Three-dimensional geological radar unmanned patrol equipment and method for dam hidden danger detection

Abstract

The invention provides three-dimensional geological radar unmanned patrol equipment and method for dam hidden danger detection, and aims to solve the technical problems that an existing geological radar is low in signal acquisition efficiency and is easily interfered by an acquisition environment. The equipment comprises a crawler walking mechanism used for forming a load cabin for deploying electromechanical equipment and a three-dimensional geological radar on a crawler chassis, and the crawler chassis is controlled to advance on the surface of a dam body engineering structure; the three-dimensional geological radar is fixed in the load cabin in a ground attaching manner and is controlled to transmit and receive radar detection signals and convert data; the environment sensor combination is used for following the crawler walking mechanism and sensing the pose state of the crawler walking mechanism; the data wireless communication module is used for establishing a wireless communication link with a related service or system; and the patrol control module is used for planning a patrol path according to a patrol demand, and controlling the crawler walking mechanism to advance along the planned path and carry out radar patrol according to the pose state. And the geological radar signal acquisition efficiency and quality are effectively improved. And all-weather high reliability of unmanned patrol is realized.

Description

Technical Field

[0001] The present invention relates to the field of radar scanning technology, and in particular to a three-dimensional geological radar unmanned patrol equipment and method for detecting hidden dangers in dams. Background Art

[0002] Hidden dangers of dams refer to dangerous factors such as cracks, fissures, holes, loose soil, weak interlayers, ant holes, etc. that threaten the safety of dams due to the action and influence of various natural or human factors. Traditional detection methods for hidden dangers of dams include damage methods such as drilling and pit exploration, but these methods are expensive and have a long construction period. They will also cause secondary damage to the dam body or dam body, and it is impossible to find out the underground distribution of hidden dangers. In recent years, the detection technology of dam hidden dangers based on geophysical science has developed rapidly. For example, non-destructive detection methods such as high-density resistivity method, transient electromagnetic method and geological radar method are becoming more and more widely used.

[0003] In actual application, the high-density resistivity method requires the arrangement of dense electrode arrays, which is difficult to deploy on the concrete dam surface and is easily limited by the site range, resulting in poor application effect. Although the transient electromagnetic method uses an ungrounded transceiver, it has blind spots in the shallow part, and the shallow blind area is exactly where the hidden dangers of the dam are prone to occur. The geological radar method has the characteristics of high construction efficiency, strong anti-interference ability and high resolution, and has obvious advantages in the detection of hidden dangers in dams. However, due to the limitations of the dam project site, the geological radar method currently uses manual dragging, which has low detection efficiency, high staff intensity, and the friction between the antenna and the ground can easily cause damage to the antenna, so it cannot meet the requirements of detection efficiency and equipment loading. Summary of the invention

[0004] In view of the above problems, an embodiment of the present invention provides a three-dimensional geological radar unmanned patrol equipment and method for dam hidden danger detection, so as to solve the technical problems that the existing geological radar signal acquisition efficiency is low and is easily affected by the acquisition environment.

[0005] The three-dimensional geological radar unmanned inspection equipment for detecting hidden dangers of dams according to the embodiment of the present invention comprises:

[0006] The crawler walking mechanism is used to form a load cabin for deploying electromechanical equipment and three-dimensional geological radar on the crawler chassis, and the crawler chassis moves in a controlled manner on the surface of the dam engineering structure;

[0007] Three-dimensional geological radar, which is fixed on the ground in the payload cabin and is controlled to send and receive radar detection signals and perform data conversion;

[0008] An environmental sensor combination is used to follow the crawler walking mechanism and sense its posture state;

[0009] A data wireless communication module, used to establish a wireless communication link with related services or systems;

[0010] The patrol control module is used to plan the patrol path according to the patrol requirements, control the crawler walking mechanism to move along the planned path and conduct three-dimensional geological radar patrol according to the posture state.

[0011] In one embodiment of the present invention, the environmental sensor assembly includes:

[0012] The inclination sensor is used to collect the inclination angle data of the patrol equipment body during the travel process;

[0013] The magnetometer sensor is used to collect the orientation data of the patrol device during the movement;

[0014] Laser radar is used to collect spatial contour data around the patrol device during movement;

[0015] The camera is used to collect data on the terrain features ahead during the journey;

[0016] The GNSS positioning module is used to collect navigation signals during the journey to form positioning data.

[0017] In one embodiment of the present invention, the data wireless communication module includes:

[0018] A wireless public network communication module is used to establish a communication link with a remote server via a wireless public network;

[0019] The WLAN communication module is used to establish a communication link with the business terminals in the dam area through the wireless local area network.

[0020] In one embodiment of the present invention, the crawler walking mechanism includes a crawler chassis, the crawler chassis includes two crawler assemblies and a horizontal chassis frame, the horizontal chassis frame includes a hollow rectangular rigid frame surrounded by upright side panels, the two crawler assemblies are axially symmetrically arranged on opposite sides of the horizontal chassis frame, and the height of the center of the guide wheel above the ground is less than the height of the center of the driving wheel above the ground; it also includes two load compartments, in the horizontal chassis frame, in the extension direction of the crawler assembly, two front and rear load compartments are arranged, the one on the driving wheel side is an electromechanical load compartment, and the one on the guide wheel side is a radar load compartment, the radar load compartment accommodates a three-dimensional geological radar, and the electromechanical load compartment accommodates other electromechanical equipment.

[0021] In one embodiment of the present invention, in the electromechanical load compartment, the drive motor is axially symmetrically fixed on the inner side of the opposite side wall corresponding to the track assembly, and the power output shaft of the drive motor is dynamically connected to the central axis of the drive wheel of the track assembly through a reducer to form a drive power output.

[0022] In one embodiment of the present invention, the radar payload cabin is formed of an electromagnetic shielding material, a mixed material including an electromagnetic shielding material, or a laminated material including an electromagnetic shielding layer; a radar signal through hole is opened on the front lower side wall of the radar payload cabin in the direction of transmitting and receiving three-dimensional geological radar signals, and the radar signal through hole is sealed with a wave-transparent material.

[0023] In one embodiment of the present invention, the electromechanical payload cabin is formed of an electromagnetic shielding material, a mixed material including an electromagnetic shielding material, or a laminated material including an electromagnetic shielding layer; a wireless signal through hole is opened on the rear side wall of the electromechanical payload cabin where the wireless signal receiving antenna is deployed according to the wavelength of the wireless signal, and the wireless signal through hole is sealed with a wave-transparent material.

[0024] In one embodiment of the present invention, the track assembly and the horizontal chassis frame are made of lightweight polymer wave-transparent material.

[0025] The detection method of the embodiment of the present invention is applied to the above-mentioned three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection, including:

[0026] Form a patrol route according to patrol requirements, and control the 3D geological radar to send and receive signals while moving at a constant speed along the patrol route;

[0027] During the unmanned survey, the traveling state is adjusted according to the surface undulation state, and the surface undulation state is synchronized with the radar data in time series;

[0028] During unmanned inspection, obstacles are detoured and the obstacle status is reported;

[0029] During the unmanned patrol process, the special type of terrain ahead is predicted, the travel status is adjusted, and the special terrain status is reported.

[0030] The detection device of the embodiment of the present invention comprises:

[0031] A memory for storing program codes in the processing of the above-mentioned detection method;

[0032] The patrol control module is used to execute the program code.

[0033] The three-dimensional geological radar unmanned patrol equipment and method for dam hidden danger detection in the embodiment of the present invention overcomes the harsh signal collection environment at the dam site and effectively improves the efficiency and quality of geological radar signal collection. The passability of the track is used to ensure high coverage and stability of geological signal collection within the expected range. The combination of positioning information and body posture overcomes the regional error of geological signal collection, and provides correction parameters for the timing of radar transceiver signals affected by terrain. The planned path is used to effectively improve the recurrence rate and redundancy of the collected signals, avoiding the lack of signal collection in complex terrain such as ups and downs and harsh working environments such as extreme heat and cold. It fully demonstrates the all-weather reliability of unmanned patrols. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Shown is a schematic diagram of the architecture of a three-dimensional geological radar unmanned patrol equipment for dam hidden danger detection according to an embodiment of the present invention.

[0035] Figure 2 Shown is a schematic structural diagram (main view angle and cross-sectional view angle) of a surface walking mechanism in a three-dimensional geological radar unmanned patrol equipment for dam hidden danger detection according to an embodiment of the present invention.

[0036] Figure 3 The figure shows a schematic diagram of the structure of the detection control circuit in the three-dimensional geological radar unmanned patrol equipment for dam hidden danger detection according to an embodiment of the present invention.

[0037] Figure 4 The figure is a flow chart of a detection method of a three-dimensional geological radar unmanned patrol equipment for detecting hidden dangers in dams according to an embodiment of the present invention.

[0038] Figure 5 FIG. 1 is a schematic diagram of a basic planned route formed in a detection method according to an embodiment of the present invention.

[0039] Figure 6 The figure shows a schematic diagram of the architecture of a detection device of a three-dimensional geological radar unmanned patrol equipment for detecting hidden dangers in dams according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] An embodiment of the present invention is a three-dimensional geological radar unmanned inspection equipment for detecting hidden dangers in dams. Figure 1 As shown. Figure 1In this embodiment, the present invention includes:

[0042] The crawler walking mechanism 100 is used to form a load compartment for deploying electromechanical equipment and three-dimensional geological radar on the crawler chassis, and the crawler chassis moves in a controlled manner on the surface of the dam engineering structure.

[0043] Those skilled in the art can understand that the surface of the dam body slope engineering structure includes the slope and top of the dam body. The slopes on both sides of the dam have different inclinations. The slopes are often uneven surfaces formed by a mixture of stone and soil deposits. There are continuous undulations of relative height differences on the slope surface, and even small grooves or cracks are eroded. In view of the good passability of the crawler, the crawler chassis is selected as the transportation structure basis of the payload. The crawler assembly corresponding to the number of crawlers usually includes a driving wheel, a supporting wheel, a guide wheel, a towing wheel, a tensioning device and a buffer spring. A small and mature crawler assembly is used to construct the crawler chassis, a fixed frame is formed on the crawler assembly, and a load cabin is fixed on the fixed frame, so that the load cabin can accommodate electromechanical equipment and maintain a small ground contact distance with the ground. The electromechanical equipment includes an electric motor, a reducer, a battery and a drive circuit for driving the crawler, and also includes functional modules such as an environmental sensor and a wireless data transceiver circuit. The rolling state of the crawler is controlled by the output power of the driving motor to form a detection path for the crawler walking mechanism.

[0044] The three-dimensional geological radar 200 is used to be fixed close to the ground in the payload cabin and is controlled to transmit and receive radar detection signals and perform data conversion.

[0045] As a proprietary device with a single function, the 3D geological radar is used to complete the main data collection function of underground hidden danger detection. The 3D geological radar includes integrated modules such as baseband processor, intermediate frequency signal line, signal feed source and transceiver antenna. It receives control data to form a radar transmission signal of a specific frequency band for transmission and receives feedback signal for processing into radar data. The structural layout in the payload cabin is carried out around the reliability of the 3D geological radar signal reception and transmission. The layout first meets the safety when the transmitting and receiving antennas are kept at a small distance from the ground and the electromagnetic compatibility (EMC) of the radar reflection signal and the wireless signal between other active circuits.

[0046] The environmental sensor assembly 300 is used to follow the crawler walking mechanism and sense its position and posture state.

[0047] Environmental sensors mainly collect signal characteristics of the position and attitude of the crawler mechanism, including the horizontal angle, azimuth angle and positioning coordinates, as well as the relative position relationship between the crawler mechanism and the environment and the perception of environmental characteristics. Each sensor forms a quantitative basis for the position and attitude of the crawler mechanism in the reference coordinate space during its movement through a fixed reference with the payload cabin. By performing posture mapping, additional correction dimensions or parameters for the signal transmission and reception direction of the 3D geological radar can be formed.

[0048] The data wireless communication module 400 is used to establish a wireless communication link with related services or systems.

[0049] The data wireless communication module uses common communication technology to establish corresponding communication links with related services or systems within or outside the dam area. The data wireless communication module corresponds to widely used communication technologies and is configured according to data connection requirements.

[0050] The patrol control module 500 is used to plan the patrol path according to the patrol requirements, control the crawler walking mechanism to move along the planned path and perform three-dimensional geological radar patrol according to the posture state.

[0051] Those skilled in the art can understand that computer technology can provide the computing resources, storage space and adaptive communication resources required for the conversion and processing of various types of acquisition signals. Using the existing processor as the patrol control module can realize patrol path planning according to patrol requirements, posture information and environmental positioning, and form electromechanical control instructions for the crawler walking mechanism to complete the geological radar signal acquisition during the patrol. The patrol control module can use a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board or a PLC (Programmable Logic Controller) minimum system including I / O.

[0052] The three-dimensional geological radar unmanned patrol equipment for dam hidden danger detection in the embodiment of the present invention overcomes the harsh signal collection environment at the dam site and effectively improves the efficiency and quality of geological radar signal collection. The passability of the track is used to ensure high coverage and stability of geological signal collection within the expected range. The combination of positioning information and body posture overcomes the regional error of geological signal collection, and provides correction parameters for the timing of radar transceiver signals affected by the terrain. The planned path is used to effectively improve the recurrence rate and redundancy of the collected signals, avoiding the lack of signal collection in complex terrain such as ups and downs and harsh working environments such as extreme heat and cold. It fully demonstrates the all-weather reliability of unmanned patrols.

[0053] An embodiment of the present invention is a three-dimensional geological radar unmanned inspection equipment for detecting hidden dangers in dams. Figure 2 As shown. Figure 2In the figure, the crawler travel mechanism 100 includes a crawler chassis 110, and the crawler chassis 110 includes two crawler assemblies 120 and a horizontal chassis frame 130. Each crawler assembly 120 adopts a universal structure, including a driving wheel (connected to the power signal of the driving motor), a supporting roller, a guide wheel, a track roller and a crawler, as well as a tensioning device and a buffer spring. The crawler is driven by the driving wheel, and a flexible chain ring is formed around the driving wheel, the supporting roller, the guide wheel and the track roller to roll. The horizontal chassis frame 130 includes a hollow rectangular rigid frame surrounded by upright side panels. The two crawler assemblies 120 are axially symmetrically arranged on opposite sides of the horizontal chassis frame 130, and the height of the center of the guide wheel from the ground is less than the height of the center of the driving wheel from the ground.

[0054] like Figure 2 As shown, in one embodiment of the present invention, the crawler walking mechanism 100 also includes two load compartments. In the horizontal chassis frame 130, in the extension direction of the crawler assembly 120, two front and rear load compartments are arranged, one on the driving wheel side is the electromechanical load compartment 140, and the other on the guide wheel side is the radar load compartment 150. The electromechanical load compartment 140 contains the driving motor, the reducer and the battery module, as well as other circuits, modules, modules or antennas related to the patrol function. The radar load compartment 150 contains the three-dimensional geological radar, and the radar load compartment ensures the layout stability of the three-dimensional geological radar when it forms a specific directivity as needed.

[0055] like Figure 2 As shown, in one embodiment of the present invention, in the electromechanical load compartment 140, the drive motor 131 is axially symmetrically fixed on the inner side of the opposite side wall of the corresponding track assembly 120 (which is in contact with the side wall of the corresponding horizontal chassis frame 130), and the power output shaft of the drive motor 131 is dynamically connected to the central axis of the drive wheel of the track assembly 120 through a reducer 132 (using the through holes on the side walls of the electromechanical load compartment and the horizontal chassis frame 130) to form a driving power output.

[0056] like Figure 2 As shown, in one embodiment of the present invention, in the electromechanical load compartment, a battery module 141 is fixed between the drive motors 131, and the battery module includes a rechargeable battery pack and a battery charge and discharge management module. The rechargeable battery pack is formed by stacking rechargeable unit batteries in series and parallel. The battery charge and discharge management module is used to output electric power or store electric power on demand, supply power to active devices carried by unmanned patrol equipment, and monitor and manage the operating status of the rechargeable battery. The battery charge and discharge management module includes but is not limited to a DC-DC conversion circuit, a collection circuit for related signals such as temperature, current, and voltage, and a logic judgment circuit for related signals.

[0057] like Figure 2As shown, in one embodiment of the present invention, in the horizontal chassis frame 130, the radar payload cabin 150 is formed of an electromagnetic shielding material, a mixed material including an electromagnetic shielding material, or a laminated material including an electromagnetic shielding layer. In the radar payload cabin, a radar signal through hole is opened on the front lower side wall of the radar payload cabin in the direction of transmitting and receiving the three-dimensional geological radar signal according to the main lobe projection angle range of the directional antenna pattern, and the radar signal through hole is sealed with a wear-resistant and non-deformable transparent (electromagnetic) wave material. The radar payload cabin can ensure that the radar signal is not interfered by the electromagnetic signal of the adjacent electromechanical equipment in the direction of transmitting and receiving. Utilizing the firmness of the radar payload cabin, the radar antenna can be as close to the ground as possible. At the same time, the optimization of the track spacing can ensure the stability of the distance between the radar antenna and the ground during the movement.

[0058] In one embodiment of the present invention, in the horizontal chassis frame 130, the electromechanical load compartment 140 is formed of an electromagnetic shielding material, a mixed material including an electromagnetic shielding material, or a laminated material including an electromagnetic shielding layer. In the electromechanical load compartment, a wireless signal through hole is opened on the rear side wall of the electromechanical load compartment where the wireless signal receiving antenna is deployed according to the wavelength of the wireless signal, and the wireless signal through hole is sealed with a transparent (electromagnetic wave) material. The electromechanical load compartment can prevent the electromagnetic frequency generated by other electromechanical equipment working conditions from causing signal interference to the adjacent three-dimensional geological radar on the basis of ensuring the transmission of the wireless communication signal.

[0059] Generally, electromagnetic shielding materials may also be used as absorbing materials or in combination with absorbing materials.

[0060] In one embodiment of the present invention, the track assembly and the horizontal chassis frame are made of lightweight polymer wave-transparent material to avoid the formation of interference sources after the electromagnetic signals of adjacent frequency bands are reflected, thereby reducing electromagnetic interference to the three-dimensional geological radar.

[0061] In one embodiment of the present invention, on the basis of ensuring electromagnetic compatibility, the track assembly, the horizontal chassis frame and the two load compartments are made of lightweight polymer wave-transparent materials.

[0062] An embodiment of the present invention is a detection control circuit in a three-dimensional geological radar unmanned inspection equipment for detecting hidden dangers in dams. Figure 3 As shown. Figure 3 In the embodiment, the environmental sensor assembly 300 includes:

[0063] The inclination sensor 310 is used to collect inclination angle data of the patrol device body during the traveling process.

[0064] The tilt angle is used to characterize the undulating slope information of the ground in contact with the vehicle during movement, and can be used to measure the probability of overturning of the patrol equipment itself.

[0065] The magnetometer sensor 320 is used to collect the orientation data of the patrol device body during the movement.

[0066] The heading direction is used to characterize the azimuth angle with the geodetic coordinate system during travel, and can be used to measure the influence of geological characteristics on travel reliability. The surface of the dam engineering structure is greatly affected by the natural environment, and there are large differences in the mixed density of soil and water, which inevitably interferes with the travel speed and direction.

[0067] The laser radar 330 is used to collect spatial contour data around the patrol device body during movement.

[0068] Spatial contour data is usually point cloud data, which is used to quantify potential obstacles in the process and can be used to measure unexpected obstacles in the planned path. The surface of the dam engineering structure is often in an open space and is greatly affected by natural or human factors. There are large or rapid changes in near-ground spatial characteristics, which may pose obstacles or dangers to the patrol equipment itself.

[0069] The camera 340 is used to collect data on topographic features ahead during the travel process.

[0070] Geomorphic feature data is used to identify the geomorphic features ahead and can be used to identify changes in geological features along the planned route.

[0071] The surface of the dam engineering structure is often in an open space and is greatly affected by natural or human factors. There is a certain probability that the geological characteristics will be changed by rain and wind and sand, which will interfere with the travel parameters planned according to the known geological characteristics.

[0072] The GNSS positioning module 350 is used to collect navigation signals during the travel process to form positioning data.

[0073] The positioning data is used to form the positioning in the large-scale coordinate space during the travel process. Combined with the RTK (Real-time kinematic) signal to form the positioning data, it can be used to form the location identification of the latest status of the surface of the dam engineering structure.

[0074] like Figure 3 As shown, in one embodiment of the present invention, the data wireless communication module 400 includes:

[0075] The wireless public network communication module 410 is used to establish a communication link with a remote server via a wireless public network.

[0076] Used to establish a communication link with the RTK server and transmit RTK correction data in real time during the positioning process.

[0077] The WLAN communication module 420 is used to establish a communication link with the service terminals in the dam area through the wireless local area network.

[0078] It is used to establish a communication link with the business terminal or control terminal in the dam area to send the planned path data and upload the radar collection data or line processing results.

[0079] A detection method of a three-dimensional geological radar unmanned patrol equipment for detecting hidden dangers of dams according to an embodiment of the present invention is as follows Figure 4 As shown. Figure 4 In this embodiment, the present invention includes:

[0080] Step s100: forming a patrol path according to patrol requirements, and controlling the three-dimensional geological radar to send and receive signals while moving at a constant speed along the patrol path.

[0081] Specifically, they include:

[0082] Obtain key parameters for planning patrol paths, and combine key parameters with positioning data to form patrol paths within the target search area;

[0083] The electromechanical control parameters in the target detection area are formed according to the patrol path, and the crawler walking mechanism is controlled to reach the target detection area according to the key parameters;

[0084] Carry out unmanned patrols at a uniform speed along the patrol route and report radar data regularly.

[0085] Those skilled in the art can understand that the surface of the dam engineering structure has a certain positioning reference, which forms a mapping relationship with the coordinate positioning data formed by the navigation data. The corresponding coordinate information can be obtained by obtaining a description of the surface area of ​​the engineering structure. The inspection requirements are input through the human-computer interaction interface of the business terminal and transmitted through the wireless communication link. The corresponding reporting data and radar data are transmitted to the business terminal.

[0086] In one embodiment of the present invention, the patrol path formed in the detection method has a shape as follows: Figure 5 The patrol path is described by key parameters, forming Figure 5 The five main parameters of the bow-shaped path shown include the starting position H, the longitudinal patrol distance L, the turning direction θ, the unit scanning distance w and the lateral patrol distance n.

[0087] The detection method of the embodiment of the present invention forms a normalized mapping of continuous time series, uniform speed and reliable path coordinates with radar data, ensuring the consistency of radar data updates at various measurement scales. It effectively improves the comprehensive dimension of radar data analysis during dam hidden danger detection and improves data collection efficiency and utilization efficiency.

[0088] Step s200: During the unmanned patrol process, the traveling state is adjusted according to the surface undulation state, and the surface undulation state is synchronized with the radar data in time series.

[0089] Specifically, they include:

[0090] Determine the fluctuation trend based on the positioning data and the tilt angle data;

[0091] Determine the path deviation according to the positioning data and the heading and orientation data;

[0092] Forming electromechanical control correction parameters according to the path deviation to maintain the patrol path;

[0093] The travel speed control is determined based on the overturning threshold of the fluctuation trend, and the electromechanical control correction parameters are formed to maintain a uniform patrol speed;

[0094] The quantified fluctuation trend is synchronized with the positioning data and radar data and reported in time series.

[0095] Affected by changes in the external environment, the surface texture of the engineering structure of the dam often varies, and the differences will also change. The changes will cause the effect of the electromechanical control parameters of the 3D geological radar unmanned patrol equipment to gradually deteriorate or even become unusable during the process. The posture data of the unmanned patrol equipment combined with the positioning data can be used to perceive the passive degradation dimension and degree in real time, and then form correction parameters to actively offset the continuous errors caused by terrain changes.

[0096] The detection method of the embodiment of the present invention adapts the posture state, travel speed and rotational power output to the terrain changes on the patrol path, so that the consistency of the radar data at each measurement scale does not produce excessive changes, avoiding interference factors in the radar data analysis and processing process.

[0097] Step s300: During the unmanned patrol process, the obstacle is detoured and the obstacle status is reported.

[0098] Specifically, they include:

[0099] Determine the front projection range of the current (insurmountable) obstacle on the patrol path based on the spatial contour data, form the path detour parameters based on the boundary of the front projection range, and establish a detour path along the ground contour of the obstacle for detour;

[0100] After the detour, the system returns to the patrol route and continues patrolling, while reporting the location and range of the obstacle.

[0101] Those skilled in the art can understand that the outline of the obstacle in front can be identified based on the point cloud information in the spatial contour data. Then, the boundary of the detour is determined based on the contour of the ground. By gradually determining the boundary of the detour to form the path detour parameter, the unmanned patrol equipment gradually detours to the obstacle and then the normal patrol path is controlled. The boundary of the detour combined with the positioning data can at least partially quantify the position and size of the obstacle. Then, it can form a quantitative basis for the lack of radar data in the patrol path and the optimization of path planning.

[0102] The detection method of the embodiment of the present invention automatically forms an obstacle detour to ensure the maximum completion of the automated detection process. It avoids the decrease in detection efficiency caused by the termination of the detection process. At the same time, the detection process provides an iterative optimization basis for path planning and marks the missing range of radar data. It lays a data foundation for providing terrain adjustment measures.

[0103] Step s400: During the unmanned patrol process, predict the special type of terrain ahead to adjust the travel state and report the special terrain state.

[0104] Specifically, they include:

[0105] Determine special terrain based on geomorphic feature data;

[0106] Forming electromechanical control correction parameters according to special terrain types;

[0107] Report the location and extent of special terrain.

[0108] Pre-judge the resistance of the front area, and form electromechanical control correction parameters according to the judgment result to adjust the speed or drive power; at the same time, report the judgment result of the front area type.

[0109] Those skilled in the art will understand that the image features reflected in the geomorphic feature data can be identified and classified by image recognition technology. Different types of special terrain will affect the driving state of the unmanned patrol equipment. Once it causes stalling, instability or bumps, it will affect the accuracy of the radar data. The forward feedback mechanism of the driving state is formed by predicting the driving state in advance to smooth the drastic changes in the driving state.

[0110] The detection method of the embodiment of the present invention combines driving state adjustment with radar data interference factor identification, and marks the topographic features with the strongest radar signal attenuation and the largest refractive index, as well as the topographic features with the greatest impact on the continuous driving state as special terrain. While satisfying the smooth driving state, the type and range of factors that interfere with the radar data are provided, providing a basis for interference elimination for radar data analysis and processing.

[0111] A detection device of a three-dimensional geological radar unmanned patrol equipment for detecting hidden dangers of dams according to an embodiment of the present invention comprises:

[0112] A memory, used to store program codes in the processing process of the detection method of the above embodiment;

[0113] The patrol control module is used to execute the program code in the processing process of the detection method in the above embodiment.

[0114] A detection device of a three-dimensional geological radar unmanned patrol equipment for detecting hidden dangers of dams according to an embodiment of the present invention is as follows Figure 6As shown. Figure 6 In this embodiment, the present invention includes:

[0115] The planning control module s10 is used to form a patrol route according to the patrol requirements, and control the three-dimensional geological radar to send and receive signals while traveling at a constant speed along the patrol route;

[0116] The state adjustment module s20 is used to adjust the traveling state according to the surface undulation state during the unmanned patrol process, and synchronize the surface undulation state with the radar data;

[0117] The obstacle bypass module s30 is used to bypass obstacles and report the obstacle status during unmanned inspection;

[0118] The terrain adaptation module s40 is used to predict the special type of terrain ahead and adjust the travel state during the unmanned patrol process, and report the special terrain state.

[0119] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection, characterized in that: include: The crawler walking mechanism is used to form a load cabin for deploying electromechanical equipment and three-dimensional geological radar on the crawler chassis, and the crawler chassis moves in a controlled manner on the surface of the dam engineering structure; Three-dimensional geological radar, which is fixed on the ground in the payload cabin and is controlled to send and receive radar detection signals and perform data conversion; An environmental sensor combination is used to follow the crawler walking mechanism and sense its posture state; A data wireless communication module, used to establish a wireless communication link with related services or systems; The patrol control module is used to plan the patrol path according to the patrol requirements, control the crawler walking mechanism to move along the planned path and conduct three-dimensional geological radar patrol according to the posture state.

2. The three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection according to claim 1 is characterized in that: The environmental sensor combination comprises: The inclination sensor is used to collect the inclination angle data of the patrol equipment body during the travel process; The magnetometer sensor is used to collect the orientation data of the patrol device during the movement; Laser radar is used to collect spatial contour data around the patrol device during movement; The camera is used to collect data on the terrain features ahead during the journey; The GNSS positioning module is used to collect navigation signals during the journey to form positioning data.

3. The three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection according to claim 1 is characterized in that: The data wireless communication module comprises: A wireless public network communication module is used to establish a communication link with a remote server via a wireless public network; The WLAN communication module is used to establish a communication link with the business terminals in the dam area through the wireless local area network.

4. The three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection according to claim 1 is characterized in that: The crawler walking mechanism includes a crawler chassis, which includes two crawler assemblies and a horizontal chassis frame. The horizontal chassis frame includes a hollow rectangular rigid frame surrounded by upright side panels. The two crawler assemblies are axially symmetrically arranged on opposite sides of the horizontal chassis frame, and the height of the center of the guide wheel above the ground is less than the height of the center of the driving wheel above the ground; it also includes two load cabins. In the horizontal chassis frame, two front and rear load cabins are arranged in the extension direction of the crawler assembly. The electromechanical load cabin is on the driving wheel side, and the radar load cabin is on the guide wheel side. The radar load cabin accommodates a three-dimensional geological radar, and the electromechanical load cabin accommodates other electromechanical equipment.

5. The three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection according to claim 4 is characterized in that: In the electromechanical load compartment, the drive motor is axially symmetrically fixed on the inner side of the opposite side wall corresponding to the track assembly, and the power output shaft of the drive motor is dynamically connected to the central shaft of the drive wheel of the track assembly through a reducer to form a drive power output.

6. The three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection according to claim 4 is characterized in that: The radar payload cabin is formed of electromagnetic shielding material, a mixed material including electromagnetic shielding material, or a laminated material including an electromagnetic shielding layer; a radar signal through hole is opened on the front lower side wall of the radar payload cabin in the direction of transmitting and receiving three-dimensional geological radar signals, and the radar signal through hole is sealed with a wave-transparent material.

7. The three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection according to claim 6 is characterized in that: The electromechanical load compartment is formed of an electromagnetic shielding material, a mixed material including an electromagnetic shielding material, or a laminated material including an electromagnetic shielding layer; a wireless signal through hole is opened on the rear side wall of the electromechanical load compartment where the wireless signal receiving antenna is deployed according to the wavelength of the wireless signal, and the wireless signal through hole is sealed with a wave-transparent material.

8. The three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection according to claim 7 is characterized in that: The crawler track assembly and the horizontal chassis frame are made of lightweight polymer wave-transmitting material.

9. A detection method, applied to the three-dimensional geological radar unmanned inspection equipment for dam hidden danger detection as claimed in any one of claims 1 to 8, characterized in that: include: Form a patrol route according to patrol requirements, and control the 3D geological radar to send and receive signals while moving at a constant speed along the patrol route; During the unmanned survey, the traveling state is adjusted according to the surface undulation state, and the surface undulation state is synchronized with the radar data in time series; During unmanned inspection, obstacles are detoured and the obstacle status is reported; During the unmanned patrol process, the special type of terrain ahead is predicted, the travel status is adjusted, and the special terrain status is reported.

10. A detection device, characterized in that: include: A memory for storing program codes in the processing of the detection method according to claim 9; The patrol control module is used to execute the program code.

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