A method, system and storage medium for monitoring geology using ground penetrating radar

Abstract

The application provides a method and system for monitoring geology by ground penetrating radar and a storage medium, the method comprising: acquiring parameter information fed back by a ground penetrating radar arranged on a bus and position parameters corresponding to the parameter information fed back by a positioning device, and storing the parameter information and the position parameters; judging whether historical position parameters stored in the recent several times cover each sub-region in a preset road, if yes, generating a radar image based on the historical parameter information; if no, acquiring missed sub-regions which are not covered by the historical position parameters, generating a recovery instruction based on the missed sub-regions and sending the recovery instruction to the ground penetrating radar; receiving supplementary position parameters fed back by the bus based on the recovery instruction and supplementary parameter information corresponding to the supplementary position parameters, judging whether the supplementary position parameters cover all the missed sub-regions, if yes, generating a radar image based on the supplementary parameter information and the historical parameter information; and analyzing a geological state in the preset road based on the radar image. The application can reduce the waste of human resources.

Description

Technical Field

[0001] This application relates to the field of geological monitoring technology, and in particular to a method, system and storage medium for ground-penetrating radar monitoring geology. Background Technology

[0002] Urban road surface collapses are highly destructive. To reduce the occurrence of such accidents, it is necessary to monitor the underground conditions and promptly identify any unused spaces or geological defects such as collapses. Unused cavities specifically refer to spaces other than underground subways, shopping malls, and pipelines that contribute to enriching and facilitating people's lives.

[0003] Ground-penetrating radar (GPR) is widely used in geological exploration due to its high detection accuracy, convenient and flexible operation, and non-destructive nature. Currently, geological exploration typically involves specialized technicians driving vehicles equipped with GPR through urban areas. The GPR on the vehicle transmits electromagnetic waves of a specific frequency into the ground via its transmitting antenna array, and then receives the reflected electromagnetic waves via its receiving antenna. The signals fed back to the radar system from the receiving antenna are then imaged, and the technicians use these images to determine whether geological defects exist in the area.

[0004] While existing methods can perform geological surveys of roads, determining the presence of geological defects requires specialized vehicles and personnel, which wastes human resources. Summary of the Invention

[0005] To reduce the waste of human resources, this application provides a method, system, and storage medium for ground-penetrating radar to monitor geology.

[0006] In a first aspect, this embodiment provides a method for monitoring geology using ground-penetrating radar, the method comprising:

[0007] The system acquires parameter information fed back by the ground-penetrating radar installed on the bus and position parameters corresponding to each parameter information fed back by the positioning device, and stores the parameter information and the corresponding position parameters.

[0008] Determine whether the most recently stored historical location parameters cover each sub-region of the preset road. If they do, generate a corresponding radar image based on the historical parameter information corresponding to the historical location parameters.

[0009] If not covered, obtain the missing sub-regions not covered by the historical location parameters, generate corresponding acquisition instructions based on the missing sub-regions, and send the acquisition instructions to the ground penetrating radar;

[0010] The system receives supplementary location parameters and corresponding supplementary parameter information from the bus in the missed sub-regions based on the supplementary acquisition command. It then determines whether the supplementary location parameters cover all missed sub-regions. If so, it generates a corresponding radar image based on the supplementary parameter information and the historical parameter information corresponding to the historical location parameters.

[0011] The geological conditions of the preset road are analyzed based on the radar images.

[0012] In some embodiments, obtaining parameter information fed back by the ground-penetrating radar installed on the bus and location parameters corresponding to each parameter information fed back by the positioning device includes:

[0013] Obtain the historical time of the most recent generated radar image, and periodically obtain the current time corresponding to the current moment;

[0014] For each current time obtained, the time difference between the current time and the historical time is obtained, and it is determined whether the time difference is not less than a preset time difference. If it is less, a waiting command is generated to continue waiting to obtain the next current time. The preset time difference is not less than a number of times the time required for the bus to pass through the preset road.

[0015] If the value is not less than the specified value, an acquisition command is generated and sent to the ground-penetrating radar on the bus to obtain the parameter information fed back by the ground-penetrating radar based on the acquisition command, and to obtain the position parameters corresponding to each parameter information fed back by the positioning device installed on the bus based on the parameter information.

[0016] In some embodiments, the preset road includes several sub-regions, each sub-region having no overlap and collectively covering the total area corresponding to the preset road. Determining whether the most recently stored historical location parameters cover each sub-region of the preset road includes:

[0017] The historical location parameters stored in the most recent time are visualized to obtain a historical location distribution map, wherein each pixel in the historical location distribution map corresponds one-to-one with the location in the total area corresponding to the preset road, and the attribute value of each pixel includes the historical location parameters.

[0018] The historical location distribution map is divided into historical location sub-distribution maps that correspond one-to-one with each sub-region. It is determined whether each historical location sub-distribution map contains pixels. If it does, the most recently stored historical location parameters cover each sub-region in the preset road.

[0019] If at least one is not present, then the most recently stored historical location parameters do not cover each sub-region in the preset road.

[0020] In some embodiments, generating a corresponding radar image based on historical parameter information corresponding to the historical location parameters includes:

[0021] The historical parameter information is subjected to horizontal and vertical filtering to obtain filtered historical parameter information. Based on the filtered historical parameter information, radar image creation software is used to obtain the corresponding radar image.

[0022] In some embodiments, analyzing the geological conditions of the preset road based on the radar image includes:

[0023] Determine whether there are collapsed areas and loose areas in the radar image. If so, generate an alarm signal indicating that there is an abnormality in the preset road.

[0024] If they exist, mark all the holes in the radar image, obtain the underground construction structure image corresponding to the preset road, and determine whether all the holes in the radar image correspond to the holes in the construction structure image. If not, generate an alarm signal indicating that there is an abnormality in the preset road.

[0025] If so, wait for the next time to obtain the parameter information and the position parameters corresponding to each parameter information.

[0026] In some embodiments, the reacquisition command includes the reacquisition sub-region corresponding to the parameter information that the ground-penetrating radar needs to reacquire, and after sending the reacquisition command to the ground-penetrating radar, it further includes:

[0027] Determine whether the bus has traveled to the previous sub-area corresponding to the replenishment sub-area. If so, send a pre-arrival instruction to the bus. Based on the pre-arrival instruction, obtain the actual traffic flow of the replenishment sub-area. Determine whether the actual traffic flow is greater than the preset traffic flow. If it is not greater than the preset traffic flow, send an execution instruction to the bus so that the bus executes the replenishment instruction.

[0028] If the traffic volume exceeds the preset limit, a delay instruction is sent to the bus so that the bus does not execute the replenishment instruction this time.

[0029] In some embodiments, after generating the corresponding radar image, a completion command is sent to the ground-penetrating radar to cause the ground-penetrating radar to delete the received acquisition command.

[0030] Secondly, this embodiment provides a ground-penetrating radar system for monitoring geology, the system comprising: an information acquisition module, an image generation module, a command issuance module, and a geological monitoring module; wherein,

[0031] The information acquisition module is used to acquire parameter information fed back by the ground-penetrating radar installed on the bus and the position parameters corresponding to each parameter information fed back by the positioning device, and to store the parameter information and the corresponding position parameters.

[0032] The image generation module is used to determine whether the recently stored historical location parameters cover each sub-region of the preset road. If they do cover, a corresponding radar image is generated based on the historical parameter information corresponding to the historical location parameters.

[0033] The instruction issuing module is used to obtain the missing sub-regions not covered by historical location parameters if there is no coverage, generate corresponding replenishment instructions based on the missing sub-regions, and send the replenishment instructions to the ground penetrating radar.

[0034] The image generation module is also used to receive supplementary position parameters in the missing sub-regions and supplementary parameter information corresponding to the supplementary position parameters fed back by the bus based on the supplementary instruction, determine whether the supplementary position parameters cover all missing sub-regions, and if so, generate a corresponding radar image based on the supplementary parameter information and the historical parameter information corresponding to the historical position parameters.

[0035] The geological monitoring module is used to analyze the geological conditions of a preset road based on the radar image.

[0036] In some embodiments, the system further includes an instruction management module;

[0037] The reacquisition command includes the reacquisition sub-region corresponding to the parameter information that the ground penetrating radar needs to reacquire;

[0038] The instruction management module is used to send the acquisition instruction to the ground penetrating radar, determine whether the bus has driven into the previous sub-area corresponding to the acquisition sub-area, and if so, send a pre-arrival instruction to the bus, obtain the actual traffic flow of the acquisition sub-area based on the pre-arrival instruction, determine whether the actual traffic flow is greater than the preset traffic flow, and if it is not greater than the preset traffic flow, send an execution instruction to the bus so that the bus executes the acquisition instruction.

[0039] If the traffic volume exceeds the preset limit, a delay instruction is sent to the bus so that the bus does not execute the replenishment instruction this time.

[0040] Thirdly, embodiments of this application provide a storage medium storing a computer program that can run on a processor, wherein the computer program, when executed by the processor, implements a method for monitoring geology using ground-penetrating radar as described in the first aspect.

[0041] By employing the above method, this application first obtains the parameter information fed back by the ground-penetrating radar installed on the bus and the location parameters corresponding to each parameter information fed back by the positioning device, and stores the above parameter information and corresponding location parameters. Then, by visually and intuitively displaying the distribution of each historical location parameter on a preset road in the form of an image, it determines whether the most recently stored historical location parameters cover each sub-region of the preset road. If they cover each sub-region of the preset road, the obtained filtered historical parameter information is sent as input to the corresponding radar image creation software, so that the radar image creation software outputs the corresponding radar image. If they do not cover each sub-region of the preset road, the missing sub-regions not covered by the historical location parameters are obtained, a corresponding acquisition command is generated based on the missing sub-regions, and the acquisition command is sent to the ground-penetrating radar, so that the ground-penetrating radar continues to acquire supplementary parameter information in the missing sub-regions, and the positioning device acquires the supplementary location parameters corresponding to the supplementary parameter information, and receives the supplementary parameter information and the corresponding supplementary location parameters. The system continues to determine whether the supplementary location parameters cover all missed sub-regions. If the supplementary location parameters cover all missed sub-regions, a corresponding radar image is generated based on the supplementary parameter information and the historical parameter information corresponding to the historical location parameters. Finally, the geological conditions in the preset road are analyzed based on the obtained radar images to complete the entire geological detection work. Throughout this process, the ground-penetrating radar and positioning equipment are installed on the bus, and wireless transmission technology is used to achieve communication between the ground-penetrating radar and the remote control and processing equipment, as well as communication between the positioning equipment and the remote control and processing equipment. This allows the bus to perform its primary function while simultaneously conducting geological monitoring of the preset road without relying on any personnel, thus ensuring the effectiveness of geological monitoring while reducing the waste of human resources. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of a ground-penetrating radar monitoring geology provided in this embodiment.

[0043] Figure 2 This is a block diagram of a ground-penetrating radar method for monitoring geology provided in this embodiment.

[0044] Figure 3 This is a block diagram illustrating the acquisition of parameter information fed back by the ground-penetrating radar installed on the bus and the location parameters corresponding to each parameter information fed back by the positioning device, as provided in this embodiment.

[0045] Figure 4 This embodiment provides a diagram for determining whether several recently stored historical location parameters cover each sub-region of a preset road.

[0046] Figure 5 This embodiment provides a block diagram of the geological state of a preset road based on radar image analysis.

[0047] Figure 6 This is a system block diagram of a ground-penetrating radar for monitoring geology provided in this embodiment. Detailed Implementation

[0048] To better understand the purpose, technical solutions, and advantages of this application, it has been described and illustrated below with reference to the accompanying drawings and embodiments. However, those skilled in the art should understand that this application can be implemented without these details. It will be apparent to those skilled in the art that various modifications can be made to the embodiments disclosed in this application, and the general principles defined in this application can be applied to other embodiments and application scenarios without departing from the principles and scope of this application. Therefore, this application is not limited to the illustrated embodiments, but is consistent with the broadest scope claimed in this application.

[0049] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0050] Ground-penetrating radar (GPR) is a high-frequency electromagnetic technology used to determine the distribution of underground media. Based on the electrical differences in the underground media, GPR uses one antenna to emit high-frequency electromagnetic waves, and another antenna to receive the electromagnetic waves emitted by the underground media. The received signals are then processed, analyzed, and interpreted. Its detailed working process is as follows: A high-frequency electromagnetic pulse is emitted from an antenna placed on the ground into the underground. When it encounters an interface with different electrical properties (mainly relative permittivity) during its propagation underground, part of the electromagnetic wave is refracted and continues to propagate through the interface, while the other part is reflected back to the ground, received by the receiving antenna, and recorded by the main unit. At deeper cross-sections, the electromagnetic wave undergoes similar reflection and refraction until the energy is completely absorbed.

[0051] Figure 1 This is a schematic diagram illustrating the operation of ground-penetrating radar for geological monitoring, as provided in this embodiment. Figure 1As shown, a bus travels along a pre-defined road divided into several sub-regions. A ground-penetrating radar (GPR) is installed on the bus chassis, near the ground, while a positioning device is installed on the bus roof, away from the ground. The line connecting the GPR and the positioning device is perpendicular to the horizontal plane. While the bus is transporting passengers along the pre-defined road, the GPR monitors the corresponding parameters and transmits this information wirelessly to a remote control and processing device that can obtain the geological results from the GPR monitoring. Furthermore, after receiving parameter information from each GPR, the control and processing device sends a location acquisition command to the positioning device to obtain the current location parameters of the GPR. The positioning device and the remote control and processing device also communicate wirelessly. Once the control and processing device receives the parameter information corresponding to each sub-region of the pre-defined road, it generates a corresponding radar image based on the received parameter information for each sub-region, and then analyzes the geological conditions of the pre-defined road based on this radar image information.

[0052] This embodiment provides a method for detecting geological conditions using radar, which is deployed on a control and processing device capable of storing programs. Specifically, the control and processing device can be a PC or a tablet mobile device. Figure 2 This is a block diagram of a ground-penetrating radar method for monitoring geology provided in this embodiment. For example... Figure 2 As shown, a method for monitoring geology using ground-penetrating radar includes the following steps:

[0053] Step S100: Obtain the parameter information fed back by the ground-penetrating radar installed on the bus and the position parameters corresponding to each parameter information fed back by the positioning device, and store the parameter information and the corresponding position parameters.

[0054] The aforementioned parameter information is essentially the received information from ground-penetrating radar (GPR). It represents the superposition of reflected signals at the interfaces between various media layers during the transmission of an electromagnetic wave signal emitted by the GPR through the pre-designed road media layer structure. Each reflected signal corresponds to a peak. Furthermore, due to the attenuation effect of the media layers on the transmitted electromagnetic waves, the peak amplitude of the electromagnetic waves received by the GPR decreases sequentially. The pre-designed road media layer includes at least a surface layer, a base layer, and a subgrade. The presence of cavities, collapses, or loose rocks in any layer further complicates the pre-designed road media layer, affecting the number and peak values ​​of the peaks in the parameter information. In other words, the parameter information includes electromagnetic waves with several different peak values. Specifically, the aforementioned location parameter refers to the position beneath the road corresponding to the reflection of the electromagnetic wave emitted by the GPR within the pre-designed road media layer and its feedback to the GPR.

[0055] Figure 3This is a block diagram illustrating the acquisition of parameter information fed back by the ground-penetrating radar installed on the bus and the location parameters corresponding to each parameter information fed back by the positioning device, as provided in this embodiment. Figure 3 As shown, obtaining the parameter information fed back by the ground-penetrating radar installed on the bus and the location parameters corresponding to each parameter information fed back by the positioning device includes the following steps:

[0056] Step S101: Obtain the historical time of the most recent radar image generation, and periodically obtain the current time corresponding to the current moment.

[0057] Step S102: For each current time obtained, the time difference between the current time and the historical time is obtained, and it is determined whether the time difference is not less than a preset time difference. If it is less, a waiting command is generated to continue waiting to obtain the next current time. The preset time difference is not less than a certain multiple of the time required for the bus to pass through the preset road.

[0058] Step S103: If the value is not less than the specified value, generate an acquisition command and send it to the ground penetrating radar on the bus to obtain the parameter information fed back by the ground penetrating radar based on the acquisition command, and obtain the position parameters corresponding to each parameter information fed back by the positioning device set on the bus based on the parameter information.

[0059] This embodiment replaces the original method of using a dedicated vehicle equipped with ground-penetrating radar and accompanying technicians by installing ground-penetrating radar on a bus. While this reduces the waste of human resources, the bus's operating speed is generally 5 m / s, while the ground-penetrating radar requires an operating speed of no more than 2 m / s to properly and completely receive the parameter information corresponding to the signal transmitted by the transmitting antenna. Therefore, even if the ground-penetrating radar installed on the bus is in an active state from the starting point to the end point of the preset road, it cannot guarantee that it will completely receive the parameter information corresponding to the transmitted information. If the ground-penetrating radar directly uses the parameter information received by the receiving antenna to create a radar image, it will result in an inaccurate radar image. To reduce the waste of human resources while ensuring that the generated radar images more accurately depict the geological conditions of the preset road, the parameter information acquired by the ground-penetrating radar (GPR) can be sent to a remote control and processing device. The location parameters corresponding to each parameter information, acquired by the positioning device, can also be sent to the remote control and processing device. Based on the received parameter information and corresponding location parameters, the control and processing device can generate radar images that more accurately depict the geological conditions of the preset road, facilitating more precise analysis of the geological state of the preset road. Furthermore, assigning the task of generating radar images to the control and processing device can reduce the workload of the GPR, allowing it to acquire parameter information more comprehensively.

[0060] This embodiment describes the entire solution from the perspective of a control and processing device. Each time a radar image is generated, the control and processing device stores the time of its generation. By reviewing and storing the times of all radar images, the control and processing device can obtain the historical time of the most recent generated radar image. The control and processing device also includes a time unit that records the current time in real time. By periodically checking the time unit, the current time can be obtained at regular intervals.

[0061] Since the appearance of cavities or collapses in roads is a result of a long evolutionary process, cavities don't suddenly appear beneath the road. Furthermore, to reduce unnecessary monitoring and save costs, it's unnecessary to use ground-penetrating radar (GPR) to monitor the geology in real-time; monitoring at regular intervals is sufficient. Each time a current time is obtained, the historical time is subtracted to calculate the time difference. This time difference is then compared to a preset time difference. If the time difference is less than the preset time difference, it indicates that geological monitoring is not needed at that moment, and the control processing equipment generates a wait command to continue waiting for the next current time. The preset time difference can be determined based on actual conditions. In this embodiment, the preset time difference is not less than a certain multiple of the time required for a bus to travel along the preset road. This way, geological monitoring of the preset road can be completed by installing GPR on only one bus, reducing the number of GPRs deployed. The time required for a bus to travel along the preset road can be obtained by taking the maximum value of historical travel times, or by taking the maximum value corresponding to peak and weekday periods from historical travel times. No further restrictions are placed on the time required to travel along the preset road here.

[0062] If the time difference between the current time and the historical time is not less than a preset time difference, it indicates that geological monitoring is needed. The control and processing equipment then generates an acquisition command and sends it wirelessly to the ground-penetrating radar on the bus. This causes the radar's transmitter to continuously emit electromagnetic waves towards the ground and receive as much feedback parameter information as possible. Each time the radar receives parameter information, it simultaneously transmits it wirelessly to the control and processing equipment. The equipment stores this information and simultaneously sends a location acquisition command to the positioning device on the bus to obtain the radar's current location. Each parameter corresponds to a location parameter; this positioning device can be a GPS positioning device, ultrasonic positioning, etc. The control and processing equipment periodically acquires the current time after generating a radar image. After generating the acquisition command, it stops acquiring the current time for that round until a new radar image is generated, at which point it restarts the periodic acquisition of the current time.

[0063] Once the ground-penetrating radar receives an acquisition command, it will continuously transmit signals for the time period required to traverse the preset road. This allows the radar to feed back the acquired parameter information to the control and processing equipment in real time during this time. Thus, once the ground-penetrating radar receives an acquisition command, it will send the parameter information collected as the bus travels the entire preset road to the control and processing equipment. The positioning device installed on the bus will also send the corresponding location parameters to the control and processing equipment.

[0064] After the control and processing equipment receives the parameter information and corresponding position parameters sent by the ground penetrating radar, it will store the position parameters next to the corresponding parameter information, thus binding the parameter information and the corresponding position parameters together.

[0065] Step S200: Determine whether the recently stored historical location parameters cover each sub-region of the preset road. If they do, generate the corresponding radar image based on the historical parameter information corresponding to the historical location parameters.

[0066] The preset road comprises several sub-regions, each non-overlapping and collectively covering the total area corresponding to the preset road. To enable the control and processing equipment to generate radar images that more accurately depict the geological conditions corresponding to the preset road based on received parameter information and corresponding location parameters, each sub-region within the preset road needs to contain at least one parameter. Therefore, it is necessary to first determine whether the most recently stored historical location parameters cover the bounding box of each sub-region within the preset road, and then determine whether a radar image can be directly generated based on the different determination results. Figure 4This embodiment provides a diagram for determining whether several recently stored historical location parameters cover each sub-region of a preset road. For example... Figure 4 As shown, determining whether the most recently stored historical location parameters cover each sub-region of the preset road includes the following steps:

[0067] Step S201: Visualize the recently stored historical location parameters to obtain a historical location distribution map. In the historical location distribution map, each pixel corresponds one-to-one with the location within the total area corresponding to the preset road, and the attribute value of each pixel includes the historical location parameters.

[0068] Step S202: Divide the historical location distribution map into historical location sub-distribution maps that correspond one-to-one with each sub-region. Determine whether each historical location sub-distribution map contains pixels. If it does, then the most recently stored historical location parameters cover each sub-region in the preset road.

[0069] Step S203: If at least one is not contained, then the most recently stored historical location parameters do not cover each sub-region in the preset road.

[0070] The aforementioned historical location parameters refer to the location parameters already stored by the control and processing equipment. "Several times" refers to the number of location parameters fed back to the control and processing equipment by the ground-penetrating radar based on the most recent acquisition command. The control and processing equipment first plots the preset road in a two-dimensional Cartesian coordinate system based on its actual geographical location. Then, it marks each of the stored historical location parameters in this two-dimensional Cartesian coordinate system, thus completing the visualization processing of the most recent stored historical location parameters and obtaining a historical location distribution map containing multiple pixels. In this map, each pixel corresponds one-to-one with the location within the total area corresponding to the preset road; that is, one historical location parameter corresponds to one pixel in the historical location distribution map, and the attribute value of each pixel is the historical location parameter.

[0071] In addition, a dividing line is set between different sub-regions in the preset road. After obtaining the historical location distribution map, the dividing line between the different sub-regions in the preset road is plotted together in the two-dimensional Cartesian coordinate system, thus dividing the historical location distribution map into historical location sub-distribution maps corresponding to each sub-region. If each historical location sub-distribution map contains pixels, it indicates that the most recently stored historical location parameters cover each sub-region in the preset road; if at least one historical location sub-distribution map does not contain pixels, it indicates that the most recently stored historical location parameters do not cover each sub-region in the preset road. In this way, by visually and intuitively displaying the distribution of each historical location parameter on the preset road in the form of an image, it is possible to determine whether the most recently stored historical location parameters cover each sub-region in the preset road.

[0072] When the historical location parameters stored in recent times cover each sub-region of a preset road, the corresponding radar image can be directly generated based on the historical parameter information corresponding to the historical location parameters. This generation of the radar image based on the historical parameter information includes: performing horizontal and vertical filtering on the historical parameter information to obtain filtered historical parameter information, and using radar image creation software based on the filtered historical parameter information to obtain the corresponding radar image.

[0073] The parameter information includes both horizontal and vertical interference waves. Horizontal waves originate from the ground-penetrating radar itself. Even when the antenna is pointed towards the sky, the parameter information will still contain horizontal waves. These horizontal waves do not originate from the sky but from the interaction between the radar's internal controller, data lines, and antenna; they are difficult to avoid. However, horizontal waves have the characteristic of being equal in time. This characteristic can be used for horizontal filtering. During horizontal filtering, the average of a certain number of adjacent scan lines is calculated and compared with individual scan lines to eliminate horizontal waves in the parameter information. Vertical waves originate from the external environment, not from the antenna itself, and their frequencies are outside the radar's antenna frequency band. Vertical filtering can be achieved through bandpass filtering, high-pass filtering, low-pass filtering, or wavelet transform. The purpose of vertical filtering is to eliminate vertical wave interference. By performing both horizontal and vertical filtering on the parameter information received by the control processing equipment, a more accurate reflection of the electromagnetic waves emitted by the ground-penetrating radar after passing through a predetermined path underground and being fed back can be obtained—this is the filtered historical parameter information. The obtained historical filtering parameters are then used as input and sent to the corresponding radar image creation software, which then outputs the corresponding radar image. This radar image creation software can be Tableau, MATLAB, or the ground penetrating radar forward modeling software GPRSIM (Ground Penetrating Radar Simulation Software), among others.

[0074] Step S300: If not covered, obtain the missing sub-regions not covered by the historical location parameters, generate corresponding acquisition instructions based on the missing sub-regions, and send the acquisition instructions to the ground penetrating radar.

[0075] Once a sub-region within a preset road is defined, it remains fixed, meaning each sub-region corresponds to a unique location and a unique area number. If recently stored historical location parameters do not cover every sub-region within the preset road, it indicates that a radar image cannot be directly generated based on the historical parameter information corresponding to the historical location parameters. It is necessary to review all the aforementioned historical location parameter sub-distribution maps, filter out the missing sub-regions lacking historical location parameters, and generate corresponding reacquisition commands based on the area number corresponding to each missing sub-region. One missing sub-region corresponds to one reacquisition command, and each reacquisition command includes a reacquisition sub-region, which is the sub-region corresponding to the parameter information that the ground-penetrating radar needs to reacquire. When generating the reacquisition command, the control processing equipment also wirelessly transmits the command to the ground-penetrating radar installed on the bus. This allows the ground-penetrating radar to acquire the parameter information falling within the corresponding sub-region based on the received command, enabling subsequent radar image generation based on the parameter information and precise analysis of the geological conditions corresponding to the preset road.

[0076] In addition, after sending the acquisition command to the ground penetrating radar, the control processing equipment also includes: determining whether the bus has traveled to the previous sub-area corresponding to the acquisition sub-area; if so, sending a pre-arrival command to the bus; obtaining the actual traffic flow in the acquisition sub-area based on the pre-arrival command; determining whether the actual traffic flow is greater than the preset traffic flow; if it is not greater than the preset traffic flow, sending an execution command to the bus to make the bus execute the acquisition command; if it is greater than the preset traffic flow, sending a postponement command to the bus to make the bus not execute the acquisition command this time.

[0077] When generating a reacquisition command, the control processing device also generates a location upload command and sends it to the positioning device. This enables the positioning device to automatically transmit its acquired location to the control processing device in real time via wireless transmission technology. Each time the control processing device receives a location parameter automatically uploaded by the positioning device, it compares it with the stored location corresponding to each sub-region to determine which sub-region the bus is in. Specifically, it checks whether the bus has entered the previous sub-region corresponding to the reacquisition sub-region. If it determines that the bus has not yet entered the previous sub-region, it continues monitoring, comparing the next automatically received location parameter with the stored location corresponding to each sub-region to determine whether the bus has entered the previous sub-region corresponding to the reacquisition sub-region.

[0078] Upon determining that the bus has entered the previous sub-region corresponding to the recapture sub-region, the control processing equipment sends a pre-arrival command to the bus. This causes the bus to wirelessly transmit the actual traffic flow ahead, as captured by its dashcam, to the control processing equipment. The control processing equipment then obtains the actual traffic flow in the recapture sub-region. This actual traffic flow is compared to a preset traffic flow. If the actual traffic flow is not greater than the preset flow, it indicates that the traffic flow in the current recapture sub-region is low. At this point, the control processing equipment can send an execution command to the bus, causing it to slow down and pass through the missed sub-region. This slowdown ensures that the bus does not substantially impact traffic conditions, and the reduced speed allows the ground-penetrating radar on the bus to fully acquire the recapture parameters in the missed sub-region. This acquired recapture parameter information is then transmitted wirelessly to the control processing equipment in real time. After leaving the missed sub-region, the bus continues at its original speed.

[0079] When the actual traffic flow exceeds the preset traffic flow, it indicates that the traffic flow in the currently acquired sub-area is high. In this case, the control processing equipment sends a delay command to the bus, allowing the bus to maintain its current speed and pass through the missed sub-area by executing the delay command. The bus does not slow down when passing through the missed sub-area this time; that is, the acquisition command is not executed this time. In this way, the impact on traffic in the preset road is reduced when completing the operation of reacquiring information from the missed sub-area.

[0080] Step S400: Receive supplementary location parameters and corresponding supplementary parameter information from the bus in the missed sub-regions based on the supplementary acquisition command; determine whether the supplementary location parameters cover all missed sub-regions; if so, generate a corresponding radar image based on the supplementary parameter information and the historical parameter information corresponding to the historical location parameters.

[0081] While receiving supplementary parameter information uploaded by the ground-penetrating radar, the control processing device also generates a corresponding location acquisition command based on the supplementary parameter information and sends the location acquisition command to the positioning device. This allows the positioning device to upload the supplementary location parameters corresponding to the supplementary parameter information to the control processing device via wireless transmission technology. The control processing device then receives the supplementary location parameters and corresponding supplementary parameter information from the missed sub-region and stores the corresponding supplementary location parameters and supplementary parameter information in a bundled manner. This process is identical to the specific operational logic of obtaining and storing parameter information and corresponding location parameters in step S100 above, and will not be elaborated upon further.

[0082] Each time the bus completes a journey through all the missed sub-regions, the control processing equipment adds the newly received supplementary location parameters to the aforementioned historical location distribution map. Based on the obtained new historical location distribution map, it is determined whether the received supplementary location parameters cover all the missed sub-regions. If every historical location sub-distribution map in the new historical location distribution map contains a pixel, it indicates that the supplementary location parameters cover all the missed sub-regions; if not every historical location sub-distribution map in the new historical location distribution map contains a pixel, it indicates that the supplementary location parameters do not cover all the missed sub-regions.

[0083] If the supplementary location parameters do not cover all missed sub-regions, the missing sub-regions are reacquired, and corresponding supplementary acquisition commands are generated based on these regions. These supplementary acquisition commands are then sent to the ground-penetrating radar to replace the previously received commands, allowing the bus to resume its journey on the predetermined route. The ground-penetrating radar acquires the supplementary parameter information from the newly acquired missing sub-regions and uploads it to the control processing equipment. The positioning equipment acquires the supplementary location parameters corresponding to this supplementary information and uploads them to the control processing equipment. This process continues until the supplementary location parameters cover all missed sub-regions.

[0084] If the supplementary location parameters cover all missed sub-regions, the control processing device sends the historical parameter information and all subsequently obtained supplementary parameter information as input to the corresponding radar image creation software, thereby obtaining the corresponding radar image output by the radar image creation software. The specific radar image creation software can be found in the software disclosed in step S200 above, and will not be described in detail here. The control processing device is equipped with radar image creation software.

[0085] In addition, after generating a radar image, the control processing equipment sends a completion command to the ground-penetrating radar (GPR) to cause it to delete the received reacquisition command. This keeps the GPR in a dormant state until it receives a new reacquisition command, reducing resource loss caused by the GPR. The control processing equipment also sends a completion command to the positioning device after generating the radar image, causing the positioning device to delete the received location upload command and stop automatically uploading location parameters to the control processing equipment, thus reducing the communication load on the control processing equipment.

[0086] Step S500: Analyze the geological conditions of the preset road based on radar image analysis.

[0087] Figure 5 This embodiment provides a geological state diagram of a preset road based on radar image analysis. For example... Figure 5 As shown, the geological conditions of a preset road analyzed based on radar images include the following steps:

[0088] Step S401: Determine whether there are collapsed areas and loose areas in the radar image. If so, generate an alarm signal that indicates an abnormal situation on the preset road.

[0089] Step S402: If none exist, mark all holes in the radar image, obtain the underground construction image corresponding to the preset road, and determine whether all holes in the radar image correspond to the holes in the construction image. If not, generate an alarm signal indicating that there is an abnormality in the preset road.

[0090] Step S403: If yes, wait for the next acquisition of parameter information and the position parameters corresponding to each parameter information.

[0091] The control and processing equipment first uses its installed radar image viewing software, such as MATLAB or the ground-penetrating radar forward modeling software GPRSIM, to identify whether there are collapsed or loose areas in the generated radar image. If so, it can directly determine that the preset road has a safety hazard and generate an alarm signal indicating an abnormality in the preset road.

[0092] If no voids are found, the software installed to view radar images is used to locate and mark them. Additionally, the software imports an image of the underground construction structure following the most recent construction work on the pre-defined road. The software then compares the marked radar image with the imported underground construction structure image. If a marked void in the radar image also has a corresponding void in the underground construction structure image, it indicates that the marked void is beneficial for improving living conditions. If no corresponding void exists in the underground construction structure image, it indicates that the marked void poses a safety hazard. This process of comparing each marked void in the radar image with a corresponding void in the underground construction structure image ensures a match. If at least one void does not match, the control processing device generates an alarm signal indicating an abnormality in the pre-defined road. If all parameters match, it indicates that there are no safety hazards with the current road equipment, and the process continues until the next geological monitoring session, i.e., until the next acquisition of parameter information and the corresponding location parameters for each parameter. By installing ground-penetrating radar and positioning equipment on the bus, and using wireless transmission technology to achieve communication between the ground-penetrating radar and remote control processing equipment, as well as between the positioning equipment and the remote control processing equipment, the bus can perform its primary function without relying on any personnel for geological monitoring of the designated road surface. This ensures the effectiveness of geological monitoring while reducing the waste of human resources.

[0093] Figure 6 This is a system block diagram of ground-penetrating radar for monitoring geology provided in this embodiment. For example... Figure 6 As shown, a ground-penetrating radar system for monitoring geology includes: an information acquisition module, an image generation module, a command issuance module, a geology monitoring module, and a command management module.

[0094] The system comprises several modules: an information acquisition module, which acquires parameter information from the ground-penetrating radar installed on the bus and location parameters corresponding to each parameter from the positioning device, and stores the parameter information and corresponding location parameters; an image generation module, which determines whether the recently stored historical location parameters cover each sub-area of ​​the preset road, and if so, generates a corresponding radar image based on the historical parameter information corresponding to the historical location parameters; a command issuance module, which, if not covered, acquires the missing sub-areas not covered by the historical location parameters, generates a corresponding acquisition command based on the missing sub-areas, and sends the acquisition command to the ground-penetrating radar; and an image generation module, which also receives supplementary location parameters from the missing sub-areas and corresponding supplementary parameter information from the bus based on the supplementary command, determines whether the supplementary location parameters cover all missing sub-areas, and if so, generates a corresponding radar image based on the supplementary parameter information and the historical parameter information corresponding to the historical location parameters; and a geological monitoring module, which analyzes the geological conditions of the preset road based on the radar images.

[0095] Additionally, the reacquisition command includes the reacquisition sub-area corresponding to the parameter information that the ground-penetrating radar needs to reacquire. The command management module, after sending the reacquisition command to the ground-penetrating radar, determines whether the bus has entered the previous sub-area corresponding to the reacquisition sub-area. If so, it sends a pre-arrival command to the bus, obtains the actual traffic flow in the reacquisition sub-area based on the pre-arrival command, and determines whether the actual traffic flow is greater than a preset traffic flow. If it is not greater than the preset traffic flow, it sends an execution command to the bus to execute the reacquisition command; if it is greater than the preset traffic flow, it sends a postponement command to the bus to prevent the bus from executing the reacquisition command this time.

[0096] The other functions performed in the aforementioned information acquisition module, image generation module, command issuance module, geological monitoring module, and command management module, as well as the technical details of each function, are the same as or similar to the corresponding features in the previously described method for monitoring geology using ground-penetrating radar, and therefore will not be repeated here.

[0097] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the relevant content in the aforementioned embodiment of a ground-penetrating radar method for monitoring geology.

[0098] It should be understood that although the steps in the flowcharts in the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order in which these steps are performed, and they may be performed in other orders.

[0099] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for monitoring geology using ground-penetrating radar, characterized in that, The method includes: The system acquires parameter information fed back by the ground-penetrating radar installed on the bus and position parameters corresponding to each parameter information fed back by the positioning device, and stores the parameter information and the corresponding position parameters. Determine whether the most recently stored historical location parameters cover each sub-region of the preset road. If they do, generate a corresponding radar image based on the historical parameter information corresponding to the historical location parameters. If not covered, obtain the missing sub-regions not covered by the historical location parameters, generate corresponding acquisition instructions based on the missing sub-regions, and send the acquisition instructions to the ground penetrating radar; The system receives supplementary location parameters and corresponding supplementary parameter information from the bus in the missed sub-regions based on the supplementary acquisition command. It then determines whether the supplementary location parameters cover all missed sub-regions. If so, it generates a corresponding radar image based on the supplementary parameter information and the historical parameter information corresponding to the historical location parameters. Analyze the geological conditions of the preset road based on the radar images; The acquisition of parameter information fed back by the ground-penetrating radar installed on the bus and the location parameters corresponding to each parameter information fed back by the positioning device includes: Obtain the historical time of the most recent generated radar image, and periodically obtain the current time corresponding to the current moment; For each current time obtained, the time difference between the current time and the historical time is obtained, and it is determined whether the time difference is not less than a preset time difference. If it is less, a waiting command is generated to continue waiting to obtain the next current time. The preset time difference is not less than a number of times the time required for the bus to pass through the preset road. If it is not less than, generate an acquisition command and send it to the ground penetrating radar on the bus to obtain the parameter information fed back by the ground penetrating radar based on the acquisition command, and obtain the position parameters corresponding to each parameter information fed back by the positioning device set on the bus based on the parameter information. The reacquisition command includes the reacquisition sub-region corresponding to the parameter information that the ground-penetrating radar needs to reacquire. After sending the reacquisition command to the ground-penetrating radar, it also includes: Determine whether the bus has traveled to the previous sub-area corresponding to the replenishment sub-area. If so, send a pre-arrival instruction to the bus. Based on the pre-arrival instruction, obtain the actual traffic flow of the replenishment sub-area. Determine whether the actual traffic flow is greater than the preset traffic flow. If it is not greater than the preset traffic flow, send an execution instruction to the bus so that the bus executes the replenishment instruction. If the traffic volume exceeds the preset limit, a delay instruction is sent to the bus so that the bus does not execute the replenishment instruction this time. After generating the corresponding radar image, the process also includes sending a completion command to the ground-penetrating radar so that the ground-penetrating radar deletes the received acquisition command.

2. The method according to claim 1, characterized in that, The preset road includes several sub-regions, each of which is non-overlapping and collectively covers the total area corresponding to the preset road. Determining whether the most recently stored historical location parameters cover each sub-region of the preset road includes: The historical location parameters stored in the most recent time are visualized to obtain a historical location distribution map, wherein each pixel in the historical location distribution map corresponds one-to-one with the location in the total area corresponding to the preset road, and the attribute value of each pixel includes the historical location parameters. The historical location distribution map is divided into historical location sub-distribution maps that correspond one-to-one with each sub-region. It is determined whether each historical location sub-distribution map contains pixels. If it does, the most recently stored historical location parameters cover each sub-region in the preset road. If at least one is not present, then the most recently stored historical location parameters do not cover each sub-region in the preset road.

3. The method according to claim 1, characterized in that, Generating a corresponding radar image based on historical parameter information corresponding to the historical location parameters includes: The historical parameter information is subjected to horizontal and vertical filtering to obtain filtered historical parameter information. Based on the filtered historical parameter information, radar image creation software is used to obtain the corresponding radar image.

4. The method according to claim 3, characterized in that, The analysis of the geological conditions of the preset road based on the radar image includes: Determine whether there are collapsed areas and loose areas in the radar image. If so, generate an alarm signal indicating that there is an abnormality in the preset road. If they exist, mark all the holes in the radar image, obtain the underground construction structure image corresponding to the preset road, and determine whether all the holes in the radar image correspond to the holes in the construction structure image. If not, generate an alarm signal indicating that there is an abnormality in the preset road. If so, wait for the next time to obtain the parameter information and the position parameters corresponding to each parameter information.

5. A ground-penetrating radar system for monitoring geology, characterized in that, The system includes: an information acquisition module, an image generation module, a command issuance module, and a geological monitoring module; wherein... The information acquisition module is used to acquire parameter information fed back by the ground-penetrating radar installed on the bus and the position parameters corresponding to each parameter information fed back by the positioning device, and to store the parameter information and the corresponding position parameters. The image generation module is used to determine whether the recently stored historical location parameters cover each sub-region of the preset road. If they do cover, a corresponding radar image is generated based on the historical parameter information corresponding to the historical location parameters. The instruction issuing module is used to obtain the missing sub-regions not covered by historical location parameters if there is no coverage, generate corresponding acquisition instructions based on the missing sub-regions, and send the acquisition instructions to the ground penetrating radar. The image generation module is also used to receive supplementary location parameters in the missing sub-regions and supplementary parameter information corresponding to the supplementary location parameters fed back by the bus based on the supplementary acquisition command, determine whether the supplementary location parameters cover all missing sub-regions, and if so, generate a corresponding radar image based on the supplementary parameter information and the historical parameter information corresponding to the historical location parameters. The geological monitoring module is used to analyze the geological conditions of a preset road based on the radar image; The acquisition of parameter information fed back by the ground-penetrating radar installed on the bus and the location parameters corresponding to each parameter information fed back by the positioning device includes: Obtain the historical time of the most recent generated radar image, and periodically obtain the current time corresponding to the current moment; For each current time obtained, the time difference between the current time and the historical time is obtained, and it is determined whether the time difference is not less than a preset time difference. If it is less, a waiting command is generated to continue waiting to obtain the next current time. The preset time difference is not less than a number of times the time required for the bus to pass through the preset road. If it is not less than, generate an acquisition command and send it to the ground penetrating radar on the bus to obtain the parameter information fed back by the ground penetrating radar based on the acquisition command, and obtain the position parameters corresponding to each parameter information fed back by the positioning device set on the bus based on the parameter information. The reacquisition command includes the reacquisition sub-region corresponding to the parameter information that the ground-penetrating radar needs to reacquire. After sending the reacquisition command to the ground-penetrating radar, it also includes: Determine whether the bus has traveled to the previous sub-area corresponding to the replenishment sub-area. If so, send a pre-arrival instruction to the bus. Based on the pre-arrival instruction, obtain the actual traffic flow of the replenishment sub-area. Determine whether the actual traffic flow is greater than the preset traffic flow. If it is not greater than the preset traffic flow, send an execution instruction to the bus so that the bus executes the replenishment instruction. If the traffic volume exceeds the preset limit, a delay instruction is sent to the bus so that the bus does not execute the replenishment instruction this time. After generating the corresponding radar image, the process also includes sending a completion command to the ground-penetrating radar so that the ground-penetrating radar deletes the received acquisition command.

6. A computer-readable storage medium having a computer program stored thereon that can run on a processor, characterized in that, When the computer program is executed by the processor, it performs a method for monitoring geology using ground-penetrating radar as described in any one of claims 1 to 4.

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