Global microwave remote sensing radar and monitoring method for foundation pit deformation detection

Abstract

The present invention discloses a global microwave remote sensing radar and a monitoring method for foundation pit deformation detection, and relates to the technical field of global microwave remote sensing radar detection of foundation pit deformation, including a movable support base assembly, a telescopic mechanical arm, a radar detection unit, a radar detection control unit, and a large deformation verification unit. The present invention can move laterally when arranging the radar detection unit through the movable support base assembly, and can solve these directional interferences by moving laterally, improve the quality of radar detection data, and the telescopic mechanical arm can also cooperate to adjust the radar position; the large deformation verification is mainly to determine whether the radar is interfered by the electromagnetic interference signal, and the radar detection unit adopts the global microwave remote sensing radar to perform radar detection on multiple monitoring points of the target foundation pit, which can complete the automatic deformation detection of multiple monitoring points of the target foundation pit, is less affected by the environment, has high detection accuracy, and can effectively avoid false alarms caused by electromagnetic interference.

Description

Technical Field

[0001] The present invention relates to the technical field of global microwave remote sensing radar for detecting foundation pit deformation, and in particular to a global microwave remote sensing radar and a monitoring method for detecting foundation pit deformation. Background Art

[0002] Foundation pit deformation detection is an important field in civil engineering, which involves the deformation monitoring of foundation pits during construction due to factors such as excavation, groundwater changes, load effects, etc. Accurate deformation monitoring is crucial to ensure project safety and prevent accidents.

[0003] Although traditional deformation monitoring technology is widely used, it also has great limitations in application, such as: the total station has high working intensity and low efficiency, the GPS has low measurement accuracy and stability needs to be improved. At the same time, the test efficiency of optical measurement technology will be greatly affected under poor lighting or bad weather conditions, and the environmental influence will also lead to large errors in the test results, or even wrong test results.

[0004] Therefore, how to design a foundation pit deformation detection device that can achieve efficient real-time deformation detection and is less affected by environmental interference is a technical problem that needs to be solved urgently. Summary of the invention

[0005] In order to solve the technical problem of foundation pit deformation detection, the present invention provides a global microwave remote sensing radar and a monitoring method for foundation pit deformation detection. The following technical solutions are adopted:

[0006] A global microwave remote sensing radar for foundation pit deformation detection, comprising a movable support base assembly, a telescopic mechanical arm, a radar detection unit, a radar detection control unit and a large deformation verification unit, wherein the support base assembly is installed at a radar arrangement point, a rotating part is provided on the top, one end of the telescopic mechanical arm is installed on the rotating part and rotates with the rotating part, the radar detection unit comprises an electric pan-tilt mechanism and a global microwave remote sensing radar, one side of the electric pan-tilt mechanism is detachably installed on the other end of the telescopic mechanical arm, the base of the global microwave remote sensing radar is detachably installed on the active part of the electric pan-tilt mechanism and moves with the active part, the radar detection control unit controls the execution actions of the movable support base assembly, the telescopic mechanical arm and the radar detection unit respectively, and is connected to the global microwave remote sensing radar for communication, collects radar data detected by the global microwave remote sensing radar, calculates the deformation variables of multiple monitoring points of the target foundation pit, outputs the deformation variables, sets a deformation variable threshold, and outputs a large deformation result when the deformation variable of the monitoring point is greater than the deformation variable threshold;

[0007] The large deformation verification unit is communicatively connected with the radar detection control unit. When the large deformation verification unit receives the large deformation result output by the radar detection control unit, the large deformation verification unit first performs radar electromagnetic interference detection. If it is determined that an electromagnetic interference signal appears, an alarm is communicated to a remote server. If it is determined that no electromagnetic interference signal appears, an image feature comparison algorithm is used to perform visual feature comparison based on the initial visual picture of the monitoring point and the large deformation visual picture after the large deformation result. If it is determined that a large deformation feature appears, the large deformation verification unit communicates and interacts with the radar detection control unit, and the radar detection control unit communicates and interacts large deformation detection data with the remote server.

[0008] By adopting the above technical solution, the movable support base assembly can be moved laterally when the radar detection unit is arranged. In this way, when the radar detection signal is subject to directional interference after fixed installation, these directional interferences can be resolved by lateral movement, thereby improving the quality of radar detection data. The telescopic mechanical arm can also cooperate to adjust the radar position.

[0009] Due to the complex environment of the foundation pit and the large number of electrical equipment under construction nearby, there will be occasional electromagnetic interference during radar detection, which will affect the radar data of the monitoring point and thus affect the deformation detection results. When it is judged that a large deformation occurs, usually a large deformation refers to a deformation value greater than the deformation threshold. For example, the deformation threshold is set to 2mm. If the deformation value is greater than 2mm, it is judged that a large deformation occurs. At this time, a large deformation verification is required first. The large deformation verification is mainly to determine whether the radar is interfered by the electromagnetic interference signal. If an electromagnetic interference signal occurs, it is necessary to communicate an alarm to the remote server. At this time, the staff should go to the site for manual re-inspection and check the electromagnetic interference conditions nearby for troubleshooting.

[0010] If no electromagnetic interference signal is detected, the large deformation data will be transmitted to the remote server. The staff will need to analyze the large deformation data to see whether it is within the normal range. If not, emergency treatment is required.

[0011] The radar detection unit uses a full-range microwave remote sensing radar to perform radar detection on multiple monitoring points of the target foundation pit. The effective range is 2km, the angular resolution is better than 1°×2° (azimuth×pitch), the distance resolution is better than 0.1 meter, the deformation measurement accuracy is better than 0.1 mm, and the data update rate is not less than 30 seconds / frame (360° in azimuth). It can complete automatic deformation detection of multiple monitoring points of the target foundation pit, is less affected by the environment, has high detection accuracy, and can effectively avoid false alarms caused by electromagnetic interference.

[0012] Optionally, the radar detection control unit includes a radar data processing chip, a control chip and a memory, the memory is respectively communicated with the global microwave remote sensing radar and the large deformation visual verification unit, collects and stores radar data detected by the global microwave remote sensing radar, the radar data processing chip calculates the deformation amounts of multiple monitoring points of the target foundation pit based on the radar data, and the control chip is communicated with the radar data processing chip, and is respectively communicated with the movable support base assembly, the telescopic robotic arm and the radar detection unit.

[0013] By adopting the above technical solution, the radar data processing chip can complete the calculation and analysis of the radar data and output the deformation results, the control chip can automatically control multiple actuators, and the memory is used to store radar data, control instruction data, calculation result data, etc.

[0014] Optionally, the large deformation visual verification unit includes a radar electromagnetic interference detection module, a visual camera, a visual analysis module and a chip-based verification unit control module, wherein the radar electromagnetic interference detection module is installed on a movable support base assembly and is communicatively connected to the global microwave remote sensing radar to detect the electromagnetic environment data around the global microwave remote sensing radar, record normal spectrum characteristics, collect echo signals received by the global microwave remote sensing radar when the global microwave remote sensing radar is working, and output the result of whether there is an electromagnetic interference signal based on the normal spectrum characteristics, the echo signal and the radar signal interference threshold; the visual camera is installed on the active part of the electric pan-tilt mechanism, located on one side of the global microwave remote sensing radar, and is consistent with the direction of the global microwave remote sensing radar. The initial visual images of multiple target monitoring points are first taken separately, the visual analysis module is communicatively connected to the visual camera, the verification unit control module is communicatively connected to the radar detection control unit, and the execution actions of the radar electromagnetic interference detection module, the visual camera and the visual analysis module are respectively controlled.

[0015] By adopting the above technical solutions, the radar electromagnetic interference detection module detects the electromagnetic environment data around the global microwave remote sensing radar based on the spectrum analyzer and data analysis chip. Radar electromagnetic interference detection is an important link to ensure the normal operation of the radar system and improve its anti-interference ability. Electromagnetic interference can come from various natural and man-made sources, such as other radar systems, radio communication equipment, industrial equipment, lightning, etc. Detecting radar electromagnetic interference usually involves the following steps:

[0016] Spectrum monitoring: Use a spectrum analyzer to monitor the electromagnetic environment within the radar operating frequency range and record normal spectrum characteristics;

[0017] Signal acquisition: When the global microwave remote sensing radar is in operation, the signals received by the global microwave remote sensing radar are collected, including target echoes and possible interference signals;

[0018] Interference identification: Identify interference signals that are different from normal echoes by analyzing the signal's frequency, amplitude, duration, modulation method and other characteristics.

[0019] Interference analysis: Conduct in-depth analysis of identified interference signals to determine their source, type (such as continuous wave interference, pulse interference, swept frequency interference, etc.) and intensity.

[0020] Performance evaluation: Based on the radar signal interference threshold, the impact of interference on radar performance, such as detection distance, resolution, false alarm rate, etc., is evaluated. If the evaluation value exceeds the radar signal interference threshold, the result that an electromagnetic interference signal exists is output. Otherwise, it is considered to be slight interference and does not affect the radar detection result.

[0021] Optionally, a wireless communication module is also included, and the radar detection control unit and the large deformation visual verification unit communicate with the remote server through the wireless communication module to exchange data.

[0022] By adopting the above technical solution, the wireless communication module can be a 4G / 5G wireless communication module, which can realize wireless data interaction.

[0023] Optionally, when the radar detection unit performs radar detection on the target monitoring point, the visual camera synchronously collects the visual image of the target monitoring point.

[0024] By adopting the above technical solution, the visual camera can perform image detection simultaneously with radar detection, and verify the visual data of whether there is a large deformation in the target area to avoid false alarms.

[0025] Optionally, the movable support base assembly includes a linear moving unit and a rotating unit, the track of the linear moving unit can be detachably installed at the radar deployment point, the base of the rotating unit can be detachably installed on the slider of the linear moving unit and moves laterally following the slider, the rotating part of the rotating unit is the rotating part of the movable support base assembly, and one end of the telescopic robotic arm is installed on the rotating part of the rotating unit.

[0026] Optionally, the linear motion unit is an electric linear slide.

[0027] Optionally, the rotating unit is a motorized turntable.

[0028] A method for monitoring foundation pit deformation, using a global microwave remote sensing radar for foundation pit deformation detection to automatically monitor multiple monitoring points of a target foundation pit, comprises the following steps:

[0029] Step 1, select the radar layout point of the target foundation pit, the global microwave remote sensing radar for foundation pit deformation detection is installed at the radar layout point, the radar detection control unit controls the linear moving unit to move horizontally, and controls the rotating unit to rotate every time it moves a set distance. When the global microwave remote sensing radar rotates to face the monitoring point, the global microwave remote sensing radar starts to perform radar detection on the monitoring point, and repeatedly controls the rotation of the rotating unit to complete radar detection of multiple monitoring points. The radar electromagnetic interference detection module performs interference analysis on the radar data after multiple lateral shifts, selects the point with the least interference as the radar layout point, and self-locks the linear moving unit;

[0030] Step 2, start radar deformation detection of multiple monitoring points of the target foundation pit, control the action of the rotating unit, make the global microwave remote sensing radar complete the first radar detection, and control the visual camera to complete the initial visual picture shooting of multiple target monitoring points, and store the first radar detection data as deformation reference data in the memory;

[0031] Step 3: every set period, the rotation unit is controlled to move, the global microwave remote sensing radar performs periodic radar detection, the radar data processing chip calculates the deformation variable based on the deformation reference data stored in the memory and the current period radar detection data, and compares the deformation variable with the deformation variable threshold. When the deformation variable of the monitoring point is greater than the deformation variable threshold, a large deformation result is output, and the large deformation result is exchanged with the large deformation visual verification unit;

[0032] Step 4, the radar electromagnetic interference detection module detects the electromagnetic environment data around the global microwave remote sensing radar. If it is determined that an electromagnetic interference signal exists, the interactive large deformation verification unit first performs radar electromagnetic interference detection. If it is determined that an electromagnetic interference signal appears, the wireless communication module communicates with the remote server to alarm. If it is determined that no electromagnetic interference signal appears, the image feature comparison algorithm is used to compare the visual features of the initial visual picture of the monitoring point with the large deformation visual picture after the large deformation result. If it is determined that a large deformation feature appears, it communicates and interacts with the radar detection control unit. The radar detection control unit communicates with the remote server through the wireless communication module to exchange large deformation detection data.

[0033] In summary, the present invention includes at least one of the following beneficial technical effects:

[0034] The present invention can provide a global microwave remote sensing radar and a monitoring method for foundation pit deformation detection. The movable support base assembly can be used to perform lateral movement when arranging the radar detection unit. When the radar detection signal is subjected to directional interference after fixed installation, the lateral movement can be used to solve these directional interferences, thereby improving the quality of radar detection data. The telescopic mechanical arm can also cooperate to adjust the radar position.

[0035] The verification of large deformation is mainly to determine whether the radar is interfered by electromagnetic interference signals. If electromagnetic interference signals appear, it is necessary to communicate an alarm to the remote server. At this time, the staff should go to the site for manual re-inspection and check the electromagnetic interference situation nearby to perform troubleshooting. If it is determined that no electromagnetic interference signals appear, the large deformation data will be transmitted to the remote server. The staff needs to analyze the large deformation data to see if it is a deformation within the normal range. If not, emergency treatment is required. The radar detection unit uses a global microwave remote sensing radar to perform radar detection on multiple monitoring points of the target foundation pit. It can complete the automated deformation detection of multiple monitoring points of the target foundation pit, is less affected by the environment, has high detection accuracy, and can effectively avoid false alarms caused by electromagnetic interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the connection principle of the electrical components of the global microwave remote sensing radar used for foundation pit deformation detection of the present invention;

[0037] Figure 2 It is a schematic diagram of the structure of the global microwave remote sensing radar used for foundation pit deformation detection of the present invention;

[0038] Figure 3 It is a schematic diagram of the side-view structure of the global microwave remote sensing radar used for foundation pit deformation detection of the present invention;

[0039] Explanation of the reference numerals in the accompanying drawings: 1. Movable supporting base assembly; 11. Linear moving unit; 12. Rotating unit; 2. Telescopic robotic arm; 3. Radar detection unit; 31. Electric pan-tilt mechanism; 32. Global microwave remote sensing radar; 4. Radar detection control unit; 41. Radar data processing chip; 42. Control chip; 43. Memory; 51. Radar electromagnetic interference detection module; 52. Visual camera; 53. Visual analysis module; 54. Verification unit control module; 100. Remote server. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0041] The embodiments of the present invention disclose a global microwave remote sensing radar and a monitoring method for foundation pit deformation detection.

[0042] Reference Figure 1-Figure 3, Embodiment 1, a global microwave remote sensing radar for foundation pit deformation detection, comprising a movable support base assembly 1, a telescopic mechanical arm 2, a radar detection unit 3, a radar detection control unit 4 and a large deformation verification unit, the support base assembly 1 is installed at the radar layout point, and a rotating part is provided on the top, one end of the telescopic mechanical arm 2 is installed on the rotating part, and rotates with the rotating part, the radar detection unit 3 comprises an electric pan-tilt mechanism 31 and a global microwave remote sensing radar 32, one side of the electric pan-tilt mechanism 31 is detachably installed on the other end of the telescopic mechanical arm 2, the base of the global microwave remote sensing radar 32 is detachably installed on the active part of the electric pan-tilt mechanism 31, and moves with the active part, the radar detection control unit 4 controls the execution actions of the movable support base assembly 1, the telescopic mechanical arm 2 and the radar detection unit 3 respectively, and communicates with the global microwave remote sensing radar 32, collects radar data detected by the global microwave remote sensing radar 32, calculates the deformation variables of multiple monitoring points of the target foundation pit, and outputs the deformation variables, sets the deformation variable threshold, and outputs the large deformation result when the deformation variable of the monitoring point is greater than the deformation variable threshold;

[0043] The large deformation verification unit is communicatively connected with the radar detection control unit 4. When the large deformation verification unit receives the large deformation result output by the radar detection control unit 4, the large deformation verification unit first performs radar electromagnetic interference detection. If it is determined that an electromagnetic interference signal appears, an alarm is communicated to the remote server 100. If it is determined that no electromagnetic interference signal appears, an image feature comparison algorithm is used to perform visual feature comparison based on the initial visual image of the monitoring point and the large deformation visual image after the large deformation result. If it is determined that a large deformation feature appears, the large deformation verification unit communicates and interacts with the radar detection control unit 4. The radar detection control unit 4 communicates and interacts large deformation detection data with the remote server 100.

[0044] The movable support base assembly 1 can be moved laterally when the radar detection unit 3 is arranged. In this way, when the radar detection signal is subject to directional interference after fixed installation, these directional interferences can be resolved by lateral movement, thereby improving the quality of radar detection data. The telescopic mechanical arm 2 can also cooperate to adjust the radar position.

[0045] Due to the complex environment of the foundation pit and the large number of various electrical equipment under construction nearby, there will be occasional electromagnetic interference when performing radar detection, which will affect the radar data of the monitoring point and thus affect the deformation detection result. When it is judged that a large deformation occurs, usually a large deformation refers to a deformation value greater than a threshold value. For example, the threshold value of the deformation value is set to 2mm. If the deformation value is greater than 2mm, it is judged that a large deformation occurs. At this time, a large deformation verification is required first. The large deformation verification is mainly to determine whether the radar is interfered by an electromagnetic interference signal. If an electromagnetic interference signal occurs, it is necessary to communicate an alarm to the remote server 100. At this time, the staff should go to the site for manual re-inspection and check the electromagnetic interference conditions nearby for troubleshooting.

[0046] If it is determined that no electromagnetic interference signal appears, the large deformation data will be transmitted to the remote server 100, and the staff needs to analyze the large deformation data to see whether it is a deformation within a normal range. If not, emergency treatment is required.

[0047] The radar detection unit 3 uses a full-range microwave remote sensing radar 32 to perform radar detection on multiple monitoring points of the target foundation pit. The effective range is 2km, the angular resolution is better than 1°×2° (azimuth×pitch), the distance resolution is better than 0.1 meter, the deformation measurement accuracy is better than 0.1 mm, and the data update rate is not less than 30 seconds / frame (360° in azimuth). It can complete the automatic deformation detection of multiple monitoring points of the target foundation pit, is less affected by the environment, has high detection accuracy, and can effectively avoid false alarms caused by electromagnetic interference.

[0048] Embodiment 2, the radar detection control unit 4 includes a radar data processing chip 41, a control chip 42 and a memory 43, the memory 43 is respectively connected to the global microwave remote sensing radar 32 and the large deformation visual verification unit for communication, collects and stores the radar data detected by the global microwave remote sensing radar 32, the radar data processing chip 41 calculates the deformation amounts of multiple monitoring points of the target foundation pit based on the radar data, and the deformation amounts of multiple monitoring points of the target foundation pit, the control chip 42 is connected to the radar data processing chip 41 for communication, and is respectively connected to the movable support base assembly 1, the telescopic robotic arm 2 and the radar detection unit 3 for communication.

[0049] The radar data processing chip 41 can complete the calculation and analysis of the radar data and output the deformation results. The control chip 42 can automatically control multiple actuators. The memory 43 is used to store radar data, control instruction data, calculation result data, etc.

[0050] Embodiment 3, the large deformation visual verification unit includes a radar electromagnetic interference detection module 51, a visual camera 52, a visual analysis module 53 and a chip-based verification unit control module 54, the radar electromagnetic interference detection module 51 is installed on the movable support base assembly 1, and is communicated with the global microwave remote sensing radar 32, detects the electromagnetic environment data around the global microwave remote sensing radar, records the normal spectrum characteristics, collects the echo signal received by the global microwave remote sensing radar 32 when the global microwave remote sensing radar 32 is working, and outputs the result of whether there is an electromagnetic interference signal based on the normal spectrum characteristics, the echo signal and the radar signal interference threshold; the visual camera 52 is installed on the active part of the electric pan-tilt mechanism 31, located on one side of the global microwave remote sensing radar 32, and is consistent with the direction of the global microwave remote sensing radar 32, firstly, the initial visual images of multiple target monitoring points are taken respectively, the visual analysis module 53 is communicated with the visual camera 52, the verification unit control module 54 is communicated with the radar detection control unit 4, and respectively controls the execution actions of the radar electromagnetic interference detection module 51, the visual camera 52 and the visual analysis module 53.

[0051] The radar electromagnetic interference detection module 51 detects the electromagnetic environment data around the global microwave remote sensing radar based on the spectrum analyzer and data analysis chip. Radar electromagnetic interference detection is an important link to ensure the normal operation of the radar system and improve its anti-interference ability. Electromagnetic interference can come from various natural and man-made sources, such as other radar systems, radio communication equipment, industrial equipment, lightning, etc. Detecting radar electromagnetic interference usually involves the following steps:

[0052] Spectrum monitoring: Use a spectrum analyzer to monitor the electromagnetic environment within the radar operating frequency range and record normal spectrum characteristics;

[0053] Signal acquisition: when the global microwave remote sensing radar 32 is in operation, the signals received by the global microwave remote sensing radar 32 are collected, including target echoes and possible interference signals;

[0054] Interference identification: Identify interference signals that are different from normal echoes by analyzing the signal's frequency, amplitude, duration, modulation method and other characteristics.

[0055] Interference analysis: Conduct in-depth analysis of identified interference signals to determine their source, type (such as continuous wave interference, pulse interference, swept frequency interference, etc.) and intensity.

[0056] Performance evaluation: Based on the radar signal interference threshold, the impact of interference on radar performance, such as detection distance, resolution, false alarm rate, etc., is evaluated. If the evaluation value exceeds the radar signal interference threshold, the result that an electromagnetic interference signal exists is output. Otherwise, it is considered to be slight interference and does not affect the radar detection result.

[0057] Embodiment 4 further includes a wireless communication module, through which the radar detection control unit 4 and the large deformation visual verification unit communicate and exchange data with the remote server 100 respectively.

[0058] The wireless communication module can be a 4G / 5G wireless communication module, which can realize wireless data interaction.

[0059] In Embodiment 5, when the radar detection unit 3 performs radar detection on a target monitoring point, the visual camera 52 simultaneously collects visual images of the target monitoring point.

[0060] When the visual camera 52 performs radar detection, it also performs image detection simultaneously, and can verify the visual data of whether there is a large deformation in the target area to avoid false alarms.

[0061] Embodiment 6, the movable support base assembly 1 includes a linear moving unit 11 and a rotating unit 12, the track of the linear moving unit 11 can be detachably installed at the radar deployment point, the base of the rotating unit 12 can be detachably installed on the slider of the linear moving unit 11, and moves laterally following the slider, the rotating part of the rotating unit 12 is the rotating part of the movable support base assembly 1, and one end of the telescopic robotic arm 2 is installed on the rotating part of the rotating unit 12.

[0062] In the seventh embodiment, the linear moving unit 11 is an electric linear slide.

[0063] In the eighth embodiment, the rotating unit 12 is an electric turntable.

[0064] Embodiment 9, a method for monitoring foundation pit deformation, using a global microwave remote sensing radar for foundation pit deformation detection to automatically monitor multiple monitoring points of a target foundation pit, comprising the following steps:

[0065] Step 1, select the radar layout point of the target foundation pit, the global microwave remote sensing radar for foundation pit deformation detection is installed at the radar layout point, the radar detection control unit 4 controls the linear moving unit 11 to move horizontally, and controls the rotating unit 12 to rotate every time it moves a set distance. When it rotates to the point where the global microwave remote sensing radar 32 is facing the monitoring point, the global microwave remote sensing radar 32 starts to perform radar detection on the monitoring point, and repeatedly controls the rotation of the rotating unit 12 to complete the radar detection of multiple monitoring points. The radar electromagnetic interference detection module 51 performs interference analysis on the radar data after multiple lateral shifts, selects the point with the least interference as the radar layout point, and self-locks the linear moving unit 11;

[0066] Step 2, start radar deformation detection of multiple monitoring points of the target foundation pit, control the rotation unit 12 to make the global microwave remote sensing radar 32 complete the first radar detection, and control the visual camera 52 to complete the initial visual picture shooting of multiple target monitoring points, and store the first radar detection data as deformation reference data in the memory 43;

[0067] Step 3, every set period, the rotation unit 12 is controlled to move, the global microwave remote sensing radar 32 performs periodic radar detection, the radar data processing chip 41 calculates the deformation variable based on the deformation reference data stored in the memory 43 and the current period radar detection data, and compares the deformation variable with the deformation variable threshold. When the deformation variable of the monitoring point is greater than the deformation variable threshold, a large deformation result is output, and the large deformation result is exchanged with the large deformation visual verification unit;

[0068] Step 4, the radar electromagnetic interference detection module 51 detects the electromagnetic environment data around the global microwave remote sensing radar. If it is determined that an electromagnetic interference signal exists, the interactive large deformation verification unit first performs radar electromagnetic interference detection. If it is determined that an electromagnetic interference signal appears, the wireless communication module communicates with the remote server 100 to alarm. If it is determined that no electromagnetic interference signal appears, the image feature comparison algorithm is used to compare the visual features of the initial visual picture of the monitoring point with the large deformation visual picture after the large deformation result. If it is determined that a large deformation feature appears, it communicates and interacts with the radar detection control unit 4. The radar detection control unit 4 communicates and interacts with the remote server 100 through the wireless communication module to exchange large deformation detection data.

[0069] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A global microwave remote sensing radar for foundation pit deformation detection, characterized by: The invention comprises a movable support base assembly (1), a telescopic mechanical arm (2), a radar detection unit (3), a radar detection control unit (4) and a large deformation visual verification unit, wherein the support base assembly (1) is installed at a radar deployment point, a rotating part is provided on the top, one end of the telescopic mechanical arm (2) is installed on the rotating part and rotates with the rotating part, the radar detection unit (3) comprises an electric pan-tilt mechanism (31) and a global microwave remote sensing radar (32), one side of the electric pan-tilt mechanism (31) is detachably installed on the other end of the telescopic mechanical arm (2), and the global microwave remote sensing radar (32) is provided with a large deformation visual verification unit. The base of the radar (32) is detachably mounted on the movable part of the electric pan-tilt mechanism (31) and moves with the movable part. The radar detection control unit (4) controls the execution actions of the movable support base assembly (1), the telescopic mechanical arm (2) and the radar detection unit (3) respectively, and is connected to the global microwave remote sensing radar (32) for communication, collects radar data detected by the global microwave remote sensing radar (32), calculates the deformation variables of multiple monitoring points of the target foundation pit, outputs the deformation variables, sets a deformation variable threshold, and outputs a large deformation result when the deformation variable of the monitoring point is greater than the deformation variable threshold; The large deformation visual verification unit is connected to the radar detection control unit (4) for communication. When the large deformation visual verification unit receives the large deformation result output by the radar detection control unit (4), the large deformation visual verification unit first performs radar electromagnetic interference detection. If it is determined that an electromagnetic interference signal appears, an alarm is communicated to the remote server (100). If it is determined that no electromagnetic interference signal appears, an image feature comparison algorithm is used to perform visual feature comparison based on the initial visual image of the monitoring point and the large deformation visual image after the large deformation result. If it is determined that a large deformation feature appears, communication and interaction are performed with the radar detection control unit (4). The radar detection control unit (4) communicates and interacts large deformation detection data with the remote server (100). The large deformation visual verification unit comprises a radar electromagnetic interference detection module (51), a visual camera (52), a visual analysis module (53) and a chip-based verification unit control module (54), wherein the radar electromagnetic interference detection module (51) is mounted on a movable support base assembly (1) and is in communication connection with a global microwave remote sensing radar (32), detects electromagnetic environment data around the global microwave remote sensing radar, records normal spectrum characteristics, collects echo signals received by the global microwave remote sensing radar (32) when the global microwave remote sensing radar (32) is working, and based on the normal spectrum characteristics, the echo signals and the radar signals The interference threshold outputs the result of whether an electromagnetic interference signal exists; the visual camera (52) is installed on the movable part of the electric pan-tilt mechanism (31), located on one side of the global microwave remote sensing radar (32), and is consistent with the direction of the global microwave remote sensing radar (32), and firstly takes initial visual pictures of multiple target monitoring points respectively, the visual analysis module (53) is connected in communication with the visual camera (52), the verification unit control module (54) is connected in communication with the radar detection control unit (4), and respectively controls the execution actions of the radar electromagnetic interference detection module (51), the visual camera (52) and the visual analysis module (53).

2. The global microwave remote sensing radar for foundation pit deformation detection according to claim 1 is characterized in that: The radar detection control unit (4) comprises a radar data processing chip (41), a control chip (42) and a memory (43); the memory (43) is respectively connected to the global microwave remote sensing radar (32) and the large deformation visual verification unit for collecting and storing radar data detected by the global microwave remote sensing radar (32); the radar data processing chip (41) calculates the deformation amounts of multiple monitoring points of the target foundation pit based on the radar data, and calculates the deformation amounts of multiple monitoring points of the target foundation pit; the control chip (42) is connected to the radar data processing chip (41) for communication, and is respectively connected to the movable support base assembly (1), the telescopic mechanical arm (2) and the radar detection unit (3).

3. The global microwave remote sensing radar for foundation pit deformation detection according to claim 2 is characterized in that: It also includes a wireless communication module, through which the radar detection control unit (4) and the large deformation visual verification unit communicate and exchange data with the remote server (100) respectively.

4. The global microwave remote sensing radar for foundation pit deformation detection according to claim 3 is characterized in that: When the radar detection unit (3) performs radar detection on a target monitoring point, the visual camera (52) synchronously collects a visual image of the target monitoring point.

5. The global microwave remote sensing radar for foundation pit deformation detection according to claim 4 is characterized in that: The movable support base assembly (1) comprises a linear moving unit (11) and a rotating unit (12), wherein the track of the linear moving unit (11) is detachably mounted at a radar deployment point, the base of the rotating unit (12) is detachably mounted on a slider of the linear moving unit (11) and moves laterally following the slider, the rotating part of the rotating unit (12) is the rotating part of the movable support base assembly (1), and one end of the telescopic mechanical arm (2) is mounted on the rotating part of the rotating unit (12).

6. The global microwave remote sensing radar for foundation pit deformation detection according to claim 5, characterized in that: The linear moving unit (11) is an electric linear slide.

7. The global microwave remote sensing radar for foundation pit deformation detection according to claim 6, characterized in that: The rotating unit (12) is an electric turntable.

8. A method for monitoring foundation pit deformation, characterized in that: The global microwave remote sensing radar for foundation pit deformation detection according to claim 7 is used to automatically monitor multiple monitoring points of the target foundation pit, comprising the following steps: Step 1, selecting a radar layout point of the target foundation pit, installing a global microwave remote sensing radar for foundation pit deformation detection at the radar layout point, the radar detection control unit (4) controlling the linear moving unit (11) to move horizontally, and controlling the rotating unit (12) to rotate each time the set distance is moved, and when the global microwave remote sensing radar (32) is rotated to face the monitoring point, the global microwave remote sensing radar (32) starts to perform radar detection on the monitoring point, and repeatedly controls the rotating unit (12) to rotate to complete radar detection of multiple monitoring points, and the radar electromagnetic interference detection module (51) performs interference analysis on the radar data after multiple horizontal shifts, selects the point with the minimum interference as the radar layout point, and self-locks the linear moving unit (11); Step 2, starting radar deformation detection for multiple monitoring points of the target foundation pit, controlling the rotation unit (12) to move, so that the global microwave remote sensing radar (32) completes the first radar detection, and at the same time controlling the visual camera (52) to complete the initial visual picture shooting of the multiple target monitoring points, and storing the first radar detection data as deformation reference data in the memory (43); Step 3, every set period, the rotation unit (12) is controlled to move, the global microwave remote sensing radar (32) performs periodic radar detection, the radar data processing chip (41) calculates the deformation variable based on the deformation reference data stored in the memory (43) and the current periodic radar detection data, and compares the deformation variable with the deformation variable threshold value, when the deformation variable of the monitoring point is greater than the deformation variable threshold value, outputs a large deformation result, and exchanges the large deformation result with the large deformation visual verification unit; Step 4, the radar electromagnetic interference detection module (51) detects the electromagnetic environment data around the global microwave remote sensing radar. If it is determined that an electromagnetic interference signal exists, the interactive large deformation visual verification unit first performs radar electromagnetic interference detection. If it is determined that an electromagnetic interference signal exists, an alarm is communicated to the remote server (100) through the wireless communication module. If it is determined that no electromagnetic interference signal exists, an image feature comparison algorithm is used to compare the visual features of the initial visual image of the monitoring point with the large deformation visual image after the large deformation result. If it is determined that a large deformation feature exists, the radar detection control unit (4) is communicated and interacted. The radar detection control unit (4) communicates and interacts with the remote server (100) through the wireless communication module to exchange large deformation detection data.

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