A device and method for correcting synchronization of a ground penetrating radar travel trajectory and a radar image

Abstract

The application discloses a device and method for correcting synchronization of a geological radar walking track and a radar image, and the method comprises the following steps: recording spatial coordinates of the geological radar walking in a tunnel secondary lining through a GPS and an inertial navigation system; then, an infrared laser measuring instrument measures the distance of a tunnel sidewall and a tunnel bottom; and finally, combining with the radar image interval at a tunnel paragraph construction joint, the radar image after the walking track of the geological radar in the tunnel space position is corrected in three aspects of spatial coordinates, distance measurement and image interval, so that the walking track of the geological radar and the radar data image are kept synchronous at all times. The application can accurately find the position of a tunnel concrete lining defect disease without repeatedly detecting and positioning the defect, the actually measured radar image data length is the same as the actual length of the tunnel, and the efficiency is improved while the safety of the tunnel engineering structure is ensured.

Description

Technical Field

[0001] This invention relates to the field of ground-penetrating radar (GPR) inspection of tunnel lining concrete, and particularly to a device and method for synchronizing the GPR travel trajectory with radar images. Background Technology

[0002] During the construction and completion of tunnel projects, it is necessary to inspect the quality of the tunnel lining concrete. Ground-penetrating radar (GPR) is an excellent method for detecting the quality of tunnel lining concrete, including the presence of reinforcing steel and defects such as voids within the lining concrete. However, when inspecting the quality of tunnel lining concrete, manual operation or other auxiliary tools are required to press the GPR antenna, and loaders or aerial work platforms are needed for access. This is necessary to inspect the lining concrete at the tunnel arch and the sides of the arch. When using GPR to inspect the tunnel arch and the sides of the arch, the loader often encounters obstacles or avoids certain structures along its path, preventing the GPR from detecting and obtaining image data. This can cause the total distance of the GPR's path for inspecting the tunnel lining concrete to become shorter or longer, resulting in serious deviations.

[0003] When manually lifting the ground-penetrating radar antenna to inspect the lining concrete of the tunnel arch, the fatigue caused by holding the antenna for a long time under high-altitude conditions can also lead to the ranging wheel spinning freely when using ground-penetrating radar to inspect the tunnel lining concrete, resulting in a large cumulative error in the final path of the ground-penetrating radar.

[0004] Tunnel engineering is generally a strip structure. Since electromechanical, lighting, fire protection and other equipment and facilities are often installed on the concrete lining of the tunnel, when using ground-penetrating radar to detect the quality of the tunnel lining concrete, the ranging wheel of the ground-penetrating radar needs to avoid these devices. The aforementioned testing methods and equipment are incomplete, which will introduce cumulative human error into the detection of the tunnel lining concrete quality. Under the influence of multiple factors, the ground-penetrating radar's walking trajectory and the detection data image cannot be kept in good consistency. As a result, the construction party and the contractor cannot accurately and quickly deal with the structural parts of the tunnel lining concrete with quality problems based on the detection data image.

[0005] In summary, when using ground-penetrating radar (GPR) to inspect the quality of tunnel lining concrete, several problems arise. First, the movement of loaders or aerial work platforms can deviate from their designated paths, causing manual adjustments to the antenna and resulting in further deviations in the GPR's trajectory. Second, the ranging wheels on the GPR may idle or stop due to operator fatigue or the need to avoid mechanical, lighting, and fire-fighting equipment within the tunnel. These issues lead to significant deviations in the GPR's trajectory and substantial cumulative errors in mileage. Because of these large cumulative errors, it becomes impossible to accurately match the GPR image data with the actual mileage markers on-site, thus failing to pinpoint the location of defects in the tunnel lining concrete. This significantly impacts the quality of the tunnel project.

[0006] Currently, there is no device or method capable of accurately recording and synchronizing the movement trajectory of a ground-penetrating radar (GPR) with radar data images. Existing technologies typically utilize the rangefinder wheel on the GPR to mark locations on a handheld computer using markers within the tunnel, aiming to accurately locate defects in the tunnel lining concrete. However, this method relies heavily on human intervention. Simply visually marking the GPR's mileage markers on the handheld computer results in a significant discrepancy between the GPR's movement trajectory and the actual location in the GPR data images, hindering the accurate location of defects in the tunnel lining concrete. Summary of the Invention

[0007] The present invention provides a device and method for synchronizing the walking trajectory of a ground-penetrating radar with radar images, thereby solving the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a device for correcting the walking trajectory of a ground-penetrating radar and a synchronous radar image, characterized in that it includes a ground-penetrating radar instrument and a handheld computer, wherein the handheld computer and the ground-penetrating radar instrument are connected according to a communication protocol; the ground-penetrating radar instrument includes a walking trajectory recording and correction module, a walking trajectory controller module, an infrared laser measurement unit, an image acquisition module, a wireless data transmission module, and a radar image preprocessing module;

[0009] The walking trajectory controller module is used to calculate the deviation between the walking trajectory and the radar image, and send the deviation information to the walking trajectory recording and correction module to adjust the walking trajectory of the ground radar.

[0010] The walking trajectory recording and correction module consists of a pressure sensor, a memory, a controller, and a processor. The pressure sensor is used to determine the fit between the ground-penetrating radar and the tunnel lining, as well as the walking trajectory. The memory is used to store the information processed by the processor. The controller is used to control the operation of the sensor and the memory. The processor is used to process the data information fed back from the image acquisition module, the infrared laser measurement unit, the walking trajectory controller module, and the walking trajectory recording and correction module.

[0011] The infrared laser measurement unit is used to emit infrared lasers to the tunnel sidewalls and bottom of the tunnel and then measure the distance between itself and the tunnel sidewalls and bottom. The measured distance data is fed back to the processor in real time. The processor processes and calculates the obtained measurement data and coordinate data, and displays the ground radar's walking trajectory in real time after processing and calculation.

[0012] The ground-penetrating radar instrument is equipped with a shielded antenna, which is used to generate electromagnetic wave signals to the tunnel concrete lining and transmit the detected ground-penetrating radar image data to a handheld computer.

[0013] The wireless data transmission module consists of a transmitter, a receiver, a signal processor, and an antenna. The antenna is not the same as the shielded antenna installed in the ground-penetrating radar. The transmitter is responsible for converting the data signal into a wireless signal, the receiver is responsible for receiving the wireless signal and converting it back into a data signal, the signal processor is responsible for processing the wireless signal to ensure that the transmitted data is accurate, and the antenna is responsible for transmitting and receiving wireless signals.

[0014] The data processing of the image preprocessing module includes image data gain, image data correction, and spatial coordinate position calculation.

[0015] Preferably, it also includes an attitude sensor, which is used to monitor the attitude of the ground-penetrating radar during mobile testing. The data from the attitude sensor is sent to the processor and then transmitted to the controller, which sends a feedback signal to the walking trajectory controller module.

[0016] Preferably, the detection antenna inside the ground-penetrating radar is a 900M shielded antenna.

[0017] A method for correcting the trajectory of a ground-penetrating radar (GPR) and synchronous radar images, applied to the aforementioned apparatus for correcting the trajectory of a GPR and synchronous radar images, is characterized by comprising the following steps:

[0018] S1: The signal transmitted by the GPS signal receiver installed at the tunnel entrance is received by the walking trajectory controller module to obtain the spatial position of the ground radar instrument inside the tunnel;

[0019] S2: When the ground-penetrating radar moves into the dark cave of the tunnel, it will automatically switch to the inertial navigation system when the GPS signal reception is poor. The position of the ground-penetrating radar is calculated by using the attitude sensor and the direction of travel of the ranging wheel. The walking trajectory is controlled in real time by the walking trajectory controller module to make up for the data that cannot be measured when the GPS signal is poor.

[0020] S3: The pressure sensor in the ground-penetrating radar provides real-time feedback on the adhesion between the ground-penetrating radar and the concrete surface of the tunnel lining. As it continues to advance into the depth of the tunnel, the ranging wheel in the ground-penetrating radar is continuously driven forward, generating pressure path data and radar image data. The data is then transmitted in real-time to a handheld computer for pressure path and radar data analysis via a wireless data transmission module.

[0021] S4: The ground-penetrating radar continuously moves deeper into the tunnel, constantly driving the ranging wheel on the ground-penetrating radar instrument. The infrared laser measurement unit on the ground-penetrating radar continuously refreshes and collects distance data at the tunnel sidewalls and tunnel floor in real time. The collected distance data is fed back to the handheld computer through the data wireless transmission module. The radar image preprocessing module will perform the first stage correction on the radar image based on the distance data measured in real time by the infrared laser measurement unit.

[0022] S5: As the ground-penetrating radar moves deeper into the tunnel, it drives the measuring wheel on the ground-penetrating radar instrument to roll, recording the collected radar data images in real time. When the measuring wheel moves to the position of the concrete joint of the tunnel lining, the radar image preprocessing module built into the handheld computer automatically identifies images with obvious oscillations in the amplitude of the radar data. After the identification is completed, the second stage of correction is automatically performed.

[0023] S6: The ground-penetrating radar moves towards the tunnel exit and enters the open section of the tunnel. The walking trajectory controller module automatically searches for and identifies GPS signals until the signal is strong enough. Then, the inertial navigation system automatically switches to GPS data receiving mode. At the same time, it records the spatial coordinates of the ground-penetrating radar collected in the open section of the tunnel. The coordinate data is transmitted to the handheld computer by the data wireless transmission module. Then, the radar image preprocessing module calculates the spatial coordinates of the open section at the tunnel entrance and the open section at the tunnel exit and performs the third stage correction on the radar image.

[0024] S7: The ground-penetrating radar test on the tunnel lining concrete is completed. The data results are obtained in real time through handheld calculation, which are the ground-penetrating radar (GPS) walking trajectory and the corrected detection data image.

[0025] Preferably, the first stage of correction specifically involves: transmitting the distance data of the infrared laser measurement unit to the sidewall and tunnel floor to a handheld computer, correcting the detected radar image based on the distance data, and processing it using REFLEX radar image software by means of linear averaging or interpolation averaging.

[0026] Preferably, the second stage correction specifically involves comparing and correcting the distance data measured by the ranging wheel with the radar image. This is done by the image preprocessing module, which corrects the length of the radar image by using the length of a 12-meter-long section of the tunnel lining concrete. This ensures that when the ranging wheel completes a 12-meter section of the tunnel lining concrete, the radar image is also exactly 12 meters long.

[0027] Preferably, the third stage correction specifically involves: after the geological radar has completed testing the radar image data of the arch survey line, the radar data image and the actual walking distance are corrected using the coordinate data of the entrance and exit of the tunnel. Finally, the entire tunnel length is tested, so that the length of the geological radar detection image data is completely consistent with the actual tunnel length, achieving the goal of keeping the walking trajectory consistent with the image.

[0028] Preferably, when the controller controls the ground-penetrating radar to acquire ground-penetrating radar images, the antenna center frequency of the ground-penetrating radar is selected according to the following formula:

[0029]

[0030] Where x is the spatial resolution (m), which is the smallest target size that the ground-penetrating radar can detect. ε r ρ is the relative permittivity of the medium. f is the center frequency of the antenna.

[0031] Preferably, when using ground-penetrating radar for detection, the appropriate time window should be selected according to the following formula:

[0032]

[0033] Where W represents the time window required for ground-penetrating radar data acquisition, and d max (m) represents the maximum detection depth, and V (m / s) represents the propagation speed of electromagnetic waves in the medium.

[0034] The beneficial effects of this invention are as follows:

[0035] The device and method for synchronizing the walking trajectory of a ground-penetrating radar (GPR) instrument with the GPR data image during concrete lining detection can effectively improve detection efficiency and accuracy, thereby better meeting detection needs. It is also more conducive for construction parties and contractors to accurately locate the defects in the tunnel concrete lining based on the detected GPR data image, facilitating the treatment of defects in the tunnel concrete lining, preventing concrete lining from falling off, and ensuring the safety of the tunnel structure. Attached Figure Description

[0036] Figure 1 This is a block diagram of the electronic device provided by the present invention;

[0037] Figure 2 This is a flowchart illustrating the method for synchronizing the ground-penetrating radar trajectory with radar data images provided by the present invention. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0040] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0041] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0042] This invention provides a device for correcting the trajectory of a ground-penetrating radar (GPR) with synchronous radar images, such as... Figure 1As shown, it includes a ground-penetrating radar instrument and a handheld computer, the handheld computer being communicatively connected to the ground-penetrating radar instrument; the ground-penetrating radar instrument includes a walking trajectory recording and correction module, a walking trajectory controller module, an infrared laser measurement unit, an image acquisition module, a wireless data transmission module, and a radar image preprocessing module;

[0043] The walking trajectory controller module calculates the deviation between the walking trajectory and the radar image, and sends the deviation information to the walking trajectory recording and correction module to adjust the ground-penetrating radar's walking trajectory. After the deviation information is sent to the trajectory recording and correction module, the module emits an audible and visual response to prompt the operator to adjust the ground-penetrating radar's attitude and walking trajectory. The trajectory recording and correction module also emits an audible and visual response to prompt the operator to make manual adjustments (because when testing the tunnel arch, the ground-penetrating radar must be manually held close to the tunnel concrete for testing; workers are prone to fatigue, which can cause the ground-penetrating radar to not be in close contact with the concrete, resulting in no radar data image appearing).

[0044] The walking trajectory recording and correction module internally consists of a pressure sensor, a memory, a controller, and a processor. The pressure sensor is used to detect the fit between the ground-penetrating radar and the tunnel lining, as well as the walking trajectory, synchronizing it with the radar image. This effectively improves the accuracy of the walking trajectory and the efficiency of ground-penetrating radar detection. The vertical projection coordinates are obtained by projecting the coordinates to be calibrated onto the tunnel positioning curve. The tunnel positioning curve is determined based on several positioning points within the tunnel. The tunnel contains several pre-measured positioning points, and the tunnel is divided into several tunnel sections by these positioning points.

[0045] The memory is used to store the information processed by the processor; the controller is used to control the operation of the sensor and the memory; the processor is used to process the data information fed back by the image acquisition module, the infrared laser measurement unit, the walking trajectory controller module, and the walking trajectory recording and correction module; the coordinate position of the ground-penetrating radar on the tunnel lining surface is obtained in real time using vertical projection coordinates, and the data is fed back to the walking trajectory controller module to continuously adjust and correct the walking trajectory of the ground-penetrating radar to synchronize it with the radar data image.

[0046] The infrared laser measurement unit is used to emit infrared lasers to the tunnel sidewalls and bottom, then measure the distance between itself and the tunnel sidewalls and bottom, and feed the measured distance data back to the processor in real time. The processor then calculates and displays the ground radar's trajectory in real time.

[0047] The image acquisition module is connected to the antenna inside the ground-penetrating radar instrument. The antenna is used to generate electromagnetic waves on the tunnel concrete lining and receive real-time signals, which are then transmitted to a handheld computer via a wireless data transmission module for real-time display of ground-penetrating radar data images. Different frequency radar antennas can detect different depths. Using a 900MHz ground-penetrating radar shielded antenna, the detection depth can be approximately 0.5m to 2.0m. The thickness of the tunnel lining concrete is exactly 0.6m, which is within the detectable range. Therefore, a 900MHz frequency ground-penetrating radar shielded antenna is selected for this ground-penetrating radar instrument.

[0048] The wireless data transmission module consists of a transmitter, a receiver, a signal processor, and an antenna. The antenna is not the same as the antenna installed in the ground-penetrating radar. The transmitter is responsible for converting the data signal into a wireless signal, the receiver is responsible for receiving the wireless signal and converting it back into a data signal, the signal processor is responsible for processing the wireless signal to ensure that the transmitted data is accurate, and the antenna is responsible for transmitting and receiving wireless signals.

[0049] The image preprocessing module includes image data gain, image data correction, and spatial coordinate position calculation. These functions are used to locally correct the acquired ground-penetrating radar (GPR) data images, improving synchronization accuracy. The image data gain function applies image amplification to the data results detected by the GPR, making features and points in the radar image clearer. This facilitates subsequent depth correction using deep learning algorithms, further enhancing synchronization accuracy.

[0050] It also includes an attitude sensor, which monitors the attitude of the ground-penetrating radar during mobile testing to prevent it from moving in a straight line away from the survey line on the arch shown in the diagram. The data from this attitude sensor (comprising a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass) is sent to the processor and then to the controller. The controller then sends a feedback signal to the trajectory controller module, which alerts the operator to adjust the attitude of the ground-penetrating radar in a timely manner through audible and visual alarms, thereby ensuring that the ground-penetrating radar maintains the correct direction of movement.

[0051] The aforementioned memory, controller, pressure sensor, processor, handheld computer, and external interface devices are directly or indirectly connected via wireless WiFi hotspots or Bluetooth devices to achieve data transmission or interaction. The processor can execute executable modules or units stored in the memory. The memory can be RAM (Random Access Memory), ROM (Read-Only Memory), SRAM (Static Random Access Memory), or DRAM (Dynamic Random Access Memory), used to store real-time detected radar data images and infrared laser measurement distance data, etc. The controller can be a microprocessor that preprocesses the radar data images and transmits or interacts with the handheld computer system via a wireless data transmission module. The pressure sensor consists of a sensor element, amplifier, regulator, and output device. It converts pressure changes into electrical signals for amplification by the amplifier. The regulator adjusts the output device according to the input signal to output a pressure indication signal for real-time monitoring of the coupling state between the ground-penetrating radar and the tunnel lining concrete. The processor may be an integrated circuit chip or a general-purpose processor with signal processing capabilities, capable of implementing or executing the methods and steps disclosed in the embodiments of this invention. The external interface device can couple various input / output devices to the memory, controller, and processor. The external interface device can be equipped with a USB interface to connect to Bluetooth and WiFi devices, enabling wireless data transmission.

[0052] Please refer to Figure 2 The method for synchronizing the ground-penetrating radar travel trajectory with radar images proposed in this embodiment of the invention, such as... Figure 2 Steps 501-508 are shown in the table, and specifically include:

[0053] Step 1: The signal transmitted by the GPS signal receiver installed at the tunnel entrance is received by the walking trajectory controller module to obtain a spatial rectangular coordinate system. The ground-penetrating radar is designated as a point M within the tunnel. Planes perpendicular to the X-axis, Y-axis, and Z-axis are drawn through this point M (where the X-axis represents the tunnel's width, Y-axis its height, and Z-axis its depth). Let P, Q, and R be the intersection points of these three planes with the X-axis, Y-axis, and Z-axis, respectively. Points P, Q, and R are the projections of point M onto the x-axis, y-axis, and z-axis, respectively. The coordinates of points P, Q, and R on the x-axis, y-axis, and z-axis are x, y, and z, respectively. Thus, point M is assigned an ordered array x, y, z; a one-to-one correspondence is established between point M in space and the ordered array x, y, z.

[0054] When detecting the quality of the tunnel concrete lining, the ground-penetrating radar 101 is held at the corresponding height by the manual station and coupled with the surface of the tunnel concrete lining. As the person moves forward in the tunnel, the ground-penetrating radar transmits the detected radar data images to the handheld computer in real time through the data wireless transmission module.

[0055] Step 2: When the ground-penetrating radar moves into the dark cave of the tunnel, as the loader 401 moves forward in the tunnel, the ground-penetrating radar 101 enters the tunnel interior. Due to the unstable or weak signal in the tunnel, the GPS signal is easily unstable, resulting in inaccurate positioning. In the event of poor GPS signal reception, it can automatically switch to the inertial navigation system to compensate for the loss of GPS data. The position of the ground-penetrating radar is calculated by using the attitude sensor and the direction of travel of the ranging wheel, and the walking trajectory is controlled in real time by the walking trajectory controller module.

[0056] Step 3: The pressure sensor in the ground-penetrating radar provides real-time feedback on the adhesion between the ground-penetrating radar and the concrete surface of the tunnel lining. As the radar continues to advance deeper into the tunnel, the ranging wheel in the ground-penetrating radar is continuously driven forward, generating pressure path data and radar image data. This data is then transmitted in real-time to a handheld computer via a wireless data transmission module, providing the pressure path data and radar image data.

[0057] Step 4: The ground-penetrating radar continuously moves deeper into the tunnel, constantly driving the ranging wheel on the radar instrument. The infrared laser measurement unit on the ground-penetrating radar continuously refreshes and collects distance data at the tunnel sidewalls and tunnel floor in real time. The collected distance data is fed back to the handheld computer through the data wireless transmission module. The radar image preprocessing module built into the handheld computer will perform the first stage correction of the radar image based on the distance data measured in real time by the infrared laser measurement unit.

[0058] The first stage of correction involves transmitting the distance data from the infrared laser measurement unit to the sidewalls and tunnel floor to a handheld computer. Based on this distance data, the detected radar images are corrected using linear averaging or interpolated averaging methods, processed through REFLEX radar image software.

[0059] Step 5: As the ground-penetrating radar (GPR) travels deeper into the tunnel, it drives the ranging wheel on the GPR instrument to roll, recording the collected radar data images in real time. When the ranging wheel reaches the joint of the tunnel lining concrete (the distance between two adjacent concrete slabs in the tunnel lining is approximately 12m), it will produce obvious vibrations. The amplitude of the radar data images collected by the GPR instrument will show obvious oscillations. The radar image preprocessing module built into the handheld computer will automatically identify the images with obvious amplitude oscillations in the radar data. After the identification is completed, the second stage of correction will be automatically performed.

[0060] The second stage of correction involves comparing and correcting the distance data measured by the ranging wheel with the radar image. This is done by the image preprocessing module, which uses the length of a 12-meter-long section of the tunnel lining concrete to correct the length of the radar image. This ensures that when the ranging wheel travels through a 12-meter section of the tunnel lining concrete, the radar image is also exactly 12 meters long.

[0061] Step 6: As the geological radar moves towards the tunnel exit and enters the open section of the tunnel, the walking trajectory controller module automatically searches for and identifies GPS signals. When the signal is strong enough, the inertial navigation system automatically switches to GPS data receiving mode. At the same time, it records the spatial coordinates of the geological radar collected in the open section of the tunnel. The coordinate data is then transmitted to a handheld computer via the data wireless transmission module. The radar image preprocessing module then calculates the spatial coordinates of the open sections at the tunnel entrance and exit, and performs a third-stage correction on the radar image.

[0062] The third stage of correction: After the geological radar has completed the radar image data of the survey line of the arch, the radar data image and the actual walking distance are corrected by using the coordinate data of the entrance and exit of the tunnel.

[0063] Step 7: After the ground-penetrating radar test on the tunnel lining concrete is completed, the ground-penetrating radar (GPS) walking trajectory and the real-time synchronized data results after image correction are obtained through handheld calculation.

[0064] In summary, the apparatus and method of the present invention, which synchronizes the walking trajectory of the ground-penetrating radar instrument with the ground-penetrating radar data image during the detection of tunnel lining concrete, can effectively improve detection efficiency and accuracy, thereby better meeting detection needs. It is more conducive to enabling construction parties and contractors to accurately locate the defects in tunnel concrete lining based on the detected ground-penetrating radar data image, facilitating the treatment of defects in tunnel concrete lining, preventing the collapse of tunnel lining concrete, ensuring the safety of tunnel engineering structures, and solving the problems raised in the background art.

[0065] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A device for correcting the trajectory of a ground-penetrating radar (GPR) with synchronous radar images, characterized in that, It includes a ground-penetrating radar instrument and a handheld computer, the handheld computer being communicatively connected to the ground-penetrating radar instrument; the ground-penetrating radar instrument includes a walking trajectory recording and correction module, a walking trajectory controller module, an infrared laser measurement unit, an image acquisition module, a wireless data transmission module, and a radar image preprocessing module; The walking trajectory controller module is used to calculate the deviation between the walking trajectory and the radar image, and send the deviation information to the walking trajectory recording and correction module to adjust the walking trajectory of the ground radar. The walking trajectory recording and correction module consists of a pressure sensor, a memory, a controller, and a processor. The pressure sensor is used to determine the fit between the ground-penetrating radar and the tunnel lining, as well as the walking trajectory. The memory is used to store the information processed by the processor. The controller is used to control the operation of the sensor and the memory. The processor is used to process the data information fed back by the image acquisition module, the infrared laser measurement unit, the walking trajectory controller module, and the walking trajectory recording and correction module. The infrared laser measurement unit is used to emit infrared lasers to the tunnel sidewalls and bottom of the tunnel and then measure the distance between itself and the tunnel sidewalls and bottom. The measured distance data is fed back to the processor in real time. The processor processes and calculates the obtained measurement data and coordinate data, and displays the ground radar's walking trajectory in real time after processing and calculation. The ground-penetrating radar instrument is equipped with a shielded antenna, which is used to generate electromagnetic wave signals to the tunnel concrete lining and transmit the detected ground-penetrating radar image data to a handheld computer. The wireless data transmission module consists of a transmitter, a receiver, a signal processor, and an antenna. The antenna is not the same as the shielded antenna installed in the ground-penetrating radar. The transmitter is responsible for converting the data signal into a wireless signal, the receiver is responsible for receiving the wireless signal and converting it back into a data signal, the signal processor is responsible for processing the wireless signal to ensure that the transmitted data is accurate, and the antenna is responsible for transmitting and receiving wireless signals. The data processing of the image preprocessing module includes image data gain, image data correction, and spatial coordinate position calculation.

2. The device for correcting the trajectory of a ground-penetrating radar and a synchronous radar image according to claim 1, characterized in that, It also includes an attitude sensor, which is used to monitor the attitude of the ground-penetrating radar during mobile testing. The data from the attitude sensor is sent to the processor and then to the controller, which sends a feedback signal to the walking trajectory controller module.

3. The device for correcting the trajectory of a ground-penetrating radar and a synchronous radar image according to claim 1, characterized in that, The ground-penetrating radar instrument is equipped with a 900M shielded antenna.

4. A method for correcting the trajectory of a ground-penetrating radar (GPR) and a synchronous radar image, applied to the apparatus for correcting the trajectory of a GPR and a synchronous radar image as described in any one of claims 1-3, characterized in that, Includes the following steps: S1: The signal transmitted by the GPS signal receiver installed at the tunnel entrance is received by the walking trajectory controller module to obtain the spatial position of the ground radar instrument inside the tunnel; S2: When the ground-penetrating radar moves into the dark cave of the tunnel, it will automatically switch to the inertial navigation system when the GPS signal reception is poor. The position of the ground-penetrating radar is calculated by using the attitude sensor and the direction of travel of the ranging wheel. The walking trajectory is controlled in real time by the walking trajectory controller module to make up for the data that cannot be measured when the GPS signal is poor. S3: The pressure sensor in the ground-penetrating radar provides real-time feedback on the adhesion between the ground-penetrating radar and the concrete surface of the tunnel lining. As it continues to advance into the depth of the tunnel, the ranging wheel in the ground-penetrating radar is continuously driven forward, generating pressure path data and radar image data. The data is then transmitted in real-time to a handheld computer for pressure path and radar data analysis via a wireless data transmission module. S4: The ground-penetrating radar continuously moves deeper into the tunnel, constantly driving the ranging wheel on the ground-penetrating radar instrument. The infrared laser measurement unit on the ground-penetrating radar continuously refreshes and collects distance data at the tunnel sidewalls and tunnel floor in real time. The collected distance data is fed back to the handheld computer through the data wireless transmission module. The radar image preprocessing module will perform the first stage correction on the radar image based on the distance data measured in real time by the infrared laser measurement unit. S5: As the ground-penetrating radar moves deeper into the tunnel, it drives the measuring wheel on the ground-penetrating radar instrument to roll, recording the collected radar data images in real time. When the measuring wheel moves to the position of the concrete joint of the tunnel lining, the radar image preprocessing module built into the handheld computer automatically identifies images with obvious oscillations in the amplitude of the radar data. After the identification is completed, the second stage of correction is automatically performed. S6: The ground-penetrating radar moves towards the tunnel exit and enters the open section of the tunnel. The walking trajectory controller module automatically searches for and identifies GPS signals until the signal is strong enough. Then, the inertial navigation system automatically switches to GPS data receiving mode. At the same time, it records the spatial coordinates of the ground-penetrating radar collected in the open section of the tunnel. The coordinate data is transmitted to the handheld computer by the data wireless transmission module. Then, the radar image preprocessing module calculates the spatial coordinates of the open section at the tunnel entrance and the open section at the tunnel exit and performs the third stage correction on the radar image. S7: The ground-penetrating radar test on the tunnel lining concrete is completed. The data results are obtained in real time through handheld computing, which are the ground-penetrating radar (GPS) walking trajectory and the corrected detection data image.

5. The method for correcting the travel trajectory of a ground-penetrating radar and a synchronous radar image according to claim 4, characterized in that, The first stage of correction specifically involves transmitting the distance data from the infrared laser measurement unit to the sidewall and tunnel floor to a handheld computer, correcting the detected radar image based on the distance data, and processing it using REFLEX radar image software by employing linear averaging or interpolation averaging.

6. The method for correcting the travel trajectory of a ground-penetrating radar and a synchronous radar image according to claim 4, characterized in that, The second stage of correction specifically involves comparing and correcting the distance data measured by the ranging wheel with the radar image. This is done by the image preprocessing module, which uses the length of a 12-meter-long section of the lining concrete to correct the length of the radar image, ensuring that the radar image is exactly 12 meters long when the ranging wheel has traveled through a 12-meter section of the tunnel lining concrete.

7. The method for correcting the travel trajectory of a ground-penetrating radar and a synchronous radar image according to claim 4, characterized in that, The third stage of correction specifically involves: after the geological radar has completed testing the radar image data of the arch survey line, the radar data image and the actual walking distance are corrected using the coordinate data of the entrance and exit of the tunnel.

8. The method for correcting the travel trajectory of a ground-penetrating radar and a synchronous radar image according to claim 4, characterized in that, When the controller controls the ground-penetrating radar to acquire ground-penetrating radar images, the center frequency of the ground-penetrating radar antenna is selected according to the following formula: in, Spatial resolution (m) refers to the minimum size of a target that a ground-penetrating radar can detect. The relative permittivity of the medium, This is the center frequency of the antenna.

9. The method for correcting the travel trajectory of a ground-penetrating radar and a synchronous radar image according to claim 4, characterized in that, When using ground-penetrating radar (GPR), select the appropriate time window according to the following formula: Where W represents the time window required for ground-penetrating radar data acquisition. (m) represents the maximum detection depth. (m / s) is the propagation speed of electromagnetic waves in the medium.

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