CN113029080A - Non-contact mobile rapid measuring method and device for tunnel crack depth - Google Patents
Non-contact mobile rapid measuring method and device for tunnel crack depth Download PDFInfo
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Abstract
The invention relates to a non-contact mobile rapid measuring method and a device for tunnel crack depth, and the method specifically comprises the following steps: measuring the real wind speed in the tunnel; collecting the air temperature in the tunnel by using an air temperature measuring instrument, and recording position information; scanning by an infrared thermal imager and a visible light digital camera to obtain an infrared thermal image and a visible light digital image of the tunnel lining; identifying the visible light digital image through a digital image processing system to obtain an apparent crack image of the tunnel lining and position information thereof, and obtaining an infrared thermal image corresponding to the crack and the periphery of the crack and the air temperature at the position according to the position information; and processing the thermal image by an infrared data processing system to obtain the average temperature of the surface of the lining of the normal area and the maximum temperature difference of the surface of the normal area around the crack area and the crack area, calculating the difference between the air temperature in the tunnel and the boundary temperature of the surrounding rock behind the lining by a formula, and further calculating the crack depth according to the numerical relational expression of the crack depth and the temperature difference between the inside and the outside of the lining and the surface temperature difference of the crack area and the normal area.
Description
Technical Field
The invention belongs to the field of tunnel detection, and particularly relates to a non-contact mobile rapid measuring method and device for tunnel crack depth.
Background
China is the country with the largest number of tunnels in the world, and the number of tunnels still increases year by year. In the service process of the tunnel, lining concrete is easily cracked under the influence of a plurality of factors such as geological conditions, material deterioration, engineering activities in a protection area range and the like, and when the lining cracks develop to a certain degree, diseases such as leakage, deformation, peeling and the like can occur, so that the service performance and the operation safety of the tunnel are influenced. Therefore, the depth and the width of the lining cracks are not only important indexes for evaluating the tunnel damage state, but also important items for detecting and monitoring the tunnel. At present, the rapid detection technology for the width of the crack is mature and widely applied, the detection precision reaches 0.2mm, and the research on the rapid nondestructive detection technology for the depth of the crack is still in the starting stage.
At present, the detection method for the concrete crack depth mainly comprises a conventional ultrasonic method, a radar method, a laser ultrasonic method and the like. The conventional ultrasonic method adopts a contact transducer to excite ultrasonic waves, and in order to ensure high sensitivity and reliability, an ultrasonic coupling agent is required to be used, the surface of the concrete needs to be treated before detection, and the detection efficiency and the detection precision are low. CN 110243320A discloses a tunnel lining crack depth non-contact measurement method and device. The method comprises the steps of exciting ultrasonic waves by using a pulse laser, receiving ultrasonic signals by using a non-contact receiving probe, calculating the depth of a crack according to the time difference between the wave crest and the wave trough of the received waveform, and calculating the depth of the crack by establishing a finite element analysis model if the time difference between the wave crest and the wave trough exceeds a set threshold value. The method is essentially characterized in that the cracks of the lining concrete are detected by using ultrasonic waves, the concrete is a multiphase composite material with non-uniform height, aggregate in the concrete can cause the problems of multiple scattering, waveform conversion, energy attenuation and the like of the ultrasonic waves in the transmission process, and the received ultrasonic detection signals need to be denoised. As the depth of the crack increases, the amplitude of the ultrasonic signal is severely attenuated, and thus the method is not suitable for detecting deeper cracks.
The shock echo method uses shock excitation to generate stress waves in concrete, and detects cracks by receiving waveform signals. CN 110954033A discloses a concrete crack depth detection method and a system thereof. The method comprises the steps of detecting the depth of a concrete crack by using an impact echo instrument, receiving and analyzing crack defect signals to obtain a plurality of frequency bands with different signal energies, then calculating the ratio of the signal energy and the total energy of each frequency band to obtain the main frequency and defect frequency of the signals, and then calculating according to a formula to obtain the crack depth. The method has complex operation steps, needs to accurately arrange the measuring line of each crack, has large internal work workload, needs professionals to analyze and calculate the crack defect signals and the signal energy obtained by detection, has low detection efficiency, and is not suitable for large-scale crack detection.
CN 112013783A discloses a bridge crack depth detection method, device and system. According to the method, the thermal infrared image of the crack area to be detected under the heating condition is obtained and is led into a pre-trained bridge crack depth detection model, so that the bridge crack depth is obtained. However, when the method is used, a crack depth detection training model needs to be obtained in advance, and when the method is used, a thermal excitation device, an infrared camera, a visible light camera, an unmanned aerial vehicle and other devices are needed, so that the cost is high, the operation steps are complex, and the used visible light camera has high requirements on illumination conditions, so that the method is not suitable for underground tunnels.
In conclusion, the conventional ultrasonic method, the laser ultrasonic method and the impact echo method have the defects of complex operation, easy interference, serious signal attenuation, limited detectable crack depth and the like. The infrared nondestructive detection technology based on the heat conduction mechanism can overcome the defects, but the existing detection method based on the infrared technology is not suitable for the tunnel. The tunnel is surrounded by surrounding rock, the thermal environment is complex, the visibility is low, and therefore an infrared nondestructive detection technology based on the tunnel thermal environment under natural conditions needs to be explored for rapid detection of tunnel lining crack depth.
Disclosure of Invention
The invention aims to overcome the defects of the existing detection technology and provide a non-contact mobile rapid measuring method and a non-contact mobile rapid measuring device for tunnel crack depth.
The purpose of the invention can be realized by the following technical scheme:
a non-contact mobile rapid measuring method for tunnel crack depth specifically comprises the following steps:
s1, measuring the real wind speed in the tunnel in a static state by adopting an anemometerv；
S2, collecting the air temperature in the tunnel by using an air temperature measuring instrument, scanning the tunnel lining surface by using a thermal infrared imager and a visible light digital camera, and recording the position information to obtain an infrared thermal image and a visible light digital image of the tunnel lining surface
S3, identifying the visible light digital image by the digital image processing system to obtain the apparent crack image of the tunnel lining and the position information thereof, searching and intercepting the infrared thermal image of the corresponding crack and the periphery thereof according to the position information, and searching the air temperature at and near the crack and the infrared thermal imageT A ；
S4, processing the intercepted infrared thermal image through an infrared data processing system to obtain the average temperature of the tunnel lining surface of the normal areaT B Maximum temperature of the lining surface in the crack zone and its surrounding normal zoneT max And minimum temperatureT min ；
S5, calculating the difference delta between the air temperature in the tunnel and the boundary temperature of the lining surrounding rockTThe calculation expression is as follows:
in the formula (I), the compound is shown in the specification,hthe convective heat transfer coefficient, the size and the wind speed of the air on the surface of the tunnel liningv(ii) related;δis the thickness of the lining; λ is the heat transfer coefficient of the lining concrete;
s6, calculating the maximum temperature difference delta of the lining surface of the crack area and the normal area around the crack areatThe calculation expression is as follows:
s7, calculating the depth of the lining crackdThe calculation formula is as follows:
further, thevThe average value of the real wind speed of the moving platform in the static state is measured at three different positions of the tunnel in the detection process.
Further, the normal zone tunnel lining surface temperatureT B The acquisition mode is as follows: selecting tunnel at the same side near the crack and no more than 1m of disease2Lining concrete surface, framing 1m in an infrared data processing system2Infrared thermal images of the lining surface of the range, resulting in an average temperature of the surface within the range.
Furthermore, the lining surface of the crack area and the normal area around the crack area is a whole crack range along the crack trend and a disease-free area with both sides of the crack not less than 0.2m, and the infrared thermal image in the range is selected in a frame in an infrared data processing system, so that the highest temperature and the lowest temperature in the range can be obtained.
Further, the depth of the lining cracksdSelecting the crack depth and lining crack depth within the range for the infrared data processing systemdThe unit is cm.
The invention also relates to a non-contact mobile rapid measuring device for the depth of the tunnel crack, which comprises: the wind speed gauge, the visible light digital camera and the inertial unit are fixed on the upper surface of a rack, the rack is installed on a moving platform, the air temperature gauge, the thermal infrared imager and the data processing system are all arranged on the moving platform, the photoelectric encoder is arranged on a wheel shaft of the moving platform, and the data processing system is respectively connected with the air temperature gauge, the visible light digital camera, the thermal infrared imager, the inertial unit and the photoelectric encoder.
The air temperature measuring instrument is used for collecting the air temperature around the lining crack to be detected;
the anemometer is used for measuring the wind speed in the tunnel;
the visible light digital camera is used for scanning and shooting the apparent image of the tunnel lining;
the thermal infrared imager can obtain real-time thermal infrared images of the tunnel lining surface in a remote and non-contact scanning mode, and can also scan, record and store the thermal infrared images and temperature data of the lining surface in a recording mode;
the data processing system comprises an air temperature acquisition system, an infrared data processing system and a digital image processing system;
the air temperature acquisition system is connected with a sensor of the air temperature measuring instrument, and can read, record and store the temperature on the air temperature measuring instrument according to the set interval time;
the infrared data processing system is used for processing the tunnel lining surface temperature data obtained by scanning of the thermal infrared imager to obtain an infrared thermal image of the tunnel lining surface, the average temperature, the highest temperature and the lowest temperature of the tunnel lining surface within a certain range, and when the infrared data processing system is connected with the thermal infrared imager, real-time temperature data within a scanning range can be obtained;
a digital image processing system, comprising:
the electronic signal processing unit is used for processing the digital image and identifying apparent cracks of the lining;
the information display unit is used for visually displaying the identified apparent cracks;
the inertial unit is used for measuring attitude parameters of the platform;
and the photoelectric encoder is used for measuring the running speed and the distance of the mobile platform. The accurate positioning system consists of an inertia unit and a photoelectric encoder and is used for accurately positioning the crack to be detected;
and the mobile platform is used for integrated installation of various measuring devices and systems and provision of power utilization systems.
The invention has the beneficial effects that: compared with the prior art, the invention has the following advantages:
1. the method is based on the heat conduction mechanism of the tunnel lining, the depth detection is carried out on the cracks by utilizing the temperature difference of the tunnel lining surface of the crack region and the normal region, compared with an ultrasonic method, an impact echo method and the like, a generating device and a receiving device are not needed, the problems of waveform signal attenuation and the like are not needed to be considered, the detection method is simple, and the operation is simple and convenient;
2. the invention adopts a non-contact mobile detection mode, can carry out long-distance scanning on the surface of the tunnel lining and has high detection efficiency;
3. the calculation method is simple and easy to implement, three data to be measured, namely the air temperature in the tunnel, the lining surface temperature of the normal area and the maximum surface temperature difference between the crack area and the surrounding normal area, are easy to obtain, and the method can be operated by ordinary technicians without complex calculation of professionals;
4. through a large number of tests and computational analysis verification, the crack depth detection precision error is within 5%, and the detection precision is high.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
FIG. 2 is a schematic view of the apparatus of the present invention.
Fig. 3 is a normal area tunnel lining surface detection range diagram.
FIG. 4 is a graph of the detection range of the lined surface of the crack and its surrounding normal zone.
FIG. 5 is an electrical connection block diagram of the present invention.
In the figure: the system comprises an air thermometer 1, an anemometer 2, a visible light digital camera 3, a thermal infrared imager 4, a data processing system 5, an inertial unit 6, a photoelectric encoder 7, a moving platform 8 and a rack 9.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The invention relates to a non-contact mobile rapid measuring method for tunnel crack depth, which comprises the following specific implementation steps as shown in figure 1:
step S1, adopting an anemometer to measure the static state of the mobile platform at three different positions in the tunnelCalculating the real wind speed in the stopped state to obtain an average valuev；
S2, collecting the air temperature in the tunnel by using an air temperature measuring instrument, scanning the surface of the tunnel lining by using a thermal infrared imager and a visible light digital camera, and recording position information to obtain an infrared thermal image and a visible light digital image of the surface of the tunnel lining;
step S3, identifying the visible light digital image by the digital image processing system to obtain the apparent crack image of the tunnel lining and the position information thereof, searching and intercepting the infrared thermal image corresponding to the crack and the periphery thereof according to the position information, and searching the air temperature at the position and nearbyT A ；
Step S4, processing the intercepted infrared thermal image through an infrared data processing system to obtain the average temperature of the tunnel lining surface of the normal areaT B Maximum temperature of the lining surface in the crack zone and its surrounding normal zoneT max And minimum temperatureT min ；
Step S5, calculating the difference delta between the air temperature in the tunnel and the boundary temperature of the lining surrounding rockTThe calculation expression is as follows:
in the formula (I), the compound is shown in the specification,hthe convective heat transfer coefficient, the size and the wind speed of the air on the surface of the tunnel liningv(ii) related;δis the thickness of the lining; λ is the heat transfer coefficient of the lining concrete;
step S6, calculating the maximum temperature difference delta of the lining surface of the crack area and the surrounding normal areatThe calculation expression is as follows:
step S7, calculating the depth of the lining crackdThe calculation formula is as follows:
referring to fig. 2 and 5, the invention also relates to a non-contact mobile rapid measuring device for tunnel crack depth, which comprises: the wind power generation system comprises an air temperature measuring instrument 1, an anemometer 2, a visible light digital camera 3, a thermal infrared imager 4, a data processing system 5, an inertial unit 6 and a photoelectric encoder 7, wherein the anemometer 2, the visible light digital camera 3 and the inertial unit 6 are fixed on the upper surface of a rack 9, the rack 9 is installed on a moving platform 8, the air temperature measuring instrument 1, the thermal infrared imager 4 and the data processing system 5 are all arranged on the moving platform 8, the photoelectric encoder 7 is arranged on a wheel shaft of the moving platform, and the data processing system 5 is respectively connected with the air temperature measuring instrument 1, the visible light digital camera 3, the thermal infrared imager 4, the inertial unit 6 and the photoelectric encoder 7. The data processing system 5 comprises an air temperature acquisition system, an infrared data processing system and a digital image processing system; the accurate positioning system that inertial unit 6 and photoelectric encoder 7 constitute, data processing system 5 install in the computer, and above-mentioned part is the market, and its model and manufacturer are:
an air temperature measuring instrument, model LR9600, manufactured by Hangzhou union testing automation technology limited company;
an anemometer, model AS8336, manufactured by hong kong hima technologies ltd;
thermal infrared imager, model FLIR a655sc, manufactured by FLIR Systems inc;
other parts can be purchased and assembled by referring to a road tunnel apparent disease collecting vehicle disclosed in CN 106627317B. The data processing system 5 comprises an air temperature acquisition system, an infrared data processing system and a digital image processing system; the air temperature acquisition system is a system of the air temperature measuring instrument; the infrared data processing system can use a FLIR research IR Max 4 system matched with a FLIR A655sc infrared thermal imager; the digital image processing system is optionally referred to CN 110378950A and CN 108229461A.
The air temperature acquisition system is connected with a sensor of the air temperature measuring instrument, and can read, record and store the temperature on the air temperature measuring instrument according to the set interval time;
the infrared data processing system is used for processing the tunnel lining surface temperature data obtained by scanning of the thermal infrared imager to obtain an infrared thermal image of the tunnel lining surface, the average temperature, the highest temperature and the lowest temperature of the tunnel lining surface within a certain range, and when the infrared data processing system is connected with the thermal infrared imager, real-time temperature data within a scanning range can be obtained;
a digital image processing system, comprising:
the electronic signal processing unit is used for processing the digital image and identifying apparent cracks of the lining;
the information display unit is used for visually displaying the identified apparent cracks;
the inertial unit is used for measuring attitude parameters of the platform;
and the photoelectric encoder is used for measuring the running speed and the distance of the mobile platform. And the accurate positioning system consists of an inertia unit and a photoelectric encoder and is used for accurately positioning the crack to be detected.
The following are specific test examples:
firstly, on a mobile platform 8, namely a detection vehicle, opening a thermal infrared imager 4 and a visible light digital camera 3 for calibration test, connecting an air temperature measuring instrument 1 with a computer, and operating the detection vehicle for scanning detection after the calibration is finished.
Secondly, selecting three different positions in the tunnel to stay in the detection process, enabling the detection vehicle at each position to stay for 30 minutes, detecting the wind speed in the tunnel by using an anemometer 2, and calculating the average value to obtain that the wind speed in the tunnel is 0.5m/s, so that the detection time is longhThe ratio is taken to be 7.97W/(m)2·℃)。
Thirdly, crack recognition is carried out along with the collected digital image by adopting a digital image processing system to obtain an apparent crack image of the tunnel lining and position information thereof, searching is carried out according to the position information to obtain the air temperature in the tunnel nearbyT A At 22.3 deg.C, the tunnel lining to be detected is made of C30 concrete, and the thickness of the lining isδ0.6m, coefficient of heat transfer of lining concrete at normal temperatureλIs 1.28W (m.DEG C)-1。
Fourthly, as shown in figure 3, searching and intercepting the crack and the infrared thermal image around the crack according to the position information, and locating the crack to be detectedSelecting a tunnel lining surface with an area not less than 1m on the same side2Selecting 1m of normal area without diseases by using an infrared data processing system2Lining the surface of the range, gives an average temperature of 20.76 ℃ for this range.
Fifthly, substituting the data detected in the steps into the following expression, and calculating the difference delta between the air temperature in the tunnel and the boundary temperature of the lining surrounding rockTThe temperature was 7.29 ℃.
Sixthly, as shown in figure 4, selecting the crack area to be detected and the lining surface of the normal area around the crack area by using an infrared data processing system, wherein the distance between the lining surface range of the normal area around the crack and the crack is not less than 0.2m, and obtaining the maximum temperature of the surface in the rangeT max At a temperature of 21.25 ℃ and a minimum temperatureT min The temperature was 20.80 ℃.
Seventhly, according to the expression
Calculating to obtain the maximum temperature difference delta of the lining surface of the crack area and the surrounding normal areatIs 0.45 ℃;
eighthly, calculating to obtain the maximum depth of the lining crack in the frame selection range according to the following calculation expressiond9.950 cm;
ninth, the actual depth of the crack is 10.01cm through detection, the error is 0.6%, and the error is within 5%.
And tenthly, repeating the steps, and measuring the other two cracks of the tunnel to obtain the depths of the cracks of 4.941cm and 4.938cm respectively, wherein the actual depths of the cracks are 5.02cm and 4.97cm, the errors are 1.6 percent and 0.6 percent respectively, and the error is within 5 percent.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concept of the present invention should be within the protection scope of the present invention as claimed in the claims.
Claims (10)
1. A non-contact mobile rapid measuring method for tunnel crack depth is characterized by comprising the following steps:
s1, measuring the real wind speed in the tunnel in a static state by adopting an anemometerv；
S2, collecting the air temperature in the tunnel by using an air temperature measuring instrument, scanning the tunnel lining surface by using a thermal infrared imager and a visible light digital camera, and recording position information to obtain an infrared thermal image and a visible light digital image of the tunnel lining surface;
s3, identifying the visible light digital image by the digital image processing system to obtain the apparent crack image of the tunnel lining and the position information thereof, searching and intercepting the infrared thermal image of the corresponding crack and the periphery thereof according to the position information, and searching the air temperature at and near the crack and the infrared thermal imageT A ；
S4, processing the intercepted infrared thermal image through an infrared data processing system to obtain the average temperature of the tunnel lining surface of the normal areaT B Maximum temperature of the lining surface in the crack zone and its surrounding normal zoneT max And minimum temperatureT min ；
S5, calculating the difference delta between the air temperature in the tunnel and the boundary temperature of the lining surrounding rockTThe calculation expression is as follows:
in the formula (I), the compound is shown in the specification,hthe convective heat transfer coefficient, the size and the wind speed of the air on the surface of the tunnel liningv(ii) related;δis the thickness of the lining; heat transfer of lambda-lined concreteA coefficient;
s6, calculating the maximum temperature difference delta of the lining surface of the crack area and the normal area around the crack areatThe calculation expression is as follows:
s7, calculating the depth of the lining crackdThe calculation formula is as follows:
2. the method for non-contact mobile rapid measurement of tunnel crack depth according to claim 1, wherein the method is characterized in thatvThe average value of the real wind speed of the moving platform in the static state is measured at three different positions of the tunnel in the detection process.
3. The method as claimed in claim 1, wherein the crack zone and its surrounding normal zone lining surface are located on the same side of the tunnel, the crack zone comprises the whole crack along the crack direction and the edge range of the crack, and the surrounding normal zone lining surface has an area not less than 1m2A disease-free surface.
4. The method as claimed in claim 3, wherein the lining surface of the surrounding normal area comprises a disease-free area with a crack direction within a range of not less than 0.2m from the crack.
5. The method for non-contact mobile rapid measurement of tunnel fracture depth according to claim 1, wherein the Δ isTAnd ΔtAll are dimensionless values, said lining crack depthdSelecting the crack depth and lining crack depth within the range for the infrared data processing systemdThe unit is cm.
6. A non-contact mobile rapid measuring device for tunnel crack depth is characterized by comprising: the wind speed gauge, the visible light digital camera and the inertial unit are fixed on the upper surface of a rack, the rack is installed on a moving platform, the air temperature gauge, the thermal infrared imager and the data processing system are all arranged on the moving platform, the photoelectric encoder is arranged on a wheel shaft of the moving platform, and the data processing system is respectively connected with the air temperature gauge, the visible light digital camera, the thermal infrared imager, the inertial unit and the photoelectric encoder.
7. The non-contact mobile rapid tunnel crack depth measuring device according to claim 6, wherein the data processing system comprises an air temperature acquisition system, an infrared data processing system and a digital image processing system, and is installed on the same computer.
8. The non-contact mobile rapid tunnel crack depth measuring device according to claim 7, wherein the air temperature acquisition system is connected with a sensor of an air temperature measuring instrument, and can read, record and store the temperature on the air temperature measuring instrument according to the set interval time.
9. The non-contact mobile rapid measurement device of tunnel crack depth of claim 7, characterized in that the digital image processing system comprises:
the electronic signal processing unit is used for processing the digital image and identifying apparent cracks of the lining;
and the information display unit is used for visually displaying the identified apparent cracks.
10. The non-contact mobile rapid tunnel crack depth measurement device of claim 7, wherein the infrared data locationAfter the physical system is connected with the thermal infrared imager, real-time temperature data in the scanning range of the thermal infrared imager can be displayed on a computer, and after a certain range is framed, an infrared thermal image in the framed range, and the average temperature and the highest temperature in the range can be obtainedT max Minimum temperature ofT min 。
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| CN114384073A (en) * | 2021-11-30 | 2022-04-22 | 杭州申昊科技股份有限公司 | Crack detection method and system based on subway tunnel |
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