Tunnel mobile air-coupled ground penetrating radar obstacle avoidance device and method

Abstract

The application discloses a tunnel mobile air-coupled ground penetrating radar obstacle avoidance device and method, a second distance is obtained; the second distance is the distance between the second installation position on the mechanical arm and the predetermined position on the inner wall of the tunnel to be detected, the air-coupled ground penetrating radar is installed on the mechanical arm, and the predetermined position is located on the inner wall of the tunnel to be detected in the advancing direction of the mechanical arm; when the second distance is less than a second distance threshold value and the distance between the air-coupled ground penetrating radar and the inner wall of the tunnel to be detected is less than or equal to the thickness of the obstacle, a contraction control instruction is sent to the mechanical arm to make the mechanical arm contract in length; by detecting the distance between the second installation position on the mechanical arm and the predetermined position on the inner wall of the tunnel, whether there is an obstacle on the inner wall of the tunnel can be judged, so that the mechanical arm can be controlled to contract when there is an obstacle, so that the air-coupled ground penetrating radar and the obstacle are prevented from colliding during detection, the workload of the detection personnel is reduced, and the collision risk is reduced.

Description

Technical Field

[0001] This invention belongs to the field of tunnel and underground engineering detection technology, and particularly relates to a mobile air-coupled ground-penetrating radar obstacle avoidance device and method in tunnels. Background Technology

[0002] With rapid economic development, the scale of railway, highway, and urban rail transit construction projects has been increasing year by year. Due to differences in construction dates, standards, and uncertainties in construction quality, operating tunnels suffer from various types of defects and problems. Some defects are hidden and sudden, such as internal cavities, voids, and insufficient thickness, which seriously affect the safe operation of tunnels. Therefore, effective inspection of tunnel structures is crucial.

[0003] Currently, ground-coupled ground-penetrating radar (GPR) equipment is a commonly used device for detecting tunnel structural defects. It can quickly and accurately detect and identify tunnel structural defects and has been widely applied. However, this equipment requires the radar antenna to be in close contact with the tunnel lining surface for detection, resulting in problems such as low detection efficiency and high safety risks.

[0004] The air-coupled ground-penetrating radar antenna can be mounted on the end of the robotic arm of a tunnel mobile inspection vehicle. Its advantage lies in the ability to perform long-distance, non-contact, and efficient inspection operations based on mobile devices, and to obtain data on structural defects inside the tunnel.

[0005] However, because the air-coupled ground-penetrating radar is mounted on the end of the robotic arm of the tunnel mobile inspection vehicle, it is prone to collisions when there are obstacles on the tunnel surface. Therefore, the inspection personnel need to observe in real time whether there are obstacles in front of the tunnel mobile inspection vehicle, and when obstacles appear, the inspection personnel also need to operate the robotic arm to retract in real time to avoid the obstacles. Summary of the Invention

[0006] The purpose of this invention is to provide a mobile air-coupled ground-penetrating radar obstacle avoidance device and method for tunnels, which automatically identifies obstacles in front of the detection path during the detection process of the air-coupled ground-penetrating radar, thus ensuring the detection safety of the air-coupled ground-penetrating radar.

[0007] The present invention adopts the following technical solution: a method for obstacle avoidance of mobile air-coupled ground-penetrating radar in tunnels. The method is applied to the obstacle avoidance system of mobile air-coupled ground-penetrating radar in tunnels, which includes a first ranging sensor and a second ranging sensor.

[0008] Both the first and second ranging sensors are installed at the end of the robotic arm of the inspection vehicle and are both horizontally positioned. The measuring direction of the first ranging sensor is horizontal and parallel to the tunnel cross-section. The angle between the measuring direction of the second ranging sensor and the forward direction of the inspection vehicle is (90°-α), and the angle between the measuring direction of the second ranging sensor and the measuring direction of the first ranging sensor is α.

[0009] The method includes the following steps:

[0010] Obtain the second distance; the second distance is the distance between the second installation position on the robotic arm and the predetermined position on the inner wall of the tunnel to be inspected. The robotic arm is equipped with an air-coupled ground-penetrating radar, and the predetermined position is located on the inner wall of the tunnel to be inspected in the direction of the robotic arm's movement.

[0011] When the second distance is less than the second distance threshold and the distance between the air-coupled ground-penetrating radar and the inner wall of the tunnel to be detected is less than or equal to the thickness of the obstacle, a retraction control command is sent to the robotic arm to make the robotic arm retract its length.

[0012] The shrinkage control command includes the shrinkage length, which is calculated as follows:

[0013] H = h² * cosα + d₀

[0014] Where H is the contraction length, h2 is the second distance, α is the angle between the detection direction of the second distance and the tunnel cross-section, and d0 is the safe distance between the air-coupled ground-penetrating radar and the obstacle.

[0015] Furthermore, after sending the retraction control command to the robotic arm, the process also includes:

[0016] The forward distance of the inspection vehicle and the safe distance between the inspection vehicles are calculated based on the second distance during the retraction of the robotic arm.

[0017] When the forward distance is less than the safe distance between the inspection vehicle and the vehicle, a braking command is sent to the inspection vehicle.

[0018] The method for calculating the safe distance between inspection vehicles is as follows:

[0019]

[0020] Among them, D d To test the safe following distance between vehicles, v m v is the retraction speed of the robotic arm. c To detect the vehicle's speed, d1 is the buffer distance.

[0021] Furthermore, after sending the retraction control command to the robotic arm, the process also includes:

[0022] Obtain the first distance; the first distance is the distance between the first mounting position on the robotic arm and the inner wall of the tunnel to be inspected.

[0023] When the first distance is greater than the sum of the first distance threshold and the retracted length of the robotic arm, an extension control command is sent to the robotic arm.

[0024] Furthermore, in the forward direction of the testing vehicle, the first installation position is located behind the second installation position.

[0025] Furthermore, after sending the extension control command to the robotic arm, the process also includes:

[0026] When the first distance equals the first distance threshold, a stop extension control command is sent to the robotic arm.

[0027] Furthermore, the thickness of the obstacle is calculated using the following method:

[0028] Calculate the projected distances of the second distance and the second distance threshold on the tunnel cross section, and calculate the difference between them. Use the difference as the thickness of the obstacle.

[0029] Another technical solution of the present invention: a mobile air-coupled ground-penetrating radar obstacle avoidance device in a tunnel, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned mobile air-coupled ground-penetrating radar obstacle avoidance method in a tunnel.

[0030] Another technical solution of the present invention: a mobile air-coupled ground-penetrating radar obstacle avoidance system in a tunnel, comprising the above-mentioned mobile air-coupled ground-penetrating radar obstacle avoidance device in a tunnel, a first ranging sensor and a second ranging sensor.

[0031] Both the first and second ranging sensors are installed at the end of the robotic arm of the inspection vehicle and are both horizontally positioned.

[0032] The first ranging sensor measures in a horizontal direction and is parallel to the tunnel cross-section. The second ranging sensor measures at an angle of (90°-α) to the direction of travel of the inspection vehicle and at an angle of α to the measuring direction of the first ranging sensor.

[0033] The beneficial effects of the present invention are as follows: By detecting the distance between the second installation position on the robotic arm and the predetermined position on the inner wall of the tunnel, the present invention can determine whether there is an obstacle on the inner wall of the tunnel. When there is an obstacle, the robotic arm can be controlled to retract, so as to avoid the air-coupled ground penetrating radar from judging the obstacle during the detection process. At the same time, it reduces the workload of the detection personnel and reduces the risk of collision. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the robotic arm's environmental position in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram showing the installation positions of the first and second ranging sensors in an embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram of the braking safety distance of the detection vehicle in an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the initial state in an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the state before encountering an obstacle in an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the state during obstacle crossing in an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of another state during obstacle crossing in an embodiment of the present invention;

[0041] Figure 8 This is a schematic diagram of another state during obstacle crossing in an embodiment of the present invention;

[0042] Figure 9 This is a schematic diagram of another state during obstacle crossing in an embodiment of the present invention;

[0043] Figure 10 This is a schematic diagram of the state after obstacle removal in an embodiment of the present invention.

[0044] Among them: 10. Inspection vehicle; 20. Robotic arm; 30. Air-coupled ground-penetrating radar; 40. Tunnel wall; 50. First ranging sensor; 60. Second ranging sensor; 70. Obstacle. Detailed Implementation

[0045] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0046] In the field of tunnel internal structural defects detection, mobile equipment equipped with ground-penetrating radar is generally used to quickly and conveniently detect defects. These devices can detect defects, but ground-coupled ground-penetrating radar antennas are close to the tunnel lining surface for detection, resulting in low detection efficiency and high safety risks. Air-coupled ground-penetrating radar lacks obstacle warning and avoidance functions, but obstacle observation and avoidance are heavily reliant on manual labor.

[0047] Tunnel inspection vehicles are rapidly developing in the field. For example, the TDV-H2000 intelligent tunnel inspection vehicle developed by Shanghai Tongyan Civil Engineering Technology Co., Ltd. is an integrated vehicle-mounted tunnel rapid inspection system using a chassis as a platform and equipped with various high-precision measuring devices. It can continuously, dynamically, and comprehensively collect tunnel defects and profile information for regular tunnel inspections. Tongji University developed an integrated inspection vehicle for tunnel lining defects in mountainous areas in 2012, including CCD line array cameras, infrared cameras, and ground-penetrating radar, which can simultaneously detect cracks, water leakage, and cavities. Wuhan Wuda Zhuoyue Technology Co., Ltd.'s ZOYON-TFS tunnel rapid inspection system uses a medium-sized truck as a platform, installing multiple precision sensors on it. It can complete comprehensive data collection on tunnel appearance quality in a single pass using non-destructive testing methods.

[0048] However, air-coupled ground-penetrating radars (GPRs) mounted on mobile devices cannot autonomously retract when encountering obstacles, requiring manual operation of a robotic arm to control the radar's spatial position and avoid obstacles. To address the problem of GPRs mounted on mobile tunnel equipment being unable to autonomously detect and intelligently avoid obstacles, this invention proposes a mobile GPR obstacle avoidance device and method for tunnels. This device can be used for autonomous obstacle warning and avoidance during mobile tunnel detection, preventing equipment damage and reducing safety risks.

[0049] To facilitate understanding of this invention, its application scenarios will be introduced first. For example... Figure 1 The diagram shows an application scenario of the present invention. The inspection vehicle 10 moves forward in the direction of the arrow and performs structural inspection on the tunnel wall 40 by means of the air-coupled ground-penetrating radar 30 installed at the end of the robotic arm 20. The direction of the arrow is also the axial direction of the tunnel. This diagram only shows the inspection part of the right side wall of the tunnel and is only used for illustration.

[0050] Specifically, this invention discloses a method for obstacle avoidance using a mobile air-coupled ground-penetrating radar (GPR) system within a tunnel. This method is applied to a mobile GPR obstacle avoidance system within a tunnel, which includes a first ranging sensor and a second ranging sensor. Both the first and second ranging sensors are installed at the end of the robotic arm of a detection vehicle and are horizontally positioned. The measuring direction of the first ranging sensor is horizontal and parallel to the tunnel cross-section. The angle between the measuring direction of the second ranging sensor and the forward direction of the detection vehicle is (90°-α), and the angle between the measuring direction of the second ranging sensor and the measuring direction of the first ranging sensor is α.

[0051] The method includes the following steps: obtaining a second distance; the second distance is the distance between a second mounting position on the robotic arm and a predetermined position on the inner wall of the tunnel to be detected, the robotic arm is equipped with an air-coupled ground-penetrating radar, and the predetermined position is located on the inner wall of the tunnel to be detected in the direction of the robotic arm's movement; when the second distance is less than a second distance threshold and the distance between the air-coupled ground-penetrating radar and the inner wall of the tunnel to be detected is less than or equal to the thickness of the obstacle, a retraction control command is sent to the robotic arm to retract its length.

[0052] This invention can determine whether there are obstacles on the tunnel wall by detecting the distance between the second installation position on the robotic arm and a predetermined position on the tunnel wall. When there are obstacles, the robotic arm can be retracted to avoid the air-coupled ground-penetrating radar misjudging the obstacle during the detection process. This also reduces the workload of the detection personnel and lowers the risk of collision.

[0053] In one embodiment, when the second ranging sensor 60 detects a sudden change in distance data, it indicates that an obstacle has been encountered ahead. Based on the sensor values, a safe retraction distance H for the robotic arm is established, meaning the retraction control command includes the retraction length, which is calculated as follows:

[0054] H = h² * cosα + d₀

[0055] Where H is the contraction length, such as Figure 2 As shown, h2 is the second distance, α is the angle between the detection direction of the second distance and the tunnel cross-section, and d0 is the safe distance between the air-coupled ground-penetrating radar and the obstacle. By calculating the retraction length, the robotic arm can be easily controlled, and the time required for retraction can be obtained, thereby determining whether there is a risk of collision.

[0056] In one embodiment, the forward distance of the inspection vehicle and the safe distance between the inspection vehicles are calculated based on the second distance during the retraction of the robotic arm; when the forward distance is less than the safe distance between the inspection vehicles, a braking command is sent to the inspection vehicle.

[0057] Once the time required for retraction is calculated based on the retraction length, the distance the detection vehicle travels during this time can be calculated based on the vehicle speed, thus determining whether a collision will occur. As a specific implementation method, the calculation method for the safe distance between detection vehicles is as follows:

[0058]

[0059] Among them, D d To test the safe following distance between vehicles, v m v is the retraction speed of the robotic arm. c To detect the vehicle's speed, d1 represents the buffer distance. In this method, adding the buffer distance to the calculated length maximizes the safety of the robotic arm.

[0060] In addition, when the autonomously retracting robotic arm avoids obstacles, the braking constraints of the mobile device must be met, and the braking distance D of the mobile device must be established. s :

[0061]

[0062] Among them, a c The deceleration of the mobile device (i.e., the inspection vehicle) when avoiding obstacles; under braking conditions, the braking distance D of the mobile device equipped with ground-penetrating radar should be satisfied. s The requirements for the robotic arm to avoid obstacles must be met, and the minimum safe distance of the robotic arm must be guaranteed. Figure 3This demonstrates the safe braking distance of the mobile device. Since the braking of the inspection vehicle and the retraction of the robotic arm occur simultaneously, the braking time of the inspection vehicle and the retraction time of the robotic arm are consistent. Therefore, when the inspection vehicle decelerates and brakes, it is essential to ensure that the time taken for the distance traveled during braking (i.e., the braking distance) is sufficient for the robotic arm to retract back to the safe area. Figure 3 As shown, when obstacle 70 is detected, the braking distance D is... s It should be less than the distance between the current position of the detection vehicle 10 and the nearest obstacle 70.

[0063] The safety obstacle avoidance strategy establishes a safety distance D based on the established safety distance calculation method. d With D s Control the speed of mobile devices equipped with ground-penetrating radar to avoid obstacles in time.

[0064] In addition, continuous detection is required after the robotic arm retracts to facilitate timely tunnel inspection after passing obstacles. This process includes acquiring a first distance; the first distance is the distance between the first mounting position on the robotic arm and the inner wall of the tunnel to be inspected; when the first distance is greater than the sum of a first distance threshold and the retracted length of the robotic arm, an extension control command is sent to the robotic arm. Specifically, in the forward direction of the inspection vehicle, the first mounting position is located behind the second mounting position. In this embodiment of the invention, the first mounting position is used to install a first ranging sensor, and the second mounting position is used to install a second ranging sensor.

[0065] Next, it is necessary to control the robotic arm to stop extending and retracting. When the first distance is equal to the first distance threshold, a stop extension control command is sent to the robotic arm.

[0066] In one embodiment, the thickness of the obstacle is calculated by calculating the projected distances of the second distance and the second distance threshold on the tunnel cross section, respectively, and calculating the difference between the two, using the difference as the thickness of the obstacle.

[0067] In one embodiment, the first ranging sensor 50 and the second ranging sensor 60 are installed at an angle α to jointly detect the distance to the tunnel wall on the same horizontal plane. Figure 4 As shown in the figure, h0 is the installation distance between the first ranging sensor 50 and the second ranging sensor 60, h1 is the distance value fed back by the first ranging sensor 50, i.e., the first distance, h2 is the distance value fed back by the second ranging sensor 60, i.e., the second distance, and h is the vertical distance from the second ranging sensor 60 to the tunnel wall, h = h2 * cosα.

[0068] Firstly, during the obstacle detection phase, when inspecting the internal quality of the tunnel lining structure, the mobile device maintains a certain speed, the robotic arm remains extended, and the distance between the air-coupled ground-penetrating radar and the tunnel wall remains essentially constant. The presence of obstacles can be determined by comparing h with h0 + h1, and the extension distance of the robotic arm can be adjusted accordingly. If there are no obstacles on the tunnel wall, h1 and h2 remain essentially constant, then h = h0 + h1. At this point, the normal operating values ​​h of S1 (i.e., the first ranging sensor 50) and S2 (i.e., the second ranging sensor 60) can be set according to the detection range of the ground-penetrating radar. 10 and h 20 .

[0069] like Figure 5 As shown, if there is an obstacle on the tunnel wall ahead, then h2 < h 20 And h < h0 + h1. At this time, by calculating the difference h3 between h and h0 + h1, and comparing h3 with the distance h4 from the ground-penetrating radar to the tunnel wall, it can be determined whether the ground-penetrating radar will collide with the obstacle.

[0070] If h4 > h3, the detection radar is safe, and the robotic arm can maintain its extended position as the mobile device moves forward. If h4 ≤ h3, there is a risk of collision with the detection radar. In this case, the extension distance of the robotic arm needs to be adjusted in a timely manner according to the set safety distance to ensure that the radar is not collided with. After adjusting the extension distance of the robotic arm, the position of the obstacle during the movement of the mobile device is as follows: Figure 6 , 7 As shown in Figure 8.

[0071] During the obstacle-crossing phase, such as Figure 9 As shown, assuming the robotic arm has retracted to h5 during obstacle avoidance, the distance value h1 measured by S1 at this time is h5 = h5. 10 +h5. If h < h1 is consistently measured, it indicates that S2 is crossing an obstacle. After a period of time, if h = h1 and h1 = h 10 If h = h5, it means S2 has crossed the obstacle. After some time, if h = h5, then... 10 +h5 and h1 < h 10 +h5 indicates that S1 is crossing an obstacle.

[0072] like Figure 10 As shown, after continuing forward for a period of time, if it is measured that h = h1 and h1 = h 10 +h5 indicates that S1 has crossed the obstacle, and h6 is the distance between S1 and the edge of the radar. After the mobile device continues to move a distance greater than h6 (the distance already moved can be calculated from the speed and time), the radar has crossed the obstacle, and the robotic arm can be extended to the position where the radar is working normally.

[0073] This invention improves the efficiency of tunnel defect detection by detecting obstacles ahead of the tunnel in advance and autonomously contracting to avoid them. It also reduces the equipment's reliance on manual labor during operation and avoids equipment damage caused by failure to avoid obstacles in time during defect collection.

[0074] The present invention also discloses a mobile air-coupled ground-penetrating radar obstacle avoidance device in a tunnel, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned mobile air-coupled ground-penetrating radar obstacle avoidance method in a tunnel.

[0075] In another embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in the various method embodiments described above.

[0076] Another embodiment of the present invention provides a computer program product that, when run on a data storage device, enables the data storage device to implement the steps in the various method embodiments described above.

[0077] If the integrated unit module is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a storage device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0078] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0079] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0080] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / device and method can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0081] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0082] This invention also discloses a mobile air-coupled ground-penetrating radar obstacle avoidance system for tunnels, including the aforementioned mobile air-coupled ground-penetrating radar obstacle avoidance device for tunnels, a first ranging sensor 50, and a second ranging sensor 60; as shown Figure 2 As shown, the first ranging sensor 50 and the second ranging sensor 60 are both installed at the end of the robotic arm 20 of the inspection vehicle 10 and are both set horizontally; the measuring direction of the first ranging sensor 50 is horizontal and parallel to the tunnel cross section, and the angle between the measuring direction of the second ranging sensor 60 and the forward direction of the inspection vehicle 10 is (90°-α), and the angle between the measuring direction of the second ranging sensor 60 and the measuring direction of the first sensor 50 is α.

[0083] Specifically, the center line connecting the first ranging sensor 50 and the second ranging sensor 60 is parallel to the tunnel axis, which facilitates the calculation of various distances. The main function of the first ranging sensor 50 is to detect the distance between the ground-penetrating radar antenna and the inner wall of the tunnel, ensuring that this distance is within the detection range of the ground-penetrating radar antenna. The main function of the second ranging sensor 60 is to detect whether there are obstacles ahead. The first ranging sensor 50 and the second ranging sensor 60 are installed at a certain angle, allowing for advance detection of obstacles by judging changes in distance information fed back by the second ranging sensor 60. If an obstacle is found, the ground-penetrating radar needs to be autonomously retracted by adjusting the third section of the robotic arm to avoid damage to the ground-penetrating radar.

[0084] This invention enables a simple and rapid obstacle detection function for ground-penetrating radar equipment by adding two ranging sensors with an angle between them to the end of a robotic arm, and provides data support for the autonomous avoidance decision-making function.

[0085] Based on the ranging sensor, a safe distance model can be designed. Based on the safe distance model, an autonomous obstacle avoidance strategy for air-coupled ground-penetrating radar is designed. Finally, the autonomous obstacle avoidance function of the air-coupled ground-penetrating radar device mounted on the mobile device is realized, which solves the problem that the obstacle perception of the current device depends on human intervention and requires manual obstacle avoidance.

[0086] This invention uses two angled ranging sensors deployed at the end of a vehicle-mounted robotic arm to detect obstacles in front of the tunnel and the distance to the tunnel wall in advance. By analyzing changes in the ranging sensor data, it determines whether there are obstacles ahead, thus solving the problem that current ground-penetrating radars cannot detect obstacles in advance and rely on manual observation.

Claims

1. A method for avoiding obstacles by mobile air-coupled ground penetrating radar in a tunnel, characterized in that, The method is applied to a tunnel mobile air-coupled ground penetrating radar obstacle avoidance system, and the tunnel mobile air-coupled ground penetrating radar obstacle avoidance system comprises a first distance sensor and a second distance sensor. The first distance measuring sensor and the second distance measuring sensor are both mounted at the end of a mechanical arm of the detection vehicle and are both horizontally arranged; the measuring direction of the first distance measuring sensor is horizontal and parallel to the tunnel cross section, and the angle between the measuring direction of the second distance measuring sensor and the advancing direction of the detection vehicle is (90°- ), and the angle between the measuring direction of the second distance measuring sensor and the measuring direction of the first distance measuring sensor is . The method comprises the following steps: obtaining a second distance; the second distance is the distance between a second installation position on a mechanical arm and a predetermined position on the inner wall of the tunnel to be detected, an air-coupled ground penetrating radar is installed on the mechanical arm, and the predetermined position is located on the inner wall of the tunnel to be detected in the advancing direction of the mechanical arm; when the second distance is less than a second distance threshold and the distance between the air-coupled ground penetrating radar and the inner wall of the tunnel to be detected is less than or equal to the thickness of the obstacle, a contraction control instruction is sent to the mechanical arm to make the mechanical arm contract in length; the contraction control instruction comprises a contraction length, and the contraction length is calculated by the following method: ， wherein is the contraction length, is the second distance, is the angle between the direction of the second distance and the tunnel cross section, is the safety distance between the empty-coupled ground-penetrating radar and the obstacle.

2. The method of claim 1, wherein the method is a tunnel mobile air-coupled ground penetrating radar obstacle avoidance method. after the contraction control instruction is sent to the mechanical arm, the following steps are further included: the advancing distance of the detection vehicle and the safety distance of the detection vehicle in the contraction process of the mechanical arm are calculated according to the second distance; when the advancing distance is less than the safety distance of the detection vehicle, a brake instruction is sent to the detection vehicle; the safety distance of the detection vehicle is calculated by the following method: ， wherein, for detecting a safe distance of the vehicle, for a retraction speed of the robot arm, for detecting a driving speed of the vehicle, for a buffer distance.

3. The method of claim 2, wherein the method is a tunneling mobile air-coupled ground-penetrating radar obstacle avoidance method, characterized in that, after the contraction control instruction is sent to the mechanical arm, the following steps are further included: obtaining a first distance; the first distance is the distance between a first installation position on a mechanical arm and the inner wall of the tunnel to be detected; when the first distance is greater than the sum of a first distance threshold and the contraction length of the mechanical arm, an extension control instruction is sent to the mechanical arm.

4. The method of claim 3, wherein the method further comprises: In the advancing direction of the detection vehicle, the first installation position is located behind the second installation position.

5. A method for obstacle avoidance for a mobile tunnel-coupled ground-penetrating radar as claimed in claim 3 or 4, wherein, after the extension control instruction is sent to the mechanical arm, the following steps are further included: when the first distance is equal to the first distance threshold, a stop extension control instruction is sent to the mechanical arm.

6. The method of claim 5, wherein the method is a tunneling mobile air-coupled ground-penetrating radar obstacle avoidance method, characterized in that, The thickness of the obstacle is calculated by the following method: the projection distances of the second distance and the second distance threshold on the cross section of the tunnel are calculated respectively, and the difference between the two is taken as the thickness of the obstacle.

7. A tunnel mobile air-coupled ground penetrating radar obstacle avoidance device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, The processor executes the computer program to realize the tunnel mobile air-coupled ground penetrating radar obstacle avoidance method according to any one of claims 1 to 6.

8. A mobile air-coupled ground-penetrating radar obstacle avoidance system within a tunnel, characterized by, The tunnel mobile air-coupled ground penetrating radar obstacle avoidance device, the first distance sensor and the second distance sensor according to claim 7 are included. The first distance sensor and the second distance sensor are both installed at the end of the mechanical arm of the detection vehicle and are both arranged horizontally; The measurement direction of the first distance sensor is horizontal and parallel to the tunnel cross section, and the angle between the measurement direction of the second distance sensor and the advancing direction of the detection vehicle is (90°- ), and the angle between the measurement direction of the second distance sensor and the measurement direction of the first distance sensor is .

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