Shield synchronous grouting effect detection method and system based on ultra-wideband

Abstract

The present application belongs to the technical field of grouting reinforcement, and particularly relates to a shield synchronous grouting effect detection method and system based on ultra-wideband, which comprises the following steps: obtaining echo signals obtained after a lining surface is detected by an ultra-wideband detection device and preprocessing the echo signals, including: performing cumulative average processing on the received echo signals in a set time range and a frequency range to obtain a background estimation signal; subtracting the background estimation signal from the current echo signal to eliminate background noise; performing feature analysis on the preprocessed echo signals to obtain cavity data inside the lining surface; and adjusting grouting parameters of a synchronous grouting device in real time based on the cavity data. The present application adopts the cumulative average background cancellation method to process the echo signals, separates the background noise or interference from the useful signals by performing background estimation on the received echo signals, effectively eliminates the background interference, and improves the detection accuracy of the wall cavity.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of grouting reinforcement, and particularly relates to a shield synchronous grouting effect detection method and system based on ultra-wideband. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute the prior art.

[0003] With the continuous development of urban underground rail transit construction, shield tunneling as a superior method with small construction disturbance, adaptability to soft geology and fast tunneling speed is widely welcomed in urban transportation infrastructure construction. However, due to the limitation of ground space and urban design planning, ground disturbance often occurs during tunnel construction, resulting in gaps between tunnel segments and surrounding rock, changing the stress distribution of surrounding rock near the tunnel wall, and possibly causing ground loss and surface subsidence and other hazards. In order to reduce these potential hazards, reinforcement and maintenance are often required during shield tunnel construction to ensure the safety of tunnel construction.

[0004] Among the reinforcement methods, grouting is widely used, including ground hole grouting reinforcement and in-tunnel deep hole grouting reinforcement. However, for actual sealed shields, the conventional grouting method has a series of problems, such as:

[0005] Firstly, it is difficult to effectively observe whether the grouting slurry is filled to the required defect position. Secondly, the amount of slurry required for different surrounding rock conditions varies, but there is currently no effective method to determine the grouting amount, mainly relying on similar engineering experience and lacking sufficient data support. Finally, the traditional grouting effect evaluation mainly relies on the change of grouting pressure, but due to the fluidity and quick-drying nature of the slurry, the accuracy of this method is difficult to guarantee. SUMMARY

[0006] To overcome the shortcomings of the prior art, the present application provides a shield synchronous grouting effect detection method and system based on ultra-wideband, which uses UWB ultra-wideband technology to complete cavity identification and data collection, effectively improves the accuracy, safety and efficiency of wall cavity detection using ultra-wideband technology, and determines the more accurate grouting amount according to volume calculation and material filling rate consideration.

[0007] To achieve the above purpose, one or more embodiments of the present application provide the following technical solutions:

[0008] The first aspect of the present application provides a shield synchronous grouting effect detection method based on ultra-wideband, comprising:

[0009] obtaining the echo signal obtained after the lining surface is detected by the ultra-wideband detection device;

[0010] The echo signal is pre-processed using the cumulative averaging method, including: performing cumulative averaging processing on the received echo signals within the set time range and frequency range to obtain a background estimation signal; subtracting the background estimation signal from the current echo signal to eliminate background noise;

[0011] Performing feature analysis on the pre-processed echo signal to obtain cavity data inside the lining surface; the cavity data includes: cavity location, size, shape and material properties of the cavity;

[0012] The grouting parameters of the synchronous grouting device are adjusted in real time based on the cavity data.

[0013] A second aspect of the present invention provides a shield synchronous grouting effect detection system based on ultra-wideband, comprising:

[0014] The echo signal acquisition module is configured to: acquire the echo signal obtained after the ultra-wideband detection device detects the lining surface;

[0015] The echo signal preprocessing module is configured to: preprocess the echo signal using a cumulative averaging method, including: performing cumulative averaging processing on the received echo signals within a set time range and frequency range to obtain a background estimation signal; and subtracting the background estimation signal from the current echo signal to eliminate background noise;

[0016] The echo signal characteristic analysis module is configured to: perform characteristic analysis on the pre-processed echo signal to obtain cavity data inside the lining surface; the cavity data includes: cavity location, size, shape and material properties of the cavity;

[0017] The grouting parameter real-time adjustment module is configured to: adjust the grouting parameters of the synchronous grouting device in real time based on the cavity data.

[0018] The third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of a method for detecting the effect of shield synchronous grouting based on ultra-wideband as described in the first aspect of the present invention.

[0019] The fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and runnable on the processor. When the processor executes the program, it implements the steps in the ultra-wideband-based shield synchronous grouting effect detection method as described in the first aspect of the present invention.

[0020] One or more of the above technical solutions have the following beneficial effects:

[0021] (1) The present invention uses the cumulative average background cancellation method to process the echo signal. By performing background estimation on the received echo signal, these background noises or interferences are separated from the useful signals, which can effectively eliminate the background interference, make the target signal more obvious, and improve the detection accuracy of wall cavities.

[0022] (2) The synchronous grouting device of the present invention can adjust the injection volume and speed of concrete slurry in real time, accurately grouting according to the detected cavity location and size, filling the cavity and reinforcing the wall structure. This real-time and precise grouting technology can effectively improve the overall health and safety of shield tunnels.

[0023] (3) The present invention adopts UWB ultra-wideband technology to provide higher signal resolution and penetration capability, thereby more accurately detecting the voids inside the lining surface structure; compared with traditional radar or acoustic wave detection methods, UWB technology can more accurately identify targets, has high detection resolution, and a small beam that is not easily affected by the surrounding environment, thereby improving the accuracy of detection.

[0024] (4) The present invention combines UWB technology, signal processing algorithms, and synchronous grouting technology to simultaneously address the accuracy, safety, and efficiency issues of wall cavity detection. Compared to single technologies, this integrated solution offers greater comprehensive advantages and practicality.

[0025] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1 This is a flow chart of a shield synchronous grouting effect detection method based on ultra-wideband in the first embodiment.

[0028] Figure 2 This is a structural diagram of the ultra-wideband detection device of the first embodiment.

[0029] In the figure, 1. Ultra-wideband detection device, 101 UWB signal transmitting module, 102 echo signal receiving module, 103 signal amplifying module, 104 longitudinal supporting device, 105 transverse supporting device. DETAILED DESCRIPTION

[0030] Example 1

[0031] like Figure 1As shown, this embodiment discloses a method for detecting the effect of synchronous grouting of a shield machine based on ultra-wideband, comprising:

[0032] Step 1: Acquire the echo signal obtained after the ultra-wideband detection device detects the lining surface;

[0033] Step 2: Use the cumulative average method to pre-process the echo signal to eliminate background interference;

[0034] Step 3: Perform feature analysis on the pre-processed echo signal to obtain the cavity data inside the lining surface;

[0035] Step 4: Adjust the grouting parameters of the synchronous grouting device in real time based on the cavity data.

[0036] In step 1, the lining surface is detected using an ultra-wideband detection device, including:

[0037] The ultra-wideband detection device transmits a pulse signal to the lining surface at a set time and frequency, and receives the echo signal reflected by the lining surface.

[0038] like Figure 2 As shown, the ultra-wideband detection device 1 includes:

[0039] UWB signal transmitting module 101: used to transmit ultra-wideband pulse signals to the lining surface, with adjustable transmission frequency and time interval.

[0040] The echo signal receiving module 102 is used to receive the echo signal reflected by the lining surface and convert it into an electrical signal for processing.

[0041] The signal amplification module 103 is used to perform signal amplification processing on the data received by the echo signal receiving module 102. The data output by the signal amplification module 103 is transmitted to the host computer for analysis and processing to obtain void data.

[0042] Longitudinal support device 104 and transverse support device 105: The longitudinal support device 104 and the transverse support device 105 constitute a support frame, and the UWB signal transmitting module 101 and the echo signal receiving module 102 are arranged on the support frame from top to bottom, and the signal amplification module 103 is arranged on the echo signal receiving module 102.

[0043] In step 2, the echo signal is pre-processed using the cumulative averaging method, including: performing cumulative averaging processing on the echo signals received within the set time range and frequency range to obtain a background estimation signal; subtracting the background estimation signal from the current echo signal to eliminate background noise;

[0044] In ultra-wideband (UWB) signal processing, in order to improve the signal-to-noise ratio and detection accuracy, multiple received signals are accumulated and averaged. This method is usually used in the pre-processing stage of the signal, the purpose is to reduce the influence of random noise, so that the useful signal characteristics are more obvious.

[0045] Suppose in a UWB system, a specific area is transmitted and received 10 times. Each received echo signal may contain useful reflected signals and noise. By accumulating and averaging the 10 received signals, a smoother signal can be obtained, in which the useful reflected signal is more prominent, and the random noise is weakened by accumulation and averaging; this averaged signal is used as a background estimation signal for subsequent background cancellation processing.

[0046] When using the accumulation average background cancellation method, the background estimation value is used to describe the background noise or interference estimated from the received signal. The purpose of the background estimation value is to separate the background noise or interference from the useful signal in the signal processing process, thereby improving the signal-to-noise ratio and making the target signal (for example, the signal reflected from the cavity behind the tunnel lining surface) more obvious.

[0047] The present application uses the accumulation average method as a signal processing algorithm, which specifically includes:

[0048] Step 201: Set parameters to specify the time range and frequency range of the background signal to be accumulated.

[0049] Where m represents the pulse dimension (or slow time), n represents the distance dimension (or fast time), x[m,n] represents the current echo signal, and y[m,n] represents the background estimation value of the historical echo signal.

[0050] Step 202: Use the UWB signal transmitting device to send high-frequency short pulse signals to the inside of the lining surface structure.

[0051] Step 203: Use the UWB synchronous receiving device to receive the signals reflected from the structure inside the lining surface, and perform background estimation on the detected area according to the echo signal x[m,n].

[0052] Step 204: Subtract the background estimation information, i.e. the background estimation value y, from the current echo data x[m,n]:

[0053]

[0054] Step 205: The echo information of the cavity behind the lining is:

[0055]

[0056] Step 206: Adjusting the algorithm to process data in real time while reducing its requirements for storage capacity, taking into account the real-time nature while addressing the problem of large amounts of stored data.

[0057]

[0058] The embodiment subtracts background estimation information from the current echo data to eliminate background noise by performing background estimation on the received echo signal. Moreover, background cancellation processing is performed in real time every time an echo signal is received, without the need to store all historical data, thereby reducing storage requirements.

[0059] It should be noted that "pulse dimension" and "distance dimension" are terms in signal processing, which are commonly used to describe signal characteristics in the time-frequency domain or distance-time domain. These two concepts are particularly important in ultra-wideband (UWB) signal processing and radar imaging technologies. Pulse dimension usually refers to the time delay of a signal or the transmission time of a pulse, which can be understood as the time difference between signal transmission and reception. Distance dimension usually refers to a parameter directly related to signal propagation distance, which can be the actual distance traveled by a signal in a medium.

[0060] In step 3, based on the echo data after background cancellation processing, the echo signal is analyzed more deeply to determine the void data, including using time difference of arrival (TDOA), signal strength, frequency analysis, etc. Void data includes the location, size, shape of the void, and the material properties inside the void. Step 3 specifically includes:

[0061] Step 301: Analyze the time delay of the echo signal and the known wave speed to obtain the void location.

[0062]

[0063] In the formula: d is the void location, c is the wave speed, and Δt is the time delay of the echo signal.

[0064] Step 302: Analyze the time delay and intensity of the echo signal to obtain the void size.

[0065]

[0066] In the formula: s is the void size, A ref is the reference signal intensity, and A sig is the echo signal intensity.

[0067] Step 303: Analyze the pattern and phase change of the echo signal to obtain the void shape.

[0068]

[0069] In the formula, θ is a phase angle, X is a complex representation of an echo signal, Im(X) is an imaginary part of the echo signal, and Re(X) is a real part of the echo signal.

[0070] Step 304: analyzing the reflection and absorption characteristics of the echo signal to obtain material characteristics of the cavity;

[0071]

[0072] In the formula, α is an absorption coefficient, d is a signal propagation distance, A out is an outgoing signal intensity, and A in is an incoming signal intensity.

[0073] In step 4, the grouting parameters of the synchronous grouting device are adjusted, including adjusting the injection amount and speed of the concrete grout. After detecting the cavity, the synchronous grouting device is timely adjusted to accurately inject concrete grout into the cavity area. The grouting process is adjusted in real time according to the size and shape of the cavity to ensure complete filling and reinforce the wall structure, thereby improving the overall health status and safety of the wall.

[0074] Specifically, the final grouting amount Q can be calculated according to the cavity volume V, the density ρ of the grouting material, and the grouting efficiency coefficient k:

[0075] Q = k·v·ρ

[0076] In the formula, the grouting efficiency coefficient k is an empirical coefficient reflecting the utilization rate of the material in actual construction. It takes into account various actual factors such as material loss during construction and incomplete grouting. The value of k needs to be determined through experiments and actual engineering experience.

[0077] Embodiment Two

[0078] The embodiment discloses a shield synchronous grouting effect detection system based on ultra-wideband, which comprises:

[0079] The echo signal acquisition module is configured to obtain an echo signal obtained after the ultra-wideband detection device detects the lining surface.

[0080] The echo signal preprocessing module is configured to preprocess the echo signal by using the accumulation averaging method, including: performing accumulation averaging processing on the received echo signal within a set time range and a frequency range to obtain a background estimation signal; and subtracting the background estimation signal from the current echo signal to eliminate background noise.

[0081] The echo signal feature analysis module is configured to perform feature analysis on the preprocessed echo signal to obtain cavity data inside the lining surface; the cavity data includes: cavity position, size, shape, and material characteristics of the cavity.

[0082] The grouting parameter real-time adjustment module is configured to: adjust the grouting parameters of the synchronous grouting device in real time based on the cavity data.

[0083] The ultra-wideband detection device transmits a pulse signal to the lining surface at a set time and frequency, and receives the echo signal reflected by the lining surface.

[0084] The ultra-wideband detection device includes: a UWB signal transmitting module: used for transmitting ultra-wideband pulse signals to the lining surface, with adjustable transmitting frequency and time interval;

[0085] Echo signal receiving module: used to receive the echo signal reflected by the lining surface and convert it into an electrical signal for processing;

[0086] Signal amplification module: used to amplify the data received by the echo signal receiving module.

[0087] Example 3

[0088] The purpose of this embodiment is to provide a computer-readable storage medium.

[0089] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in a method for detecting the effect of shield synchronous grouting based on ultra-wideband as described in Example 1 of the present disclosure.

[0090] Example 4

[0091] The purpose of this embodiment is to provide an electronic device.

[0092] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in a method for detecting the effect of synchronous grouting of a shield machine based on ultra-wideband as described in Example 1 of the present disclosure are implemented.

[0093] The steps involved in the apparatuses of Examples 2, 3, and 4 above correspond to those of Method Example 1. For detailed implementation, please refer to the relevant description of Example 1. The term "computer-readable storage medium" should be understood to mean a single medium or multiple media containing one or more instruction sets; it should also be understood to include any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and causing the processor to perform any method of the present invention.

[0094] Those skilled in the art should understand that the modules or steps of the present application described above can be realized by general computer devices, or alternatively, they can be realized by program codes executable by the computer devices, so that they can be stored in the storage devices and executed by the computer devices, or they can be respectively manufactured into individual integrated circuit modules, or a plurality of modules or steps among them can be manufactured into a single integrated circuit module. The present application is not limited to any specific combination of hardware and software.

[0095] The specific embodiments of the present application described above in conjunction with the accompanying drawings are not intended to limit the protection scope of the present application. Those skilled in the art should understand that various modifications or changes made on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A shield synchronous grouting effect detection method based on ultra-wideband, characterized in that: include: Acquire the echo signal obtained after the ultra-wideband detection device detects the lining surface; The echo signal is pre-processed using the cumulative averaging method, including: performing cumulative averaging processing on the received echo signals within the set time range and frequency range to obtain a background estimation signal; subtracting the background estimation signal from the current echo signal to eliminate background noise; Performing feature analysis on the pre-processed echo signal to obtain void data inside the lining surface; the void data includes: void position, size, shape and material properties of the void; wherein, performing feature analysis on the pre-processed echo signal to obtain void data inside the lining surface includes: The cavity position is calculated based on the time delay of the echo signal and the known wave velocity: ； Where d is the cavity position, c is the wave velocity, and Δt is the time delay of the echo signal; The hole size is calculated based on the reference signal strength and the current echo signal strength: ； Where s is the cavity size, A ref is the reference signal strength, A sig is the echo signal strength; The cavity shape is calculated based on the pattern and phase changes of the echo signal: ； Where θ is the phase angle, X is the complex representation of the echo signal, Im(X) is the imaginary part of the echo signal, and Re(X) is the real part of the echo signal; The material properties of the cavity are calculated based on the reflection and absorption characteristics of the echo signal: ； Where α is the absorption coefficient, d is the signal propagation distance, A out is the outgoing signal strength, A in is the incident signal intensity; Finally, the grouting parameters of the synchronous grouting device are adjusted in real time based on the cavity data.

2. The method for detecting shield synchronous grouting effect based on ultra-wideband according to claim 1, characterized in that: Detecting the lining surface using the ultra-wideband detection device includes: The ultra-wideband detection device transmits a pulse signal to the lining surface at a set time and frequency, and receives the echo signal reflected by the lining surface.

3. The method for detecting shield synchronous grouting effect based on ultra-wideband according to claim 1, characterized in that: The ultra-wideband detection device includes: a UWB signal transmitting module: used to transmit ultra-wideband pulse signals to the lining surface, with adjustable transmission frequency and time interval; Echo signal receiving module: used to receive the echo signal reflected by the lining surface and convert it into an electrical signal for processing; Signal amplification module: used to amplify the data received by the echo signal receiving module.

4. The method for detecting shield synchronous grouting effect based on ultra-wideband according to claim 1, characterized in that: The adjustment of the grouting parameters of the synchronous grouting device includes: adjusting the injection amount and speed of the concrete slurry; the injection amount of the concrete slurry is calculated based on the cavity volume, the density of the grouting material and the grouting efficiency coefficient.

5. A shield synchronous grouting effect detection system based on ultra-wideband, characterized in that: include: The echo signal acquisition module is configured to: acquire the echo signal obtained after the ultra-wideband detection device detects the lining surface; The echo signal preprocessing module is configured to: preprocess the echo signal using a cumulative averaging method, including: performing cumulative averaging processing on the received echo signals within a set time range and frequency range to obtain a background estimation signal; and subtracting the background estimation signal from the current echo signal to eliminate background noise; The echo signal characteristic analysis module is configured to: perform characteristic analysis on the pre-processed echo signal to obtain cavity data inside the lining surface; the cavity data includes: cavity position, size, shape and material properties of the cavity; wherein, performing characteristic analysis on the pre-processed echo signal to obtain cavity data inside the lining surface includes: The cavity position is calculated based on the time delay of the echo signal and the known wave velocity: ； Where d is the cavity position, c is the wave velocity, and Δt is the time delay of the echo signal; The hole size is calculated based on the reference signal strength and the current echo signal strength: ； Where s is the cavity size, A ref is the reference signal strength, A sig is the echo signal strength; The cavity shape is calculated based on the pattern and phase changes of the echo signal: ； Where θ is the phase angle, X is the complex representation of the echo signal, Im(X) is the imaginary part of the echo signal, and Re(X) is the real part of the echo signal; The material properties of the cavity are calculated based on the reflection and absorption characteristics of the echo signal: ； Where α is the absorption coefficient, d is the signal propagation distance, A out is the outgoing signal strength, A in is the incident signal intensity; The grouting parameter real-time adjustment module is configured to: adjust the grouting parameters of the synchronous grouting device in real time based on the cavity data.

6. The shield synchronous grouting effect detection system based on ultra-wideband according to claim 5, characterized in that: Detecting the lining surface using the ultra-wideband detection device includes: The ultra-wideband detection device transmits a pulse signal to the lining surface at a set time and frequency, and receives the echo signal reflected by the lining surface.

7. The shield synchronous grouting effect detection system based on ultra-wideband according to claim 5, characterized in that: The ultra-wideband detection device includes: a UWB signal transmitting module: used to transmit ultra-wideband pulse signals to the lining surface, with adjustable transmission frequency and time interval; Echo signal receiving module: used to receive the echo signal reflected by the lining surface and convert it into an electrical signal for processing; Signal amplification module: used to amplify the data received by the echo signal receiving module.

8. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the shield synchronous grouting effect detection method based on ultra-wideband are implemented as described in any one of claims 1 to 4.

9. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the shield synchronous grouting effect detection method based on ultra-wideband are implemented as described in any one of claims 1 to 4.

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