Geological radar system for underwater geological structure detection and detection method

Abstract

The invention relates to a geological radar system for underwater geological structure detection and a detection method, a transmitting antenna and a receiving antenna are both arranged in a sealed cabin for sealing protection, and then the sealed cabin is dragged to move in water through an aircraft to change the plane position of the sealed cabin, so that the underwater geological structure is detected. According to the method, the horizontal positions of the transmitting antenna and the receiving antenna are changed, so that the whole underwater geologic structure can be detected, and the detection resolution is high due to the adoption of the geological radar detection method; the transmitting antenna and the receiving antenna perform detection at the water bottom of the water area where the underwater geologic structure is located, interference of the water body is small, multiple waves are not prone to being formed, and the detected two-dimensional graph of the underwater geologic structure is more accurate; and the acoustic Doppler velocimeter can acquire the underwater coordinates of the sealed cabin in real time, so that the underwater geologic structure two-dimensional graphs of all measurement points have corresponding coordinates, and all data are more accurate and clearer and are convenient to process, analyze and explain.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater geological structure detection, and in particular to a geological radar system and a detection method for underwater geological structure detection. Background Art

[0002] Water depth data is typically acquired using single-beam or multi-beam sounding. Underwater geological structures are typically detected using a 4 kHz shallow-sediment profiler, suitable for soft mud and other geological conditions. Alternatively, lower-frequency seismic waves (40 Hz) can be used for geological exploration to determine geological structures, suitable for both soft mud and hard rock.

[0003] Currently, there are two methods for detecting underwater geological structures: acoustic waves and seismic waves. Acoustic waves are essentially seismic waves. Acoustic waves use 4 kHz sensors, while seismic waves use 40 kHz detectors. These methods often rely on relatively low-frequency acoustic or seismic waves, resulting in low resolution for detecting geological strata and structures. Furthermore, these detection methods or equipment require sensors to be placed at the water's surface or at a certain depth, such as 50 cm. This exposure to water interference can easily lead to the generation of multiple waves, resulting in cluttered detection patterns that are difficult to analyze and interpret. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art in detecting underwater geological structures, which exist in that low-frequency sound waves or seismic waves are used for detection, resulting in low resolution for detecting geological strata and structures, as well as the problem of being easily disturbed by water bodies and forming multiple waves, resulting in cluttered detection graphics that are difficult to process, analyze and interpret, and to provide a geological radar system and detection method for underwater geological structure detection.

[0005] In a first aspect, the present invention provides a geological radar system for underwater geological structure detection, comprising:

[0006] an aircraft capable of moving in water;

[0007] A sealed cabin connected to the vehicle via a tow rope, and capable of being placed on the bottom of a water area where an underwater geological structure is located;

[0008] A geological radar, comprising a geological radar controller, a transmitter, a transmitting antenna, a receiver and a receiving antenna, wherein the transmitting antenna and the receiving antenna are both arranged in the sealed cabin, the geological radar controller is arranged on the aircraft, and the transmitter and the receiver are respectively arranged on the aircraft or in the sealed cabin; the geological radar controller is communicatively connected to the transmitter, and the geological radar controller can send a transmitting signal to the transmitter; the transmitter is communicatively connected to the transmitting antenna, and the transmitter can control the transmitting antenna to transmit a signal for detection according to the transmitting signal; the receiver is communicatively connected to the transmitter, and the receiver can obtain the receiving signal transmitted by the transmitter; the receiver is communicatively connected to the receiving antenna, and the receiver can control the receiving antenna to receive the signal after detecting the underwater geological structure according to the receiving signal; the geological radar controller is communicatively connected to the receiver, and the geological radar controller can receive the signal received by the receiver after detecting the underwater geological structure;

[0009] An acoustic Doppler velocimeter is provided on the vehicle and is communicatively connected to the geological radar controller so that the acoustic Doppler velocimeter can obtain the underwater coordinates of the sealed cabin in real time.

[0010] The geological radar system for underwater geological structure detection described in the present invention sets the transmitting antenna and the receiving antenna in the sealed cabin for sealing and protection, and then uses the vehicle to drag the sealed cabin in the water to change the plane position of the sealed cabin, that is, to change the horizontal positions of the transmitting antenna and the receiving antenna, so as to detect the entire underwater geological structure. Because the geological radar detection method is adopted, the detection resolution is high; and the transmitting antenna and the receiving antenna are detected at the bottom of the water area where the underwater geological structure is located, and are less disturbed by the water body and are not prone to forming multiple waves, so that the two-dimensional graphics of the detected underwater geological structure are more accurate; and the acoustic Doppler velocimeter can obtain the coordinates of the sealed cabin underwater in real time, so that the two-dimensional graphics of the underwater geological structure of all measuring points have corresponding coordinates, making all data more accurate and clear, and convenient for processing, analysis and interpretation.

[0011] Preferably, the sealed cabin is a long strip structure, and the length direction of the sealed cabin, the axial direction of the aircraft, and the axial directions of the transmitting antenna and the receiving antenna are all the same;

[0012] When both the transmitting antenna and the receiving antenna are long antennas, the transmitting antenna and the receiving antenna are arranged side by side and spaced apart in the width direction of the sealed cabin;

[0013] When both the transmitting antenna and the receiving antenna are short antennas, the transmitting antenna and the receiving antenna are arranged side by side and spaced apart in the length direction of the sealed cabin.

[0014] The above structure is adopted to facilitate dragging measurement and can also prevent the sealed cabin from being too long, which would result in more positions being unable to be measured.

[0015] Preferably, the sealed cabin is in a capsule shape, which is convenient for dragging measurement.

[0016] Preferably, the transmitter and the transmitting antenna are an integrated structure, the receiver and the receiving antenna are an integrated structure, and the transmitter and the receiver are wirelessly connected to the geological radar controller respectively.

[0017] Preferably, the transmitter and the receiver are located at two ends of the sealed cabin, and the transmitter and the receiver are wirelessly connected to reduce signal interference between the transmitter and the receiver.

[0018] Preferably, the tow rope can be lengthened or shortened to facilitate the detection of underwater geological structures at different depths and to facilitate the placement of the sealed cabin at the bottom of the waters where the underwater geological structure is located.

[0019] Preferably, the vehicle is a ship or an underwater autonomous unmanned vehicle, which is towed on water at a lower cost.

[0020] In a second aspect, the present invention provides a method for underwater geological structure detection, which uses the geological radar system for underwater geological structure detection to perform underwater geological structure detection, comprising the following steps:

[0021] S1: Place the sealed cabin of the geological radar system for underwater geological structure detection at the preset path starting point measurement point on the bottom of the water area where the underwater geological structure is located;

[0022] S2: Start the geological radar and the acoustic Doppler velocimeter, so that: the geological radar controller sends a transmission signal to the transmitter; after the transmitter receives the transmission signal, the transmitter controls the transmission antenna to transmit a signal for detection to the underwater geological structure at intervals according to a predetermined time, and the transmitter sends a reception signal to the receiver; after the receiver receives the reception signal, the receiver receives the signal after detecting the underwater geological structure reflected from the underwater geological structure through the receiving antenna, and then the receiver transmits the signal after detecting the underwater geological structure to the geological radar controller, and the geological radar controller obtains a geological radar two-dimensional profile image of the measuring point; at the same time, the acoustic Doppler velocimeter gives the coordinates of the measuring point where the sealed cabin is located in real time;

[0023] S3: Start the vehicle and drag the sealed cabin along the preset path at a preset speed by using a tow rope until it reaches the measurement point at the end of the preset path, and the underwater geological structure detection is completed.

[0024] The underwater geological structure detection method of the present invention can be used to conduct more comprehensive detection of underwater geological structures, requires fewer tools, and has high-definition and high-accuracy measured images, which is conducive to processing, analysis and interpretation.

[0025] Preferably, after step S3, all geological radar two-dimensional profile images obtained by the geological radar controller during the dragging process along the preset path and the corresponding coordinate signals given by the acoustic Doppler velocimeter are processed into three-dimensional stereograms and displayed through the geological radar software.

[0026] It is convenient to understand the detection results intuitively, so as to perform subsequent operations based on the detection results more quickly.

[0027] Preferably, the predetermined time for the transmitter to control the transmitting antenna to transmit is 0.01s-0.02s;

[0028] The preset speed of the aircraft is 1m / s-2m / s;

[0029] The preset path includes a plurality of first-direction paths and second-direction paths arranged in an alternating manner along a third direction, wherein the first-direction path is in opposite directions to the second-direction path, and the third direction is perpendicular to the directions of the first-direction path and the second-direction path; along the third direction, the starting point of the second-direction path is connected to the end point of an adjacent first-direction path, and the end point of the second-direction path is connected to the starting point of another adjacent first-direction path.

[0030] By adopting the above-mentioned predetermined time, preset speed and preset path, the measurement effect is better.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The present invention provides a geological radar system for underwater geological structure detection, in which both the transmitting antenna and the receiving antenna are arranged in the sealed cabin for sealing and protection. The sealed cabin is then dragged in the water by a vehicle to change the plane position of the sealed cabin, that is, the horizontal positions of the transmitting antenna and the receiving antenna are changed, thereby enabling detection of the entire underwater geological structure. Because the geological radar detection method is adopted, the detection resolution is high; and the transmitting antenna and the receiving antenna detect at the bottom of the water area where the underwater geological structure is located, and are less disturbed by the water body and are not prone to forming multiple waves, making the two-dimensional graphics of the detected underwater geological structure more accurate; and the acoustic Doppler velocimeter can obtain the coordinates of the sealed cabin underwater in real time, thereby enabling the two-dimensional graphics of the underwater geological structure at all measuring points to have corresponding coordinates, making all data more accurate and clear, and convenient for processing, analysis and interpretation.

[0033] 2. The underwater geological structure detection method provided by the present invention can conduct more comprehensive detection of underwater geological structures, requires fewer tools, and has high-definition and high-accuracy measured images, which is conducive to processing, analysis and interpretation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the structure of a geological radar system used for underwater geological structure detection;

[0035] Figure 2 This is a schematic diagram of the arrangement in which both the transmitting antenna and the receiving antenna are long antennas and are arranged in a sealed cabin;

[0036] Figure 3 This is a schematic diagram of the arrangement in which both the transmitting antenna and the receiving antenna are short antennas and are installed in a sealed cabin;

[0037] Figure 4 for Figure 3 Side view of;

[0038] Figure 5 for Figure 3 Left view of;

[0039] Figure 6 This is a schematic diagram of the preset path.

[0040] Markings in the figure: 1. Ship; 2. Tow rope; 3. Sealed cabin; 4. Transmitting antenna; 5. Receiving antenna. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below with reference to specific embodiments. However, this should not be construed as limiting the scope of the present invention to the following embodiments, as all technologies implemented based on the present invention fall within the scope of the present invention.

[0042] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or positional relationship, such as "upper", "lower", "left", "right", "center", "inside", and "outside", are based on the expressions of the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the invented product / device / apparatus is placed when it is conventionally used. These terms of orientation or positional relationship are merely for the purpose of facilitating the description of the scheme of the present invention or simplifying the description of the specific embodiments to facilitate the rapid understanding of the scheme by technicians, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship, and therefore should not be understood as limiting the present invention.

[0043] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simply understood that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", and "parallel", and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the solution of the present invention.

[0044] In addition, the expressions “first”, “second”, “third”, etc. in the terms are merely used to distinguish the description of the same or similar components, and should not be understood as emphasizing or implying the relative importance of specific components.

[0045] In addition, in the description of the embodiments of the present invention, "several," "plurality," and "a number" represent at least two. It can also be any number such as two, three, four, five, six, seven, eight, nine, or even more than nine.

[0046] Furthermore, in the description of the technical solution of the present invention, unless otherwise expressly specified, defined, or limited, the terms "disposed," "installed," "connected," "connected," "provided with," "laid," and "arranged" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may be welded, riveted, bolted, threaded, or other commonly used connection methods in the art. Such connections may be mechanical, electrical, or communicative; they may be direct, indirect via an intermediate medium, or internally connected between two components.

[0047] Example 1

[0048] like Figure 1 As shown, a geological radar system for underwater geological structure detection includes a vehicle, a sealed cabin 3, a geological radar and an acoustic Doppler velocimeter.

[0049] The vehicle can move in water; the vehicle can be an underwater submersible structure, such as a submarine; or an above-water structure, such as a ship 1, which can move on water. Figure 1As shown, the vehicle is a boat 1, which is towed on the water, resulting in lower costs. Furthermore, the vehicle is an autonomous underwater vehicle (AUV). AUVs are deep-sea exploration equipment with autonomous decision-making capabilities, requiring no cables. Being towed underwater allows them to be used in deeper waters.

[0050] The sealed capsule 3 is connected to the vehicle via a tow rope 2. The sealed capsule 3 can be positioned underwater in the area where the underwater geological structure is located. The tow rope 2 must be able to drag the sealed capsule 3 without disconnecting, and the sealed capsule 3 must be able to reach the bottom. Therefore, the length of the tow rope 2 must ensure the distance between the sealed capsule 3 and the vehicle at the bottom. Regarding the length of the tow rope 2, one option is a fixed length, suitable for a single operating condition, or a variable length. For example, the tow rope 2 can be extended or shortened to facilitate underwater geological structure detection at different depths (different operating conditions) and to facilitate the placement of the sealed capsule 3 at the bottom of the area where the underwater geological structure is located. This extension and shortening of the tow rope 2 can be achieved using a winch or other structure. Furthermore, the sealed capsule 3 must be able to reach the bottom, so a certain amount of weight is required to overcome buoyancy. If gravity is insufficient, this can be achieved by adding a counterweight. In a preferred embodiment, the sealed capsule 3 is towed behind the vehicle via the tow rope 2, which improves the detection effect of the geological radar.

[0051] The geological radar includes a geological radar controller, a transmitter, a transmitting antenna 4, a receiver and a receiving antenna 5. The transmitting antenna 4 and the receiving antenna 5 are both arranged in the sealed cabin 3. Figure 1-Figure 3 As shown; the geological radar controller is arranged on the aircraft, and the transmitter and the receiver are respectively arranged on the aircraft or in the sealed cabin 3; the geological radar controller is communicatively connected to the transmitter, and the geological radar controller can send a transmission signal to the transmitter; the transmitter is communicatively connected to the transmitting antenna 4, and the transmitter can control the transmitting antenna 4 to transmit a signal for detection according to the transmission signal; the receiver is communicatively connected to the transmitter, and the receiver can obtain the receiving signal transmitted by the transmitter; the receiver is communicatively connected to the receiving antenna 5, and the receiver can control the receiving antenna 5 to receive the signal after detecting the underwater geological structure according to the receiving signal; the geological radar controller is communicatively connected to the receiver, and the geological radar controller can receive the signal received by the receiver after detecting the underwater geological structure, forming a two-dimensional image of the underwater geological structure, which is convenient for subsequent processing.

[0052] The geological radar is primarily used to detect underwater geological structures, and therefore requires communication coordination between a geological radar controller, a transmitter, a transmitting antenna 4, a receiver, and a receiving antenna 5. In some embodiments, the transmitter and the transmitting antenna 4 are integrated to facilitate better control of the transmitting antenna 4 transmitting signals for detection; the receiver and the receiving antenna 5 are integrated to facilitate better control of the receiving antenna 5 receiving signals after detecting underwater geological structures; and the transmitter, the transmitting antenna 4, the receiver, and the receiving antenna 5 are all sealed within the sealed cabin 3, resulting in integrated design and enhanced detection capabilities. The transmitter and the receiver are each wirelessly connected to the geological radar controller. Furthermore, the transmitter and the receiver may be located at either end of the sealed cabin 3, and wirelessly connected to reduce signal interference between the transmitter and the receiver.

[0053] In addition, the geological radar controller is also installed with acquisition software, processing software and imaging software, etc. The two-dimensional image profile data of the underwater geological structure collected by the geological radar can be directly recorded in the geological radar controller.

[0054] Transmitting antenna 4 and receiving antenna 5 are geological radar antennas with the following center frequencies: 500 MHz (corresponding to a length of 30 cm), 100 MHz (corresponding to a length of 150 cm), and 50 MHz (corresponding to a length of 300 cm). The antenna thickness is 0.5 cm, and the antenna width is 20 cm. The predicted range of the geological radar antenna varies depending on the geological body. In soil areas, the detection range of the 50 MHz antenna is 20 meters, the 100 MHz antenna is 10 meters, and the 500 MHz antenna is 5 meters. In granite areas, the detection range of the 50 MHz antenna is 60 meters, the 100 MHz antenna is 30 meters, and the 500 MHz antenna is 15 meters. In silt soil areas, the detection range of the 50 MHz antenna is 60 meters, the 100 MHz antenna is 30 meters, and the 500 MHz antenna is 15 meters. In limestone bedrock areas, the detection distance of a 50 MHz antenna is 100 meters, the detection distance of a 100 MHz antenna is 50 meters, and the detection distance of a 500 MHz antenna is 25 meters. Transmitting antennas 4 and receiving antennas 5 with different center frequencies can be selected according to different geological conditions.

[0055] The acoustic Doppler velocity meter is arranged on the vehicle and is communicatively connected to the geological radar controller, so that the acoustic Doppler velocity meter can obtain the coordinates of the sealed cabin 3 underwater in real time.

[0056] Principle of geological radar digital antenna imaging: The acoustic Doppler velocimeter DVL gives the coordinates of the geological radar antenna in real time. The geological radar antenna uses the reflection method to test the structural profile of the underground geological body based on the difference in the dielectric constant of the underwater geological body, and gives a two-dimensional geological radar profile image. Multiple measuring lines give a three-dimensional stereoscopic image of the underwater geological body; professional geological radar software is used for processing, mapping and display.

[0057] In some embodiments, as Figure 1-Figure 3 As shown, the sealed cabin 3 is a long strip structure, and the length direction of the sealed cabin 3, the axial direction of the aircraft, and the axial directions of the transmitting antenna 4 and the receiving antenna 5 are all the same, which is convenient for arranging the transmitting antenna 4 and the receiving antenna 5 in the sealed cabin 3 and ensuring that the sealed cabin 3 is a long strip structure, thereby reducing the lateral width of the sealed cabin 3 and reducing the dragging resistance.

[0058] Optional, such as Figure 2 As shown, when the transmitting antenna 4 and the receiving antenna 5 are both long antennas, the transmitting antenna 4 and the receiving antenna 5 are arranged in parallel and spaced apart in the width direction of the sealed cabin 3. A long antenna refers to an antenna whose length is much longer than the working wavelength. The length of a long antenna is usually several times or even more than the working wavelength, which makes them have higher efficiency and gain when receiving and transmitting electromagnetic waves. Long antennas are often used in long-wave communications and broadcasting because long waves have better propagation characteristics and longer propagation distances when propagating on the surface of the earth. Because long antennas are relatively long, arranging the transmitting antenna 4 and the receiving antenna 5 in parallel and spaced apart in the width direction of the sealed cabin 3 can avoid the length process of the sealed cabin 3 and thus cause dragging instability.

[0059] Optional, such as Figure 3-Figure 5 As shown, when both the transmitting antenna 4 and the receiving antenna 5 are short antennas, they are spaced parallel to each other along the length of the sealed cabin 3. A short antenna is one whose length is significantly shorter than the operating wavelength. Short antennas are typically only a few tenths of the operating wavelength and are suitable for high-frequency communications, such as ultra-shortwave and microwave communications. Because short antennas are shorter, arranging the transmitting antenna 4 and the receiving antenna 5 parallel to each other along the length of the sealed cabin 3 can reduce the lateral width of the sealed cabin 3, thereby reducing drag resistance.

[0060] In some embodiments, as Figure 1-Figure 3 As shown, the sealed cabin 3 is in a capsule shape, which is convenient for dragging and measuring.

[0061] The geological radar system for underwater geological structure detection described in this embodiment sets the transmitting antenna 4 and the receiving antenna 5 in the sealed cabin 3 for sealing and protection, and then uses the vehicle to drag the sealed cabin 3 in the water to change the plane position of the sealed cabin 3, that is, to change the horizontal positions of the transmitting antenna 4 and the receiving antenna 5, so as to detect the entire underwater geological structure. Because the geological radar detection method is adopted, the detection resolution is high; and the transmitting antenna 4 and the receiving antenna 5 detect the bottom of the water area where the underwater geological structure is located, and are less disturbed by the water body and are not prone to forming multiple waves, so that the two-dimensional graphics of the detected underwater geological structure are more accurate; and the acoustic Doppler velocimeter can obtain the coordinates of the sealed cabin 3 underwater in real time, so that the two-dimensional graphics of the underwater geological structure of all measuring points have corresponding coordinates, making all data more accurate and clear, and convenient for processing, analysis and interpretation.

[0062] Example 2

[0063] A method for underwater geological structure detection, using the geological radar system for underwater geological structure detection described in any one of the first embodiments, comprises the following steps:

[0064] S1: Place the sealed cabin 3 of the geological radar system for underwater geological structure detection at the starting point of the preset path on the bottom of the water area where the underwater geological structure is located; the preset path is as follows: Figure 6 As shown, Figure 6 In the figure, the arrow represents the direction of the preset path, and the lower left corner is the starting point for measurement;

[0065] S2: Start the geological radar and the acoustic Doppler velocimeter, so that: the geological radar controller sends a transmission signal to the transmitter; after the transmitter receives the transmission signal, the transmitter controls the transmission antenna 4 to transmit a signal for detection to the underwater geological structure at intervals according to a predetermined time, and the transmitter sends a reception signal to the receiver; after the receiver receives the reception signal, the receiver receives the signal after detecting the underwater geological structure reflected from the underwater geological structure through the receiving antenna 5, and then the receiver transmits the signal after detecting the underwater geological structure to the geological radar controller, and the geological radar controller obtains a geological radar two-dimensional profile image of the measuring point; at the same time, the acoustic Doppler velocimeter gives the coordinates of the measuring point where the sealed cabin 3 is located in real time;

[0066] The transmitter controls the transmitting antenna 4 to transmit a signal for detecting the underwater geological structure at intervals according to a predetermined time. The predetermined time can be preset as needed. For example, the transmitter controls the transmitting antenna 4 to transmit for a predetermined time of 0.01-0.02 seconds, which allows more measuring points to be measured.

[0067] S3: The vehicle is started to move along the preset path at a preset speed by dragging the sealed cabin 3 by the tow rope 2 until it reaches the end measurement point of the preset path, and the underwater geological structure detection is completed.

[0068] The aircraft moves along a preset path at a preset speed by dragging the sealed cabin 3 by the tow rope 2. The preset speed of the aircraft can be preset as needed. For example, if the preset speed of the aircraft is 1-2 m / s, at this speed, the predetermined time of transmission of the transmitting antenna 4 controlled by the transmitter can affect the number of measurement points.

[0069] In some embodiments, as Figure 6 As shown, the first direction is to the left, the second direction is to the right, and the third direction is up and down. The preset path includes a plurality of first direction paths and second direction paths arranged in an interlaced manner along the third direction, the first direction path and the second direction path are in opposite directions, and the third direction is perpendicular to the direction of the first direction path and the second direction path; along the third direction, the starting point of the second direction path is connected to the end point of an adjacent first direction path, and the end point of the second direction path is connected to the starting point of another adjacent first direction path. With this preset path, the measurement process is continuous and can better cover the underwater geological structure. It is also possible to use different measurement points to compare the coverage of the measurement at the same location, thereby improving the authenticity and accuracy of the measurement. With the above-mentioned predetermined time, preset speed and preset path, the measurement effect is better.

[0070] The underwater geological structure detection method of the present invention can be used to conduct more comprehensive detection of underwater geological structures, requires fewer tools, and has high-definition and high-accuracy measured images, which is conducive to processing, analysis and interpretation.

[0071] After step S3, all the two-dimensional profile images of the geological radar controller obtained during the dragging process along the preset path and the corresponding coordinate signals given by the acoustic Doppler velocimeter are processed into a three-dimensional stereogram and displayed by the geological radar software. This facilitates intuitive understanding of the detection results and facilitates faster subsequent operations based on the detection results.

[0072] The present invention seals a geological radar digital antenna in a sealed capsule 3 and tows it underwater via a towline 2 to an autonomous unmanned vehicle, forming an independent detection system and method for detecting underwater geological structures and hidden geological hazards in freshwater areas, as well as the internal structure of underwater buildings. The system acquires images of underwater geological structures and internal structures of underwater buildings, thereby detecting underwater geological structures, including those of underwater buildings. The geological radar digital antenna is watertight and towed directly underwater, enabling it to operate completely wirelessly. It utilizes a method based on the formation of distinct reflections based on differences in dielectric constants of geological bodies and three-dimensional imaging technology to detect and image underwater geology or buildings, acquiring geological structure images and providing geological information such as faults, weak geological structures, cavities, and boulders. Because the geological radar antenna is placed underwater to directly detect and map underwater geological structures, the present invention is more capable of providing accurate geological body images, such as faults, fissures, riprap, boulders, cavities, or underwater tunnels, compared to other existing detection methods.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A geological radar system for underwater geological structure detection, characterized in that: include: an aircraft capable of moving in water; A sealed cabin connected to the vehicle via a tow rope, and capable of being placed on the bottom of a water area where an underwater geological structure is located; A geological radar comprising a geological radar controller, a transmitter, a transmitting antenna, a receiver and a receiving antenna, wherein the transmitting antenna and the receiving antenna are both arranged in the sealed cabin, the geological radar controller is arranged on the aircraft, and the transmitter and the receiver are respectively arranged on the aircraft or in the sealed cabin; the geological radar controller is communicatively connected to the transmitter, and the geological radar controller can send a transmission signal to the transmitter; the transmitter is communicatively connected to the transmitting antenna, and the transmitter can control the transmitting antenna to transmit a signal for detection according to the transmission signal; The receiver is communicatively connected to the transmitter, and the receiver is capable of acquiring the reception signal transmitted by the transmitter; the receiver is communicatively connected to the receiving antenna, and the receiver is capable of controlling the receiving antenna to receive the signal after detecting the underwater geological structure according to the reception signal; the geological radar controller is communicatively connected to the receiver, and the geological radar controller is capable of receiving the signal received by the receiver after detecting the underwater geological structure; An acoustic Doppler velocimeter is provided on the vehicle and is communicatively connected to the geological radar controller so that the acoustic Doppler velocimeter can obtain the underwater coordinates of the sealed cabin in real time.

2. A geological radar system for underwater geological structure detection according to claim 1, characterized in that: The sealed cabin is a long strip structure, and the length direction of the sealed cabin, the axial direction of the aircraft, and the axial directions of the transmitting antenna and the receiving antenna are all the same; When both the transmitting antenna and the receiving antenna are long antennas, the transmitting antenna and the receiving antenna are arranged side by side and spaced apart in the width direction of the sealed cabin; When both the transmitting antenna and the receiving antenna are short antennas, the transmitting antenna and the receiving antenna are arranged side by side and spaced apart in the length direction of the sealed cabin.

3. A geological radar system for underwater geological structure detection according to claim 2, characterized in that: The sealed cabin is in a capsule shape.

4. A geological radar system for underwater geological structure detection according to claim 2, characterized in that: The transmitter and the transmitting antenna are an integrated structure, the receiver and the receiving antenna are an integrated structure, and the transmitter and the receiver are wirelessly connected to the geological radar controller respectively.

5. A geological radar system for underwater geological structure detection according to claim 4, characterized in that: The transmitter and the receiver are located at two ends of the sealed cabin, and the transmitter and the receiver are wirelessly connected.

6. A geological radar system for underwater geological structure detection according to any one of claims 1 to 5, characterized in that: The tow rope can be lengthened and shortened.

7. A geological radar system for underwater geological structure detection according to any one of claims 1 to 5, characterized in that: The vehicle is a ship or an autonomous underwater unmanned vehicle.

8. A method for detecting underwater geological structures, characterized in that: Underwater geological structure detection is performed using the geological radar system for underwater geological structure detection according to any one of claims 1 to 7, comprising the following steps: S1: Place the sealed cabin of the geological radar system for underwater geological structure detection at the preset path starting point measurement point on the bottom of the water area where the underwater geological structure is located; S2: Start the geological radar and the acoustic Doppler velocimeter, so that: the geological radar controller sends a transmission signal to the transmitter; after the transmitter receives the transmission signal, the transmitter controls the transmission antenna to transmit a signal for detection to the underwater geological structure at intervals according to a predetermined time, and the transmitter sends a reception signal to the receiver; after the receiver receives the reception signal, the receiver receives the signal after detecting the underwater geological structure reflected from the underwater geological structure through the receiving antenna, and then the receiver transmits the signal after detecting the underwater geological structure to the geological radar controller, and the geological radar controller obtains a geological radar two-dimensional profile image of the measuring point; at the same time, the acoustic Doppler velocimeter gives the coordinates of the measuring point where the sealed cabin is located in real time; S3: Start the vehicle and drag the sealed cabin along the preset path at a preset speed by using a tow rope until it reaches the measurement point at the end of the preset path, and the underwater geological structure detection is completed.

9. The underwater geological structure detection method according to claim 8, characterized in that: After step S3, all geological radar two-dimensional profile images obtained by the geological radar controller during the dragging process along the preset path and the corresponding coordinate signals given by the acoustic Doppler velocimeter are processed into three-dimensional stereograms and displayed through the geological radar software.

10. A method for detecting underwater geological structures according to any one of claims 8-9, characterized in that: The transmitter controls the transmission antenna to transmit for a predetermined time of 0.01-0.02s; The preset speed of the craft is 1-2m / s; The preset path includes a plurality of first direction paths and second direction paths that are staggered and arranged at intervals along a third direction, the first direction paths are opposite to the second direction paths, and the third direction is perpendicular to the direction of the first direction paths and the second direction paths; Along the third direction, a starting point of the second direction path is connected to an adjacent end point of the first direction path, and an end point of the second direction path is connected to a starting point of another adjacent first direction path.

Images