Ground penetrating radar rotation observation system and observation method

Abstract

The invention discloses a ground penetrating radar rotation observation system and observation method, and relates to the field of geophysical exploration. The invention comprises a ground penetrating radar rotation observation system and a ground penetrating radar rotation observation method. A ground penetrating radar rotary observation system comprises a ground penetrating radar rotary observation platform, a ground penetrating radar control host and a ground penetrating radar rotary antenna. The ground penetrating radar rotation observation method comprises the steps of center direction determination, direction-by-direction control acquisition and fan-shaped section imaging. The center direction of the ground penetrating radar rotating observation platform is determined by adjusting the ground penetrating radar rotating observation platform, then the ground penetrating radar control host is matched with the ground penetrating radar rotating antenna, collection is controlled direction by direction, fan-shaped section imaging is achieved, and the imaging result is displayed on the ground penetrating radar control host. Observation positions are arranged near an underground tunnel face and a roadway lateral wall, and unfavorable geological structures such as faults, collapse columns and water flowing fractures in front of a driving working face, a mining area or a goaf are detected.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of geophysical exploration, and particularly relates to a ground penetrating radar rotating observation system and an observation method. BACKGROUND

[0002] In the process of coal mining, geological structure changes are easily caused, and hidden geological structure anomalies are extremely easy to cause mine exploitation accidents. Main exploitation accidents include roof damage, coal and gas outburst, mine water inrush, etc. As an effective geophysical prospecting means, the ground penetrating radar is suitable for detecting geological structure anomalies such as faults, collapse columns and water-conducting fissures.

[0003] The ground penetrating radar sends high-frequency broadband electromagnetic waves in the form of pulses to the working face, and a part of the electromagnetic waves directly reaches the receiving antenna to form a coupling wave through the transmitting antenna. After being emitted by the transmitting antenna, the electromagnetic waves that do not enter the underground after encountering the air and road surface interface are directly reflected back to be received by the receiving antenna to form a direct wave. The coupling wave and the direct wave are often collectively referred to as a direct coupling wave, which is often used to determine the time zero point and serve as a reference basis for judging the depth of the underground target body. Another part of the electromagnetic waves enters the front of the working face and propagates in the medium. When the electromagnetic waves encounter target bodies (such as faults, collapse columns, water-conducting fissures, etc.) or different medium interfaces, the electromagnetic waves are reflected. The reflected electromagnetic waves are received by the receiving antenna when returning to the working face. The received signals are collected, processed and stored to become ground penetrating radar data containing information of the medium in front of the working face.

[0004] At present, the mine ground penetrating radar mainly adopts a two-dimensional observation mode, and the ground penetrating radar antenna needs to be closely attached to the coal (rock) wall to form a survey line through a dragging mode to detect a certain profile of the geological structure in front. Due to the complex underground environment of the coal mine and the large undulation of the coal (rock) wall surface, the two-dimensional observation mode not only has limited profile data, but also is affected by environmental interference, and it is difficult to interpret the data. SUMMARY

[0005] The present application aims to provide a ground penetrating radar rotating observation system and an observation method to solve the existing problems: at present, the underground environment of the coal mine is complex, the coal (rock) wall surface undulates greatly, the two-dimensional observation mode not only has limited profile data, but also is affected by environmental interference, and it is difficult to interpret the data.

[0006] To solve the above technical problems, the present application is realized by the following technical scheme:

[0007] The application discloses a ground penetrating radar rotating observation system and method, and belongs to the technical field of ground penetrating radar.

[0008] Further, the ground penetrating radar rotating observation platform is connected with the ground penetrating radar rotating antenna through fixing bolts, the fixing bolts are arranged on one side of an antenna support, a rocking handle limiter and a turbine speed reducer are arranged on the antenna support, a movable joint is connected with one side of the turbine speed reducer, the movable joint can be used for connecting a rocking handle, a rocking handle handle is arranged on one side of the rocking handle, the antenna support is connected with a triangular support through an antenna support rod, a platform base and an antenna support rod fastening handle are arranged in the center of the triangular support, and foot nails are arranged at the bottom of the triangular support.

[0009] Further, the ground penetrating radar control host is connected with the ground penetrating radar rotating antenna through a data transmission line, a host explosion-proof joint is arranged between the data transmission line and the ground penetrating radar control host, and the ground penetrating radar control host comprises a host explosion-proof shell, an explosion-proof screen and explosion-proof control buttons.

[0010] Further, the ground penetrating radar rotating observation method comprises determining a central direction, controlling collection and fan-shaped section imaging in each direction.

[0011] Further, the central direction is determined, and the central direction is the straight line direction from the position of the observation system to the detection target, and each of the pitch direction and the horizontal direction is designated as a range of not more than 180 degrees as the angle range of the rotating observation.

[0012] Further, the rotating antenna control is performed, and the ground penetrating radar data is collected in each direction according to a fixed angle interval and from top to bottom and from left to right, and the angle alpha of each collection of the rotating antenna and the antenna main frequency f satisfy the equation The angle unit is degree, and the antenna main frequency unit is MHz.

[0013] Further, the collection in each direction is controlled, and one or more than one data is collected in each direction according to different detection distances, the data number collected in each direction is more as the detection distance is farther, and the data number n and the detection distance l satisfy the equation The data number is dimensionless, and the detection distance unit is m.

[0014] Further, the fan-shaped profile imaging is characterized in that, for the data at the same horizontal angle, a ground penetrating radar profile in a fan shape is formed by piecewise Kriging interpolation according to the corresponding elevation angle direction, and is displayed on the explosion-proof screen.

[0015] Further, the piecewise Kriging interpolation is characterized in that, data at the same depth of two adjacent lines are respectively taken as x1 and x2, and an interpolation result x is obtained through an equation x = λ1x1 + λ2x2, x e (p1, p2), x1 e (p1, p2), x2 e (p1, p2), wherein p1 and p2 are depth ranges, the minimum value is 0, the maximum value is the maximum depth of radar data, the unit is m, and λ1 and λ2 are undetermined coefficients, the minimum value is 0, and the maximum value is 1.

[0016] The present application has the following beneficial effects:

[0017] 1. The ground penetrating radar observation mode is improved, a ground penetrating radar rotating observation system and an observation method are designed, and the antenna no longer needs to be closely attached to the coal (rock) wall.

[0018] 2. A plurality of adjacent lines are formed at the same observation position by rotating the angle of the ground penetrating radar antenna, a plurality of fan-shaped profiles are formed by Kriging interpolation, and a three-dimensional space in front of the detection position is covered.

[0019] 3. The three-dimensional space in front of the working face can be detected, and directional detection of the stoping area, the goaf and other areas can be realized, so that the rapid identification and three-dimensional imaging of the geological structure are realized.

[0020] 4. The piecewise Kriging interpolation can effectively avoid the problem that the lines gradually become sparse with the increase of the detection distance, so that the lines in the detection range are uniformly distributed, and the boundary points can also be uniformly distributed when the target coordinate boundary is extracted according to the reflection signals on the lines, so that the positioning and extraction of the three-dimensional target are more accurate.

[0021] Of course, any product implementing the present application does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 The system structure diagram of the present application

[0023] Figure 2 The technical framework diagram of the present application

[0024] Figure 3 The piecewise Kriging interpolation result diagram of the present application

[0025] In the drawings, the components represented by the numbers are listed as follows:

[0026] 1, fixing bolt; 2, antenna handle; 3, anti-static plastic shell; 4, antenna explosion-proof connector; 5, antenna panel; 6, turbine reducer; 7, antenna support; 8, movable joint; 9, rocking handle limiter; 10, rocking handle; 11, rocking handle handle; 12, antenna support rod; 13, platform base; 14, antenna support rod fastening handle; 15, triangular support; 16, foot nail; 17, data transmission line; 18, main machine explosion-proof shell; 19, explosion-proof screen; 20, explosion-proof control button; 21, a ground penetrating radar rotating observation system and observation method; 22, a ground penetrating radar rotating observation system; 23, a ground penetrating radar rotating observation platform; 24, a ground penetrating radar control host; 25, a ground penetrating radar rotating antenna; 26, a ground penetrating radar rotating observation method; 27, determine the central direction; 28, rotating antenna control; 29, direction control acquisition; 30, fan-shaped section imaging; 31, piecewise Kriging interpolation. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] Please refer to Figure 1 As shown in the drawings, the present application is a ground penetrating radar rotating observation system and observation method, which comprises a ground penetrating radar rotating observation system and a ground penetrating radar rotating observation method. The ground penetrating radar rotating observation system comprises a ground penetrating radar rotating observation platform, a ground penetrating radar control host and a ground penetrating radar rotating antenna. The outer part of the ground penetrating radar rotating antenna is an anti-static plastic shell. The two sides of the anti-static plastic shell are antenna handles. The center of the anti-static plastic shell is an antenna panel. The center of the antenna panel is an antenna explosion-proof connector.

[0029] The ground penetrating radar rotating observation platform is connected with the ground penetrating radar rotating antenna through a fixing bolt. The fixing bolt is installed on one side of an antenna support. A rocking handle limiter and a turbine reducer are installed on the antenna support. A movable joint is connected with one side of the turbine reducer. The movable joint can be used to connect a rocking handle. A rocking handle handle is arranged on one side of the rocking handle. The antenna support is connected with a triangular support through an antenna support rod. A platform base and an antenna support rod fastening handle are arranged in the center of the triangular support. Foot nails are arranged at the bottom of the triangular support.

[0030] The ground penetrating radar control host is connected with the ground penetrating radar rotating antenna through a data transmission line. A main machine explosion-proof connector is arranged between the data transmission line and the ground penetrating radar control host. The ground penetrating radar control host comprises a main machine explosion-proof shell, an explosion-proof screen and an explosion-proof control button.

[0031] One specific application of the embodiment is that after the application is put into use, the large equipment such as the fully-mechanized coal mining machine or the drilling machine required to be arranged at the tunneling working face is moved backward by more than 5m, the user arranges the observation point within the range of 2m near the tunneling working face, sets up the triangular support at the observation point, connects the rotating antenna of the ground penetrating radar to the triangular support through the antenna support, then determines the center direction, takes the straight line direction of the observation system position and the detection target as the center direction of the detection direction, respectively specifies the range of not more than 180 degrees in the pitch direction and the horizontal direction as the angle range of the rotating observation, then collects the ground penetrating radar data in each direction according to the standard of interval of 5 degrees, according to the order from top to bottom and from left to right, collects 1 to 10000 channels of data in each direction according to the different detection distances, the farther the detection distance is, the more the data channels collected in each direction are, and forms the fan-shaped ground penetrating radar profile through the piecewise Kriging interpolation according to the corresponding pitch angle direction for the data under the same horizontal angle, and displays on the explosion-proof screen.

[0032] Another specific application of the embodiment is that after the application is put into use, the user arranges the observation point within the range of 2m near the crossheading of the tunneling working face, can arrange the observation point continuously along the crossheading direction, the interval of the observation points is between 10m and 30m, the large mechanical equipment such as the coal mining machine is avoided to block in front of the observation point, sets up the triangular support at the observation point, connects the rotating antenna of the ground penetrating radar to the triangular support through the antenna support, then determines the center direction, takes the straight line direction of the observation system position and the detection target as the center direction of the detection direction, respectively specifies the range of not more than 180 degrees in the pitch direction and the horizontal direction as the angle range of the rotating observation, then collects the ground penetrating radar data in each direction according to the standard of interval of 5 degrees, according to the order from top to bottom and from left to right, collects 1 to 10000 channels of data in each direction according to the different detection distances, the farther the detection distance is, the more the data channels collected in each direction are, and forms the fan-shaped ground penetrating radar profile through the piecewise Kriging interpolation according to the corresponding pitch angle direction for the data under the same horizontal angle, and displays on the explosion-proof screen.

[0033] The preferred embodiments of the application disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details, and do not limit the application to the specific embodiments described. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application. The application is limited by the claims and the entire scope and equivalents thereof.

Claims

1. A ground-penetrating radar rotating observation system and method, comprising a ground-penetrating radar rotating observation system (22) and a ground-penetrating radar rotating observation method (26), characterized in that: The ground-penetrating radar rotating observation system (22) includes a ground-penetrating radar rotating observation platform (23), a ground-penetrating radar control host (24), and a ground-penetrating radar rotating antenna (25). The ground-penetrating radar rotating antenna (25) is covered by an anti-static plastic shell (3). The anti-static plastic shell (3) has antenna handles (2) on both sides. The center of the anti-static plastic shell (3) is an antenna panel (5). The center of the antenna panel (5) is an antenna explosion-proof connector (4). The ground-penetrating radar rotating observation platform (23) is connected to the ground-penetrating radar rotating antenna (25) by fixing bolts (1). The fixing bolts (1) are installed on one side of the antenna bracket (7). The antenna bracket (7) is equipped with a crank limiter (9) and a turbine reducer (6). The turbine reducer (6) is connected to a movable joint (8) on one side. The movable joint (8) can be used to connect a crank (10). The crank handle (11) is provided on one side of the crank (10). The antenna bracket (7) is connected to a triangular bracket (15) by an antenna support rod (12). The triangular bracket (15) is provided with a platform base (13) and an antenna support rod fastening handle (14) at the center. The triangular bracket (15) is provided with foot nails (16) at the bottom. The ground-penetrating radar control host (24) is connected to the ground-penetrating radar rotating antenna (25) via a data transmission line (17). An explosion-proof connector (12) is provided between the data transmission line (17) and the ground-penetrating radar control host (24). The ground-penetrating radar control host (24) includes an explosion-proof housing (18), an explosion-proof screen (19), and an explosion-proof control button (20). The ground-penetrating radar rotating observation method (26) includes determining the center direction (27), rotating antenna control (28), direction-by-direction control acquisition (29), and fan-shaped profile imaging (30), which constitutes a three-dimensional data volume from fan-shaped profiles at multiple angles; The determination of the center direction (27) is characterized in that: the center direction of the detection direction is the straight line between the position of the observation system and the detection target, and a range of no more than 180 degrees is specified in both the pitch direction and the horizontal direction as the angle range for rotation observation; The rotating antenna control (28) is characterized in that: according to a fixed angular interval, ground-penetrating radar data is collected in each direction in a sequence from top to bottom and from left to right, and the angle α of the antenna rotation for each acquisition satisfies the equation with respect to the antenna's main frequency f. The unit for angle is degrees, and the unit for antenna frequency is MHz. The directional control acquisition (29) is characterized in that: depending on the detection distance, one or more data channels are acquired in each direction; the farther the detection distance, the more data channels are acquired in each direction; and the number of channels n and the detection distance l satisfy the equation. The channel number is dimensionless, and the detection distance is measured in meters (m). The fan-shaped profile imaging (30) is characterized in that: for data at the same horizontal angle, according to the corresponding pitch angle direction, a fan-shaped ground-penetrating radar profile is formed by segmented Kriging interpolation (31) and displayed on the explosion-proof screen (19). The segmented Kriging interpolation (31) is characterized in that: data from two consecutive channels at the same depth are taken, namely x1 and x2, and the interpolation result x is obtained by the equation x = λ1x1 + λ2x2, x∈(p1,p2), x1∈(p1,p2), x2∈(p1,p2), where p1 and p2 are depth ranges, with a minimum value of 0 and a maximum value of the maximum depth of the radar data, and λ1 and λ2 are undetermined coefficients, with a minimum value of 0 and a maximum value of 1.

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