CN115015941B - Physical model test system and method capable of monitoring falling stone movement track in real time - Google Patents

Abstract

The present invention discloses a physical model test system and method for real-time monitoring of the trajectory of falling rocks, comprising a falling rock model, a slope model, a falling rock clamping device, a target identification sonar unit, a rectangular frame, a sonar transmitting and receiving unit, and an analyzer; the falling rock model is made of sound-absorbing material and has a uniform density distribution; the slope model is used to form a slope surface and is made of sound-absorbing material; the falling rock clamping device is used to fix the falling rock model above the slope surface or release the falling rock model; the analyzer is used to calculate the three-dimensional coordinates of the target identification sonar unit and the three-dimensional coordinates of the center of gravity of the falling rock model over time. The physical model test system and method for the trajectory of falling rocks of the present invention can calculate the coordinates of the center of gravity and the coordinates of the target identification sonar unit at different times during the rockfall movement process, can monitor the three-dimensional trajectory of the falling rock model in real time, and has high accuracy and can analyze the complex trajectory of the falling rock model.

Description

A physical model test system and method capable of real-time monitoring of rockfall trajectory

Technical Field

The invention relates to the technical field of physical model testing of rockfall motion, and in particular to a physical model testing system and method capable of monitoring the trajectory of rockfall motion in real time.

Background technique

my country has a vast territory, and its terrain and landforms are complex and changeable. Especially in mountainous areas, complex terrain and landforms often lead to dangerous rockfalls. Although their scale is not as large as landslides, rockfalls often occur suddenly and can also cause huge losses. In the prevention and research of rockfalls, an important task is to monitor and calculate the trajectory of rockfalls. However, rockfalls are an extremely complex movement, and it is very difficult to accurately calculate the trajectory of rockfalls. At present, the research on rockfalls is mainly carried out through the following two aspects: on the one hand, theoretical analysis or numerical simulation is used for calculation; on the other hand, physical model tests are used to simulate the occurrence and movement of rockfalls. Physical model tests are one of the important means to simulate the trajectory of rockfalls and reveal the laws of rockfall movement. However, due to the defects of the physical model test system and the framework design, the following difficulties need to be overcome:

(1) The existing physical model test system for dangerous rockfall is generally analyzed through digital imaging technology, that is, the complete motion trajectory is obtained by post-processing the image of the rockfall motion, but it is difficult to monitor and calculate the motion trajectory in real time.

(2) Existing studies often focus on the movement of falling rocks in a two-dimensional plane, but rarely analyze the three-dimensional trajectory of falling rocks. In addition, the three-dimensional point cloud images generated by digital imaging technology have large errors and are more dependent on the high resolution and high frame rate of high-speed cameras.

Summary of the invention

In order to solve the above problems, an embodiment of the present invention provides a physical model test system capable of real-time monitoring of the trajectory of falling rocks, comprising a falling rock model, a slope model, a falling rock clamping device, four non-coplanar target identification sonar units fixedly arranged on the surface of the falling rock model, a rectangular frame, eight sonar transmitting and receiving units fixed at different corners of the rectangular frame, and an analyzer; the falling rock model is made of sound-absorbing material and has a uniform density distribution; the slope model is used to form a slope surface and is at least partially located in the rectangular frame; the falling rock clamping device is used to fix the falling rock model above the slope surface or release the falling rock model, and the falling rock model is located in the rectangular frame when fixed; The analyzer is used to control the eight sonar transmitting and receiving units to simultaneously transmit sonar signals at intervals. The four target identification sonar units are used to transmit sonar signals after receiving the sonar signals transmitted by the sonar transmitting and receiving units facing the target identification sonar units. The frequencies of transmitting sonar signals by the four target identification sonar units are different. The analyzer is also used to calculate the changes of the three-dimensional coordinates of the four target identification sonar units and the three-dimensional coordinates of the center of gravity of the rockfall model over time according to the time difference between the sonar signals transmitted by the target identification sonar units facing the sonar transmitting and receiving units and the sonar signals transmitted by the eight sonar transmitting and receiving units.

Preferably, the rockfall model and the slope model are made of a multi-layer composite polylactic acid material.

Preferably, the rockfall model and the slope model are produced by 3D printing.

Preferably, the rockfall clamping device comprises a bracket and a mechanical arm clamp arranged on the bracket, and the mechanical arm clamp is used to fix on or release the rockfall model.

Preferably, the analyzer includes a system control unit and a data processing unit, the system control unit is used to control the eight sonar transmitting and receiving units to simultaneously transmit sonar signals at intervals, and the data processing unit is used to calculate the changes in the three-dimensional coordinates of the four target identification sonar units and the three-dimensional coordinates of the center of gravity of the rockfall model over time based on the time difference between the eight sonar transmitting and receiving units receiving the reflected sonar signals of different frequencies and the transmitting of the sonar signals by the eight sonar transmitting and receiving units.

Preferably, the analyzer further comprises a display unit for visually displaying the motion trajectory of the rockfall model according to the changes of the three-dimensional coordinates of the four target identification sonar units and the three-dimensional coordinates of the center of gravity of the rockfall model over time.

The embodiment of the present invention further provides a test method of the physical model test system capable of real-time monitoring of the trajectory of falling rocks, comprising the following steps:

Fixing the rockfall model on the rockfall clamping device, establishing a three-dimensional rectangular coordinate system, and determining the initial three-dimensional coordinates of the center of gravity of the rockfall model;

The analyzer controls the eight sonar transmitting and receiving units to transmit sonar signals simultaneously, and the four target identification sonar units transmit sonar signals after receiving the sonar signals transmitted by the sonar transmitting and receiving units facing the target identification sonar units. The analyzer calculates the initial three-dimensional coordinates of the four target identification sonar units according to the time difference between the sonar signals transmitted by the target identification sonar units facing the sonar transmitting and receiving units and the sonar signals transmitted by the eight sonar transmitting and receiving units; and calculates the distances from the center of gravity of the rockfall model to the four target identification sonar units according to the initial three-dimensional coordinates of the center of gravity of the rockfall model and the initial three-dimensional coordinates of the four target identification sonar units.

The rockfall clamping device releases the rockfall model, and the rockfall model falls onto the slope surface of the slope model to move;

The analyzer controls the eight sonar transmitting and receiving units to transmit sonar signals simultaneously at intervals. The four target identification sonar units transmit sonar signals after receiving the sonar signals transmitted by the sonar transmitting and receiving units facing the target identification sonar units. The analyzer calculates the three-dimensional coordinates of the four target identification sonar units at different times according to the time difference between the sonar signals transmitted by the target identification sonar units facing the sonar transmitting and receiving units and the sonar signals transmitted by the eight sonar transmitting and receiving units; and calculates the three-dimensional coordinates of the center of gravity of the rockfall model at different times according to the distances from the center of gravity of the rockfall model to the four target identification sonar units and the three-dimensional coordinates of the four target identification sonar units at different times.

Preferably, the analyzer visualizes the motion trajectory of the rockfall model based on changes in the three-dimensional coordinates of the four target identification sonar units and the three-dimensional coordinates of the center of gravity of the rockfall model over time.

Compared with the prior art, the beneficial effects of the present invention include: the physical model test system and method of the rockfall motion trajectory of the present invention sets a rectangular frame surrounding the rockfall model motion trajectory, sets sonar transmitting and receiving units on the eight corners of the rectangular frame, and sets four non-coplanar target identification sonar units on the surface of the rockfall model. Through the time difference between the sonar transmitting and receiving units facing each other and the target identification sonar unit in transmitting and receiving sonar signals, the three-dimensional coordinates of the center of gravity at different times during the rockfall motion and the three-dimensional coordinates of the target identification sonar unit can be calculated in real time, thereby monitoring the three-dimensional motion trajectory of the rockfall model in real time with high accuracy and analyzing the complex motion trajectory of the rockfall model.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a three-dimensional view of a physical model test system capable of real-time monitoring of the trajectory of falling rocks according to the present invention;

FIG2 is a side view of a physical model test system capable of real-time monitoring of the trajectory of falling rocks according to the present invention;

3 is a front view of a physical model test system capable of real-time monitoring of the trajectory of falling rocks according to the present invention;

FIG4 is a schematic diagram of the principle of calculating the coordinates of the target identification sonar unit before the test of the present invention;

FIG. 5 is a schematic diagram showing the principle of calculating the coordinates of the target identification sonar unit in the experiment of the present invention.

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

Example 1

The present invention provides a physical model test system 100 that can monitor the trajectory of falling rocks in real time, please refer to Figures 1-3, including a falling rock model 16, a slope model 14, a falling rock clamping device 13, four non-coplanar target identification sonar units 9-12 fixedly arranged on the surface of the falling rock model 16, a rectangular frame 17, eight sonar transmitting and receiving units 1-8 fixed at different corners of the rectangular frame 17, and an analyzer 15.

The rockfall model 16 is made of sound-absorbing material with uniform density distribution. The purpose of the rockfall model 16 is to prevent the sonar signal emitted by the sonar transmitting and receiving unit from penetrating the rockfall model 16 and being received by the target identification sonar unit on the rockfall model 16 facing away from the sonar transmitting and receiving unit, thereby affecting the test results.

Preferably, the expected rockfall model 16 is printed out by using 3D printing technology, and the 3D printing material is a multi-layer composite polylactic acid material, so that it has a good sound absorption effect.

Due to the characteristics of 3D printing, the density of the rockfall model 16 is uniform, and its homogeneous density is ρ, which is a constant. Its mass is M after weighing. Its contour can be obtained according to the 3D printed model. After the direction of the rockfall model 16 fixed on the rockfall clamping device 13 is determined and the three-dimensional rectangular coordinate system is established, the initial three-dimensional coordinates of the center of gravity Q of the rockfall model 16 before movement are It can be obtained, and the calculation formula is as follows (1)-(4):

M＝ρ·V (1)

Among them, V represents the volume of the rockfall model 16, x represents the coordinate of the outline of the rockfall model 16 on the X-axis in the three-dimensional rectangular coordinate system, y represents the coordinate of the outline of the rockfall model 16 on the Y-axis in the three-dimensional rectangular coordinate system, z represents the coordinate of the outline of the rockfall model 16 on the Z-axis in the three-dimensional rectangular coordinate system, and dv represents the differential of the volume of the rockfall model 16.

The slope model 14 is used to form a slope surface and is at least partially located in the rectangular parallelepiped frame 17. Preferably, for the convenience of manufacturing, the slope model 14 expected in the test is printed out using 3D printing technology, and the 3D printing material is a multi-layer composite polylactic acid type material.

The rockfall clamping device 13 is used to fix the rockfall model 16 above the slope or release the rockfall model 16. When the rockfall model 16 is fixed, it is located in the rectangular parallelepiped frame 17.

Preferably, the rockfall clamping device 13 is composed of a mechanical arm clamp 131 and a bracket 132, wherein the mechanical arm clamp 131 is arranged on the bracket 132, and the mechanical arm clamp 131 is used to fix on or release the rockfall model 16. The rockfall clamping device 13 can stably clamp and release the rockfall model 16 at any time and is not affected by human factors, thereby restoring the rockfall process in a real state.

The analyzer 15 is used to control the eight sonar transmitting and receiving units 1-8 to transmit sonar signals at intervals and simultaneously. The four target identification sonar units 9-12 are used to transmit sonar signals after receiving the sonar signals transmitted by the sonar transmitting and receiving units facing the target identification sonar units. The frequencies of transmitting sonar signals from the four target identification sonar units 9-12 are different. The analyzer 15 is also used to calculate the changes of the three-dimensional coordinates of the four target identification sonar units 9-12 and the three-dimensional coordinates of the center of gravity of the rockfall model 16 over time according to the time difference between the sonar signals transmitted by the target identification sonar units facing the sonar transmitting and receiving units received by the eight sonar transmitting and receiving units 1-8 and the sonar signals transmitted by the eight sonar transmitting and receiving units 1-8.

Specifically, the target identification sonar units 9-12 have their own power supply and energy storage, and can transmit sonar signals of different frequencies, so that the sonar transmitting and receiving units can identify the corresponding target identification sonar units after receiving the sonar signals transmitted by the target identification sonar units.

The four target identification sonar devices 9 to 12 include a first target identification sonar device 9, a second target identification sonar device 10, a third target identification sonar device 11 and a fourth target identification sonar device 12. The four target identification sonar devices 9 to 12 are arranged in sequence on the surface of the rockfall model 16. The non-coplanar arrangement makes them form a three-dimensional image, which is convenient for calculating the motion trajectory of the rockfall model 16.

The rockfall clamping device 13 is operated to fix the rockfall model 16 at a preset position on the surface of the slope model 14. Looking backward from the front of the rockfall model 16, the first target identification sonar device 9 is located at the rear of the rockfall model 16, the second target identification sonar device 10 is located at the top of the rockfall model 16, the third target identification sonar device 11 is located at the right side of the rockfall model 16, and the fourth target identification sonar device 12 is located at the left side of the rockfall model 16. A stable metal rectangular frame 17 is built in front of the rockfall model 16, and the frame is L in length, L in width, and N in height. The eight sonar transmitting and receiving units 1-8 include a first sonar transmitting and receiving unit 1, a second sonar transmitting and receiving unit 2, a third sonar transmitting and receiving unit 3, a fourth sonar transmitting and receiving unit 4, a fifth sonar transmitting and receiving unit 5, a sixth sonar transmitting and receiving unit 6, a seventh sonar transmitting and receiving unit 7, and an eighth sonar transmitting and receiving unit 8, which are respectively installed at the eight corners of the rectangular parallelepiped frame 17. Looking backward from the front of the rectangular parallelepiped frame 17, the first sonar transmitting and receiving unit 1 is located at the upper right rear corner of the rectangular parallelepiped frame 17, and the second sonar transmitting and receiving unit 1 is located at the upper right rear corner of the rectangular parallelepiped frame 17. The receiving unit 2 is located at the upper left rear corner of the rectangular parallelepiped frame 17, the third sonar transmitting and receiving unit 3 is located at the upper left front corner of the rectangular parallelepiped frame 17, the fourth sonar transmitting and receiving unit 4 is located at the upper right front corner of the rectangular parallelepiped frame 17, the fifth sonar transmitting and receiving unit 5 is located at the lower right rear corner of the rectangular parallelepiped frame 17, the sixth sonar transmitting and receiving unit 6 is located at the lower left rear corner of the rectangular parallelepiped frame 17, the seventh sonar transmitting and receiving unit 7 is located at the lower left front corner of the rectangular parallelepiped frame 17, and the eighth sonar transmitting and receiving unit 8 is located at the lower right front corner of the rectangular parallelepiped frame 17. The sonar information of the eight sonar transmitting and receiving units 1 to 8, including the time of transmitting the sonar signal and the time of receiving the sonar signal, is received by the analyzer 15, so that the time difference between the sonar transmitting and receiving unit receiving the sonar signal and transmitting the sonar signal can be calculated, and the time difference is used to analyze and calculate the motion trajectory of the rockfall model 16.

Preferably, the analyzer 15 includes a system control unit and a data processing unit, the system control unit is used to control the eight sonar transmitting and receiving units 1-8 to simultaneously transmit sonar signals at intervals, and the data processing unit is used to calculate the changes in the three-dimensional coordinates of the four target identification sonar units 9-12 and the three-dimensional coordinates of the center of gravity of the rockfall model 16 over time based on the time difference between the reflected sonar signals of different frequencies received by the eight sonar transmitting and receiving units 1-8 and the sonar signals transmitted by the eight sonar transmitting and receiving units 1-8.

As shown in FIG4 , before the test begins, the initial spatial coordinates of the four target identification sonar devices 9 to 12 on the rockfall model 16 are confirmed, and the first sonar transmitting and receiving unit 1 transmits sonar signals to the first target identification sonar unit 9 and the second target identification sonar unit 10 facing the first sonar transmitting and receiving unit 1, wherein the third target identification sonar unit 11 and the fourth target identification sonar unit 12 are facing away from the first sonar transmitting and receiving unit 1. Due to the sound absorption of the rockfall model 16, the sonar signal transmitted by the first sonar transmitting and receiving unit 1 is blocked and cannot be received by them, while the first target identification sonar unit 9 receives the sonar signal. The first sonar transmitting and receiving unit 1, the second sonar transmitting and receiving unit 2, the fifth sonar transmitting and receiving unit 5, and the sixth sonar transmitting and receiving unit 6 face the first target identification sonar unit 9 and can receive the sonar signal of the corresponding frequency; the second target identification sonar unit 10 transmits another sonar signal of the corresponding frequency after receiving the sonar signal, and the first sonar transmitting and receiving unit 1, the second sonar transmitting and receiving unit 2, the third sonar transmitting and receiving unit 3, and the fourth sonar transmitting and receiving unit 4 face the second target identification sonar unit 10 and can receive the sonar signal of the corresponding frequency. Similarly, according to the seventh sonar transmitting and receiving unit 7, the third target identification sonar unit 11 and the fourth target identification sonar unit 12 transmit sonar signals facing the seventh sonar transmitting and receiving unit 7, wherein the first target identification sonar unit 9 and the second target identification sonar unit 10 are facing away from the seventh sonar transmitting and receiving unit 7. Due to the sound absorption of the rockfall model 16, the sonar signal transmitted by the seventh sonar transmitting and receiving unit 7 is blocked and cannot be received by them, and the third target identification sonar unit 11 transmits another sonar signal of corresponding frequency after receiving the sonar signal. The transmitting and receiving unit 3, the fourth sonar transmitting and receiving unit 4, the seventh sonar transmitting and receiving unit 7, and the eighth sonar transmitting and receiving unit 8 face the third target identification sonar unit 11 and can receive a sonar signal of another corresponding frequency; the fourth target identification sonar unit 12 transmits a sonar signal of another corresponding frequency after receiving the sonar signal, and the fifth sonar transmitting and receiving unit 5, the sixth sonar transmitting and receiving unit 6, the seventh sonar transmitting and receiving unit 7, and the eighth sonar transmitting and receiving unit 8 face the fourth target identification sonar unit 12 and can receive a sonar signal of another corresponding frequency.

Before the test begins, the first sonar transmitting and receiving unit 1 transmits sonar signals to the first target identification sonar unit 9 and the second target identification sonar unit 10. The time difference from the first sonar transmitting and receiving unit 1 transmitting the sonar signal to receiving the sonar signal transmitted by the first target identification sonar unit 9 is R ₁ , the time difference from the second sonar transmitting and receiving unit 2 transmitting the sonar signal to receiving the sonar signal transmitted by the first target identification sonar unit 9 is R ₂ , the time difference from the fifth sonar transmitting and receiving unit 5 transmitting the sonar signal to receiving the sonar signal transmitted by the first target identification sonar unit 9 is R ₅ , and the time difference from the sixth sonar transmitting and receiving unit 6 transmitting the sonar signal to receiving the sonar signal transmitted by the first target identification sonar unit 9 is R ₆ . Then, the time from the sonar signal transmitted by the first target identification sonar unit 9 to the first sonar transmitting and receiving unit 1 is R ₁ /2, and the time from the sonar signal transmitted by the first target identification sonar unit 9 to the sonar transmitting and receiving units 2, 5, and 6 is R _i -R ₁ /2 (i = 2, 5, 6), it can be calculated that the distance from the first target identification sonar unit 9 to the first sonar transmitting and receiving unit 1 is D ₁ = (R ₁ /2) × _Va , and the distances from the first target identification sonar unit 9 to the sonar transmitting and receiving units 2, ₅ , and 6 are D ₂ , D 5, and D ₆ , respectively. The calculation formula is _Di = (R _i -R ₁ /2) × _Va (i = 2, 5, 6), where _Va is the propagation speed of sound waves in air at a certain temperature, _Va = (331.4 + 0.607T), and T is Celsius temperature. At a room temperature of 21 degrees, _Va is taken as 344m/s. Then, taking the first sonar transmitting and receiving unit 1 as the spatial coordinate origin (0,0,0), a three-dimensional rectangular spatial coordinate system is established along the direction pointing to the fourth sonar transmitting and receiving unit 4, the second sonar transmitting and receiving unit 2, and the fifth sonar transmitting and receiving unit 5. The initial three-dimensional coordinates of the first target identification sonar unit 9 in this coordinate system are: According to the geometric projection relationship, the following equations (5)-(8) can be obtained:

By solving equations (5)-(8) together, the initial three-dimensional coordinates of the first target identification sonar unit 9 in this coordinate system can be obtained as:

Similarly, the initial spatial coordinates of the second target identification sonar unit 10, the third target identification sonar unit 11, and the fourth target identification sonar unit 12 are The initial three-dimensional coordinates of the center of gravity Q of the rockfall model 16 before movement are: Initial three-dimensional coordinates of the first target identification sonar unit 9 The initial three-dimensional coordinates of the second target identification sonar unit 10 The initial three-dimensional coordinates of the third target identification sonar unit 11 The initial spatial coordinates of the fourth target identification sonar unit 12 Although the coordinate origins of the spatial coordinate systems are different, they can be converted into a unified overall spatial coordinate system after integration by the analyzer 15. After passing through the coordinate system 1, the distances from the center of gravity Q of the rockfall model 16 to the first target identification sonar unit 9, the second target identification sonar unit 10, the third target identification sonar unit 11, and the fourth target identification sonar unit 12 are n ₁ , n ₂ , n ₃ , and n ₄ , respectively, which can be calculated by the following formula:

After the test starts, the rockfall clamping device 13 is controlled to release the rockfall model 16, and the rockfall model 16 starts to move irregularly. The eight sonar transmitting and receiving units 1-8 transmit sonar signals at intervals in real time. The sonar transmitting and receiving units 1-8 only receive sonar signals of different frequencies transmitted by the target identification sonar units 9-12 facing the sonar transmitting and receiving units 1-8. When the sonar signals transmitted by the target identification sonar units 9-12 facing away from the sonar transmitting and receiving units 1-8 are blocked and missing, the analyzer 15 does not perform coordinate calculation, but performs calculation through the sonar signals transmitted by other target identification sonar units 9-12. As shown in FIG5 , it illustrates the orientation of the rockfall model 16 relative to the eight sonar transmitting and receiving units 1 to 8 at a certain moment after the start of the test. According to the sonar signal transmitted by the eighth sonar transmitting and receiving unit 8 facing the first target identification sonar unit 9 and the second target identification sonar unit 10 of the first sonar transmitting and receiving unit 1, wherein the third target identification sonar unit 11 and the fourth target identification sonar unit 12 are facing away from the eighth sonar transmitting and receiving unit 8, due to the sound absorption of the rockfall model 16, the sonar signal transmitted by the eighth sonar transmitting and receiving unit 8 is blocked and cannot be received by them, while the sonar signal received by the first target identification sonar unit 9 is received by the sonar signal. The first sonar transmitting and receiving unit 5, the second sonar transmitting and receiving unit 6, the third sonar transmitting and receiving unit 7, and the fourth sonar transmitting and receiving unit 8 face the first target identification sonar unit 9 and can receive the sonar signal of the corresponding frequency; the second target identification sonar unit 10 transmits another sonar signal of the corresponding frequency after receiving the sonar signal, and the first sonar transmitting and receiving unit 5, the second sonar transmitting and receiving unit 6, the third sonar transmitting and receiving unit 7, and the fourth sonar transmitting and receiving unit 8 face the second target identification sonar unit 10 and can receive the sonar signal of the corresponding frequency. Similarly, according to the sixth sonar transmitting and receiving unit 6, the third target identification sonar unit 11 and the fourth target identification sonar unit 12 transmit sonar signals to the sixth sonar transmitting and receiving unit 6, wherein the first target identification sonar unit 9 and the second target identification sonar unit 10 are facing away from the sixth sonar transmitting and receiving unit 6. Due to the sound absorption of the rockfall model 16, the sonar signal transmitted by the sixth sonar transmitting and receiving unit 6 is blocked and cannot be received by them, and the third target identification sonar unit 11 transmits another sonar signal of the corresponding frequency after receiving the sonar signal, and the second target identification sonar unit 10 transmits a sonar signal of the corresponding frequency. The transmitting and receiving unit 2, the third sonar transmitting and receiving unit 3, the sixth sonar transmitting and receiving unit 6, and the seventh sonar transmitting and receiving unit 7 face the third target identification sonar unit 11 and can receive a sonar signal of another corresponding frequency; the fourth target identification sonar unit 12 transmits a sonar signal of another corresponding frequency after receiving the sonar signal, and the first sonar transmitting and receiving unit 1, the second sonar transmitting and receiving unit 2, the fifth sonar transmitting and receiving unit 5, and the sixth sonar transmitting and receiving unit 6 face the fourth target identification sonar unit 12 and can receive a sonar signal of another corresponding frequency.

According to the same principle as solving the three-dimensional coordinates of the first target identification sonar unit 9, the second target identification sonar unit 10, the third target identification sonar unit 11, and the fourth target identification sonar unit 12 before the start of the experiment, the three-dimensional coordinates of the first target identification sonar unit 9, the second target identification sonar unit 10, the third target identification sonar unit 11, and the fourth target identification sonar unit 12 at different times as they change over time can be calculated, which are ( _x1 , _y1 , _z1 ), ( _x2 , _y2 , _z2 ), ( _x3 , _y3 , _z3 ), and ( _x4 , _y4 , _z4 ).

Since the distances from the center of gravity of the rockfall model 16 to the first target identification sonar unit 9, the second target identification sonar unit 10, the third target identification sonar unit 11, and the fourth target identification sonar unit 12 are constant, the three-dimensional coordinates ( _xq , _yq , _zq ) of the center of gravity Q of the rockfall model 16 at different times can be obtained, and the solution formula is as follows:

Preferably, the analyzer 15 further comprises a display unit, which is used to visualize the motion trajectory of the rockfall model 16 according to the changes of the three-dimensional coordinates of the four target identification sonar units 9-12 and the three-dimensional coordinates of the center of gravity of the rockfall model 16 over time. Since the changes of the three-dimensional coordinates of the four target identification sonar units 9-12 over time are known, under the condition that the outline of the rockfall model 16 is fixed, the orientation of the rockfall model 16 at different times can be determined, and combined with the changes of the three-dimensional coordinates of the center of gravity of the rockfall model 16 over time, not only the translational motion of the rockfall model 16 can be analyzed, but also the complex motion trajectories such as rotation and rolling caused by factors such as collision can be analyzed.

Example 2

The present invention provides a test method of the physical model test system 100 capable of real-time monitoring of the trajectory of falling rocks, comprising the following steps:

Fix the rockfall model 16 on the rockfall clamping device 13, establish a three-dimensional rectangular coordinate system, and determine the initial three-dimensional coordinates of the center of gravity of the rockfall model 16;

The analyzer 15 controls the eight sonar transmitting and receiving units 1-8 to transmit sonar signals simultaneously, and the four target identification sonar units 9-12 transmit sonar signals after receiving the sonar signals transmitted by the sonar transmitting and receiving units 1-8 facing the target identification sonar units 9-12. The analyzer 15 calculates the initial three-dimensional coordinates of the four target identification sonar units 9-12 according to the time difference between the sonar signals transmitted by the target identification sonar units 9-12 facing the sonar transmitting and receiving units 1-8 and the sonar signals transmitted by the eight sonar transmitting and receiving units 1-8; and calculates the distances from the center of gravity of the rockfall model 16 to the four target identification sonar units 9-12 according to the initial three-dimensional coordinates of the center of gravity of the rockfall model 16 and the initial three-dimensional coordinates of the four target identification sonar units 9-12;

The rockfall clamping device 13 releases the rockfall model 16, and the rockfall model 16 falls onto the slope surface of the slope model 14 to move;

The analyzer 15 controls the eight sonar transmitting and receiving units 1-8 to transmit sonar signals at intervals and simultaneously. The four target identification sonar units 9-12 transmit sonar signals after receiving the sonar signals transmitted by the sonar transmitting and receiving units 1-8 facing the target identification sonar units 9-12. The analyzer 15 calculates the three-dimensional coordinates of the four target identification sonar units 9-12 at different times according to the time difference between the sonar signals transmitted by the target identification sonar units 9-12 facing the sonar transmitting and receiving units 1-8 and the time between the eight sonar transmitting and receiving units 1-8 transmitting the sonar signals. The three-dimensional coordinates of the center of gravity of the rockfall model 16 at different times are calculated according to the distances from the center of gravity of the rockfall model 16 to the four target identification sonar units 9-12 and the three-dimensional coordinates of the four target identification sonar units 9-12 at different times.

Preferably, the analyzer 15 visualizes the motion trajectory of the rockfall model 16 according to the changes of the three-dimensional coordinates of the four target identification sonar units 9-12 and the three-dimensional coordinates of the center of gravity of the rockfall model 16 over time.

The physical model test system and method for real-time monitoring of the motion trajectory of falling rocks provided by the embodiment of the present invention are provided by setting a rectangular frame 17 surrounding the motion trajectory of a falling rock model 16, setting sonar transmitting and receiving units 1-8 at the eight corners of the rectangular frame 17, and setting four non-coplanar target identification sonar units 9-12 on the surface of the falling rock model 16. Through the time difference between the sonar transmitting and receiving units 1-8 and the target identification sonar units 9-12 facing each other in transmitting and receiving sonar signals, the three-dimensional coordinates of the center of gravity of the falling rock model 16 at different moments during its motion and the three-dimensional coordinates of the target identification sonar units 9-12 can be calculated in real time, thereby performing real-time monitoring of the three-dimensional motion trajectory of the falling rock model 16 with high accuracy and capable of analyzing the complex motion trajectory of the falling rock model 16.

The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims (8)

1. The physical model test system capable of monitoring the falling stone movement track in real time is characterized by comprising a falling stone model, a side slope model, a falling stone clamping device, four non-coplanar target identification sonar units fixedly arranged on the surface of the falling stone model, a cuboid frame, eight sonar transmitting and receiving units fixed on different angles of the cuboid frame and an analyzer; the falling stone model is made of sound absorption materials and has uniform density distribution; the slope model is used for forming a slope and is at least partially positioned in the cuboid frame; the falling stone clamping device is used for fixing the falling stone model above the slope or releasing the falling stone model, and the falling stone model is positioned in the cuboid frame when being fixed; the analyzer is used for controlling the eight sonar transmitting and receiving units to simultaneously transmit sonar signals at intervals, the four target identification sonar units are used for transmitting the sonar signals after receiving the sonar signals transmitted by the sonar transmitting and receiving units facing the target identification sonar units, the four target identification sonar units are different in frequency of the sonar signals transmitted by the sonar transmitting and receiving units, and the analyzer is further used for calculating to obtain the three-dimensional coordinates of the four target identification sonar units and the change of the three-dimensional coordinates of the gravity center of the falling stone model along with time according to the time difference between the sonar signals transmitted by the target identification sonar units facing the sonar transmitting and receiving units and the sonar signals transmitted by the eight sonar transmitting and receiving units.

2. The physical model testing system of claim 1, wherein: the material of the falling stone model and the side slope model is multilayer composite polylactic acid type material.

3. The physical model testing system of claim 2, wherein: and the falling stone model and the side slope model are manufactured by 3D printing.

4. The physical model testing system of claim 1, wherein: the falling stone clamping device comprises a bracket and a mechanical arm clamp arranged on the bracket, wherein the mechanical arm clamp is used for being fixed on or releasing the falling stone model.

5. The physical model testing system of claim 1, wherein: the analyzer comprises a system control unit and a data processing unit, wherein the system control unit is used for controlling the eight sonar transmitting and receiving units to simultaneously transmit sonar signals at intervals, and the data processing unit is used for calculating the three-dimensional coordinates of the four target identification sonar units and the change of the three-dimensional coordinates of the gravity center of the falling stone model along with time according to the time difference between the reflected sonar signals received by the eight sonar transmitting and receiving units and the sonar signals transmitted by the eight sonar transmitting and receiving units.

6. The physical model testing system of claim 5, wherein: the analyzer further comprises a display unit, wherein the display unit is used for visually displaying the movement track of the falling stone model according to the change of the three-dimensional coordinates of the four target identification sonar units and the three-dimensional coordinates of the gravity center of the falling stone model along with time.

7. A test method of a physical model test system capable of monitoring a falling rock movement locus in real time as claimed in any one of claims 1 to 6, comprising the steps of:

fixing the falling stone model on the falling stone clamping device, establishing a three-dimensional rectangular coordinate system, and determining an initial three-dimensional coordinate of the gravity center of the falling stone model;

The analyzer controls the eight sonar transmitting and receiving units to simultaneously transmit sonar signals, the four target identification sonar units transmit the sonar signals after receiving the sonar signals transmitted by the sonar transmitting and receiving units facing the target identification sonar units, and the analyzer calculates initial three-dimensional coordinates of the four target identification sonar units according to time differences between the sonar signals transmitted by the target identification sonar units and the sonar signals transmitted by the eight sonar transmitting and receiving units; calculating according to the initial three-dimensional coordinates of the gravity center of the falling stone model and the initial three-dimensional coordinates of the four target identification sonar units to obtain the distances from the gravity center of the falling stone model to the four target identification sonar units respectively;

The falling stone clamping device loosens the falling stone model, and the falling stone model falls on the slope surface of the slope model to move;

The analyzer controls the eight sonar transmitting and receiving units to simultaneously transmit sonar signals at intervals, the four target identification sonar units transmit the sonar signals after receiving the sonar signals transmitted by the sonar transmitting and receiving units facing the target identification sonar units, and the analyzer calculates three-dimensional coordinates of the four target identification sonar units at different moments according to time differences between the sonar signals transmitted by the target identification sonar units facing the sonar transmitting and receiving units and the sonar signals transmitted by the eight sonar transmitting and receiving units; and calculating to obtain the three-dimensional coordinates of the falling stone model at different moments according to the distances from the gravity center of the falling stone model to the four target identification sonar units and the three-dimensional coordinates of the four target identification sonar units at different moments.

8. The assay method of claim 7, wherein: and the analyzer visually displays the motion trail of the falling stone model according to the three-dimensional coordinates of the four target identification sonar units and the change of the three-dimensional coordinates of the gravity center of the falling stone model along with time.