CN115508907A - Vehicle-mounted embankment dangerous case hidden danger detection system and early warning method - Google Patents
Vehicle-mounted embankment dangerous case hidden danger detection system and early warning method Download PDFInfo
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Abstract
The invention relates to the technical field of dam detection and early warning, and discloses a vehicle-mounted embankment dangerous case potential hazard detection system which comprises a vehicle-mounted platform, a ground penetrating radar and a transient electromagnetic instrument which are connected with the vehicle-mounted platform, a slope radar, a three-dimensional laser scanner, a pan-tilt camera, an RTK positioning system and a multifunctional meteorological station which are arranged on the top of the vehicle-mounted platform. The detection mode of the invention comprises an efficient general survey detection mode, a fine detailed survey detection mode and a dike slope deformation monitoring mode, the early warning method comprises an internal dike danger early warning method and a dike slope deformation early warning method, and the method can detect and early warn dangers such as cavities, ant holes, piping channels, local incompactness, dike slope deformation and the like in different layer depths in the dike, thereby ensuring the life and property safety of people.
Description
Technical Field
The invention relates to the technical field of dam detection and early warning, in particular to a vehicle-mounted embankment dangerous case hidden danger detection system and an early warning method.
Background
The dike is the infrastructure of water conservancy facilities, plays a core role in flood control and flood fighting, and has relation with the life safety of people and economic and social benefits; modern dike dams fall into two main categories: earth and rockfill dams and concrete dams; the earth-rock dam is a wide dam constructed by crossing a river with soil or stones; the firmness of the dam is reduced due to the dynamic shaking of the foundation and water flow infiltration caused by loose materials; the concrete dam is built by using concrete, and is mainly characterized in that the self weight of the concrete dam is used for supporting the pressure of a water body.
In different time periods, the embankments built by different technologies inevitably have hidden dangers, so the investigation of hidden danger distribution of the embankments in the later period is particularly important; therefore, the method for detecting the potential hazards of the dike is divided into a damage method and a nondestructive method, wherein the former method comprises methods such as pit detection, groove detection, well detection and drilling, and the latter method mainly refers to a physical detection method.
The damage method has the advantages that the detection result is clear at a glance, the problem can be visually reflected, and the hidden danger and the position of the hidden danger point of the dike can be obtained without carrying out complicated analysis and calculation; however, the method is time-consuming and labor-consuming, low in efficiency and certain in destructiveness and locality, the problem discovered by a single pit detection is difficult to represent the hidden trouble problem of the whole dike, and the excavated part is difficult to restore the original appearance and has certain irreversibility.
The nondestructive method mainly comprises a ground penetrating radar method, a transient electromagnetic wave method, a high-density electrical method and a Rayleigh surface wave method; the centers of gravity of the nondestructive detection methods are different in various geological detection applications, for example, the ground penetrating radar method is suitable for detecting hidden danger of shallow levee dikes; the transient electromagnetic wave method is suitable for detecting hidden danger of the deep dyke; due to the complexity of the embankment engineering conditions and the limitation of field detection conditions, the requirements for detecting the hidden dangers of the interior of the embankment comprehensively and accurately cannot be met only by single equipment, comprehensive, correct and reliable geological information is difficult to obtain, and the method cannot be completely suitable for detecting the hidden dangers of the embankment.
Chinese patent discloses a dyke hidden danger time-shifting electrical method detection system (publication No. CN 108873072A), which realizes hidden danger-disaster early warning by contrastive analysis of evolution trends such as apparent resistivity amplitude, isoline state abnormal range and the like, and can realize measurement of multiple groups of data by supplying power once during measurement, thereby reducing power supply times and measuring electrode running times of electrical measuring sensors, greatly reducing measurement time and improving field measurement work efficiency, but the detection method is single, the hidden danger exploration efficiency is low, and early warning and forecasting are difficult.
Disclosure of Invention
The invention aims to provide a vehicle-mounted embankment dangerous case hidden danger detection system and an early warning method, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a vehicle-mounted embankment dangerous case hidden danger detection system comprises a vehicle-mounted platform, a ground penetrating radar, an instant electromagnetic instrument, a slope radar, a three-dimensional laser scanner, a pan-tilt camera, an RTK positioning system and a multifunctional meteorological station, wherein the ground penetrating radar is arranged on the upper top of the vehicle-mounted platform and consists of a radar host and a receiving and transmitting antenna, and the receiving and transmitting antenna is a 400MHz and 200MHz medium and low frequency shielding combined antenna; the transient electromagnetic instrument consists of a transmitting-receiving host and a transmitting-receiving coil, wherein the transmitting-receiving coil adopts a modularized multi-turn coil;
the RTK positioning system is respectively arranged at the tail end positions of a middle-frequency shielding combined antenna and a low-frequency shielding combined antenna of the ground penetrating radar and the central position of a transmitting-receiving coil of the transient electromagnetic instrument; the cloud deck camera is used for scanning and monitoring a dam monitoring area in a large range and acquiring video and image information in real time; the multifunctional meteorological station is used for monitoring meteorological data of wind speed, wind direction, atmospheric temperature, relative humidity, atmospheric pressure and rainfall of a dam site.
As a still further scheme of the invention: the detection system comprises three working modes, namely a high-efficiency general investigation detection mode, a fine detailed investigation detection mode and a embankment slope deformation monitoring mode;
the working method of the high-efficiency census detection mode comprises the following steps:
slowly driving the vehicle-mounted platform along the road at the top of the dam at the traveling speed of not less than 5 kilometers per hour; continuously transmitting narrow-pulse broadband high-frequency electromagnetic wave signals to the underground in a mode of continuous dragging of a transmitting antenna, wherein the electromagnetic wave signals are reflected, transmitted and refracted when encountering underground medium interface surfaces with electrical property differences during the propagation inside the dam; receiving the two-way travel time, amplitude and phase of the reflected electromagnetic wave signal through a receiving antenna; the method comprises the steps that data migration processing, echo energy gain, digital filtering and sliding average processing are carried out through a radar host, after RTK positioning system calibration is carried out, the depth of an interface of the underground medium is calculated in real time, a radar two-dimensional sectional view of a shallow layer in the dike is obtained, the position and the condition of the underground medium can be judged according to the space position represented by an image, and the space position, the structure and the distribution of hidden dangers not shallower than 5 meters in the dike can be detected quickly, comprehensively and accurately;
the working method of the fine detail detection mode comprises the following steps:
slowly driving the vehicle-mounted platform along the dam road at the traveling speed of not less than 3 km/h; step pulse square waves are supplied through a transmitting coil, secondary induction voltage is observed through a receiving coil in the interval period of power failure, strong interference signals are removed, combined filtering and weak information enhancement processing are carried out through an electromagnetic instrument main body, and a secondary field attenuation curve and an apparent resistivity sectional view are obtained; the horizontal abnormality is initially identified according to the attenuation characteristics of the induced electromotive force of the secondary field at different measuring points and different moments, and then the geological abnormal body is detected according to the calculated apparent resistivity image, so that the space-time distribution of hidden dangers, which are not less than 15 meters, in the dike can be judged;
the working method of the embankment slope deformation monitoring mode comprises the following steps:
the method comprises the steps that the vehicle-mounted platform is used for monitoring deformation of a dam bank slope region in all-day, all-weather and high-precision mode in a fixed point mode, radar two-dimensional interference images are obtained through echo signal preprocessing and imaging target recognition, differential interference phases are calculated, deformation speed and acceleration change trends are analyzed, and early warning is conducted on potential hazards of dam slope deformation such as slope falling and collapse; meanwhile, a three-dimensional model of the embankment slope acquired by the three-dimensional laser scanner is combined, and the position of the hidden danger area is visually corresponding through a radar image and terrain data mapping and registering algorithm.
As a still further scheme of the invention: the detection system can be used for hidden detection of the dangerous situations of the embankment slope of the earth-rock dam and the embankment slope of the concrete dam; the detection method comprises the following steps:
for earth and rockfill dam bank slopes: firstly, detecting hidden danger of shallow dangerous case in the dike by adopting an efficient general survey detection mode; further, in the route of a key area of the hidden danger of deep dangerous situations in the suspected dike, an intermediate frequency shielding antenna in a fine detail detection mode is adopted to further detect the hidden danger condition; finally, a embankment slope deformation monitoring mode is adopted, the micro deformation of the surface of the gravity embankment slope is monitored with high precision, and three-dimensional space modeling is completed; finally, the visual display of the hidden danger conditions of the surface layer, the shallow layer and the deep layer of the earth-rock dam is realized, and support is provided for the dangerous case hidden danger troubleshooting and disposal of field detection personnel; in the embankment slope detection of the earth and rockfill dam, a 400MHz intermediate frequency shielding antenna is adopted in a high-efficiency general survey detection mode,
for concrete dam bank slopes: firstly, detecting hidden danger of shallow dangerous case in the dike by adopting an efficient general survey detection mode; and further adopting a fine detailed investigation detection mode to further detect the hidden trouble condition in the route of a key area of deep dangerous case hidden trouble in the suspected dike, and adopting a 200MHz medium-frequency shielding antenna in an efficient general investigation detection mode in the detection of the concrete dam bank slope.
As a still further scheme of the invention: in the high-efficiency general survey detection mode, the calculation formula of the depth h of the underground medium interface is as follows:
in the formula (1), v is the propagation speed of the electromagnetic wave, t is the round-trip time of a single pulse, and x is the horizontal displacement of the ground penetrating radar;
when the propagation speed v of the electromagnetic wave in the underground medium is determined, the depth h of the underground reflection interface can be obtained according to the accurately measured round-trip time t of a single pulse and the horizontal displacement x of the ground penetrating radar.
As a still further scheme of the invention: in the fine detailed investigation detection mode, the secondary induction voltage calculation method comprises the following steps:
s21, passing current I through the transmitting coil 0 And generating an induced current I in the target 1 (t) generating an induced current I in the target body according to the law of electromagnetic induction 1 The formula for (t) is:
in the above formula (2), I 0 The current is introduced into the transmitting coil, M is the mutual inductance between the transmitting coil and the target body, tau = L/R, and R and L are the impedance and the inductive reactance of the target body respectively;
s22, passing the induction current I 1 (t) exciting an induction magnetic field H 2 (t) inducing a magnetic field H 2 The calculation formula of (t) is as follows:
H 2 (t)＝Lv 0 sinθ/I 1 (t) (3)
in the above formula (3), v 0 The speed of the cutting magnetic field of the target body is taken as L, the length of the target body of the cutting magnetic field is taken as L, and the angle of the cutting magnetic field of the target body is taken as theta;
s23, generating a transmitting current I (t) through a transmitting coil, and exciting a secondary magnetic field H through the transmitting current I (t) 2 (t), secondary magnetic field H 2 The calculation formula of (t) is as follows:
Hi 2 (t)＝H 2 (t)/I(t) (4)
in the above formula (4), I (t) is trapezoidalA wave emission current; h i2 (t) is a full-space impulse current secondary magnetic field;
s24, passing through a secondary magnetic field H 2 (t) generating a secondary induction voltage V in the receiving coil t (t), according to Faraday's law of electromagnetic induction, secondary induced voltage V t The calculation formula of (t) is as follows:
in the above formula (5): sr is the equivalent receiving area of the receiving coil; u (t) is a unit step function; t is the return time of a single pulse; t is t 0 Is the turn-off start time; t is t 1 A full off time; mu.s 0 Vacuum magnetic conductivity; t is t off Is the turn-off time; h s2 (t) is a positive step current secondary magnetic field;
s25, according to the positive step current secondary magnetic field and the negative step current secondary magnetic field H –s2 (t) relationship, the secondary induction voltage V in the receiving coil can be obtained t The calculation formula of (t) is as follows:
therefore, as can be seen from the above equation (6), the trapezoidal-wave turn-off secondary induction voltage is equal to t in value 0 The secondary magnetic field generated by the time negative step current and t 1 The algebraic sum of secondary magnetic fields generated by the moment negative step current; only the negative step current secondary magnetic field H of the full-space three-dimensional geological model needs to be calculated –s2 (t), and combining the turn-off time of the emission current and the equivalent area of the receiving coil to obtain the secondary induction voltage V in the receiving coil t (t)。
As a still further scheme of the invention: under the embankment slope deformation monitoring mode, differential interference phaseBit
The calculation formula of (c) is as follows:
in the above-mentioned formula (7),
and
the phases at the first and second scan monitoring respectively,
for the phase component associated with the deformation displacement,
and
for the phase component due to atmospheric effects during data acquisition,
for phase components caused by other related noise sources, 2k pi is a phase ambiguity coefficient, lambda is the wavelength of electromagnetic waves emitted by the slope radar, and delta d is the deformation displacement of the target body in the first scanning and second scanning monitoring processes.
A vehicle-mounted embankment dangerous case hidden danger early warning method comprises an embankment internal dangerous case hidden danger early warning method and an embankment slope deformation early warning method; the method comprises the following specific steps:
aiming at hidden dangers of cavities, ant caves, piping channels and local incompact at different stratum depths in the dike, the dike internal dangerous danger early warning method is based on a ground penetrating radar and a transient electromagnetic instrument in a vehicle-mounted dike dangerous danger detection system to detect imaging results, applies a Faster R-CNN and YOLOv3 target detection algorithm in deep learning to the identification of the imaging results of the ground penetrating radar and the transient electromagnetic instrument through a geological structure intelligent identification technology based on a parallel deep learning network model, and accurately identifies and directly early warns dyke hidden danger targets at different stratum depths;
the embankment deformation early warning method aims at the hidden dangers of slope falling and collapse caused by embankment deformation, based on slope radar time sequence deformation displacement information in a vehicle-mounted embankment dangerous case hidden danger detection system, combined with an embankment three-dimensional model obtained by a three-dimensional laser scanner, through setting early warning grades and early warning parameters, the deformation hidden dangers of an embankment monitoring area are early warned in a grading mode, and the occurring time of dangerous cases is researched and judged based on a speed reciprocal method forecasting model.
As a still further scheme of the invention: the embankment slope deformation early warning method comprises the following specific steps:
s1, setting four early warning levels according to actual requirements of a levee slope monitoring area, wherein the levels from high to low are respectively as follows: red early warning, purple early warning, yellow early warning and blue early warning; each grade corresponds to four early warning parameters which are divided into short-term early warning values D s Long term early warning value D l And an early warning area S ew Early warning duration time T ew ；
S2, utilizing time sequence deformation displacement data diff (x) of the slope radar in the embankment slope acceleration deformation stage i ,y i ) Compared with the early warning deformation value, the early warning area is more than the short-term early warning value, the long-term early warning value and the early warning area at the same time, namely:
{diff(x i ,y i )>D s ∩diff(x i ,y i )>D l ∩∑S(x i ,y i )>S ew } (8)
judging to search an early warning area, and ending the early warning process if the early warning area is not searched; if the early warning area is searched, switching to early warning state judgment; if the node is in the early warning state, adding a piece of node information for the current early warning and ending the early warning process; if the alarm is not in the early warning state, switching to early warning duration judgment; if the early warning duration time is not reached, ending the early warning process, if the early warning duration time is reached, generating early warning records and corresponding node information, and ending the early warning process, namely:
∑t(x i ,y i )>T ew (9)
s3, when red early warning is triggered, based on speed data in an acceleration deformation stage, short-term forecasting before the slope is in slide is carried out through a speed reciprocal method; supposing that the deformation speed of the dike slope is infinite at the gliding time, and the intersection point of the linear trend line of the speed inverse value and the time on the time axis is the slope removal time t f (ii) a The linear fit of the reciprocal velocity after the starting point to time is
In the above formula (10), A and B are the monitored bank slope deformation constants, t SP A start time for data used by the predictive model;
when the temperature is higher than the set temperature
The time of falling off the slope can be obtained
The above formula (10) can be rewritten as:
integrating the above equation (11) to obtain:
wherein C is an integral constant term; and (3) after the data calculation starting point, calculating a predicted time point of the slope removal by applying a logarithmic function model to perform data point fitting by using a logarithmic function with the relation between the accumulated deformation displacement value of the embankment slope and the time conforming to the formula (10) to obtain parameters A and B.
As a still further scheme of the invention: the specific using method of the short-term early warning value, the long-term early warning value, the early warning area and the early warning duration in the step S1 is as follows:
short-term early warning value: when early warning verification is carried out at the same level, short-term early warning value verification is preferentially used, and an early warning area is searched corresponding to data within a small time;
long-term early warning value: if the early warning is not triggered after entering the early warning process according to the short-term early warning value, checking the long-term early warning value, and searching an early warning area corresponding to data within 24 hours;
early warning area: when points reaching the early warning value exist in the combined short-term/long-term radar monitoring data, early warning area judgment is started, and when the area of continuous points exceeds the early warning value and reaches the early warning area, early warning is triggered;
early warning duration: the single trigger early warning is not enough to explain the danger of the embankment slope region, the possible reasons are interference, vibration and the like, and the continuous trigger early warning needs to immediately send out a notice for investigation and processing.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, through a ground penetrating radar, a transient electromagnetic instrument, a side slope radar, a three-dimensional laser scanner, a pan-tilt camera, an RTK positioning system and a multifunctional meteorological station, detection results such as a radar profile inside the dike, an apparent resistivity profile, a surface deformation and displacement of the dike can be comprehensively obtained, detection efficiency of detection of the hidden danger of the dike is improved, the detection mode comprises an efficient general survey detection mode, a fine detailed survey detection mode and a dike deformation monitoring mode, complexity of dike engineering conditions and limitation of field detection conditions can be overcome, the early warning method comprises an early warning method for the hidden danger of the interior dike and an early warning method for the deformation of the dike, the data result of the detection system can be effectively utilized to comprehensively judge the dike, further, detection and early warning of hidden dangers such as cavities, ant holes, piping channels, local compaction, dike deformation and the like under different layer depths inside the dike can be carried out, and safety of lives and properties of people can be guaranteed.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle-mounted embankment dangerous situation detection system;
fig. 2 is a schematic flow diagram of a vehicle-mounted embankment dangerous situation early warning method.
Detailed Description
In the embodiment of the invention, the system for detecting the dangerous case and hidden danger of the vehicle-mounted embankment comprises a vehicle-mounted platform, a ground penetrating radar, a transient electromagnetic instrument, a slope radar, a three-dimensional laser scanner, a pan-tilt camera, an RTK positioning system and a multifunctional meteorological station, wherein the ground penetrating radar is arranged on the top of the vehicle-mounted platform and consists of a radar host and a receiving and transmitting antenna, the receiving and transmitting antenna is a 400MHz and 200MHz medium and low frequency shielding combined antenna, and the shielding antenna has strong anti-interference performance and high resolution, has the theoretical maximum penetration depth reaching 10m and meets the detection requirement of the hidden danger of the shallow layer in the embankment; the transient electromagnetic instrument consists of a transmitting-receiving host machine and a transmitting-receiving coil, wherein the transmitting-receiving coil adopts a modularized multi-turn coil;
the RTK positioning system is respectively arranged at the tail end positions of the medium-frequency and low-frequency shielding combined antennas of the ground penetrating radar and the central position of the receiving and transmitting coil of the transient electromagnetic instrument, so that the spatial positions of the ground penetrating radar and the transient electromagnetic instrument for detecting the hidden danger of the dike can be accurately marked, and the detection personnel can conveniently perform hidden danger investigation and disposal; the cloud deck camera is used for scanning and monitoring a dam monitoring area in a large range and acquiring video and image information in real time; the multifunctional meteorological station is used for monitoring meteorological data of wind speed, wind direction, atmospheric temperature, relative humidity, atmospheric pressure and rainfall of a dam site, and timely studying, judging and analyzing monitoring results of a ground penetrating radar, a transient electromagnetic instrument and a slope radar, as shown in figure 1.
Preferably, the detection system comprises three working modes, namely a high-efficiency general investigation detection mode, a fine detailed investigation detection mode and a embankment slope deformation monitoring mode;
the working method of the high-efficiency general survey detection mode comprises the following steps:
the vehicle-mounted platform slowly runs along the road at the top of the dam at the running speed of not less than 5 kilometers per hour, the basic line distance is 2m, and suspected hidden dangers existThe thickness is increased to 1m, and the thickness can be increased to 4m near the bottom of the backwater slope dam; continuously transmitting narrow-pulse broadband high-frequency electromagnetic wave signals to the underground in a mode that a transmitting antenna is continuously dragged, wherein the electromagnetic wave signals are reflected, transmitted and refracted when encountering the interface surfaces of underground media with electrical property differences (such as dielectric constant differences) when being transmitted inside the dam; receiving the two-way travel time, amplitude and phase of the reflected electromagnetic wave signal through a receiving antenna; the method comprises the steps that data migration processing, echo energy gain, digital filtering and sliding average processing are carried out through a radar host, the depth of an interface of the underground medium is calculated in real time after the data migration processing, the echo energy gain, the digital filtering and the sliding average processing are calibrated through an RTK positioning system, so that a radar two-dimensional cross-sectional diagram of a shallow layer in the dike can be obtained, the position and the condition of the underground medium can be judged according to the spatial position represented by an image, and the spatial position, the structure and the distribution of hidden dangers not shallower than 5 meters in the dike can be detected quickly, comprehensively and accurately; specifically, the method comprises the following steps: the method can effectively detect irregular cavities with the depth within 8m and not less than 0.4m multiplied by 0.3m (length multiplied by width multiplied by height); can be within 5m and not less than 1m for depth 3 The ant holes are effectively detected; can be adjusted to the depth within 8m and the sectional area not less than 0.2m 2 The piping channel of the piping system is effectively detected;
the working method of the fine detail detection mode is as follows:
slowly driving the vehicle-mounted platform along the dam road at the traveling speed of not less than 3 kilometers per hour, wherein the basic line distance is 2m, and the measuring point distance is 1m; line spacing can be encrypted to 1m when suspected hidden danger exists, and measuring point spacing can be encrypted to 0.5m; step pulse square waves are fed in through a transmitting coil, secondary induction voltage is observed through a receiving coil in the interval period of power failure, strong interference signal elimination, combined filtering and weak information enhancement processing are carried out through an electromagnetic instrument main body, and a secondary field attenuation curve and an apparent resistivity section diagram are obtained; the transverse abnormality is initially identified according to the attenuation characteristics of the secondary field induced electromotive force at different measuring points and different moments, and then the geological abnormal body is detected according to the calculated apparent resistivity image, so that the space-time distribution of the hidden danger of not less than 15 meters in the interior of the dike can be judged, and the method specifically comprises the following steps:
can be adjusted to a depth within 20m and not less than 0.5m × 0.5m × 0.3m (length × width × height)) The irregular holes are effectively detected; can be adjusted to the depth within 15m and not less than 1.5m 3 The ant holes are effectively detected; can be used for the depth within 20m and the section area not less than 0.2m 2 The piping channel of the device is effectively detected;
the working method of the embankment slope deformation monitoring mode comprises the following steps:
the method comprises the steps that a vehicle-mounted platform is used for monitoring deformation of a bank slope region of a dam in all-day, all-weather and high-precision mode in a fixed point mode, radar two-dimensional interference images are obtained through echo signal preprocessing and imaging target recognition, differential interference phases are calculated, deformation speed and acceleration change trends are analyzed, and early warning is conducted on hidden dangers of deformation of the bank slope, such as slope collapse and the like; meanwhile, a three-dimensional model of the embankment slope acquired by the three-dimensional laser scanner is combined, and the position of the hidden danger area is visually corresponding through a radar image and terrain data mapping and registering algorithm.
Preferably, the detection system can be used for detecting the hidden danger of the embankment slope of the earth and rock dam and the embankment slope of the concrete dam; the detection method comprises the following steps:
for earth and rockfill dam bank slope: firstly, detecting hidden danger of shallow dangerous case in the dike by adopting an efficient general survey detection mode; further adopting an intermediate frequency shielding antenna in a fine detail inspection detection mode to further detect hidden danger conditions in the route of a key area of deep hidden danger in the suspected dike; finally, a embankment slope deformation monitoring mode is adopted, the micro deformation of the surface of the gravity embankment slope is monitored with high precision, and three-dimensional space modeling is completed; finally, the visual display of the hidden danger conditions of the surface layer, the shallow layer and the deep layer of the embankment of the earth and rockfill dam is realized, and support is provided for the troubleshooting and disposal of the hidden danger of site detection personnel; in the embankment slope detection of the earth and rockfill dam, a 400MHz intermediate frequency shielding antenna is adopted in a high-efficiency general survey detection mode,
for concrete dam bank slopes: firstly, detecting hidden danger of shallow dangerous case in the dike by adopting an efficient general survey detection mode; and further adopting a fine detailed investigation detection mode to further detect the hidden trouble condition in the route of a key area of deep dangerous case hidden trouble in the suspected dike, and adopting a 200MHz medium-frequency shielding antenna in an efficient general investigation detection mode in the detection of the concrete dam bank slope.
Preferably, in the high-efficiency census detection mode, the depth h of the interface of the underground medium is calculated according to the following formula:
in the formula (1), v is the propagation speed of the electromagnetic wave, t is the round-trip time of a single pulse, and x is the horizontal displacement of the ground penetrating radar;
when the propagation speed v of the electromagnetic wave in the underground medium is determined, the depth h of the underground reflection interface can be obtained according to the accurately measured round-trip time t of a single pulse and the horizontal displacement x of the ground penetrating radar.
Preferably, in the fine detail inspection detection mode, the secondary induced voltage calculation method comprises the following steps:
s21, passing current I through the transmitting coil 0 And generating an induced current I in the target 1 (t) generating an induced current I in the target body according to the law of electromagnetic induction 1 The formula for calculation of (t) is:
in the above formula (2), I 0 The current is introduced into the transmitting coil, M is the mutual inductance between the transmitting coil and the target body, tau = L/R, and R and L are the impedance and the inductive reactance of the target body respectively;
s22, passing the induction current I 1 (t) exciting an induced magnetic field H 2 (t), induced magnetic field H 2 The calculation formula of (t) is as follows:
H 2 (t)＝Lv 0 sinθ/I 1 (t) (3)
in the above formula (3), v 0 Cutting the magnetic field for the target, wherein L is the target length of the cutting magnetic field, and theta is the angle of the cutting magnetic field for the target;
s23, generating a transmitting current I (t) through a transmitting coil, and exciting a secondary magnetic field H through the transmitting current I (t) 2 (t), secondary magnetic field H 2 (t) is calculated asThe following:
H i2 (t)＝H 2 (t)/I(t) (4)
in the above formula (4), I (t) is a trapezoidal wave emission current; h i2 (t) is a full-space impulse current secondary magnetic field;
s24, passing through a secondary magnetic field H 2 (t) generating a secondary induction voltage V in the receiving coil t (t), according to Faraday's law of electromagnetic induction, secondary induced voltage V t The calculation formula of (t) is as follows:
in the above formula (5): sr is equivalent receiving area of the receiving coil; u (t) is a unit step function; t is the return time of a single pulse; t is t 0 Is the turn-off start time; t is t 1 A full off time; mu.s 0 Is a vacuum magnetic conductivity; t is t off Is the turn-off time; h s2 (t) is a positive step current secondary magnetic field;
s25, according to the positive step current secondary magnetic field and the negative step current secondary magnetic field H –s2 (t) relationship, obtaining the secondary induction voltage V in the receiving coil t The calculation formula of (t) is as follows:
therefore, as can be seen from the above equation (6), the trapezoidal off secondary induced voltage is equal to t in value 0 The secondary magnetic field generated by the time negative step current and t 1 The algebraic sum of secondary magnetic fields generated by the moment negative step current; only the negative step current secondary magnetic field H of the full-space three-dimensional geological model needs to be calculated –s2 (t), and combining the turn-off time of the emission current and the equivalent area of the receiving coil to obtain the secondary induction voltage V in the receiving coil t (t)。
Preferably, in the embankment slope deformation monitoring mode, the differential interference phase
The calculation formula of (c) is as follows:
in the above-mentioned formula (7),
and
the phases at the first and second scan monitoring respectively,
as is the phase component associated with the deformation displacement,
and
for the phase component due to atmospheric effects during data acquisition,
for phase components caused by other related noise sources, 2k pi is a phase ambiguity coefficient, lambda is the wavelength of electromagnetic waves emitted by the slope radar, and delta d is the deformation displacement of the target body in the first and second scanning monitoring processes.
A vehicle-mounted dyke dangerous case hidden danger early warning method comprises an internal dyke dangerous case hidden danger early warning method and a dyke slope deformation early warning method, so that the data result of a detection system can be effectively utilized to comprehensively study and judge the dyke dangerous case hidden danger; the method comprises the following specific steps:
aiming at hidden dangers of cavities, ant caves, piping channels and local incompact at different depths of an inner embankment, the method applies a Faster R-CNN and YOL0v3 target detection algorithm in deep learning to the imaging result recognition of a ground penetrating radar and a transient electromagnetic instrument through a geological structure intelligent recognition technology based on a parallel deep learning network model, and accurately recognizes and directly warns an embankment hidden danger target body at different depths, as shown in FIG. 2;
the embankment deformation early warning method aims at the hidden dangers of slope collapse and collapse caused by embankment deformation, based on slope radar time sequence deformation displacement information in a vehicle-mounted embankment dangerous case hidden danger detection system, combined with an embankment three-dimensional model obtained by a three-dimensional laser scanner, through setting early warning grades and early warning parameters, the deformation hidden dangers of an embankment monitoring area are early warned in a grading mode, and the occurring time of dangerous cases is researched and judged based on a speed reciprocal method forecasting model.
Preferably, the embankment slope deformation early warning method comprises the following specific steps:
s1, setting four early warning levels according to actual requirements of an embankment slope monitoring area, wherein the levels from high to low are as follows: red early warning, purple early warning, yellow early warning and blue early warning; each grade corresponds to four early warning parameters which are divided into short-term early warning values D s Long term early warning value D l And an early warning area S ew Early warning duration time T ew ；
S2, utilizing time sequence deformation displacement data diff (x) of the slope radar in the embankment slope acceleration deformation stage i ,y i ) Compared with the early warning deformation value, the early warning area exceeds the short-term early warning value, the long-term early warning value and the early warning area at the same time, namely:
{diff(x i ,y i )>D s ∩diff(x i ,y i )>D l ∩∑S(x i ,y i )>S ew } (8)
judging to search an early warning area, and ending the early warning process if the early warning area is not searched; if the early warning area is searched, switching to early warning state judgment; if the node is in the early warning state, adding a piece of node information for the current early warning and ending the early warning process; if the alarm is not in the early warning state, switching to early warning duration judgment; if the early warning duration time is not reached, ending the early warning process, if the early warning duration time is reached, generating early warning records and corresponding node information, and ending the early warning process, namely:
∑t(x i ,y i )>T ew (9)
s3, when red early warning is triggered, based on speed data in an acceleration deformation stage, short-term forecasting before the slope is in slide is carried out through a speed reciprocal method; supposing that the deformation speed of the dike slope is infinite at the gliding time, and the intersection point of the linear trend line of the speed inverse value and the time on the time axis is the slope removal time t f (ii) a The linear fit of the reciprocal velocity after the starting point to time is
In the above formula (10), A and B are the monitored bank slope deformation constants, t SP A start time for data used by the predictive model;
when in use
The time of falling off the slope can be obtained
The above formula (10) can be rewritten as:
integrating the above equation (11) to obtain:
wherein C is an integral constant term; and (3) after the data calculation starting point, calculating a predicted time point of the slope removal by applying a logarithmic function model to perform data point fitting by using a logarithmic function with the relation between the accumulated deformation displacement value of the embankment slope and the time conforming to the formula (10) to obtain parameters A and B.
Preferably, the specific use method of the short-term early warning value, the long-term early warning value, the early warning area and the early warning duration in the step S1 is as follows:
short-term early warning value: when early warning verification is carried out at the same level, short-term early warning value verification is preferentially used, and an early warning area is searched corresponding to data in a small time;
long-term early warning value: if the early warning is not triggered after entering the early warning process according to the short-term early warning value, checking the long-term early warning value, and searching an early warning area corresponding to data within 24 hours;
early warning area: when the point reaching the early warning value exists in the combined short-term/long-term radar monitoring data, early warning area judgment is started, and when the area of the continuous point exceeds the early warning value and reaches the early warning area, early warning is triggered;
early warning duration: the single-trigger early warning is not enough to explain the danger of the embankment slope area, probably caused by interference, vibration and the like, and the continuous trigger early warning is to immediately send out a notice for investigation and processing.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (9)
1. A vehicle-mounted embankment dangerous case hidden danger detection system comprises a vehicle-mounted platform, a ground penetrating radar, a transient electromagnetic instrument, a slope radar, a three-dimensional laser scanner, a pan-tilt camera, an RTK positioning system and a multifunctional weather station, wherein the ground penetrating radar, the three-dimensional laser scanner, the pan-tilt camera, the RTK positioning system and the multifunctional weather station are arranged on the top of the vehicle-mounted platform, and the ground penetrating radar is composed of a radar host and a receiving and transmitting antenna, wherein the receiving and transmitting antenna is a 400MHz and 200MHz medium and low frequency shielding combined antenna; the transient electromagnetic instrument consists of a transmitting-receiving host machine and a transmitting-receiving coil, wherein the transmitting-receiving coil adopts a modularized multi-turn coil;
the RTK positioning system is respectively arranged at the tail end positions of a middle and low frequency shielding combined antenna of the ground penetrating radar and the central position of a transmitting and receiving coil of the transient electromagnetic instrument; the cloud deck camera is used for scanning and monitoring a dam monitoring area in a large range and acquiring video and image information in real time; the multifunctional meteorological station is used for monitoring meteorological data of wind speed, wind direction, atmospheric temperature, relative humidity, atmospheric pressure and rainfall of a dam site.
2. The vehicle-mounted embankment dangerous situation detection system according to claim 1, wherein the detection system comprises three operation modes, namely an efficient general survey detection mode, a fine detail survey detection mode and a embankment deformation monitoring mode;
the working method of the high-efficiency census detection mode comprises the following steps:
slowly driving the vehicle-mounted platform along the road at the top of the dam at the traveling speed of not less than 5 kilometers per hour; continuously transmitting narrow-pulse broadband high-frequency electromagnetic wave signals to the underground in a continuous dragging mode through a transmitting antenna, wherein when the electromagnetic wave signals are transmitted in a dam, the electromagnetic wave signals are reflected, transmitted and refracted when encountering underground medium interface surfaces with electrical property differences; receiving the two-way travel time, amplitude and phase of the reflected electromagnetic wave signal through a receiving antenna; through data offset processing, echo energy gain, digital filtering and sliding average processing, after being calibrated by an RTK positioning system, the depth of an underground medium interface is calculated in real time to obtain a radar two-dimensional cross-sectional view of a shallow layer in the dike, so that the position and the condition of the underground medium can be judged according to the spatial position represented by the image, and the spatial position, the structure and the distribution of hidden dangers which are not less than 5 meters in the dike can be rapidly, comprehensively and accurately detected;
the working method of the fine detailed investigation detection mode comprises the following steps:
slowly driving the vehicle-mounted platform along the dam road at the traveling speed of not less than 3 kilometers per hour; supplying step pulse square waves through a transmitting coil, observing secondary induction voltage by using a receiving coil in the interval period of power failure, and acquiring a secondary field attenuation curve and an apparent resistivity profile through strong interference signal elimination, combined filtering and weak information enhancement processing; the horizontal abnormality is initially identified according to the attenuation characteristics of the induced electromotive force of the secondary field at different measuring points and different moments, and then the geological abnormal body is detected according to the calculated apparent resistivity image, so that the space-time distribution of hidden dangers, which are not less than 15 meters, in the dike can be judged;
the working method of the embankment slope deformation monitoring mode comprises the following steps:
the method comprises the steps that a vehicle-mounted platform is used for monitoring deformation of a bank slope region of a dam in all-day, all-weather and high-precision mode in a fixed point mode, radar two-dimensional interference images are obtained through echo signal preprocessing and imaging target recognition, differential interference phases are calculated, deformation speed and acceleration change trends are analyzed, and early warning is conducted on hidden dangers of bank slope deformation such as slope collapse and the like; meanwhile, a three-dimensional model of the embankment slope acquired by the three-dimensional laser scanner is combined, and the position of the hidden danger area is visually corresponding through a radar image and terrain data mapping and registering algorithm.
3. A vehicle-mounted embankment hazard detection system according to claim 1, wherein the detection system is adapted for hazard detection of earth and rock dam slopes and concrete dam slopes; the detection method comprises the following steps:
for earth and rockfill dam bank slope: firstly, detecting the hidden danger of shallow danger in the dike by adopting an efficient general survey detection mode; further adopting an intermediate frequency shielding antenna in a fine detail inspection detection mode to further detect hidden danger conditions in the route of a key area of deep hidden danger in the suspected dike; finally, a embankment slope deformation monitoring mode is adopted, the micro deformation of the surface of the gravity embankment slope is monitored with high precision, and three-dimensional space modeling is completed; finally, the visual display of the hidden danger conditions of the surface layer, the shallow layer and the deep layer of the earth-rock dam is realized, and support is provided for the dangerous case hidden danger troubleshooting and disposal of field detection personnel; in the embankment slope detection of the earth and rockfill dam, a 400MHz intermediate frequency shielding antenna is adopted in an efficient general investigation detection mode;
for concrete dam bank slopes: firstly, detecting the hidden danger of shallow danger in the dike by adopting an efficient general survey detection mode; and further adopting a fine detailed investigation detection mode to further detect the hidden danger condition in the route of a key area of deep hidden danger in the suspected dike, and adopting a 200MHz medium-frequency shielding antenna in an efficient general investigation detection mode in the detection of the concrete dam bank slope.
4. The vehicle-mounted embankment dangerous situation detection system according to claim 1, wherein in the high-efficiency general survey detection mode, the calculation formula of the depth h of the underground medium interface is as follows:
in the formula (1), v is the propagation speed of the electromagnetic wave, t is the round-trip time of a single pulse, and x is the horizontal displacement of the ground penetrating radar; when the propagation speed v of the electromagnetic wave in the underground medium is determined, the depth h of the underground reflection interface can be obtained according to the accurately measured round-trip time t of a single pulse and the horizontal displacement x of the ground penetrating radar.
5. The vehicle-mounted embankment dangerous situation and hidden danger detecting system according to claim 1, wherein in the fine detail detection mode, the secondary induced voltage calculating method comprises the following steps:
s21, passing current I through the transmitting coil 0 And generating an induced current I in the target 1 (t) generating an induced current I in the target body according to the law of electromagnetic induction 1 The formula for calculation of (t) is:
in the above formula (2), I 0 The current is introduced into the transmitting coil, M is the mutual inductance between the transmitting coil and the target body, tau = L/R, and R and L are the impedance and the inductive reactance of the target body respectively;
s22, passing the induction current I 1 (t) exciting an induction magnetic field H 2 (t) inducing a magnetic field H 2 The calculation formula of (t) is as follows:
H 2 (t)＝Lv 0 sinθ/I 1 (t) (3)
in the above formula (3), v 0 Cutting the magnetic field for the target, wherein L is the target length of the cutting magnetic field, and theta is the angle of the cutting magnetic field for the target;
s23, generating a transmitting current I (t) through a transmitting coil, and exciting a secondary magnetic field H through the transmitting current I (t) 2 (t), secondary magnetic field H 2 The calculation formula of (t) is as follows:
H i2 (t)＝H 2 (t)/I(t) (4)
in the above formula (4), I (t) is a trapezoidal wave emission current; h i2 (t) is a full-space impulse current secondary magnetic field;
s24, passing through a secondary magnetic field H 2 (t) generating a secondary induction voltage V in the receiving coil t (t), according to Faraday's law of electromagnetic induction, secondary induced voltage V t The calculation formula of (t) is as follows:
in the above formula (5): sr is the equivalent receiving area of the receiving coil; u (t) is a unit step function; t is the round trip time of a single pulse; t is t 0 A turn-off start time; t is t 1 A full off time; mu.s 0 Is a vacuum magnetic conductivity; t is t off Is the turn-off time; h s2 (t) is a positive step current secondary magnetic field;
s25, according to the positive step current secondary magnetic field and the negative step current secondary magnetic field H –s2 (t) relationship, obtaining the secondary induction voltage V in the receiving coil t The calculation formula of (t) is as follows:
therefore, as can be seen from the above equation (6), the trapezoidal-wave turn-off secondary induction voltage is equal to t in value 0 The secondary magnetic field generated by the time negative step current and t 1 Algebra of secondary magnetic field generated by moment negative step currentAnd; only the negative step current secondary magnetic field H of the full-space three-dimensional geological model needs to be calculated –s2 (t), and combining the turn-off time of the emission current and the equivalent area of the receiving coil to obtain the secondary induction voltage V in the receiving coil t (t)。
6. A vehicular embankment dangerous situation detection system according to claim 1, wherein, in said embankment deformation monitoring mode, the differential interference phase is adopted
The calculation formula of (a) is as follows:
in the above-mentioned formula (7),
and
the phases at the first and second scan monitoring respectively,
for the phase component associated with the deformation displacement,
and
for the phase component due to atmospheric effects during data acquisition,
for phase components caused by other related noise sources, 2k pi is a phase ambiguity coefficient, and lambda is the wavelength of electromagnetic waves emitted by the slope radarAnd delta d is the deformation displacement of the target body in the first scanning and the second scanning and monitoring processes.
7. The vehicle-mounted embankment dangerous situation early warning method is realized according to claim 1, and is characterized by comprising an embankment internal dangerous situation early warning method and an embankment slope deformation early warning method; the method comprises the following specific steps:
aiming at hidden dangers of cavities, ant holes, piping channels and local incompactness under different stratum depths in an embankment, the embankment internal hidden danger early warning method is based on a ground penetrating radar and a transient electromagnetic instrument in a vehicle-mounted embankment hidden danger detection system to detect imaging results, applies an Faster R-CNN and YOLOv3 target detection algorithm in deep learning to the identification of the imaging results of the ground penetrating radar and the transient electromagnetic instrument through a geological structure intelligent identification technology based on a parallel deep learning network model, accurately identifies and directly warns an embankment hidden danger target body under different stratum depths;
the embankment deformation early warning method aims at the hidden dangers of slope falling and collapse caused by embankment deformation, based on slope radar time sequence deformation displacement information in a vehicle-mounted embankment dangerous case hidden danger detection system, combined with an embankment three-dimensional model obtained by a three-dimensional laser scanner, through setting early warning grades and early warning parameters, the deformation hidden dangers of an embankment monitoring area are subjected to graded early warning, and the occurring time of dangerous cases is researched and judged based on a speed reciprocal method forecasting model.
8. The vehicle-mounted embankment dangerous situation early warning method according to claim 7, wherein the bank slope deformation early warning method comprises the following specific steps:
s1, setting four early warning levels according to actual requirements of a levee slope monitoring area, wherein the levels from high to low are respectively as follows: red early warning, purple early warning, yellow early warning and blue early warning; each grade corresponds to four early warning parameters which are divided into short-term early warning values D s Long term early warning value D l And an early warning area S ew Early warning duration time T ew ；
S2, utilizing slope radar time sequence of embankment slope acceleration deformation stageDeformation displacement data diff (x) i ,y i ) With early warning deformation value contrast, exceed short-term early warning value, long-term early warning value, early warning area's the condition simultaneously under, promptly:
{diff(x i ,y i )>D s ∩diff(x i ,y i )>D l ∩∑S(x i ,y i )>S ew } (8)
judging to search an early warning area, and ending an early warning process if the early warning area is not searched; if the early warning area is searched, switching to early warning state judgment; if the node is in the early warning state, adding a piece of node information for the current early warning and ending the early warning process; if the alarm is not in the early warning state, switching to early warning duration judgment; if the early warning duration time is not reached, ending the early warning process, if the early warning duration time is reached, generating early warning records and corresponding node information, and ending the early warning process, namely:
∑t(x i ,y i )>T ew (9)
s3, when red early warning is triggered, based on speed data in an acceleration deformation stage, short-term prediction before the bank slope slides is carried out through a speed reciprocal method; supposing that the deformation speed of the dike slope is infinite at the gliding time, and the intersection point of the linear trend line of the speed inverse value and the time on the time axis is the landslide time t f (ii) a The linear fit of the reciprocal velocity after the starting point to time is
In the above formula (10), A and B are the monitored bank slope deformation constants, t SP A start time for data used by the predictive model;
when in use
The time of falling off the slope can be obtained
The above formula (10) can be modifiedWrite as:
integrating the above equation (11) to obtain:
in the formula, C is an integral constant term; and (3) after the data calculation starting point, calculating a predicted time point of the slope removal by applying a logarithmic function model to perform data point fitting by using a logarithmic function with the relation between the accumulated deformation displacement value of the embankment slope and the time conforming to the formula (10) to obtain parameters A and B.
9. The on-vehicle embankment dangerous situation early warning method according to claim 8, wherein the specific usage methods of the short-term early warning value, the long-term early warning value, the early warning area and the early warning duration in the step S1 are as follows:
short-term early warning value: when early warning verification is carried out at the same level, short-term early warning value verification is preferentially used, and an early warning area is searched corresponding to data within one hour;
long-term early warning value: if the early warning is not triggered after entering the early warning process according to the short-term early warning value, checking the long-term early warning value, and searching an early warning area corresponding to data within 24 hours;
early warning area: when the point reaching the early warning value exists in the combined short-term/long-term radar monitoring data, early warning area judgment is started, and when the area of the continuous point exceeds the early warning value and reaches the early warning area, early warning is triggered;
early warning duration: the single-trigger early warning is not enough to explain the danger of the embankment slope area, probably caused by interference, vibration and the like, and the continuous trigger early warning is to immediately send out a notice for investigation and processing.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115793093A (en) * | 2023-02-02 | 2023-03-14 | 水利部交通运输部国家能源局南京水利科学研究院 | Empty ground integrated equipment for diagnosing hidden danger of dam |
| RU2817307C1 (en) * | 2023-08-11 | 2024-04-15 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Кубанский государственный аграрный университет имени И.Т. Трубилина" | Device for diagnostics of technical condition of low-pressure earth dams |
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2022
- 2022-09-03 CN CN202211074550.9A patent/CN115508907A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115793093A (en) * | 2023-02-02 | 2023-03-14 | 水利部交通运输部国家能源局南京水利科学研究院 | Empty ground integrated equipment for diagnosing hidden danger of dam |
| CN115793093B (en) * | 2023-02-02 | 2023-05-16 | 水利部交通运输部国家能源局南京水利科学研究院 | Dam hidden disease diagnosis air-ground equipment |
| RU2817307C1 (en) * | 2023-08-11 | 2024-04-15 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Кубанский государственный аграрный университет имени И.Т. Трубилина" | Device for diagnostics of technical condition of low-pressure earth dams |
| RU2818132C1 (en) * | 2023-10-13 | 2024-04-24 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Кубанский государственный аграрный университет имени И.Т. Трубилина" | Method for performance monitoring of low-pressure earth dams |
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