Radar vehicle control system for surveying urban road underground

Abstract

The invention discloses a radar vehicle control system for surveying the underground of an urban road, and particularly relates to the technical field of urban road surveying. Comprising a radar vehicle survey control center, a radar vehicle survey data acquisition module, a radar vehicle survey data analysis module, a radar vehicle survey intelligent control module, a radar vehicle survey intelligent control comprehensive analysis module and a radar vehicle survey intelligent control man-machine interaction module. The radar vehicle survey data acquisition module is used for acquiring data in a radar vehicle survey process to obtain various control parameters of radar vehicle survey and transmitting the various control parameters to the radar vehicle survey data analysis module; radar transmitting and receiving parameters can be automatically adjusted according to different characteristics of underground pipelines through an intelligent algorithm so as to adapt to different pipeline management requirements; the driving control system can automatically adjust the driving speed and path according to real-time information such as road conditions and traffic flow, and safety and high efficiency of surveying operation are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of urban road surveying, and in particular to a radar vehicle control system for surveying underground urban roads. Background Art

[0002] In the rapid development of cities, the reasonable layout and precise management of underground pipelines on urban roads have become key factors to ensure the normal operation of cities, including various types of underground pipelines such as water supply, drainage, gas, electricity, and communications, and their distribution is intricate. In recent years, with the advancement of science and technology, radar vehicles have attracted much attention due to their non-invasiveness, high efficiency, and relatively high accuracy through radar detection technology.

[0003] The traditional control method of underground pipeline survey radar vehicles relies on manual operation and monitoring. On the one hand, the operator monitors the operating status and detection results of the radar vehicle in real time through monitoring equipment, which increases labor costs; on the other hand, the radar vehicle survey parameters are statically configured. Before underground pipeline detection, the transmission and reception of radar signals are optimized through sensor configuration and parameter adjustment, which requires professionals to perform detailed parameter adjustments, increasing the difficulty of use.

[0004] However, the existing radar vehicle control system for underground pipeline survey still has a series of problems in practical application. First, in complex urban road environments, manual monitoring has lags, and the vehicle's driving trajectory and speed control are not accurate enough; second, the system is not adaptable to pipelines of different types, materials and buried depths, and static parameter adjustment often cannot effectively adjust the detection parameters, which makes it difficult to accurately detect some pipelines; third, the data processing capacity is limited, and the large amount of data generated by radar detection needs to be processed and analyzed quickly and accurately. Therefore, in order to obtain underground pipeline information more accurately, it is very important to improve the intelligent control performance of radar vehicles during surveys by integrating advanced sensor technology, intelligent algorithms and automated control technology. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a radar vehicle control system for surveying underground urban roads to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a radar vehicle control system for surveying underground urban roads, comprising:

[0007] Radar vehicle survey control center: uses big data technology to store and receive the survey data of the radar vehicle, build a radar vehicle survey control database, and trigger the control mechanism based on the analysis results of the received radar vehicle survey data;

[0008] Radar vehicle survey data acquisition module: used to collect data during the radar vehicle survey process, obtain various control parameters of the radar vehicle survey, and transmit the various control parameters to the radar vehicle survey data analysis module;

[0009] Radar vehicle survey data analysis module: used to collect various control parameters obtained by the data acquisition module, obtain various control indicators of the radar vehicle survey, and transmit various control indicators to the radar vehicle survey intelligent control module; the radar vehicle survey data analysis module includes the radar vehicle ground penetration control analysis unit, the radar vehicle identification pipeline control analysis unit and the radar vehicle driving control analysis unit;

[0010] Radar vehicle survey intelligent control module: used to compare the various control indicators obtained by the data analysis module with the thresholds respectively, and transmit the good comparison results to the radar vehicle survey intelligent control comprehensive analysis module. The radar vehicle survey control center triggers the control mechanism according to the abnormal comparison results;

[0011] Radar vehicle survey intelligent control comprehensive analysis module: used to comprehensively analyze the good comparison results obtained by the intelligent control module, obtain the comprehensive indicators of radar vehicle survey intelligent control, and transmit them to the radar vehicle survey intelligent control human-computer interaction module;

[0012] Radar vehicle survey intelligent control human-computer interaction module: used for human-computer interaction of the radar vehicle survey intelligent control comprehensive indicators of the intelligent control comprehensive analysis module.

[0013] Preferably, the radar vehicle ground penetration control and analysis unit in the radar vehicle survey data analysis module: firstly identifies the underground medium type of the target pipeline area through the ground penetrating radar device, and obtains the underground medium type data set UTD, , n is the number of underground medium types, ut i is the ith underground medium; then, the conductivity σ(ut i ); secondly, the radar transmission frequency f and transmission power P are obtained through the radar vehicle survey control database; finally, the radar vehicle ground penetration control index RGCI is obtained through big data analysis technology. , c is the speed of light, μ r (ut i ) is the relative magnetic permeability, γ r (ut i ) is the relative dielectric constant of the underground medium, γ0 is the dielectric constant in vacuum, P loss It is the power loss of radar signal in the process of penetrating underground medium.

[0014] Preferably, the radar vehicle pipeline identification control analysis unit in the radar vehicle survey data analysis module includes an underground pipeline identification and radar wave reflection analysis unit and an underground pipeline identification accuracy analysis unit; the radar vehicle driving control analysis unit includes a radar vehicle movement and data acquisition quality analysis unit and a radar vehicle driving stability and adaptive adjustment analysis unit.

[0015] Preferably, the underground pipeline identification and radar wave reflection analysis unit in the radar vehicle pipeline identification control and analysis unit: firstly, the type of underground pipeline material in the target pipeline area is identified by ground penetrating radar equipment, and an underground pipeline material type data set UPD is obtained. , k is the number of underground pipe types, up j is the jth underground pipeline material; then the dielectric constant ε of the identified underground pipeline is extracted through the radar vehicle survey control database g (up j ) and the dielectric constant ε of the underground medium covering the pipeline d (ut i ); Secondly, the conductivity σ of the underground pipeline material is obtained through sensor technology g (up j ) and the conductivity σ of the underground medium covering the pipeline d (ut i ),ut i is the i-th underground medium; finally, the underground pipeline material identification and radar wave reflection coefficient τ are obtained through big data analysis technology. , γ0 is the dielectric constant in vacuum, ω is the angular frequency of radar wave, θ is the incident angle of radar wave, and the underground pipeline identification and radar wave reflection matching control index WRCI is obtained. , τ0 is the expected reflection coefficient.

[0016] Preferably, the underground pipeline identification accuracy analysis unit in the radar vehicle identification pipeline control analysis unit: firstly obtains the round-trip time Δt of the radar wave detecting the underground pipeline through the radar vehicle survey control database, and obtains the pipeline depth measurement control coefficient E de , , c is the speed of light, ε d is the dielectric constant of the underground medium covering the pipeline, and h represents the standard value of the pipeline depth; then the pipeline diameter R of the target pipeline area is identified through the ground penetrating radar equipment, and compared with the pipeline diameter data in the radar vehicle survey control database, and the number of pipelines with correct diameter identification is counted N cor and the total number of identification pipelines N total , and obtain the pipeline diameter recognition accuracy control coefficient A dis , A dis =N cor / N totalSecondly, the radar detection pipeline position coordinates PCD are obtained through positioning technology, and compared with the pipeline position coordinates PCD0 in the radar vehicle survey control database to obtain the radar detection pipeline position accuracy control coefficient X p , ; Finally, through big data analysis technology, the underground pipeline identification accuracy control index PACI is obtained, PACI=ε g ×(a1×E de +a2×A dis +a3×X p ), ε g is the dielectric constant of the underground pipeline, and a1, a2, and a3 represent the corresponding weights.

[0017] Preferably, the radar vehicle movement and data acquisition quality analysis unit in the radar vehicle driving control analysis unit: firstly collects the driving speed v of the radar vehicle in real time through the speed sensor; then obtains the data collection time interval t and the radar scanning width w of the radar detection of underground pipelines through the radar vehicle survey control database, and obtains the underground pipeline data collection efficiency control index DCCI, , A is the pipeline area covered by the radar in each scan.

[0018] Preferably, the radar vehicle driving stability and adaptive adjustment analysis unit in the radar vehicle driving control analysis unit: firstly, the actual driving route R of the radar vehicle detecting the underground pipeline is obtained by positioning technology. s , and compare it with the set driving route R to obtain the radar vehicle driving deviation control coefficient DDc, DDc=|R s -R| / R; then, within the data collection time interval t, collect N radar vehicle speed sampling points, obtain the speed standard deviation σ(v) and the average speed μ(v), ​​and obtain the vehicle speed fluctuation control coefficient VVc, VVc=σ(v) / μ(v); secondly, through the timestamp technology, record the response time t from the issuance of the steering control command to the start of the radar vehicle steering x ; Finally, the radar vehicle driving stability and adaptive adjustment control index RAACI is obtained through big data analysis technology. , N adj It is the number of times the system makes adaptive adjustments to the actual driving of the radar vehicle according to the set driving path, and b1 and b2 represent the corresponding weights respectively.

[0019] Preferably, the intelligent control module in the radar vehicle survey intelligent control module comprises the following steps:

[0020] Step 3.1: Compare the radar vehicle ground penetration control index RGCI with the threshold RGCI0 to obtain the performance factor ζ(RGCI) of the radar vehicle ground penetration control, ζ(RGCI)=RGCI / RGCI0. If ζ(RGCI)≥1, it means that the radar vehicle ground penetration control is good; otherwise, it means that the control is abnormal, triggering the radar vehicle ground penetration control mechanism;

[0021] Step 3.2: First, compare the underground pipeline identification and radar wave reflection matching control index WRCI with the threshold WRCI0 to obtain the performance factor ζ(WRCI) of the radar wave reflection matching control, ζ(WRCI)=WRCI / WRCI0. If ζ(WRCI)≥1, it means that the radar wave reflection matching control is good; otherwise, it means that the control is abnormal, triggering the radar wave reflection matching control mechanism; then compare the underground pipeline identification accuracy control index PACI with the threshold PACI0 to obtain the performance factor ζ(PACI) of the underground pipeline identification accuracy control, ζ(PACI)=PACI / PACI0. If ζ(PACI)≥1, it means that the underground pipeline identification accuracy control is good; otherwise, it means that the control is abnormal, triggering the underground pipeline radar identification control mechanism;

[0022] Step 3.3: First, compare the underground pipeline data acquisition efficiency control index DCCI with the threshold DCCI0 to obtain the performance factor ζ(DCCI) of the underground pipeline data acquisition efficiency control, ζ(DCCI)=DCCI / DCCI0. If ζ(DCCI)≥1, it means that the underground pipeline data acquisition efficiency is well controlled; otherwise, it means that the control is abnormal, triggering the underground pipeline data acquisition efficiency control mechanism; then compare the radar vehicle driving stability and adaptive adjustment control index RAACI with the threshold RAACI0 to obtain the performance factor ζ(RAACI) of the radar vehicle driving stability and adaptive adjustment control, ζ(RAACI)=RAACI / RAACI0. If ζ(RAACI)≥1, it means that the radar vehicle driving stability and adaptive adjustment control are well controlled; otherwise, it means that the control is abnormal, triggering the radar vehicle driving control mechanism.

[0023] Technical effects and advantages of the present invention:

[0024] 1. Through intelligent optimization of ground penetration control parameters, the radar vehicle can more effectively penetrate different media and obtain more accurate underground information; precise adjustment of pipeline identification control parameters helps the radar vehicle to accurately identify and locate underground pipelines, reduce false alarms and missed alarms, and improve survey efficiency; automatic adjustment of driving control parameters ensures stable driving of the radar vehicle in complex urban environments;

[0025] 2. The present invention can automatically adjust the radar transmission and reception parameters according to the different characteristics of underground pipelines (such as dielectric constant, conductivity, etc.) through intelligent algorithms to meet different pipeline management requirements; the driving control system can automatically adjust the driving speed and path according to real-time information such as road conditions and traffic flow to ensure the safety and efficiency of survey operations;

[0026] 3. The present invention simplifies the operation process of the radar vehicle and reduces the skill requirements for operators through the application of intelligent and automated technologies; optimizes control parameters through intelligent algorithms, reduces the need for manual intervention and reduces labor costs; efficient survey operations and accurate identification capabilities help reduce repeated surveys and erroneous judgments, and further reduce survey costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall process of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0029] See also Figure 1 As shown, the present invention provides a radar vehicle control system for surveying underground urban roads, including a radar vehicle survey control center, a radar vehicle survey data acquisition module, a radar vehicle survey data analysis module, a radar vehicle survey intelligent control module, a radar vehicle survey intelligent control comprehensive analysis module and a radar vehicle survey intelligent control human-computer interaction module.

[0030] The radar vehicle survey control center is connected to the remaining modules, the radar vehicle survey data analysis module is respectively connected to the radar vehicle survey data acquisition module and the radar vehicle survey intelligent control module, and the radar vehicle survey intelligent control comprehensive analysis module is respectively connected to the radar vehicle survey intelligent control module and the radar vehicle survey intelligent control human-computer interaction module.

[0031] Radar vehicle survey control center: uses big data technology to store and receive the survey data of the radar vehicle, build a radar vehicle survey control database, and trigger the control mechanism based on the analysis results of the received radar vehicle survey data;

[0032] What needs to be specifically explained in this embodiment is that the detection data of the radar vehicle includes but is not limited to the set target pipeline area survey route, radar transmission parameters, radar receiving parameters, driving speed, target pipeline survey data, target pipeline area underground medium survey data, etc. The radar vehicle survey control database is connected to the remaining modules in the system to receive and store data from each module and update the radar vehicle survey control database in real time.

[0033] Radar vehicle survey data acquisition module: used to collect data during the radar vehicle survey process, obtain various control parameters of the radar vehicle survey, and transmit the various control parameters to the radar vehicle survey data analysis module;

[0034] It should be specifically explained in this embodiment that various control parameters include administrator identity authentication information, radar vehicle ground penetration control parameters, radar vehicle pipeline identification control parameters and radar vehicle driving control parameters, wherein the radar vehicle ground penetration control parameters include underground medium type data, underground medium conductivity, radar transmission frequency and transmission power; radar vehicle pipeline identification control parameters include underground pipe type data set, dielectric constant and conductivity of underground pipelines, dielectric constant and conductivity of underground medium covering pipelines, radar wave angular frequency, radar wave incident angle, round-trip time of radar wave detection of underground pipelines, speed of light, standard value of pipeline depth, number of pipelines correctly identified by diameter, total number of identified pipelines, radar detection pipeline position coordinates; radar vehicle driving control parameters include radar vehicle driving speed, data collection time interval, radar scanning width, pipeline area covered by radar each time scanning, actual driving route and set driving route of radar vehicle detecting underground pipelines, vehicle speed, steering response time and number of adaptive adjustments.

[0035] Radar vehicle survey data analysis module: used to collect various control parameters obtained by the data acquisition module, obtain various control indicators of the radar vehicle survey, and transmit various control indicators to the radar vehicle survey intelligent control module; the radar vehicle survey data analysis module includes the radar vehicle ground penetration control analysis unit, the radar vehicle identification pipeline control analysis unit and the radar vehicle driving control analysis unit;

[0036] What needs to be specifically explained in this embodiment is that the radar vehicle ground penetration control analysis unit is used to analyze the radar vehicle ground penetration control parameters, the radar vehicle identification pipeline control analysis unit is used to analyze the radar vehicle identification pipeline control parameters and the radar vehicle driving control analysis unit is used to analyze the radar vehicle driving control parameters.

[0037] The ground penetration control and analysis unit of the radar vehicle first identifies the underground medium type of the target pipeline area through the ground penetrating radar equipment, and obtains the underground medium type data set UTD. , n is the number of underground medium types, uti is the ith underground medium, which includes rock, soil, concrete, etc. Then, the conductivity σ(ut i ); secondly, the radar transmission frequency f and transmission power P are obtained through the radar vehicle survey control database; finally, the radar vehicle ground penetration control index RGCI is obtained through big data analysis technology. , c is the speed of light, μ r (ut i ) is the relative magnetic permeability, γ r (ut i ) is the relative dielectric constant of the underground medium, γ0 is the dielectric constant in vacuum, P loss It is the power loss of radar signal in the process of penetrating underground medium;

[0038] It should be specifically noted in this embodiment that a medium with higher conductivity (such as moist soil) absorbs more radar signals, thereby reducing the penetration depth. On the contrary, a medium with lower conductivity (such as dry soil or rock) absorbs less radar signals and has a relatively deeper penetration depth. The higher the radar transmission frequency, the weaker the penetration ability may be. For underground surveys of urban roads, it is usually necessary to select a frequency that can provide sufficient penetration depth and ensure high resolution.

[0039] The radar vehicle pipeline identification control analysis unit includes an underground pipeline identification and radar wave reflection analysis unit and an underground pipeline identification accuracy analysis unit, and the analysis includes the following steps:

[0040] Step 1.1: Underground pipeline identification and radar wave reflection analysis unit: First, use the ground penetrating radar equipment to identify the type of underground pipeline material in the target pipeline area and obtain the underground pipe material type data set UPD. , k is the number of underground pipe types, up j is the jth underground pipeline material; then the dielectric constant ε of the identified underground pipeline is extracted through the radar vehicle survey control database g (up j ) and the dielectric constant ε of the underground medium covering the pipeline d (ut i ); Secondly, the conductivity σ of the underground pipeline material is obtained through sensor technology g (up j ) and the conductivity σ of the underground medium covering the pipeline d (ut i ),ut i is the i-th underground medium; finally, the underground pipeline material identification and radar wave reflection coefficient τ are obtained through big data analysis technology. , γ0 is the dielectric constant in vacuum, ω is the angular frequency of radar wave, θ is the incident angle of radar wave, and the underground pipeline identification and radar wave reflection matching control index WRCI is obtained. , τ0 is the expected reflection coefficient;

[0041] Step 1.2: Underground pipeline identification accuracy analysis unit: First, obtain the round-trip time Δt of radar wave detection of underground pipelines through the radar vehicle survey control database, and obtain the pipeline depth measurement control coefficient E de , , c is the speed of light, ε d is the dielectric constant of the underground medium covering the pipeline, and h represents the standard value of the pipeline depth; then the pipeline diameter R of the target pipeline area is identified through the ground penetrating radar equipment, and compared with the pipeline diameter data in the radar vehicle survey control database, and the number of pipelines with correct diameter identification is counted N cor and the total number of identification pipelines N total , and obtain the pipeline diameter recognition accuracy control coefficient A dis , A dis =N cor / N total Secondly, the radar detection pipeline position coordinates PCD are obtained through positioning technology. The pipeline position coordinates can be three-dimensional coordinates, parabola vertex coordinates, etc., and compared with the pipeline position coordinates PCD0 in the radar vehicle survey control database to obtain the radar detection pipeline position accuracy control coefficient X p , ; Finally, through big data analysis technology, the underground pipeline identification accuracy control index PACI is obtained, PACI=ε g ×(a1×E de +a2×A dis +a3×X p ), ε g is the dielectric constant of the underground pipeline, a1, a2 and a3 represent the corresponding weights, for example, a1=0.3, a2=0.4 and a3=0.3;

[0042] What needs to be specifically explained in this embodiment is that the radar vehicle control system can dynamically adjust the emission angle of the radar wave to optimize the detection effect on the underground pipeline; by adjusting the incident angle, the system can reduce the interference of ground clutter and improve the signal-to-noise ratio, thereby performing high-resolution imaging of the radar reflection signal.

[0043] The radar vehicle driving control analysis unit includes a radar vehicle movement and data acquisition quality analysis unit and a radar vehicle driving stability and adaptive adjustment analysis unit, and the analysis includes the following steps:

[0044] Step 2.1: Radar vehicle movement and data collection quality analysis unit: First, the speed sensor is used to collect the driving speed v of the radar vehicle in real time; then, the radar vehicle survey control database is used to obtain the data collection time interval t and radar scanning width w of the underground pipeline detected by the radar, and the underground pipeline data collection efficiency control index DCCI is obtained. , A is the pipeline area covered by the radar in each scan;

[0045] Step 2.2: Radar vehicle driving stability and adaptive adjustment analysis unit: First, the actual driving route R of the radar vehicle to detect underground pipelines is obtained through positioning technology. s , and compare it with the set driving route R to obtain the radar vehicle driving deviation control coefficient DDc, DDc=|R s -R| / R; then, within the data collection time interval t, collect N radar vehicle speed sampling points, obtain the speed standard deviation σ(v) and the average speed μ(v), ​​and obtain the vehicle speed fluctuation control coefficient VVc, VVc=σ(v) / μ(v); secondly, through the timestamp technology, record the response time t from the issuance of the steering control command to the start of the radar vehicle steering x ; Finally, the radar vehicle driving stability and adaptive adjustment control index RAACI is obtained through big data analysis technology. , N adj It is the number of times the system controls the actual driving of the radar vehicle to make adaptive adjustments according to the set driving path, and b1 and b2 represent the corresponding weights respectively;

[0046] What needs to be specifically explained in this embodiment is that the control system can monitor and correct driving deviations in real time to ensure that the radar vehicle can accurately drive along the preset path; when surveying underground urban roads, the radar vehicle needs to maintain a relatively constant speed to avoid data errors caused by speed changes; in urban road environments, the radar vehicle may need to frequently adjust the driving direction to avoid obstacles or drive along a predetermined route; the control system can dynamically adjust vehicle parameters (such as speed, steering angle, etc.) according to real-time road conditions to ensure efficient and safe survey operations.

[0047] Radar vehicle survey intelligent control module: used to compare the various control indicators obtained by the data analysis module with the threshold value, and transmit the good comparison results to the radar vehicle survey intelligent control comprehensive analysis module. The radar vehicle survey control center triggers the control mechanism according to the abnormal comparison results. The intelligent control module includes the following steps:

[0048] Step 3.1: Compare the radar vehicle ground penetration control index RGCI with the threshold RGCI0 to obtain the performance factor ζ(RGCI) of the radar vehicle ground penetration control, ζ(RGCI)=RGCI / RGCI0. If ζ(RGCI)≥1, it means that the radar vehicle ground penetration control is good; otherwise, it means that the control is abnormal, triggering the radar vehicle ground penetration control mechanism, such as dynamically adjusting the radar transmission power;

[0049] Step 3.2: First, compare the underground pipeline identification and radar wave reflection matching control index WRCI with the threshold WRCI0 to obtain the performance factor ζ(WRCI) of the radar wave reflection matching control, ζ(WRCI)=WRCI / WRCI0. If ζ(WRCI)≥1, it means that the radar wave reflection matching control is good; otherwise, it means that the control is abnormal, triggering the radar wave reflection matching control mechanism, such as automatically calibrating the radar wave emission parameters to ensure that the reflection coefficient matching degree reaches the optimal level; then compare the underground pipeline identification accuracy control index PACI with the threshold PACI0 to obtain the performance factor ζ(PACI) of the underground pipeline identification accuracy control, ζ(PACI)=PACI / PACI0. If ζ(PACI)≥1, it means that the underground pipeline identification accuracy control is good; otherwise, it means that the control is abnormal, triggering the underground pipeline radar identification control mechanism, such as optimizing the imaging technology and algorithm to perform high-resolution imaging of the radar reflection signal;

[0050] Step 3.3: First, compare the underground pipeline data acquisition efficiency control index DCCI with the threshold DCCI0 to obtain the performance factor ζ(DCCI) of the underground pipeline data acquisition efficiency control, ζ(DCCI)=DCCI / DCCI0. If ζ(DCCI)≥1, it means that the underground pipeline data acquisition efficiency is well controlled; otherwise, it means that the control is abnormal, triggering the underground pipeline data acquisition efficiency control mechanism, such as adjusting the moving speed of the radar vehicle; then compare the radar vehicle driving stability and adaptive adjustment control index RAACI with the threshold RAACI0 to obtain the performance factor ζ(RAACI) of the radar vehicle driving stability and adaptive adjustment control, ζ(RAACI)=RAACI / RAACI0. If ζ(RAACI)≥1, it means that the radar vehicle driving stability and adaptive adjustment control are well controlled; otherwise, it means that the control is abnormal, triggering the radar vehicle driving control mechanism, such as automatically adjusting the vehicle driving trajectory and speed;

[0051] Radar vehicle survey intelligent control comprehensive analysis module: used to comprehensively analyze the good comparison results obtained by the intelligent control module, obtain the radar vehicle survey intelligent control comprehensive index RVCI, and transmit it to the radar vehicle survey intelligent control human-computer interaction module. The comprehensive analysis model is: RVCI=c1×ζ(RGCI)+c2×[ζ(WRCI)+ζ(PACI)]+c3×[ζ(DCCI)+ζ(RAACI)], c1, c2 and c3 represent the corresponding weights respectively, ζ(RGCI) is the performance factor of the radar vehicle ground penetration control, ζ(WRCI) is the performance factor of the radar wave reflection matching control, ζ(PACI) is the performance factor of the underground pipeline identification accuracy control, ζ(DCCI) is the performance factor of the underground pipeline data acquisition efficiency control, ζ(RAACI) is the performance factor of the radar vehicle driving stability and adaptive adjustment control;

[0052] Radar vehicle survey intelligent control human-computer interaction module: used for human-computer interaction of the radar vehicle survey intelligent control comprehensive indicators of the intelligent control comprehensive analysis module. According to the radar vehicle survey intelligent control comprehensive indicators, it is judged whether it is within the set allowable range. If so, it means that the radar vehicle survey intelligent control is good. Otherwise, it prompts the administrator to take timely measures, such as optimizing the emission and reception parameters of radar waves according to the dielectric constant of the pipeline material; intelligently adjusting the vehicle speed, reducing the fluctuation rate, and ensuring the consistency and continuity of radar data collection.

[0053] Secondly: The drawings of the embodiments disclosed in the present invention only involve the structures involved in the embodiments disclosed in the present invention.

[0054] structure, other structures can refer to the usual design, and the same embodiment and different embodiments of the present invention can be combined with each other without conflict;

[0055] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention.

[0056] Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be

[0057] It is included in the protection scope of the present invention.

Claims

1. A radar vehicle control system for surveying underground urban roads, characterized in that: include: Radar vehicle survey control center: uses big data technology to store and receive the survey data of the radar vehicle, build a radar vehicle survey control database, and trigger the control mechanism based on the analysis results of the received radar vehicle survey data; Radar vehicle survey data acquisition module: used to collect data during the radar vehicle survey process, obtain various control parameters of the radar vehicle survey, and transmit the various control parameters to the radar vehicle survey data analysis module; Radar vehicle survey data analysis module: used to collect various control parameters obtained by the data acquisition module, obtain various control indicators of the radar vehicle survey, and transmit various control indicators to the radar vehicle survey intelligent control module; The radar vehicle survey data analysis module includes a radar vehicle ground penetration control analysis unit, a radar vehicle pipeline identification control analysis unit, and a radar vehicle driving control analysis unit; Radar vehicle survey intelligent control module: used to compare the various control indicators obtained by the data analysis module with the thresholds respectively, and transmit the good comparison results to the radar vehicle survey intelligent control comprehensive analysis module. The radar vehicle survey control center triggers the control mechanism according to the abnormal comparison results; Radar vehicle survey intelligent control comprehensive analysis module: used to comprehensively analyze the good comparison results obtained by the intelligent control module, obtain the comprehensive indicators of radar vehicle survey intelligent control, and transmit them to the radar vehicle survey intelligent control human-computer interaction module; Radar vehicle survey intelligent control human-computer interaction module: used for human-computer interaction of the radar vehicle survey intelligent control comprehensive indicators of the intelligent control comprehensive analysis module.

2. The radar vehicle control system for surveying underground urban roads according to claim 1, characterized in that: The radar vehicle ground penetration control and analysis unit in the radar vehicle survey data analysis module first identifies the underground medium type in the target pipeline area through the ground penetrating radar device, and obtains the underground medium type data set UTD. , n is the number of underground medium types, ut i is the ith underground medium; then, the conductivity σ(ut i ); secondly, the radar transmission frequency f and transmission power P are obtained through the radar vehicle survey control database; finally, the radar vehicle ground penetration control index RGCI is obtained through big data analysis technology. , c is the speed of light, μ r (ut i ) is the relative magnetic permeability, γ r (ut i ) is the relative dielectric constant of the underground medium, γ0 is the dielectric constant in vacuum, P loss It is the power loss of radar signal in the process of penetrating underground medium.

3. The radar vehicle control system for surveying underground urban roads according to claim 1, characterized in that: The radar vehicle pipeline identification control analysis unit in the radar vehicle survey data analysis module includes an underground pipeline identification and radar wave reflection analysis unit and an underground pipeline identification accuracy analysis unit; The radar vehicle driving control analysis unit includes a radar vehicle movement and data acquisition quality analysis unit and a radar vehicle driving stability and adaptive adjustment analysis unit.

4. The radar vehicle control system for surveying underground urban roads according to claim 3 is characterized in that: The underground pipeline identification and radar wave reflection analysis unit in the radar vehicle pipeline identification control and analysis unit: firstly, the type of underground pipeline material in the target pipeline area is identified by ground penetrating radar equipment, and the underground pipeline material type data set UPD is obtained. , k is the number of underground pipe types, up j is the jth underground pipeline material; then the dielectric constant ε of the identified underground pipeline is extracted through the radar vehicle survey control database g (up j ) and the dielectric constant ε of the underground medium covering the pipeline d (ut i ); Secondly, the conductivity σ of the underground pipeline material is obtained through sensor technology g (up j ) and the conductivity σ of the underground medium covering the pipeline d (ut i ),ut i is the i-th underground medium; finally, the underground pipeline material identification and radar wave reflection coefficient τ are obtained through big data analysis technology. , γ0 is the dielectric constant in vacuum, ω is the angular frequency of radar wave, θ is the incident angle of radar wave, and the underground pipeline identification and radar wave reflection matching control index WRCI is obtained. , τ0 is the expected reflection coefficient.

5. The radar vehicle control system for surveying underground urban roads according to claim 3 is characterized in that: The underground pipeline identification accuracy analysis unit in the radar vehicle pipeline identification control analysis unit first obtains the round-trip time Δt of the radar wave detecting the underground pipeline through the radar vehicle survey control database to obtain the pipeline depth measurement control coefficient E de , , c is the speed of light, ε d is the dielectric constant of the underground medium covering the pipeline, and h represents the standard value of the pipeline depth; then the pipeline diameter R of the target pipeline area is identified through the ground penetrating radar equipment, and compared with the pipeline diameter data in the radar vehicle survey control database, and the number of pipelines with correct diameter identification is counted N cor and the total number of identification pipelines N total , and obtain the pipeline diameter recognition accuracy control coefficient A dis , A dis =N cor / N total Secondly, the radar detection pipeline position coordinates PCD are obtained through positioning technology, and compared with the pipeline position coordinates PCD0 in the radar vehicle survey control database to obtain the radar detection pipeline position accuracy control coefficient X p , ; Finally, through big data analysis technology, the underground pipeline identification accuracy control index PACI is obtained, PACI=ε g ×(a1×E de +a2×A dis +a3×X p ), ε g is the dielectric constant of the underground pipeline, and a1, a2, and a3 represent the corresponding weights.

6. The radar vehicle control system for surveying underground urban roads according to claim 3, characterized in that: The radar vehicle movement and data acquisition quality analysis unit in the radar vehicle driving control analysis unit first collects the driving speed v of the radar vehicle in real time through the speed sensor; then obtains the data collection time interval t and radar scanning width w of the radar detection of underground pipelines through the radar vehicle survey control database, and obtains the underground pipeline data collection efficiency control index DCCI, , A is the pipeline area covered by the radar in each scan.

7. The radar vehicle control system for surveying underground urban roads according to claim 3 is characterized in that: The radar vehicle driving stability and adaptive adjustment analysis unit in the radar vehicle driving control analysis unit first obtains the actual driving route R of the radar vehicle detecting the underground pipeline through positioning technology. s , and compare it with the set driving route R to obtain the radar vehicle driving deviation control coefficient DDc, DDc=|R s -R| / R; then, within the data collection time interval t, collect N radar vehicle speed sampling points, obtain the speed standard deviation σ(v) and the average speed μ(v), ​​and obtain the vehicle speed fluctuation control coefficient VVc, VVc=σ(v) / μ(v); secondly, through the timestamp technology, record the response time t from the issuance of the steering control command to the start of the radar vehicle steering x ; Finally, the radar vehicle driving stability and adaptive adjustment control index RAACI is obtained through big data analysis technology. , N adj It is the number of times the system makes adaptive adjustments to the actual driving of the radar vehicle according to the set driving path, and b1 and b2 represent the corresponding weights respectively.

8. The radar vehicle control system for surveying underground urban roads according to claim 1, characterized in that: The intelligent control module in the radar vehicle survey intelligent control module comprises the following steps: Step 3.1: Compare the radar vehicle ground penetration control index RGCI with the threshold RGCI0 to obtain the performance factor ζ(RGCI) of the radar vehicle ground penetration control, ζ(RGCI)=RGCI / RGCI0. If ζ(RGCI)≥1, it means that the radar vehicle ground penetration control is good; otherwise, it means that the control is abnormal, triggering the radar vehicle ground penetration control mechanism; Step 3.2: First, compare the underground pipeline identification and radar wave reflection matching control index WRCI with the threshold WRCI0 to obtain the performance factor ζ(WRCI) of the radar wave reflection matching control, ζ(WRCI)=WRCI / WRCI0. If ζ(WRCI)≥1, it means that the radar wave reflection matching control is good; otherwise, it means that the control is abnormal, triggering the radar wave reflection matching control mechanism; then compare the underground pipeline identification accuracy control index PACI with the threshold PACI0 to obtain the performance factor ζ(PACI) of the underground pipeline identification accuracy control, ζ(PACI)=PACI / PACI0. If ζ(PACI)≥1, it means that the underground pipeline identification accuracy control is good; otherwise, it means that the control is abnormal, triggering the underground pipeline radar identification control mechanism; Step 3.3: First, compare the underground pipeline data acquisition efficiency control index DCCI with the threshold DCCI0 to obtain the performance factor ζ(DCCI) of the underground pipeline data acquisition efficiency control, ζ(DCCI)=DCCI / DCCI0. If ζ(DCCI)≥1, it means that the underground pipeline data acquisition efficiency is well controlled; otherwise, it means that the control is abnormal, triggering the underground pipeline data acquisition efficiency control mechanism; then compare the radar vehicle driving stability and adaptive adjustment control index RAACI with the threshold RAACI0 to obtain the performance factor ζ(RAACI) of the radar vehicle driving stability and adaptive adjustment control, ζ(RAACI)=RAACI / RAACI0. If ζ(RAACI)≥1, it means that the radar vehicle driving stability and adaptive adjustment control are well controlled; otherwise, it means that the control is abnormal, triggering the radar vehicle driving control mechanism.

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