Geological radar detection system and detection method

Abstract

The present invention provides a geological radar detection system and detection method, wherein the geological radar detection system includes: at least one first positioning line calibration device; a detection device, including a driving mechanism, a geological radar detection mechanism and a second positioning line calibration device, and the driving mechanism is used to drive the geological radar detection mechanism to move along the first positioning line. The geological radar detection system and detection method, through the positioning line calibration device to accurately measure the line positioning, and through the digital display of the vehicle speed to display the real-time vehicle speed for the driver; through the vehicle-mounted control display platform to collect the measurement line, abnormal point, positioning information, through the platform operation to change the laser positioning line measurement line to achieve a one-time device layout, multiple measurement lines to complete the detection operation; through the real-time shooting of the road conditions, image stitching and storage, it is convenient for the staff to analyze and record the actual road conditions, and can greatly improve the efficiency of the three-dimensional geological radar ground collapse detection task at a relatively small cost.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to a geological radar detection system and a detection method. Background Art

[0002] The three-dimensional geological radar transmits electromagnetic waves of a certain frequency into the underground through the transmitting antenna in the antenna array, and then feeds back the signal to the radar system through the receiving antenna. During the movement of the radar, when it encounters different physical properties underground, such as voids, voids, fault fracture zones, geological inhomogeneities, etc., the received signal changes and the system then images the received signal.

[0003] When using a multi-channel geological radar to scan the detected area, the three-dimensional geological radar is driven and towed at a constant speed along the first positioning line, and the entire mission area is detected by dividing it into multiple first positioning lines, thereby achieving full-area coverage detection.

[0004] During the radar's operation, the route is manually controlled, and the speed control is based on different working conditions. The vehicle is tested to travel at a fixed speed between 0-30km / h, and the driver needs to travel along the first positioning line. Two adjacent first positioning lines are prone to missed detection areas due to travel reasons. Summary of the invention

[0005] In view of this, the technical problem to be solved by the present invention is to provide a geological radar detection system and a detection method, which can reduce missed detections.

[0006] The technical solution of the present invention is achieved in this way:

[0007] A geological radar detection system comprises:

[0008] At least one first positioning line marking device, the first positioning line marking device is used to mark a first positioning line in the area to be detected;

[0009] The detection device includes a driving mechanism, a geological radar detection mechanism and a second positioning line calibration device. The driving mechanism is used to drive the geological radar detection mechanism to move along the first positioning line; the second positioning line calibration device is used to calibrate the second positioning line forward in the movement direction of the geological radar detection mechanism.

[0010] In one embodiment, the driving mechanism is a towing vehicle;

[0011] The second positioning line marking device is arranged above the front hood or the roof of the towing vehicle.

[0012] In a specific embodiment, the towing vehicle is provided with an on-board control and display platform;

[0013] The vehicle-mounted control and display platform comprises a speed display module, and the speed display module is used to display the speed of the towing vehicle on the vehicle-mounted control and display platform in digital form.

[0014] In a specific embodiment, the vehicle-mounted control and display platform further includes a positioning module, a recording module and a display module;

[0015] The positioning module is used to obtain the position information of the towing vehicle;

[0016] The display module is used to display image information in the direction of travel of the towing vehicle;

[0017] The recording module is used for the location information and image information of the hidden danger point.

[0018] In a specific embodiment, the display module includes at least one image acquisition unit;

[0019] The image acquisition unit is used to acquire image information in front of the towing vehicle in the direction of travel;

[0020] The display module is used to perform image fusion on the graphic information acquired by the at least one image acquisition unit and display it on the vehicle-mounted control display platform.

[0021] In a specific embodiment, the positioning module obtains the position information of the towing vehicle through one or more positioning methods including GPS, Beidou positioning system and communication base station.

[0022] In a specific embodiment, the first positioning line marking device is a laser positioning line marking device;

[0023] The first positioning line marking device is arranged on the side of the area to be detected;

[0024] The first positioning line marking device is provided with an angle adjustment mechanism for adjusting the position of the first positioning line.

[0025] The present invention also proposes a detection method of the above geological radar detection system, comprising the following steps:

[0026] S1. Arrange at least one of the first positioning line marking devices in the area to be detected, and mark the first positioning line in the area to be detected;

[0027] S2. Control the driving mechanism to drive the geological radar detection mechanism to move along the first positioning line, and control the second positioning line to coincide with the first positioning line.

[0028] In a specific embodiment, the driving mechanism is a towing vehicle; the towing vehicle is provided with an on-board control and display platform; the on-board control and display platform includes a speed display module and / or a control module;

[0029] The speed display module is used to display the speed of the towing vehicle on the vehicle-mounted control display platform by means of digits;

[0030] The control module is used to control the angle adjustment mechanism of the first positioning line marking device to adjust the position of the first positioning line.

[0031] In a specific embodiment, the vehicle-mounted control and display platform further includes a positioning module, a recording module and a display module;

[0032] The positioning module is used to obtain the position information of the towing vehicle;

[0033] The display module is used to display image information in the direction of travel of the towing vehicle;

[0034] The recording module is used for the location information and image information of the hidden danger point.

[0035] The geological radar detection system and detection method proposed in the present invention calibrate the first positioning line through a first positioning line calibration device in the area to be detected. During detection, the driving mechanism is controlled to drive the geological radar detection mechanism to move along the first positioning line, and the second positioning line is controlled to coincide with the first positioning line, thereby ensuring that the measured first positioning line is accurate and no missed detection occurs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the structure of a geological radar detection system proposed in an embodiment of the present invention;

[0037] Figure 2 It is a structural schematic diagram of the towing vehicle and geological radar detection mechanism of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] like Figure 1 to Figure 2 As shown, the embodiment of the present invention proposes a geological radar detection system comprising:

[0040] At least one first positioning line marking device 1, the first positioning line marking device is used to mark the first positioning lines 1-1, 1-2 in the area to be detected;

[0041] The detection device includes a driving mechanism 5, a geological radar detection mechanism 7 and a second positioning line calibration device 3. The driving mechanism 5 is used to drive the geological radar detection mechanism 7 to move along the first positioning lines 1-1 and 1-2; the second positioning line calibration device 3 is used to calibrate the second positioning line 3-1 forward of the movement direction 4 of the geological radar detection mechanism.

[0042] It can be seen that the geological radar detection system and detection method proposed in the embodiment of the present invention can ensure that the measured first positioning line is accurate and no missed detection will occur by calibrating the first positioning line through the first positioning line calibration device in the area to be detected, and controlling the driving mechanism to drive the geological radar detection mechanism to move along the first positioning line during detection, and controlling the second positioning line to coincide with the first positioning line.

[0043] Specifically, the driving mechanism 5 may be a towing vehicle; the geological radar detection mechanism 7 may be a three-dimensional geological radar.

[0044] The second positioning line marking device is arranged above the hood or the roof of the towing vehicle.

[0045] The second positioning line calibration device can be a laser positioning line calibration device, which is set above the front hood or roof of the towing vehicle. During the vehicle's movement, the driver controls the center line of the vehicle and the geological radar detection mechanism to overlap the first positioning line as much as possible to ensure that the measured first positioning line is accurate and there will be no missed measurement.

[0046] The first positioning line calibration device 1 and the second positioning line calibration device 3 are interconnected with the vehicle-mounted control and display platform. The color of each first positioning line of the laser positioning line calibration device is the same as the color of the first positioning line recorded by the vehicle-mounted control and display platform, which is convenient for staff to observe and record.

[0047] In a preferred embodiment of the present invention, the towing vehicle 5 is provided with an on-board control and display platform;

[0048] The vehicle-mounted control and display platform comprises a speed display module, and the speed display module is used to display the speed of the towing vehicle on the vehicle-mounted control and display platform through digits.

[0049] The vehicle control and display platform is a hardware and software integrated device that can read the vehicle speed through a data cable and display it digitally on the screen, intuitively and clearly showing the subtle changes in the speed measurement;

[0050] The vehicle-mounted control and display platform can be equipped with built-in GPS and Beidou positioning systems, and can be used to locate the first positioning line and record the location of the potential danger points in combination with the built-in mobile phone card base station information;

[0051] The vehicle-mounted control and display platform can be provided with a recording button to record the start and stop of the first positioning line, the direction of the first positioning line, and the potential danger points;

[0052] The recorded information is coordinate information, which can be displayed on a map to facilitate the later inspection of potential hazards. The first positioning line information is a line connected by continuous points, and each first positioning line can be displayed in a different color.

[0053] The vehicle-mounted control and display platform can be provided with a control module for controlling the angle adjustment mechanism of the first positioning line calibration device, so that the elevation angle of the first positioning line calibration device can be adjusted. Each adjustment can move the position of the first positioning line by a measuring line width. Therefore, after the first positioning line calibration device is arranged, there is no need to adjust its position again, and the road section detection task can be completed.

[0054] In a preferred embodiment of the present invention, the vehicle-mounted control and display platform further includes a positioning module, a recording module and a display module;

[0055] The positioning module is used to obtain the position information of the towing vehicle;

[0056] The display module is used to perform image fusion on the graphic information acquired by at least one image acquisition unit 6 and display it on the vehicle-mounted control display platform; for example, at least one image acquisition unit 6 is a vehicle-mounted camera, and the vehicle-mounted camera consists of three cameras, namely, a left-side vehicle-mounted camera 6-1, a middle vehicle-mounted camera 6-2, and a right-side vehicle-mounted camera 6-3. The vehicle-mounted control display platform collects information from the three cameras, and uses internal processing software to cut and splice the images of the three cameras along the dividing line to obtain a complete map of the road conditions ahead.

[0057] The three cameras are interconnected with the vehicle control and display platform;

[0058] The image data of the three cameras are spliced ​​through the vehicle control display platform to form a real-life image of the road conditions in front of the vehicle. The hidden danger points are located through the vehicle control display platform. When the control personnel locate the control points on the vehicle control display platform, the platform will take screenshots and save the spliced ​​images of the cameras.

[0059] When the vehicle-mounted control display platform locates the control point, the image screenshot is divided into two operation situations: first, the road condition is observed by naked eyes and needs to be recorded; second, the abnormal points observed by the three-dimensional geological radar processing image need to be recorded;

[0060] For the first and second situations, the on-board control and display platform automatically stores them respectively. For the first situation, it is set as the actual road condition recording point, and for the second situation, it is set as the suspicious abnormal point of radar processing.

[0061] For the two storage recording points, the positioning information is recorded in combination with the positioning system in the vehicle control display platform, that is, the abnormal point position, abnormal point image, and abnormal point type can be recorded simultaneously by manually operating the vehicle control display platform recording operation once.

[0062] The recording module is used for the location information and image information of the hidden danger points.

[0063] Specifically, the recorded information may include the positioning information of the travel line, the positioning information of the measuring point and the potential hazard point, the spliced ​​road condition map, the recording time, etc., which are obtained by the built-in GPS and Beidou positioning system combined with the built-in mobile phone card base station information.

[0064] For example, after a single survey line is completed, the towing vehicle and the three-dimensional geological radar turn forward, and the first positioning line calibration device 1 adjusts the laser elevation angle to adjust the survey line 90 cm forward, so that the laser line emitted by the second positioning line calibration device 3 overlaps with the first positioning line 1-2 emitted by 1. At the same time, the system controls the colors of the first positioning line calibration device 1 and the second positioning line calibration device 3 to become the same color, and the on-board control display platform will record the color of the survey line.

[0065] The present invention also proposes a detection method of the above geological radar detection system, comprising the following steps:

[0066] S1. Arrange at least one first positioning line marking device in the area to be detected, and mark the first positioning line in the area to be detected;

[0067] S2. Control the driving mechanism to drive the geological radar detection mechanism to move along the first positioning line, and control the second positioning line to coincide with the first positioning line.

[0068] For example, Figure 1 As shown in , the area to be detected is a two-way four-lane area, including two non-motor vehicle lanes 9, a double yellow line 8, a motor vehicle lane 10, and a lane driving direction 4.

[0069] During the execution of the 3D geological radar detection mission, which is a night mission, the driver drives a 200cm wide towing vehicle with a width of 196cm. The vehicle moves at a constant speed along the survey line. The speed control range is a fixed speed between 0-30km / h. After completing one survey line, it immediately turns around and drives to the next survey line.

[0070] The width of the three-dimensional geological radar equipment is 196cm and the effective detection range of a single survey line is 90cm.

[0071] Before the three-dimensional geological radar detects the ground collapse in the lane, the first positioning line calibration device 1 is arranged on both sides of the road in advance. The number of the first positioning line calibration devices 1 is to be determined according to the actual length of the detection road, and the figure only expresses a simple schematic.

[0072] After the first positioning line marking device 1 is arranged, the first positioning line is emitted toward the ground according to the positioning line direction 2. The first positioning line can be a laser line, and the direction is shown by the first positioning line 1-1. Considering that the length of the laser line emitted by the first positioning line marking device 1 may not meet the measurement line requirements, the number of first positioning line marking devices 1 arranged for each measurement is not limited.

[0073] The towing vehicle tows the three-dimensional geological radar along the first positioning line survey line emitted by multiple coordinated 1-1 by 1.

[0074] During the driving process, the second positioning line calibration device 3 emits a laser line toward the front, wherein the laser lines emitted by the first positioning line calibration device 1 and the second positioning line calibration device 3 are of the same color each time the line is measured, so as to facilitate identification by the driver and the onboard staff. The driver only needs to ensure that the first positioning line 1-1 emitted by the first positioning line calibration device 1 and the second positioning line 3-1 emitted by the second positioning line calibration device 3 overlap to ensure that the actual survey line detected by the three-dimensional geological radar is a full survey line.

[0075] The vehicle-mounted control and display platform can be provided with a control module for controlling the angle adjustment mechanism of the first positioning line calibration device, so that the elevation angle of the first positioning line calibration device can be adjusted. Each adjustment can move the position of the first positioning line by a measuring line width. Therefore, after the first positioning line calibration device is arranged, there is no need to adjust its position again, and the road section detection task can be completed.

[0076] The speedometer observed by the driver during driving is displayed digitally on the screen of the on-board control display platform, showing the subtle changes in speed clearly and intuitively.

[0077] During the detection process of the 3D geological radar, the on-board personnel observe abnormal situations from the scene and the radar processing software respectively, and record them through the on-board control and display platform. At the same time, the on-board control and display platform will record the information and control the on-board camera to record and store images.

[0078] The vehicle-mounted camera consists of three cameras, namely, the left vehicle-mounted camera 6-1, the middle vehicle-mounted camera 6-2, and the right vehicle-mounted camera 6-3. The control and display platform collects information from the three cameras and cuts and splices the images of the three cameras along the dividing line shown by 11 through internal processing software to obtain a complete map of the road conditions ahead.

[0079] The information recorded by the vehicle control and display platform includes the positioning information of the travel line, the positioning information of the measuring point and the potential danger point, the spliced ​​road condition map, and the recording time, which are obtained by combining the built-in GPS and Beidou positioning systems with the built-in mobile phone card base station information.

[0080] After a single survey line is completed, the towing vehicle and the three-dimensional geological radar turn forward, and the first positioning line calibration device 1 can be controlled by the vehicle-mounted control and display platform, and the laser elevation angle is adjusted to adjust the first positioning line 90 cm forward, so that the second positioning line 3-1 emitted by the second positioning line calibration device 3 overlaps with the first positioning line 1-2 emitted by 1. At the same time, the system controls the colors of the first positioning line calibration device 1 and the second positioning line calibration device 3 to become the same color, and the vehicle-mounted control and display platform will record the color of the survey line.

[0081] The colors mentioned above have the first function of facilitating identification by the driver and onboard staff, and the second function of recording on the control display platform. Since the distance of each measuring line is only 90cm, different colors are used for easy distinction.

[0082] This detection method uses laser positioning line calibration devices installed on the roadside and on the vehicle to accurately locate the measurement line, and displays the real-time vehicle speed to the driver through the digital speed display, which is convenient for the driver to control the vehicle speed; the vehicle control display platform is used to collect measurement lines, abnormal points, and positioning information, and the laser positioning line measurement line is changed through platform operation to achieve one-time device layout and multiple measurement lines to complete the detection operation; by taking real-time images of road conditions, splicing and storing them, it is convenient for staff to analyze and record the actual road conditions. Through the shortcomings found in the actual detection task, the efficiency of the 3D geological radar ground collapse detection task is greatly improved at a relatively small cost.

[0083] Finally, it should be noted that the above is only a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A geological radar detection system, It is characterized in that include: At least one first positioning line marking device, the first positioning line marking device is used to mark a first positioning line in the area to be detected; The detection device comprises a driving mechanism, a geological radar detection mechanism and a second positioning line calibration device, wherein the driving mechanism is used to drive the geological radar detection mechanism to move along the first positioning line; the second positioning line calibration device is used to calibrate the second positioning line forward in the moving direction of the geological radar detection mechanism; The first positioning line calibration device is provided with an angle adjustment mechanism for adjusting the position of the first positioning line, controlling the driving mechanism to drive the geological radar detection mechanism to move along the first positioning line, and controlling the second positioning line to coincide with the first positioning line.

2. The geological radar detection system according to claim 1, It is characterized in that The driving mechanism is a towing vehicle; the second positioning line marking device is arranged above the front hood or above the roof of the towing vehicle.

3. The geological radar detection system according to claim 2, It is characterized in that The towing vehicle is provided with an on-board control and display platform; The vehicle-mounted control and display platform comprises a speed display module, and the speed display module is used to display the speed of the towing vehicle on the vehicle-mounted control and display platform in digital form.

4. The geological radar detection system according to claim 3, It is characterized in that The vehicle-mounted control and display platform also includes a positioning module, a recording module and a display module; The positioning module is used to obtain the position information of the towing vehicle; The display module is used to display image information in the direction of travel of the towing vehicle; The recording module is used to record the location information and image information of the hidden danger point.

5. The geological radar detection system according to claim 4, It is characterized in that The display module includes at least one image acquisition unit; The image acquisition unit is used to acquire image information in front of the towing vehicle in the direction of travel; The display module is used to perform image fusion on the image information acquired by the at least one image acquisition unit and display it on the vehicle-mounted control display platform.

6. The geological radar detection system according to claim 4, It is characterized in that The positioning module obtains the position information of the towing vehicle through one or more positioning methods including GPS, Beidou positioning system and communication base station.

7. The geological radar detection system according to claim 1, It is characterized in that The first positioning line calibration device is a laser positioning line calibration device; The first positioning line marking device is arranged on the side of the area to be detected; The first positioning line marking device is provided with an angle adjustment mechanism for adjusting the position of the first positioning line.

8. A detection method of a geological radar detection system according to any one of claims 1 to 7, It is characterized in that The following steps are involved: S1. Arrange at least one of the first positioning line marking devices in the area to be detected, and mark the first positioning line in the area to be detected; S2. Control the driving mechanism to drive the geological radar detection mechanism to move along the first positioning line, and control the second positioning line to coincide with the first positioning line.

9. The detection method of the geological radar detection system according to claim 8, It is characterized in that The driving mechanism is a towing vehicle; the towing vehicle is provided with an on-board control and display platform; the on-board control and display platform includes a speed display module and / or a control module; The speed display module is used to display the speed of the towing vehicle on the vehicle-mounted control display platform by means of digits; The control module is used to control the angle adjustment mechanism of the first positioning line marking device to adjust the position of the first positioning.

10. The detection method of the geological radar detection system according to claim 9, It is characterized in that The vehicle-mounted control and display platform also includes a positioning module, a recording module and a display module; The positioning module is used to obtain the position information of the towing vehicle; The display module is used to display image information in the direction of travel of the towing vehicle; The recording module is used to record the location information and image information of the hidden danger point.

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