point excitation method is adopted by a plurality of sensors arranged in a two-dimensional array, the wave field dispersion compensation formula is adopted as A ═ A0*2π*(t*V)2Carrying out compensation correction; when a plurality of sensors arranged in a two-dimensional array adopt a line excitation mode, a wave field diffusion compensation formula is adopted, namely A is A0Performing compensation correction on pi x t V; when a plurality of sensors arranged in a two-dimensional array adopt a surface excitation mode, compensation and correction are not needed.
In an optional embodiment of the present invention, the performing a wave velocity analysis on the reflected signal to obtain a propagation velocity of the acoustic signal in the bedrock includes: taking a reflection signal recorded by a preset track as a reference signal; obtaining correlation functions of other recorded reflection signals except the preset tracks and the reference signal; determining the delay time corresponding to the maximum value of the correlation function, and obtaining the propagation speed of the acoustic wave signal in the bedrock according to the delay time.
In this embodiment, the record of the track number receiving reflected signal corresponding to a certain sensor receiving the reflected signal can be used as a reference signal by using the reflected signal recorded by the preset track as the reference signal; the preset path may be determined according to an actual situation, and is not limited herein. As an example, the preset track may be a first track. For ease of understanding, the first pass received record is denoted as S0As a reference signal.
Obtaining the correlation function between the reflection signals recorded except for the preset track and the reference signal may be performing correlation calculation between the reflection signals recorded except for the preset track and the reference signal to obtain the correlation function. For convenience of understanding, the reflection signals of the other recordings than the pre-set track may be understood as receiving the recording S except for the first track by way of example here0The record of the received reflected signal of the track number corresponding to the other sensors for receiving the reflected signal can be recorded as S except the first trackiThe correlation function may be
Figure BDA0002911956730000152
Where n is the number of sampling points and τ is the delay correlation time.
Determining the delay time corresponding to the maximum value of the correlation function may be to obtain the delay time when the correlation function takes the maximum value. For ease of understanding, the correlation function is determined as exemplified herein
Figure BDA0002911956730000151
When the maximum value is taken, the corresponding tau value is obtained. It can also be understood that the delay time τ corresponding to the maximum value of all other signal channels is obtained according to the correlation function R (τ).
Obtaining the propagation speed of the acoustic signal in the bedrock according to the delay time, wherein the propagation speed of the acoustic signal in the bedrock can be determined according to the distance from each channel of signal to a reference channel; as an example, determining the propagation velocity of the acoustic signal in the bedrock according to the distance and the delay time may be determining the propagation velocity of the acoustic signal in the bedrock through a calculation method of linear regression according to the distance and the delay time.
In an optional embodiment of the present invention, the obtaining an imaging point in a preset three-dimensional space at the pile bottom, imaging the waveform signal onto the imaging point, and determining three-dimensional space imaging of a karst in the following preset range at the pile bottom includes: determining a first arrival time of the acoustic wave signal emitted by the first sensor to the imaging point according to the propagation speed; obtaining a second arrival time of the reflection signal from the imaging point to the second sensor; determining the time corresponding to the waveform signal on the imaging point according to the first arrival time and the second arrival time; and accumulating the values of the waveform signals corresponding to the second sensor under the time, and determining the three-dimensional space imaging of the karst within a preset range below the pile bottom.
In this embodiment, determining the first arrival time of the acoustic wave signal emitted by the first sensor to the imaging point according to the propagation speed may be calculating by performing a preset algorithm according to the propagation speed to determine the first arrival time of the acoustic wave signal emitted by the first sensor to the imaging point; as an example, the ray tracing algorithm may be a three-dimensional fast stride method FMM ray tracing algorithm, and specifically, the time-to-space partial function equation may be solved for each seismic source to obtain a three-dimensional arrival travel time in a point, line or plane excitation form, so as to obtain a first arrival time from the acoustic wave signal emitted by the first sensor to the imaging point.
For ease of understanding, the propagation velocity is assumed to be V for the sake of illustration(x,y,z)The FMM ray tracing algorithm can be a three-dimensional fast step method
Figure BDA0002911956730000161
And obtaining three-dimensional wave arrival travel time in a point, line or plane excitation form by setting a partial equation of each excitation seismic source solving time to space, and further obtaining the first arrival time from the acoustic wave signal emitted by the first sensor to the imaging point.
For convenience of understanding, a schematic diagram of a two-dimensional slice of the travel time of the three-dimensional wave arrival of the source wave in the form of surface excitation in the three-dimensional detection method according to the embodiment of the present invention is illustrated here, and fig. 5 is a schematic diagram of a two-dimensional slice of the travel time of the three-dimensional wave arrival of the source wave in the form of surface excitation in the three-dimensional detection method according to the embodiment of the present invention, as shown in fig. 5, the first arrival time may be obtained as 10 ms.
The obtaining of the second arrival time of the reflection signal from the imaging point to the second sensor may be calculating a distance from the imaging point to a sensor receiving the reflection signal, determining the second arrival time of the reflection signal from the imaging point to the second sensor according to the distance and the propagation speed, specifically, calculating the distance according to the coordinates of the imaging point and the coordinates of the sensor receiving the acoustic wave reflection signal, and dividing the distance by the propagation speed to obtain the second arrival time.
Determining the time corresponding to the waveform signal at the imaging point according to the first arrival time and the second arrival time may be adding the first arrival time and the second arrival time to determine the time corresponding to the waveform signal at the imaging point.
And accumulating the values of the waveform signals corresponding to the second sensor in the time, and determining the three-dimensional space imaging of the karst in the preset range below the pile bottom can record the signals received by the sensors receiving the sound wave reflection signals, and accumulate the values of all the corresponding waveform signals in the time to obtain the result of accumulating the values of the sensor signals receiving the sound wave reflection signals in the detection systems at different positions so as to determine the three-dimensional space imaging of the karst in the preset range below the pile bottom. The preset range may be determined according to an actual situation, and is not limited herein.
For convenience of understanding, fig. 6 is a schematic diagram of imaging in a three-dimensional detection method according to an embodiment of the present invention; in the detection system, each sensor for transmitting an acoustic wave signal and each sensor for receiving an acoustic wave reflection signal in the two-dimensional array arrangement can be regarded as a group of sensor transceiver pairs, wherein the sensor for transmitting an acoustic wave signal can be regarded as S, and the sensor for receiving an acoustic wave reflection signal can be regarded as G; the imaging point can be recorded as M, the first time can be recorded as Ts, and the first time can be determined by a three-dimensional fast-pace FMM ray tracing method; the second time, which may be noted as Tg, may be determined using a simple distance divided by velocity; recording R the signal received by the sensor G for receiving the acoustic wave reflection signaliIn, tiThe signal value at time Ts + Tg is placed at imaging point M, where RiFor the ith received channel signal, tiAt the time of the ith receiving channel signal, as shown in fig. 6, the transmitting acoustic wave signal is a transmitting downstream wave, and the receiving acoustic wave reflected signal is a receiving upstream reflected wave. Repeating the above steps to all the sensor receiving and transmitting pairs in the two-dimensional array arrangement, and obtaining the signal values of different sensor pairs at all the imaging points MAnd accumulating to obtain a three-dimensional imaging result of the whole model. And (4) imaging the three-dimensional space in the preset range below the pile bottom in real time through the calculation process.
In an optional embodiment of the invention, the method further comprises: obtaining an initial direction angle of the detection system; and rotating the three-dimensional space imaging by the initial direction angle to determine the corrected three-dimensional space imaging.
In this embodiment, the initial direction angle of the detection system may be obtained by a device arranged on the detection system for measuring a direction; the device for measuring the direction may be determined according to actual conditions, and is not limited herein. As an example, the device for measuring the direction may be an electronic compass, a gyroscope, or the like. In practical applications, the initial direction angle may be denoted as an angle α.
Rotating the three-dimensional space imaging by the initial direction angle, and determining the corrected three-dimensional space imaging may be rotating the three-dimensional space imaging model by the initial direction angle, and correcting the three-dimensional space imaging model to a true north (or a true east) direction.
For convenience of understanding, a schematic diagram of a corrected three-dimensional space imaging is illustrated here, and fig. 7 is a schematic diagram of a corrected three-dimensional space imaging in a three-dimensional detection method according to an embodiment of the present invention; in fig. 7, the x, y, and z axes are in meters, and the shaded portion represents a three-dimensional space imaging diagram, as an example, the areas corresponding to different grayscales in the shaded portion may represent imaging diagrams of the karst on different axes, for example, the area corresponding to the deepest grayscale may represent imaging diagrams of the karst on the z axis, the area corresponding to the shallowest grayscale may represent imaging diagrams of the karst on the y axis, and the area corresponding to the shallowest grayscale and the deepest grayscale may represent imaging diagrams of the karst on the z axis.
By adopting the three-dimensional detection method provided by the embodiment of the invention, the high-frequency sound wave reflection principle is used for detecting at the bottom of the pile, and the mud coupling at the bottom of the pile is utilized, so that the requirement on the construction environment of the pile bottom is low, and additional drilling is not needed. The two-dimensional array design is adopted, and the reflection data of the ultrahigh-density coverage at different angles and different receiving and transmitting distances are acquired by changing the acquisition mode, so that high-precision three-dimensional imaging can be performed on the pile bottom karst.
In this embodiment, a further three-dimensional detection apparatus is provided, and fig. 8 is a schematic structural diagram of a three-dimensional detection apparatus according to an embodiment of the present invention, as shown in fig. 8, the apparatus is applied to a detection system of a pile bottom karst, the detection system includes a plurality of sensors arranged in a two-dimensional array, each sensor can transmit an acoustic signal and receive an acoustic signal, and the apparatus includes: an obtaining unit 201, a processing unit 202 and a determining unit 203, wherein:
the obtaining unit 201 is configured to obtain a reflected signal of the pile bottom covered by the acoustic signal received by the second sensor based on the acoustic signal transmitted by the first sensor corresponding to the preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; the first sensor is any sensor in the preset unit; the second sensor is any sensor in the detection system except the first sensor of the preset unit;
the processing unit 202 is configured to process the reflection signal obtained by the obtaining unit 201 to obtain a waveform signal of waveform imaging;
the determining unit 203 is configured to obtain an imaging point in a preset three-dimensional space at the pile bottom, image the waveform signal obtained by the processing unit 202 onto the imaging point, and determine three-dimensional space imaging of a karst in a preset range below the pile bottom.
In other embodiments, the obtaining unit 201 is further configured to obtain a reflected signal of the acoustic signal covering the pile bottom, which is received by the second sensor, based on the acoustic signal emitted by the first sensor corresponding to the point unit; the second sensor is other than the first sensor corresponding to the point unit.
In other embodiments, the obtaining unit 201 is further configured to obtain a reflected signal of the second sensor, which is received by the acoustic signal and covers the pile bottom, based on the acoustic signal emitted by the first sensor corresponding to the line unit; the first sensors comprise sensors corresponding to preset rows or preset columns in the two-dimensional array; the second sensor includes other sensors in the two-dimensional array except for the preset row or the preset column.
In other embodiments, the obtaining unit 201 is further configured to obtain a reflected signal of the second sensor, which covers the pile bottom, based on the acoustic signal emitted by the first sensor corresponding to the face unit; the first sensor comprises a sensor corresponding to a surface area in the two-dimensional array; the second sensor comprises any other sensor in the two-dimensional array other than the face region.
In other embodiments, the processing unit 202 is further configured to perform a wave velocity analysis on the reflected signal to obtain a propagation velocity of the acoustic signal in the bedrock; carrying out noise removal processing on the reflection signal to obtain a high-frequency reflection signal; removing direct wave signals in the high-frequency reflection signals to obtain high-frequency reflection signals without the direct wave signals; and compensating the high-frequency reflection signal without the direct wave signal according to the propagation speed to obtain a waveform signal of waveform imaging.
In other embodiments, the processing unit 202 is further configured to use a reflection signal recorded in a preset track as a reference signal; obtaining correlation functions of other recorded reflection signals except the preset tracks and the reference signal; and determining the delay time corresponding to the maximum value of the correlation function, and obtaining the propagation speed of the acoustic wave signal in the bedrock according to the delay time.
In other embodiments, the determining unit 203 is further configured to determine a first arrival time of the acoustic wave signal emitted by the first sensor to the imaging point according to the propagation speed; obtaining a second arrival time of the reflection signal from the imaging point to the second sensor; determining the time corresponding to the waveform signal on the imaging point according to the first arrival time and the second arrival time; and accumulating the values of the waveform signals corresponding to the second sensor under the time, and determining three-dimensional space imaging of the karst within a preset range below the pile bottom.
In other embodiments, the obtaining unit 201 is further configured to obtain an initial direction angle of the detection system;
the determining unit 203 is further configured to rotate the three-dimensional space imaging by the initial direction angle, and determine a corrected three-dimensional space imaging.
The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention.
It should be noted that, in the embodiment of the present invention, if the three-dimensional detection method is implemented in the form of a software functional module and is sold or used as a standalone product, the three-dimensional detection method may also be stored in a computer-readable storage medium. Based on such understanding, the technical embodiments of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a three-dimensional detection device (which may be a personal computer, a server, or a network device) to perform all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.
Correspondingly, an embodiment of the present invention provides a three-dimensional detection device, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the steps in the three-dimensional detection method provided in the foregoing embodiment.
Correspondingly, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in the three-dimensional detection method provided by the above-mentioned embodiment.
It is to be noted here that: the above description of the storage medium and device embodiments, similar to the description of the method embodiments above, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention.
It should be noted that fig. 9 is a schematic structural diagram of a hardware entity of the three-dimensional detection device in the embodiment of the present invention, as shown in fig. 9, the hardware entity of the three-dimensional detection device 300 includes: a processor 301 and a memory 302, optionally, the three-dimensional detection device 300 may further comprise a communication interface 302.
It will be appreciated that the memory 303 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Double Data Rate Synchronous Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Random Access Memory (DRAM), Synchronous Random Access Memory (DRAM), Direct Random Access Memory (DRmb Access Memory). The memory 303 described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The method disclosed by the above embodiment of the present invention may be applied to the processor 301, or implemented by the processor 301. The processor 301 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 301. The Processor 301 may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Processor 301 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 303, and the processor 301 reads the information in the memory 303 and performs the steps of the method in combination with the hardware.
In an exemplary embodiment, the three-dimensional probing Device can be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the aforementioned methods.
In the embodiments provided in the present invention, it should be understood that the disclosed method and apparatus can be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another observation, or some features may be omitted, or not performed. In addition, the communication connections between the components shown or discussed may be through interfaces, indirect couplings or communication connections of devices or units, and may be electrical, mechanical or other.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
Those of ordinary skill in the art will understand that: all or part of the steps of implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer-readable storage medium, and when executed, executes the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.
Alternatively, the integrated unit according to the embodiment of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product. Based on such understanding, the technical embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for enabling a three-dimensional detection device (which may be a personal computer, a server, or a network device) to perform all or part of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media that can store program code, such as removable storage devices, ROMs, magnetic or optical disks, etc.
The three-dimensional detection method, apparatus, device and storage medium described in the embodiments of the present invention are only examples of the embodiments of the present invention, but are not limited thereto, and as long as the three-dimensional detection method, apparatus, device and storage medium are all included in the scope of the present invention.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present invention, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention. The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element identified by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (18)

1. A three-dimensional detection method for use in a detection system for a pile floor karst, the detection system including a plurality of sensors arranged in a two-dimensional array, each sensor being operable to transmit and receive acoustic signals, the method comprising:
acquiring a reflected signal of a second sensor, which receives the acoustic signal to cover the pile bottom, based on the acoustic signal transmitted by a first sensor corresponding to a preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; the first sensor is any sensor in the preset unit; the second sensor is any sensor except the first sensor of the preset unit in the detection system;
processing the reflection signal to obtain a waveform signal of waveform imaging;
and obtaining an imaging point in a preset three-dimensional space at the pile bottom, imaging the waveform signal to the imaging point, and determining the three-dimensional space imaging of the karst in a preset range below the pile bottom.
2. The method according to claim 1, wherein the obtaining of the reflected signal of the acoustic signal covering the pile bottom received by the second sensor based on the acoustic signal emitted by the first sensor of the preset unit in the detection system comprises:
acquiring a reflected signal of the acoustic signal covering the pile bottom received by a second sensor based on the acoustic signal transmitted by a first sensor corresponding to the point unit; the second sensor is other than the first sensor corresponding to the point unit.
3. The method according to claim 1, wherein the obtaining of the acoustic reflection signal of the acoustic signal covering the pile bottom received by the second sensor based on the acoustic signal emitted by the first sensor of the preset unit in the detection system comprises:
acquiring a reflected signal of the pile bottom covered by the acoustic signal received by a second sensor based on the acoustic signal emitted by the first sensor corresponding to the line unit; the first sensors comprise sensors corresponding to preset rows or preset columns in the two-dimensional array; the second sensors include other sensors in the two-dimensional array except for the preset row or the preset column.
4. The method according to claim 1, wherein the obtaining of the acoustic reflection signal of the acoustic signal covering the pile bottom by the second sensor based on the emission of the acoustic signal by the first sensor of the preset unit in the detection system comprises:
acquiring a reflected signal of the pile bottom covered by the sound wave signal received by a second sensor based on the sound wave signal emitted by a first sensor corresponding to the surface unit; the first sensor comprises a sensor corresponding to a surface area in the two-dimensional array; the second sensor comprises any other sensor in the two-dimensional array other than the face region.
5. The method according to claim 1, wherein the processing the reflected signal to obtain a waveform signal for waveform imaging comprises:
carrying out wave velocity analysis on the reflected signals to obtain the propagation velocity of the sound wave signals in the bedrock;
carrying out noise removal processing on the reflection signal to obtain a high-frequency reflection signal;
removing direct wave signals in the high-frequency reflection signals to obtain high-frequency reflection signals without the direct wave signals;
and compensating the high-frequency reflection signal without the direct wave signal according to the propagation speed to obtain a waveform signal of waveform imaging.
6. The method according to claim 5, wherein the performing a wave velocity analysis on the reflected signal to obtain a propagation velocity of the acoustic signal in the bedrock comprises:
taking a reflection signal recorded by a preset track as a reference signal;
obtaining correlation functions of other recorded reflection signals except the preset tracks and the reference signal;
and determining the delay time corresponding to the maximum value of the correlation function, and obtaining the propagation speed of the acoustic wave signal in the bedrock according to the delay time.
7. The method of claim 6, wherein the obtaining an imaging point in a predetermined three-dimensional space at the pile bottom, imaging the waveform signal onto the imaging point, and determining three-dimensional space imaging of the karst within a predetermined range below the pile bottom comprises:
determining a first arrival time of the acoustic wave signal emitted by the first sensor to the imaging point according to the propagation speed;
obtaining a second arrival time of the reflection signal from the imaging point to the second sensor;
determining the time corresponding to the waveform signal on the imaging point according to the first arrival time and the second arrival time;
and accumulating the values of the waveform signals corresponding to the second sensor at the imaging point in the time corresponding to the waveform signals, and determining the three-dimensional space imaging of the karst in the preset range below the pile bottom.
8. The method according to any one of claims 1-7, further comprising:
obtaining an initial direction angle of the detection system;
and rotating the three-dimensional space imaging by the initial direction angle to determine the corrected three-dimensional space imaging.
9. A three-dimensional detection device, wherein the device is applied to a detection system of a pile bottom karst, the detection system comprises a plurality of sensors arranged in a two-dimensional array, each sensor can transmit and receive acoustic signals, and the device comprises: an obtaining unit, a processing unit and a determining unit, wherein:
the acquisition unit is used for acquiring a reflected signal of the pile bottom covered by the acoustic signal received by the second sensor based on the acoustic signal emitted by the first sensor corresponding to the preset unit in the detection system; the preset unit comprises a point unit, a line unit and a surface unit; the point unit, the line unit and the surface unit respectively correspond to a point area, a line area and a surface area in the two-dimensional array; the first sensor is any sensor in the preset unit; the second sensor is any sensor in the detection system except the first sensor of the preset unit;
the processing unit is used for processing the reflection signal obtained by the obtaining unit to obtain a waveform signal of waveform imaging;
the determining unit is used for obtaining an imaging point in a preset three-dimensional space at the pile bottom, imaging the waveform signal obtained by the processing unit onto the imaging point, and determining three-dimensional space imaging of the karst in a preset range below the pile bottom.
10. The device according to claim 9, wherein the obtaining unit is further configured to obtain a reflected signal of the acoustic signal covering the pile bottom received by the second sensor based on the acoustic signal emitted by the first sensor corresponding to the point unit; the second sensor is other than the first sensor corresponding to the point unit.
11. The device according to claim 9, wherein the obtaining unit is further configured to obtain a reflected signal of the acoustic signal covering the pile bottom received by the second sensor based on the acoustic signal emitted by the first sensor corresponding to the line unit; the first sensors comprise sensors corresponding to preset rows or preset columns in the two-dimensional array; the second sensor includes other sensors in the two-dimensional array except for the preset row or the preset column.
12. The device according to claim 9, wherein the obtaining unit is further configured to obtain a reflected signal of the acoustic signal covering the pile bottom received by the second sensor based on the acoustic signal emitted by the first sensor corresponding to the surface unit; the first sensor comprises a sensor corresponding to a surface area in the two-dimensional array; the second sensor comprises any other sensor in the two-dimensional array other than the face region.
13. The device of claim 9, wherein the processing unit is further configured to perform a wave velocity analysis on the reflected signal to obtain a propagation velocity of the acoustic signal in the bedrock; carrying out noise removal processing on the reflection signal to obtain a high-frequency reflection signal; removing direct wave signals in the high-frequency reflection signals to obtain high-frequency reflection signals without the direct wave signals; and compensating the high-frequency reflection signal without the direct wave signal according to the propagation speed to obtain a waveform signal of waveform imaging.
14. The apparatus of claim 13, wherein the processing unit is further configured to use a reflection signal recorded in a predetermined track as a reference signal; obtaining the correlation function of the reflection signals recorded except the preset track and the reference signal; determining the delay time corresponding to the maximum value of the correlation function, and obtaining the propagation speed of the acoustic wave signal in the bedrock according to the delay time.
15. The apparatus according to claim 14, wherein the determining unit is further configured to determine a first arrival time of the acoustic wave signal emitted by the first sensor to the imaging point according to the propagation velocity; obtaining a second arrival time of the reflection signal from the imaging point to the second sensor; determining the time corresponding to the waveform signal on the imaging point according to the first arrival time and the second arrival time; and accumulating the values of the waveform signals corresponding to the second sensor at the imaging point in the time corresponding to the waveform signals, and determining the three-dimensional space imaging of the karst in the preset range below the pile bottom.
16. The apparatus of any one of claims 9-15,
the obtaining unit is further used for obtaining an initial direction angle of the detection system;
the determining unit is further configured to rotate the three-dimensional space imaging by the initial direction angle, and determine a corrected three-dimensional space imaging.
17. A three-dimensional detection device comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 8 when executing the program.
18. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
CN202110088827.2A 2021-01-22 2021-01-22 Three-dimensional detection method, device, equipment and storage medium Active CN112817039B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110088827.2A CN112817039B (en) 2021-01-22 2021-01-22 Three-dimensional detection method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110088827.2A CN112817039B (en) 2021-01-22 2021-01-22 Three-dimensional detection method, device, equipment and storage medium

Publications (2)

Publication Number Publication Date
CN112817039A CN112817039A (en) 2021-05-18
CN112817039B true CN112817039B (en) 2022-07-15

Family

ID=75858846

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110088827.2A Active CN112817039B (en) 2021-01-22 2021-01-22 Three-dimensional detection method, device, equipment and storage medium

Country Status (1)

Country Link
CN (1) CN112817039B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115421182B (en) * 2022-08-24 2024-08-20 中铁第四勘察设计院集团有限公司 Pile-in-rock-solution detection method and system based on array transducer

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006028501A2 (en) * 2004-02-26 2006-03-16 Saudi Arabian Oil Company Prediction of shallow drilling hazards using seismic refraction data
CN104101896A (en) * 2014-06-20 2014-10-15 武汉长盛工程检测技术开发有限公司 Pile bottom cave sonar detection device and method
CN107642114A (en) * 2017-11-09 2018-01-30 中南大学 Stake bottom hidden danger method for surveying and its prospecting apparatus before pile foundation cast
CN108797656A (en) * 2018-06-04 2018-11-13 中铁建大桥工程局集团第四工程有限公司 A kind of detection method of pile foundation multilayer karst cave
CN110988981A (en) * 2019-12-23 2020-04-10 山东大学 Phased array sound wave advanced prediction system and method suitable for drilling and blasting method tunnel

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6982103B2 (en) * 2017-06-01 2021-12-17 サウジ アラビアン オイル カンパニー Underground structure detection

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006028501A2 (en) * 2004-02-26 2006-03-16 Saudi Arabian Oil Company Prediction of shallow drilling hazards using seismic refraction data
CN104101896A (en) * 2014-06-20 2014-10-15 武汉长盛工程检测技术开发有限公司 Pile bottom cave sonar detection device and method
CN107642114A (en) * 2017-11-09 2018-01-30 中南大学 Stake bottom hidden danger method for surveying and its prospecting apparatus before pile foundation cast
CN108797656A (en) * 2018-06-04 2018-11-13 中铁建大桥工程局集团第四工程有限公司 A kind of detection method of pile foundation multilayer karst cave
CN110988981A (en) * 2019-12-23 2020-04-10 山东大学 Phased array sound wave advanced prediction system and method suitable for drilling and blasting method tunnel

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
地质雷达法与超声阵列法在高铁无砟轨道沉降探测中的综合应用;张邦;《工程地球物理学报》;20190930;第16卷(第5期);第700-705页 *
钻孔灌注桩桩底溶洞声呐探测方法及应用研究;石振明 等;《岩石力学与工程学报》;20160131;第35卷(第1期);第177-186页 *

Also Published As

Publication number Publication date
CN112817039A (en) 2021-05-18

Similar Documents

Publication Publication Date Title
KR101548976B1 (en) Estimation of soil properties using waveforms of seismic surface waves
DK2217949T3 (en) PROCEDURE FOR Acoustic IMAGE OF THE SUBSTANCES USING A FIXED POSITION SENSOR SYSTEM AND RADIO MANAGEMENT
US7383133B1 (en) Diffuse seismic imaging systems and methods
US7830748B2 (en) Method for acoustic imaging of the earth&#39;s subsurface using a fixed position sensor array and beam steering
CN1529823A (en) Method and apparatus for determining orientation of seismic receiver during seismic survey
ES2872423T3 (en) 4D Rapid Detection Seismic Survey
EP2669715B1 (en) Methods and Systems for Computing Notional Source Signatures From Near-Field Measurements and Modeled Notional Signatures
CN112180444B (en) Detection method and device for stratum velocity structure and storage medium
CN111352151B (en) Well source-deficiency method
CN112817039B (en) Three-dimensional detection method, device, equipment and storage medium
CN112904348B (en) Three-dimensional detection method, device, equipment and storage medium
Jakka et al. Guidelines for minimization of uncertainties and estimation of a reliable shear wave velocity profile using MASW testing: a state-of-the-art review
CN108693560B (en) Scattered wave imaging method and system based on cross-correlation channel
CN110426741B (en) Seismic noise imaging exploration method and device and storage medium
CN110967751B (en) Positioning method of micro-seismic event based on ground shallow well monitoring and storage medium
CN115421182B (en) Pile-in-rock-solution detection method and system based on array transducer
US10317543B2 (en) Estimation of a far field signature in a second direction from a far field signature in a first direction
RU2692001C1 (en) Method of determining inclination angles of reflecting boundaries in a geological environment from profile seismic survey data 2d
CN113777653B (en) Synthetic aperture type shallow seismic section exploration method and system
CN115586575A (en) 3D passive source pseudo-shot gather computing method, system, equipment and storage medium
RU2376614C1 (en) Method of restoring bottom shift parametres in zone of tsunami source
CN117687077B (en) Method and system for monitoring microseismic using a hybrid array of DAS and detectors
Xie et al. An improved post-processing technique for array-based detection of underground tunnels
CN114740524B (en) Method and device for detecting karst in hole based on detector string and electronic equipment
CN112630764A (en) Pile bottom karst detection method, device and system, electronic equipment and storage medium

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
GR01 Patent grant
GR01 Patent grant