Vehicle-mounted ground penetrating radar tunnel field measurement line positioning and real-time marking method and device

Abstract

The application discloses a vehicle-mounted ground penetrating radar tunnel site measuring line positioning and real-time marking method and device, which is applied to the technical field of traffic tunnel detection and comprises the following steps: S1, calculating a measuring line angle; S2, emitting laser light one according to the measuring line angle to form an irradiation point on the measuring line of the tunnel inner wall; S3, emitting laser light two through a laser light emitting assembly to make the point irradiated by the laser light two coincide with the point irradiated by the laser light one; and S4, marking on the tunnel inner wall, and then marking other measuring line positions in sequence. The device comprises a laser light angle measuring assembly which is used for measuring the angle of the emitted laser light. The application can realize accurate positioning and site marking of the vehicle-mounted ground penetrating radar antenna through the combination of the laser light device and the marking rod, thereby improving the efficiency and accuracy of tunnel detection, avoiding safety problems and guaranteeing the detection quality.

Description

Technical Field

[0001] This invention relates to the field of traffic tunnel inspection technology, and in particular to a method and device for on-site tunnel line positioning and real-time marking using vehicle-mounted ground penetrating radar. Background Technology

[0002] Regular tunnel inspections and health assessments are the future trend of tunnel maintenance, and vehicle-mounted tunnel inspection is the future direction of tunnel condition monitoring. Contact-based inspections cannot be performed on large-scale tunnels. For traffic tunnels, the inspection process can disrupt normal traffic flow, even affecting the entire traffic system. Furthermore, for rail transit tunnels, the overhead contact line and its associated equipment are unavoidable obstacles during inspection, posing a threat to equipment safety. Therefore, vehicle-mounted radar inspection methods have emerged. However, before conducting vehicle-mounted ground-penetrating radar inspections in operating tunnels, it is necessary to locate the antenna and corresponding survey lines, and mark the survey line position aligned with the antenna on-site. This ensures that the radar data processing can accurately pinpoint the location of any problems found. The existing method involves a person standing on the platform of a lifting vehicle, holding the ground-penetrating radar antenna close to the tunnel wall for testing. Only one longitudinal section can be measured at a time. For electrified railways, this close-fitting method cannot be used to test the arch. It requires power outage operation during maintenance windows, and the testing speed will not exceed 5 km / h, which is very inefficient and unsafe. In addition, the antenna is close to the tunnel wall, and when it encounters obstacles such as overhead contact lines, changes in tunnel cross-section, or passing tunnels, the antenna often makes poor contact, resulting in poor test results.

[0003] Many alternatives to manual methods have emerged in China, such as devices that use hydraulic systems to support ground-penetrating radar antennas. This testing method reduces the labor intensity of testing personnel, but it poses a threat to the safety of equipment inside the tunnel during the testing process. If the equipment touches the overhead contact line, it will cause a safety accident. In addition, the vibration of the antenna generated by the machinery will greatly reduce the signal quality. As a result, the testing speed is basically the same as that of manual testing. Furthermore, highway tunnels may encounter fans and lighting equipment, which will also delay the testing.

[0004] Therefore, existing technologies have not solved the existing problems. There is no better positioning and marking method in tunnel inspection. How to mark the position of the measuring line on the tunnel wall is a difficult problem faced when vehicle-mounted ground penetrating radar inspects tunnels. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of low detection efficiency and poor detection effect in the existing tunnel detection technology, and to provide a method and device for on-site positioning and real-time marking of vehicle-mounted ground penetrating radar in tunnels. It can achieve accurate positioning and on-site marking of vehicle-mounted ground penetrating radar antennas through the combination of laser device and marking rod, thereby improving the efficiency and accuracy of tunnel detection, avoiding safety problems, and ensuring detection quality.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0007] A method for on-site tunnel line location and real-time marking using vehicle-mounted ground-penetrating radar. This method employs a vehicle-mounted device equipped with an antenna bracket and a radar antenna. A laser emission component is located at the radar antenna. The location and real-time marking method includes:

[0008] S1. The vehicle-mounted device moves along the tunnel detection direction. When it moves to the measurement line position, the angle of each measurement line is calculated according to the requirements of the measurement line layout. The corner point is at the center of the antenna support.

[0009] S2. Using a laser angle measurement component, laser one is emitted according to the angle of the measuring line, so that laser one irradiates the measuring line on the inner wall of the tunnel to form an irradiation point;

[0010] S3. Open the laser emitting assembly and rotate the radar antenna so that the point on the tunnel wall illuminated by the second laser emitted from the laser emitting assembly coincides with the point illuminated by the first laser, and lock the radar antenna angle.

[0011] S4. Mark the overlapping points by drawing marks, then move the vehicle-mounted device to the next survey line position and repeat the steps of this method until the marking is completed.

[0012] Step S1 enables the application of survey line layout requirements, providing stable and reliable detection. Simultaneously, vehicle-mounted mobility allows for rapid survey line positioning and marking. Step S2, the laser angle measurement component, quickly determines the initial marking position. Step S3 determines the accurate survey line positioning position. Step S4 replaces existing manual marking methods, enabling rapid marking. This method allows for fast and accurate survey line positioning and real-time marking, saving manual operation time, significantly improving work efficiency, and reducing workload. Furthermore, the laser angle measurement component and laser emission component improve the accuracy of survey line positioning and marking, avoiding human error.

[0013] In a preferred embodiment of the present invention, the aforementioned survey line angle is the angle between the vertical line and laser one or laser two; by using the laser angle measuring component and the laser emitting component to emit lasers, laser one and laser two are irradiated on the survey line on the inner wall of the tunnel to form an irradiation point. This allows for more accurate determination of the survey line angle, thereby improving the accuracy of survey line positioning and real-time marking.

[0014] In a preferred embodiment of the present invention, the aforementioned included angle is calculated using parameters and trigonometric functions built into the radar antenna. These built-in parameters include the azimuth and elevation angles of the radar antenna, the distance between the radar antenna and the corner point, and the radar detection range. By incorporating these built-in parameters and trigonometric functions, the survey line angle can be calculated more accurately. This calculation method utilizes parameters such as the azimuth and elevation angles of the radar antenna, the distance between the radar antenna and the corner point, and the radar detection range, combined with trigonometric functions, to calculate the survey line angle. This achieves precise calculation of the survey line angle. During the on-site survey line positioning and real-time marking process of vehicle-mounted ground-penetrating radar in tunnels, it ensures that the laser emitting component accurately illuminates the survey line on the tunnel wall under the guidance of the survey line angle, improving the accuracy of survey line positioning and real-time marking.

[0015] In a preferred embodiment of the present invention, in step S2 above, after obtaining the survey line angle in step S1, the survey line angle is input to the laser angle measuring component, and the laser angle measuring component adjusts the laser emission direction according to the measured angle. The laser angle measuring component can automatically adjust the laser emission direction according to the input survey line angle, thereby forming an irradiation point on the tunnel inner wall. Through this method of automatically adjusting the laser emission direction, it can be ensured that the laser emission component accurately irradiates the survey line on the tunnel inner wall under the calibration of the survey line angle, thereby improving the accuracy and efficiency of survey line positioning and real-time marking.

[0016] In a preferred embodiment of the present invention, in step S3 above, the rotation of the radar antenna is driven by a manual or electric angle adjuster. By providing two different radar antenna rotation methods—manual and electric angle adjusters—users have more options and can choose the appropriate rotation method according to actual needs. Through these two rotation methods, it can be ensured that the point where the second laser emitted by the laser emitting assembly illuminates the tunnel wall coincides with the point illuminated by the first laser, thereby locking the radar antenna angle and helping to improve the accuracy and ease of operation of line positioning and real-time marking.

[0017] In a preferred embodiment of the present invention, in step S4 above, a marking rod with a marker pen at the top is used to make marks. By using a marking rod with a marker pen, the points where laser irradiation one and laser irradiation two overlap can be marked quickly, accurately and clearly directly on the inner wall of the tunnel. This marking method simplifies the operation process, makes it convenient for staff to record and track the survey results, and improves work efficiency. In addition, since the marker pen can be easily replaced, different colors or types of marker pens can be selected according to actual needs to meet the color contrast requirements in different scenarios.

[0018] A vehicle-mounted ground-penetrating radar (GPR) device for on-site tunnel line positioning and real-time marking includes a laser angle measuring component. The laser angle measuring component is installed at the bottom center of an antenna support and is used to measure the angle of the emitted laser beam. By installing the laser angle measuring component at the bottom center of the antenna support, accurate measurement of the laser angle is achieved. This allows for precise calculation and positioning of the line angle, improving the accuracy and efficiency of on-site tunnel line positioning and real-time marking using GPR.

[0019] In a preferred embodiment of the present invention, the antenna support is provided with an antenna box, and a laser pointer is installed on the radiating surface of each antenna box; by installing a laser pointer on the radiating surface of the antenna box on the antenna support, laser emission is realized, and the laser pointer and the laser angle measurement component cooperate with each other to achieve accurate calculation and positioning of the line angle.

[0020] In a preferred embodiment of the present invention, the device further includes a marking rod made of insulating material. The marking rod is telescopic and fixed to the antenna bracket, and its total height in the extended state can reach the top of the tunnel. By using a telescopic marking rod made of insulating material, a flexible and safe marking method is provided. This marking rod can be extended and adjusted according to the tunnel height, allowing operators to easily locate and mark survey lines in tunnels at different heights. This design improves work efficiency while ensuring operational safety.

[0021] In a preferred embodiment of the present invention, a marking pen capable of drawing marks is installed at the top of the marking pole. By installing a marking pen capable of drawing marks at the top of the marking pole, a convenient marking method is provided for the operator. This method allows for quick, accurate, and clear marking directly on the inner wall of the tunnel, facilitating the recording and tracking of survey line results by staff, thereby improving the accuracy and efficiency of survey line positioning and real-time marking. In addition, since the marking pen can be easily replaced, different colors or types of marking pens can be selected according to actual needs to meet the marking requirements in different scenarios.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. By using this positioning and real-time marking method in conjunction with the laser angle measuring component and the laser pen, the precise calculation and positioning of the survey line angle is achieved, thereby enabling rapid and accurate positioning and real-time marking of the survey line. This saves manual operation time, significantly improves work efficiency, and reduces workload. At the same time, the laser angle measuring component and the laser emitting component also improve the accuracy of the survey line positioning and marking, avoiding human error.

[0024] 2. This device, through the use of a retractable marker pole and a marker pen mounted on the top, improves the ease of operation, safety, and flexibility, enabling the vehicle-mounted ground-penetrating radar tunnel surveying and real-time marking device to adapt to tunnels of different heights, simplify the operation process, and meet the marking requirements in different scenarios. Attached Figure Description

[0025] Figure 1 This is a step diagram of the method for on-site tunnel surveying and real-time marking using vehicle-mounted ground-penetrating radar according to the present invention;

[0026] Figure 2 This is a schematic diagram of the vehicle-mounted ground-penetrating radar tunnel on-site surveying and real-time marking device of the present invention;

[0027] Figure 3 This is a schematic diagram of the marking of the vehicle-mounted ground-penetrating radar tunnel on-site surveying and real-time marking device of the present invention.

[0028] The markings in the diagram are: 1-antenna bracket, 2-antenna box, 3-laser angle measurement component, 4-laser emission component, 5-marker rod, 51-marker pen. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to experimental examples and specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0030] Example 1

[0031] Please refer to Figure 1 and Figure 2 This embodiment provides a method for on-site tunnel survey line positioning and real-time marking using vehicle-mounted ground-penetrating radar. The method employs a vehicle-mounted device equipped with an antenna bracket 1 and a radar antenna, with a laser emitting component 4 mounted on the radar antenna. During survey line positioning and real-time marking, the vehicle-mounted device is first moved along the tunnel inspection direction to the survey line position, and the angle of each survey line is calculated according to the survey line layout requirements. Next, laser beam 1 is emitted using the laser angle measuring component 3, illuminating the survey line on the tunnel inner wall to form an illumination point. Then, the radar antenna is rotated so that laser beam 2 emitted from the laser emitting component 4 coincides with the point illuminated by laser beam 1, locking the radar antenna angle. Finally, the coincident point is marked. This method enables rapid and accurate survey line positioning and real-time marking, saving manual operation time, significantly improving work efficiency, and reducing workload. Simultaneously, the laser angle measuring component 3 and the laser emitting component 4 improve the accuracy of survey line positioning and marking, avoiding human error, and providing a more practical and efficient solution for the tunnel inspection field.

[0032] Specifically, the localization and real-time tagging methods include:

[0033] S1. First, move the vehicle-mounted device along the tunnel inspection direction to the measurement line position. The vehicle should move at a constant speed during the tunnel inspection, stopping upon reaching the measurement line position. Then, calculate the angle of each measurement line according to the measurement line layout requirements. The corner point is located at the center of antenna bracket 1. Measurement line layout is a crucial step in tunnel inspection because it affects the accuracy of the inspection results. The following are the requirements for measurement line layout:

[0034] Location of Survey Lines: Survey lines should be arranged along the tunnel's axis to accurately measure its length and curvature. At tunnel bends, the number of survey lines may need to be increased for more accurate shape measurements. Spacing of Survey Lines: The spacing of the survey lines should be determined based on the tunnel's size and shape. Generally, the spacing should be small enough to accurately measure the tunnel's shape; however, excessively small spacing may increase the difficulty and time required for measurement. Stability of Survey Lines: Survey lines should be stably fixed to the tunnel's inner wall to prevent measurement errors caused by vibration or other factors. Marking of Survey Lines: Each survey line should be clearly marked for accurate identification and recording of measurement results. Inspection and Calibration of Survey Lines: During the measurement process, a vehicle-mounted device with a radar antenna is used to ensure measurement accuracy.

[0035] This step satisfies the requirements for survey line layout, provides stable and reliable detection, and enables rapid survey line positioning and marking. Using radar antennas for detection not only avoids safety issues but also significantly improves the efficiency and accuracy of tunnel inspection, ensuring inspection quality. Compared to existing technologies that use hydraulic systems to support ground-penetrating radar antennas, this embodiment avoids threats to the safety of equipment inside the tunnel. This detection process eliminates the need for manual operation on the working surface, reducing the risk of accidents. Furthermore, this method avoids antenna vibration caused by mechanical means, thus ensuring signal quality and increasing detection speed. Simultaneously, during highway tunnel inspection, this method is unaffected by fans and lighting equipment, avoiding delays in the inspection process. In practical applications, this method can significantly improve the efficiency of tunnel inspection, reduce the labor intensity of inspection personnel, and lower inspection costs.

[0036] S2. In step S1, the movement and arrival of the vehicle-mounted device and the calculation of the survey line angle have been completed. Next, the laser angle measuring component 3 emits laser beam 1 according to the survey line angle, so that laser beam 1 illuminates the survey line on the tunnel inner wall, forming an illumination point. After obtaining the survey line angle in step S1, the survey line angle is input to the laser angle measuring component 3. The laser angle measuring component 3 automatically adjusts the laser emission direction according to the measured angle. This method of automatically adjusting the laser emission direction ensures that the laser emission component 4 accurately illuminates the survey line on the tunnel inner wall under the calibration of the survey line angle, improving the accuracy and efficiency of survey line positioning and real-time marking. In this way, by quickly achieving the preliminary determination of the marking position and adjusting the laser emission direction, not only is the accuracy of survey line positioning and real-time marking greatly improved, but the possibility of manual intervention is also reduced, alleviating the labor intensity of the inspection personnel. In practical applications, this step can significantly improve the efficiency of tunnel inspection and reduce inspection costs.

[0037] S3. Open the laser emitting assembly 4 and rotate the radar antenna. There are two ways to rotate the radar antenna: one is by manually rotating the angle adjuster, and the other is by electric rotation. These two methods provide users with more options, allowing them to choose the appropriate rotation method based on actual needs. In this embodiment, an electric rotation angle adjuster is used. First, the radar antenna is mounted on a motor with precise angle adjustment. This existing motor can perform fine-tuning of the angle, ensuring that the second laser emitted from the laser emitting assembly 4 is deflected and finely adjusted so that the point where the second laser illuminates the tunnel wall coincides with the point illuminated by the first laser. This locks the radar antenna angle, helping to improve the accuracy and ease of operation of survey line positioning and real-time marking. Using the laser angle measuring assembly 3 and the laser emitting assembly 4 to emit lasers, the first and second lasers illuminate the survey line on the tunnel wall, forming illumination points. Step S3 determines the accurate survey line positioning position, allowing for more precise determination of the survey line angle, thereby improving the accuracy of survey line positioning and real-time marking.

[0038] After rotating the radar antenna so that the point illuminated by laser two on the tunnel wall coincides with the point illuminated by laser one, stop the angle adjustment motor and lock the radar antenna angle. The survey line angle is the angle between the perpendicular line and laser one or laser two. The angle is calculated using parameters and trigonometric functions built into the radar antenna. These parameters include the azimuth and elevation angles of the radar antenna, the distance between the radar antenna and the corner point, and the radar detection range. Trigonometric functions (such as sine, cosine, or tangent functions) can be used to calculate the angle between the survey line and the measuring instrument. For example, the tangent function can be used to calculate the angle. First, the positions of the survey line and laser emitting component 4 need to be determined: determining the precise positions of the survey line and the measuring instrument can usually be done using precise measuring tools and equipment. Then, by introducing the parameters built into the radar antenna and trigonometric functions, the survey line angle can be calculated more accurately. For example, the angle between the perpendicular line and laser one is calculated as follows.

[0039] Using radar to measure the angle between a survey line and the center point of the measuring instrument typically involves measuring the radar's azimuth and elevation angles. Azimuth (A) is the horizontal angle between the radar beam and a reference direction (usually true north). Elevation (E) is the angle between the radar beam and the horizontal plane.

[0040] The angle between the survey line and the center point of the measuring instrument can be calculated using the following formula:

[0041] A = arctan[(Y2-Y1) / (X2-X1)]

[0042] Where A is the azimuth angle, i.e., the horizontal angle between the radar beam and true north; (X1, Y1, Z1) are the three-dimensional coordinates of the center point of the measuring instrument. In most cases, the X and Y coordinates represent the position on the horizontal plane, while the Z coordinate represents the vertical height; (X2, Y2, Z2) are the three-dimensional coordinates of any point on the survey line, which are automatically determined according to the direction of the radar beam. After determining the coordinates, the elevation angle is calculated.

[0043]

[0044] Where E is the elevation angle, which is the angle between the radar beam and the horizontal plane; (X1, Y1, Z1) are the three-dimensional coordinates of the center point of the measuring instrument. In most cases, the X and Y coordinates represent the position on the horizontal plane, while the Z coordinate represents the vertical height; (X2, Y2, Z2) are the three-dimensional coordinates of any point on the measuring line, which are automatically determined according to the direction of the radar beam.

[0045] The formulas assume that the radar antenna uses north as the reference direction and measures the azimuth angle in the horizontal plane and the elevation angle in the vertical plane. These formulas may need to be adjusted if the radar antenna has a different configuration.

[0046] Once the elevation angle is determined, the angle θ between the vertical line and the laser beam is obtained, and θ and A are complementary.

[0047] The above is the basic method for measuring the angle between the survey line and the center point of the measuring instrument using radar. Specific measurement methods may vary depending on the radar antenna and requirements. This calculation method utilizes parameters such as the azimuth and elevation angles of the radar antenna, the distance between the radar antenna and the corner point, and the radar detection range, combined with trigonometric functions to calculate the survey line angle. This achieves accurate calculation of the survey line angle. During the on-site survey line positioning and real-time marking process of vehicle-mounted ground-penetrating radar in tunnels, it ensures that the laser emitting component 4 accurately illuminates the survey line on the tunnel wall under the guidance of the survey line angle, improving the accuracy of survey line positioning and real-time marking.

[0048] S4. Mark the overlapping points by drawing marks using a marking rod 5 with a marking pen 51 at the top. The marking pen 51 is a color-coded pen used for marking. It is fixed to the top of the marking rod 5 and can be connected using screws, bolts, or clips. By using the marking rod 5 with the marking pen 51, the overlapping points illuminated by lasers 1 and 2 can be quickly, accurately, and clearly marked directly on the tunnel wall. This marking method simplifies the operation process, facilitates the recording and tracking of survey results, and improves work efficiency. Compared to existing methods, it not only replaces manual marking and achieves marking quickly, but also increases the speed of survey marking, reduces the difficulty of manual operation, and reduces the possibility of errors. Furthermore, since the marking pen 51 can be easily replaced, different colors or types of marking pens 51 can be selected according to actual needs to meet the color contrast requirements of different scenarios. This step can replace existing manual marking methods and achieve marking quickly. After marking is completed, move the vehicle-mounted device to the next survey position and repeat the steps of this method until the entire tunnel survey marking is completed.

[0049] Example 2

[0050] Please refer to Figure 2 and Figure 3 This embodiment provides a vehicle-mounted ground-penetrating radar tunnel surveying and real-time marking device. The device includes a laser angle measuring component 3, an antenna bracket 1, an antenna box 2, and a marking rod 5. The laser angle measuring component 3 is installed at the bottom center of the antenna bracket 1. The antenna bracket 1 has several branch structures, and the antenna box 2 is installed on the branch structures. The marking rod 5 can be connected to the antenna bracket 1 or can be a separate part. By installing the laser angle measuring component 3 at the bottom center of the antenna bracket 1 and measuring the laser angle using the laser angle measuring component 3, the accurate calculation and positioning of the surveying angle can be achieved, which helps to improve the accuracy and efficiency of vehicle-mounted ground-penetrating radar tunnel surveying and real-time marking.

[0051] In this embodiment, the antenna support 1 has a base and a frame. The frame is connected to the base, and the base is placed on the platform of the vehicle-mounted device. The frame includes several branch structures, the connecting ends of which are hinged to the base. There is a gap between adjacent branch structures. In this embodiment, the several branch structures are equidistant. The center of the entire antenna support 1 is located on the base. An area for installing the laser angle measuring component 3 is reserved at the center. The laser angle measuring component 3 is fixed to the base by bolt connection and is located at the center of the antenna support. This center refers to the center of the semi-circle formed on the main view of the device perpendicular to the tunnel direction. The laser angle measuring component 3 is closer to the center position of the antenna support 1 in the side view than the marking rod 5, so that the laser angle measuring component 3 and the marking rod 5 are misaligned to avoid affecting the rotation of the marking rod 5. The laser angle measuring component 3 uses a laser with angle measurement function or a laser angle measuring instrument. The laser angle measuring component 3 is used to measure the angle of the emitted laser.

[0052] In this embodiment, the branch structure of the antenna support 1 is rod-shaped, with each branch having a different length. The rod-shaped distribution of all branch structures ensures that the ends of all branch structures are located on the same circumference. An antenna box 2 is provided at the end of the branch structure of the antenna support 1, and a radar antenna is provided in the antenna box 2. The radar antenna is fixed on an electric angle adjuster and adjusted by electric control. This electric control and angle adjuster are existing technologies and are often used in conventional precision adjustment. The bottom of the antenna box 2 has bolt holes, and the ends of the branch structures have corresponding through holes. The antenna box 2 is fixed to the branch structure by bolt fixing. A laser emitting component 4 is installed on the radiating surface of each antenna box 2. The laser emitting component 4 is a laser pen. The antenna box 2 has a pen channel perpendicular to its top surface. The laser pen is fixed in the pen channel in a snap-fit ​​manner, and the laser pen leaves an opening on the top surface of the antenna box 2 for emitting laser. By installing the laser pen on the radiating surface of the antenna box 2 on the antenna support 1, laser emission is achieved. The laser pen and the laser angle measuring component 3 cooperate with each other to achieve accurate calculation and positioning of the measuring line angle.

[0053] In this embodiment, a marker rod 5 is used for real-time marking of the survey line location. The marker rod 5 is made of insulating material. By using a telescopic marker rod 5 with a telescopic structure made of insulating material, a flexible and safe marking method is provided. The marker rod 5 is telescopic, specifically, it adopts a common bushing telescopic structure, such as the telescopic rod structure of a selfie stick. The marker rod 5 can be a standalone rod structure placed on a vehicle-mounted device, or it can be connected to the antenna bracket 1. In this embodiment, one end of the marker rod 5 is pivotally connected to the center of the antenna bracket 1, i.e., connected to the foundation. In this way, the marker rod 5 can rotate relative to the antenna bracket 1. When it rotates to the positioning position, the marker rod 5 is extended by telescopic means. After the marker rod 5 is fixed to the antenna bracket 1, the total height of the extended state can reach the top of the tunnel. Then, marking is made by the marking pen 51 at the top of the marker rod 5. This marker rod 5 can be telescopically adjusted according to the tunnel height, allowing the operator to easily perform survey line positioning and real-time marking in tunnels of different heights. This design improves work efficiency. This design ensures both efficiency and operational safety. A marking pen 51 is installed at the top of the marking rod 5. This pen, such as chalk, watercolor, or marker, can be used to create marks that distinguish the markings from those on the tunnel wall. The non-marking end of the marking pen 51 has an external threaded rod, while the top end of the marking rod 5 has an internal threaded hole. The non-marking end of the marking pen 51 is fixed to the top of the marking rod 5 via a threaded connection. Alternatively, other connection methods can be used, such as a pen groove for the marking pen 51 at the top of the marking rod 5, where the marking pen 51 is embedded and fixed. By installing a marking pen 51 at the top of the marking rod 5, a convenient marking method is provided for the operator. This method allows for quick, accurate, and clear marking directly on the tunnel wall, facilitating the recording and tracking of survey results by staff. This improves the accuracy and efficiency of survey line positioning and real-time marking. Furthermore, since the marking pen 51 can be easily replaced, different colors or types of marking pens 51 can be selected according to actual needs to meet marking requirements in different scenarios.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for on-site tunnel surveying and real-time marking using vehicle-mounted ground-penetrating radar, characterized in that, The method employs a vehicle-mounted device, which includes an antenna bracket and a radar antenna, with a laser emitting component located at the radar antenna. The method comprises the following steps: S1. The vehicle-mounted device moves at a constant speed along the tunnel detection direction. When it moves to the measurement line position, the measurement line position and spacing are determined according to the requirements of the measurement line layout and the size and shape of the tunnel. The angle of each measurement line is calculated, and the corner point is at the center of the antenna support. S2. Using a laser angle measurement component, laser one is emitted according to the angle of the measuring line, so that laser one irradiates the measuring line on the inner wall of the tunnel to form an irradiation point; S3. Open the laser emitting assembly and rotate the radar antenna so that the point on the tunnel wall illuminated by the second laser emitted from the laser emitting assembly coincides with the point illuminated by the first laser, and lock the radar antenna angle. S4. Mark the overlapping points by drawing marks, then move the vehicle-mounted device to the next survey line position and repeat the steps of this method until the marking is completed. The measuring line angle is the angle between the vertical line and laser one or laser two. The included angle is calculated using parameters and trigonometric functions built into the radar antenna. The trigonometric functions include the tangent function for calculating the azimuth and elevation angles using the three-dimensional coordinates of the center point of the measuring instrument and the three-dimensional coordinates of any point on the measuring line. The built-in parameters include the azimuth and elevation angles of the radar antenna, the distance between the radar antenna and the corner point, and the radar detection distance. In step S2, after obtaining the measurement line angle in step S1, the measurement line angle is input to the laser angle measurement component, and the laser angle measurement component adjusts the laser emission direction according to the measurement angle. In step S3, the rotation of the radar antenna is driven by a manual or electric rotation angle adjuster. In step S4, a marker rod with a marker pen at the top is used to draw the mark.

2. The method for on-site tunnel surveying and real-time marking using vehicle-mounted ground-penetrating radar according to claim 1, characterized in that, The device also includes a laser angle measuring component, which is installed at the bottom center of the antenna support and is used to measure the angle of the emitted laser.

3. The method for on-site tunnel surveying and real-time marking using vehicle-mounted ground-penetrating radar according to claim 1, characterized in that, The antenna support is equipped with an antenna box, and a laser pointer is installed on the radiating surface of each antenna box.

4. The method for on-site tunnel surveying and real-time marking using vehicle-mounted ground-penetrating radar according to claim 1, characterized in that, The device also includes a marker rod made of insulating material. The marker rod is a telescopic structure and is fixed to the antenna bracket. Its total height in the extended state can reach the top of the tunnel.

5. The method for on-site tunnel surveying and real-time marking using vehicle-mounted ground-penetrating radar according to claim 4, characterized in that, The top of the marking rod is equipped with a marking pen for drawing marks.

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