CN113252777B - Detection device and detection method for cracks of underwater concrete panel of rock-fill dam - Google Patents
Detection device and detection method for cracks of underwater concrete panel of rock-fill dam Download PDFInfo
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- CN113252777B CN113252777B CN202110354517.0A CN202110354517A CN113252777B CN 113252777 B CN113252777 B CN 113252777B CN 202110354517 A CN202110354517 A CN 202110354517A CN 113252777 B CN113252777 B CN 113252777B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/045—Analysing solids by imparting shocks to the workpiece and detecting the vibrations or the acoustic waves caused by the shocks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
- G01N29/4472—Mathematical theories or simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0232—Glass, ceramics, concrete or stone
Abstract
The invention discloses a detection device and a detection method for cracks of an underwater concrete panel of a rock-fill dam, wherein the detection device comprises a traction device, an induction device which moves along with the traction device and is in contact with the concrete panel, and an excitation device which is fixed on the traction device and is used for vibrating the concrete panel, wherein the induction device and the excitation device are respectively provided with a signal acquisition instrument for acquiring a vibration signal; the crack detector also comprises a signal processing device for receiving and processing the vibration signals collected by the signal collector, and the signal processing device identifies the crack condition according to the vibration signals collected by the excitation device and the induction device. According to the method, the damage diagnosis indexes based on the ARX model parameters are constructed through analysis and processing of the excitation signals and the response signals, the damage distribution condition of the concrete panel is given, the detection of the damage such as cracks of the underwater target area of the rock-fill dam concrete panel can be realized, and the method has the advantages of high efficiency, accuracy, high stability, strong controllability and low detection cost.
Description
Technical Field
The invention relates to a device and a method for detecting cracks of a face plate, in particular to a device and a method for detecting cracks of an underwater concrete face plate of a rock-fill dam.
Background
The concrete face rockfill dam is a rockfill dam which takes rockfill materials as a supporting structure and is provided with a face plate at the upstream as an anti-seepage structure, and has the characteristics of better adaptability, obvious economic benefit and the like. With the improvement of design level and the increasing maturity of dam construction methods, a concrete panel rock-fill dam with a hectometer-level dam height appears. The stress deformation, the structure stability and the face slab crack mechanism of the high face slab dam are more complex than those of the traditional rock-fill dam, the upstream face slab has cracking phenomena of different degrees in the construction period and the water storage period, the cracking phenomena comprise structural cracks caused by uneven deformation of a dam body, shrinkage cracks generated by the performance of concrete, temperature cracks caused by external temperature change and the like, the generation of the cracks directly influences the running state of the dam, and therefore the timely detection of the face slab cracks of the rock-fill dam plays an important role in the safe and stable running of an engineering structure.
The traditional crack monitoring is usually carried out by embedding sensors and the like at key detection positions, but the method has some disadvantages: the survival rate of the instrument is continuously reduced along with the running of the dam body, the replacement difficulty of a damaged instrument is large, the monitoring range is very limited, the number and the form of cracks are difficult to identify, and the like. Meanwhile, due to reasons such as structural stress and temperature, cracks of a face plate of the rock-fill dam are mostly below the water surface, and the traditional crack detection means is limited under the working environment, so that the detection difficulty is increased.
As an improvement, the mainstream detection methods include two types, namely, artificial diving inspection and underwater unmanned aerial vehicle photographing inspection. The artificial diving inspection can realize effective identification of the tiny cracks of the panel, but the requirement of the artificial inspection on the capability of equipment and personnel is high, the artificial error is difficult to avoid, the submergence depth of workers is limited, the inspection feasibility of a dangerous water area is low, and particularly for a high dam, the full-range inspection of the panel is difficult to realize; the underwater unmanned inspection has high requirements on the precision of equipment, but is still limited by complicated working environment problems such as underwater definition or underwater flow velocity, the crack state of a panel cannot be effectively identified, and the equipment cost is too high.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide the device for detecting the cracks of the underwater concrete panel of the rock-fill dam, which is accurate, simple and convenient and strong in operability;
the invention also aims to provide a method for detecting cracks by using the device for detecting cracks of the underwater concrete panel of the rock-fill dam.
The technical scheme is as follows: the device for detecting the cracks of the underwater concrete panel of the rock-fill dam comprises a traction device, an induction device which moves along with the traction device and is in contact with the concrete panel, and an excitation device which is fixed on the traction device and is used for vibrating the concrete panel, wherein signal acquisition instruments used for acquiring vibration signals are respectively arranged on the induction device and the excitation device; the crack detector also comprises a signal processing device for receiving and processing the vibration signals collected by the signal collector, and the signal processing device identifies the crack condition according to the vibration signals collected by the excitation device and the induction device.
Preferably, the signal processing device takes vibration signals respectively collected by the signal collectors on the excitation device and the sensing device as input and output signals of the time series ARX model, and crack conditions are identified by estimating parameters of the ARX model.
Preferably, the actuating means comprises an actuating double hammer rotatable about an axis of rotation for alternately rapping the concrete panel, and the sensing means comprises two interconnected rolling mechanisms.
Preferably, the distance between the excitation double-hammer impact points of the excitation device is equal to the distance between the two rolling mechanisms of the induction device.
Preferably, the frequency of the alternating blows of the double hammer is a function of the distance between the two rolling mechanisms and the travel speed of the traction device.
Preferably, the excitation double hammer and the two rolling mechanisms which are connected with each other are respectively provided with a signal acquisition instrument.
Preferably, a control device for controlling the traction device to move and a positioning device for positioning the moving position are fixed on the traction device.
Preferably, a storage device and a communication device for respectively storing the signals processed by the signal processing device and transmitting information with the outside are fixed on the traction device.
The method for detecting the cracks of the device for detecting the cracks of the underwater concrete panel of the rock-fill dam comprises the following steps:
(1) placing a traction device in an underwater concrete panel target inspection area and advancing, and vibrating an excitation device on the target detection area;
(2) a signal acquisition instrument on the excitation device acquires and records a vibration signal which is recorded as an excitation signal; a signal acquisition instrument on the induction device receives and records a vibration signal transmitted through the concrete panel and records the vibration signal as a response signal;
(3) the signal processing device receives the excitation signal and the response signal and processes: the excitation signal and the response signal are respectively used as input and output signals of a time series ARX model, then damage indexes are established by using parameters of the ARX model, a damage index cloud chart of the concrete panel is obtained according to the damage indexes and the topological relation of all parts in the detection area, and further crack damage parts and damage states of the concrete panel are diagnosed.
Preferably, before step (3), the vibration signal is processed to remove the effects of irregularities.
Has the advantages that: compared with the prior art, the invention has the following remarkable effects: 1. the signals collected by the signal collecting instruments on the exciting device and the sensing device are processed and analyzed, whether crack damage and damage parts exist in the concrete panel detection area can be obtained, and the method has the advantages of accuracy, simplicity and convenience and strong operability. 2. Before the signal processing device collects signals to analyze, the detection error caused by the uneven surface of the panel is eliminated through the arrangement of the excitation double hammers, so that the detection result is more accurate. 3. By analyzing and processing the excitation signal and the response signal, a damage diagnosis index based on the ARX model parameters is constructed, the damage distribution condition of the concrete panel is given, and the detection of damages such as cracks and the like of the underwater target area of the concrete panel of the rock-fill dam can be realized; 4. the crack detection is more accurate and efficient by combining the ARX model with an unevenness error elimination method. 5. The influence of complex environment under water can be effectively avoided, and the full-range inspection of the concrete panel can be realized.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings.
As shown in figures 1 and 2, the invention provides a rock-fill dam underwater concrete panel crack detection device which comprises a traction device 1 and an induction device 2, wherein the traction device 1 is connected with the induction device 2 through a damping device 3, an excitation device 4 is assembled at the lower part of the traction device 1, a signal acquisition instrument 5 is respectively fixed on the induction device 2 and the excitation device 4, and the signal acquisition instrument 5 is electrically connected with a signal processing device 6.
The traction device 1 is a tractor, the induction device 2 comprises two rolling mechanisms which are connected with each other, the two rolling mechanisms are single axle trailers which are made of the same material and have the same size and are connected in front and back, namely a front trailer 21 and a rear trailer 22, and the front trailer 21 and the rear trailer 22 are respectively provided with a signal acquisition instrument 5; the exciting device 4 comprises exciting double hammers rotating around a shaft, a gear transmission mechanism of a tractor wheel controls the exciting double hammers to rotate, the exciting double hammers comprise front exciting hammers 41 and rear exciting hammers 42, signal acquisition instruments 5 are respectively arranged on the front exciting hammers and the rear exciting hammers, the distance between the front exciting hammers and the rear exciting hammers is consistent with the distance between the axles of the front trailer and the axles of the rear trailer, in the advancing process of the device, the front exciting hammers and the rear exciting hammers alternately impact a concrete panel, and the rapping frequency is a function of the distance between the axles of the front trailer and the axles of the rear trailer and the advancing speed of the device. The signal acquisition instruments 5 are all acceleration sensors.
The traction device 1 is also provided with a storage device 7, a communication device 8, a positioning device 9 and a control device 10; the storage device 7 is used for storing the excitation signal and the response signal fed back by the acquisition instrument and the processed excitation signal and response signal; the communication device 8 is used for realizing information transmission between the device and the remote workstation; the positioning device 9 is used for positioning the advancing position; the control device 10 is used to control the traction device 1 to travel on the concrete panel according to a preset path.
The invention provides a method for detecting cracks by using the device for detecting cracks of an underwater concrete panel of a rock-fill dam, which comprises the following steps:
and connecting a tractor with a traction rope, placing the tractor in an underwater target detection area of the concrete panel, and searching the target area by the tractor at a certain speed. In the process of running of the tractor, the two exciting hammers 41 and 42 of the exciting device 4 are controlled by the transmission gear mechanism to continuously and sequentially vibrate the concrete panel at the lower part of the tractor in a fixed period, and the vibration frequency of the exciting double hammers can be controlled by the running speed of the tractor 1. The detection range of single vibration is in the concrete panel area between impact point position and bicycle axle trailer tire position, and when tractor lower part concrete panel received artifical impact excitation, the power response signal that transmits through the regional concrete panel of target can be sensed to the tire of preceding, back trailer, and signal acquisition appearance 5 on being fixed in preceding, the back trailer just can receive this signal.
The damage index represents the damage size of transmission energy caused by structural defects, when the damage index value is close to zero, the structure is in a healthy state, when the damage index value is larger than a threshold value, the damage such as cracks and the like of the structure at the position is shown, and the larger the index value is, the larger the damage degree of the structure is, such as the depth and the width of the cracks. The invention provides a structural damage index by tracking the time-varying parameter change of an ARX model, and the adopted time sequence ARX model is as follows:
in the formula: u (t), y (t) are response input and output signals of the time series model, respectively; ξ (t) is a white noise signal related to error and model uncertainty; a isi、bjRespectively corresponding coefficients; n isa、nbIs the order of the system model.
And (3) taking the collected excitation signal as an input, taking a response signal after unevenness error elimination processing as a model output, and performing parameter estimation on the time sequence ARX model. If the concrete panel structure has cracks and other damages, the structural integrity can be weakened, the structural rigidity is changed, the dynamic characteristic of the structure is changed, and the ARX model coefficient and related parameters are obviously changed, so that the damage index can be established by adopting the time sequence ARX model parameters, and the damage state of the concrete panel detection part can be diagnosed.
The concrete panel surface often has unevenness in the actual engineering, and this condition can change the motion state of response trailer, and then influences the signal that vibration sensor gathered, consequently need eliminate the influence that this phenomenon brought. Assuming that the detection device travels on the dam surface at a fixed speed v and the distance between two single axle trailers is d, the impact interval time of two vibration hammers of the excitation device needs to be set to be d/v. During travel of the detection device, the power equations for the two single axle trailers may be expressed as:
in the formula: subscript i is 1, and 2 represents the physical quantities of the front and rear single axle trailers respectively; m, c and k are respectivelyThe mass of the single axle trailer and the damping and rigidity of the tire of the trailer are reduced, so that the damping term is ignored in the calculation process; z is a radical ofi(t) vertical displacement of the ith trailer at time t; z is a radical ofd(x, y, t) is the deformation of the concrete panel at point (x, y) at time t; sd(x, y) is the unevenness of the panel at point (x, y).
After the time when the primary excitation Δ t is d/v, the rear trailer 22 moves to the position where the front trailer 21 was excited last time, and the excitation device finishes equation (2):
equation (3) shows that the effects of uneven panels can be eliminated by the residual acceleration of the front and rear trailers.
Processing the vibration signals collected after each vibration according to a formula (3) to obtain residual vibration signals of the two induction devices, then establishing a time sequence ARX model according to the excitation signals and the processed response signals, and calculating the damage index value D of each part of the detection area1、D2、…、DNThis process is done on the signal processing device. And determining the topological relation of each vibration detection area according to the positioning device, and further making a damage index cloud picture of the panel. The signal data analysis result is transmitted to a remote workstation through a communication device, so that the occurrence position of crack damage can be detected and identified, and reference is provided for crack treatment.
Claims (8)
1. The rock-fill dam underwater concrete panel crack detection device is characterized by comprising a traction device (1), an induction device (2) which moves along with the traction device (1) and is in contact with the concrete panel, and an excitation device (4) which is fixed on the traction device (1) and is used for vibrating the concrete panel, wherein signal acquisition instruments (5) used for acquiring vibration signals are respectively arranged on the induction device (2) and the excitation device (4); the crack detector is characterized by also comprising a signal processing device (6) for receiving and processing the vibration signals acquired by the signal acquisition instrument (5), wherein the signal processing device (6) identifies the crack condition according to the vibration signals acquired by the excitation device (4) and the induction device (2);
the induction device (2) comprises two rolling mechanisms which are connected with each other;
the excitation device (4) comprises an excitation double hammer which can rotate around a rotating shaft and is used for alternatively vibrating the concrete panel, and the excitation double hammer comprises a front excitation hammer (41) and a rear excitation hammer (42);
the signal processing device (6) takes vibration signals respectively collected by the signal collecting instruments (5) on the exciting device (4) and the sensing device (2) as input and output signals of a time series ARX model, and crack conditions are identified by estimating parameters of the ARX model.
2. The apparatus for detecting cracks in underwater concrete panels of rock-fill dams of claim 1, wherein the distance between the excitation double-hammer impact points of the excitation device (4) is equal to the distance between the two rolling mechanisms of the induction device (2).
3. The apparatus for detecting cracks in underwater concrete panels of rock-fill dams of claim 1, characterized in that the frequency of the alternating blows of the double excitation hammers is a function of the distance between the two rolling mechanisms and the speed of travel of the traction means (1).
4. The apparatus of claim 1, wherein the actuating double hammer and the two interconnected rolling mechanisms are respectively provided with a signal acquisition instrument.
5. The device for detecting cracks of the underwater concrete panel of the rock-fill dam as claimed in claim 1, wherein a control device (10) for controlling the traction device (1) to advance and a positioning device (9) for positioning the advancing position are fixed on the traction device (1).
6. The device for detecting cracks of underwater concrete panels of rock-fill dams according to claim 1, characterized in that a storage device (7) and a communication device (8) for respectively storing signals processed by the signal processing device (6) and transmitting information with the outside are fixed on the traction device (1).
7. A method for detecting cracks by using the device for detecting cracks of the underwater concrete panel of the rock-fill dam as claimed in claim 1, which is characterized by comprising the following steps:
(A1) placing the traction device (1) in an underwater concrete panel target inspection area and moving forward, and vibrating the target detection area by the excitation device (4);
(A2) a signal acquisition instrument (5) on the excitation device (4) acquires and records vibration signals, and the vibration signals are recorded as excitation signals; a signal acquisition instrument (5) on the induction device (2) receives and records a vibration signal transmitted through the concrete panel and records the vibration signal as a response signal;
(A3) the signal processing means (6) receive the excitation and response signals and process: the excitation signal and the response signal are respectively used as input and output signals of a time series ARX model, then damage indexes are established by using parameters of the ARX model, a damage index cloud chart of the concrete panel is obtained according to the damage indexes and the topological relation of all parts in the detection area, and further crack damage parts and damage states of the concrete panel are diagnosed.
8. The method for detecting cracks using the apparatus for detecting cracks in an underwater concrete panel of a rock-fill dam as claimed in claim 7, wherein the vibration signal is processed to remove detection errors due to unevenness of the panel before the step (A3).
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| CN103076393B (en) * | 2012-12-28 | 2015-06-03 | 清华大学 | Knocking scan type bridge damage detecting system |
| CN104634870A (en) * | 2014-12-24 | 2015-05-20 | 同济大学 | Tunnel structure damage identification device based on vibration response test |
| CN106802221A (en) * | 2017-01-13 | 2017-06-06 | 重庆大学 | A kind of detection car device of the bridge damnification diagnostic method based on Vehicle-Bridge Coupling System |
| CN109781848A (en) * | 2018-04-04 | 2019-05-21 | 水利部交通运输部国家能源局南京水利科学研究院 | Concrete face rockfill dam based on sound wave induction is come to nothing the underwater detection system in area |
| CN109001256A (en) * | 2018-09-13 | 2018-12-14 | 武汉轻工大学 | Dam suspension cable type crack detection robot |
| CN210589307U (en) * | 2019-08-24 | 2020-05-22 | 深圳市正杰智能工程有限公司 | Dam crack monitoring multifunctional robot |
| CN111024816A (en) * | 2019-12-27 | 2020-04-17 | 北京瑞威工程检测有限公司 | Suspension detection system and impulse response detection method |
| CN111366317B (en) * | 2020-03-13 | 2021-07-16 | 大连理工大学 | Method for detecting damage of beam type bridge deck by using actively-excited vehicle |
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