Vertical rescue probe radar life detection system and method

Abstract

The invention provides a vertical rescue probe radar life detection system and method, and belongs to the technical field of radars, the vertical rescue probe radar life detection system comprises a radar probe, the radar probe is used for detecting trapped persons in an underground roadway, and the radar probe comprises a vertical rescue radar and a cylindrical metal probe; the cable reel is used for laying down the radar probe from the vertical shaft on the ground, and the cable reel is connected with the radar probe through a cable; the ground processing display terminal is used for processing and displaying data and results detected by the radar exploring tube; the radar probe tube is connected with the ground processing display terminal through wireless communication, the radar probe tube is simple and compact, and therefore the radar probe tube can be applied to small-diameter drill hole vital sign detection, and low-power-consumption detection can be adopted during detection.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of radar, more particularly relates to a vertical rescue probe radar life detection system and method. BACKGROUND

[0002] Coal is the main energy source in China. In recent years, shallow coal resources have been fully exploited and exhausted, making the mining depth of mines gradually deepen, and the average mining depth of most mines has exceeded 800m. Due to the deep mining depth, the geological conditions of the roadway are complex, and the proportion of rock burst and roof fall accidents in the process of coal mining is rising. Among them, roof fall accident easily leads to roadway blockage, and when the difficulty of dredging is large, efficient and rapid rescue is difficult to realize. The vertical rescue technology can quickly determine the position of the trapped personnel and make contact with them, and through the drilling of a large-diameter hole, the survival rate of the trapped personnel is improved, and time is gained for subsequent rescue.

[0003] Although there are successful application cases, the vertical rescue technology still has the problem of being easily affected by coal and rock and stratum properties. In the rescue process, if the environment is geologically soft, the drill bit will deviate, causing new local collapse, causing the life sign detection equipment to have measurement deviation, and even failing to meet the requirements of life sign detection. The main reason is that the commonly used mine drilling communication device and life detection system are mostly based on video and audio technology, and when facing collapse blockage, they cannot realize penetration detection, and it is difficult to obtain the life signs of the trapped personnel underground.

[0004] The radar electromagnetic wave with a lower frequency band has strong penetration, can penetrate non-magnetic substances such as coal and rock, concrete, etc., and can non-contact measure the target behind the obstacle, solve the problem that the video detection technology based on optical principles fails to meet the obstacle, and the audio detection technology based on acoustic principles faces the problem that the sound wave propagates and attenuates quickly in the medium, and can well meet the requirements of life detection and positioning. Radar is more commonly used in the search and rescue of people under collapsed buildings and ruins, and in the detection of roads, bridges and tunnels, but it is less used in mine rescue. The main reason is that the size of the radar equipment is large, and it cannot be applied to small-diameter drilling life feature detection. SUMMARY

[0005] In order to solve the above technical problems, the present application provides a vertical rescue probe radar life detection system and method, and the purpose and effect of the vertical rescue probe radar life detection system and method of the present application are achieved by the following specific technical means:

[0006] The vertical rescue probe radar life detection system comprises the following steps:

[0007] The radar probe is used for detecting trapped personnel in a downhole tunnel, and comprises a vertical rescue radar and a cylindrical metal probe;

[0008] The cable reel is used for lowering the radar probe from a shaft on the ground, and is connected with the radar probe through a cable;

[0009] The ground processing display terminal is used for processing and displaying data and results detected by the radar probe;

[0010] The radar probe and the ground processing display terminal are connected through wireless communication.

[0011] As a further scheme of the present application, the vertical rescue radar comprises:

[0012] The transceiving antenna comprises a transmitting antenna and a receiving antenna;

[0013] The transmitting antenna is used for radiating electromagnetic waves in space;

[0014] The receiving antenna is used for receiving electromagnetic waves in space;

[0015] The radio frequency board is used for generating, amplifying and receiving processing of radar electromagnetic wave signals;

[0016] The digital board is used for completing collection, processing and information transmission of radar electromagnetic wave signals;

[0017] The communication interface is used for communication transmission;

[0018] The external power supply is used for power supply.

[0019] As a further scheme of the present application, the device connection mode in the radar probe comprises:

[0020] The output end of the radio frequency board is electrically connected with the input end of the transmitting antenna, the output end of the receiving antenna is electrically connected with the input end of the radio frequency board, the digital board and the input end and the output end of the radio frequency board are electrically connected with each other, the external power supply and the input end and the output end of the digital board are electrically connected with each other, and the communication interface and the input end and the output end of the digital board are electrically connected with each other.

[0021] As a further scheme of the present application, the transceiving antenna adopts a double-layer microstrip antenna.

[0022] As a further scheme of the present application, the digital board adopts an internal integrated FOGA and ARM heterogeneous SOC.

[0023] As a further scheme of the present application, the digital board comprises:

[0024] An ADC module for receiving an intermediate frequency signal and a reference clock, and converting a radar analog signal into a radar digital signal;

[0025] An SOC module for receiving the radar digital signal processed by the ADC module, processing the radar digital signal based on a radar signal algorithm, and wirelessly transmitting a processing result to the ground processing display terminal;

[0026] A power module for power supply;

[0027] A debugging interface for debugging.

[0028] As a further scheme of the present application, the vertical rescue radar is installed in the cylindrical metal probe pipe, the cylindrical metal probe pipe is windowed at positions of the transmitting antenna and the receiving antenna, and adopts a wave-transparent material to form a transmitting window and a receiving window.

[0029] As a further scheme of the present application, the vertical rescue radar is internally provided with a human target detection algorithm.

[0030] A vertical rescue probe pipe radar life detection method comprises:

[0031] S1, in working, the radar probe pipe is lowered from the shaft through a cable reel, and stopped when reaching a detection position;

[0032] S2, a radar signal is transmitted based on the radio frequency board and the transmitting antenna, and the radar signal is bounced by the trapped personnel after penetrating the tunnel and irradiating to the trapped personnel;

[0033] S3, a radar echo signal is received based on the radio frequency board and the receiving antenna, and the radar echo signal is low-noise amplified and down-converted based on the radio frequency board, and output to the digital board;

[0034] S4, the radar echo signal is processed by the digital board based on a radar signal algorithm, and a processing result is wirelessly transmitted to a ground processing display terminal after processing, and the ground processing display terminal displays the processing result.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] The vertical rescue radar is installed in a cylindrical metal probe pipe, the probe pipe is opened at the positions of the transmitting and receiving antennas, the metal material is replaced by a wave-transparent material to form transmitting and receiving windows, when working, the cable reel releases the radar probe pipe from the shaft, and stops releasing when reaching the detection position, the transmitting channel of the radar radio frequency board generates amplified transmitting signals, and then feeds the signals to the transmitting antenna for radiation, the electromagnetic wave radiated to the roadway can penetrate the wall and irradiate the trapped person's body, the trapped person reflects the electromagnetic wave backwardly, the reflected electromagnetic wave is received by the receiving antenna, and then fed to the receiving channel of the radio frequency board, the receiving channel of the radio frequency board performs low-noise amplification and frequency conversion on the transmitting echo signal, and then outputs the signal to the digital board, the ADC circuit of the digital board realizes analog-digital conversion of the analog echo, and converts the analog signal into a digital signal, then the data is output to the SOC, the SOC performs radar signal algorithm processing, and then the processing result is transmitted to the ground processing display terminal through the network port and the network cable, and the result is displayed, the present application provides a simple and compact radar probe pipe, so that it can be applied to small-diameter borehole life feature detection, and low-power detection can be performed during detection. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 FIG. 1 is a schematic diagram of the vertical rescue probe radar life detection system of the present application.

[0038] Figure 2 FIG. 4 is a schematic diagram of the double-layer microstrip antenna in the vertical rescue probe radar life detection system of the present application.

[0039] Figure 3 FIG. 7 is a principle block diagram of the radio frequency board in the vertical rescue probe radar life detection system of the present application.

[0040] Figure 4 FIG. 10 is a principle block diagram of the digital board in the vertical rescue probe radar life detection system of the present application.

[0041] Figure 5 FIG. 13 is a comparison diagram of the echo data processing results of the stationary target in situ in the vertical rescue probe radar life detection system of the present application.

[0042] Figure 6 FIG. 16 is a comparison diagram of the echo data processing results of the body-moving target in situ in the vertical rescue probe radar life detection system of the present application.

[0043] Figure 7 FIG. 19 is a comparison diagram of the echo data processing results of the tangential motion target in the vertical rescue probe radar life detection system of the present application.

[0044] Figure 8 FIG. 22 is a comparison diagram of the echo data processing results of the radial motion target in the vertical rescue probe radar life detection system of the present application.

[0045] Figure 9This is a schematic diagram of the human target detection algorithm in the vertical rescue probe radar life detection system of this invention.

[0046] Figure 10 It is the ratio of the cumulative probability to the single-experiment probability under the M / 8 binary accumulation criterion.

[0047] Figure 11 This is a structural diagram of the radar system in the vertical rescue probe radar life detection system of the present invention. Detailed Implementation

[0048] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the technical solutions of the present invention, but should not be used to limit the scope of protection of the present invention.

[0049] Example:

[0050] As attached Figures 1 to 11 As shown:

[0051] This invention provides a vertical rescue probe radar life detection system, suitable for performance evaluation, comprising the following steps:

[0052] A radar probe, used to detect trapped personnel in underground roadways, the radar probe comprising a vertical rescue radar and a cylindrical metal probe.

[0053] A cable reel is used to lower the radar probe from the shaft on the ground, and the cable reel is connected to the radar probe by a cable.

[0054] A ground processing and display terminal, used to process and display data and results detected by radar probes;

[0055] The radar probe is connected to the ground processing and display terminal via wireless communication.

[0056] Understandably, borehole detection differs from personnel hoisting boreholes in that it has a smaller diameter, making it unsuitable for some existing life detectors, especially radar life detectors. Therefore, the miniaturization issue must be addressed first in developing a vertical rescue probe radar life detection system.

[0057] Furthermore, rescue detection radar is a low-frequency radar, generally employing an ultra-wideband impulse pulse system. The advantage of this system is its simple structure, but its disadvantages are also obvious: the average power of the transmitted signal is very low, resulting in poor penetration and short detection range. This is because the waveform's time width is very narrow, on the nanosecond level. To increase the average power, a high-voltage pulse source must be used. However, under high-voltage conditions, it is difficult to achieve good repetition frequency and stability of the pulse source, especially given its large size. This is because pulse sources are essentially analog circuits, and high-voltage pulse sources cannot be miniaturized. Moreover, high-voltage pulse sources are extremely unsafe in the flammable and explosive environment of mines. This project adopts the world's most advanced pulse compression radar system. Pulse compression radar uses a wide-bandwidth product signal; the wide-bandwidth waveform can achieve a much higher average power than a nanosecond narrow pulse. The wide-bandwidth waveform, through digital pulse compression technology, can be converted into a nanosecond narrow pulse, achieving very high resolution. Because this system has high average power, the circuit voltage can be very low, resulting in high safety. Simultaneously, it can employ many highly integrated digital circuits, enabling miniaturization and low power consumption.

[0058] As attached Figure 1 As shown, attached Figure 1 In the diagram, number 11 represents the ground processing and display terminal, number 12 represents the cable reel, number 13 represents the radar probe, number 14 represents the obstacle, and number 15 represents the survivor. The vertical rescue radar probe system consists of a radar probe, a cable reel, and a ground processing and display terminal, as shown in the figure below. The radar probe is the core component, responsible for detecting trapped personnel in the underground tunnels. The cable reel is responsible for lowering the radar probe from the shaft from the surface, and the ground processing and display terminal is responsible for processing and displaying the radar detection data and results. The radar probe and the ground processing and display terminal communicate via a gigabit Ethernet connection.

[0059] Specifically, the vertical rescue radar includes:

[0060] A transceiver antenna, comprising a transmitting antenna and a receiving antenna;

[0061] A transmitting antenna, which is responsible for radiating electromagnetic waves in space;

[0062] A receiving antenna, which is responsible for receiving electromagnetic waves in space;

[0063] Radio frequency board, which is responsible for the generation, amplification and reception processing of radar electromagnetic wave signals;

[0064] The digital board is used to complete the acquisition, processing and information transmission of radar electromagnetic wave signals. The digital board adopts a heterogeneous SOC that integrates FOGA and ARM internally.

[0065] A communication interface, which is used for communication transmission;

[0066] An external power supply is used to provide power.

[0067] The digital board includes:

[0068] The ADC module is used to receive intermediate frequency signals and a reference clock, and to convert radar analog signals into radar digital signals.

[0069] The SOC module is used to receive the radar digital signal processed by the ADC module, process the radar digital signal based on the radar signal algorithm, and wirelessly transmit the processing result to the ground processing and display terminal.

[0070] Power module, the power module is used for power supply;

[0071] A debugging interface, which is used for debugging.

[0072] For details, see attached. Figure 11 As shown, the rescue detection radar system includes transceiver antennas, an RF board, a digital board, an external power supply, and a communication interface. This solution has the advantages of simplicity and compactness, enabling the product to be miniaturized while ensuring detection performance, and facilitating assembly and maintenance.

[0073] The transceiver antenna is responsible for the radiation and reception of electromagnetic waves in space. Vertical rescue radar requires miniaturized transceiver antennas; therefore, a high-gain, low-profile, reliable dual-layer microstrip antenna is used, as shown in the attached image. Figure 2 As shown.

[0074] In this embodiment, the radio frequency (RF) board is responsible for the generation, amplification, and reception processing of radar electromagnetic wave signals. To ensure good penetration through obstacles, the radar operates in the S-band. For subsequent coherent processing, the RF board must maintain excellent phase characteristics. To reduce the overall weight, the RF board cannot use a traditional metal shielding box solution; a PCB-level shielding solution is required. The block diagram of the RF board's composition principle is attached. Figure 3 As shown.

[0075] In this embodiment, the main function of the core component, the digital board, is to acquire, process, and transmit radar signals. To achieve low power consumption and high performance, the digital board adopts a heterogeneous SOC that integrates an FPGA and an ARM processor. The schematic diagram of the digital board is attached. Figure 4 As shown.

[0076] Furthermore, the connection methods of the devices inside the radar probe include:

[0077] The output terminal of the radio frequency board is electrically connected to the input terminal of the transmitting antenna, the output terminal of the receiving antenna is electrically connected to the input terminal of the radio frequency board, the digital board is electrically connected to the input and output terminals of the radio frequency board, the external power supply is electrically connected to the input and output terminals of the digital board, and the communication interface is electrically connected to the input and output terminals of the digital board.

[0078] Furthermore, clutter suppression is a prerequisite for target detection in radar signal algorithms, and the quality of clutter suppression directly determines the performance of target detection. In rescue detection, due to the two-way penetration attenuation of signals through walls, the echo from a human target is very weak, much weaker than the echo from antenna coupling and single reflection from walls. Therefore, moving target indication (MTI) filtering is necessary to handle fixed clutter such as antenna coupling and static environmental clutter. The basic idea of ​​MTI filtering is to use a high-pass filter to filter out low-frequency clutter and retain high-frequency target Doppler. In real-world environments, human targets can exhibit small movements (including stationary, stationary body movements, and tangential movements) or large movements (referring to significant radial movement) relative to the radar radial direction. Small movements (such as a stationary human body) may have little or no radial motion overall, but localized movements of limbs due to breathing and heartbeat result in a low Doppler frequency shift, easily overlapping with clutter Doppler spectra near zero frequency. Large movements, on the other hand, produce a higher Doppler frequency shift and less overlap with clutter Doppler spectra. For small and large movements, cumulative averaging background cancellation and impulse cancellation methods are generally used respectively, achieving good processing results. However, in practical applications, the target's motion state needs to be pre-assumed beforehand, and then a corresponding processing algorithm needs to be applied. If the target's motion state does not match the assumed motion state, the signal processing algorithm needs to be changed to re-acquire the data processing results. This approach increases the complexity of practical operation and is not suitable for real-time applications. This project adopts an exponentially weighted background cancellation processing algorithm, which can handle both types of motion states. The results of processing measured data show that this algorithm can achieve similar processing results to the previous two algorithms, demonstrating good practicality.

[0079] Among them, the cumulative average background cancellation method is essentially a point-frequency filter because it only filters out clutter with zero Doppler frequency. Let b(t,n) represent the background signal, then:

[0080]

[0081] Assuming the canceled signal is represented as s(t,n), then:

[0082] s(t,n)=d(t,n)-b(t,n).

[0083] The simplest pulse canceller is either a two-pulse canceller or a single-pulse canceller. If the canceled signal is represented by z(t,n), then:

[0084] z(t,n)=d(t,n)-d(t,n-1);

[0085] A higher signal-to-noise ratio results in a more stable higher-order canceller, but also lower sensitivity to motion. A three-pulse or double-pulse canceller can be represented as:

[0086] z(t,n)=d(t,n)-2d(t,n-1)+d(t,n-2).

[0087] Among them, the exponentially weighted background cancellation algorithm uses an adjustable weighting method to weight the echoes from previous time steps to obtain the background signal. Its implementation idea is between the cumulative average background cancellation algorithm and the pulse cancellation algorithm. The algorithm expression is:

[0088] b(t,n)=ab(t,n-1)+(1-a)d(t,n-1);

[0089] b(t,n) represents the current background mean, b(t,n-1) represents the background mean at the previous moment, d(t,n-1) represents the data at the previous moment, and a∈(0,1) is the empirical weighting value, which needs to be determined according to the actual application. When a→0, the exponentially weighted background cancellation algorithm degenerates into a two-pulse cancellation algorithm; when a→1, the algorithm is similar to the cumulative average background cancellation method. In rescue detection, in order to simultaneously process the echo data of targets in micro-motion and large-motion states, a∈(0.9,1) can be set. The exponentially weighted background cancellation algorithm is a simple adaptive process with the characteristics of small storage capacity and real-time processing capability.

[0090] As attached Figure 5 To be continued Figure 8 As shown, the processing results of the measured data of one-dimensional rescue radar are presented to verify the effectiveness of the exponentially weighted background cancellation algorithm.

[0091] Furthermore, the vertical rescue radar is equipped with a human target detection algorithm.

[0092] Specifically, indoor moving / stationary human target detection technology is the most critical technology for rescue radar. Due to the complex environment behind walls, the echoes contain uneven clutter and interfering targets. To achieve better detection performance, it is necessary to comprehensively consider factors such as detection probability, false alarm probability, real-time performance, and applicability, and to perform automatic target detection processing from a system perspective. This solution employs OSCFAR and binary accumulation-based automatic target detection methods.

[0093] As attached Figure 9 As shown in the figure:

[0094] 1. Detector input: Data after clutter suppression and square-law detection;

[0095] 2. Reference cell N: Used to estimate interference of the cell under test;

[0096] 3. Protection Unit M: Since a target may occupy multiple detection units, if the detection unit containing the target is also used to estimate the background, errors will occur. Therefore, a protection unit is set up.

[0097] Understandably, CFAR detection assumes that the echo power follows an exponential distribution. The difference between OSCFAR and other CFAR detection algorithms such as CACFAR and GOCFAR is that the clutter energy is estimated using a single data sample, rather than taking the average of all data samples as the estimate. However, the detection threshold essentially depends on all sample data.

[0098] After OSCFAR sorts the data in the reference cells in ascending order, the data in the Kth cell is called the Kth ordered statistic. An ordered sequence satisfies:

[0099] X (1) ≤X (2) ≤......≤X (N) ;

[0100] The detection decision threshold of OSCFAR satisfy:

[0101]

[0102] Among them, a os The detection factor is expressed as follows:

[0103]

[0104] When K < N / 2, more false alarms will occur at the edge of clutter. Therefore, K generally satisfies N / 2 ≤ K < N, and is usually taken as K = 0.75N.

[0105] Furthermore, to improve the target detection probability while reducing false alarms, the target detection algorithm uses binary accumulation. In a single hypothesis test, there are two hypotheses: "the target exists" and "the target does not exist." The probability of a correct decision regarding the existence of a single target is P. D The probability of an incorrect decision is P. FA To improve the reliability of the detection results, it is required that the target is detected M times in N hypothesis tests before its existence can be finally confirmed. This process is called binary accumulation.

[0106] Let P be the probability of success in a single trial, then the probability of success in M ​​out of N trials is P0. C for:

[0107]

[0108] Where P is P D At that time, P C That is, the cumulative detection probability P CD When P is P FA At that time, P C It is the cumulative false alarm probability P CFA .

[0109] Furthermore, the most important aspect of binary accumulation is the choice of M / N. Taking M / 8 as an example, see attached... Figure 10 The diagram shows P under all 8 possible cases where N=8 and M takes all possible values. C The ratio relationship between P and P. If the ratio is greater than 1 (see attached diagram). Figure 10 (the part above the middle dashed line), then P C >P, where the P-value applies to the probability of detection in a single trial. Conversely, a very small P-value applies to the probability of a false alarm, in which case the ratio should be less than 1 (see appendix). Figure 10 (The portion below the dashed line). The choice of N is based on the target's state. If the target is moving, the number of detections when the target is in the same distance cell should be estimated, and N should be determined accordingly. If the target is stationary, the choice of N mainly depends on the detection probability. The choice of M is based on the detection probability, that is, ensuring P... CD / P D >1, P CFA / P FA <1.

[0110] This embodiment also provides a vertical rescue probe radar life detection method, including:

[0111] S1, during operation, the radar probe is lowered from the shaft via a cable reel and the lowering stops when it reaches the detection position;

[0112] S2, based on the radio frequency board and transmitting antenna, transmits radar signals. When the radar signal penetrates the alley and shines on the trapped personnel, the trapped personnel will reflect the radar signal.

[0113] S3 receives radar echo signals based on the RF board and receiving antenna, and simultaneously performs low-noise amplification and down-conversion on the radar echo signals based on the RF board, and outputs them to the digital board.

[0114] S4. The radar echo signal is processed by radar signal algorithm through the digital board. After processing, the processing result is wirelessly transmitted to the ground processing and display terminal, which displays the processing result.

[0115] The specific usage and function of this embodiment are as follows:

[0116] The vertical rescue radar is installed inside a cylindrical metal probe. Windows are cut into the probe at the locations of the transmitting and receiving antennas, replacing the metal material with a wave-transparent material to create these windows. During operation, a cable reel lowers the radar probe into the shaft, stopping when it reaches the detection position. The radar's radio frequency board's transmitting channel amplifies the transmitted signal, which is then fed to the transmitting antenna for radiation. The electromagnetic waves radiated into the tunnel can penetrate the walls and reach the trapped personnel. The trapped personnel reflect the electromagnetic waves back, which are then received by the receiving antenna and fed to the radio frequency board's receiving channel. The radio frequency board's receiving channel performs low-noise amplification and down-conversion on the transmitted echo signal before outputting it to the digital board. The digital board's ADC circuit performs analog-to-digital conversion on the analog echo, converting the analog signal into a digital signal. The data is then output to the System-on-Chips (SOC), which processes the radar signal using algorithms. The processing results are then transmitted from the network port via a network cable to the ground processing and display terminal for display.

[0117] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via limited means (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0118] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0119] It should be understood that, in the embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0120] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A vertical rescue probe radar life detection system, characterized in that, The system includes: A radar probe, used to detect trapped personnel in underground roadways, the radar probe comprising a vertical rescue radar and a cylindrical metal probe. A cable reel is used to lower the radar probe from the shaft on the ground, and the cable reel is connected to the radar probe by a cable. A ground processing and display terminal, used to process and display data and results detected by radar probes; The radar probe is connected to the ground processing and display terminal via wireless communication.

2. The vertical rescue probe radar life detection system according to claim 1, characterized in that, The vertical rescue radar includes: A transceiver antenna, comprising a transmitting antenna and a receiving antenna; A transmitting antenna, which is responsible for radiating electromagnetic waves in space; A receiving antenna, which is responsible for receiving electromagnetic waves in space; Radio frequency board, which is responsible for the generation, amplification and reception processing of radar electromagnetic wave signals; A digital board, which is used to complete the acquisition, processing and information transmission of radar electromagnetic wave signals; A communication interface, which is used for communication transmission; An external power supply is used to provide power.

3. The vertical rescue probe radar life detection system according to claim 2, characterized in that, The connection methods of components inside the radar probe include: The output terminal of the radio frequency board is electrically connected to the input terminal of the transmitting antenna, the output terminal of the receiving antenna is electrically connected to the input terminal of the radio frequency board, the digital board is electrically connected to the input and output terminals of the radio frequency board, the external power supply is electrically connected to the input and output terminals of the digital board, and the communication interface is electrically connected to the input and output terminals of the digital board.

4. The vertical rescue probe radar life detection system according to claim 2, characterized in that, The transceiver antenna is a dual-layer microstrip antenna.

5. The vertical rescue probe radar life detection system according to claim 2, characterized in that, The digital board uses a heterogeneous SOC that integrates FOGA and ARM internally.

6. The vertical rescue probe radar life detection system according to claim 2, characterized in that, The digital board includes: The ADC module is used to receive intermediate frequency signals and a reference clock, and to convert radar analog signals into radar digital signals. The SOC module is used to receive the radar digital signal processed by the ADC module, process the radar digital signal based on the radar signal algorithm, and wirelessly transmit the processing result to the ground processing and display terminal. Power module, the power module is used for power supply; A debugging interface, which is used for debugging.

7. The vertical rescue probe radar life detection system according to claim 2, characterized in that, The vertical rescue radar is installed in the cylindrical metal probe, which has windows at the positions of the transmitting and receiving antennas, and uses a wave-transparent material to form the transmitting and receiving windows.

8. The vertical rescue probe radar life detection system according to claim 1, characterized in that: The vertical rescue radar is equipped with a human target detection algorithm.

9. A vertical rescue probe radar life detection method, characterized in that, The method includes: S1, during operation, the radar probe is lowered from the shaft via a cable reel and the lowering stops when it reaches the detection position; S2, based on the radio frequency board and transmitting antenna, transmits radar signals. When the radar signal penetrates the alley and shines on the trapped personnel, the trapped personnel will reflect the radar signal. S3 receives radar echo signals based on the RF board and receiving antenna, and simultaneously performs low-noise amplification and down-conversion on the radar echo signals based on the RF board, and outputs them to the digital board. S4. The radar echo signal is processed by radar signal algorithm through the digital board. After processing, the processing result is wirelessly transmitted to the ground processing and display terminal, which displays the processing result.

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