Radar detection robot system for underwater diseases of channel and detection method of radar detection robot system

Abstract

The invention discloses a channel underwater disease radar detection robot system and a detection method thereof.The system comprises a robot body, a radar detection system, a closed circuit television system and a control terminal, and the closed circuit television system is installed on the front side of the robot body and used for advancing detection; the radar detection system is connected to the rear side of the robot body through a flexible connecting piece. The method has the advantages of non-destructive detection function, high efficiency, accuracy, high adaptability, safety, reliability and the like. The channel underwater disease detection robot radar system has wide application prospects in the fields of water conservancy, channels, ports and the like. The system can be used for detecting disease conditions of underwater parts such as channels, river channels and dikes, and provides powerful support for maintenance and management of water conservancy projects. Meanwhile, the system can also be used in the fields of underwater archaeology, underwater resource exploration and the like, and provides important technical support for scientific research and practical activities in related fields.

Description

Technical Field

[0001] The present invention belongs to the field of underwater detection technology, and specifically relates to a channel underwater disease radar detection robot system and a detection method thereof developed based on ground penetrating radar technology and closed-circuit television technology. Background Art

[0003] At present, the conventional means of underwater channel inspection is mainly CCTV closed-circuit television inspection, and the information obtained is the image of the inner surface condition of the channel. It is impossible to know the defects and damage of the bottom and side walls of the channel and the looseness and voids of the soil outside the channel. Only by fully obtaining all the information inside and outside the water transfer can we accurately and reliably evaluate the engineering quality and service function status of the water transfer channel, and timely discover and warn against disasters that threaten the water transfer function, such as leakage and cavity collapse of the water transfer channel. Therefore, it is of great significance to use advanced technical means and equipment to timely and completely obtain all-round inspection data of the water transfer channel for early warning, prevention and disposal of the operational safety of the water transfer channel. Summary of the invention

[0004] In order to solve the above-mentioned technical problems existing in the prior art, the present invention provides a channel underwater disease radar detection robot system and its detection method based on internationally advanced ground penetrating radar technology (GPR) and closed-circuit television (CCTV) technology, with non-destructive detection function, high efficiency and accuracy, strong adaptability, safety and reliability.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: a channel underwater disease radar detection robot system, comprising a robot body, a radar detection system, a closed-circuit television system and a control terminal, wherein the closed-circuit television system is installed on the front side of the robot body for traveling detection; the radar detection system is connected to the rear side of the robot body through a flexible connector; The robot body travels in the channel, and the closed-circuit television system conducts optical detection inside the channel to detect cracks and broken defects on the channel surface; the robot drags the radar detection system to detect the soil inside the channel wall and around the channel, and obtains data on defects and damage inside the channel wall, loose soil outside the channel, and cavity disease disasters; the control terminal is used to control the start and stop and travel route of the robot body, as well as comprehensively analyze the detection results of the radar detection system and the closed-circuit television system to obtain comprehensive channel status information.

[0006] Furthermore, the control terminal controls the operation of the entire robot system, receives the detection data transmitted by the radar detection system and the closed-circuit television system, displays the detection status of the water delivery channel in real time, and monitors the operation of the entire system; the control terminal uses an industrial-grade laptop computer with professional software installed; The control terminal is connected to the closed-circuit television system, the robot body, and the radar detection system through cables respectively, and the control terminal provides power for the closed-circuit television system, the robot body, and the radar detection system; the robot body adopts a sealed and waterproof robot, and the robot body carries the closed-circuit television system and the radar detection system into the channel, and the detection data is transmitted to the control terminal outside the channel through cables.

[0007] Furthermore, the CCTV system is a camera monitoring system that collects optical images inside the channel and transmits the collected data to the control terminal via cables.

[0008] Furthermore, the radar detection system is a high-frequency electromagnetic wave detection device that uses the propagation and reflection principles of electromagnetic waves to detect and locate underwater defects in the channel. It detects the condition of soil defects inside and outside the channel wall by emitting electromagnetic waves, and transmits the collected radar data to the control terminal via cables.

[0009] Furthermore, the radar detection system includes an antenna, a transmitter, a receiver, a controller and a distributor. The controller communicates bidirectionally with the control terminal via a cable. The control terminal supplies power to the controller via the distributor. The signal output end of the transmitter is connected to the signal input end of the antenna. The signal output end of the antenna is connected to the signal input end of the receiver. The signal output end of the controller is connected to the signal input end of the transmitter. The controller and the receiver transmit signals bidirectionally.

[0010] Furthermore, the antenna is an electrical signal and electromagnetic wave conversion module, which converts the electrical signal generated by the transmitter into electromagnetic waves for radiation; and converts the electromagnetic waves emitted by the target into electrical signals for transmission to the receiver; The transmitter is a high-frequency electrical signal generating module, which generates a periodically repeated high-energy electrical signal according to the control signal and transmits the signal to the antenna; The receiver is a high-frequency electrical signal receiving module, which receives the target echo signal according to the control signal and transmits the signal to the controller; The controller is the working control center of the radar detection system. It controls the transmitter to send signals and the receiver to receive echoes, communicates with the control terminal, receives instructions from the control terminal, and transmits collected data to the control terminal.

[0011] The distributor is a voltage conversion circuit that provides power for the various parts of the radar detection system.

[0012] Furthermore, the controller is internally provided with FPGA, programmable delay circuit, A\D data acquisition circuit, pulse processing circuit, pulse shaping circuit, RJ45, variable gain amplifier circuit and filter group; FPGA is a programmable logic chip that generates system operation timing and controls the operation of transmitters and receivers; The programmable delay circuit is used to generate accurate delay, control the transmission pulse operation, and realize equivalent sampling; The A\D data acquisition circuit includes an A\D chip and a D\A chip to realize digital and analog conversion; the A\D chip is used to collect echo data, and the D\A chip is used to convert the control word into a control signal to control the variable gain amplifier circuit; The filter bank is a hardware filter network used to filter out interference and noise; Pulse processing circuit and pulse shaping circuit are used to accurately trigger the transmitter and receiver; RJ45 is a network port transmission module, using TCP / IP protocol or UDP protocol. FPGA and control terminal communication is achieved through RJ45.

[0013] The detection method of the channel underwater disease radar detection robot system includes the following steps: S1. Confirmation of system connection communication status: Establish the connection between the robot body, radar detection system, CCTV system and control terminal, including circuit connection and structural connection; the control terminal sends a communication handshake instruction to the robot body, radar detection system and CCTV system, and the robot body, radar detection system and CCTV system return a handshake response instruction to confirm the system communication status; S2. Control terminal sets working parameters: The control terminal sets parameters for the robot body, radar detection system, and closed-circuit television system respectively. The robot body travel speed and abnormal state indication parameters are set according to the water channel detection site; the radar detection system scanning rate, sampling rate, detection depth, and processing method parameters are set; the closed-circuit television system resolution, working mode, and aperture parameters are set; S3. Control the robot body to move in the channel for detection: the robot body is placed in the channel, and the control terminal controls the robot body to move forward in the channel. The closed-circuit television system and the radar detection system detect as the robot body enters the channel; S4. Video and radar data collection: CCTV systems and radar detection systems continuously collect data during channel detection. Video data and radar data are transmitted to the control terminal through cables. The abnormal conditions in and around the channel currently detected can be seen in real time through the control terminal. At the same time, the two data signals are preprocessed, including filtering and denoising steps, to improve the accuracy and reliability of the data. Then, the characteristic information of the disease, such as location, shape, and size, is extracted, and the disease is identified, classified, and stored through machine learning or deep learning algorithms. S5. Detection image display and result output: The display and control terminal displays video data and radar data in real time. The display and control terminal software adopts multi-threaded operation mode, and distributes data reception, data display, and data storage to different threads to ensure that each part can be carried out in an orderly manner at the same time and display the detection results in real time; S6. Real-time abnormal point calibration: The display and control terminal calibrates the abnormal points displayed by the collection, and conducts detailed analysis of the point data during the later data processing; S7. Output of test results: Output comprehensive channel test report, identify the location of each abnormal point in the channel, and the comprehensive test situation in and around the channel; output the identified disease information as a report or chart, and display it visually on the map; users can intuitively understand the underwater disease situation of the channel and take corresponding repair measures.

[0014] By adopting the above technical scheme, compared with the prior art, the present invention has the following technical effects: based on the internationally advanced ground penetrating radar technology (GPR) and closed-circuit television (CCTV) technology, the present invention integrates ground penetrating radar and closed-circuit television on a high-performance waterproof crawling robot platform to form a centrally controlled water channel comprehensive detection robot system. Through the robot system crawling and detecting operations at the bottom of the water channel, the inner surface, channel wall, and the soil around the outside of the channel can be comprehensively detected, and the comprehensive data of the inner surface of the channel, the internal defects and damage of the channel wall, the loose soil around the outside of the channel, and the cavity collapse and other diseases and disasters can be obtained simultaneously. Through technological innovation and integrated application, this system breaks through the limitation that the current water channel can only perform a single internal appearance detection, and pioneeringly realizes the comprehensive information detection of the soil from the inside to the outside of the water channel, providing comprehensive, complete, and reliable comprehensive data support for the function detection and safety census assessment, maintenance detection, and cavity collapse disaster detection of the water channel.

[0015] The present invention has the advantages of non-destructive detection function, high efficiency and accuracy, strong adaptability, safety and reliability. The robot radar system for underwater disease detection in channels has broad application prospects in the fields of water conservancy, waterways, ports, etc. It can be used to detect the disease conditions of underwater parts such as channels, rivers, and embankments, providing strong support for the maintenance and management of water conservancy projects. At the same time, the system can also be used in the fields of underwater archaeology, underwater resource exploration, etc., providing important technical support for scientific research and practical activities in related fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of detecting the operation status in the channel in the present invention; Figure 2 It is a schematic diagram of the control connection between the various parts of the present invention; Figure 3 It is a structural block diagram of the radar detection system in the present invention; Figure 4 It is a control principle structure block diagram of the controller of the radar detection system in the present invention. DETAILED DESCRIPTION

[0017] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0018] like Figure 1 and Figure 2 As shown, the channel underwater disease radar detection robot system of the present invention further comprises a robot body, a radar detection system, a closed-circuit television system and a control terminal, wherein the closed-circuit television system is installed on the front side of the robot body for traveling detection; the radar detection system is connected to the rear side of the robot body through a flexible connector; The robot body travels in the channel, and the closed-circuit television system conducts optical detection inside the channel to detect cracks and broken defects on the channel surface; the robot drags the radar detection system to detect the soil inside the channel wall and around the channel, and obtains data on defects and damage inside the channel wall, loose soil outside the channel, and cavity disease disasters; the control terminal is used to control the start and stop and travel route of the robot body, as well as comprehensively analyze the detection results of the radar detection system and the closed-circuit television system to obtain comprehensive channel status information.

[0019] The control terminal controls the operation of the entire robot system, receives the detection data transmitted by the radar detection system and the closed-circuit television system, displays the detection status of the water delivery channel in real time, and monitors the operation of the entire system; the control terminal uses an industrial-grade laptop (such as a Panasonic industrial laptop) with professional software installed; The control terminal is connected to the closed-circuit television system, the robot body, and the radar detection system through cables respectively, and the control terminal provides power for the closed-circuit television system, the robot body, and the radar detection system; the robot body adopts a sealed and waterproof robot, and the robot body carries the closed-circuit television system and the radar detection system into the channel, and the detection data is transmitted to the control terminal outside the channel through cables.

[0020] A closed-circuit television system is a camera surveillance system that collects optical images from inside a channel and transmits the collected data to a control terminal via a cable.

[0021] The radar detection system is a high-frequency electromagnetic wave detection device that uses the propagation and reflection principles of electromagnetic waves to detect and locate underwater defects in the channel. It detects the condition of soil defects inside and outside the channel by emitting electromagnetic waves, and transmits the collected radar data to the control terminal via cables.

[0022] like Figure 3 As shown, the radar detection system includes an antenna, a transmitter, a receiver, a controller and a distributor. The controller communicates bidirectionally with the control terminal through a cable, the control terminal supplies power to the controller through the distributor, the signal output end of the transmitter is connected to the signal input end of the antenna, the signal output end of the antenna is connected to the signal input end of the receiver, the signal output end of the controller is connected to the signal input end of the transmitter, and the controller and the receiver transmit signals bidirectionally.

[0023] The antenna is an electrical signal and electromagnetic wave conversion module, which converts the electrical signal generated by the transmitter into electromagnetic waves for radiation; and converts the electromagnetic waves emitted by the target into electrical signals for transmission to the receiver; The transmitter is a high-frequency electrical signal generating module, which generates a periodically repeated high-energy electrical signal according to the control signal and transmits the signal to the antenna; The receiver is a high-frequency electrical signal receiving module, which receives the target echo signal according to the control signal and transmits the signal to the controller; The controller is the working control center of the radar detection system. It controls the transmitter to send signals and the receiver to receive echoes, communicates with the control terminal, receives instructions from the control terminal, and transmits collected data to the control terminal.

[0024] The distributor is a voltage conversion circuit that provides power for the various parts of the radar detection system.

[0025] like Figure 4 As shown, the controller is equipped with FPGA, programmable delay circuit, A\D data acquisition circuit, pulse processing circuit, pulse shaping circuit, RJ45, variable gain amplifier circuit and filter group; FPGA is a programmable logic chip that generates system working timing and controls the operation of transmitters and receivers. FPGA uses Xilinx's FPGA chip as the main control chip. The programmable delay circuit is used to generate accurate delay, control the operation of the transmitting pulse, and realize equivalent sampling; the programmable delay circuit uses two-stage DS1123 cascade as the delay chip; The A\D data acquisition circuit includes an A\D chip and a D\A chip to realize digital and analog conversion; the A\D chip is used to collect echo data, and the D\A chip is used to convert the control word into a control signal to control the variable gain amplifier circuit; the A\D data acquisition circuit uses the ADC chip of ADI Company; The filter bank is a hardware filter network used to filter out interference and noise; Pulse processing circuit and pulse shaping circuit are used to accurately trigger the transmitter and receiver; RJ45 is a network port transmission module, using TCP / IP protocol or UDP protocol. FPGA and control terminal communication is achieved through RJ45.

[0026] The detection method of the channel underwater disease radar detection robot system includes the following steps: S1. Confirmation of system connection communication status: Establish the connection between the robot body, radar detection system, CCTV system and control terminal, including circuit connection and structural connection; the control terminal sends a communication handshake instruction to the robot body, radar detection system and CCTV system, and the robot body, radar detection system and CCTV system return a handshake response instruction to confirm the system communication status; S2. Control terminal sets working parameters: The control terminal sets parameters for the robot body, radar detection system, and closed-circuit television system respectively. The robot body travel speed and abnormal state indication parameters are set according to the water channel detection site; the radar detection system scanning rate, sampling rate, detection depth, and processing method parameters are set; the closed-circuit television system resolution, working mode, and aperture parameters are set; S3. Control the robot body to move in the channel for detection: the robot body is placed in the channel, and the control terminal controls the robot body to move forward in the channel. The closed-circuit television system and the radar detection system detect as the robot body enters the channel; S4. Video and radar data collection: CCTV systems and radar detection systems continuously collect data during channel detection. Video data and radar data are transmitted to the control terminal through cables. The abnormal conditions in and around the channel currently detected can be seen in real time through the control terminal. At the same time, the two data signals are preprocessed, including filtering and denoising steps, to improve the accuracy and reliability of the data. Then, the characteristic information of the disease, such as location, shape, and size, is extracted, and the disease is identified, classified, and stored through machine learning or deep learning algorithms. S5. Detection image display and result output: The display and control terminal displays video data and radar data in real time. The display and control terminal software adopts multi-threaded operation mode, and distributes data reception, data display, and data storage to different threads to ensure that each part can be carried out in an orderly manner at the same time and display the detection results in real time; S6. Real-time abnormal point calibration: The display and control terminal calibrates the abnormal points displayed by the collection, and conducts detailed analysis of the point data during the later data processing; S7. Output of test results: Output comprehensive channel test report, identify the location of each abnormal point in the channel, and the comprehensive test situation in and around the channel; output the identified disease information as a report or chart, and display it visually on the map; users can intuitively understand the underwater disease situation of the channel and take corresponding repair measures.

[0027] The above embodiments illustrate the basic principles and features of the present invention, but the above only illustrates the preferred embodiments of the present invention and is not limited to the embodiments. Under the inspiration of this patent, a person skilled in the art can make many forms of deformation and improvement without departing from the scope of protection of the present invention and the claims, which are all within the protection scope of the present invention. Therefore, the patent and protection scope of the present invention shall be subject to the attached claims.

Claims

1. Channel underwater disease radar detection robot system, characterized by: It includes a robot body, a radar detection system, a closed-circuit television system and a control terminal. The closed-circuit television system is installed on the front side of the robot body for traveling detection; the radar detection system is connected to the rear side of the robot body through a flexible connector; The robot body travels in the channel, and the closed-circuit television system conducts optical detection inside the channel to detect cracks and broken defects on the channel surface; the robot drags the radar detection system to detect the soil inside the channel wall and around the channel, and obtains data on defects and damage inside the channel wall, loose soil outside the channel, and cavity disease disasters; the control terminal is used to control the start and stop and travel route of the robot body, as well as comprehensively analyze the detection results of the radar detection system and the closed-circuit television system to obtain comprehensive channel status information.

2. The underwater channel disease radar detection robot system according to claim 1 is characterized by: The control terminal controls the operation of the entire robot system, receives the detection data transmitted by the radar detection system and the closed-circuit television system, displays the detection status of the water delivery channel in real time, and monitors the operation of the entire system; the control terminal uses an industrial-grade laptop computer with professional software installed; The control terminal is connected to the closed-circuit television system, the robot body, and the radar detection system through cables respectively, and the control terminal provides power for the closed-circuit television system, the robot body, and the radar detection system; the robot body adopts a sealed and waterproof robot, and the robot body carries the closed-circuit television system and the radar detection system into the channel, and the detection data is transmitted to the control terminal outside the channel through cables.

3. The channel underwater disease radar detection robot system according to claim 2 is characterized by: A closed-circuit television system is a camera surveillance system that collects optical images from inside a channel and transmits the collected data to a control terminal via a cable.

4. The underwater channel disease radar detection robot system according to claim 3 is characterized by: The radar detection system is a high-frequency electromagnetic wave detection device that uses the propagation and reflection principles of electromagnetic waves to detect and locate underwater defects in the channel. It detects the condition of soil defects inside and outside the channel by emitting electromagnetic waves, and transmits the collected radar data to the control terminal via cables.

5. The channel underwater disease radar detection robot system and detection method according to claim 4 are characterized by: The radar detection system includes an antenna, a transmitter, a receiver, a controller and a distributor. The controller communicates bidirectionally with the control terminal via a cable. The control terminal supplies power to the controller via the distributor. The signal output end of the transmitter is connected to the signal input end of the antenna, the signal output end of the antenna is connected to the signal input end of the receiver, the signal output end of the controller is connected to the signal input end of the transmitter, and the controller and the receiver transmit signals bidirectionally.

6. The underwater channel disease radar detection robot system according to claim 5 is characterized by: The antenna is an electrical signal and electromagnetic wave conversion module, which converts the electrical signal generated by the transmitter into electromagnetic waves for radiation; and converts the electromagnetic waves emitted by the target into electrical signals for transmission to the receiver; The transmitter is a high-frequency electrical signal generating module, which generates a periodically repeated high-energy electrical signal according to the control signal and transmits the signal to the antenna; The receiver is a high-frequency electrical signal receiving module, which receives the target echo signal according to the control signal and transmits the signal to the controller; The controller is the working control center of the radar detection system. It controls the transmitter to send signals and the receiver to receive echoes, communicates with the control terminal, receives commands from the control terminal, and transmits collected data to the control terminal. The distributor is a voltage conversion circuit that provides power for the various parts of the radar detection system.

7. The underwater channel disease radar detection robot system according to claim 6 is characterized by: The controller is equipped with FPGA, programmable delay circuit, A\D data acquisition circuit, pulse processing circuit, pulse shaping circuit, RJ45, variable gain amplifier circuit and filter group; FPGA is a programmable logic chip that generates system operation timing and controls the operation of transmitters and receivers; The programmable delay circuit is used to generate accurate delay, control the transmission pulse operation, and realize equivalent sampling; The A\D data acquisition circuit includes an A\D chip and a D\A chip to realize digital and analog conversion; the A\D chip is used to collect echo data, and the D\A chip is used to convert the control word into a control signal to control the variable gain amplifier circuit; The filter bank is a hardware filter network used to filter out interference and noise; Pulse processing circuit and pulse shaping circuit are used to accurately trigger the transmitter and receiver; RJ45 is a network port transmission module that uses TCP / IP protocol or UDP protocol; FPGA and control terminal communicate through RJ45.

8. The detection method using the channel underwater disease radar detection robot system as claimed in claim 7 is characterized by: The following steps are involved: S1. Confirmation of system connection communication status: Establish the connection between the robot body, radar detection system, CCTV system and control terminal, including circuit connection and structural connection; the control terminal sends a communication handshake instruction to the robot body, radar detection system and CCTV system, and the robot body, radar detection system and CCTV system return a handshake response instruction to confirm the system communication status; S2. Control terminal sets working parameters: The control terminal sets parameters for the robot body, radar detection system, and closed-circuit television system respectively. The robot body travel speed and abnormal state indication parameters are set according to the water channel detection site; the radar detection system scanning rate, sampling rate, detection depth, and processing method parameters are set; the closed-circuit television system resolution, working mode, and aperture parameters are set; S3. Control the robot body to move in the channel for detection: the robot body is placed in the channel, and the control terminal controls the robot body to move forward in the channel. The closed-circuit television system and the radar detection system detect as the robot body enters the channel; S4. Video and radar data collection: CCTV systems and radar detection systems continuously collect data during channel detection. Video data and radar data are transmitted to the control terminal through cables. The abnormal conditions in and around the channel currently detected can be seen in real time through the control terminal. At the same time, the two data signals are preprocessed, including filtering and denoising steps, to improve the accuracy and reliability of the data. Then, the characteristic information of the disease, such as location, shape, and size, is extracted, and the disease is identified, classified, and stored through machine learning or deep learning algorithms. S5. Detection image display and result output: The display and control terminal displays video data and radar data in real time; the display and control terminal software adopts multi-threaded operation mode, and distributes data reception, data display, and data storage to different threads to ensure that each part can be carried out in an orderly manner at the same time and display the detection results in real time; S6. Real-time abnormal point calibration: The display and control terminal calibrates the abnormal points displayed by the collection, and conducts detailed analysis of the point data during the later data processing; S7. Output of test results: Output comprehensive channel test report, identify the location of each abnormal point in the channel, and the comprehensive test situation in and around the channel; output the identified disease information as a report or chart, and display it visually on the map; users can intuitively understand the underwater disease situation of the channel and take corresponding repair measures.

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