Mechanical integrated ground penetrating radar signal image processing device and method

Abstract

The invention discloses a mechanical integrated ground penetrating radar signal image processing device and method, and the device comprises a moving assembly which comprises a bearing platform, a support disposed on the bearing platform, an extension part disposed on the support, and an operation module disposed on the extension part; the radar assembly is used for carrying out exploration operation by using a ground penetrating radar and collecting data by using a data processing module; selecting data of a representative area as a background signal, and processing the collected radar signals from all the collected data by using a wavelet transform technology so as to separate the background signal and a target signal; subtracting the background signal to highlight the difference between the dense grouting area and the non-dense grouting area; further verifying the processed signal by using a background trend estimation algorithm so as to improve the purity of the signal; fourier transform and inverse Fourier transform technologies are applied to reject reinforcing steel bar reflection signals in a targeted manner, so that the influence of the reinforcing steel bar reflection signals on the image quality is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ground penetrating radar, and in particular to a mechanically integrated ground penetrating radar signal image processing device and method. Background Art

[0002] In the fields of infrastructure construction, geological exploration and even disaster prevention, ground-penetrating radar (GPR) technology has been widely used and has become an indispensable detection tool.

[0003] By comparing the GPR images before and after grouting, the impact of grouting reinforcement on the stability of the basement structure can be intuitively evaluated to confirm whether the reinforcement effect has reached expectations. Compared with traditional destructive testing methods, GPR monitoring is a cost-effective solution that avoids the repair costs and time waste caused by destructive testing. Compared with manual operation, it is efficient, time-saving and labor-saving. It avoids human errors. It can also easily work in complex terrain or confined spaces, reducing labor intensity. It can cover a large detection area in a short time without drilling and sampling one by one, which greatly improves the detection speed.

[0004] However, in the existing technology, ground-penetrating radar signal processing faces two major challenges: one is that the interference of background signals leads to poor image quality; the other is that the strong reflection generated by the target object (especially underground steel bars) makes it difficult to distinguish key information. In addition, traditional equipment is bulky and has limited flexibility, and cannot meet the needs of all-round detection in complex environments. Therefore, it is particularly urgent to develop a ground-penetrating radar image processing method and device that can not only efficiently separate background signals, but also accurately eliminate specific interference sources, and has portability and an all-round perspective. Summary of the invention

[0005] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] In view of the problems existing in the above-mentioned existing mechanically integrated ground penetrating radar signal image processing method and device, the present invention is proposed.

[0007] Therefore, an object of the present invention is to provide a mechanically integrated ground penetrating radar signal image processing device and method.

[0008] To solve the above technical problems, the present invention provides the following technical solutions: a mechanically integrated ground-penetrating radar signal image processing device, comprising: an action component, including a carrying platform, a bracket arranged on the carrying platform, an extension component arranged on the bracket, and an operating module arranged on the extension component; and a radar component, including a ground-penetrating radar arranged on the extension component, a radar data acquisition box arranged on the bracket, and a data processing module.

[0009] As a preferred solution of the mechanically integrated ground-penetrating radar signal image processing device described in the present invention, wherein: the extension component includes a first rotating arm arranged on the bracket, a spliced ​​track arranged on the first rotating arm, and a telescopic mechanical arm arranged on the spliced ​​track, the ground-penetrating radar is arranged on the upper end of the telescopic mechanical arm, and a drive motor is provided on the spliced ​​track. The drive motor provides power for the spliced ​​track and the telescopic mechanical arm, and the ground-penetrating radar moves in a circuitous manner along the spliced ​​track through the telescopic mechanical arm.

[0010] As a preferred solution of the mechanically integrated ground penetrating radar signal image processing device of the present invention, wherein: the spliced ​​track includes a plurality of track monomers spliced ​​together, and the track monomers are all provided with connecting components; An image display is provided at the central pillar of the support platform to display the scanning results in real time; the radar data acquisition box and the data processing module are connected to the computer in the operation room through the network, and the computer in the operation room is provided with a visual radar image analysis software to analyze and realize the visual display of the grouting body layers.

[0011] As a preferred solution of the mechanically integrated ground-penetrating radar signal image processing device described in the present invention, wherein: each of the track units is provided with two connecting components, and the connecting components are cooperatively connected with each other, and the connecting components include a first connecting plate arranged on the track unit, a first rotating ring rotatably connected to the first connecting plate, an internal thread opened in the first rotating ring, and an intermediate connecting column threadedly connected to the internal thread, external threads are provided at both ends of the intermediate connecting column, and a connecting ball is provided near the middle position of the middle connecting column.

[0012] As a preferred solution of the mechanically integrated ground-penetrating radar signal image processing device described in the present invention, the data processing module includes a signal acquisition module, a data processing unit and a display terminal, the data processing unit executes the signal processing steps to achieve signal optimization and analysis; the display terminal presents the processed image in real time to assist the staff to intuitively understand the underground structure status.

[0013] As a preferred solution of the mechanically integrated ground penetrating radar signal image processing device described in the present invention, it also includes a wireless communication module to support remote data transmission, realize cloud storage and expert remote diagnosis, and expand the application field.

[0014] The present invention also discloses a mechanically integrated ground penetrating radar signal image processing method, comprising: Conduct exploration operations using ground penetrating radar and collect data using data processing modules; Select a representative area of ​​data as background signal, and use wavelet transform technology to process the collected radar signal from all collected data to separate the background signal from the target signal; The background signal is then subtracted to highlight the difference between the dense grouting area and the loose grouting area; The processed signal is further verified using the background trend estimation algorithm to improve the signal purity; Fourier transform and inverse Fourier transform techniques are used to specifically remove steel bar reflection signals to reduce their impact on image quality.

[0015] As a preferred solution of the mechanical integrated ground penetrating radar signal image processing method of the present invention, the wavelet transform adopts continuous wavelet transform (CWT) to adapt to the characteristics of different types of signals and improve processing flexibility and accuracy. Due to its localized nature, the wavelet transform can efficiently decompose the multi-scale characteristics of the signal and is suitable for separating the background signal from the target signal. The wavelet basis function is set to , so that it satisfies the complete reconstruction condition, as follows: In the formula, is the frequency; Then the wavelet basis function After translation and scaling, we get the following formula: In the above formula, It is called the scale factor, which is used for the wavelet basis function To stretch, Reaction displacement, which can be positive or negative; So for any manifold function The continuous wavelet transform of is as follows: ; The inverse wavelet transform formula is: ; By setting a suitable threshold, the wavelet coefficients are processed by hard threshold or soft threshold, and then the signal is reconstructed to achieve the purpose of background suppression. Estimate and subtract background trends, which is suitable for situations where the background is slowly changing; assume that the background follows a certain trend model (such as a polynomial, exponential, or periodic function), and remove the background by fitting the data and then subtracting the trend term from the original signal. Assume the original signal is , the background signal is , the estimated background trend is , the processed signal is: ; If polynomial fitting is used, It can be written as: ; in , , are the polynomial coefficients and can be found by the least squares method.

[0016] As a preferred solution of the mechanically integrated ground penetrating radar signal image processing method described in the present invention, the background trend estimation adopts polynomial fitting and adaptive filtering methods to effectively identify and compensate for the trend background interference in the signal and enhance the contrast of the target signal.

[0017] As a preferred solution of the mechanical integrated ground penetrating radar signal image processing method described in the present invention, the Fourier transform and its inverse transform are used for specific parameter adjustment of the steel bar signal, and the appropriate frequency range, filter type and threshold setting are selected for calculation, so as to achieve the best signal interference suppression effect.

[0018] Beneficial effects of the present invention: By using wavelet transform technology, the background signal and the target signal are effectively separated, which greatly improves the clarity of the image. The background trend estimation algorithm is introduced to re-optimize the processed signal to ensure the authenticity and integrity of the target information. The Fourier transform and inverse Fourier transform are used to focus on the steel bar reflection signal, which greatly improves the resolution of the steel bar area in the image and reduces the misjudgment rate.

[0019] 2. The device is lightweight and has a built-in all-round rotating detection component to ensure 360° full field of view coverage in all environments and adapt to complex working conditions. The entire device is miniaturized and easy to carry. It can be quickly deployed at the construction site without complicated preparations and can start operations immediately, greatly improving work efficiency.

[0020] 3. The present invention proposes a comprehensive solution to the underground detection problem, which not only enhances the reliability and practicality of the ground penetrating radar system, but also sets a new benchmark for the future development of intelligent detection technology. By integrating multi-dimensional signal processing methods and portable design concepts, it meets the diverse needs of modern engineering detection and has broad market prospects and social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 It is a schematic diagram of the overall structure of the mechanically integrated ground penetrating radar signal image processing device of the present invention.

[0022] Figure 2 This is a schematic diagram of the radar after rotation described in the mechanically integrated ground-penetrating radar signal image processing device of the present invention.

[0023] Figure 3 This is a schematic diagram of the spliced ​​track described in the mechanically integrated ground penetrating radar signal image processing device of the present invention.

[0024] Figure 4 It is a cross-sectional schematic diagram of the connecting components described in the mechanically integrated ground penetrating radar signal image processing device of the present invention.

[0025] Figure 5 It is a schematic diagram of the overall process of the mechanically integrated ground penetrating radar signal image processing method of the present invention.

[0026] Figure 6 This is a visualization interface display diagram after scanning the original steel bars described in the mechanically integrated ground penetrating radar signal image processing method of the present invention.

[0027] Figure 7 This is a visualization interface display diagram of scanning after removing the steel bar reflection signal described in the mechanically integrated ground penetrating radar signal image processing method of the present invention.

[0028] Figure 8 This is an interface display diagram of the wall dense grouting described in the mechanical integrated ground penetrating radar signal image processing method of the present invention. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0032] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included. Example 1

[0033] Reference Figure 1-4 The present invention discloses a mechanically integrated ground penetrating radar signal image processing device, including an action component 100. In this embodiment, the action component 100 includes a carrying platform, a bracket 101 arranged on the carrying platform, an extension component 102 arranged on the bracket 101, and an operating module 103 arranged on the extension component 102.

[0034] Furthermore, the present invention also includes a radar assembly 200 . In this embodiment, the radar assembly 200 includes a ground penetrating radar 201 disposed on the extension component 102 , a radar data acquisition box 202 disposed on the bracket 101 , and a data processing module 203 .

[0035] In this embodiment, the extension component 102 includes a first rotating arm 102a arranged on the bracket 101, a splicing track 102b arranged on the first rotating arm 102a, and a telescopic mechanical arm 102c arranged on the splicing track. The ground penetrating radar 201 is arranged on the upper end of the telescopic mechanical arm 102c, and a driving motor 102d is provided on the splicing track 102b. The driving motor 102d provides power for the splicing track 102b and the telescopic mechanical arm 102c. The ground penetrating radar moves in a circuitous manner along the mechanical moving track through the telescopic mechanical arm 102c.

[0036] Preferably, the bracket 101 is detachably connected to the radar data acquisition box 202, and the data processing module 203 is arranged at the upper end of the radar data acquisition box 202. The rotating arm is connected to the radar data acquisition box 202 and extends outward laterally. The extended end is directly connected to the splicing track 102b, so that the rotating arm can drive the rotation of the splicing track 102b after rotating.

[0037] Preferably, the rotating arm can rotate in all directions [-90°, 90°], a slider is provided at the rear end of the telescopic mechanical arm 102c, a lead screw 105 is provided in the spliced ​​track 102b, the slider is connected to the lead screw 105, and then the drive motor 102d is connected to the lead screw 105, the drive motor 102d drives the rotation of the lead screw 105, and thus drives the slider to slide on the spliced ​​track 102b. The telescopic mechanical arm 102c itself also has a telescopic effect, and then the ground penetrating radar 201 can be extended outward, which is convenient for detecting blind spots, and the detection frequency of the ground penetrating radar antenna is 200-900MHz.

[0038] An image display is installed at the central pillar of the supporting platform to display the scanning results in real time; the radar acquisition box and the data processor are connected to the computer in the operation room through the network, and the computer in the operation room is equipped with visual radar image analysis software to realize the visualization display of the grouting body layers.

[0039] In this embodiment, the data processing module 203 includes a signal acquisition module, a data processing unit and a display terminal. The data processing unit performs signal processing steps to achieve signal optimization and analysis; the display terminal presents the processed image in real time to assist the staff to intuitively understand the underground structure status. It also includes a wireless communication module to support remote data transmission, realize cloud storage and expert remote diagnosis, and expand the application field.

[0040] Preferably, the spliced ​​track 102b includes a plurality of track monomers 104 spliced ​​together, and a connecting component 300 is provided on each track monomer 104; two connecting components 300 are provided on each track monomer 104, and the connecting components 300 are cooperatively connected with each other. In this embodiment, the connecting component 300 includes a first connecting plate 301 arranged on the track monomer 104, a first rotating ring 302 rotatably connected to the first connecting plate 301, an internal thread 303 opened in the first rotating ring 302, and an intermediate connecting column 304 threadedly connected to the internal thread 303, external threads 305 are provided at both ends of the intermediate connecting column 304, and a connecting ball 306 is provided near the middle position of the intermediate connecting column.

[0041] Operation process: When the operator is using it, he first splices several track monomers 104, then installs the screw 105 into the spliced ​​track 102b, and then connects the ground penetrating radar to the screw. At this time, the operator can control the rotation of the ground penetrating radar 201 and make it move in a circuitous manner. This setting enables the ground penetrating radar 201 to have a larger detection area and a more flexible detection angle, ensuring 360° full field of view coverage in various environments and adapting to complex working conditions. Example 2

[0042] Reference Figure 5-8 This embodiment discloses a mechanically integrated ground penetrating radar signal image processing method, comprising the following steps: S1: Use the ground penetrating radar 201 to perform exploration operations and use the data processing module 203 to collect data.

[0043] S2: Ground penetrating radar plays a key role in underground structure detection, especially in non-destructive testing of building structures. When radar waves encounter the interface of materials with different dielectric constants, reflections will occur. These reflected signals will be captured by the receiving antenna to form the so-called A-Scan (a single track scan displayed along the time axis), and then a series of A-Scans will be merged to generate a B-Scan (a transverse profile image). First, the background of the collected raw radar data is removed. A representative area of ​​data is selected as the background signal, and the background signal is subtracted from all the collected data to highlight the difference between the dense grouting area and the loose grouting area.

[0044] The basic propagation equation of radar waves in free space can be expressed as: in: is the electromagnetic field strength at position r and time t, is the source amplitude, is the wave number, is the angular frequency, c is the speed of light, represents the attenuation coefficient, is the delayed pulse function, where It is the arrival time.

[0045] In the analysis of ground penetrating radar (GPR) data, a major challenge is the management of background signals or clutter. Background signals usually come from factors such as the inhomogeneity of the ground medium itself, multipath effects, random scattering, etc., which seriously degrade the quality of GPR images and make interpretation difficult. The specific background signal suppression technology and related expressions of the present invention are introduced below.

[0046] Due to its localized nature, wavelet transform can effectively decompose the multi-scale characteristics of signals and is suitable for separating background signals from target signals. Suppose the wavelet basis function is , so that it satisfies the complete reconstruction condition, as follows: In the formula, is the frequency; Then the wavelet basis function After translation and scaling, we get the following formula: In the above formula, It is called the scale factor, which is used for the wavelet basis function To stretch, Reaction displacement, which can be positive or negative; So for any manifold function The continuous wavelet transform of is as follows: ; The inverse wavelet transform formula is: ; By setting a suitable threshold, the wavelet coefficients are processed by hard threshold or soft threshold, and then the signal is reconstructed to achieve the purpose of background suppression. Estimate and subtract background trends, which is suitable for situations where the background is slowly changing; assume that the background follows a certain trend model (such as a polynomial, exponential, or periodic function), and remove the background by fitting the data and then subtracting the trend term from the original signal. Assume the original signal is , the background signal is , the estimated background trend is , the processed signal is: ; If polynomial fitting is used, It can be written as: ; in , , are the polynomial coefficients and can be found by the least squares method.

[0047] S3: Due to their high conductivity, rebars will generate strong reflection signals in GPR data. These signals often mask the information of other low-reflectivity objects, affecting the quality and resolution of the image. Therefore, removing rebar signals from GPR images is a challenging task. To achieve this goal, a common approach is to use signal processing technology to filter out or suppress the strong reflections generated by rebars.

[0048] The following is a method of frequency domain analysis based on the results of step 1: The presence of steel bars will significantly change the transmission and reflection characteristics of the signal. When the radar wave is incident vertically on the dielectric interface, the reflection coefficient (R) can be expressed as the dielectric constants of the two media ( )and( ) and magnetic permeability ( )and( ), but since steel bars are usually good conductors, we only need to focus on the change in dielectric constant and ignore the effect of magnetic permeability (assuming that both are close to the value of free space). The reflection coefficient R of the steel bar surface can be expressed as: The reflection coefficient here determines how much energy is reflected back and how much is transmitted. For steel bars, due to their relatively high dielectric constant difference, the reflection coefficient is very large, and almost all incident energy will be reflected back. In order to remove or reduce the influence of steel bar signals from GPR data, commonly used methods include frequency domain filtering, time domain threshold processing, and intelligent algorithms. Here, a basic frequency domain filtering method is briefly described: Forward Fourier Transform.

[0049] The Fourier transform allows us to convert a function from the time domain (t-domain) to the frequency domain (f-domain). Given a continuous time signal ( ), whose Fourier transform Given by:

[0050] The integral here is the weighted sum of the signal values ​​at all time points, and the weights are given by the complex exponential function It oscillates with frequency f. This complex exponential can be viewed as a rotating vector whose speed depends on frequency f and whose direction depends on time t. In this way, we are actually "deconstructing" the original signal ( ) to different frequency components.

[0051] This integral expresses the process of how infinite frequency components synthesize the original signal. The function of is to extract a specific frequency component in the signal, because the function multiplied by any signal at the same frequency will enhance the corresponding part, while the non-matching frequency will be offset.

[0052] By integrating all frequency components, we get the overall representation of the signal at all frequencies - the spectrum With spectrum , we can use the inverse Fourier transform to convert it back to the time domain , thus restoring the original signal. The inverse transform formula is as follows: Here, we use the same principle but in reverse to reconstruct the signal. Each frequency component Now it is weighted and combined through the inverse transform formula to form the original signal .

[0053] For each frequency component ,pass Multiplying it is equivalent to reconstructing a portion of the time signal according to this frequency. Then, all frequency components are integrated so that they are correctly combined in the time domain to form the complete signal. The final output result is It is a perfect replica of the original signal, provided the calculations are done accurately and without loss of information.

[0054] Define grouting effect evaluation indicators, such as grouting filling rate (the ratio of the grouting area to the area to be grouting), grouting uniformity (measured by analyzing the standard deviation of the signal strength in the grouting area), etc. Calculate these evaluation indicators based on the extracted features, and give appropriate weights to the data in the dead corner area (for example, since grouting in the dead corner area is more difficult, its weight in the overall evaluation can be reduced by 10% - 20% according to actual conditions) to comprehensively evaluate the grouting effect of the wall.

[0055] S4: Develop an intuitive visualization interface that can display a 2D or 3D structural image of the wall, and distinguish dense grouting areas from loose grouting areas with different colors (e.g., green for well-grouted areas, red for insufficiently grouted or ungrouted areas). In the visualization interface, highlight the detection results of blind spots, which can be magnified, flashed, or specially marked, so that users can focus on the grouting effects of these areas.

[0056] like Figure 6 This is the visualization interface display after scanning the original steel bars. Figure 7 This is a visualization interface display of the scan after removing the steel bar reflection signal. The difference between the two can be clearly seen, such as Figure 6 middle, Figure 6 After the original steel bars are installed, the position of the corrugations and steel bars can be clearly seen in the figure, and the lines are clear and the boundaries are obvious, so that the operator can clearly distinguish them; when the steel bars are removed, Figure 7 It can be clearly seen that only the lines of the grouting area are left in the interface, while the lines of the steel bars gradually disappear. At the same time, the line boundaries of the grouting area are partially unclear. Figure 8 This is the interface display of the dense grouting of the wall, from which you can clearly see the dense state of the wall.

[0057] S5: Provides interactive functions, allowing users to select specific areas (including blind spots) on the visual interface to view detailed detection data, such as reflection signal waveforms, time-frequency analysis results, etc. Users can adjust parameters such as the weight of grouting effect evaluation indicators and view the overall grouting effect evaluation results under different weights in real time, so as to conduct flexible analysis according to actual needs.

[0058] Through the above algorithm framework, we can optimize equipment selection, data collection, processing and result display, so as to better show the grouting effect of basement walls than previous studies, especially improve the detection and evaluation capabilities of blind spots. It should be noted that in actual applications, the algorithm may need to be further adjusted and improved according to factors such as the performance of the specific ground penetrating radar equipment and the characteristics of the wall structure.

[0059] As a preference, it is necessary to explain: formula Describes a special wave phenomenon - an instantaneous spherical wave with decaying characteristics, which is common in the study of electromagnetism and acoustics. This expression is derived from the fundamental solution of the wave equation and is closely related to Maxwell's equations. The following is an overview of the derivation process based on the wave equation: Deriving the wave equation

[0060] We assume that there is no free charge and the region where the current J=0, which means that the charge conservation equation is automatically satisfied. Next, we derive the wave equation by combining Faraday's law with Ampere-Maxwell's laws.

[0061] According to Faraday's law:

[0062] Apply the curl operation to the above equation and use the properties of the vector differential operator ,get:

[0063] Using Gauss's electric field law and the known conditions Can be eliminated Item, so there are: Among them, E is the electric field intensity, B is the magnetic induction intensity, is the charge density, J is the current density, and are the dielectric constant and magnetic permeability in vacuum, respectively.

[0064] in The Ampere-Maxwell laws are used here. And again take the derivative with respect to time. Wave equation

[0065] The wave equation is derived from Maxwell's equations, especially in free space or certain dielectric conditions, and can be simplified to:

[0066] Here, E can be some part of the electromagnetic field, such as the electric field E or the magnetic field B, and c is the speed of wave propagation in the medium. Solving the wave equation

[0067] In order to find the solution of the wave equation, it is usually assumed that a solution is separated in time and space: E(r,t) = R(r)T(t) Substituting into the wave equation and simplifying it we get:

[0068] Since the left side depends only on the spatial variable r and the right side depends only on the time variable t, this means that both sides must be equal to the same constant, denoted as : Solving the radial equation

[0069] For the spatial part, we can get the radial equation:

[0070] In the three-dimensional case, if we Replace with (Introducing the attenuation factor), we have:

[0071] Its general solution is:

[0072] Solving the time equation For the time part, we get:

[0073] The solution is:

[0074] Or, rewritten using complex exponential functions:

[0075] Merge Solution Combining the radial and time parts, and considering the initial and boundary conditions, such as instantaneous events, we choose A solution of the form: here, is the amplitude, is the wave number, is the attenuation coefficient, is the delay time.

[0076] This solution fully demonstrates the propagation characteristics of transient spherical waves in an attenuating environment and is often used to describe signal attenuation and delay phenomena in far-field propagation. It is particularly important in the analysis of electromagnetics, acoustics, and radar systems.

[0077] Importantly, it should be noted that the construction and arrangement of the present application shown in a number of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, changes in orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature or number or position of the discrete element may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to an alternative embodiment. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structure. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the invention is not limited to a specific embodiment, but extends to several modifications still falling within the scope of the appended claims.

[0078] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment may not be described (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those features that are not relevant to implementing the invention).

[0079] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0080] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A mechanically integrated ground penetrating radar signal image processing device, characterized in that: include, An action assembly (100) comprises a carrying platform, a bracket (101) arranged on the carrying platform, an extension component (102) arranged on the bracket (101), and an operation module (103) arranged on the extension component (102); and, The radar assembly (200) comprises a ground penetrating radar (201) arranged on an extension component (102), a radar data collection box (202) arranged on a bracket (101), and a data processing module (203).

2. The mechanically integrated ground penetrating radar signal image processing device according to claim 1, characterized in that: The extension component (102) comprises a first rotating arm (102a) arranged on a bracket (101), a spliced ​​track (102b) arranged on the first rotating arm (102a), and a telescopic mechanical arm (102c) arranged on the spliced ​​track (102b); the ground penetrating radar (201) is arranged on the upper end of the telescopic mechanical arm (102c); a driving motor (102d) is provided on the spliced ​​track (102b); the driving motor (102d) provides power for the spliced ​​track (102b) and the telescopic mechanical arm (102c); and the ground penetrating radar (201) moves in a circuitous manner along the spliced ​​track (102b) via the telescopic mechanical arm (102c).

3. The mechanically integrated ground penetrating radar signal image processing device according to claim 2, characterized in that: The spliced ​​track (102b) comprises a plurality of track monomers (104) spliced ​​together, and each of the track monomers (104) is provided with a connecting component (300); An image display is provided at the central pillar of the support platform to display the scanning results in real time; the radar data acquisition box (202) and the data processing module (203) are connected to the computer in the operation room via a network, and the computer in the operation room is provided with a visual radar image analysis software to analyze and realize the visual display of the grouting body layers.

4. The mechanically integrated ground penetrating radar signal image processing device according to claim 3, characterized in that: Each track monomer (104) is provided with two connecting components (300), and the connecting components (300) are matched and connected to each other. The connecting components (300) include a first connecting plate (301) provided on the track monomer (104), a first rotating ring (302) rotatably connected to the first connecting plate (301), an internal thread (303) provided in the first rotating ring (302), and an intermediate connecting column (304) threadedly connected to the internal thread (303), the intermediate connecting column (304) having external threads (305) at both ends, and a connecting ball (306) near the middle of the intermediate connecting column (304).

5. The mechanically integrated ground penetrating radar signal image processing device according to claim 1, characterized in that: The data processing module (203) comprises a signal acquisition module, a data processing unit and a display terminal. The data processing unit executes a signal processing step to achieve signal optimization and analysis. The display terminal presents the processed image in real time to assist the staff to intuitively understand the underground structure status.

6. The mechanically integrated ground penetrating radar signal image processing device according to claim 5, characterized in that: It also includes a wireless communication module to support remote data transmission, realize cloud storage and expert remote diagnosis, and expand the application field.

7. A processing method of the mechanically integrated ground penetrating radar signal image processing device according to any one of claims 1 to 6, characterized in that: include, Performing exploration operations using a ground penetrating radar (201) and collecting data using a data processing module (203); Select a representative area of ​​data as background signal, and use wavelet transform technology to process the collected radar signal from all collected data to separate the background signal from the target signal; The background signal is then subtracted to highlight the difference between the dense grouting area and the loose grouting area; The processed signal is further verified using the background trend estimation algorithm to improve the signal purity; Fourier transform and inverse Fourier transform techniques are used to specifically remove steel bar reflection signals to reduce their impact on image quality.

8. The mechanically integrated ground penetrating radar signal image processing method according to claim 7, characterized in that: The wavelet transform adopts continuous wavelet transform (CWT) to adapt to the characteristics of different types of signals and improve processing flexibility and accuracy. Due to its localized nature, wavelet transform can efficiently decompose the multi-scale characteristics of signals and is suitable for separating background signals from target signals. Suppose the wavelet basis function is , so that it satisfies the complete reconstruction condition, as follows: In the formula, is the frequency; Then the wavelet basis function After translation and scaling, we get the following formula: In the above formula, It is called the scale factor, which is used for the wavelet basis function To stretch, Reaction displacement, which can be positive or negative; So for any manifold function The continuous wavelet transform of is as follows: ； The inverse wavelet transform formula is: ； By setting a suitable threshold, the wavelet coefficients are processed by hard threshold or soft threshold, and then the signal is reconstructed to achieve the purpose of background suppression. Estimate and subtract background trends, which is useful when there is a slowly changing background; Assuming that the background follows some trend model (such as a polynomial, exponential, or periodic function), the background is removed by fitting the data and then subtracting the trend term from the original signal. Assume the original signal is , the background signal is , the estimated background trend is , the processed signal is: ； If polynomial fitting is used, It can be written as: ； in , , are the polynomial coefficients and can be found by the least squares method.

9. The mechanically integrated ground penetrating radar signal image processing method according to claim 7, characterized in that: The background trend estimation adopts polynomial fitting and adaptive filtering methods to effectively identify and compensate for trend background interference in the signal and enhance the contrast of the target signal.

10. The mechanically integrated ground penetrating radar signal image processing method according to claim 7, characterized in that: The Fourier transform and its inverse transform are used to adjust the specific parameters of the steel bar signal, and select the appropriate frequency range, filter type and threshold setting for calculation, so as to achieve the best signal interference suppression effect.

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