CN114593711B - Non-contact real-time monitoring method for two-dimensional millimeter-level settlement of underground pipeline - Google Patents
Non-contact real-time monitoring method for two-dimensional millimeter-level settlement of underground pipeline Download PDFInfo
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Abstract
The invention discloses a non-contact underground pipeline two-dimensional millimeter-level settlement real-time monitoring method, which comprises the following steps: the first ultrasonic ranging sensor acquires the distance between the probe and the underground pipeline in the vertical direction in real time; step (2): calculating a sedimentation value of the underground pipeline in the vertical direction, and inverting the horizontal displacement value of the underground pipeline; step (3): the earth surface vibration correction module corrects the monitoring data in real time, and eliminates the influence of vibration on the monitoring result; step (4): the inclination correction module corrects the data of the monitoring result by using the inclination value of the probe horizontal plane; the system has the function of monitoring the settlement of the underground pipeline in real time, and has the advantages of non-contact monitoring, high monitoring precision, simultaneous monitoring of displacement changes in the vertical and horizontal directions, simple system device and installation process, high stability, good environmental adaptability, low requirement for later maintenance, small open pore, low cost, easy popularization and the like.
Description
Technical Field
The invention relates to the technical field of underground pipeline monitoring, in particular to a non-contact two-dimensional millimeter-level settlement real-time monitoring method for an underground pipeline.
Background
Underground pipelines are important components of urban facilities, and engineering construction, foundation pit excavation, building construction and the like can cause displacement and sedimentation deformation of the underground pipelines, can have significant influence on normal transmission, operation safety and service life of the pipelines, and sometimes can even directly endanger life safety of residents. Therefore, it is important to monitor the settlement of the underground buried pipeline in real time with high precision. Underground pipeline monitoring methods are classified into direct methods and indirect methods, and the direct methods generally have higher measurement precision and accuracy. However, the direct method generally requires to excavate the ground, find out the pipeline buried underground, fix the observation mark on the pipeline, then monitor, generally has the defects of large engineering quantity and high cost, but some low-cost and convenient-to-install pipeline sedimentation monitoring devices cannot monitor in real time, have low measurement accuracy, and especially have the phenomenon of distortion of monitoring data.
Accordingly, the prior art has drawbacks and needs improvement.
Disclosure of Invention
The invention aims to solve the technical problem of providing a non-contact real-time monitoring method for two-dimensional millimeter-level settlement of an underground pipeline aiming at the defects of the prior art.
The technical scheme of the invention is as follows:
the non-contact underground pipeline two-dimensional millimeter-level settlement real-time monitoring system is adopted to conduct non-contact underground pipeline two-dimensional millimeter-level settlement real-time monitoring, and comprises a sensor array probe, a connecting rod (3), an underground sound velocity vertical distribution real-time monitoring device, a base (1) and a wireless transmission and monitoring terminal; a first ultrasonic ranging sensor (41), a second ultrasonic ranging sensor (42), a third ultrasonic ranging sensor (43), 1 acceleration sensor (6) and 1 inclination sensor (5) are arranged in the sensor array probe; the monitoring terminal comprises a foreign object extrusion intrusion identification module, a ground surface vibration correction module and an inclination correction module; the method comprises the following steps:
step (1): the first ultrasonic ranging sensor (41) acquires the distance between the probe and the underground pipeline in the vertical direction in real time;
step (2): the second ultrasonic ranging sensor (42) and the third ultrasonic ranging sensor (43) respectively acquire the distances between the second ultrasonic ranging sensor (42) and the third ultrasonic ranging sensor (43) and the underground pipeline in the vertical direction, further calculate the sedimentation value of the underground pipeline in the vertical direction, invert the horizontal displacement value of the underground pipeline, send the acquired data to a foreign object extrusion intrusion recognition module, and recognize whether foreign object extrusion intrusion exists between the probe and the underground pipeline after the foreign object extrusion intrusion recognition module performs calculation processing;
step (3): the acceleration sensor (6) acquires vibration displacement in real time by means of the acceleration sensor (6) and sends the vibration displacement to the earth surface vibration correction module, and the earth surface vibration correction module corrects monitoring data in real time to eliminate the influence of vibration on a monitoring result;
step (4): the inclination sensor (5) monitors the inclination value of the sensor array probe level in real time and sends the inclination value to the inclination correction module, and the inclination correction module corrects the data of the monitoring result by utilizing the inclination value of the probe level.
The real-time monitoring method and the device are used for acquiring the speed of sound transmission at different depths in a monitoring area in real time and establishing a related function, and the function is used for sedimentation monitoring of each monitoring duct.
In the real-time monitoring method, the initial distance between the first ultrasonic ranging sensor (41) and the underground pipeline is D 1o The distance between the probe and the underground pipeline, which is obtained by real-time monitoring in the vertical direction, is D 1i Relative to the initial distance D 1o The change value of (a) is DeltaD 1i Change value DeltaD 1i Is the sedimentation value of the underground pipeline along the vertical direction.
In the step (2), the first real-time monitoring method is obtained in real timeThe difference between the displacement measured by the two ultrasonic distance measuring sensors (42) and the third ultrasonic distance measuring sensor (43) and the displacement measured by the first ultrasonic distance measuring sensor (41) is DeltaD 12i And DeltaD 13i The foreign object extrusion invasion identification module acquires the two difference values in real time and then is used for identifying whether underground foreign objects are extruded and invaded between the probe and the underground pipeline; specific: when |ΔD 12(i) Sum |Δd 13(i) When the value deviates from the characteristic value, the combination of D i Value change of |D i And the value of the value is obviously reduced, so that whether the underground pipeline is invaded by foreign objects can be comprehensively judged.
In the step (3), the acceleration sensor (6) monitors and acquires the displacement value delta s of the up-and-down vibration of the acceleration sensor probe in real time;
the probe of the acceleration sensor vibrates upwards, and a displacement correction formula of the pipeline measured by the first ultrasonic sensor (41) is as follows:
D 1i '＝D 1i -△s；
the acceleration sensor probe vibrates downwards, and a displacement correction formula of the pipeline measured by the first ultrasonic sensor (41) is as follows:
D 1i '＝D 1i +△s。
in the real-time monitoring method, in the step (2), the real-time difference value of the displacement in the vertical direction of the first ultrasonic ranging sensor 41, the second ultrasonic ranging sensor 42 and the third ultrasonic ranging sensor 43 is used to invert the monitoring point (a) i ) Real-time abscissa X of (2) Ai Further inverting the horizontal displacement value of the underground pipeline, wherein the corresponding formula is as follows:
X 2 +Y 2 ＝R 2 (1)
r is the radius of the monitored underground pipeline, the unit is mm, and the radius is obtained by the formula (1):
from equation (2):
from equation (3) and equation (4):
assuming that the fixed horizontal displacement value between the first ultrasonic ranging sensor 41 and the third ultrasonic ranging sensor 43 in the sensor array is d, then:
X Ai +d＝X Ci (6)
△D i the difference value of the vertical direction distances obtained for the first ultrasonic ranging sensor 41 and the third ultrasonic ranging sensor 43 by real-time monitoring is that:
△D i ＝Y Ai -Y Ci (7)
the vertical displacement and X can be obtained by the formulas (5), (6) and (7) Ai :
From equation (8): (1) Real-time monitoring of the difference DeltaD of the vertical displacement of an underground pipe by means of three ultrasonic sensors i Can calculate and obtain the real-time abscissa value X Ai The method comprises the steps of carrying out a first treatment on the surface of the (2) When the system is just debugged, if the first ultrasonic sensor (41) is not arranged at the right upper end of the top of the underground pipeline, the initial abscissa of the first ultrasonic sensor can also be calculated to be X through the formula (8) Ao The method comprises the steps of carrying out a first treatment on the surface of the (3) Comparison X Ai And X Ao The direction and absolute displacement value of the horizontal movement of the underground pipeline can be obtained, namely:
the method for judging the rightward movement of the pipeline comprises the following steps: x is X Ai ＞X Ao
The method for judging the leftward movement of the pipeline comprises the following steps: x is X Ai ＜X Ao
Horizontal displacement value: deltaX Horizontal level ＝∣X Ai -X Ao ∣
Contribution value of horizontal displacement movement to vertical sedimentation of pipeline:
true value DeltaD of vertical underground pipeline sedimentation True value ：
Y Ai ＜Y Ao At the time of DeltaD True value ＝△D Ai －∣Y Ai -Y Ao ∣
Y Ai ＞Y Ao At the time of DeltaD True value ＝△D Ai +∣Y Ai -Y Ao ∣
△D Ai The displacement change value in the vertical direction is read in real time by the ultrasonic sensor.
The invention has the function of monitoring the settlement of the underground pipeline in real time, and the monitoring has the advantages of non-contact, high monitoring precision, simultaneous monitoring of displacement changes in the vertical and horizontal directions, simple system device and installation process, high stability, good environmental adaptability, low requirement for later maintenance, small open pore, low cost, easy popularization and the like.
Drawings
FIG. 1 is a system architecture and composition;
1 a base, 2 sensor wires, 3 a connecting rod, 4 a sensor array probe, 41 a first ultrasonic sensor, 42 a second ultrasonic sensor, 43 a third ultrasonic sensor, 5 an inclination sensor, 6 an acceleration sensor;
FIG. 2 is a schematic diagram of a real-time monitoring device for vertical distribution of sound velocity in the subsurface;
71. an ultrasonic sensor 72, an ultrasonic reflecting plate 73, a base 74 and a lifting column;
FIG. 3 is a graph showing the change in position of an ultrasonic wave hitting a pipe as the pipe moves horizontally;
FIG. 4 shows Δh i Trend of magnitude of the value;
FIG. 5 is a schematic diagram of the principle of calculating the horizontal displacement value of the pipeline by means of vertical displacement;
FIG. 6 shows a 0.5m diameter underground pipe Deltah i And X is Ai A value relationship;
FIG. 7 shows a 1m diameter underground pipe Deltah i And X is Ai A value relationship;
FIG. 8 shows a 2m diameter underground pipe Deltah i And X is Ai A value relationship;
FIG. 9 is a schematic diagram of the principle of identifying the invasion of underground foreign objects;
FIG. 10 shows the characteristics of the variation of parameters during plate penetration
Detailed Description
The present invention will be described in detail with reference to specific examples.
Example 1
Referring to fig. 1, the non-contact underground pipeline two-dimensional millimeter-level settlement real-time monitoring system comprises a sensor array probe, a connecting rod 3, an underground sound velocity vertical distribution real-time monitoring device, a base 1 and a wireless transmission and monitoring terminal. The sensor array probe as a main detection unit includes 3 ultrasonic ranging sensors (41, 42, 43), 1 acceleration sensor 6, and 1 tilt sensor 5. The sensing surfaces of the 3 ultrasonic ranging sensors face downwards. A first ultrasonic ranging sensor 41 that acquires a distance between the probe and the underground pipe in the vertical direction in real time, Δd1i being a sedimentation value of the underground pipe in the vertical direction; the monitoring terminal comprises a foreign object extrusion intrusion identification module, a ground surface vibration correction module and an inclination correction module.
The second ultrasonic ranging sensor 42 and the third ultrasonic ranging sensor 43 are respectively used for acquiring the distance between the two sensors and the underground pipeline in the vertical direction, further calculating the sedimentation value of the underground pipeline in the vertical direction, inverting the horizontal displacement value of the underground pipeline, sending acquired data to a foreign object extrusion and invasion recognition module, and recognizing whether foreign object extrusion and invasion exists between the probe and the underground pipeline after the foreign object extrusion and invasion recognition module processes the data. The base 1 and the connecting rod 3 transmit surface vibration to the acceleration sensor 6 buried in the deep underground, the sensing surface of the acceleration sensor 6 faces upwards, vibration displacement is obtained in real time by means of the acceleration sensor 6 and is sent to the surface vibration correction module, the surface vibration correction module corrects monitoring data in real time, and the influence of vibration on a monitoring result is eliminated; the sensor surface of the inclination sensor 5 faces upwards, the inclination value of the probe level of the sensor array is monitored in real time and sent to the inclination correction module, and the inclination correction module corrects the data of the monitoring result by using the inclination value of the probe level. The data collected by the sensors in the sensor array probe are transmitted to the monitoring terminal in a wireless way through a GPRS/4G module in the base; the monitoring terminal also has a map access function, the settlement information of all pipelines at a plurality of positions is monitored in real time, once certain or some position information is larger than a set threshold value, the monitoring terminal can automatically alarm, and automatically send a short message to a receiving terminal of an appointed person, and the receiving person can manually review according to the position information allocation personnel.
As can be seen from the ultrasonic ranging formula l=0.5×v×t, the velocity V is one of the most important factors affecting the accuracy of ultrasonic ranging measurement, and uncertainty factors such as temperature, humidity, soil density, etc. affect the magnitude of V. Unlike air and water medium, the temperature, humidity, density and other parameters of soil may change continuously with depth. Therefore, the velocity V is closely related to the depth, and establishing the correspondence between the velocity V and the depth is a precondition for realizing high-precision monitoring.
The underground sound velocity vertical distribution real-time monitoring device is used for acquiring the sound transmission rate of different depths of a monitored area in real time, establishing a correlation function, and then using the function for sedimentation monitoring of each monitoring pore canal, and obtaining a sedimentation value which is least influenced by uncertain factors such as temperature, humidity, soil density, climate, season and the like through calculus. The method can avoid various uncertainties caused by the existing correction method, furthest reduces the influence of temperature, water content, density, seasonal variation and the like on the sound transmission rate, and is an important guarantee for realizing high-precision settlement monitoring of the underground pipeline.
First ultrasonic ranging sensor 41: the initial distance between the probe and the underground pipeline is D 1o The distance between the probe and the underground pipeline, which is obtained by real-time monitoring in the vertical direction, is D 1i Relative to the initial distance D 1o The change value of (a) is DeltaD 1i The change value is DeltaD 1i Is the sedimentation value of the underground pipeline along the vertical direction.
The second ultrasonic ranging sensor 42 and the third ultrasonic ranging sensor 43 are respectively displaced in the vertical direction with respect to the first ultrasonic ranging sensor 41 by a difference Δd 12i And DeltaD 13i The real-time acquisition of these two values has the following important functions: (1) When in debugging and installation, the sensor array probe can be accurately controlled to be positioned right above the top of the underground pipeline, and the monitoring error of the area is minimum; (2) During debugging and installation, 3 ultrasonic sensors in the probe can be accurately controlled to be distributed along the direction perpendicular to the axis of the underground pipeline, and at the moment, delta D is controlled 12i And DeltaD 13i Has a maximum value; (3) Acquiring the horizontal displacement and direction of the pipeline in the process of underground pipeline sedimentation and the true value of underground pipeline sedimentation in the vertical direction; (4) It is identified whether there is an extrusion intrusion of an underground foreign object between the probe and the underground pipe.
Acceleration sensor 6: the base and the connecting rod transmit the surface vibration to the deep probe, the probe vibrates up and down, the monitoring result is directly influenced, vibration displacement is obtained in real time by means of the acceleration sensor, data real-time correction is carried out, and then the influence of vibration on the monitoring result is eliminated.
The inclination sensor 5 monitors the inclination value of the probe horizontal plane in real time, and performs data correction when the inclination angle influences the monitoring result.
The connecting rod is hollow in rigidity, and the sensor wire passes through from the center of the connecting rod and is connected with the base.
The invention relates to a use method of a non-contact underground pipeline two-dimensional millimeter-level settlement real-time monitoring system, which comprises the following steps:
finding out the position of an underground pipeline to be monitored by using a professional instrument, and excavating a small hole of 10-15 cm;
cleaning soil on the upper part of the opened pore canal, and stopping digging soil when the distance from the soil to the underground pipeline is 10cm (not strictly required);
using an ultrasonic ranging sensor to check whether the residual soil has foreign objects such as bricks, if the residual soil does not have foreign objects, the residual soil in the pore canal does not need to be taken out; if foreign matters exist, the residual soil sample above the pipeline is excavated, the foreign matters are removed, and then the soil is backfilled and compacted.
The lower surface of the sensor array probe 4 is tightly attached to the upper part of the residual soil in the pore canal. According to the ultrasonic sensor DeltaD 12i And DeltaD 13i The direction and the position of the probe are adjusted according to the value, so that the ultrasonic sensors are distributed along the direction perpendicular to the axis of the underground pipeline, and the probe is close to the upper part of the top of the underground pipeline as much as possible.
The level of the lower surface of the probe is adjusted. Debugging and connecting wires. Sealing soil and compacting. And fixing the base, and performing vibration and inclination prevention treatment. And (5) data transmission. And the monitoring is performed in real time through a computer and a mobile phone.
Example 2
Referring to fig. 2, the real-time monitoring device for vertical distribution of the sound velocity in the underground is divided into a left part and a right part, a series of high-precision ultrasonic ranging sensors 71 positioned at different heights are installed from top to bottom on the right side to form an array sensor, an ultrasonic reflection plate 72 is arranged on the left side, and the distance L between the ultrasonic reflection plate 72 and the array sensor is a fixed value.
A vertical duct is dug at the place where the hole is easy to be opened, such as the roadside, the flower bed and the like, the device is placed into the soil, the ultrasonic reflection plate 72 and the array sensor are adjusted to be in the vertical direction, the soil is filled, and the compaction is carried out.
v=2l/T, T is the ultrasonic round trip time, measured by each ultrasonic sensor, and thus the real-time propagation rate of the ultrasonic waves at different depths can be calculated.
Obtaining a real-time corresponding function of the velocity V and the depth: y=v (x).
Obtaining a real-time corresponding function of the velocity V and time: y=v (t).
Thereby reducing the influence of various uncertain factors on V to the maximum extent, and further improving the pipeline settlement monitoring precision.
The rate of sound propagation in soil at different depths is likely to have a gradient profile (y=v (x)) affected by temperature, humidity, soil density, etc. The time variation is inversely proportional to the speed of sound variation. Therefore, there is also a correspondence function (y=v (t)) between the sound propagation rates at different depths and time. Firstly, utilizing a real-time monitoring device for vertical distribution of the underground sound velocity to obtain a function y=V (t), and then utilizing the function to obtain a sedimentation distance formula of each monitoring point which is not influenced by external factors:
t is the ultrasonic round trip time at which each high-precision ultrasonic ranging sensor 71 ranges. By means of the device, real propagation rates of different depths under the ground can be monitored in real time, the influence of uncertain factors such as corrected temperature, humidity and soil density is not needed to be considered, the influence of sound velocity change on the ranging accuracy is reduced to the maximum extent, and the device is an important guarantee for realizing high-accuracy underground ranging. By adopting the integral formula for ranging, even if water exists in deep summer and the shallow part is dry soil, high-precision and high-accuracy real-time data can be obtained
Example 3 method for simultaneously monitoring horizontal and vertical displacements of pipeline
3.1 Displacement Algorithm with vertical Settlement only
Horizontal displacement: Δx=0;
vertical displacement: deltaD i ＝D Ai -D Ao ＝D Bi -D Bo ＝D Ci -D Co 。
A. B, C are the positions where the ultrasonic waves emitted by the three sensors (the first, second and third ultrasonic ranging sensors 41, 42 and 43) hit the underground pipeline, D Ao 、D Bo 、D Co The vertical distance between the three sensors and A, B, C just after the equipment is debugged is respectively D Ai 、D Bi 、D Ci The vertical distances between the three sensors and A, B, C which are monitored in real time in the monitoring process are respectively.
3.2 monitoring of horizontal Displacement necessity
Monitoring necessity: (1) The pipeline is likely to generate a small amount of horizontal displacement in the sedimentation process; (2) Because the surface of the pipeline is curved, the horizontal movement can cause more or less displacement in the vertical direction (figure 3); (3) Although a small amount of horizontal displacement does not have a large influence on the measurement result in the vertical direction, for high-precision sedimentation monitoring (.ltoreq.1 mm), a change in displacement in the horizontal direction is an important factor that must be considered.
As shown in fig. 3, the underground pipe does not settle up and down, only horizontal movement to the right occurs, wherein the sensor probe is fixed, without horizontal displacement variation. The sensor in FIG. 3 emits ultrasonic waves to hit the pipe at position A i As the pipeline moves horizontally to the right, A i Relative to the initial position A o Will be more and more left-shifted and the difference DeltaD between the two shifts in the vertical direction Ai (△D Ai ＝∣D Ai -D Ao I) will be larger, which illustrates two problems: (1) DeltaD Ai As the horizontal displacement becomes larger, there is a one-to-one correspondence (fig. 4); (2) DeltaD Ai The contribution value of the horizontal movement of the underground pipeline to the vertical sedimentation is not deducted, so that more or less underground pipeline sedimentation monitoring values are caused.
3.3 horizontal Displacement calculation Using vertical settlement
From the above, ΔD Ai As the horizontal displacement becomes larger, there is a one-to-one correspondence (fig. 4). Thus, the monitoring point (A) can be inverted by using the real-time difference values of the vertical displacements of the first, second and third ultrasonic ranging sensors 41, 42 and 43 i ) The calculation principle is shown in fig. 5, and the corresponding formula is as follows:
X 2 +Y 2 ＝R 2 (1)
r is the radius of the monitored underground pipeline, the unit is mm, and the radius is obtained by the formula (1):
from equation (2):
from equation (3) and equation (4):
assuming that the fixed horizontal displacement value between the first ultrasonic ranging sensor 41 and the third ultrasonic ranging sensor 43 in the sensor array is d, then:
X Ai +d＝X Ci (6)
△D i the difference value of the vertical direction distances obtained for the first ultrasonic ranging sensor 41 and the third ultrasonic ranging sensor 43 by real-time monitoring is that:
△D i ＝Y Ai -Y Ci (7)
the vertical displacement and X can be obtained by the formulas (5), (6) and (7) Ai :
From equation (8): (1) Real-time monitoring of the difference DeltaD of the vertical displacement of an underground pipe by means of three ultrasonic sensors i Can calculate and obtain the real-time abscissa value X Ai The method comprises the steps of carrying out a first treatment on the surface of the (2) When the system is just debugged, the first ultrasonic sensor 41 may not be arranged at the right upper end of the top of the underground pipeline, and the initial abscissa thereof can also be calculated as X by the formula (8) Ao The method comprises the steps of carrying out a first treatment on the surface of the (3) Comparison X Ai And X Ao The direction and absolute displacement value of the horizontal movement of the underground pipeline can be obtained, namely:
the method for judging the rightward movement of the pipeline comprises the following steps: x is X Ai ＞X Ao
The method for judging the leftward movement of the pipeline comprises the following steps: x is X Ai ＜X Ao
Horizontal displacement value: deltaX Horizontal level ＝∣X Ai -X Ao ∣
Contribution value of horizontal displacement movement to vertical sedimentation of pipeline:
true value DeltaD of vertical underground pipeline sedimentation True value ：
Y Ai ＜Y Ao At the time of DeltaD True value ＝△D Ai －∣Y Ai -Y Ao ∣
Y Ai ＞Y Ao At the time of DeltaD True value ＝△D Ai +∣Y Ai -Y Ao ∣
△D Ai The displacement change value in the vertical direction is read in real time by the ultrasonic sensor.
FIGS. 6, 7 and 8 are DeltaD obtained by real-time monitoring of underground pipes having diameters of 0.5m, 1m and 2m, respectively, according to the formula (8) i And X is Ai A graph of value function, from which it can be found: (1) DeltaD i And X is Ai Has one-to-one correspondence; (2) 0.5m, 1m and 2m underground pipes, when X Ai Values ΔD at intervals of.+ -. 70mm,.+ -. 200mm and.+ -. 400mm, respectively i And X is Ai Has good correlation, and X Ai The smaller the value, deltaD i And X is Ai The better the linear correlation is, the smaller the error of the displacement value in the vertical direction is corrected by the horizontal displacement change value; (3) The larger the diameter of the underground pipeline is, the larger the measurement application range is; (4) Δd obtained by means of vertical monitoring i The value of X can be directly calculated by using the functions in FIGS. 6, 7 and 8 Ai Values. (5) The larger the diameter of the pipeline is, the closer the ultrasonic sensor for monitoring is to the position right above the top of the pipeline, and the smaller the influence of the horizontal movement of the pipeline on the measurement of the displacement in the vertical direction is.
Example 4 method of eliminating surface vibration
Vibrations generated by a surface vehicle or the like are transmitted downward to the sensor probe through the base and the connecting rod, thereby causing the probe to vibrate up and down. In the present system design, the sensor probe position should be fixed. Therefore, the up-and-down vibration of the probe can cause the settlement of the monitored underground pipeline to be larger or smaller, so that vibration correction is required.
A high-precision acceleration sensor 6 is additionally arranged on the upper surface of the sensor array probe, and the displacement value deltas of the up-and-down vibration of the probe is monitored and obtained in real time;
the probe vibrates upward, and the displacement correction formula of the first ultrasonic sensor 41 and the pipeline is:
D 1i '＝D 1i -△s
the probe vibrates downwards, and the displacement correction formula of the first ultrasonic sensor 41 and the pipeline is as follows:
D 1i '＝D 1i +△s
example 5 identification of invasion of foreign objects into the ground
As shown in fig. 9, it is assumed that the distances between the probes and the pipe wall, which are monitored by the 3 ultrasonic sensor probes, are respectively D 1 、D 2 And D 3 Then:
ΔD 12 ＝∣D 1 -D 2 ∣
ΔD 13 ＝∣D 1 -D 3 ∣
ΔD 12(i) ＝∣D 1(i) -D 2(i) ∣i＝1,2,3……n
ΔD 13(i) ＝∣D 1(i) -D 3(i) ∣i＝1,2,3……n
ΔD 12(i) and DeltaD 13(i) The real-time difference between the distance read by the second ultrasonic sensor 42 and the third ultrasonic sensor 43 and the distance read by the first ultrasonic sensor 41 is shown. In D 1 、D 2 、D 3 、ΔD 12(i) And DeltaD 13(i) The magnitude relationship between the probe and the underground pipeline can identify whether foreign objects invade between the probe and the underground pipeline, and fig. 10 shows the change relationship of various parameters of horizontal invasion of a flat plate. When foreign objects suddenly invade, the parameter change is characterized in that: (1) Foreign body invasion site |D i The value of D becomes significantly smaller, D in fig. 10 1 ＝D 2 ＝D 3 ；(2)ΔD 1 ＝ΔD 2 ＝ΔD 3 ＝0，∣ΔD 12(i) Sum |Δd 13(i) The value of | is itself relatively small (pipe roofThe curvature of the part is smaller), and has fixed characteristic values and change rules (corresponding to the horizontal displacement of the pipeline one by one). Thus, when |ΔD 12(i) Sum |Δd 13(i) When the value deviates from the characteristic value, the combination of D i The change of the value can comprehensively judge whether the underground pipeline is invaded by foreign objects.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (6)
1. The non-contact underground pipeline two-dimensional millimeter-level settlement real-time monitoring method is characterized in that a non-contact underground pipeline two-dimensional millimeter-level settlement real-time monitoring system is adopted for non-contact underground pipeline two-dimensional millimeter-level settlement real-time monitoring, and the monitoring system comprises a sensor array probe, a connecting rod (3), an underground sound velocity vertical distribution real-time monitoring device, a base (1) and a wireless transmission and monitoring terminal; a first ultrasonic ranging sensor (41), a second ultrasonic ranging sensor (42), a third ultrasonic ranging sensor (43), 1 acceleration sensor (6) and 1 inclination sensor (5) are arranged in the sensor array probe; the monitoring terminal comprises a foreign object extrusion intrusion identification module, a ground surface vibration correction module and an inclination correction module; the method comprises the following steps:
step (1): the first ultrasonic ranging sensor (41) acquires the distance between the probe and the underground pipeline in the vertical direction in real time;
step (2): the second ultrasonic ranging sensor (42) and the third ultrasonic ranging sensor (43) respectively acquire the distances between the second ultrasonic ranging sensor (42) and the third ultrasonic ranging sensor (43) and the underground pipeline in the vertical direction, further calculate the sedimentation value of the underground pipeline in the vertical direction, invert the horizontal displacement value of the underground pipeline, send the acquired data to a foreign object extrusion intrusion recognition module, and recognize whether foreign object extrusion intrusion exists between the probe and the underground pipeline after the foreign object extrusion intrusion recognition module performs calculation processing;
step (3): the acceleration sensor (6) acquires vibration displacement in real time by means of the acceleration sensor (6) and sends the vibration displacement to the earth surface vibration correction module, and the earth surface vibration correction module corrects monitoring data in real time to eliminate the influence of vibration on a monitoring result;
step (4): the inclination sensor (5) monitors the inclination value of the sensor array probe level in real time and sends the inclination value to the inclination correction module, and the inclination correction module corrects the data of the monitoring result by utilizing the inclination value of the probe level.
2. The method according to claim 1, wherein the underground sound velocity vertical distribution real-time monitoring device is used for acquiring the sound propagation rates of different depths in the monitored area in real time and establishing a correlation function, and the function is used for sedimentation monitoring of each monitoring duct.
3. The real-time monitoring method according to claim 1, wherein the initial distance between the first ultrasonic ranging sensor (41) and the underground pipe is D 1o The distance between the probe and the underground pipeline, which is obtained by real-time monitoring in the vertical direction, is D 1i Relative to the initial distance D 1o The change value of (a) is DeltaD 1i The change value is DeltaD 1i Is the sedimentation value of the underground pipeline along the vertical direction.
4. The real-time monitoring method according to claim 1, wherein in step (2), the difference between the displacement measured by the second ultrasonic ranging sensor (42) and the displacement measured by the third ultrasonic ranging sensor (43) with respect to the displacement measured by the first ultrasonic ranging sensor (41) is Δd, respectively 12i And DeltaD 13i The foreign object extrusion invasion identification module acquires the two difference values in real time and then is used for identifying whether underground foreign objects are extruded and invaded between the probe and the underground pipeline; specific: when |ΔD 12(i) Sum |Δd 13(i) When the value deviates from the characteristic value, the combination of D i Value change of |D i And the value of the value is obviously reduced, so that whether the underground pipeline is invaded by foreign objects can be comprehensively judged.
5. The real-time monitoring method according to claim 1, wherein in the step (3), the acceleration sensor (6) monitors and acquires the displacement value Δs of the up-and-down vibration of the acceleration sensor probe in real time;
the probe of the acceleration sensor vibrates upwards, and a displacement correction formula of the pipeline measured by the first ultrasonic ranging sensor (41) is as follows:
D 1i '＝D 1i -△s；
the acceleration sensor probe vibrates downwards, and a displacement correction formula of the pipeline measured by the first ultrasonic ranging sensor (41) is as follows:
D 1i '＝D 1i +△s。
6. the real-time monitoring method according to claim 1, wherein in the step (2), the real-time difference value of the vertical displacement of the first ultrasonic ranging sensor (41), the second ultrasonic ranging sensor (42) and the third ultrasonic ranging sensor (43) is used to invert the monitoring point (a) i ) Real-time abscissa X of (2) Ai Further inverting the horizontal displacement value of the underground pipeline, wherein the corresponding formula is as follows:
X 2 +Y 2 ＝R 2 (1)
r is the radius of the monitored underground pipeline, the unit is mm, and the radius is obtained by the formula (1):
from equation (2):
from equation (3) and equation (4):
assuming that a fixed horizontal displacement value between the first ultrasonic ranging sensor (41) and the third ultrasonic ranging sensor (43) in the sensor array is d, then:
X Ai +d＝X Ci (6)
△D i the difference value of the vertical direction distances obtained by the real-time monitoring of the first ultrasonic ranging sensor (41) and the third ultrasonic ranging sensor (43) is that:
△D i ＝ Y Ai - Y Ci (7)
the vertical displacement and X can be obtained by the formulas (5), (6) and (7) Ai :
From equation (8): (1) Real-time monitoring of the difference DeltaD of the vertical displacement of an underground pipe by means of three ultrasonic sensors i Can calculate and obtain the real-time abscissa value X Ai The method comprises the steps of carrying out a first treatment on the surface of the (2) When the system is just debugged, if the first ultrasonic ranging sensor (41) is not arranged at the right upper end of the top of the underground pipeline, the initial abscissa of the first ultrasonic ranging sensor can also be calculated to be X through the formula (8) Ao The method comprises the steps of carrying out a first treatment on the surface of the (3) Comparison X Ai And X Ao The direction and absolute displacement value of the horizontal movement of the underground pipeline can be obtained, namely:
the method for judging the rightward movement of the pipeline comprises the following steps: x is X Ai ＞X Ao
The method for judging the leftward movement of the pipeline comprises the following steps: x is X Ai ＜X Ao
Horizontal displacement value: deltaX Horizontal level ＝∣X Ai -X Ao ∣
Contribution value of horizontal displacement movement to vertical sedimentation of pipeline:
true value DeltaD of vertical underground pipeline sedimentation True value ：
Y Ai ＜Y Ao At the time of DeltaD True value ＝△D Ai －∣Y Ai -Y Ao ∣
Y Ai ＞Y Ao At the time of DeltaD True value ＝△D Ai +∣Y Ai -Y Ao ∣
△D Ai The displacement change value in the vertical direction is read in real time by the ultrasonic sensor.
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