Two-dimensional and three-dimensional integrated road detection method and device

Abstract

The present application provides a two-dimensional and three-dimensional integrated road detection method and device, wherein the method comprises: obtaining target two-dimensional radar data obtained by performing ground-penetrating detection on a target road through a two-dimensional radar, and obtaining target three-dimensional radar data obtained by performing ground-penetrating detection on a target road through a three-dimensional radar, wherein both the two-dimensional radar and the three-dimensional radar are located on a ground-penetrating radar device of the target road; performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; and simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on a display interface of the target device.

Description

[0001] This application is a divisional application of the original application with application number: 202210115703.3, application date: February 7, 2022, and invention name: "Two and three-dimensional integrated road detection method and device". Technical Field

[0002] The present application relates to the field of the Internet, and in particular to a two-dimensional and three-dimensional integrated road detection method and device. Background Art

[0003] As the use time increases and the terrain under the road changes, the number of road collapses is increasing year by year, directly threatening people's property and life safety. In order to detect the hidden dangers of collapse in advance and avoid collapse accidents, three-dimensional radar for ground exploration is usually used to conduct regular inspections of roads.

[0004] However, when using 3D radar to detect collapse hazards, it can only detect hazards that are about to occur. If the hazards cannot be analyzed and discovered in time, collapse accidents cannot be effectively avoided. Therefore, the road detection method in the relevant technology has the problem of being unable to detect road anomalies in time due to the high timeliness of anomaly analysis. Summary of the invention

[0005] The present application provides a two-dimensional and three-dimensional integrated road detection method and device to at least solve the problem of the road detection method in the related art that the timeliness of abnormality analysis is high and road abnormalities cannot be discovered in time.

[0006] According to one aspect of an embodiment of the present application, a two-dimensional and three-dimensional integrated road detection method is provided, including: obtaining target two-dimensional radar data obtained by performing ground-penetrating detection on a target road through a two-dimensional radar, and obtaining target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar, wherein the two-dimensional radar and the three-dimensional radar are both located on a ground-penetrating radar device of the target road; performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; and simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on a display interface of a target device.

[0007] According to another aspect of an embodiment of the present application, a two-dimensional and three-dimensional integrated road detection device is provided, including: an acquisition unit, used to acquire target two-dimensional radar data obtained by performing ground-penetrating detection on a target road through a two-dimensional radar, and to acquire target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar, wherein the two-dimensional radar and the three-dimensional radar are both located on a ground-penetrating radar device of the target road; a processing unit, used to perform imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and to perform imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; a display unit, used to simultaneously display the two-dimensional imaging result and the three-dimensional imaging result on a display interface of a target device.

[0008] According to another aspect of an embodiment of the present application, a two-dimensional and three-dimensional integrated road detection device is also provided, including: a two-dimensional radar; a three-dimensional radar; a data processing unit, used to obtain target two-dimensional radar data obtained by performing ground-penetrating detection on the target road by the two-dimensional radar, and obtain target three-dimensional radar data obtained by performing ground-penetrating detection on the target road by the three-dimensional radar; perform imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and perform imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; the two-dimensional imaging result and the three-dimensional imaging result are displayed simultaneously on the display interface of the target device.

[0009] According to another aspect of the embodiment of the present application, a ground penetrating radar device is also provided, including: a two-dimensional radar and a three-dimensional radar arranged front and back along a target direction, wherein the two-dimensional radar includes at least one antenna pair, the at least one antenna pair is placed side by side along a vertical direction of the target direction, the direction of each antenna pair in the at least one antenna pair is perpendicular to the target direction, and the transmitting antenna and the receiving antenna of each antenna pair are placed in parallel front and back along the target direction; the three-dimensional radar includes multiple transmitting antennas and multiple receiving antennas, and the directions of the multiple transmitting antennas and the directions of the multiple receiving antennas are parallel to the target direction.

[0010] According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; wherein the memory is used to store a computer program; and the processor is used to execute the method steps in any of the above embodiments by running the computer program stored in the memory.

[0011] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the method steps in any of the above embodiments when executed.

[0012] According to another aspect of the embodiments of the present application, a computer program product or a computer program is also provided, which includes computer instructions stored in a computer-readable storage medium; a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method steps in any of the above embodiments.

[0013] In an embodiment of the present application, a method of combining two-dimensional radar with three-dimensional radar for ground-penetrating detection of roads is adopted, by acquiring target two-dimensional radar data obtained by ground-penetrating detection of the target road by two-dimensional radar, and acquiring target three-dimensional radar data obtained by ground-penetrating detection of the target road by three-dimensional radar, wherein both the two-dimensional radar and the three-dimensional radar are located on a ground-penetrating radar device of the target road; imaging processing is performed on the target two-dimensional radar data to obtain a two-dimensional imaging result, and imaging processing is performed on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, The first detection depth is greater than the second detection depth; the two-dimensional imaging result and the three-dimensional imaging result are simultaneously displayed on the display interface of the target device. Since the two-dimensional radar and the three-dimensional radar are detected simultaneously on the same road, the two-dimensional and three-dimensional radar data can be obtained simultaneously in one detection. The characteristic of the large detection depth of the two-dimensional radar can be utilized to timely discover road anomalies, and the characteristic of the high imaging accuracy of the three-dimensional radar can be utilized to effectively analyze the road anomalies. The purpose of ensuring the detection accuracy while ensuring the detection depth can be achieved, and the technical effect of improving the timeliness and accuracy of road anomaly analysis is achieved, thereby solving the problem that the road detection method in the related technology has a high timeliness of anomaly analysis and cannot timely discover road anomalies. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] Figure 1 is a structural block diagram of an optional ground penetrating radar device according to an embodiment of the present invention;

[0017] Figure 2 is a structural block diagram of another optional ground penetrating radar device according to an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of a hardware environment of an optional 2D and 3D integrated road detection method according to an embodiment of the present invention;

[0019] Figure 4 is a flow chart of an optional two-dimensional and three-dimensional integrated road detection method according to an embodiment of the present application;

[0020] Figure 5 is a schematic diagram of an optional two-dimensional and three-dimensional integrated road detection method according to an embodiment of the present application;

[0021] Figure 6 is a schematic diagram of an optional detection range according to an embodiment of the present application;

[0022] Figure 7 is a schematic diagram of another optional detection range according to an embodiment of the present application;

[0023] Figure 8 is a schematic diagram of an optional distance measuring wheel according to an embodiment of the present application;

[0024] Fig. 9 is a schematic diagram of an optional two-dimensional multi-channel parallel imaging method according to an embodiment of the present application;

[0025] Fig.10 is a schematic diagram of an optional three-dimensional combined imaging method according to an embodiment of the present application;

[0026] Fig.11 is a structural block diagram of an optional two-dimensional and three-dimensional integrated road detection device according to an embodiment of the present application;

[0027] Fig.12is a structural block diagram of another optional two-dimensional and three-dimensional integrated road detection device according to an embodiment of the present application;

[0028] Fig.13 It is a structural block diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] According to one aspect of an embodiment of the present application, a ground penetrating radar device is provided, which may be a ground penetrating radar device integrating a two-dimensional radar and a three-dimensional radar. Figure 1 As shown, the ground penetrating radar device 100 includes:

[0032] 2D radar 102;

[0033] Three-dimensional radar 104.

[0034] The two-dimensional radar 102 and the three-dimensional radar 104 are arranged front and back along the target direction. The target direction here is a direction related to the front and back of the ground penetrating radar device 100, for example, the direction from back to front, the direction from front to back, and can also be a direction arranged in other ways.

[0035] Optionally, the two-dimensional radar 102 may include at least one antenna pair (e.g., 2 antenna pairs, 4 antenna pairs, etc.), at least one antenna pair is placed side by side in a vertical direction of the target direction, and the direction of each antenna pair is perpendicular to the target direction. For each antenna pair, each antenna pair includes a transmitting antenna and a receiving antenna, and the transmitting antenna and the receiving antenna are placed in parallel front and back along the target direction.

[0036] For example, Figure 2 As shown, in order to ensure the detection depth, the two-dimensional radar part in the ground penetrating radar device adopts a 100M (Hz) butterfly antenna, with a total of 4 channels. Each channel includes two antennas, one is a transmitting antenna and the other is a receiving antenna. The two antennas are placed in parallel front and back, and the 4 channels are placed side by side at the rear end of the device as a whole.

[0037] Optionally, the three-dimensional radar may include multiple transmitting antennas and multiple receiving antennas, and the number of transmitting antennas and the number of receiving antennas included in the three-dimensional radar may be the same or different. The directions of the multiple transmitting antennas are the same as the directions of the multiple receiving antennas to facilitate data reception, and the directions of both may be parallel to the target direction to avoid signal interference between the two-dimensional radar and the three-dimensional radar. The multiple transmitting antennas and the multiple receiving antennas may be arranged side by side, that is, one transmitting antenna corresponds to one receiving antenna.

[0038] It should be noted that the three-dimensional radar may include multiple transmitting antennas and multiple receiving antennas, or multiple transmitting antennas and multiple receiving antennas may form multiple channels. The channel spacing of the three-dimensional radar is less than a certain distance, such as a quarter wavelength, so that dense channels can be used to ensure that information between channels is not lost.

[0039] Optionally, the three-dimensional radar may also include one transmitting channel and multiple receiving channels, or multiple transmitting channels and one receiving channel, etc. By setting multiple transmitting antennas and multiple receiving antennas, it is convenient to obtain three-dimensional radar data of multiple channels, thereby improving the rationality of ground penetration detection.

[0040] For example, the three-dimensional radar part of the ground penetrating radar device uses a 400M butterfly antenna, which can include multiple transmitting antennas and multiple receiving antennas. The radar signal emitted by each transmitting antenna can be received by at least one receiving antenna, so at least the same number of channels as the transmitting antennas can be formed.

[0041] Through the ground penetrating radar device, a two-dimensional radar and a three-dimensional radar are arranged forward and backward along the target direction, wherein the two-dimensional radar includes at least one antenna pair, at least one antenna pair is placed side by side along the vertical direction of the target direction, the direction of each antenna pair in the at least one antenna pair is perpendicular to the target direction, and the transmitting antenna and the receiving antenna of each antenna pair are placed in parallel forward and backward along the target direction; the three-dimensional radar includes multiple transmitting antennas and multiple receiving antennas, and the directions of the multiple transmitting antennas and the directions of the multiple receiving antennas are parallel to the target direction, which solves the problem of the road detection method in the related technology that the timeliness of the abnormality analysis is high and the road abnormality cannot be discovered in time, thereby improving the timeliness and accuracy of the road abnormality analysis.

[0042] As an optional embodiment, a plurality of transmitting antennas and a plurality of receiving antennas are cross-placed in two rows front and back along the target direction.

[0043] In order to ensure a smaller channel spacing, the transmitting antenna and receiving antenna of the 3D radar can be placed in two rows, front and back, with the front row being the transmitting antenna and the back row being the receiving antenna (the front row can also be the receiving antenna and the back row the transmitting antenna, with front and back being relative to the target direction). Through the above arrangement, the channel spacing can be reduced by half compared to the conventional single-row placement, thereby improving imaging accuracy.

[0044] Here, a transmitting antenna and a corresponding receiving antenna may form a channel, and a channel position of a channel is a middle position between the transmitting antenna and the receiving antenna of the channel. The channel spacing refers to the distance between the channel positions of two channels.

[0045] For example, Figure 2 As shown, the ground penetrating radar device may include 9 transmitting antennas and 8 receiving antennas, forming a total of 16 channels. Figure 2 The distance between the center points of two adjacent dotted lines in the figure can be less than one-quarter of the wavelength of the radar in the underground medium. Calculated based on the dielectric constant of 9, the wavelength of the radar wave radiated by the 400M antenna in the medium is 25 cm, that is, the channel spacing is required to be less than 6.25 cm.

[0046] When the transmitting antennas at both ends transmit, only the nearest receiving antenna receives it. When each transmitting antenna in the middle transmits, the two receiving antennas on the left and right receive it at the same time. The transmitting antennas rotate one by one, and finally generate 16 channels of radar data.

[0047] Through this embodiment, the transmitting antenna and the receiving antenna of the three-dimensional radar are placed in two rows in a cross manner, so that the channel spacing can be reduced and the imaging accuracy can be improved.

[0048] According to another aspect of the embodiment of the present application, a two-dimensional and three-dimensional integrated road detection method is provided. Optionally, in this embodiment, the two-dimensional and three-dimensional integrated road detection method can be applied to Figure 3 In the hardware environment composed of the ground penetrating radar device 302 and the server 304 shown in FIG. Figure 3 As shown, the server 304 (e.g., a data processing end) is connected to the ground penetrating radar device 302 (e.g., a data acquisition end) via a network, and can be used to provide services (such as data processing, etc.) for the ground penetrating radar device 302. A database can be set on the server 304 or independently of the server to provide data storage services for the server 304.

[0049] The above network includes but is not limited to: wide area network, metropolitan area network or local area network, and the ground penetrating radar device 302 can be but is not limited to the deployment of two-dimensional radar and three-dimensional radar acquisition equipment, etc. The two-dimensional and three-dimensional integrated road detection method of the embodiment of the present application can be executed by the ground penetrating radar device 302, or by the server 304, or by the ground penetrating radar device 302 and the server 304. Among them, the ground penetrating radar device 302 executes the two-dimensional and three-dimensional integrated road detection method of the embodiment of the present application, and it can also be executed by the client installed thereon.

[0050] Taking the execution by the ground penetrating radar device 302 as an example, Figure 4 is a flow chart of an optional two-dimensional and three-dimensional integrated road detection method according to an embodiment of the present application, such as Figure 4 As shown, the process of the method may include the following steps:

[0051] Step S402, obtaining target two-dimensional radar data obtained by performing ground-penetrating detection on the target road using a two-dimensional radar, and obtaining target three-dimensional radar data obtained by performing ground-penetrating detection on the target road using a three-dimensional radar.

[0052] The two-dimensional and three-dimensional integrated road detection method in the embodiment of the present application can be applied to the scene of ground-penetrating detection of roads by a ground-penetrating radar device, and can be used to regularly detect roads and discover potential collapse hazards in advance, thereby avoiding collapse accidents. The ground-penetrating radar device in this embodiment can be the ground-penetrating radar device in the above-mentioned embodiment, such as Figure 5 As shown, when performing ground-penetrating inspection of roads, the ground-penetrating radar device can be placed along the longitudinal direction of the road to be inspected, and the radar signal covers the entire lane width. A single lane only needs one scan to complete the inspection, thereby effectively improving the inspection efficiency. The width of the ground-penetrating radar device can be configured according to the width of the road to be inspected, for example, its width can be designed to be 3.5 meters.

[0053] The ground penetrating radar device can have a two-dimensional radar and a three-dimensional radar. The two-dimensional radar has a large detection depth, but the imaging accuracy is not as high as that of the three-dimensional radar, and the display is not intuitive; the three-dimensional radar has high imaging accuracy and intuitive display, but the detection depth is small. By combining the two-dimensional radar and the three-dimensional radar, the characteristics of the two-dimensional radar's large detection depth and the three-dimensional radar's high imaging accuracy can be combined to achieve efficient ground penetrating detection. Two-dimensional and three-dimensional radar data can be obtained at the same time in one detection, which not only ensures the detection depth, but also can intuitively and accurately image shallow underground targets.

[0054] In this embodiment, the ground penetrating radar device may have one or more working modes. For example, the ground penetrating radar device may have the following three working modes: a mode in which the two-dimensional radar works alone, a mode in which the three-dimensional radar works alone, and a mode in which the two-dimensional radar and the three-dimensional radar work simultaneously. The three working modes can flexibly meet the needs of different road detection work scenarios.

[0055] The 2D radar and 3D radar can work in a time-sharing switching mode, which can be a high-power fast microwave switch or a manual switch. The switching is selected according to the task needs. For example, if you only detect shallow targets, you can switch to the 3D mode. If you only care about deep targets, you can switch to the 2D mode. Of course, you can also use the simultaneous working mode. The working mode switching can provide a variety of choices.

[0056] When performing ground penetration inspection on the target road, the ground penetrating radar device can be used as follows: Figure 5 The method shown is set on the target road, and the ground penetrating radar device is started. The ground penetrating radar device can obtain the target two-dimensional radar data by performing ground penetrating detection on the target road through two-dimensional radar. The two-dimensional radar includes at least one antenna pair (i.e., at least one two-dimensional radar channel), and at least one two-dimensional radar data can be obtained. The ground penetrating radar device can obtain the target three-dimensional radar data by performing ground penetrating detection on the target road through three-dimensional radar. The three-dimensional radar can form multiple channels (i.e., multiple three-dimensional radar channels), and multiple three-dimensional radar data can be obtained.

[0057] Optionally, the acquisition of two-dimensional radar data and three-dimensional radar data may be performed separately, that is, the two-dimensional radar data is acquired first, and then the three-dimensional radar data is acquired, or the three-dimensional radar data is acquired first, and then the two-dimensional radar data is acquired. The acquisition of two-dimensional radar data and three-dimensional radar data may be performed simultaneously, that is, the two-dimensional radar data and the three-dimensional radar data are acquired simultaneously. Optionally, the acquisition of three-dimensional radar data may be triggered according to the acquired two-dimensional radar data, that is, when an abnormal target is identified from the target two-dimensional radar data, the three-dimensional radar is triggered to detect the abnormal target. This is not limited in this embodiment.

[0058] Step S404: performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result.

[0059] After obtaining the target two-dimensional radar data, the ground penetrating radar device can perform imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result. The target two-dimensional radar data includes at least one two-dimensional radar data corresponding to at least one channel (two-dimensional radar channel), and the two-dimensional radar data of all or part of the channels can be imaged and processed, and the obtained two-dimensional imaging result can be a two-dimensional imaging result corresponding to all or part of the channels. Here, the two-dimensional imaging result is an imaging result from the ground of the target road to the first detection depth.

[0060] After obtaining the target three-dimensional radar data, the ground penetrating radar device can perform imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result. The target three-dimensional radar data includes multiple three-dimensional radar data corresponding to multiple channels (three-dimensional radar channels), and the three-dimensional radar data of all or part of the channels can be imaged and processed, and the obtained three-dimensional imaging result can be a three-dimensional imaging result corresponding to all or part of the channels. Here, the three-dimensional imaging result is an imaging result from the ground of the target road to the second detection depth. The detection depth of the two-dimensional radar is higher than the detection depth of the three-dimensional radar, so the first detection depth is greater than the second detection depth.

[0061] Step S406: Display the two-dimensional imaging result and the three-dimensional imaging result simultaneously on the display interface of the target device.

[0062] After obtaining the two-dimensional imaging result and the three-dimensional imaging result, the ground penetrating radar device can control the display of the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device at the same time. The target device can be a ground penetrating radar device or a device connected to the ground penetrating radar device. The target device can have a display screen, and a display interface can be displayed on the display screen. The display interface can have one or more display areas. The two-dimensional imaging result and the three-dimensional imaging result can be displayed in different display areas respectively, or they can be displayed in the same display area after data fusion.

[0063] In the two-dimensional imaging results, the imaging results of different two-dimensional radar channels can be displayed in different display areas, or they can be displayed in the same display area after data fusion. In the three-dimensional imaging results, the imaging results of different channels can be displayed in different display areas, or they can be displayed in the same display area after data fusion. In this embodiment, there is no limitation on the method of simultaneously displaying the two-dimensional imaging results and the three-dimensional imaging results.

[0064] Through the above steps S402 to S406, the target two-dimensional radar data obtained by performing ground-penetrating detection on the target road through two-dimensional radar, and the target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through three-dimensional radar are obtained, wherein the two-dimensional radar and the three-dimensional radar are both located on the ground-penetrating radar device of the target road; imaging processing is performed on the target two-dimensional radar data to obtain a two-dimensional imaging result, and imaging processing is performed on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; the two-dimensional imaging result and the three-dimensional imaging result are simultaneously displayed on the display interface of the target device, thereby solving the problem that the road detection method in the related art cannot timely detect road anomalies due to the high timeliness of anomaly analysis, and improving the timeliness and accuracy of road anomaly analysis.

[0065] As an optional embodiment, after performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, the method further includes:

[0066] S11, in the case where an abnormal target is detected from the two-dimensional imaging result, determining first position information of the abnormal target in the two-dimensional imaging result;

[0067] S12, generating a first trigger signal, wherein the first trigger signal is used to trigger the three-dimensional radar to perform ground penetration detection on the target road according to the first position information to obtain target three-dimensional radar data, wherein the three-dimensional imaging result includes abnormal targets.

[0068] In this embodiment, the three-dimensional radar ground detection of the target road may be triggered when an abnormal target is detected from the two-dimensional imaging result. After obtaining the two-dimensional imaging result, abnormal target detection may be performed on the two-dimensional imaging result to determine the abnormal detection result. When the abnormal detection result is used to indicate that an abnormal target is detected from the two-dimensional imaging result, the position of the abnormal target in the two-dimensional imaging result may be determined to obtain the first position information.

[0069] In order to view abnormal targets more intuitively and determine whether the abnormal targets will cause road collapse, etc., a first trigger signal can be generated according to the first position information. The second trigger information can be used to trigger the three-dimensional radar to perform ground penetration detection on the target road according to the first position information, thereby obtaining target three-dimensional radar data containing abnormal targets, so that the abnormal targets are included in the three-dimensional imaging results.

[0070] When performing ground-penetrating detection on the target road according to the first position information, the ground-penetrating radar device may first convert the first position information into target position information in a world coordinate system, and control the three-dimensional radar to perform ground-penetrating detection on the target road according to the converted target position information.

[0071] Through this embodiment, the three-dimensional radar is controlled to perform ground-penetrating detection based on abnormal targets detected from two-dimensional imaging results, which can improve the accuracy of ground-penetrating detection and improve the timeliness of abnormality detection.

[0072] As an optional embodiment, generating a first trigger signal includes:

[0073] S21, determining a detection range of the three-dimensional radar for ground penetration detection of the target road according to the first position information and the second position information of the three-dimensional radar;

[0074] S22, generating a first trigger signal, wherein the first trigger signal is used to instruct the three-dimensional radar to perform ground penetration detection on the target road according to the detection range.

[0075] In this embodiment, when generating a trigger signal of the three-dimensional radar, the detection range of the three-dimensional radar for ground detection of the target road can be determined according to the first position information and the second position information of the three-dimensional radar, so that the abnormal target is within the detection range of the three-dimensional radar. Optionally, the first position information can be first converted into target position information in a three-dimensional coordinate system (which can be a world coordinate system or a three-dimensional coordinate system with a certain reference point as the origin), and the above detection range can be determined according to the target position information and the second position information of the three-dimensional radar.

[0076] The above-mentioned detection range may include at least one of the following: the horizontal range of detection, the depth range of detection, wherein the horizontal range may be the range of the first distances before and after the horizontal position of the abnormal target on the ground as the center, and the range in the left and right directions may be the default range. If the two-dimensional radar can swing in a direction perpendicular to the target road, the horizontal range may also be the range of the second distances on the left and right with the above-mentioned horizontal position as the center. The depth range may be the range of the third distances above and below with the depth position of the abnormal target perpendicular to the ground (i.e., the target depth) as the center, and the range in the left and right directions may be the default range. If the three-dimensional radar can swing in a direction perpendicular to the target road, the horizontal range may also be the range of the fourth distances on the left and right with the above-mentioned depth position as the center.

[0077] It should be noted that the first distance, the second distance, the third distance and the fourth distance can be distances determined based on target information of the detected abnormal target (e.g., the shape of the abnormal target). Optionally, the first distance can also be the distance between the two-dimensional radar and the three-dimensional radar (to avoid the deviation of the radar position resulting in failure to detect the abnormal target). Here, the front and rear directions refer to the forward and backward directions along the direction of the target road, which are relative to the detection direction of the ground penetrating radar device, for example, Figure 5 The arrow direction shown in the figure indicates the forward direction, and the reverse direction indicates the forward and backward direction. The first left-right direction is the direction perpendicular to the target road on the horizontal slice. The up-down direction refers to the upward and downward directions along the direction perpendicular to the ground, and the second left-right direction is the same as the first left-right direction.

[0078] For example, Figure 6 As shown, the horizontal position of the abnormal target on the ground is O1, and the rectangular box where the shape of the abnormal target projected onto the ground is as follows Figure 6 As shown in the dotted box in , the horizontal range of detection can be determined to be the range of d1 (an example of the above-mentioned first distance) in front and behind and d2 (an example of the above-mentioned second distance) in the left and right with O1 as the center.

[0079] For example, Figure 7 As shown, the depth position of the abnormal target perpendicular to the ground is O2, and the rectangular box where the shape of the abnormal target projected onto the vertical surface of the road is located is as follows Figure 7 As shown in the dotted box in , the depth range of detection can be determined to be a range with O2 as the center, with d3 (an example of the third distance mentioned above) in the upper and lower parts and d4 (an example of the fourth distance) in the left and right parts.

[0080] Optionally, the ground penetrating radar device can also determine the target depth of the abnormal target based on the first position information, and execute the above step S21 only when the target depth is less than or equal to the maximum ground penetrating depth of the three-dimensional radar. Otherwise, when the target depth is greater than the maximum ground penetrating depth of the three-dimensional radar, it can be determined that the three-dimensional radar cannot detect the abnormal target, and an abnormal prompt information is sent to the target object. The abnormal prompt information is used to prompt that the abnormal target is detected by the two-dimensional radar, and can also prompt the target depth of the abnormal target.

[0081] After the detection range of the three-dimensional radar is determined, or after the detection range of the three-dimensional radar is determined and the three-dimensional radar can detect an abnormal target, the ground penetrating radar device can generate a first trigger signal, and the first trigger signal is used to instruct the three-dimensional radar to perform ground penetrating detection on the target road according to the determined detection range. The three-dimensional radar can perform ground penetrating detection on the target road according to the determined detection range, thereby obtaining target three-dimensional radar data.

[0082] Optionally, the ground-penetrating radar device can determine the detection parameters of the three-dimensional radar according to the above-mentioned detection range, and the above-mentioned detection parameters may include a detection angle, which is the radar angle when the three-dimensional radar detects abnormal targets. The ground-penetrating radar device can generate a first trigger signal according to the detection parameters, and the first trigger signal is used to instruct the three-dimensional radar to use the detection parameters to perform ground-penetrating detection on the target road. Here, the above-mentioned detection angle may include an angle formed by two sides with the vertex of the abnormal target as the angle, the starting and ending points of the horizontal range and the line connecting the vertex as the angle, and may also include an angle formed by two sides with the vertex of the abnormal target as the angle, the starting and ending points of the depth range and the line connecting the vertex as the angle.

[0083] The detection angle may be determined according to at least one of the horizontal range and the depth range of the detection. For example, the detection angle of the three-dimensional radar along the target road direction may be determined according to the horizontal position and the first distance, or the detection angle of the three-dimensional radar along the target road direction and the detection angle in the direction perpendicular to the target road may be determined according to the horizontal position, the first distance and the second distance. For another example, the detection angle of the three-dimensional radar along the target road direction may be determined according to the depth position and the third distance, or the detection angle of the three-dimensional radar along the target road direction and the detection angle in the direction perpendicular to the target road may be determined according to the depth position, the third distance and the fourth distance. For another example, the detection angle of the three-dimensional radar along the target road direction may be determined according to the horizontal position, the depth position, the first distance and the third distance, or the detection angle of the three-dimensional radar along the target road direction and the detection angle in the direction perpendicular to the target road may be determined according to the horizontal position, the depth position, the first distance, the second distance, the third distance and the fourth distance. The detection angle of the three-dimensional radar may also be determined in other ways, which are not limited in this embodiment.

[0084] Through this embodiment, the detection range of the three-dimensional radar is determined based on the position information of the abnormal target, which can improve the accuracy of abnormal target detection and improve the utilization efficiency of ground-penetrating resources (for example, three-dimensional radar).

[0085] As an optional embodiment, before obtaining target two-dimensional radar data obtained by ground-penetrating detection of the target road by a two-dimensional radar and obtaining target three-dimensional radar data obtained by ground-penetrating detection of the target road by a three-dimensional radar, the method further includes:

[0086] S31, receiving a second trigger signal sent by a trigger device, wherein the second trigger signal is a trigger signal generated after the distance measuring component of the trigger device rotates a set distance, and the second trigger signal is used to trigger the two-dimensional radar and the three-dimensional radar to perform ground penetration detection on the target road.

[0087] In this embodiment, a trigger device may generate a trigger signal to trigger ground detection of the target road. The trigger device may include a distance measuring component, which may generate a trigger signal after each rotation of the distance measuring component for a set distance. The trigger device may be a distance measuring wheel. An example of a distance measuring wheel may be as follows: Figure 8 As shown. The trigger signal currently generated by the trigger device is the second trigger signal, and the second trigger signal is used to trigger the two-dimensional radar and the three-dimensional radar to perform ground-penetrating detection on the target road. The ground-penetrating radar device can receive the above-mentioned second trigger signal, and based on the received second trigger signal, trigger the two-dimensional radar and the three-dimensional radar to perform ground-penetrating detection.

[0088] For example, in order to ensure the synchronization of two-dimensional data and three-dimensional data, the ground penetrating radar device can be triggered by a ranging wheel to collect data. After each rotation of the ranging wheel for a fixed distance (i.e., a set distance, generally 2 cm or 5 cm), a trigger signal is generated, and the two-dimensional radar and the three-dimensional radar collect data simultaneously according to the trigger signal. The trigger spacing of the ranging wheel can be set, and the setting range is from 1 cm to 10 cm. Each time the ranging wheel rotates once, the radar data of the four channels of the two-dimensional radar and the radar data of the 16 channels of the three-dimensional radar can be collected, and finally multiple groups (multiple triggers) of 4+18 channels of radar data are obtained.

[0089] Through this embodiment, ground penetration detection is triggered based on the trigger signal generated after the distance measuring component of the trigger device rotates a set distance, which can ensure the synchronization of two-dimensional data and three-dimensional data and improve the convenience of data collection.

[0090] As an optional embodiment, obtaining target two-dimensional radar data obtained by performing ground-penetrating detection on the target road through a two-dimensional radar, and obtaining target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar, include:

[0091] S41, performing ground detection on the target road by using a two-dimensional radar in a horizontal polarization mode to obtain target two-dimensional radar data;

[0092] S42, performing ground detection on the target road by using a three-dimensional radar using an oblique polarization method to obtain target three-dimensional radar data.

[0093] In this embodiment, the ground penetrating radar device has two different activation modes (i.e., polarization modes). The activation mode of the three-dimensional radar part is oblique activation, and the activation mode of the two-dimensional radar part is horizontal activation. The two-dimensional radar uses a horizontal polarization mode to perform ground penetrating detection on the target road to obtain target two-dimensional radar data, while the three-dimensional radar uses an oblique polarization mode to perform ground penetrating detection on the target road to obtain target three-dimensional radar data.

[0094] The two activation methods are conducive to imaging targets distributed in different directions underground. A single activation direction can clearly image targets whose long direction is parallel to the activation direction, but it is not clear for targets perpendicular to the direction. The three-dimensional radar part uses oblique activation to reduce the channel spacing and obtain data with a higher measurement line density; the two-dimensional radar part images each channel separately, without spacing requirements, but if the spacing is too large, the detection target will be missed between the two channels. In order to detect deeper, horizontal activation is used.

[0095] Optionally, since the upper and lower antennas of the two-dimensional radar part are a combination to form a channel, the two antennas cannot be tilted, but can be rotated 90 degrees to become vertical excitation. Horizontal excitation has better imaging effect than vertical excitation.

[0096] Through this embodiment, the three-dimensional radar adopts an oblique excitation method, while the two-dimensional radar adopts a horizontal excitation method, which can facilitate imaging of targets distributed in different directions underground and improve the accuracy of underground target detection.

[0097] As an optional embodiment, the two-dimensional radar includes a plurality of antenna pairs arranged side by side, each of the plurality of antenna pairs includes a different transmitting antenna and receiving signal, and the arrangement of the two-dimensional radar can be as follows: Figure 1 and Figure 2 As shown, multiple antenna pairs can form multiple channels. Correspondingly, obtaining target two-dimensional radar data obtained by ground-penetrating detection of the target road by a two-dimensional radar includes:

[0098] S51, in response to the acquired third trigger signal, split the third trigger signal into multiple trigger signals, wherein the third trigger signal is used to trigger the two-dimensional radar to perform ground penetration detection on the target road, and the multiple trigger signals correspond one-to-one to the multiple antenna pairs;

[0099] S52, using each trigger signal of the multiple trigger signals to respectively trigger the transmitting antenna of each antenna pair to transmit a two-dimensional radar signal toward the ground of the target road;

[0100] S53, acquiring an echo signal of a two-dimensional radar signal received by a receiving antenna of each antenna pair and transmitted by a corresponding transmitting antenna, to obtain two-dimensional radar data of multiple channels.

[0101] In this embodiment, multiple channels of the two-dimensional radar can collect data simultaneously. The ground-penetrating radar device can receive a third trigger signal, which is used to trigger the two-dimensional radar to perform ground-penetrating detection on the target road. The generation method of the third trigger signal is similar to the generation method of the aforementioned second trigger signal, which will not be repeated here. After obtaining the third trigger signal, the ground-penetrating radar device can split the third trigger signal into multiple trigger signals, and the number of the split trigger signals can be the same as the number of two-dimensional radar channels contained in the two-dimensional radar.

[0102] For each of the multiple trigger signals after the splitting, the ground penetrating radar device can use it to trigger the transmitting antenna of each antenna pair to transmit a two-dimensional radar signal to the ground of the target road, and obtain the echo signal of the two-dimensional radar signal transmitted by the corresponding transmitting antenna and received by the receiving antenna of each antenna pair, thereby obtaining two-dimensional radar data of multiple channels, that is, target two-dimensional radar data. Optionally, if the two-dimensional radar also includes other antenna pairs, the target two-dimensional radar data can also include other two-dimensional radar data, which is not limited in this embodiment.

[0103] For example, the trigger signal generated by the ranging wheel can be divided into 1 and 4, and each channel of the two-dimensional radar can collect one piece of data upon receiving the trigger signal.

[0104] Through this embodiment, by splitting the trigger signal into multiple trigger signals to respectively trigger the transmitting antennas of different channels of the two-dimensional radar to transmit the two-dimensional radar data, the convenience of data collection can be improved.

[0105] As an optional embodiment, the target two-dimensional radar data includes two-dimensional radar data of multiple channels; performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result includes:

[0106] S61, performing parallel imaging processing on the two-dimensional radar data of multiple channels to obtain a two-dimensional imaging result.

[0107] The two-dimensional radar data of multiple channels can be imaged separately, or part of them can be selected for imaging. In this embodiment, in order to facilitate the discovery of the distribution state of underground targets, the two-dimensional radar data of multiple channels can be imaged in parallel to obtain a two-dimensional imaging result.

[0108] For example, the two-dimensional radar part adopts multi-channel stacking and parallel imaging. Each channel can be compared and contrasted in real time, which is convenient for discovering the distribution status of underground targets. The imaging method can be as follows: Fig. 9 shown.

[0109] Through this embodiment, the two-dimensional radar part adopts a multi-channel stacking method for parallel imaging, which can facilitate the discovery of the distribution status of underground targets and improve the accuracy of target detection.

[0110] As an optional embodiment, the three-dimensional radar includes M transmitting antennas and N receiving antennas, wherein M and N are both values ​​greater than or equal to 1, and M and N may be the same or different. Correspondingly, obtaining target three-dimensional radar data obtained by performing ground-penetrating detection on the target road by the three-dimensional radar includes:

[0111] S71, in response to the acquired fourth trigger signal, triggering each of the M transmitting antennas in sequence to transmit a three-dimensional radar signal to the ground of the target road;

[0112] S72, respectively obtain echo signals of the three-dimensional radar signal transmitted by each transmitting antenna and received by the receiving antenna corresponding to each transmitting antenna among the N receiving antennas, to obtain three-dimensional radar data of multiple channels.

[0113] In this embodiment, the M transmitting antennas of the three-dimensional radar can be triggered to transmit three-dimensional radar signals in sequence to perform ground-penetrating detection. The ground-penetrating radar device can receive a fourth trigger signal, which is used to trigger the three-dimensional radar to perform ground-penetrating detection on the target road. The fourth trigger signal is generated in a similar manner to the aforementioned second trigger signal, which is not described in detail here. The fourth trigger signal and the third trigger signal can be the same trigger signal or different trigger signals. This is not limited in this embodiment.

[0114] After the fourth trigger signal is obtained, the ground penetrating radar device can sequentially trigger each of the M transmitting antennas to transmit a three-dimensional radar signal to the ground of the target road, and respectively obtain the echo signal of the three-dimensional radar signal transmitted by each transmitting antenna and received by the receiving antenna corresponding to each transmitting antenna in the N receiving antennas, thereby obtaining three-dimensional radar data of multiple channels. That is, target three-dimensional radar data. Optionally, if the three-dimensional radar also includes other transmitting antennas and receiving antennas, the target three-dimensional radar data can also include other three-dimensional radar data, which is not limited in this embodiment.

[0115] Optionally, in order to improve the detection speed, the transmitting antennas can be triggered simultaneously from both ends of the M transmitting antennas to transmit three-dimensional radar signals to the ground of the target road. The same receiving antenna corresponding to different transmitting antennas is only allowed to receive the echo signal of the three-dimensional radar signal transmitted by one transmitting antenna at the same time.

[0116] Through this embodiment, by sequentially triggering the transmitting antenna to transmit the three-dimensional radar signal to the ground of the road, signal interference between different channels can be avoided, and the accuracy of receiving the echo signal of the three-dimensional radar signal can be improved.

[0117] As an optional embodiment, M transmitting antennas and N receiving antennas may be placed in two rows in a cross pattern, N=M-1, for example. Figure 2 Correspondingly, the echo signals of the three-dimensional radar signals transmitted by each transmitting antenna and received by the receiving antennas corresponding to each transmitting antenna in the N receiving antennas are respectively obtained to obtain the three-dimensional radar data of multiple channels, including:

[0118] S81, when the current transmitting antenna is a transmitting antenna located at one end among the M transmitting antennas, an echo signal of a three-dimensional radar signal transmitted by the current transmitting antenna and received by a receiving antenna adjacent to the current transmitting antenna among the N receiving antennas is obtained to obtain three-dimensional radar data of one channel;

[0119] S82, when the current transmitting antenna is a transmitting antenna located in the middle position among the M transmitting antennas, obtain echo signals of the three-dimensional radar signal transmitted by the current transmitting antenna and received by two receiving antennas adjacent to the current transmitting antenna among the N receiving antennas, and obtain three-dimensional radar data of two channels.

[0120] In this embodiment, when the transmitting antennas at both ends of the three-dimensional radar transmit radar signals, only the nearest receiving antenna receives the echo signal. When each transmitting antenna in the middle transmits radar signals, the left and right receiving antennas receive the echo signals at the same time. The transmitting antennas rotate one by one to avoid signal interference between different channels.

[0121] For the current transmitting antenna, if the current transmitting antenna is a transmitting antenna located at one end among the M transmitting antennas, an echo signal of a 3D radar signal transmitted by the current transmitting antenna and received by a receiving antenna adjacent to the current transmitting antenna among the N receiving antennas can be obtained to obtain 3D radar data of one channel. There are two transmitting antennas located at one end, so 3D radar data of two channels can be obtained.

[0122] If the current transmitting antenna is the transmitting antenna in the middle of the M transmitting antennas, the echo signals of the 3D radar signal transmitted by the current transmitting antenna and received by two receiving antennas adjacent to the current transmitting antenna among the N receiving antennas can be obtained to obtain the 3D radar data of two channels. There are M-2 transmitting antennas in the middle, so the 3D radar data of 2 (M-2) channels can be obtained. Therefore, a total of 2 (M-1) channels of 3D radar data can be obtained.

[0123] Through this embodiment, the transmitting antenna and the receiving antenna of the three-dimensional radar are placed in two rows in a cross manner, so that the channel spacing can be reduced and the imaging accuracy can be improved.

[0124] As an optional embodiment, the target 3D radar data includes 3D radar data of multiple channels. The 3D radar part can be imaged by combining horizontal slices, transverse slices and longitudinal line profiles, such as Fig.10 Correspondingly, the target three-dimensional radar data is imaged and processed to obtain a three-dimensional imaging result, including at least one of the following:

[0125] S91, performing horizontal slicing processing on the three-dimensional radar data of multiple channels to obtain a first imaging result.

[0126] The ground penetrating radar device can perform horizontal slicing processing on the three-dimensional radar data of multiple channels, fuse the three-dimensional radar data of multiple channels together (for example, using an offset imaging algorithm to fuse), and obtain a first imaging result, which is the imaging result of the target depth position below the ground of the target road, thereby displaying the imaging result of a fixed depth position below the ground.

[0127] For example, horizontal slicing fuses 16 channels of 3D radar data together using an offset imaging algorithm to display the imaging results at a fixed depth below the ground, which can be selected arbitrarily. The offset imaging algorithm can be used to perform imaging processing based on the position offset between the transmitting antennas.

[0128] S92, performing transverse slicing processing on the three-dimensional radar data of multiple channels to obtain a second imaging result.

[0129] The ground penetrating radar device can perform transverse slicing processing on the three-dimensional radar data of multiple channels, fuse the three-dimensional radar data of multiple channels together (for example, using an offset imaging algorithm to fuse), and obtain a second imaging result. The second imaging result is an imaging result perpendicular to the road direction of the target road, from the ground of the target road to a third detection depth. The third detection depth can be less than or equal to the second detection depth.

[0130] For example, the horizontal slice uses an offset imaging algorithm to fuse 16-channel radar data together to display the imaging results from the ground to the detection depth perpendicular to the road direction.

[0131] S93, performing longitudinal slicing processing on the three-dimensional radar data of the target channel among the three-dimensional radar data of the multiple channels to obtain a third imaging result.

[0132] The ground penetrating radar device can perform longitudinal slicing processing on the three-dimensional radar data of the target channel among the three-dimensional radar data of multiple channels to obtain a third imaging result. The third imaging result is an imaging result along the road direction of the target road, from the ground of the target road to a fourth detection depth. The fourth detection depth can be less than or equal to the second detection depth.

[0133] For example, the longitudinal survey line profile displays the imaging results of one of the 16 channels along the road direction, and the channels can be switched arbitrarily.

[0134] The three-dimensional imaging result may be at least one of the first imaging result, the second imaging result and the third imaging result, or may be a combined imaging result of the three, which is not limited in this embodiment.

[0135] Through this embodiment, by performing all or part of the processing in horizontal slicing, transverse slicing and longitudinal survey line profile on the three-dimensional radar data of multiple channels, the flexibility of three-dimensional imaging processing can be improved.

[0136] As an optional embodiment, imaging processing is performed on the target two-dimensional radar data to obtain a two-dimensional imaging result, including:

[0137] S101, determining the distance between the center of the two-dimensional radar and the center of the three-dimensional radar to obtain a target center distance;

[0138] S102, performing imaging processing on the target two-dimensional radar data according to the target center distance to obtain a two-dimensional imaging result, wherein the lead amount of the target two-dimensional radar data imaging matches the target center distance.

[0139] In this embodiment, in order to compensate for the imaging position deviation of the two-dimensional and three-dimensional radars, a distance compensation algorithm can be used to keep the two-dimensional radar and three-dimensional radar imaging positions of the underground measured target consistent. The distance compensation algorithm refers to: calculating the fixed distance from the center of the two-dimensional radar and the three-dimensional radar, advancing the two-dimensional radar data by this fixed distance, and aligning it with the three-dimensional radar data.

[0140] The ground penetrating radar device can first determine the distance between the center of the two-dimensional radar and the center of the three-dimensional radar to obtain the target center distance. According to the target center distance, the ground penetrating radar device can perform imaging processing on the target two-dimensional radar data according to the target center distance, for example, advance the target two-dimensional radar data according to the target center distance, and the advance amount of the target two-dimensional radar data imaging matches the target center distance, thereby obtaining a two-dimensional imaging result.

[0141] Through this embodiment, the fixed distance from the center to the center of the two-dimensional radar and the three-dimensional radar is calculated, and the two-dimensional radar data is advanced by this fixed distance and aligned with the three-dimensional radar data, which can compensate for the imaging position deviation of the two-dimensional and three-dimensional radars and improve the accuracy of target imaging.

[0142] As an optional embodiment, before simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device, the method further includes:

[0143] S111, determining third position information of the detection target in the two-dimensional imaging result, and fourth position information of the detection target in the three-dimensional imaging result;

[0144] S112, performing a fusion operation on the two-dimensional imaging result and the three-dimensional imaging result according to the third position information and the fourth position information to obtain a target imaging result.

[0145] In order to intuitively display the imaging results and improve the convenience of information display, the two-dimensional imaging results and the three-dimensional imaging results can be fused first. The above fusion can be performed based on the position of the detection target in the two-dimensional imaging results and the three-dimensional imaging results. The detection target can be the above-mentioned abnormal target or a normal target, which is not limited in this embodiment.

[0146] The ground penetrating radar device can respectively determine the third position information of the detection target in the two-dimensional imaging result and the fourth position information of the detection target in the three-dimensional imaging result. According to the third position information and the fourth position information, the ground penetrating radar device can perform a fusion operation on the two-dimensional imaging result and the three-dimensional imaging result to obtain the target imaging result. The above fusion operation can determine the overlapping area of ​​the two-dimensional imaging result and the three-dimensional imaging result according to the third position information and the fourth position information, replace the overlapping area in the two-dimensional imaging result with the corresponding area in the three-dimensional imaging result, and obtain the target imaging result.

[0147] Optionally, the overlapping area in the two-dimensional imaging result can be replaced with the corresponding area in the three-dimensional imaging result, and other areas except the overlapping area in the two-dimensional imaging result and other areas except the corresponding area in the three-dimensional imaging result are retained to obtain the target imaging result. Correspondingly, the two-dimensional imaging result and the three-dimensional imaging result simultaneously displayed on the display interface of the target device can be the above-mentioned target imaging result.

[0148] Optionally, the ground penetrating radar device can determine a first imaging ratio of a two-dimensional imaging result and a second imaging ratio of a three-dimensional imaging result, and can also determine a first imaging angle of the two-dimensional imaging result and a second imaging angle of the three-dimensional imaging result. The three-dimensional imaging result is adjusted according to the first imaging ratio and the second imaging ratio (or the first imaging ratio, the second imaging ratio, the first imaging angle and the second imaging angle) to obtain an adjusted three-dimensional imaging result. Then, the ground penetrating radar device can determine the location information of the detection target and fuse the imaging results in a manner similar to the above, which will not be elaborated here.

[0149] Through this embodiment, by first fusing the imaging results according to the imaging position and then displaying the fused imaging results, the imaging results can be displayed intuitively, thereby improving the convenience of information display.

[0150] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0151] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0152] According to another aspect of the embodiments of the present application, a two-dimensional and three-dimensional integrated road detection device for implementing the above-mentioned two-dimensional and three-dimensional integrated road detection method is also provided. Fig.11 is a structural block diagram of an optional two-dimensional and three-dimensional integrated road detection device according to an embodiment of the present application, such as Fig.11 As shown, the device may include:

[0153] An acquisition unit 1102 is used to acquire target two-dimensional radar data obtained by performing ground-penetrating detection on the target road through a two-dimensional radar, and acquire target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar, wherein both the two-dimensional radar and the three-dimensional radar are located on a ground-penetrating radar device of the target road;

[0154] The processing unit 1104 is connected to the acquisition unit 1102 and is used to perform imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and to perform imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth;

[0155] The display unit 1106 is connected to the processing unit 1104 and is used to simultaneously display the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device.

[0156] It should be noted that the acquisition unit 1102 in this embodiment can be used to execute the above step S402, the processing unit 1104 in this embodiment can be used to execute the above step S404, and the display unit 1106 in this embodiment can be used to execute the above step S406.

[0157] Through the above modules, target two-dimensional radar data obtained by performing ground-penetrating detection on the target road through two-dimensional radar, and target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through three-dimensional radar are obtained, wherein both the two-dimensional radar and the three-dimensional radar are located on the ground-penetrating radar device of the target road; imaging processing is performed on the target two-dimensional radar data to obtain a two-dimensional imaging result, and imaging processing is performed on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; the two-dimensional imaging result and the three-dimensional imaging result are simultaneously displayed on the display interface of the target device, thereby solving the problem that the road detection method in the related art cannot timely discover road anomalies due to the high timeliness of anomaly analysis, and improving the timeliness and accuracy of road anomaly analysis.

[0158] As an optional embodiment, the above device also includes:

[0159] A first determining unit is used to, after performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, determine first position information of the abnormal target in the two-dimensional imaging result when an abnormal target is detected from the two-dimensional imaging result;

[0160] The generating unit is used to generate a first trigger signal, wherein the first trigger signal is used to trigger the three-dimensional radar to perform ground penetration detection on the target road according to the first position information to obtain target three-dimensional radar data, and the three-dimensional imaging result includes abnormal targets.

[0161] As an optional embodiment, the generating unit includes:

[0162] A first determination module is used to determine a detection range of the three-dimensional radar for ground penetration detection of the target road according to the first position information and the second position information of the three-dimensional radar;

[0163] The generating module is used to generate a first trigger signal, wherein the first trigger signal is used to instruct the three-dimensional radar to perform ground penetration detection on the target road according to the detection range.

[0164] As an optional embodiment, the above device also includes:

[0165] A receiving unit is used to receive a second trigger signal sent by a trigger device before acquiring target two-dimensional radar data obtained by performing ground-penetrating detection on the target road through a two-dimensional radar, and acquiring target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar, wherein the second trigger signal is a trigger signal generated after the ranging component of the trigger device rotates a set distance each time, and the second trigger signal is used to trigger the two-dimensional radar and the three-dimensional radar to perform ground-penetrating detection on the target road.

[0166] As an optional embodiment, the acquiring unit includes:

[0167] The first detection module is used to perform ground detection on the target road by using a two-dimensional radar in a horizontal polarization mode to obtain target two-dimensional radar data;

[0168] The second detection module is used to perform ground-penetrating detection on the target road by using a three-dimensional radar in an oblique polarization manner to obtain target three-dimensional radar data.

[0169] As an optional embodiment, the two-dimensional radar includes a plurality of antenna pairs arranged side by side, each of the plurality of antenna pairs includes a different transmitting antenna and a receiving signal; the acquiring unit includes:

[0170] a splitting module, configured to split the third trigger signal into a plurality of trigger signals in response to the acquired third trigger signal, wherein the third trigger signal is used to trigger the two-dimensional radar to perform ground penetration detection on the target road, and the plurality of trigger signals correspond one-to-one to the plurality of antenna pairs;

[0171] A first trigger module is used to use each trigger signal of a plurality of trigger signals to respectively trigger the transmitting antenna of each antenna pair to transmit a two-dimensional radar signal to the ground of a target road;

[0172] The first acquisition module is used to acquire the echo signal of the two-dimensional radar signal received by the receiving antenna of each antenna pair and transmitted by the corresponding transmitting antenna, and obtain the two-dimensional radar data of multiple channels, wherein the target two-dimensional radar data includes the two-dimensional radar data of multiple channels.

[0173] As an optional embodiment, the target two-dimensional radar data includes two-dimensional radar data of multiple channels; the processing unit includes:

[0174] The first processing module is used to perform parallel imaging processing on the two-dimensional radar data of multiple channels to obtain a two-dimensional imaging result.

[0175] As an optional embodiment, the three-dimensional radar includes M transmitting antennas and N receiving antennas; the acquisition unit includes:

[0176] a second trigger module, configured to trigger, in response to the acquired fourth trigger signal, each of the M transmitting antennas in sequence to transmit a three-dimensional radar signal to the ground of the target road;

[0177] The second acquisition module is used to respectively acquire the echo signals of the three-dimensional radar signals transmitted by each transmitting antenna and received by the receiving antennas corresponding to each transmitting antenna among the N receiving antennas, so as to obtain three-dimensional radar data of multiple channels, wherein the target three-dimensional radar data includes three-dimensional radar data of multiple channels.

[0178] As an optional embodiment, M transmitting antennas and N receiving antennas are placed crosswise in two rows, N=M-1; the second acquisition module includes:

[0179] The first acquisition submodule is used to acquire, when the current transmitting antenna is a transmitting antenna located at one end among the M transmitting antennas, an echo signal of a three-dimensional radar signal transmitted by the current transmitting antenna and received by a receiving antenna adjacent to the current transmitting antenna among the N receiving antennas, so as to obtain three-dimensional radar data of one channel;

[0180] The second acquisition submodule is used to obtain the echo signals of the three-dimensional radar signal transmitted by the current transmitting antenna and received by two receiving antennas adjacent to the current transmitting antenna among the N receiving antennas when the current transmitting antenna is the transmitting antenna located in the middle position among the M transmitting antennas, so as to obtain the three-dimensional radar data of the two channels.

[0181] As an optional embodiment, the target three-dimensional radar data includes three-dimensional radar data of multiple channels; and the processing unit includes at least one of the following:

[0182] A second processing module is used to perform horizontal slicing processing on the three-dimensional radar data of multiple channels to obtain a first imaging result, wherein the first imaging result is an imaging result of a target depth position below the ground of the target road;

[0183] a third processing module, configured to perform transverse slicing processing on the three-dimensional radar data of the multiple channels to obtain a second imaging result, wherein the second imaging result is an imaging result perpendicular to the road direction of the target road and from the ground of the target road to a third detection depth, and the third detection depth is less than or equal to the second detection depth;

[0184] The fourth processing module is used to perform longitudinal slicing processing on the three-dimensional radar data of the target channel among the three-dimensional radar data of multiple channels to obtain a third imaging result, wherein the third imaging result is an imaging result along the road direction of the target road, from the ground of the target road to a fourth detection depth, and the fourth detection depth is less than or equal to the second detection depth.

[0185] As an optional embodiment, the processing unit includes:

[0186] The second determination module is used to determine the distance between the center of the two-dimensional radar and the center of the three-dimensional radar to obtain the target center distance;

[0187] The fifth processing module is used to perform imaging processing on the target two-dimensional radar data according to the target center distance to obtain a two-dimensional imaging result, wherein the advance amount of the target two-dimensional radar data imaging matches the target center distance.

[0188] As an optional embodiment, the above device further includes: a second determining unit, and the display unit includes: a display module, wherein:

[0189] A second determining unit is used to determine, before simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device, third position information of the detection target in the two-dimensional imaging result and fourth position information of the detection target in the three-dimensional imaging result; and perform a fusion operation on the two-dimensional imaging result and the three-dimensional imaging result according to the third position information and the fourth position information to obtain a target imaging result;

[0190] The display module is used to display the target imaging result on the display interface of the target device.

[0191] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above modules as part of the device can be run in Figure 3 In the hardware environment shown, it can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0192] According to another aspect of the embodiments of the present application, a two-dimensional and three-dimensional integrated road detection device for implementing the above-mentioned two-dimensional and three-dimensional integrated road detection method is also provided. Fig.12 is a structural block diagram of another optional two-dimensional three-dimensional integrated road detection device according to an embodiment of the present application, such as Fig.12 As shown, the device may include:

[0193] 2D radar 1202;

[0194] 3D radar 1204;

[0195] The data processing unit 1206 is used to obtain target two-dimensional radar data obtained by performing ground-penetrating detection on the target road through a two-dimensional radar, and to obtain target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar; perform imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and perform imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; and the two-dimensional imaging result and the three-dimensional imaging result are simultaneously displayed on the display interface of the target device.

[0196] It should be noted that the data processing unit 1206 in this embodiment can be used to execute the above step S402, step S404 and step S406.

[0197] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0198] According to another aspect of the embodiments of the present application, an electronic device for implementing the above-mentioned two-dimensional and three-dimensional integrated road detection method is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0199] Fig.13 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Fig.13 As shown, it includes a processor 1302, a communication interface 1304, a memory 1306 and a communication bus 1308, wherein the processor 1302, the communication interface 1304 and the memory 1306 communicate with each other through the communication bus 1308, wherein,

[0200] Memory 1306, used for storing computer programs;

[0201] The processor 1302 is used to execute the computer program stored in the memory 1306 to implement the following steps:

[0202] S1, obtaining target two-dimensional radar data obtained by ground-penetrating detection of a target road by a two-dimensional radar, and obtaining target three-dimensional radar data obtained by ground-penetrating detection of a target road by a three-dimensional radar, wherein both the two-dimensional radar and the three-dimensional radar are located on a ground-penetrating radar device of the target road;

[0203] S2, performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth;

[0204] S3, displaying the two-dimensional imaging result and the three-dimensional imaging result simultaneously on the display interface of the target device.

[0205] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.13 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0206] The communication interface is used for communication between the above electronic device and other devices.

[0207] The memory may include RAM, or may include non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0208] As an example, Fig.13 As shown, the memory 1302 may include, but is not limited to, the acquisition unit 1102, the processing unit 1104, and the display unit 1106 in the two-dimensional and three-dimensional integrated road detection device. In addition, it may also include, but is not limited to, other module units in the two-dimensional and three-dimensional integrated road detection device, which will not be repeated in this example.

[0209] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0210] In addition, the electronic device mentioned above further includes: a display for simultaneously displaying a two-dimensional imaging result and a three-dimensional imaging result, for example, a target imaging result.

[0211] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0212] It can be understood by those skilled in the art that Fig.13 The structure shown is for illustration only. The device for implementing the above-mentioned two-dimensional and three-dimensional integrated road detection method can be a terminal device, which can be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD and other terminal devices. Fig.13 It does not limit the structure of the above electronic device. For example, the terminal device may also include Fig.13 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Fig.13 Different configurations shown.

[0213] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0214] According to another aspect of the embodiment of the present application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of the above-mentioned two-dimensional three-dimensional integrated road detection method.

[0215] Optionally, in this embodiment, the storage medium may be located on at least one network device among a plurality of network devices in the network shown in the above embodiment.

[0216] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps:

[0217] S1, obtaining target two-dimensional radar data obtained by ground-penetrating detection of a target road by a two-dimensional radar, and obtaining target three-dimensional radar data obtained by ground-penetrating detection of a target road by a three-dimensional radar, wherein both the two-dimensional radar and the three-dimensional radar are located on a ground-penetrating radar device of the target road;

[0218] S2, performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth;

[0219] S3, displaying the two-dimensional imaging result and the three-dimensional imaging result simultaneously on the display interface of the target device.

[0220] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0221] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0222] According to another aspect of the embodiments of the present application, a computer program product or a computer program is also provided, which includes computer instructions stored in a computer-readable storage medium; a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method steps in any one of the above embodiments.

[0223] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0224] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0225] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0226] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0227] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0228] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0229] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A two-dimensional and three-dimensional integrated road detection method, characterized in that: include: Acquire target two-dimensional radar data obtained by ground-penetrating detection of a target road by a two-dimensional radar, and acquire target three-dimensional radar data obtained by ground-penetrating detection of the target road by a three-dimensional radar, wherein both the two-dimensional radar and the three-dimensional radar are located on a ground-penetrating radar device of the target road, and the three-dimensional radar includes M transmitting antennas and N receiving antennas; Performing imaging processing on the two-dimensional radar data of the target to obtain a two-dimensional imaging result, and performing imaging processing on the three-dimensional radar data of the target to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; Simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on a display interface of a target device; The step of acquiring target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar includes: In response to the acquired fourth trigger signal, triggering each of the M transmitting antennas in sequence to transmit a three-dimensional radar signal to the ground of the target road; Respectively obtain echo signals of the three-dimensional radar signal transmitted by each transmitting antenna and received by the receiving antennas corresponding to each transmitting antenna among the N receiving antennas to obtain three-dimensional radar data of multiple channels, wherein the target three-dimensional radar data includes the three-dimensional radar data of the multiple channels; wherein, after the imaging processing is performed on the target two-dimensional radar data to obtain a two-dimensional imaging result, the method further includes: in the case where an abnormal target is detected from the two-dimensional imaging result, determining first position information of the abnormal target in the two-dimensional imaging result; and generating a first trigger signal, wherein the first trigger signal is used to trigger the three-dimensional radar to perform ground penetration detection on the target road according to the first position information to obtain the target three-dimensional radar data, wherein the three-dimensional imaging result includes the abnormal target.

2. The method according to claim 1, characterized in that Before acquiring target two-dimensional radar data obtained by ground-penetrating detection of the target road by a two-dimensional radar and acquiring target three-dimensional radar data obtained by ground-penetrating detection of the target road by a three-dimensional radar, the method further includes: Receive a second trigger signal sent by a trigger device, wherein the second trigger signal is a trigger signal generated after the distance measuring component of the trigger device rotates a set distance, and the second trigger signal is used to trigger the two-dimensional radar and the three-dimensional radar to perform ground penetration detection on the target road.

3. The method according to claim 1, characterized in that The step of acquiring target two-dimensional radar data obtained by performing ground-penetrating detection on a target road through a two-dimensional radar, and acquiring target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar, comprises: Performing ground detection on the target road by the two-dimensional radar in a horizontal polarization manner to obtain the target two-dimensional radar data; The three-dimensional radar uses an oblique polarization method to perform ground penetration detection on the target road to obtain the target three-dimensional radar data.

4. The method according to claim 1, characterized in that: The two-dimensional radar includes a plurality of antenna pairs arranged side by side, each antenna pair in the plurality of antenna pairs includes a different transmitting antenna and receiving signal; The step of acquiring target two-dimensional radar data obtained by performing ground-penetrating detection on the target road by a two-dimensional radar includes: In response to the acquired third trigger signal, split the third trigger signal into multiple trigger signals, wherein the third trigger signal is used to trigger the two-dimensional radar to perform ground penetration detection on the target road, and the multiple trigger signals correspond one-to-one to the multiple antenna pairs; Using each of the multiple trigger signals to trigger the transmitting antenna of each antenna pair to transmit a two-dimensional radar signal to the ground of the target road; Acquire an echo signal of a two-dimensional radar signal received by a receiving antenna of each antenna pair and transmitted by a corresponding transmitting antenna to obtain two-dimensional radar data of multiple channels, wherein the target two-dimensional radar data includes the two-dimensional radar data of the multiple channels.

5. The method according to claim 1, characterized in that The target two-dimensional radar data includes two-dimensional radar data of multiple channels; the imaging processing is performed on the target two-dimensional radar data to obtain a two-dimensional imaging result, including: Parallel imaging processing is performed on the two-dimensional radar data of the multiple channels to obtain the two-dimensional imaging result.

6. The method according to claim 1, characterized in that The M transmitting antennas and the N receiving antennas are placed in two rows in front and back, N=M-1; respectively acquiring the echo signals of the three-dimensional radar signal transmitted by each transmitting antenna and received by the receiving antennas corresponding to each transmitting antenna among the N receiving antennas to obtain the three-dimensional radar data of multiple channels, including: When the current transmitting antenna is a transmitting antenna located at one end among the M transmitting antennas, an echo signal of a three-dimensional radar signal transmitted by the current transmitting antenna and received by a receiving antenna adjacent to the current transmitting antenna among the N receiving antennas is obtained to obtain three-dimensional radar data of one channel; When the current transmitting antenna is a transmitting antenna located in the middle of the M transmitting antennas, echo signals of the three-dimensional radar signal transmitted by the current transmitting antenna and received by two receiving antennas adjacent to the current transmitting antenna among the N receiving antennas are obtained to obtain three-dimensional radar data of two channels.

7. The method according to claim 1, characterized in that The target three-dimensional radar data includes three-dimensional radar data of multiple channels; the imaging processing of the target three-dimensional radar data to obtain a three-dimensional imaging result includes at least one of the following: Performing horizontal slicing processing on the three-dimensional radar data of the multiple channels to obtain a first imaging result, wherein the first imaging result is an imaging result of a target depth position below the ground of the target road; Performing transverse slicing processing on the three-dimensional radar data of the multiple channels to obtain a second imaging result, wherein the second imaging result is an imaging result perpendicular to the road direction of the target road and from the ground of the target road to a third detection depth, and the third detection depth is less than or equal to the second detection depth; Perform longitudinal slicing processing on the three-dimensional radar data of the target channel among the three-dimensional radar data of the multiple channels to obtain a third imaging result, wherein the third imaging result is an imaging result along the road direction of the target road and from the ground of the target road to a fourth detection depth, and the fourth detection depth is less than or equal to the second detection depth.

8. The method according to claim 1, characterized in that The imaging process is performed on the target two-dimensional radar data to obtain a two-dimensional imaging result, including: Determine the distance between the center of the two-dimensional radar and the center of the three-dimensional radar to obtain a target center distance; The target two-dimensional radar data is imaged according to the target center distance to obtain the two-dimensional imaging result, wherein the lead amount of the target two-dimensional radar data imaging matches the target center distance.

9. The method according to any one of claims 1 to 8, characterized in that Before simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device, the method further includes: determining third position information of the detection target in the two-dimensional imaging result and fourth position information of the detection target in the three-dimensional imaging result; performing a fusion operation on the two-dimensional imaging result and the three-dimensional imaging result according to the third position information and the fourth position information to obtain a target imaging result; The simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device includes: displaying the target imaging result on the display interface of the target device.

10. A two-dimensional and three-dimensional integrated road detection device, characterized in that: include: 2D radar; A three-dimensional radar, wherein the three-dimensional radar comprises M transmitting antennas and N receiving antennas; A data processing unit, used for acquiring target two-dimensional radar data obtained by performing ground-penetrating detection on the target road by the two-dimensional radar, and acquiring target three-dimensional radar data obtained by performing ground-penetrating detection on the target road by the three-dimensional radar; performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; and simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on a display interface of a target device; The data processing unit is further used to obtain target three-dimensional radar data obtained by ground-penetrating detection of the target road by the three-dimensional radar by executing the following steps: in response to the fourth trigger signal obtained, trigger each of the M transmitting antennas in sequence to transmit a three-dimensional radar signal to the ground of the target road; respectively obtain the echo signal of the three-dimensional radar signal transmitted by each transmitting antenna and received by the receiving antenna corresponding to each transmitting antenna among the N receiving antennas, so as to obtain three-dimensional radar data of multiple channels, wherein the target three-dimensional radar data includes the three-dimensional radar data of the multiple channels; Among them, the data processing unit is also used to determine the first position information of the abnormal target in the two-dimensional imaging result after imaging the target two-dimensional radar data to obtain the two-dimensional imaging result, when an abnormal target is detected from the two-dimensional imaging result; generate a first trigger signal, wherein the first trigger signal is used to trigger the three-dimensional radar to perform ground penetration detection on the target road according to the first position information to obtain the target three-dimensional radar data, and the three-dimensional imaging result includes the abnormal target.

Images