Multi-frequency ultra-wideband ground penetrating radar device, method, storage medium and program product

Abstract

This invention discloses a multi-frequency ultra-wideband ground-penetrating sonar device, method, storage medium, and program product. The device includes a host subsystem for generating a first multi-frequency ultra-wideband acoustic signal and generating an array element spatiotemporal control sequence based on the current operating mode; an air-coupled multi-frequency transceiver array subsystem for radiating a second multi-frequency ultra-wideband acoustic signal into the underground solid medium based on the array element spatiotemporal control sequence after receiving the first multi-frequency ultra-wideband acoustic signal, and receiving the echo signal radiated back into the air from the underground solid medium; wherein the second multi-frequency ultra-wideband acoustic signal is incident on the underground solid medium after passing through the air-solid interface in sequence, and the echo signal is a longitudinal wave formed at the surface by various elastic wave responses; a data processing subsystem is used to perform multi-frequency collaborative processing and spatial inversion on the echo signal to obtain a multi-dimensional image of the underground solid medium. Thus, the detection efficiency is improved while ensuring the detection depth.

Description

Technical Field

[0001] This invention relates to the field of underground medium detection technology, and in particular to multi-frequency ultra-wideband ground-penetrating sonar equipment, methods, storage media and program products. Background Technology

[0002] Subsurface medium detection technology has significant application value in fields such as water conservancy engineering, municipal engineering, transportation engineering, and geological engineering. This technology is widely used in applications such as dam internal structure inspection, identification of underground cavities and adverse geological formations, detection of hidden seepage channels, and safety assessment of underground facilities. With the continuous expansion of engineering scale and the increasing demands for operational safety, higher requirements are being placed on subsurface detection equipment in terms of detection depth, spatial resolution, detection efficiency, and adaptability to complex media.

[0003] Currently, common underground detection technologies mainly include ground-penetrating radar (GPR), seismic exploration methods, and acoustic detection techniques. GPR primarily uses electromagnetic waves to detect underground targets. It has advantages such as being non-contact and having high detection speed. However, its detection effectiveness is easily affected by the water content, conductivity, and electromagnetic shielding effect of the underground medium. For example, under conditions of high water content or high conductivity, its detection depth and imaging quality decrease significantly. Seismic exploration methods are suitable for large-scale geological structure detection, but their equipment is bulky and their operation process is complex, making it difficult to meet the actual needs of rapid and precise detection in engineering sites.

[0004] Acoustic wave-based detection technology offers advantages such as stable propagation in solid or semi-solid media and insensitivity to the electromagnetic properties of the medium. It can be used to detect anomalous areas within underground media. However, existing technologies largely rely on contact or near-field coupling methods for single-point or small-area detection, limiting their detection depth and hindering the achievement of large-scale, non-contact three-dimensional imaging. This fails to meet the demands for efficient and accurate detection in engineering projects.

[0005] Therefore, there is an urgent need to propose a new acoustic detection scheme for underground media. This scheme can draw on the advantages of underwater sonar placed in water, ultrasonic flaw detection equipment that is close to the solid surface, and ground penetrating radar equipment that uses air coupling. This will form a completely new equipment development concept for underground media, air coupling, and continuous scanning detection using the emission of rebound sound waves. This is called Sound Detection and Ranging (SODAR). Summary of the Invention

[0006] This invention provides a multi-frequency ultra-wideband ground-penetrating sonar device, method, storage medium, and program product. These are used to improve detection efficiency while ensuring detection depth.

[0007] According to a first aspect of the present invention, a multi-frequency ultra-wideband ground-penetrating sonar device is provided, the device comprising a host subsystem, an air-coupled multi-frequency transceiver array subsystem, and a data processing subsystem, wherein: The host subsystem is used to generate a first multi-frequency ultra-wideband acoustic signal and generate a corresponding array element spatiotemporal control sequence according to the current working mode. The air-coupled multi-frequency transceiver array subsystem is used to, upon receiving the first multi-frequency ultra-wideband acoustic signal, radiate a second multi-frequency ultra-wideband acoustic signal into the underground solid medium based on the array element spatiotemporal control sequence, and receive the echo signal radiated back into the air from the underground solid medium; wherein, the second multi-frequency ultra-wideband acoustic signal is used to sequentially pass through the air and solid interface and then be incident on the underground solid medium to excite the formation of multiple elastic wave responses composed of longitudinal waves, transverse waves and surface waves inside the underground solid medium, and the echo signal is the longitudinal wave formed on the surface by the multiple elastic wave responses; The data processing subsystem is used to perform multi-frequency collaborative processing and spatial inversion on the echo signal to obtain a multi-dimensional structural image of the underground solid medium.

[0008] According to another aspect of the present invention, a method for detecting underground media is provided, the method comprising: Generate the corresponding array element spatiotemporal control sequence based on the current working mode; Based on the array element spatiotemporal control sequence, a second multi-frequency ultra-wideband acoustic signal is radiated into the underground solid medium; wherein, the second multi-frequency ultra-wideband acoustic signal is used to pass through the air and solid interface in sequence and then be incident into the underground solid medium to excite the formation of a variety of elastic wave responses composed of longitudinal waves, transverse waves and surface waves inside the underground solid medium; Receive the echo signal radiated back into the air by the underground solid medium, wherein the echo signal is a longitudinal wave formed on the surface by the various elastic wave responses; Multi-frequency collaborative processing and spatial inversion are performed on the echo signal to obtain a multi-dimensional structural image of the underground solid medium.

[0009] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the underground medium detection method according to any embodiment of the present invention.

[0010] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the underground medium detection method as described in any embodiment of the present invention.

[0011] The technical solution of this invention utilizes a multi-frequency ultra-wideband three-dimensional ground-penetrating sonar device based on an air-solid-air acoustic wave coupling mechanism. This device emits multi-frequency ultra-wideband acoustic waves in a non-contact manner via air coupling to excite underground solid media. The vertical vibration response formed near the surface after the combined action of various elastic waves within the underground solid media is transmitted back to the air in the form of longitudinal waves for array reception. This enables non-contact continuous scanning detection and two-dimensional and three-dimensional imaging of the underground media, thereby significantly improving detection efficiency and imaging resolution while ensuring detection depth.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of a multi-frequency ultra-wideband ground-penetrating sonar device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the host subsystem provided according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an air-coupled multi-frequency transceiver array subsystem provided according to an embodiment of the present invention; Figure 4 This is another structural schematic diagram of the air-coupled multi-frequency transceiver array subsystem provided in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the underground medium detection method provided in the embodiments of the present invention. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0016] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] The multi-frequency ultra-wideband ground-penetrating sonar device provided in this embodiment is suitable for non-contact three-dimensional detection of underground structures, cavities, loose areas and anomalies in scenarios such as dam engineering, municipal underground space, transportation engineering and geological engineering.

[0018] Below, we will first provide a detailed description of the multi-frequency ultra-wideband ground-penetrating sonar device in the embodiments of this application. Figure 1 This is a schematic diagram of a multi-frequency ultra-wideband ground-penetrating sonar device. Figure 1 As can be seen from the diagram, the multi-frequency ultra-wideband ground-penetrating sonar device 100 includes a host subsystem 101, an air-coupled multi-frequency transceiver array subsystem 102, a data processing subsystem 103, a visualization display subsystem 104, and a power supply subsystem 105. The following sections will describe each subsystem in the embodiments of the application.

[0019] Main subsystem 101: Used to generate the first multi-frequency ultra-wideband acoustic signal and generate the corresponding array element spatiotemporal control sequence according to the current working mode.

[0020] Furthermore, Figure 2 This is a schematic diagram of the host subsystem 101. In this embodiment, the host subsystem includes a signal generation module 1011, an array element control module 1012, and a power amplification module 1013. The signal generation module 1011 is used to generate a first multi-frequency ultra-wideband acoustic signal. In this embodiment, the center frequency of the first multi-frequency ultra-wideband acoustic signal is distributed in the range of 60Hz to 8kHz. Furthermore, the relative bandwidth of the center frequency signal is not less than 30% of its center frequency. In this embodiment, the overall spectral coverage of the first multi-frequency ultra-wideband acoustic signal is 30Hz to 10kHz, to balance penetration capability and imaging resolution in underground media.

[0021] Therefore, in the embodiments of this application, the first multi-frequency ultra-wideband acoustic signals with different center frequencies are coordinated in the time domain, frequency domain, or duty cycle to reduce mutual interference when multiple frequencies work simultaneously and improve the effectiveness of multi-frequency collaborative detection.

[0022] The array element control module 1012 is used to determine the spatiotemporal control sequence of the array elements based on the current operating mode. In this embodiment, the array element control module 1012 pre-stores the number and spatial location information of each array element in the air-coupled multi-frequency transceiver array subsystem 102. The spatiotemporal control sequence of the array elements in this embodiment is used to precisely control the transmission timing and phase relationship of each array element in the air-coupled multi-frequency transceiver array subsystem 102. The array element control module 1012 in this embodiment pre-sets the correspondence between each operating mode and the spatiotemporal control sequence of each array element, so as to precisely control the transmission timing and phase relationship of each array element in the air-coupled multi-frequency transceiver array subsystem 102 according to the current operating mode.

[0023] The power amplifier module 1013 is used to amplify the first multi-frequency ultra-wideband acoustic signal and drive the air-coupled multi-frequency transceiver array subsystem 102 to start working.

[0024] Air-coupled multi-frequency transceiver array subsystem 102: Upon receiving a first multi-frequency ultra-wideband acoustic signal, based on the array element spatiotemporal control sequence, it radiates a second multi-frequency ultra-wideband acoustic signal into the underground solid medium and receives the echo signal radiated back into the air from the underground solid medium. The second multi-frequency ultra-wideband acoustic signal is incident on the underground solid medium after sequentially passing through the air-solid interface to excite the formation of various elastic wave responses within the underground solid medium, consisting of longitudinal waves, transverse waves, and surface waves. The echo signal is the longitudinal wave formed on the surface by these various elastic wave responses.

[0025] The structure of the air-coupled multi-frequency transceiver array subsystem 102 in the embodiments of this application will be described below. Figure 3 This is a schematic diagram of the structure of the air-coupled multi-frequency transceiver array subsystem. Figure 3 As can be seen from the diagram, the air-coupled multi-frequency transceiver array subsystem 102 includes an acoustic wave transmitting array 1021 and an acoustic wave receiving array 1022. In this embodiment, the acoustic wave transmitting array includes: The acoustic wave transmitting array 1021, upon receiving a first multi-frequency ultra-wideband acoustic wave signal, radiates a second multi-frequency ultra-wideband acoustic wave signal into the underground solid medium based on the array element spatiotemporal control sequence. This second multi-frequency ultra-wideband acoustic wave signal enters the underground solid medium through the air-solid interface and excites various elastic wave responses, including longitudinal waves, transverse waves, and surface waves, within the underground solid medium. During the propagation, reflection, scattering, and mode conversion of these elastic waves within the underground solid medium, a dynamic response dominated by vertical vibration is formed in the near-surface region, which then re-radiates into the air as longitudinal waves.

[0026] In this embodiment, the acoustic wave emitting array 1021 is positioned above the ground in the detection area, maintaining a non-contact state with the surface of the underground medium, using air as the acoustic energy coupling medium. Specifically, as follows... Figure 4 As shown, from Figure 4 As can be seen, an air coupling region is formed between the ground and the transceiver array (acoustic wave transmitting array and acoustic wave receiving array), with air serving as the acoustic energy coupling medium.

[0027] The acoustic wave receiving array 1022 is used for non-contact array reception of longitudinal wave acoustic signals radiated into the air by the vertical vibration of the underground solid medium near the ground surface, so as to obtain the echo signal of the underground solid medium.

[0028] It should be noted that this embodiment does not collect or differentiate the various elastic waves formed inside the underground solid medium separately. Instead, it uses the acoustic wave receiving array 1022 to uniformly receive the acoustic response that is transmitted back to the air in the form of longitudinal waves after the combined action of various elastic waves.

[0029] The acoustic wave transmitting array 1021 in this embodiment is composed of a plurality of transmitting array elements arranged according to a predetermined geometric structure. It can be a linear array, a planar array, or an irregular array structure. Similarly, the acoustic wave receiving array 1022 in this embodiment is composed of a plurality of receiving array elements, and its array structure matches that of the acoustic wave transmitting array 1021.

[0030] The data processing subsystem 103 is used to perform multi-frequency collaborative processing and spatial inversion on the echo signal to obtain a multi-dimensional structural image of the underground solid medium. The multi-dimensional structural image is a two-dimensional image and / or a three-dimensional image.

[0031] Furthermore, the data processing subsystem in this embodiment is used to perform analog-to-digital conversion, time delay compensation, beamforming, multi-frequency collaborative processing, and spatial inversion on the received echo signal to generate two-dimensional and / or three-dimensional acoustic images of the underground solid medium.

[0032] The imaging process in this embodiment does not rely on precise modeling of the specific propagation paths or waveform parameters of various elastic waves inside the underground solid medium, but rather on the comprehensive structural information contained in the return signal of the air acoustic method to complete the inversion.

[0033] The data processing subsystem 103 in this embodiment is also used to identify the spatial structural features of the generated two-dimensional and / or three-dimensional images using a target detection algorithm, so as to detect and classify cavities, loose areas or anomalous bodies in underground solid media, and obtain target recognition results.

[0034] Visualization display subsystem 104: Used to display the current working mode of the device, multi-dimensional structural images, target recognition results, etc. in real time.

[0035] Power supply subsystem 105: Used to supply power to the host subsystem 101, the air-coupled multi-frequency transceiver array subsystem 102, the data processing subsystem 103, and the visualization display system 104. It can also dynamically adjust the energy distribution to the power amplifier module 1013 according to different operating modes.

[0036] To adapt to the requirements of detection depth, coverage, and imaging resolution in different detection scenarios, the host subsystem in this embodiment has multiple pre-set operating modes and can switch between them. The host subsystem in this embodiment needs to adjust the spatiotemporal control sequence of the array elements according to the current operating mode of the device, and the data processing subsystem in this embodiment needs to switch the corresponding data acquisition and signal processing strategies according to the current operating mode. Specifically: (1) If the operating mode is the wide-beam illumination mode, the host subsystem determines the array element spatiotemporal control sequence as the first array element spatiotemporal control sequence, wherein the first array element spatiotemporal control sequence is used to control each array element in the acoustic wave transmitting array to simultaneously transmit the second multi-frequency ultra-wideband acoustic wave signal, and the sum array element in the acoustic wave receiving array to synchronously receive the echo signal. Furthermore, in the wide-beam illumination mode, the data processing subsystem will form multiple receiving beams in the digital domain to achieve high-density scanning imaging of the covered area of ​​the underground solid medium.

[0037] (2) If the operating mode is the directional beam scanning mode, then the array element spatiotemporal control sequence is determined to be the second array element spatiotemporal control sequence. The second array element spatiotemporal control sequence is used to control the time difference or phase difference between each array element in the acoustic wave transmitting array to generate a second multi-frequency ultra-wideband acoustic signal with a specific spatial pointing energy concentration. The spatial pointing of the second multi-frequency ultra-wideband acoustic signal changes with time. The acoustic wave receiving array forms a receiving beam that matches the pointing of the transmitting beam. In this mode, the data processing subsystem processes the echo signal according to the scanning sequence, gradually reconstructing the spatial reflection distribution of the underground solid medium.

[0038] (3) If the operating mode is the multi-beam transmission mode, then the array element spatiotemporal control sequence is determined to be the third array element spatiotemporal control sequence, wherein the third array element spatiotemporal control sequence is used to control the acoustic wave transmitting array to be divided into multiple sub-arrays to simultaneously form multiple second multi-frequency ultra-wideband acoustic wave signals with specific spatial pointing energy concentration. At this time, the acoustic wave receiving array synchronously receives the mixed echo signals corresponding to multiple transmitted beams. In this mode, the data processing subsystem performs separation processing on the received mixed echo signals and performs spatial inversion imaging on each signal.

[0039] (4) If the working mode is the sequential transmission mode, then the array element spatiotemporal control sequence is determined to be the fourth array element spatiotemporal control sequence, wherein the fourth array element spatiotemporal control sequence is used to control each array element in the acoustic wave transmitting array to transmit the second multi-frequency ultra-wideband acoustic wave signal sequentially and individually according to a preset order, and to control the acoustic wave receiving array to perform full-array synchronous reception during each transmission. At this time, the acoustic wave receiving array performs full-array synchronous reception during each transmission. The data processing subsystem performs joint processing on the echo data acquired by multiple rounds of "single-array element transmission - full-array element reception" in the mode to achieve high-resolution two-dimensional and / or three-dimensional imaging.

[0040] Based on the same inventive concept, this application also provides a method for detecting underground media, which is implemented using the multi-frequency ultra-wideband ground-penetrating sonar equipment described above. The method for detecting underground media in this application will be described below. Figure 5 The diagram shown is a flowchart of a method for detecting underground media, which may include the following steps: S501: Generate the corresponding array element spatiotemporal control sequence according to the current working mode; S502: Based on the array element spatiotemporal control sequence, a second multi-frequency ultra-wideband acoustic signal is radiated into the underground solid medium; wherein, the second multi-frequency ultra-wideband acoustic signal is used to pass through the air and solid interface in sequence and then be incident into the underground solid medium to excite the formation of a variety of elastic wave responses composed of longitudinal waves, transverse waves and surface waves inside the underground solid medium. S503: Receive the echo signal radiated back into the air by the underground solid medium, wherein the echo signal is a longitudinal wave formed on the surface by the various elastic wave responses; S504: Perform multi-frequency collaborative processing and spatial inversion on the echo signal to obtain a multi-dimensional structural image of the underground solid medium.

[0041] The specific implementation method of the underground medium detection method in this application embodiment is the same as the implementation method described in the embodiment of the multi-frequency ultra-wideband ground penetrating sonar device mentioned above, and will not be repeated here.

[0042] In summary, the embodiments of this application utilize a multi-frequency ultra-wideband three-dimensional ground-penetrating sonar device based on an air-solid-air acoustic wave coupling mechanism. This device emits multi-frequency ultra-wideband acoustic waves in a non-contact manner via air coupling to excite the underground solid medium. The combined effect of various elastic waves within the underground solid medium, resulting in a vertical vibration response near the surface, is transmitted back into the air as longitudinal waves for array reception. This enables non-contact continuous scanning detection and two-dimensional and three-dimensional imaging of the underground medium, significantly improving detection efficiency and imaging resolution while maintaining detection depth. It can balance detection depth, imaging resolution, and detection efficiency under complex underground medium conditions, demonstrating significant engineering application value.

[0043] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0044] In some embodiments, the subsurface medium detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via a ROM and / or communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the subsurface medium detection method described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform the subsurface medium detection method by any other suitable means (e.g., by means of firmware).

[0045] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0046] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0047] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0048] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0049] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0050] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0051] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0052] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A multi-frequency ultra-wideband ground-penetrating sonar device, characterized in that, The device includes a host subsystem, an air-coupled multi-frequency transceiver array subsystem, and a data processing subsystem, wherein: The host subsystem is used to generate a first multi-frequency ultra-wideband acoustic signal and generate a corresponding array element spatiotemporal control sequence according to the current working mode. The air-coupled multi-frequency transceiver array subsystem is used to, upon receiving the first multi-frequency ultra-wideband acoustic signal, radiate a second multi-frequency ultra-wideband acoustic signal into the underground solid medium based on the array element spatiotemporal control sequence, and receive the echo signal radiated back into the air from the underground solid medium; wherein, the second multi-frequency ultra-wideband acoustic signal is used to sequentially pass through the air and solid interface and then be incident on the underground solid medium to excite the formation of multiple elastic wave responses composed of longitudinal waves, transverse waves and surface waves inside the underground solid medium, and the echo signal is the longitudinal wave formed on the surface by the multiple elastic wave responses; The data processing subsystem is used to perform multi-frequency collaborative processing and spatial inversion on the echo signal to obtain a multi-dimensional structural image of the underground solid medium.

2. The device according to claim 1, characterized in that, The air-coupled multi-frequency transceiver array subsystem includes an acoustic wave transmitting array and an acoustic wave receiving array; wherein: The acoustic wave transmitting array is used to radiate a second multi-frequency ultra-wideband acoustic wave signal to the underground solid medium based on the array element spatiotemporal control sequence after receiving the first multi-frequency ultra-wideband acoustic wave signal. The acoustic wave receiving array is used to receive echo signals radiated back into the air by the underground solid medium.

3. The device according to claim 2, characterized in that, The acoustic wave transmitting array and / or the acoustic wave receiving array can be any one of a linear array, a planar array, or an irregular array.

4. The device according to claim 1, characterized in that, The host subsystem includes a signal generation module, an array element control module, and a power amplification module, wherein: The signal generation module is used to generate the first multi-frequency ultra-wideband acoustic signal; The array element control module is used to determine the array element spatiotemporal control sequence based on the current working mode; The power amplifier module is used to amplify the first multi-frequency ultra-wideband acoustic signal.

5. The device according to claim 4, characterized in that, The operating modes include at least one of wide beam illumination mode, directional beam scanning mode, multi-beam transmission mode, and sequential transmission mode; The array element control module executes the determination of the array element spatiotemporal control sequence based on the current working mode, specifically for: If the working mode is the wide beam illumination mode, then the array element spatiotemporal control sequence is determined to be the first array element spatiotemporal control sequence, wherein the first array element spatiotemporal control sequence is used to control each array element in the acoustic wave transmitting array to simultaneously transmit the second multi-frequency ultra-wideband acoustic wave signal, and each array element in the acoustic wave receiving array to synchronously receive the echo signal. If the working mode is the directional beam scanning mode, then the array element spatiotemporal control sequence is determined to be the second array element spatiotemporal control sequence, wherein the second array element spatiotemporal control sequence is used to control the time difference or phase difference between each array element in the acoustic wave transmitting array to generate a second multi-frequency ultra-wideband acoustic wave signal with a specific spatial pointing energy concentration, and the spatial pointing of the second multi-frequency ultra-wideband acoustic wave signal changes with time. If the working mode is the multi-beam transmission mode, then the array element spatiotemporal control sequence is determined to be the third array element spatiotemporal control sequence, wherein the third array element spatiotemporal control sequence is used to control the acoustic wave transmission array to be divided into multiple sub-arrays, so as to simultaneously form multiple second multi-frequency ultra-wideband acoustic wave signals with specific spatial pointing energy concentration. If the working mode is the sequential transmission mode, then the array element spatiotemporal control sequence is determined to be the fourth array element spatiotemporal control sequence. The fourth array element spatiotemporal control sequence is used to control each array element in the acoustic wave transmitting array to transmit the second multi-frequency ultra-wideband acoustic wave signal in a preset order, and to control the acoustic wave receiving array to perform full array element synchronous reception during each transmission.

6. The device according to claim 1, characterized in that, The device also includes a visualization display subsystem, which is used to display the current working mode and the multi-dimensional structure image.

7. The device according to any one of claims 1-6, characterized in that, The device also includes a power supply subsystem for supplying power to the host subsystem, the air-coupled multi-frequency transceiver array subsystem, the data processing subsystem, and the visualization display system.

8. A method for detecting underground media using the device described in claim 1, characterized in that, The method includes: Generate the corresponding array element spatiotemporal control sequence based on the current working mode; Based on the array element spatiotemporal control sequence, a second multi-frequency ultra-wideband acoustic signal is radiated into the underground solid medium; wherein, the second multi-frequency ultra-wideband acoustic signal is used to pass through the air and solid interface in sequence and then be incident into the underground solid medium to excite the formation of a variety of elastic wave responses composed of longitudinal waves, transverse waves and surface waves inside the underground solid medium; Receive the echo signal radiated back into the air by the underground solid medium, wherein the echo signal is a longitudinal wave formed on the surface by the various elastic wave responses; Multi-frequency collaborative processing and spatial inversion are performed on the echo signal to obtain a multi-dimensional structural image of the underground solid medium.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the underground medium detection method of claim 8.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the underground medium detection method according to claim 8.

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