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

Abstract

This invention provides an unmanned 3D ground-penetrating radar (GPR) surveying equipment and method for detecting potential hazards in dams, addressing the technical problems of low signal acquisition efficiency and susceptibility to environmental interference in existing GPR systems. The equipment includes: a tracked walking mechanism for forming a payload compartment on a tracked chassis to deploy electromechanical equipment and the 3D GPR; the tracked chassis moves in a controlled manner on the surface of the dam structure; the 3D GPR is fixed to the ground within the payload compartment and is controlled to transmit and receive radar detection signals and perform data conversion; an environmental sensor array follows the tracked walking mechanism and senses its position and attitude; a data wireless communication module establishes wireless communication links with relevant services or systems; and a surveying control module plans the surveying path according to surveying requirements and controls the tracked walking mechanism to move along the planned path and conduct radar surveys based on the position and attitude of the dam. This effectively improves the efficiency and quality of GPR signal acquisition and achieves unmanned, all-weather, and highly reliable surveying.

Description

Technical Field

[0001] This invention relates to the field of radar scanning technology, specifically to a three-dimensional geological radar unmanned patrol equipment and method for detecting potential hazards in dams. Background Technology

[0002] Dam hazards refer to dangerous factors that threaten dam safety, such as cracks, fissures, loose soil, weak interlayers, and termite mounds, caused by various natural or man-made factors. Traditional detection methods for dam hazards include destructive methods such as drilling and pitting, but these methods are expensive, have long construction periods, and can cause secondary damage to the dam body, while failing to determine the underground distribution of the hazard. In recent years, dam hazard detection technologies based on geophysical science have developed rapidly, with non-destructive testing methods such as high-density resistivity methods, transient electromagnetic methods, and ground-penetrating radar methods becoming increasingly widely used.

[0003] In practical applications, the high-density resistivity method requires a dense array of electrodes, which is difficult to deploy on concrete dam surfaces and is easily limited by site constraints, resulting in poor application performance. While the transient electromagnetic method uses ungrounded transceivers, it has a blind zone in shallow areas, which is precisely where potential dam hazards are likely to occur. Ground-penetrating radar (GPR) offers advantages such as high construction efficiency, strong anti-interference capabilities, and high resolution, making it a significant option for dam hazard detection. However, due to site limitations in dam engineering, GPR currently relies heavily on manual dragging, resulting in low detection efficiency, high worker fatigue, and antenna damage from impacts and friction with the ground. Therefore, it fails to meet the requirements for detection efficiency and equipment portability. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a three-dimensional ground-penetrating radar unmanned inspection equipment and method for detecting hidden dangers in dams, so as to solve the technical problems of low signal acquisition efficiency and susceptibility to interference from the acquisition environment of existing ground-penetrating radars.

[0005] The unmanned three-dimensional ground-penetrating radar survey equipment for detecting potential hazards in dams according to embodiments of the present invention includes:

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

[0007] A three-dimensional ground-penetrating radar is used to be fixed close to the ground in the payload chamber and to control the transmission and reception of radar detection signals and data conversion.

[0008] An environmental sensor suite is used to follow the tracked walking mechanism and sense its position and orientation.

[0009] A data wireless communication module, used to establish wireless communication links with relevant services or systems;

[0010] The survey control module is used to plan the survey path according to the survey requirements, and control the tracked walking mechanism to move along the planned path and conduct three-dimensional geological radar surveys based on the position and state.

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

[0012] Tilt sensor, used to collect tilt angle data of the survey equipment body during the movement;

[0013] Magnetometer sensor, used to collect orientation data of the surveying equipment body during movement;

[0014] LiDAR is used to collect spatial contour data around the surveying equipment during its movement.

[0015] Cameras are used to collect data on the terrain features ahead during the journey;

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

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

[0018] The 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 business terminals within the dam area via a wireless local area network.

[0020] In one embodiment of the present invention, the tracked walking mechanism includes a tracked chassis, which includes two track assemblies and a horizontal chassis frame. The horizontal chassis frame includes a hollow rectangular rigid frame enclosed by upright side plates. The two track assemblies are axially symmetrically deployed on opposite sides of the horizontal chassis frame, and the center height of the guide wheel is less than the center height of the drive wheel. The mechanism also includes two load cells. In the horizontal chassis frame, two load cells are arranged in the extension direction of the track assemblies, one in front and one behind. The load cell is located on the drive wheel side and the load cell is located on the guide wheel side. The radar load cell houses a three-dimensional ground-penetrating radar, and the electromechanical load cell houses other electromechanical equipment.

[0021] In one embodiment of the present invention, in the electromechanical load compartment, a drive motor is fixed axially symmetrically on the inner side wall of the corresponding track assembly. The power output shaft of the drive motor is connected to the central shaft 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 compartment 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 lower front side wall of the radar payload compartment in the direction of three-dimensional ground-penetrating radar signal transmission and reception, and the radar signal through hole is sealed with a wave-transparent material.

[0023] In one embodiment of the present invention, the electromechanical payload 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 payload compartment where the wireless signal receiving antenna is deployed, according to the wireless signal wavelength, 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 this invention, applied to the aforementioned unmanned three-dimensional ground-penetrating radar for detecting potential hazards in dams, includes:

[0026] A survey path is formed according to the survey requirements, and the three-dimensional geological radar is controlled to transmit and receive signals while moving at a constant speed along the survey path.

[0027] During unmanned patrol and surveying, the travel status is adjusted according to the surface undulation, and the surface undulation is synchronized with the radar data in time.

[0028] During unmanned patrol and surveying, obstacles are bypassed and their status is reported.

[0029] During unmanned patrol and surveying, the system anticipates special terrain types ahead, adjusts its travel status accordingly, and reports the special terrain conditions.

[0030] The detection device of this invention includes:

[0031] The memory is used to store the program code in the processing of the detection method described above;

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

[0033] The unmanned three-dimensional ground-penetrating radar (GPR) patrol equipment and method for dam hazard detection, as described in this invention, overcomes the harsh signal acquisition environment at dam sites, effectively improving the efficiency and quality of GPR signal acquisition. The tracked design ensures high coverage and stability of geological signal acquisition within the expected range. The combination of positioning information and vehicle pose overcomes regional errors in geological signal acquisition, providing correction parameters for the temporal impact of terrain on radar signal transmission and reception. The planned path effectively improves the reproducibility and redundancy of acquired signals, avoiding signal loss in complex terrain such as undulating terrain and harsh operating environments such as extreme heat and cold. This fully demonstrates the all-weather reliability of unmanned patrol. Attached Figure Description

[0034] Figure 1 The diagram shown is a schematic representation of the architecture of a three-dimensional geological radar unmanned patrol equipment for detecting potential hazards in dams, according to an embodiment of the present invention.

[0035] Figure 2 The diagram shown is a schematic diagram of the surface walking mechanism in a three-dimensional geological radar unmanned surveying equipment for detecting hidden dangers in dams, according to an embodiment of the present invention (main view and cross-sectional view).

[0036] Figure 3 The diagram shown is a schematic diagram of the tracing and control circuit in a three-dimensional geological radar unmanned patrol equipment for detecting hidden dangers in dams, according to an embodiment of the present invention.

[0037] Figure 4 The diagram shown is a flowchart illustrating the detection method of a three-dimensional ground-penetrating radar unmanned patrol equipment for detecting hidden dangers in dams, according to an embodiment of the present invention.

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

[0039] Figure 6 The diagram shown is a schematic diagram of the tracing 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 Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer and more understandable, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0041] An embodiment of the present invention provides a three-dimensional ground-penetrating radar unmanned surveying equipment for detecting potential hazards in dams, as follows: Figure 1 As shown. In Figure 1In this embodiment, the following are included:

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

[0043] Those skilled in the art will understand that the surface of a dam slope engineering structure includes the slope and top of the dam body. The slopes on both sides of the dam have different inclinations, and the slopes are often formed by a mixture of rock and soil deposits, resulting in an uneven surface with continuous undulations and even small erosion grooves or cracks. Given the excellent mobility of tracks, a tracked chassis is chosen as the foundation for the transport structure of the payload. The track assembly typically includes drive wheels, track rollers, guide wheels, trailing wheels, tensioning devices, and buffer springs. A small, mature track assembly is used to construct the tracked chassis, forming a fixed frame on the track assembly. The load compartment is fixed on the fixed frame, allowing the load compartment to accommodate electromechanical equipment while maintaining a small contact distance with the ground. The electromechanical equipment includes a motor, reducer, battery, and drive circuitry to drive the tracks, as well as functional modules such as environmental sensors and wireless data transceiver circuits. The rolling state of the tracks is controlled by the output power of the drive motor, forming the tracking path of the tracked walking mechanism.

[0044] The 3D ground-penetrating radar 200 is used to be fixed close to the ground in the payload compartment and to control the transmission and reception of radar detection signals and data conversion.

[0045] The 3D ground-penetrating radar (GPR) is a standalone, proprietary device used for primary data acquisition in detecting subsurface hazards. It comprises integrated modules including a baseband processor, intermediate frequency signal line, signal feed, and transceiver antennas. It receives control data to generate radar transmission signals in a specific frequency band, transmits these signals, and receives feedback signals which are then processed into radar data. The structural layout within the payload compartment prioritizes the reliability of the GPR signal transmission and reception. The layout primarily ensures safety when the transmitting and receiving antennas are kept close to the ground, and guarantees electromagnetic compatibility (EMC) between radar reflections and other active circuitry.

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

[0047] Environmental sensors primarily collect signal characteristics of the tracked walking mechanism, including its horizontal angle, azimuth angle, and positioning coordinates, as well as its relative positional relationship with the environment and environmental feature perception. Each sensor, along with a fixed reference point on the payload compartment, forms the quantitative basis for the position and attitude of the tracked walking mechanism in a relevant reference coordinate space during its movement. Pose mapping can then be used to generate additional correction dimensions or parameters for the signal transmission and reception directions of the onboard 3D ground-penetrating radar.

[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 general communication technologies to establish corresponding communication links with relevant services or systems within or outside the dam area. The data wireless communication module uses widely used communication technologies and is configured according to data connection requirements.

[0050] The survey control module 500 is used to plan the survey path according to the survey requirements, and to control the tracked walking mechanism to move along the planned path and conduct three-dimensional geological radar surveys based on the position and state.

[0051] Those skilled in the art will understand that computer technology can provide the computing power, storage space, and adaptive communication resources required for the conversion and processing of various types of acquired signals. Using an existing processor as a survey control module, survey path planning can be achieved based on survey requirements, pose information, and environmental positioning, and electromechanical control commands can be generated for the tracked walking mechanism to complete the acquisition of ground-penetrating radar signals during the survey. The survey control module can employ a DSP (Digital Signal Processor), FPGA (Field-Programmable Gate Array), MCU (Microcontroller Unit) system board, SoC (System on a Chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0052] The unmanned 3D ground-penetrating radar (GPR) patrol equipment for dam hazard detection in this invention overcomes the harsh signal acquisition environment at dam sites, effectively improving the efficiency and quality of GPR signal acquisition. The tracked design ensures high coverage and stability of geological signal acquisition within the expected range. The combination of positioning information and vehicle pose overcomes regional errors in geological signal acquisition, providing correction parameters for the temporal impact of terrain on radar signal transmission and reception. The planned path effectively improves the reproducibility and redundancy of acquired signals, avoiding signal loss in complex terrain such as undulating terrain and harsh operating environments such as extreme heat and cold. This fully demonstrates the all-weather reliability of unmanned patrol equipment.

[0053] An embodiment of the present invention provides a three-dimensional ground-penetrating radar unmanned surveying equipment for detecting potential hazards in dams, as follows: Figure 2 As shown. In Figure 2In this design, the tracked traveling mechanism 100 includes a tracked chassis 110, which comprises two track assemblies 120 and a horizontal chassis frame 130. Each track assembly 120 adopts a universal structure, including a drive wheel, track roller, guide wheel, track support roller, and track (connected to the power signal of the drive motor), as well as a tensioning device and a buffer spring. The track is driven by the drive wheel and rolls around the drive wheel, track roller, guide wheel, and track support roller in a flexible chain link. The horizontal chassis frame 130 includes a hollow rectangular rigid frame enclosed by upright side plates. The two track assemblies 120 are axially symmetrically arranged on opposite sides of the horizontal chassis frame 130, with the center height of the guide wheel being less than the center height of the drive wheel.

[0054] like Figure 2 As shown, in one embodiment of the present invention, the tracked walking mechanism 100 further includes two load cells. Within the horizontal chassis frame 130, two load cells are arranged in the extension direction of the track assembly 120. An electromechanical load cell 140 is located on the drive wheel side, and a radar load cell 150 is located on the guide wheel side. The electromechanical load cell 140 houses the drive motor, reducer, and battery module, as well as other circuits, modules, or antennas related to the implementation of the survey function. The radar load cell 150 houses the three-dimensional ground-penetrating radar, ensuring the deployment stability of the three-dimensional ground-penetrating radar when it needs to form a specific directionality.

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

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

[0057] like Figure 2As shown, in one embodiment of the present invention, within the horizontal chassis frame 130, the radar payload compartment 150 is formed of electromagnetic shielding material, a composite material including electromagnetic shielding material, or a laminated material including an electromagnetic shielding layer. In the radar payload compartment, radar signal through-holes are formed on the lower front sidewall of the radar payload compartment in the direction of transmission and reception of the three-dimensional ground-penetrating radar signal, according to the main lobe projection angle range of the directional antenna pattern. These radar signal through-holes are sealed using a wear-resistant and non-deformable electromagnetic wave-transmitting material. The radar payload compartment ensures that the radar signal is not interfered with by electromagnetic signals from nearby electromechanical equipment in the transmission and reception direction. Utilizing the robustness of the radar payload compartment, the radar antenna can be as close to the ground as possible. Simultaneously, optimized track spacing ensures the stability of the distance between the radar antenna and the ground during movement.

[0058] In one embodiment of the present invention, within the horizontal chassis frame 130, the electromechanical payload compartment 140 is formed of electromagnetic shielding material, a composite material including electromagnetic shielding material, or a laminated material including an electromagnetic shielding layer. Within the electromechanical payload compartment, wireless signal through-holes are formed on the rear side wall of the compartment where the wireless signal receiving antenna is deployed, according to the wireless signal wavelength. These through-holes are sealed with a (electromagnetic wave) transparent material. The electromechanical payload compartment can, while ensuring the transmission of wireless communication signals, prevent electromagnetic frequencies generated by the operating conditions of other electromechanical equipment from interfering with the signal of the nearby three-dimensional ground-penetrating radar.

[0059] Electromagnetic shielding materials can also be made of absorbing materials or a combination of 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 ground-penetrating radar.

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

[0062] In one embodiment of the present invention, the homing and control circuit of a three-dimensional ground-penetrating radar unmanned patrol equipment for detecting hidden dangers in dams is as follows: Figure 3 As shown. In Figure 3 In this context, the environmental sensor suite 300 includes:

[0063] The tilt sensor 310 is used to collect tilt angle data of the survey equipment body during the movement.

[0064] The tilt angle is used to characterize the undulation and slope information of the ground during travel, and can be used to measure the probability of the survey equipment overturning.

[0065] The magnetometer sensor 320 is used to collect orientation data of the surveying equipment body during its movement.

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

[0067] The LiDAR 330 is used to collect spatial contour data around the surveying equipment during its movement.

[0068] Spatial contour data, typically point cloud data, is used to quantify potential obstacles during travel and to measure unexpected obstacle factors in the planned path. The surface of dam structures is often in open space and is significantly affected by natural or human activities, resulting in large or rapid changes in near-surface spatial characteristics, which may pose obstacles or hazards to the surveying equipment.

[0069] Camera 340 is used to collect data on the terrain features ahead during the journey.

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

[0071] The surface of dam structures is often in open space and is greatly affected by natural or human factors. Rainwater and wind and sand may alter the geological characteristics and interfere with the travel parameters planned based on known geological features.

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

[0073] The positioning data is used to determine the location in a large-scale coordinate space during the journey. Combined with RTK (Real-time kinematic) signals, the positioning data can be used to identify the latest position of the dam engineering structure surface.

[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 during the positioning process in real time.

[0077] The WLAN communication module 420 is used to establish a communication link with business terminals within the dam area via a wireless local area network.

[0078] Used to establish communication links with business terminals or control terminals within the dam area, forming the distribution of planned path data and the uploading of radar-collected data or line processing results.

[0079] An embodiment of the present invention describes the homing method of a three-dimensional ground-penetrating radar unmanned patrol equipment for detecting hidden dangers in dams, as follows: Figure 4 As shown. In Figure 4 In this embodiment, the following are included:

[0080] Step s100: Form a survey path according to the survey requirements, and control the three-dimensional ground-penetrating radar to transmit and receive signals while moving at a constant speed along the survey path.

[0081] Specifically, including:

[0082] Obtain key parameters for the planned survey path, and combine the key parameters with positioning data to form a survey path within the target survey area;

[0083] Based on the electromechanical control parameters formed by the survey path in the target survey area, the tracked walking mechanism is controlled to reach the target survey area according to the key parameters.

[0084] The system conducts unmanned patrols at a constant speed along the patrol path and reports radar data periodically.

[0085] Those skilled in the art will understand that the surface of a dam structure has a defined positioning reference, which maps to the coordinate positioning data generated by navigation data. Corresponding coordinate information can be obtained by acquiring a description of the surface area of ​​the engineering structure. Survey requirements are input through the human-machine interface of the service terminal and transmitted via wireless communication. Corresponding reporting data and radar data are transmitted to the service terminal.

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

[0087] The detection method of this invention establishes a normalized mapping between continuous time sequence, uniform velocity, and reliable path coordinates and radar data, ensuring the consistency of radar data updates across various measurement scales. This effectively enhances the comprehensive dimensions of radar data analysis during dam hazard detection, and improves data acquisition and utilization efficiency.

[0088] Step s200: During the unmanned patrol survey, adjust the travel status according to the surface undulation status and synchronize the surface undulation status with the radar data in time.

[0089] Specifically, including:

[0090] The trend of fluctuations is determined based on positioning data and tilt angle data;

[0091] Determine the path offset based on the positioning data and orientation data;

[0092] Electromechanical control correction parameters are generated based on the path offset to maintain the survey path;

[0093] Based on the overturning threshold of the fluctuating trend, the travel speed is controlled to form electromechanical control correction parameters to maintain a uniform survey speed.

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

[0095] Due to changes in the external environment, the surface texture of dam structures often varies, and these variations can change. These changes can gradually degrade or even render the electromechanical control parameters of unmanned 3D geological radar survey equipment ineffective during operation. By combining the pose data of the unmanned survey equipment with positioning data, the dimensions and extent of passive degradation can be perceived in real time, allowing for the development of corrective parameters to proactively offset the continuous errors caused by terrain changes.

[0096] The homing method of this invention adapts the pose state, travel speed, and rotation power output to the terrain changes along the survey path, so that the consistency of radar data at various measurement scales does not change excessively, and avoids interference factors in the radar data analysis and processing process.

[0097] Step s300: During the unmanned patrol process, detour around obstacles and report the obstacle status.

[0098] Specifically, including:

[0099] Based on the spatial contour data, determine the frontal projection range of the current (insurmountable) obstacle on the survey path, and establish a detour path along the ground contour of the obstacle based on the boundary of the frontal projection range.

[0100] After detouring, return to the survey path to continue the survey, while reporting the location and extent of obstacles.

[0101] Those skilled in the art will understand that the outline of an obstacle ahead can be identified based on point cloud information in spatial contour data. Then, the boundary for detour avoidance can be determined based on the ground contour. By progressively determining the detour avoidance boundary, path detour parameters are formed to control the unmanned survey equipment to gradually detour to the obstacle and then onto the normal survey path. The detour avoidance boundary, combined with positioning data, can at least locally quantify the position and size of the obstacle. This can then form a quantitative basis for addressing radar data gaps and path planning optimization within the survey path.

[0102] The detection method of this invention automatically generates obstacle detours, ensuring maximum completion of the automated detection process and avoiding the decrease in detection efficiency caused by process interruptions. Simultaneously, it provides a basis for iterative optimization of path planning during the detection process and marks the range of missing radar data. This lays the data foundation for providing terrain adjustment measures.

[0103] Step s400: During unmanned patrol surveys, anticipate special terrain types ahead, adjust the travel status accordingly, and report the special terrain conditions.

[0104] Specifically, including:

[0105] Identify special terrain features based on geomorphological data;

[0106] Electromechanical control correction parameters are formulated based on specific terrain types;

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

[0108] Perform a preliminary assessment of the resistance in the preceding region, and based on the assessment results, generate electromechanical control correction parameters to adjust the speed or drive power; at the same time, report the assessment results of the preceding region type.

[0109] Those skilled in the art will understand that the image features reflected in terrain feature data can be identified and classified using image recognition technology. Different types of special terrain can affect the driving status of unmanned survey equipment, and once it causes stalling, instability, or bumps, it will affect the accuracy of radar data. A pre-feedback mechanism that predicts the driving status in advance can smooth out drastic changes in the driving status.

[0110] The detection method of this invention combines driving state adjustment with radar data interference factor identification, marking the terrain features with the strongest radar signal attenuation, the highest refractive index, and the greatest impact on continuous driving state as special terrain. While ensuring a smooth driving state, it provides the types and ranges of factors that interfere with radar data, providing a basis for interference elimination in radar data analysis and processing.

[0111] An embodiment of the present invention provides a homing and detection device for a three-dimensional ground-penetrating radar unmanned patrol equipment for detecting potential hazards in dams, comprising:

[0112] The memory is used to store the program code in the processing of the detection method in the above embodiments;

[0113] The survey control module is used to execute the program code in the processing of the survey method described in the above embodiments.

[0114] An embodiment of the present invention provides a homing and detection device for a three-dimensional ground-penetrating radar unmanned patrol equipment for detecting potential hazards in dams, as shown in the following example. Figure 6As shown. In Figure 6 In this embodiment, the following are included:

[0115] The planning and control module s10 is used to form a survey path according to the survey requirements, and control the three-dimensional geological radar to transmit and receive signals while moving at a constant speed along the survey path.

[0116] The state adjustment module s20 is used to adjust the travel state according to the surface undulation during unmanned patrol and to synchronize the surface undulation with radar data in time.

[0117] The obstacle detour module S30 is used to detour around obstacles during unmanned patrol and report the obstacle status.

[0118] The terrain adaptation module S40 is used to predict special terrain types ahead and adjust the travel status during unmanned patrol surveys, and report the special terrain status.

[0119] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A three-dimensional ground-penetrating radar unmanned surveying equipment for detecting potential hazards in dams, characterized in that, include: Tracked walking mechanism is used to form a load compartment for deploying electromechanical equipment and three-dimensional geological radar on a tracked chassis, and the tracked chassis moves in a controlled manner on the surface of the dam engineering structure; A three-dimensional ground-penetrating radar is used to be fixed close to the ground in the payload chamber and to control the transmission and reception of radar detection signals and data conversion. An environmental sensor suite is used to follow the tracked walking mechanism and sense its position and orientation. A data wireless communication module, used to establish wireless communication links with relevant services or systems; The survey control module is used to plan the survey path according to the survey requirements, and control the tracked walking mechanism to move along the planned path and conduct three-dimensional geological radar surveys according to the position and state. The tracked walking mechanism includes a tracked chassis, which includes two track assemblies and a horizontal chassis frame. The horizontal chassis frame includes a hollow rectangular rigid frame enclosed by upright side plates. The two track assemblies are symmetrically arranged on opposite sides of the horizontal chassis frame, and the center height of the guide wheel is less than the center height of the drive wheel. It also includes two load cells. In the horizontal chassis frame, two load cells are arranged in the extension direction of the track assemblies. The load cell on the drive wheel side is an electromechanical load cell, and the load cell on the guide wheel side is a radar load cell. The radar load cell houses a three-dimensional ground-penetrating radar, and the electromechanical load cell houses other electromechanical equipment. The radar payload compartment is formed of electromagnetic shielding material, a mixed material including electromagnetic shielding material, or a laminated material including electromagnetic shielding layer; a radar signal through hole is opened on the lower front side wall of the radar payload compartment in the direction of three-dimensional geological radar signal transmission and reception, and the radar signal through hole is sealed with a wave-transparent material. The electromechanical payload compartment is formed of electromagnetic shielding material, a mixed material including electromagnetic shielding material, or a laminated material including an electromagnetic shielding layer; wireless signal through holes are opened on the rear side wall of the electromechanical payload compartment where the wireless signal receiving antenna is deployed, according to the wireless signal wavelength, and the wireless signal through holes are sealed with wave-transparent material. The track assembly and horizontal chassis frame are made of lightweight, high-molecular-weight, wave-transparent material.

2. The unmanned three-dimensional geological radar survey equipment for detecting hidden dangers in dams as described in claim 1, characterized in that, The environmental sensor assembly includes: Tilt sensor, used to collect tilt angle data of the survey equipment body during the movement; Magnetometer sensor, used to collect orientation data of the surveying equipment body during movement; LiDAR is used to collect spatial contour data around the surveying equipment during its movement. Cameras are used to collect data on the terrain features ahead during the journey; The GNSS positioning module is used to collect navigation signals during travel to form positioning data.

3. The unmanned three-dimensional geological radar survey equipment for detecting hidden dangers in dams as described in claim 1, characterized in that, The data wireless communication module includes: The 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 business terminals within the dam area via a wireless local area network.

4. The unmanned three-dimensional geological radar survey equipment for detecting hidden dangers in dams as described in claim 1, characterized in that, In the electromechanical load compartment, a drive motor is fixed axially symmetrically on the inner side wall of the corresponding track assembly. The power output shaft of the drive motor is connected to the central shaft of the drive wheel of the track assembly through a reducer to form a drive power output.

5. A detection method, applied to a three-dimensional ground-penetrating radar unmanned patrol equipment for detecting hidden dangers in dams as described in any one of claims 1 to 4, characterized in that, include: Based on the survey requirements, a survey path is formed. While moving at a constant speed along the survey path, the three-dimensional geological radar is controlled to transmit and receive signals, forming a continuous time sequence, constant speed and reliable path coordinates and normalized mapping with radar data. During unmanned patrol and surveying, the vehicle adjusts its movement according to the terrain undulations and synchronizes the terrain undulations with radar data in real time; it also uses pose data combined with positioning data to perceive the passive degradation dimension and degree in real time. During unmanned patrol surveys, obstacles are detoured and their status is reported, forming a quantitative basis for radar data gaps and path planning optimization in the patrol path. During unmanned patrol and surveying, the system anticipates special terrain types ahead and adjusts its travel status accordingly. It reports the special terrain conditions and combines the adjustment of travel status with the identification of radar data interference factors. The system marks the terrain features that attenuate radar signals the most, have the highest refractive index, and have the greatest impact on continuous travel status as special terrain. While ensuring a smooth travel state, it provides the types and range of factors that interfere with radar data.

6. A detection device, characterized in that, include: A memory for storing program code during the processing of the detection method as described in claim 5; The survey control module is used to execute the program code.

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