Tunnel lining detection device and method

Abstract

The present invention discloses a tunnel lining detection device and method, wherein the device comprises: a control module, which is used to determine the first air-coupled antenna to be turned on according to the type of the tunnel to be detected; initially determine the transmission power according to the distance between the first air-coupled antenna and the lining; when receiving the signal-to-noise ratio sent by the data processing module, update the transmission power according to the signal-to-noise ratio and the distance; send the transmission power and the working mode to the first air-coupled antenna; the first air-coupled antenna is used to transmit electromagnetic waves according to the transmission power and collect electromagnetic wave reflection data according to the working mode; send the electromagnetic wave reflection data to the data processing module; the data processing module is used to remove direct current, remove background, perform focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain the signal-to-noise ratio of the electromagnetic wave reflection data; send the signal-to-noise ratio of the electromagnetic wave reflection data to the control module. The present invention can improve the efficiency of lining abnormality detection.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel lining nondestructive testing, and in particular to a tunnel lining testing device and method. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No admission is made that the description herein is prior art by inclusion in this section.

[0003] Tunnel lining refers to a permanent structure that supports and maintains the long-term stability and durability of the tunnel. Its functions are: to support and maintain the stability of the tunnel, to maintain the space required for train operation, etc. The existing railway tunnel lining status detection method is mainly: to analyze the feedback signal from the inside of the tunnel lining through geological radar, identify internal defects and perform maintenance and repair to eliminate risks. However, the distance between the conventional geological radar antenna and the lining surface needs to be controlled between 100mm and 150mm, and remain stable. When encountering obstacles on the tunnel lining surface, the geological radar needs to be retracted or moved in time. Therefore, the intelligent characteristics of the support and carrying mechanism of the tunnel lining geological radar antenna are extremely high, the detection efficiency is low, and it is not suitable for large-scale rapid detection operations. Summary of the invention

[0004] The embodiment of the present invention provides a tunnel lining detection device, which is used to achieve long-distance measurement of defects on the lining surface, reduce the requirements for the intelligence of the detection vehicle, and improve the measurement efficiency of defects on the lining surface. The device includes: multiple air-coupled antennas, a control module, and a data processing module;

[0005] The control module is used to determine a first air-coupled antenna to be turned on from a plurality of air-coupled antennas according to the type of the tunnel to be detected; initially determine the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; upon receiving the signal-to-noise ratio sent by the data processing module, update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; after each transmission power is determined, send the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna; wherein the number of the first air-coupled antennas includes at least one;

[0006] The first air-coupled antenna is used to receive the transmission power and the working mode sent by the control module; transmit electromagnetic waves according to the transmission power, and collect electromagnetic wave reflection data according to the working mode; wherein the working mode includes: time-triggered collection or displacement-triggered collection; and send the electromagnetic wave reflection data to the data processing module;

[0007] The data processing module is used to receive the electromagnetic wave reflection data sent by the first air-coupled antenna; perform DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain a signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio; wherein the focusing algorithm processing and the singular decomposition processing are performed in no particular order; and send the signal-to-noise ratio of the electromagnetic wave reflection data to the control module, so that the control module can update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio.

[0008] The embodiment of the present invention further provides a tunnel lining detection method for realizing long-distance measurement of defects on the lining surface, reducing the requirements on the intelligence of the detection vehicle, and improving the measurement efficiency of defects on the lining surface. The method comprises:

[0009] The control module determines a first air-coupled antenna to be turned on from a plurality of air-coupled antennas according to the type of the tunnel to be detected; initially determines the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; upon receiving the signal-to-noise ratio sent by the data processing module, updates the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; after each transmission power is determined, sends the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna, so that the first air-coupled antenna transmits electromagnetic waves according to the transmission power and collects electromagnetic wave reflection data according to the working mode; wherein the number of the first air-coupled antennas includes at least one, and the working modes include: time-triggered collection or displacement-triggered collection;

[0010] The data processing module receives the electromagnetic wave reflection data sent by the first air-coupled antenna; performs DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain a signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio; wherein the focusing algorithm processing and the singular decomposition processing are performed in no particular order; and sends the signal-to-noise ratio of the electromagnetic wave reflection data to the control module, so that the control module can update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio.

[0011] An embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned tunnel lining detection method when executing the computer program.

[0012] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned tunnel lining detection method is implemented.

[0013] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned tunnel lining detection method is implemented.

[0014] In an embodiment of the present invention, a tunnel lining detection device includes: a plurality of air-coupled antennas, a control module, and a data processing module; the control module is used to determine a first air-coupled antenna to be turned on from the plurality of air-coupled antennas according to the type of the tunnel to be detected; initially determine the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; when receiving the signal-to-noise ratio sent by the data processing module, update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; after each transmission power is determined, send the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna; wherein the number of the first air-coupled antennas includes at least one; the first air-coupled antenna is used to receive the control module The method comprises the following steps: determining the transmission power and the working mode of the block; transmitting electromagnetic waves according to the transmission power, and collecting electromagnetic wave reflection data according to the working mode; wherein the working mode includes: time-triggered collection or displacement-triggered collection; sending the electromagnetic wave reflection data to the data processing module; the data processing module is used to receive the electromagnetic wave reflection data sent by the first air-coupled antenna; performing DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain the signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio; wherein the focusing algorithm processing and the singular decomposition processing are in no order; sending the signal-to-noise ratio of the electromagnetic wave reflection data to the control module, so that the control module can update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio. In this way, the use of air-coupled antennas can realize the long-distance measurement of defects on the lining surface, facilitate the rapid movement of the inspection vehicle, and reduce the requirements for the intelligence of the inspection vehicle. In addition, the data processing module can effectively remove the influence of horizontal reflection and system noise by performing focusing algorithm processing and singular decomposition processing on the electromagnetic wave reflection data, generate a clearer signal-to-noise ratio image, accurately highlight the obvious shallow lining defects, and improve the measurement efficiency of defects on the lining surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0016] Figure 1 A schematic diagram of a tunnel lining detection device is provided in an embodiment of the present invention;

[0017] Figure 2 A schematic diagram of a tunnel portion of a tunnel detection device provided in an embodiment of the present invention;

[0018] Figure 3 A cross-sectional schematic diagram of electromagnetic wave reflection data after removing DC and background provided in an embodiment of the present invention;

[0019] Figure 4 Another cross-sectional schematic diagram of electromagnetic wave reflection data after removing DC and background provided in an embodiment of the present invention;

[0020] Figure 5 A cross-sectional schematic diagram of electromagnetic wave reflection data after DC removal, background removal, and singular decomposition processing is performed in an embodiment of the present invention;

[0021] Figure 6 Another cross-sectional schematic diagram of electromagnetic wave reflection data after DC removal, background removal, and singular decomposition processing is provided in an embodiment of the present invention;

[0022] Figure 7 It is another cross-sectional schematic diagram of electromagnetic wave reflection data after DC removal, background removal, and singular decomposition processing provided in an embodiment of the present invention;

[0023] Figure 8 A schematic diagram of superimposing a single-channel wave after removing the DC and background of electromagnetic wave reflection data provided in an embodiment of the present invention;

[0024] Fig. 9 A schematic diagram of the overall superposition of single-channel waves after direct current removal, background removal, and singular decomposition processing of electromagnetic wave reflection data provided in an embodiment of the present invention;

[0025] Fig.10 Another schematic diagram of superposition of single-channel waves after direct current removal, background removal, and singular decomposition processing of electromagnetic wave reflection data provided in an embodiment of the present invention;

[0026] Fig.11 A cross-sectional schematic diagram of electromagnetic wave reflection data after only focusing algorithm processing is performed in an embodiment of the present invention;

[0027] Fig.12 A cross-sectional schematic diagram of electromagnetic wave reflection data after DC and background removal provided in an embodiment of the present invention;

[0028] Fig.13A cross-sectional schematic diagram of electromagnetic wave reflection data after DC removal, background removal, singular decomposition processing, and focusing algorithm processing is performed in an embodiment of the present invention;

[0029] Fig.14 Another cross-sectional schematic diagram of electromagnetic wave reflection data after DC removal, background removal, singular decomposition processing, and focusing algorithm processing is provided in an embodiment of the present invention;

[0030] Fig.15 This is an example diagram of a cross-section of ground-coupled geological radar detection data provided in an embodiment of the present invention;

[0031] Fig.16 A method provided in an embodiment of the present invention Fig.14 Example diagram of the cross section of the air-coupled geological radar detection data corresponding to the ground-coupled geological radar detection data;

[0032] Fig.17 This is a diagram of the implementation process of a tunnel lining detection device provided in an embodiment of the present invention;

[0033] Fig.18 The present invention provides a flow chart of a tunnel lining detection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0035] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0036] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0037] In the description of this specification, the terms "include", "including", "have", "contain", etc. are all open terms, which mean including but not limited to. The descriptions with reference to the terms "one embodiment", "a specific embodiment", "some embodiments", "for example", etc. mean that the specific features, structures or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The order of steps involved in each embodiment is used to schematically illustrate the implementation of the present application, and the order of steps is not limited and can be appropriately adjusted as needed.

[0038] According to research, the existing railway tunnel lining status detection method is mainly to analyze the feedback signal inside the tunnel lining through geological radar, identify internal defects and perform maintenance and repair to eliminate risks. However, the conventional geological radar antenna is a ground-coupled antenna. The electromagnetic wave emitted by the ground-coupled antenna is a spherical wave. If it is far away from the lining, it cannot identify where the signal reflection is received. In addition, the focusing and anti-interference characteristics are poor. In the case of long distance, it is affected by other interferences in the air and cannot strip off the effective signal. Even in an open scene, long-distance detection is affected by the spherical wave transceiver characteristics, and the useful information of the measured point is also extremely dispersed. Therefore, the distance between the conventional geological radar antenna and the lining surface needs to be controlled between 100mm and 150mm, and it needs to be kept stable. When encountering obstacles on the tunnel lining surface, the geological radar needs to be retracted or moved in time. Therefore, the intelligent characteristics of the support and carrying mechanism of the tunnel lining geological radar antenna are extremely high, and the detection efficiency is low, which is not suitable for large-scale rapid detection operations.

[0039] In view of the above research, an embodiment of the present invention provides a tunnel lining detection device, such as Figure 1 As shown, it includes: a plurality of air-coupled antennas 11, a control module 12, and a data processing module 13;

[0040] The control module 12 is used to determine the first air-coupled antenna 11-1 to be turned on from the multiple air-coupled antennas 11 according to the type of the tunnel to be detected; initially determine the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; when receiving the signal-to-noise ratio sent by the data processing module, update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; after each transmission power is determined, send the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna; wherein the number of the first air-coupled antennas includes at least one;

[0041] The first air-coupled antenna 11-1 is used to receive the transmission power and the working mode sent by the control module; transmit electromagnetic waves according to the transmission power, and collect electromagnetic wave reflection data according to the working mode; wherein the working mode includes: time-triggered collection or displacement-triggered collection; and send the electromagnetic wave reflection data to the data processing module;

[0042] The data processing module 13 is used to receive the electromagnetic wave reflection data sent by the first air-coupled antenna; perform DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain a signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio; wherein the focusing algorithm processing and the singular decomposition processing are performed in no particular order; and send the signal-to-noise ratio of the electromagnetic wave reflection data to the control module, so that the control module can update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio.

[0043] In an embodiment of the present invention, a tunnel lining detection device includes: a plurality of air-coupled antennas, a control module, and a data processing module; the control module is used to determine a first air-coupled antenna to be turned on from the plurality of air-coupled antennas according to the type of the tunnel to be detected; initially determine the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; when receiving the signal-to-noise ratio sent by the data processing module, update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; after each transmission power is determined, send the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna; wherein the number of the first air-coupled antennas includes at least one; the first air-coupled antenna is used to receive the control module The method comprises the following steps: determining the transmission power and the working mode of the block; transmitting electromagnetic waves according to the transmission power, and collecting electromagnetic wave reflection data according to the working mode; wherein the working mode includes: time-triggered collection or displacement-triggered collection; sending the electromagnetic wave reflection data to the data processing module; the data processing module is used to receive the electromagnetic wave reflection data sent by the first air-coupled antenna; performing DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain the signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio; wherein the focusing algorithm processing and the singular decomposition processing are in no order; sending the signal-to-noise ratio of the electromagnetic wave reflection data to the control module, so that the control module can update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio. In this way, the use of air-coupled antennas can realize the long-distance measurement of defects on the lining surface, facilitate the rapid movement of the inspection vehicle, and reduce the requirements for the intelligence of the inspection vehicle. In addition, the data processing module can effectively remove the influence of horizontal reflection and system noise by performing focusing algorithm processing and singular decomposition processing on the electromagnetic wave reflection data, generate a clearer signal-to-noise ratio image, accurately highlight the obvious shallow lining defects, and improve the measurement efficiency of defects on the lining surface.

[0044] The above-mentioned tunnel lining detection device is described in detail below.

[0045] like Figure 2 As shown, it is a schematic diagram of the tunnel part of a tunnel detection device provided by an embodiment of the present invention. The tunnel lining detection device includes a plurality of air-coupled antennas 11. In a preferred embodiment of the present invention, the number of air-coupled antennas can include, for example, 10.

[0046] In addition, the tunnel lining detection device includes, for example: a portal frame; the portal frame is arranged on a detection vehicle that can travel in a tunnel, and the air coupling type antenna 11 is arranged on the portal frame around the portal frame, and is arranged in a ring array (such as Figure 2 shown).

[0047] In one embodiment of the present invention, the polarization angle of the horn of the air-coupled antenna is adjusted within a preset angle range.

[0048] The preset angle range may be set in combination with actual application scenarios. In one embodiment of the present invention, the preset angle range is preferably [15.3°, 16.8°].

[0049] The carriers of the control module 12 and the data processing module 13 (such as computer equipment, electronic equipment, computer program products, computer-readable storage media) can be set at the far end outside the tunnel, or on the inspection vehicle or the above-mentioned portal frame.

[0050] The tunnel lining detection device comprises a plurality of air-coupled antennas 11. For different types of tunnels, for example, different numbers of air-coupled antennas at different positions are turned on to detect the linings of different types of tunnels.

[0051] Specifically, the control module 12 determines a first air-coupled antenna to be turned on from a plurality of air-coupled antennas according to the type of the tunnel to be detected.

[0052] The first air-coupled antenna 11 - 1 is an air-coupled antenna determined to be turned on among the plurality of air-coupled antennas 11 .

[0053] In one embodiment of the present invention, the type of the tunnel to be detected includes, for example, at least one of the following: a single-line tunnel, a double-line tunnel, and cross-section tunnels of different levels.

[0054] For example, taking a single-line tunnel as an example, Figure 2 In the tunnel lining detection device shown in , all the air-coupled antennas 11 are turned on, and the entire width of the tunnel can be detected at one time. Taking a double-line tunnel as an example, the top two air-coupled antennas and the near-end four air-coupled antennas 11 are turned on, and half of the tunnel is detected each time. Figure 2 When detecting the left half of the tunnel, the two first air-coupled antennas 11-1 on the top and the four first air-coupled antennas 11-1 on the left can be turned on; when detecting the right half of the tunnel, the two first air-coupled antennas 11-1 on the top and the four first air-coupled antennas 11-1 on the right can be turned on. The entire width of the tunnel can be detected twice. In order to ensure the accuracy of the detection and prevent the occurrence of a blind spot in the detection, the position of the top air-coupled antenna 11 can be adjusted so that the top areas of the tunnel detected twice are partially overlapped, ensuring that the tunnel lining detection device covers the area without leakage, thereby achieving a preliminary screening of significant defects in the entire cross-section of the tunnel lining.

[0055] Here, in order to determine the detection area of ​​each air-coupled antenna and facilitate the adjustment of the position of the air-coupled antenna, in one embodiment of the present invention, an LED lamp is provided in the air-coupled antenna, wherein the wick of the LED lamp is provided with an identification of the air-coupled antenna, and the illumination range of the LED lamp corresponds to the detection area range of the air-coupled antenna, so that the staff can adjust the position of the air-coupled antenna according to the illumination range of the LED of the air-coupled antenna.

[0056] In the specific implementation process, for a complete amplitude detection process of the lining, each first air-coupled antenna 11-1 corresponds to a part of the amplitude region in the complete detection amplitude. After processing the electromagnetic wave reflection data collected by each first air-coupled antenna 11-1, it can be determined whether there is an abnormality in the lining in the amplitude region corresponding to each first air-coupled antenna 11-1. The working principle of the tunnel lining detection device according to the embodiment of the present invention is described below by taking the working process between any first air-coupled antenna 11-1 and the control module 12 and the data processing module 13 as an example.

[0057] After determining the first air-coupled antenna, the control module 12 initially determines the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna 11 - 1 and the lining.

[0058] Specifically, each air-coupled antenna is provided with a rangefinder, for example. The control module 12 sends a distance acquisition request to the first air-coupled antenna 11-1. When the first air-coupled antenna 11-1 receives the distance acquisition request sent by the control module, it uses the rangefinder to measure the distance between the first air-coupled antenna and the lining; the distance between the first air-coupled antenna and the lining is sent to the control module 12. The control module 12 receives the distance between the first air-coupled antenna and the lining fed back by the first air-coupled antenna 11-1 according to the distance acquisition request. Initially, the transmission power of the first air-coupled antenna is determined according to the distance between the first air-coupled antenna 11-1 and the lining.

[0059] In addition, as the inspection vehicle moves, the position of the first air-coupled antenna 11-1 in the tunnel will change, and the distance between the first air-coupled antenna 11-1 and the lining will also change. Therefore, in order to ensure the accuracy of the transmission power, in one embodiment of the present invention, the first air-coupled antenna 11-1 is also used to re-detect the distance between the first air-coupled antenna and the lining using a rangefinder when the first air-coupled antenna 11-1 is displaced, and send the newly measured distance between the first air-coupled antenna and the lining to the control module 12.

[0060] Here, when the first air-coupled antenna 11-1 is displaced, the distance between the first air-coupled antenna and the lining is re-detected using a rangefinder, and the newly measured distance between the first air-coupled antenna and the lining is sent to the control module 12, for example, including: a pedometer is provided in the wheel of the detection vehicle, and the pedometer sends the count value to the control module 21 in real time. When the count value of the pedometer changes, the control module 21 sends a distance update request to the first air-coupled antenna 11-1, so that the first air-coupled antenna 11-1 re-detects the distance between the first air-coupled antenna and the lining using the rangefinder according to the distance update request, and sends the newly measured distance between the first air-coupled antenna and the lining to the control module 12.

[0061] The control module 12 is specifically used to receive the newly measured distance between the first air-coupled antenna and the lining sent by the first air-coupled antenna; if it is still in the initial stage where the signal-to-noise ratio sent by the data processing module is not received, the transmission power of the first air-coupled antenna is updated according to the newly measured distance between the first air-coupled antenna and the lining; if the signal-to-noise ratio sent by the data processing module is received, the transmission power of the first air-coupled antenna is updated according to the newly measured distance between the first air-coupled antenna and the lining and the signal-to-noise ratio. The updated transmission power is sent to the first air-coupled antenna. The first air-coupled antenna 11-1 receives the updated transmission power sent by the control module 12, and transmits electromagnetic waves according to the updated transmission power.

[0062] The control module 12 sends the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna 11-1. After receiving the transmission power and the working mode, the first air-coupled antenna 11-1 transmits electromagnetic waves according to the transmission power and collects electromagnetic wave reflection data according to the working mode.

[0063] Here, the working mode includes, for example, time-triggered acquisition or displacement-triggered acquisition.

[0064] Among them, time-triggered acquisition, for example, collects electromagnetic wave reflection data according to time changes, specifically, for example, collects electromagnetic wave reflection data once every preset time step. Displacement-triggered acquisition, for example, collects electromagnetic wave reflection data according to the displacement change of the antenna in the tunnel, for example, collects electromagnetic wave reflection data once every displacement step.

[0065] After collecting electromagnetic wave reflection data each time, the first air-coupled antenna 11-1 sends it to the data processing module 13. The data processing module 13 receives the electromagnetic wave reflection data sent by the first air-coupled antenna 11-1; performs DC removal, background removal, focusing algorithm processing (SAFT), and singular decomposition processing (SVD) on the electromagnetic wave reflection data to obtain the signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio.

[0066] Among them, there is no order of priority for focusing algorithm processing and singular decomposition processing, that is, after the electromagnetic wave reflection data has been processed for DC removal and background removal, it can be processed by focusing algorithm first and then by singular decomposition processing, or after the electromagnetic wave reflection data has been processed for DC removal and background removal, it can be processed by singular decomposition first and then by focusing algorithm processing.

[0067] In one embodiment of the present invention, when the data processing module 13 performs focusing algorithm processing on the electromagnetic wave reflection data after removing DC and background, it is specifically used to use Kirchhoff migration to process the electromagnetic wave reflection data after removing DC and background; execute the focusing algorithm on the electromagnetic wave reflection data after Kirchhoff migration processing, and perform focusing algorithm processing on the image after singular decomposition processing (this embodiment performs focusing algorithm processing first and then singular decomposition processing).

[0068] Alternatively, in another embodiment of the present invention, when the data processing module 13 performs focusing algorithm processing on the electromagnetic wave reflection data after de-DC, background removal and singular decomposition, it is specifically used to use Kirchhoff migration to process the electromagnetic wave reflection data after de-DC, background removal and singular decomposition; and execute the focusing algorithm on the electromagnetic wave reflection data after Kirchhoff migration processing (this implementation is to perform the singular decomposition processing first and then the focusing algorithm processing).

[0069] In one embodiment of the present invention, the data processing module 13 is specifically used to determine a first true color image with the largest covariance with the first image of the electromagnetic wave reflection data after the direct current and the background are removed, and a second true color image with the smallest covariance with the first image; perform singular decomposition on the first true color image and the second true color image to obtain a first diagonal matrix of the first true color image and a second diagonal matrix of the second true color image, use the positive terms in the first diagonal matrix as the first singular values ​​of the first true color image, and use the positive terms in the second diagonal matrix as the second singular values ​​of the second true color image; according to the first A singular value is used, and a frequency domain matrix of the first true color image is high-pass filtered to obtain the first true color image with horizontal reflection removed; the frequency domain matrix of the second true color image is low-pass filtered according to the second singular value to obtain the second true color image with noise suppressed; a dot product is performed on the first true color image with horizontal reflection removed and the second true color image with noise suppressed to obtain an image after singular decomposition processing of the first image, the image after singular decomposition processing contains the signal-to-noise ratio of the electromagnetic wave reflection data, and the image after singular decomposition processing is processed by focusing algorithm (the implementation is to first perform singular decomposition processing and then perform focusing algorithm processing).

[0070] Here, the signal-to-noise ratio can be efficiently displayed through image information, which can effectively feedback the shallow lining defect information of severity level and above.

[0071] In another embodiment of the present invention, when the data processing module 13 performs singular decomposition processing on the electromagnetic wave reflection data after the DC removal, background removal, and focusing algorithm processing, it is specifically used to determine the third true color image with the largest covariance with the second image of the electromagnetic wave reflection data after the DC removal, background removal, and focusing algorithm processing, and the fourth true color image with the smallest covariance with the second image; perform singular decomposition on the third true color image and the fourth true color image to obtain a third diagonal matrix of the third true color image and a fourth diagonal matrix of the fourth true color image, use the positive terms in the third diagonal matrix as the third singular values ​​of the third true color image, and use the fourth diagonal matrix as the third singular values ​​of the third true color image. The positive terms in the matrix are used as the fourth singular values ​​of the fourth true color image; according to the third singular value, the frequency domain matrix of the third true color image is high-pass filtered to obtain the third true color image with horizontal reflection removed, and according to the fourth singular value, the frequency domain matrix of the fourth true color image is low-pass filtered to obtain the fourth true color image with noise suppressed; the third true color image with horizontal reflection removed is dot-producted with the fourth true color image with noise suppressed to obtain an image after singular decomposition processing of the second image, and the image after singular decomposition processing contains the signal-to-noise ratio of the electromagnetic wave reflection data (this implementation is to first perform focusing algorithm processing and then perform singular decomposition processing).

[0072] Here, the signal-to-noise ratio can be efficiently displayed through image information, which can effectively feedback the shallow lining defect information of severity level and above.

[0073] In addition, after singular decomposition and focusing algorithm processing, although the signal-to-noise ratio of the electromagnetic wave reflection data can be obtained, in order to make the obtained signal-to-noise ratio more intuitive and accurate, in one embodiment of the present invention, the data processing module 13 is specifically used to remove DC, remove background, perform focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data, and then perform vertical bandpass filtering, horizontal low-pass filtering, gradient operation, horizontal high-pass filtering, frequency wavenumber domain filtering, and signal amplification to obtain the signal-to-noise ratio of the electromagnetic wave reflection data.

[0074] After obtaining the signal-to-noise ratio of the electromagnetic wave reflection data, the data processing module 13 sends the signal-to-noise ratio of the electromagnetic wave reflection data to the control module 12. After receiving the signal-to-noise ratio sent by the data processing module, the control module 12 updates the transmission power of the first air-coupled antenna 11-1 according to the signal-to-noise ratio and the distance between the first air-coupled antenna 11-1 and the lining, and sends the updated transmission power to the first air-coupled antenna 11-1. After receiving the updated transmission power, the first air-coupled antenna 11-1 transmits electromagnetic waves according to the updated transmission power.

[0075] Here, because the first air-coupled antenna 11-1 continuously collects electromagnetic wave reflection data in different areas or at different times in the same area according to the corresponding working mode, the data processing module 13 continuously updates the signal-to-noise ratio. Therefore, the control module 12 can also continuously update the transmission power of the first air-coupled antenna 11-1 according to the updated signal-to-noise ratio, thereby ensuring that the transmission power of the first air-coupled antenna 11-1 can adapt to its corresponding detection area, thereby improving the detection accuracy of the tunnel lining detection device.

[0076] The following is an example of a specific embodiment to introduce the process of processing electromagnetic wave reflection data by the lining detection device of the present invention. In this example, the vehicle-mounted rapid detection mode requires a detection speed of no less than 80 km / h, and the sampling rate of the acquisition system is adaptively matched with the track spacing, which can be used for full-section high-speed railway and ordinary railway single-track and double-track tunnel lining detection. In the specific background removal process, a suitable background removal method can be selected in combination with the characteristics of the collected electromagnetic wave reflection data, such as Figure 3 FIG. 1 is a cross-sectional schematic diagram of electromagnetic wave reflection data after removing DC and background provided in an embodiment of the present invention, wherein the background is removed by a global background removal method. Figure 3 Without performing singular decomposition and focusing processing, four features of the contact network can be seen. Figure 4 Another cross-sectional schematic diagram of electromagnetic wave reflection data after DC and background removal provided in an embodiment of the present invention, wherein background removal is performed by using an average background removal method. Figure 4 Without singular decomposition and focusing, we can see four features of the contact network. Figure 4The selected background removal method is more suitable for the electromagnetic wave reflection data in this example, and the obtained image information is clearer and more intuitive.

[0077] like Figure 5 As shown in FIG. 1 , a cross-sectional schematic diagram of electromagnetic wave reflection data after DC removal, background removal, and singular decomposition processing is performed in an embodiment of the present invention, wherein P=2, Q=0, P is the eigenvalue calculated at the beginning in the SVD (singular decomposition) algorithm, and Q is the number of eigenvalues ​​discarded at the tail in the SVD, as shown in FIG. Figure 6 As shown in FIG. 1 , another cross-sectional schematic diagram of electromagnetic wave reflection data after DC removal, background removal, and singular decomposition processing is performed in an embodiment of the present invention, wherein P=2, Q=5, P is the eigenvalue calculated at the beginning of the SVD algorithm, and Q is the number of eigenvalues ​​discarded at the tail in the SVD algorithm, as shown in FIG. Figure 7 As shown in FIG. 1 , it is another cross-sectional schematic diagram of electromagnetic wave reflection data after DC removal, background removal, and singular decomposition processing provided in an embodiment of the present invention, wherein P=3, Q=0, P is the eigenvalue calculated at the beginning of the SVD algorithm, Q is the number of eigenvalues ​​discarded at the tail in the SVD, and Figure 5 , Figure 6 , Figure 7 It can be seen that the surface reflection is at P = 2, which is the situation when the direct wave in the tunnel is close to the surface. If they are superimposed on each other, it will be different, and the parameter setting will also need to be changed. As for the Q value, it actually has little effect.

[0078] like Figure 8 As shown in FIG. 1 , a schematic diagram of superimposing a single-channel wave after removing the DC and background of electromagnetic wave reflection data provided by an embodiment of the present invention, wherein the background removal method is average background removal; Fig. 9 FIG. 1 is a schematic diagram of a single-channel wave superposition after the electromagnetic wave reflection data is processed by removing the DC, removing the background, and decomposing the singularity, provided by an embodiment of the present invention, wherein P=2; Fig.10 FIG. 1 is another schematic diagram of superposition of single-channel waves after removing DC, background and singular decomposition of electromagnetic wave reflection data provided by an embodiment of the present invention, wherein P=3. Figure 8 , Fig. 9 , Fig.10 It can be seen that there is basically no difference in energy between the case of only averaging background removal and the case of P=2 in the singular decomposition process, which shows that their effects on this data are consistent.

[0079] like Fig.11 FIG. 1 is a cross-sectional schematic diagram of an electromagnetic wave reflection data after only focusing algorithm processing provided by an embodiment of the present invention. The boundary is removed in this figure, and only point-shaped anomalies can be observed in the figure, and the hyperbola has been focused. Fig.12FIG. 1 is a cross-sectional schematic diagram of electromagnetic wave reflection data after removing DC and background according to an embodiment of the present invention, as shown in FIG. Fig.13 , Fig.14 FIG. 1 is a cross-sectional schematic diagram of electromagnetic wave reflection data after DC removal, background removal, singular decomposition processing, and focusing algorithm processing provided by an embodiment of the invention, wherein: Fig.13 In SVD, P=2, Fig.14 In SVD, P=3, according to Fig.11 , Fig.12 , Fig.13 , Fig.14 It can be seen that after the SAFT processing (focusing algorithm), the background removal operation is performed, the interference is significantly reduced, and the abnormality is revealed more clearly. The SVD algorithm preferably recommends P = 2, 3. When P = 2, the effect is almost the same as the global background removal, and there is no difference; when P = 3, the surface signal is suppressed. However, the number of channels selected based on the image principle of SVD cannot be too small.

[0080] like Fig.15 As shown in FIG. 1 , a cross-sectional example diagram of ground-coupled geological radar detection data provided by an embodiment of the present invention is shown in FIG. Fig.16 The embodiment of the present invention provides a Fig.15 Example of the profile of the air-coupled geological radar detection data corresponding to the ground-coupled geological radar detection data. Fig.15 , Fig.16 It can be seen that the on-site vehicle detection system can receive far-field lining reflection echoes under the test conditions of 3.8m distance of the air-coupled geological radar antenna and 10cm distance of the ground-coupled geological radar antenna, and the radar wavelet signal is good. The air-coupled antenna can clearly and qualitatively find the suspected signals of significant defects in the shallow layer (within 15cm) inside the lining and the lining interface reflection is more obvious, which successfully confirms that the tunnel lining detection device of this application can accurately and efficiently detect lining anomalies, improve lining detection efficiency, and is suitable for large-scale qualitative detection scenarios.

[0081] In order to better understand the processing principle of the tunnel lining detection device of the present application, a complete implementation example is provided below for illustration. Fig.17 As shown, it is an implementation process diagram of a tunnel lining detection device provided by an embodiment of the present invention, including:

[0082] The control module determines a first air-coupled antenna to be turned on from a plurality of air-coupled antennas according to the type of the tunnel to be detected, and notifies the first air-coupled antenna to detect the distance between it and the lining;

[0083] The first air-coupled antenna uses its own rangefinder to measure the distance between it and the lining, and sends the measured distance to the control module (if displacement occurs, the distance is re-measured and the newly measured distance is sent to the control module);

[0084] The control module initially determines the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; and sends the transmission power and the working mode to the first air-coupled antenna.

[0085] The first air-coupled antenna receives the transmission power and the working mode sent by the control module; transmits electromagnetic waves according to the transmission power, collects electromagnetic wave reflection data according to the working mode, and sends the collected electromagnetic wave reflection data to the data processing module;

[0086] The data processing module receives the electromagnetic wave reflection data sent by the first air-coupled antenna; performs DC removal, background removal, focusing algorithm processing, singular decomposition processing, vertical bandpass filtering, horizontal low-pass filtering, gradient operation, horizontal high-pass filtering, frequency wavenumber domain filtering, and signal amplification on the electromagnetic wave reflection data to obtain the signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio, and the data processing module sends the signal-to-noise ratio to the control module;

[0087] When receiving the signal-to-noise ratio sent by the data processing module, the control module updates the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; and sends the new transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna, so that the first air-coupled antenna transmits electromagnetic waves according to the new transmission power and collects electromagnetic wave reflection data according to the working mode.

[0088] The present invention also provides a tunnel lining detection method, as described in the following embodiments. Since the principle of solving the problem by this method is similar to that of the tunnel lining detection device, the implementation of this method can refer to the implementation of the tunnel lining detection device, and the repeated parts will not be repeated.

[0089] like Fig.18 FIG. 1 is a flow chart of a tunnel lining detection method provided by an embodiment of the present invention, comprising:

[0090] S181: The control module determines the first air-coupled antenna to be turned on from multiple air-coupled antennas according to the type of the tunnel to be detected; initially determines the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; upon receiving the signal-to-noise ratio sent by the data processing module, updates the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; after each transmission power is determined, sends the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna, so that the first air-coupled antenna transmits electromagnetic waves according to the transmission power and collects electromagnetic wave reflection data according to the working mode; wherein the number of the first air-coupled antennas includes at least one, and the working modes include: time-triggered collection or displacement-triggered collection;

[0091] S182: A data processing module receives the electromagnetic wave reflection data sent by the first air-coupled antenna; performs DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain a signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio; wherein, the focusing algorithm processing and the singular decomposition processing are performed in no particular order; and the signal-to-noise ratio of the electromagnetic wave reflection data is sent to the control module, so that the control module can update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio.

[0092] In a possible implementation manner, the type of the tunnel to be inspected includes at least one of the following: a single-line tunnel, a double-line tunnel, and cross-section tunnels of different levels.

[0093] In a possible implementation, the further includes: the control module sending a distance acquisition request to the first air-coupled antenna; and receiving the distance between the first air-coupled antenna and the lining fed back by the first air-coupled antenna according to the distance acquisition request.

[0094] In a possible implementation, it also includes: a control module receiving a newly measured distance between the first air-coupled antenna and the lining sent when the first air-coupled antenna is displaced; if it is still in the initial stage where the signal-to-noise ratio sent by the data processing module is not received, then updating the transmission power of the first air-coupled antenna according to the newly measured distance between the first air-coupled antenna and the lining; if the signal-to-noise ratio sent by the data processing module is received, then updating the transmission power of the first air-coupled antenna according to the newly measured distance between the first air-coupled antenna and the lining and the signal-to-noise ratio; and sending the updated transmission power to the first air-coupled antenna so that the first air-coupled antenna transmits electromagnetic waves according to the updated transmission power.

[0095] In one possible implementation, the data processing module performs focusing algorithm processing on the electromagnetic wave reflection data after removing DC and background, including: the data processing module uses Kirchhoff offset to process the electromagnetic wave reflection data after removing DC and background; executes the focusing algorithm on the electromagnetic wave reflection data after Kirchhoff offset processing, and performs singular decomposition processing on the electromagnetic wave reflection data after executing the focusing algorithm; or, the data processing module performs focusing algorithm processing on the electromagnetic wave reflection data after removing DC, background, and singular decomposition processing, including: uses Kirchhoff offset to process the electromagnetic wave reflection data after removing DC, background, and singular decomposition processing; executes the focusing algorithm on the electromagnetic wave reflection data after Kirchhoff offset processing.

[0096] In a possible implementation, a data processing module performs singular decomposition processing on electromagnetic wave reflection data after removing DC and background, including: the data processing module determines a first true color image with the largest covariance with the first image of the electromagnetic wave reflection data after removing DC and background, and a second true color image with the smallest covariance with the first image; performs singular decomposition on the first true color image and the second true color image to obtain a first diagonal matrix of the first true color image and a second diagonal matrix of the second true color image, uses the positive terms in the first diagonal matrix as the first singular values ​​of the first true color image, and uses the positive terms in the second diagonal matrix as the first singular values ​​of the second true color image. The positive terms in the matrix are used as the second singular values ​​of the second true color image; according to the first singular value, the frequency domain matrix of the first true color image is subjected to high-pass filtering to obtain the first true color image with horizontal reflection removed; according to the second singular value, the frequency domain matrix of the second true color image is subjected to low-pass filtering to obtain the second true color image with suppressed noise; the first true color image with horizontal reflection removed is dot-producted with the second true color image with suppressed noise to obtain an image after singular decomposition of the first image, the image after singular decomposition contains the signal-to-noise ratio of the electromagnetic wave reflection data, and the image after singular decomposition is subjected to Focusing algorithm processing; or, the data processing module performs singular decomposition processing on the electromagnetic wave reflection data after the DC removal, background removal and focusing algorithm processing, including: the data processing module determines the third true color image with the largest covariance with the second image of the electromagnetic wave reflection data after the DC removal, background removal and focusing algorithm processing, and the fourth true color image with the smallest covariance with the second image; singular decomposition is performed on the third true color image and the fourth true color image to obtain the third diagonal matrix of the third true color image and the fourth diagonal matrix of the fourth true color image, and the positive items in the third diagonal matrix are used as the third true color image. The third singular value of the image is obtained, and the positive terms in the fourth diagonal matrix are used as the fourth singular values ​​of the fourth true color image; according to the third singular value, the frequency domain matrix of the third true color image is high-pass filtered to obtain the third true color image with horizontal reflection removed, and the frequency domain matrix of the fourth true color image is low-pass filtered according to the fourth singular value to obtain the fourth true color image with noise suppressed; the third true color image with horizontal reflection removed is dot-producted with the fourth true color image with noise suppressed to obtain an image after singular decomposition processing of the second image, and the image after singular decomposition processing contains the signal-to-noise ratio of electromagnetic wave reflection data.

[0097] In one possible implementation, the data processing module performs DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain the signal-to-noise ratio of the electromagnetic wave reflection data, including: after the data processing module performs DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data, it performs vertical bandpass filtering, horizontal low-pass filtering, gradient operation, horizontal high-pass filtering, frequency wavenumber domain filtering, and signal amplification to obtain the signal-to-noise ratio of the electromagnetic wave reflection data.

[0098] An embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned tunnel lining detection method when executing the computer program.

[0099] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned tunnel lining detection method is implemented.

[0100] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned tunnel lining detection method is implemented.

[0101] In an embodiment of the present invention, a tunnel lining detection device includes: a plurality of air-coupled antennas, a control module, and a data processing module; the control module is used to determine a first air-coupled antenna to be turned on from the plurality of air-coupled antennas according to the type of the tunnel to be detected; initially determine the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; when receiving the signal-to-noise ratio sent by the data processing module, update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; after each transmission power is determined, send the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna; wherein the number of the first air-coupled antennas includes at least one; the first air-coupled antenna is used to receive the control module The method comprises the following steps: determining the transmission power and the working mode of the block; transmitting electromagnetic waves according to the transmission power, and collecting electromagnetic wave reflection data according to the working mode; wherein the working mode includes: time-triggered collection or displacement-triggered collection; sending the electromagnetic wave reflection data to the data processing module; the data processing module is used to receive the electromagnetic wave reflection data sent by the first air-coupled antenna; performing DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain the signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio; wherein the focusing algorithm processing and the singular decomposition processing are in no order; sending the signal-to-noise ratio of the electromagnetic wave reflection data to the control module, so that the control module can update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio. In this way, the use of air-coupled antennas can realize the long-distance measurement of defects on the lining surface, facilitate the rapid movement of the inspection vehicle, and reduce the requirements for the intelligence of the inspection vehicle. In addition, the data processing module can effectively remove the influence of horizontal reflection and system noise by performing focusing algorithm processing and singular decomposition processing on the electromagnetic wave reflection data, generate a clearer signal-to-noise ratio image, accurately highlight the obvious shallow lining defects, and improve the measurement efficiency of defects on the lining surface.

[0102] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0106] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tunnel lining detection device, characterized in that: include: Multiple air-coupled antennas, a control module, and a data processing module; The control module is used to determine a first air-coupled antenna to be turned on from a plurality of air-coupled antennas according to the type of the tunnel to be detected; initially determine the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; upon receiving the signal-to-noise ratio sent by the data processing module, update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; after each transmission power is determined, send the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna; wherein the number of the first air-coupled antennas includes at least one; The first air-coupled antenna is used to receive the transmission power and the working mode sent by the control module; transmit electromagnetic waves according to the transmission power, and collect electromagnetic wave reflection data according to the working mode; wherein the working mode includes: time-triggered collection or displacement-triggered collection; and send the electromagnetic wave reflection data to the data processing module; The data processing module is used to receive the electromagnetic wave reflection data sent by the first air-coupled antenna; perform DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain a signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio; wherein the focusing algorithm processing and the singular decomposition processing are in no particular order; and send the signal-to-noise ratio of the electromagnetic wave reflection data to the control module, so that the control module can update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio; Wherein, each air-coupled antenna is provided with a rangefinder.

2. The tunnel lining detection device according to claim 1, characterized in that: The type of tunnel to be inspected includes at least one of the following: a single-line tunnel, a double-line tunnel, and cross-section tunnels of different levels.

3. The tunnel lining detection device according to claim 1, characterized in that: The control module is further used to send a distance acquisition request to the first air-coupled antenna, and receive the distance between the first air-coupled antenna and the lining fed back by the first air-coupled antenna according to the distance acquisition request; The first air-coupled antenna is also used to measure the distance between the first air-coupled antenna and the lining using a rangefinder when receiving a distance acquisition request sent by the control module; and send the distance between the first air-coupled antenna and the lining to the control module.

4. The tunnel lining detection device according to claim 3, characterized in that: The first air-coupled antenna is further used to re-detect the distance between the first air-coupled antenna and the lining using the rangefinder when the first air-coupled antenna is displaced, and send the newly measured distance between the first air-coupled antenna and the lining to the control module; receive the updated transmission power sent by the control module; and transmit electromagnetic waves according to the updated transmission power; The control module is specifically used to receive the newly measured distance between the first air-coupled antenna and the lining sent by the first air-coupled antenna; if it is still in the initial stage where the signal-to-noise ratio sent by the data processing module is not received, then update the transmission power of the first air-coupled antenna according to the newly measured distance between the first air-coupled antenna and the lining; if the signal-to-noise ratio sent by the data processing module is received, then update the transmission power of the first air-coupled antenna according to the newly measured distance between the first air-coupled antenna and the lining and the signal-to-noise ratio; and send the updated transmission power to the first air-coupled antenna.

5. The tunnel lining detection device according to claim 1, characterized in that: The data processing module is specifically used to process the electromagnetic wave reflection data after removing the DC and background by using Kirchhoff migration; execute the focusing algorithm on the electromagnetic wave reflection data after the Kirchhoff migration processing, and perform singular decomposition processing on the electromagnetic wave reflection data after the focusing algorithm is executed; Alternatively, Kirchhoff migration is used to process electromagnetic wave reflection data after DC removal, background removal, and singular decomposition processing; A focusing algorithm is executed on the electromagnetic wave reflection data processed by Kirchhoff migration.

6. The tunnel lining detection device according to claim 1, characterized in that: The data processing module is specifically used to determine a first true color image with the largest covariance with the first image of electromagnetic wave reflection data after DC and background removal, and a second true color image with the smallest covariance with the first image; perform singular decomposition on the first true color image and the second true color image to obtain a first diagonal matrix of the first true color image and a second diagonal matrix of the second true color image, and use the positive item values ​​in the first diagonal matrix as the first singular values ​​of the first true color image, and use the positive item values ​​in the second diagonal matrix as the second singular values ​​of the second true color image; According to the first singular value, the frequency domain matrix of the first true color image is subjected to high-pass filtering to obtain the first true color image with horizontal reflection removed, and the frequency domain matrix of the second true color image is subjected to low-pass filtering to obtain the second true color image with noise suppressed according to the second singular value; the first true color image with horizontal reflection removed is subjected to dot product with the second true color image with noise suppressed to obtain an image after singular decomposition processing of the first image, the image after singular decomposition processing contains the signal-to-noise ratio of electromagnetic wave reflection data, and the image after singular decomposition processing is subjected to focusing algorithm processing; Alternatively, determine a third true color image having the largest covariance with the second image of the electromagnetic wave reflection data processed by the DC removal, background removal, and focusing algorithm, and a fourth true color image having the smallest covariance with the second image; perform singular decomposition on the third true color image and the fourth true color image to obtain a third diagonal matrix of the third true color image and a fourth diagonal matrix of the fourth true color image, use the positive terms in the third diagonal matrix as the third singular values ​​of the third true color image, and use the positive terms in the fourth diagonal matrix as the fourth singular values ​​of the fourth true color image; According to the third singular value, the frequency domain matrix of the third true color image is high-pass filtered to obtain the third true color image with horizontal reflection removed, and according to the fourth singular value, the frequency domain matrix of the fourth true color image is low-pass filtered to obtain the fourth true color image with noise suppressed; the third true color image with horizontal reflection removed is dot-producted with the fourth true color image with noise suppressed to obtain an image after singular decomposition processing of the second image, and the image after singular decomposition processing contains the signal-to-noise ratio of electromagnetic wave reflection data.

7. The tunnel lining detection device according to claim 1, characterized in that: The data processing module is specifically used to remove DC, remove background, perform focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data, and then perform vertical bandpass filtering, horizontal low-pass filtering, gradient calculation, horizontal high-pass filtering, frequency wavenumber domain filtering, and signal amplification to obtain the signal-to-noise ratio of the electromagnetic wave reflection data.

8. The tunnel lining detection device according to claim 1, characterized in that: Also includes: Portal frame; The portal frame is arranged on a detection vehicle capable of traveling in a tunnel, wherein air-coupled antennas are arranged on the portal frame around the portal frame in a ring array.

9. The tunnel lining detection device according to claim 1, characterized in that: The polarization angle of the horn of the air-coupled antenna is adjusted within a preset angle range.

10. The tunnel lining detection device according to claim 1, characterized in that: An LED lamp is provided in the air-coupled antenna, wherein an air-coupled antenna logo is provided in the wick of the LED lamp, and the illumination range of the LED lamp corresponds to the detection area range of the air-coupled antenna, so that the staff can adjust the position of the air-coupled antenna according to the illumination range of the LED of the air-coupled antenna.

11. A tunnel lining detection method, characterized in that: The tunnel lining detection device according to any one of claims 1 to 10 comprises: The control module determines a first air-coupled antenna to be turned on from a plurality of air-coupled antennas according to the type of the tunnel to be detected; initially determines the transmission power of the first air-coupled antenna according to the distance between the first air-coupled antenna and the lining; upon receiving the signal-to-noise ratio sent by the data processing module, updates the transmission power of the first air-coupled antenna according to the signal-to-noise ratio and the distance between the first air-coupled antenna and the lining; after each transmission power is determined, sends the transmission power and the working mode of the first air-coupled antenna to the first air-coupled antenna, so that the first air-coupled antenna transmits electromagnetic waves according to the transmission power and collects electromagnetic wave reflection data according to the working mode; wherein the number of the first air-coupled antennas includes at least one, and the working modes include: time-triggered collection or displacement-triggered collection; The data processing module receives the electromagnetic wave reflection data sent by the first air-coupled antenna; performs DC removal, background removal, focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain a signal-to-noise ratio of the electromagnetic wave reflection data, so that the staff can determine whether there is an abnormality in the lining detection area corresponding to the first air-coupled antenna according to the signal-to-noise ratio; wherein the focusing algorithm processing and the singular decomposition processing are performed in no particular order; and sends the signal-to-noise ratio of the electromagnetic wave reflection data to the control module, so that the control module can update the transmission power of the first air-coupled antenna according to the signal-to-noise ratio.

12. The tunnel lining detection method according to claim 11, characterized in that: The type of tunnel to be inspected includes at least one of the following: a single-line tunnel, a double-line tunnel, and cross-section tunnels of different levels.

13. The tunnel lining detection method according to claim 11, characterized in that: Also includes: The control module sends a distance acquisition request to the first air-coupled antenna; The distance between the first air-coupled antenna and the lining fed back by the first air-coupled antenna according to the distance acquisition request is received.

14. The tunnel lining detection method according to claim 13, characterized in that: Also includes: The control module receives the newly measured distance between the first air-coupled antenna and the lining sent when the first air-coupled antenna is displaced; If it is still in the initial stage where the signal-to-noise ratio sent by the data processing module has not been received, the transmission power of the first air-coupled antenna is updated according to the newly measured distance between the first air-coupled antenna and the lining; if the signal-to-noise ratio sent by the data processing module is received, the transmission power of the first air-coupled antenna is updated according to the newly measured distance between the first air-coupled antenna and the lining and the signal-to-noise ratio; the updated transmission power is sent to the first air-coupled antenna so that the first air-coupled antenna transmits electromagnetic waves according to the updated transmission power.

15. The tunnel lining detection method according to claim 11, characterized in that: The data processing module performs focusing algorithm processing on the electromagnetic wave reflection data after removing DC and background, including: The data processing module processes the electromagnetic wave reflection data after removing the direct current and the background by using Kirchhoff migration; executes a focusing algorithm on the electromagnetic wave reflection data after the processing by using Kirchhoff migration, and performs singular decomposition processing on the electromagnetic wave reflection data after the execution of the focusing algorithm; Alternatively, the data processing module performs focusing algorithm processing on the electromagnetic wave reflection data after the DC removal, background removal and singular decomposition processing, including: Kirchhoff migration is used to process the electromagnetic wave reflection data after DC removal, background removal and singular decomposition processing; and a focusing algorithm is executed on the electromagnetic wave reflection data after Kirchhoff migration processing.

16. The tunnel lining detection method according to claim 11, characterized in that: The data processing module performs singular decomposition processing on the electromagnetic wave reflection data after removing DC and background, including: The data processing module determines the first true color image with the largest covariance with the first image of the electromagnetic wave reflection data after the DC and background are removed, and the second true color image with the smallest covariance with the first image; performs singular decomposition on the first true color image and the second true color image to obtain the first diagonal matrix of the first true color image and the second diagonal matrix of the second true color image, and uses the positive terms in the first diagonal matrix as the first singular values ​​of the first true color image, and uses the positive terms in the second diagonal matrix as the second singular values ​​of the second true color image; performs high-pass filtering on the frequency domain matrix of the first true color image according to the first singular value to obtain the first true color image with horizontal reflection removed, and performs low-pass filtering on the frequency domain matrix of the second true color image according to the second singular value to obtain the second true color image with suppressed noise; performs dot product between the first true color image with horizontal reflection removed and the second true color image with suppressed noise to obtain an image after singular decomposition processing of the first image, the image after singular decomposition processing contains the signal-to-noise ratio of the electromagnetic wave reflection data, and performs focusing algorithm processing on the image after singular decomposition processing; Alternatively, the data processing module performs singular decomposition processing on the electromagnetic wave reflection data after the DC removal, background removal and focusing algorithm processing, including: The data processing module determines the third true color image with the largest covariance with the second image of the electromagnetic wave reflection data processed by the DC removal, background removal and focusing algorithm, and the fourth true color image with the smallest covariance with the second image; performs singular decomposition on the third true color image and the fourth true color image to obtain the third diagonal matrix of the third true color image and the fourth diagonal matrix of the fourth true color image, and uses the positive terms in the third diagonal matrix as the third singular values ​​of the third true color image, and uses the positive terms in the fourth diagonal matrix as the fourth singular values ​​of the fourth true color image; performs high-pass filtering on the frequency domain matrix of the third true color image according to the third singular value to obtain the third true color image with horizontal reflection removed, and performs low-pass filtering on the frequency domain matrix of the fourth true color image according to the fourth singular value to obtain the fourth true color image with noise suppressed; performs dot product between the third true color image with horizontal reflection removed and the fourth true color image with noise suppressed to obtain the image after the second image is subjected to singular decomposition processing, and the image after the singular decomposition processing contains the signal-to-noise ratio of the electromagnetic wave reflection data.

17. The tunnel lining detection method according to claim 11, characterized in that: The data processing module removes DC, background, performs focusing algorithm processing, and singular decomposition processing on the electromagnetic wave reflection data to obtain the signal-to-noise ratio of the electromagnetic wave reflection data, including: The data processing module removes DC, removes background, performs focusing algorithm processing, and singular decomposition on the electromagnetic wave reflection data, and then performs vertical bandpass filtering, horizontal low-pass filtering, gradient calculation, horizontal high-pass filtering, frequency wavenumber domain filtering, and signal amplification to obtain the signal-to-noise ratio of the electromagnetic wave reflection data.

18. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 11 to 17 is implemented.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 11 to 17 is implemented.

20. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 11 to 17 is implemented.

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