Method for detecting metal bent cylinder structure in multichannel ground penetrating radar data
A technology of radar data and ground penetrating radar, which is applied in measuring devices, radio wave measurement systems, radio wave reflection/reradiation, etc., can solve problems such as the complexity of actual situations, achieve high practical value and promotion value, and have simple logic Effect
Active Publication Date: 2021-05-28
成都圭目机器人有限公司
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[0006] Another example is Hao Tong's "Review of Ground Penetrating Radar Image Recognition Technology for Hyperbolic Shape". The method in processing (such as a fast detection method for ground-penetrating radar hyperbolic targets), but this is still based on the results of bscan images, and it is two-dimensional
[0007] In actual situations, no matter using classical image processing or deep learning methods, the target detection is performed on a single bscan image. Since the radar slice map represents the target through the intensity of electromagnetic reflection waves, the actual situation under the road surface is very complicated. , there are many false targets, showing very obvious hyperbolic features in a single bscan slice
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[0047] Such as Figure 4 to Figure 6 As shown, the present embodiment provides a method for detecting metal-like curved cylindrical structures in multi-channel ground-penetrating radar data, comprising the following steps:
[0048] In the first step, in the area to be detected, use the m-channel ground-penetrating radar to perform grid-like reentry detection c times along the parallel direction, and obtain m×c radar data bscan; m radar data bscan form a radar data batch; c radar data The data batch constitutes the radar data cscan of the area to be detected; the radar data cscan is equal to m×c radar data bscan; the m and c are both integers greater than 1; in this embodiment, m takes a value of 7 .
[0049] The second step is to preprocess any radar data bscan (adjust zero offset, adjust zero point, filter and adjust gain), and perform visualization processing. In this embodiment, signal preprocessing and visualization are general solutions and will not be described .
[0...
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The invention discloses a method for detecting a metal-like bent cylindrical structure in multichannel ground penetrating radar data, and the method comprises the steps: obtaining m * c radar data bscan in a to-be-detected region; processing any one piece of radar data bscan, and carrying out the visualization processing; arranging any radar data batch, and obtaining n bscan images according to the position of the radar data bscan in the radar data batch; carrying out two-dimensional hyperbola detection on any image img_i, and obtaining k metal cylindrical structure targets; carrying out the actual coordinate transformation on the metal cylinder-like structure target Target_i_u, and obtaining the position information of the metal cylinder-like structure target Target_i_u in the region; recording a metal cylinder-like structure target set in the image img_i as Set_i, and performing two-dimensional hyperbola detection on the i-th bscan image to obtain n sets; traversing the metal cylinder-like structure target in sequence, and searching a two-dimensional target by adopting a target position projection and area mode to finish three-dimensional target search.
Description
technical field [0001] The invention relates to the technical field of radar data processing, in particular to a method for detecting metal-like curved cylindrical structures in multi-channel ground-penetrating radar data. Background technique [0002] In the ground penetrating radar slice map, the position corresponding to the metal cylindrical structure presents an obvious hyperbolic structure, and it does not distinguish whether it is a steel bar or a pipe (hollow). On the multi-channel ground penetrating radar equipment, the multi-channel shallow ground penetrating radar is hung on the carrying equipment when it is working, and the multiple channels of the carrying equipment are pushed forward at the same time. Assuming it is a radar equipment with m channels, m can be any value greater than or equal to 1. Integer, when m is 1, it is a single channel ground penetrating radar. [0003] Under normal circumstances, the work of ground penetrating radar is to carry out full-...
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IPC IPC(8): G01S7/02G01S13/88
CPCG01S7/02G01S13/88Y02A90/30
Inventor 黄敏刘天恒余世杰李鹏程彭辉桂仲成
Owner 成都圭目机器人有限公司