A method and system for monitoring dam damage based on laser gyroscope

Abstract

The present invention discloses a dam damage monitoring method and system based on a laser gyroscope, and belongs to the technical field of dam engineering. The present invention monitors the stress core area and the strain core area through a first laser gyroscope and a second laser gyroscope, thereby improving the sensitivity of dam damage monitoring and timely feeding back external abnormalities. According to the real-time stress and real-time strain of the monitoring node, the real-time impact and real-time damage of each monitoring node are calculated, and the comprehensive damage is calculated according to the real-time damage of each monitoring node. The damage state of the dam is judged according to the comprehensive damage, and the inclination degree of the dam is judged according to the maximum deformation angle of the dam. The center point of the stress core area and the center point of the strain core area are updated according to the real-time stress, real-time strain, and maximum deformation angle, thereby improving the real-time and accuracy of monitoring.

Description

Technical Field

[0001] The present invention relates to the technical field of dam engineering, and in particular to a method and system for monitoring dam damage based on a laser gyroscope. Background Art

[0002] The number of dams in my country is gradually increasing, and dam engineering is developing rapidly. Due to various environmental factors, such as earthquakes, the late damage identification of dams is crucial to dam safety. The Chinese patent application with publication number CN112488466A discloses a collaborative evaluation method and device for dam safety. The method obtains the comprehensive evaluation value of the uniformity index, the comprehensive evaluation value of the equilibrium index, the comprehensive evaluation value of the coordination index, the comprehensive evaluation value of the integrity index and the weight coefficient of the relevant evaluation value, and then through the collaborative evaluation of dam safety, an accurate assessment of the dam safety status is achieved. This method relies on the establishment of an indicator system, and the monitoring results are not accurate and comprehensive enough. For example, the Chinese patent with announcement number CN116858085B discloses a dam surface deformation monitoring system and method, which can accurately obtain the vibration and angular velocity of the object being measured through a laser gyroscope. For large-sized water retaining dams, laser gyroscopes cannot be deployed in some stress or strain concentration areas. In order to improve the comprehensiveness and accuracy of dam damage monitoring, it is necessary to propose a more comprehensive and accurate dam damage monitoring method. Summary of the invention

[0003] In order to solve the defects of the above-mentioned prior art, the present invention proposes a dam damage monitoring method and system based on laser gyroscope. The present invention combines the first laser gyroscope, the second laser gyroscope and the monitoring nodes arranged in the dam area to obtain the first angular velocity sequence, the second angular velocity sequence, the real-time stress and the real-time strain and other monitoring data, judges the state of the dam according to the monitoring data, outputs different alarm signals according to the state of the dam, and updates the center points of the stress core area and the strain core area according to the monitoring data, so as to realize the real-time and accuracy of dam damage monitoring.

[0004] The technical solution of the present invention is achieved in this way:

[0005] A dam damage monitoring method based on laser gyroscope comprises the following steps:

[0006] Step 1: Build a monitoring network on the dam. The monitoring network includes multiple monitoring nodes. Stress sensors and strain sensors are installed on each monitoring node.

[0007] Step 2: Identify the stress core area and strain core area of ​​the dam, arrange the first laser gyro at the center point of the stress core area, and arrange the second laser gyro at the center point of the strain core area;

[0008] Step 3: The first laser gyro obtains the first angular velocity sequence {w 11 ,...,w 1t ,...,w 1T}, the second laser gyro obtains the second angular velocity sequence {w 21 ,...,w 2t ,...,w 2T}, t is the sampling number, T is the total number of samples;

[0009] Step 4: Calculate the first abnormal vibration according to the first angular velocity sequence, and calculate the second abnormal vibration according to the second angular velocity sequence. If the first abnormal vibration or the second abnormal vibration is greater than the first threshold, proceed to step 5; otherwise, return to step 3.

[0010] Step 5: Start the monitoring network, obtain the real-time stress and real-time strain of each monitoring node, calculate the real-time impact of each monitoring node, and calculate the real-time damage of each monitoring node based on the real-time impact, real-time stress and real-time strain of each monitoring node;

[0011] Step 6: Calculate the comprehensive damage according to the real-time damage of each monitoring node. If the comprehensive damage is greater than the second threshold, issue a first alarm signal and proceed to step 7; otherwise, return to step 5.

[0012] Step 7: the first laser gyro and the second laser gyro obtain the first deformation sequence and the second deformation sequence respectively, and extract the maximum deformation angle of the dam according to the first deformation sequence and the second deformation sequence;

[0013] Step 8: If the maximum deformation angle is greater than the allowable deformation angle, the maximum deformation angle is output and a second alarm signal is issued to end the task, otherwise, the process proceeds to step 9;

[0014] Step 9: Update the center point of the stress core area and the center point of the strain core area according to the real-time stress, real-time strain, and maximum deformation angle, enter the next monitoring cycle, and return to step 2.

[0015] In the present invention, in step 2, a finite element model of the dam is generated, an acceleration time history curve is generated according to historical vibration data, and the acceleration time history curve is input into the finite element model to obtain the stress core area and the strain core area.

[0016] In the present invention, in step 4, the first abnormal vibration , is the average value of the modulus length of all angular velocity vectors in the first angular velocity sequence, is the modulus of the tth angular velocity vector in the first angular velocity sequence.

[0017] In the present invention, in step 5, the real-time impact of the t-th sampling of monitoring node i is , L1i is the distance between monitoring node i and the first laser gyro, L 2i is the distance between monitoring node i and the second laser gyro, is the average value of the modulus length of all angular velocity vectors in the second angular velocity sequence, is the modulus of the tth angular velocity vector in the second angular velocity sequence, and the real-time damage of monitoring node i , f it is the real-time stress of the monitoring node i at the tth sampling time, s it To monitor the real-time strain of node i at the tth sampling time, is the average value of the real-time stress of all monitoring nodes sampled at the tth time, is the average value of the real-time strain of all monitoring nodes at the tth sampling.

[0018] In the present invention, in step 6, the comprehensive damage , N is the number of monitoring nodes, L i is the horizontal distance between monitoring node i and the center line of the dam, and L is the dam length.

[0019] In the present invention, in step 7, the quaternary matrix B of the t-th sampling is calculated according to the angular velocity vectors of the first laser gyro at the t-1th sampling and the t-th sampling. 1t , and then obtain the real-time deformation angle θ of the tth sampling 1t , generating the first deformation sequence {θ 11 ,...,θ 1t ,...,θ 1T}, the maximum deformation angle is the maximum modulus of the real-time deformation angle in the first deformation sequence and the second deformation sequence.

[0020] In the present invention, the t-1th sampling angular velocity vector w is extracted 1t-1 The angular velocity component v xt-1 、v yt-1 、v zt-1 And the t-th sampling angular velocity vector w 1t The angular velocity component v xt 、v yt 、v zt , calculate the t-th sampling to form the quaternion matrix B 1t The quaternion b 0t 、b 1t 、b 2t 、b 3t , and then calculate the deformation component β of the tth sampling xt , β yt , β zt , the modulus of the real-time deformation angle is calculated based on the deformation components.

[0021] In the present invention, in step 9, the deformation components of the vertical plane when the dam is at the maximum deformation angle are β x , β y , the real-time stress of monitoring node i when the dam is at the maximum deformation angle is f i , the real-time strain of monitoring node i when the dam is at the maximum deformation angle is s i , the location coordinates of monitoring node i are (x i ,y i ), The coordinates at the maximum value is the coordinate of the center point of the stress core area in the next monitoring period, The coordinates at the maximum value is the coordinate of the center point of the strain core area in the next monitoring cycle.

[0022] A monitoring system for implementing the dam damage monitoring method based on laser gyroscope comprises: a model analysis unit, a first laser gyroscope, a second laser gyroscope, a stress sensor, a strain sensor, a data processing unit, and a data output unit.

[0023] The model analysis unit is used to identify the stress core area and strain core area of ​​the embankment;

[0024] The first laser gyro is used to obtain a first angular velocity sequence and a first deformation sequence;

[0025] The second laser gyro is used to obtain a second angular velocity sequence and a second deformation sequence;

[0026] The stress sensor is used to obtain the real-time stress of the monitoring node;

[0027] The strain sensor is used to obtain the real-time strain of the monitoring node;

[0028] The data processing unit is used to calculate the comprehensive damage and real-time deformation angle;

[0029] The data output unit is used to output the first alarm signal or the second alarm signal.

[0030] The implementation of the laser gyro-based dam damage monitoring method and system of the present invention has the following beneficial effects: The present invention monitors the stress core area and the strain core area through the first laser gyro and the second laser gyro, thereby improving the sensitivity of dam damage monitoring and timely feeding back external abnormalities. According to the real-time stress and real-time strain of the monitoring node, the real-time impact and real-time damage of each monitoring node are calculated, and the comprehensive damage is calculated according to the real-time damage of each monitoring node. The damage state of the dam is judged according to the comprehensive damage, and the inclination of the dam is judged according to the maximum deformation angle of the dam. The center point of the stress core area and the center point of the strain core area are updated according to the real-time stress, real-time strain, and maximum deformation angle, thereby improving the real-time and accuracy of monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a flow chart of the dam damage monitoring method based on laser gyroscope of the present invention;

[0032] Figure 2 A schematic diagram of a dam according to the present invention in one direction;

[0033] Figure 3 A schematic diagram of the dam of the present invention in another direction;

[0034] Figure 4 is a schematic diagram of a finite element model of the present invention;

[0035] Figure 5 is a schematic diagram of the acceleration time history curve of the present invention;

[0036] Figure 6 It is a schematic diagram of the stress cloud diagram of the dam body of the present invention;

[0037] Figure 7 It is a schematic diagram of the dam body strain cloud diagram of the present invention;

[0038] Figure 8 is a schematic diagram of the real-time deformation angle of the present invention;

[0039] Fig. 9 The block diagram of the monitoring system of the dam damage monitoring method based on laser gyroscope of the present invention. DETAILED DESCRIPTION

[0040] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0041] Due to the real-time changes in external vibrations, the damage monitoring of the dam must respond to the real-time nature of the external environment in a timely manner. It is necessary to find the most sensitive areas according to the characteristics of the dam, reservoir water and foundation. The most sensitive areas are the stress core area and the strain core area. The most sensitive areas are monitored by the first laser gyroscope and the second laser gyroscope, and the start time of the monitoring network is determined according to the first abnormal vibration and the second abnormal vibration. According to the real-time stress and real-time strain of the monitoring node, the real-time impact and real-time damage of each monitoring node are calculated, and the comprehensive damage is calculated according to the real-time damage of each monitoring node. The comprehensive damage represents the overall damage of the dam. After accumulation, the comprehensive damage will cause the dam body to tilt. The stability of the dam is judged based on the comprehensive damage. If it is stable, continue to collect data for monitoring. Otherwise, the first alarm signal is sent to the monitoring center to notify the staff. Embodiment 1

[0042] like Figures 1 to 6 As shown, the dam damage monitoring method based on laser gyroscope of the present invention includes the following steps.

[0043] Step 1: Build a monitoring network on the dam, which includes multiple monitoring nodes, and install stress sensors and strain sensors on each monitoring node. The stress sensor and strain sensor are connected to a digital acquisition instrument respectively, and the digital acquisition instrument is connected to a power supply. A transmitting antenna is installed on the digital acquisition instrument. Each monitoring node has a number. The digital acquisition instrument receives the data of the stress sensor and the strain sensor in sequence according to the order of the number, and sends it to the receiving antenna through the transmitting antenna. The receiving antenna sends the data to the server, and the server sends the data to the data processing unit to realize data transmission and remote monitoring. The server and the data processing unit are placed in the monitoring center. Since the transmission distance of the transmitting antenna is limited and is affected by obstacles such as buildings and mountains, the distance between the dam and the monitoring center is collected. If the distance between the monitoring center and the dam is greater than the distance threshold, a relay station is built at a suitable location on the foundation on both sides of the dam, so that the data can be transmitted from the monitoring node to the relay station, and then from the relay station to the monitoring center. The real-time stress, real-time strain and other physical values ​​of each monitoring node are converted into digital signals through the digital acquisition instrument for easy storage and calculation. The digital signal is transmitted to the monitoring center through the transmitting antenna, which is convenient for remote monitoring of the safety of the dam. The transmission distance of the antenna ranges from hundreds of meters to tens of kilometers. In this embodiment, the distance threshold is 10 kilometers.

[0044] Step 2: Identify the stress core area and strain core area of ​​the dam, arrange the first laser gyro at the center point of the stress core area, and arrange the second laser gyro at the center point of the strain core area. Figure 2 , Figure 3 As shown, a coordinate system is established according to the structure of the dam, with the bottom of the upstream of the dam as the origin of the coordinate system, the water flow direction as the Z-axis direction, the upstream as positive, the vertical water flow direction on the horizontal plane as the X-axis direction, the right bank as positive, the vertical direction as the Y-axis direction, upward as positive, and the center line of the dam refers to the vertical line that divides the projection area of ​​the dam on the vertical plane into two equal parts, which is used to mark the position of the water pressure on the dam. Combined with the coordinate system, a three-dimensional laser scanner is used to obtain the three-dimensional parameters of the dam, reservoir water and foundation, and the drone is used to carry the three-dimensional laser scanner. Figure 4 As shown in the figure, the finite element model of the dam is generated by simulation software based on the three-dimensional parameters of the dam, reservoir water and foundation. The acceleration time history curve is generated based on the historical vibration data, and the acceleration time history curve is input into the finite element model to obtain the stress core area and strain core area. Figure 5As shown, the abscissa of the acceleration time history curve is time, and the ordinate is acceleration. The historical vibration data is the historical earthquake record of the location of the dam. The historical earthquake record is preprocessed to obtain an earthquake record set, and then the seismic motion parameters of each earthquake record in the earthquake record set are determined and scaled, and finally the acceleration time history curve is generated. The preprocessing includes denoising, filtering and baseline correction. The historical earthquake record contains multiple earthquake records, and one earthquake record corresponds to an acceleration time history curve. Multiple acceleration time history curves are input into the finite element model to obtain multiple dam body stress cloud maps and multiple dam body strain cloud maps. The stress core area is obtained by finding the intersection of the areas with the highest stress level in the multiple dam body stress cloud maps, and the strain core area is obtained by finding the intersection of the areas with the highest strain level in the multiple dam body strain cloud maps. The stress refers to the internal force caused by external loads and internal factors. The external loads are such as water pressure, deadweight, etc., and the internal factors are such as material properties, construction quality, etc.

[0045] Dam stress cloud diagram is a visualization tool commonly used in engineering analysis. It uses color coding to represent the internal stress distribution of the dam under stress. Different colors usually represent different stress levels. Figure 6 As shown in the figure, the dam stress cloud map is a grayscale map. The higher the grayscale value, the closer the color is to white, and the smaller the stress. Figure 7 As shown, the dam body strain cloud map is a grayscale map. The higher the grayscale value in the map, the lighter the color and the smaller the strain. The present invention does not limit the method of determining the stress core area and the strain core area. The ANSYS system can be used to directly analyze the stress and strain of the dam. The stress and strain of the dam can also be analyzed in combination with historical vibration data. The center point of the initial stress core area and the center point of the strain core area can be the maximum stress position and the maximum strain position provided by ANSYS, respectively.

[0046] Step 3: The first laser gyro obtains the first angular velocity sequence {w 11 ,...,w 1t ,...,w 1T}, the second laser gyro obtains the second angular velocity sequence {w 21 ,...,w 2t ,...,w 2T}, t is the sampling number, and T is the total number of samples. The stress core area indicates the area of ​​the dam that is most sensitive to external vibrations. The strain core area indicates the most unstable area of ​​the dam. The first laser gyro and the second laser gyro are set to monitor the impact of external factors such as earthquakes and gate release on the dam, thereby improving the sensitivity of dam damage monitoring. By collecting the first angular velocity sequence and the second angular velocity sequence to obtain anomalies, the start time of the monitoring network is determined.

[0047] Step 4: Calculate the first abnormal vibration according to the first angular velocity sequence, and calculate the second abnormal vibration according to the second angular velocity sequence. If the first abnormal vibration or the second abnormal vibration is greater than the first threshold, proceed to step 5; otherwise, return to step 3. First abnormal vibration , is the average value of the modulus length of all angular velocity vectors in the first angular velocity sequence, is the modulus of the tth angular velocity vector in the first angular velocity sequence. , is the average value of the modulus length of all angular velocity vectors in the second angular velocity sequence, is the modulus of the t-th angular velocity vector in the second angular velocity sequence. The present invention does not limit the value of the first threshold. Referring to the Code for Design of Concrete Arch Dams (SL 282-2003), the first threshold can usually be equal to Radians per second. H is the height of the dam and L is the length of the dam.

[0048] Step 5: Start the monitoring network, obtain the real-time stress and real-time strain of each monitoring node, calculate the real-time impact of each monitoring node, and calculate the real-time damage of each monitoring node based on the real-time impact, real-time stress and real-time strain of each monitoring node. , L 1i is the distance between monitoring node i and the first laser gyro, L 2i is the distance between monitoring node i and the second laser gyro. Real-time damage of monitoring node i , f it is the real-time stress of the monitoring node i at the tth sampling time, s it To monitor the real-time strain of node i at the tth sampling time, is the average value of the real-time stress of all monitoring nodes sampled at the tth time, is the average value of the real-time strain of all monitoring nodes at the tth sampling.

[0049] Step 6: Calculate the comprehensive damage according to the real-time damage of each monitoring node. If the comprehensive damage is greater than the second threshold, issue the first alarm signal and proceed to step 7. Otherwise, return to step 5. Comprehensive damage , N is the number of monitoring nodes, L i is the horizontal distance between the monitoring node i and the center line of the dam. The comprehensive damage represents the overall damage of the dam. After accumulation, the comprehensive damage will cause the dam to tilt. The stability of the dam is determined based on the comprehensive damage. If it is stable, data collection and monitoring will continue. Otherwise, a first alarm signal will be sent to the monitoring center to notify the staff. The first alarm signal is, for example, an orange alarm light. The value of the second threshold is related to the number of monitoring nodes, which is not limited by the present invention. When the number of monitoring nodes is 100, the second threshold is, for example, 0.8 to 2 radians per second.

[0050] Step 7: The first laser gyro and the second laser gyro obtain the first deformation sequence and the second deformation sequence respectively, and extract the maximum deformation angle of the dam according to the first deformation sequence and the second deformation sequence. Extract the sampling angular velocity vector w of the first laser gyro at the t-1th time 1t-1 The angular velocity component v xt-1 、v yt-1 、v zt-1 And the t-th sampling angular velocity vector w 1t The angular velocity component v xt 、v yt 、v zt , calculate the four-element matrix B of the t-th sampling 1t The quaternion b 0t 、b 1t 、b 2t 、b 3t , and then calculate the deformation component β xt , β yt , β zt , the real-time deformation angle θ is constructed from the three deformation components 1t , the first deformation sequence {θ 11 ,...,θ 1t ,...,θ 1T The same method can be used to generate the second deformation sequence {θ 21 ,...,θ 2t ,...,θ 2T}. Calculate the modulus of each real-time deformation angle in the first deformation sequence or the second deformation sequence, the maximum deformation angle is the maximum modulus of the real-time deformation angle, and the specific method for generating the maximum deformation angle is as described in the second embodiment.

[0051] The allowable deformation angle is determined by the design document and can be π / 18, and usually does not exceed the dam height × π / 200. If the maximum deformation angle is greater than the allowable deformation angle, it indicates that the dam body has a high degree of inclination, and the maximum deformation angle is output and a second alarm signal is issued. The inclination trend of the dam body is checked through the maximum deformation angle. In a non-limiting manner, the present invention can set the second alarm signal to a higher level signal (such as a red alarm light) to ensure a more intuitive warning effect for the operator.

[0052] Step 8: If the maximum deformation angle is greater than the allowable deformation angle, the maximum deformation angle is output and the second alarm signal is issued, and the task is terminated, otherwise, step 9 is entered. If the maximum deformation angle is greater than the allowable deformation angle, the dam is seriously damaged, the monitoring is terminated, the stress core area and the strain core area are offset, and the position of the first laser gyro and the position of the second laser gyro are re-determined.

[0053] Step 9: Update the center point of the stress core area and the center point of the strain core area according to the real-time stress, real-time strain, and maximum deformation angle, enter the next monitoring cycle, and return to step 2. When the inclination of the dam body is obvious, the center point of the stress core area and the center point of the strain core area will be offset, and the center point of the stress core area, the center point of the strain core area, the stress core area, and the strain core area are updated according to the maximum deformation angle, real-time stress, and real-time strain. The coordinates at the maximum value is the coordinate of the center point of the stress core area in the next monitoring period. The deformation components of the vertical plane when the dam is at the maximum deformation angle are β x , β y , the real-time stress of monitoring node i when the dam is at the maximum deformation angle is f i , the coordinates of monitoring node i are (x i ,y i ), The coordinates at the maximum value is the coordinate of the center point of the strain core area in the next monitoring period. When the dam is at the maximum deformation angle, the real-time strain of monitoring node i is s i . Stress core area , It is the average value of the real-time stress of all monitoring nodes when the dam is at the maximum deformation angle. Strain core area , It is the average value of the real-time strain of all monitoring nodes when the dam is at the maximum deformation angle. Embodiment 2

[0054] Reference Figure 2 , Figure 3 as well as Figure 8 This embodiment further discloses a method for generating the maximum deformation angle. Before data processing, each vector is normalized to the three-dimensional coordinate system OXYZ. The origin can be a monitoring node at a fixed position or any point on the dam. Figure 8 As shown, in the three-dimensional coordinate system OXYZ, the Z axis is the direction of water flow, and the vertical plane OXY is the plane composed of the length direction of the dam and the vertical direction.

[0055] First, define the quaternion matrix B of the first laser gyro for the tth sampling 1t In the first monitoring cycle, the quaternion matrix at t=1 is initialized to the unit matrix. In other monitoring cycles, the quaternion matrix at t=1 takes the end value B of the previous monitoring cycle. 1T The t-th sampling quaternion matrix of the first laser gyro is , express The transpose of .

[0056] Then, extract the t-1th sampling angular velocity vector w in the same monitoring period 1t-1 The angular velocity component v xt-1 、v yt-1 、v zt-1 And the t-th sampling angular velocity vector w 1t The angular velocity component v xt 、v yt 、v zt .

[0057] The incremental matrix is ​​iteratively calculated based on the angular velocity vector of the t-1th sampling, the tth sampling, and the quaternary matrix of the t-1th sampling in the same monitoring cycle, and then the quaternary matrix of the tth sampling is calculated. Among them, the incremental matrix ; τ is the sampling interval between the t-1th sampling and the tth sampling, that is, the clock cycle of the monitoring node.

[0058] Then calculate the real-time deformation angle θ 1t , Among them, β xt =arctan2(2b 2t b 3t +2b 0t b 1t , b 3t 2 -b 2t 2 -b 1t 2 +b 0t 2 );β yt =arcsin(2b 1t b 3t -2b 0t b 2t );β zt =arctan2(2b 1t b 2t +2b 0t b 3t , b 1t 2 -b 0t 2 -b 3t 2 +b 2t 2 ). θ can also be calculated according to the above method. 2t . Thus, the first deformation sequence {θ 11 ,..., θ 1t ,..., θ 1T} and the second deformation sequence {θ 21 ,..., θ2t ,..., θ 2T}.

[0059] Real-time deformation angle θ 1t The modulus length = Euler angle norm = , the maximum deformation angle is the maximum modulus of the real-time deformation angle in the first deformation sequence and the second deformation sequence. The maximum modulus reflects the maximum deformation degree of the dam. This embodiment adopts the equal increment method, calculates the increment matrix according to the angular velocity vector of two adjacent samples, and then calculates the quaternion matrix of the next sample in combination with the increment matrix. This method can reduce the amount of calculation and improve the system response speed. In a further embodiment, the differential equation of the quaternion matrix can be fitted, and the second-order Runge-Kutta method can be used to solve the quaternion matrix and the real-time deformation angle. Embodiment 3

[0060] like Fig. 9 As shown, a monitoring system for implementing the laser gyro-based dam damage monitoring method includes: a model analysis unit, a first laser gyro, a second laser gyro, a stress sensor, a strain sensor, a data processing unit, and a data output unit. The model analysis unit is used to identify the stress core area and the strain core area of ​​the dam. The first laser gyro is used to obtain the first angular velocity sequence and the first deformation sequence. The second laser gyro is used to obtain the second angular velocity sequence and the second deformation sequence. The stress sensor is used to obtain the real-time stress of the monitoring node. The strain sensor is used to obtain the real-time strain of the monitoring node. The data processing unit is used to calculate the first abnormal vibration, the second abnormal vibration, the comprehensive damage, the real-time deformation angle and the maximum deformation angle, and update the center point of the stress core area and the center point of the strain core area. The data output unit is used to output the first alarm signal, the second alarm signal, and the maximum deformation angle. The monitoring system also includes a digital acquisition instrument, a transmitting antenna, a power supply, a receiving antenna, and a server. The digital acquisition instrument is used to convert the first angular velocity sequence, the second angular velocity sequence, the real-time stress and the real-time strain of each monitoring node into digital signals. The transmitting antenna is used to transmit digital signals. The power supply is used to provide voltage to the digital acquisition instrument. The receiving antenna is used to receive the digital signal and send the digital signal to the server. The server is used to transmit the digital signal to the data processing unit.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A dam damage monitoring method based on laser gyroscope, characterized in that: The following steps are involved: Step 1: Build a monitoring network on the dam. The monitoring network includes multiple monitoring nodes. Stress sensors and strain sensors are installed on each monitoring node. Step 2: Identify the stress core area and strain core area of ​​the dam, arrange the first laser gyro at the center point of the stress core area, and arrange the second laser gyro at the center point of the strain core area; Step 3: The first laser gyro obtains the first angular velocity sequence {w 11 ,...,w 1t ,...,w 1T }, the second laser gyro obtains the second angular velocity sequence {w 21 ,...,w 2t ,...,w 2T }, t is the sampling number, T is the total number of samples; Step 4: Calculate the first abnormal vibration according to the first angular velocity sequence, and calculate the second abnormal vibration according to the second angular velocity sequence. If the first abnormal vibration or the second abnormal vibration is greater than the first threshold, proceed to step 5; otherwise, return to step 3. Step 5: Start the monitoring network, obtain the real-time stress and real-time strain of each monitoring node, calculate the real-time impact of each monitoring node, and calculate the real-time damage of each monitoring node based on the real-time impact, real-time stress and real-time strain of each monitoring node; Step 6: Calculate the comprehensive damage according to the real-time damage of each monitoring node. If the comprehensive damage is greater than the second threshold, issue a first alarm signal and proceed to step 7; otherwise, return to step 5. Step 7: the first laser gyro and the second laser gyro obtain the first deformation sequence and the second deformation sequence respectively, and extract the maximum deformation angle of the dam according to the first deformation sequence and the second deformation sequence; Step 8: If the maximum deformation angle is greater than the allowable deformation angle, the maximum deformation angle is output and a second alarm signal is issued, and the task ends; otherwise, the process proceeds to step 9; Step 9: Update the center point of the stress core area and the center point of the strain core area according to the real-time stress, real-time strain, and maximum deformation angle, enter the next monitoring cycle, and return to step 2, wherein, In step 4, the first abnormal vibration , is the average value of the modulus length of all angular velocity vectors in the first angular velocity sequence, is the modulus of the tth angular velocity vector in the first angular velocity sequence, In step 5, the real-time impact of the t-th sampling of monitoring node i is , L 1i is the distance between monitoring node i and the first laser gyro, L 2i is the distance between monitoring node i and the second laser gyro, is the average value of the modulus length of all angular velocity vectors in the second angular velocity sequence, is the modulus of the tth angular velocity vector in the second angular velocity sequence, and the real-time damage of monitoring node i , f it is the real-time stress of the monitoring node i at the tth sampling time, s it To monitor the real-time strain of node i at the tth sampling, is the average value of the real-time stress of all monitoring nodes sampled at the tth time, is the average value of the real-time strain of all monitoring nodes sampled at the tth time, In step 6, the comprehensive damage , N is the number of monitoring nodes, L i is the horizontal distance between the monitoring node i and the center line of the dam, L is the dam length, In step 7, the quaternary matrix B of the t-th sampling is calculated according to the angular velocity vectors of the first laser gyro at the t-1th sampling and the t-th sampling. 1t , and then obtain the real-time deformation angle θ of the tth sampling 1t , generating the first deformation sequence {θ 11 ,...,θ 1t ,...,θ 1T }, the maximum deformation angle is the maximum modulus of the real-time deformation angle in the first deformation sequence and the second deformation sequence.

2. The dam damage monitoring method based on laser gyro according to claim 1 is characterized in that: In step 2, a finite element model of the dam is generated, an acceleration time history curve is generated according to historical vibration data, and the acceleration time history curve is input into the finite element model to obtain the stress core area and the strain core area.

3. The dam damage monitoring method based on laser gyro according to claim 1 is characterized in that: Extract the t-1th sampling angular velocity vector w 1t-1 The angular velocity component v xt-1 、v yt-1 、v zt-1 And the t-th sampling angular velocity vector w 1t The angular velocity component v xt 、v yt 、v zt , calculate the t-th sampling to form the quaternion matrix B 1t The quaternion b 0t , b 1t , b 2t , b 3t , and then calculate the deformation component β of the tth sampling xt , β yt , β zt , the modulus of the real-time deformation angle is calculated based on the deformation components.

4. The dam damage monitoring method based on laser gyro according to claim 3 is characterized in that: In step 9, the deformation components of the vertical plane when the dam is at the maximum deformation angle are β x , β y , the real-time stress of monitoring node i when the dam is at the maximum deformation angle is f i , the real-time strain of monitoring node i when the dam is at the maximum deformation angle is s i , the location coordinates of monitoring node i are (x i ,y i ), The coordinates at the maximum value is the coordinate of the center point of the stress core area in the next monitoring period, The coordinates at the maximum value is the coordinate of the center point of the strain core area in the next monitoring cycle.

5. A monitoring system for implementing the laser gyro-based dam damage monitoring method according to claim 1, characterized in that: include: Model analysis unit, first laser gyro, second laser gyro, stress sensor, strain sensor, data processing unit, data output unit, The model analysis unit is used to identify the stress core area and strain core area of ​​the embankment; The first laser gyro is used to obtain a first angular velocity sequence and a first deformation sequence; The second laser gyro is used to obtain a second angular velocity sequence and a second deformation sequence; The stress sensor is used to obtain the real-time stress of the monitoring node; The strain sensor is used to obtain the real-time strain of the monitoring node; The data processing unit is used to calculate the comprehensive damage and real-time deformation angle; The data output unit is used to output the first alarm signal or the second alarm signal.

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