Geological radar detection equipment and method based on crab-shaped leg robot

Abstract

The invention relates to the technical field of geological investigation, in particular to geological radar detection equipment and method based on a crab-shaped leg robot, and the equipment comprises a radar scanning device, a folding telescopic arm and the crab-shaped leg robot, and the crab-shaped leg robot comprises a vehicle body and crab-shaped legs used for supporting and fixing the vehicle body. A plurality of crab-shaped legs are arranged on the two sides of the vehicle body in the length direction at intervals; the radar scanning device is rotationally connected with one end of the folding telescopic arm, and the other end of the folding telescopic arm is rotationally connected with the vehicle body. The movable vehicle body serves as a bearing platform and is supported and fixed through the multiple crab-shaped legs, the vehicle body can be stably leveled and fixed on the uneven ground, and meanwhile the radar scanning device is driven by the folding telescopic arm to conduct active fitting scanning on the uneven tunnel face; therefore, automatic detection of complex terrains and uneven tunnel faces is realized, the detection coverage rate is improved, the operation safety risk is reduced, and the detection efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of geological exploration technology, specifically to a ground-penetrating radar detection device and method based on a crab-legged robot. Background Technology

[0002] In tunnel and underground engineering construction, advance detection of adverse geological formations (such as karst caves, fault fracture zones, and water-rich layers) is a crucial step in ensuring construction safety and efficiency. Traditional ground-penetrating radar (GPR) advance prediction mainly relies on manual operation at the tunnel face using handheld radar equipment or a single robotic arm equipped with radar. The radar signal is acquired by manually adjusting the detection position and angle, and the operator's experience is combined with analysis of the geological conditions ahead. However, traditional methods have significant limitations: manual operation is constrained by the tunnel space, resulting in a narrow detection range and the potential for blind spots, leading to poor spatial data coverage; furthermore, the complex environment at the tunnel face poses safety risks for manual operation, and the low detection efficiency makes it difficult to meet the demands of rapid construction of large-section tunnels.

[0003] While existing automated ground-penetrating radar (GPR) detection equipment reduces some human intervention, it is mostly used in simple sites where the ground and detection surface are flat. However, tunnel faces experience varying degrees of over-excavation and under-excavation during blasting and excavation, resulting in uneven surfaces and low ground flatness. Existing automated GPR detection equipment is insufficient to meet the needs for refined forecasting under complex geological conditions. Summary of the Invention

[0004] The purpose of this invention is to provide a ground-penetrating radar detection device and method based on a crab-legged robot, which can at least solve some of the defects in the prior art.

[0005] To achieve the above objectives, the technical solution of the present invention is a ground-penetrating radar detection device based on a crab-legged robot, including a radar scanning device, a folding telescopic arm, and a crab-legged robot. The crab-legged robot includes a vehicle body and crab-shaped legs for supporting and fixing the vehicle body. Multiple crab-shaped legs are arranged at intervals on both sides of the vehicle body along its length. The radar scanning device is rotatably connected to one end of the folding telescopic arm, and the other end of the folding telescopic arm is rotatably connected to the vehicle body.

[0006] As one embodiment, the crab-shaped leg includes multiple levels of support legs, with the first level of support leg connected to the vehicle body via a first hinge seat, adjacent levels of support legs being hinged together via a second hinge seat, and the end of the last level of support leg being ball-jointed to a support seat.

[0007] As one implementation method, the support base has an elastic buffer layer at the end that contacts the ground.

[0008] As one embodiment, the crab-shaped leg also includes a multi-stage linear drive device that corresponds one-to-one with the multi-stage support leg. One end of the last stage linear drive device is connected to the second hinge seat at one end of the last stage support leg, and the other end is connected to the last stage support leg. The two ends of the other stages of linear drive devices are respectively connected to the hinge seats at both ends of their corresponding first-stage support legs.

[0009] As one embodiment, the vehicle body is provided with a storage slot for storing the crab-shaped legs. The storage slot corresponds one-to-one with the crab-shaped legs, and each storage slot is provided with a horizontal rotation mechanism for driving the corresponding crab-shaped leg to rotate horizontally so as to extend out of the vehicle body or be stored in the storage slot.

[0010] As one implementation method, the folding telescopic arm includes multiple telescopic arms, and the first-stage telescopic arm is rotatably connected to the vehicle body through an angle adjustment mechanism, adjacent telescopic arms are rotatably connected to each other through an angle adjustment mechanism, and the last-stage telescopic arm is rotatably connected to the radar scanning device through an angle adjustment mechanism.

[0011] As one embodiment, the radar scanning device includes a mounting base, a lidar detector, and an automatic obstacle avoidance structure. The lidar detector and the automatic obstacle avoidance structure are both mounted on the mounting base, and the mounting base is rotatably connected to the folding telescopic arm.

[0012] The present invention also provides a ground-penetrating radar detection method, using any one of the ground-penetrating radar detection devices described above, the method comprising the following steps:

[0013] S1. Control the vehicle to move closer to the tunnel face;

[0014] S2. Detect the tunnel outline and dimensions, and the over- or under-excavation situation at the tunnel face using radar scanning devices, establish a three-dimensional spatial model of the tunnel, and plan the vertical geological radar survey lines at the tunnel face.

[0015] S3. Control the vehicle to move to the ground below a vertical ground-penetrating radar line, the crab-shaped legs spread out and support the ground, and the folding telescopic arm drives the radar scanning device to scan along the vertical ground-penetrating radar line until the detection of the vertical ground-penetrating radar line is completed.

[0016] S4. Repeat step S3 until all vertical ground-penetrating radar lines have been detected.

[0017] S5. Process and interpret the raw data obtained from the ground-penetrating radar in steps S3 and S4, and establish a three-dimensional model of the ground-penetrating radar detection results.

[0018] As one implementation method, step S2, the planning of the vertical ground-penetrating radar survey line at the working face, includes:

[0019] 1) Use radar scanning devices to perform point cloud scanning and obtain high-density point cloud data of the tunnel face;

[0020] 2) Preprocess the point cloud data to remove outliers;

[0021] 3) Calculate the normal distance from each measuring point at the tunnel face to the design cross-section mileage;

[0022] 4) Generate vertical ground-penetrating radar survey lines at certain intervals in the horizontal direction;

[0023] 5) Evaluate the over-excavation and under-excavation indices for each vertical geological radar survey line;

[0024] 6) Based on the evaluation of over-excavation and under-excavation indicators, pre-select vertical geological radar survey lines;

[0025] 7) Verify and optimize the spacing of vertical ground-penetrating radar survey lines;

[0026] 8) Result verification and output.

[0027] As one implementation method, in step S3, the folding telescopic arm drives the radar scanning device to scan along the vertical ground-penetrating radar survey line, including:

[0028] The folding telescopic arm unfolds, and the radar scanning device is rotated so that the lidar detector of the radar scanning device faces the tunnel face. The automatic obstacle avoidance structure is located above and below the lidar detector.

[0029] The extension of each stage of the folding telescopic arm allows the lidar detector to reach the top of the vertical ground-penetrating radar survey line.

[0030] Rotate the folding telescopic arm to bring the lidar detector close to the tunnel face. The telescopic arms of the folding telescopic arm gradually retract, and the lidar detector performs detection from top to bottom along the vertical ground-penetrating radar survey line.

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

[0032] This invention uses a movable vehicle body as a carrying platform, supported and fixed by multiple crab-shaped legs, which can stabilize and level the vehicle body on uneven ground. At the same time, it uses a folding telescopic arm to drive a radar scanning device to actively scan the uneven working surface, thereby realizing automated detection of complex terrain and uneven working surfaces, improving detection coverage, reducing operational safety risks, and improving detection efficiency. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A schematic diagram of a ground-penetrating radar detection device based on a crab-legged robot for detecting a working face, provided in an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of the unfolded folding telescopic arm of the ground-penetrating radar detection device based on a crab-legged robot provided in an embodiment of the present invention;

[0036] Figure 3 A schematic diagram of the crab-shaped legs of the ground-penetrating radar detection device based on a crab-shaped leg robot provided in an embodiment of the present invention when the crab-shaped legs are deployed;

[0037] Figure 4 A schematic diagram (showing the shell) of the folding telescopic arm and crab-shaped legs of the ground-penetrating radar detection device based on a crab-leg robot provided in an embodiment of the present invention.

[0038] Figure 5 A schematic diagram of the folding telescopic arm and the crab-shaped leg of the ground-penetrating radar detection device based on the crab-shaped leg robot provided in the embodiments of the present invention (the shell is not shown).

[0039] In the diagram: 1. Vehicle body; 11. Frame; 12. Wheel; 13. Hub motor; 14. Shell; 15. Storage slot; 2. Crab-shaped leg; 21. First-stage support leg; 22. Second-stage support leg; 23. First-stage linear drive device; 24. Second-stage linear drive device; 25. First hinge seat; 26. Second hinge seat; 27. Support seat; 28. Elastic buffer layer; 29. ​​First rotary motor; 3. Folding telescopic arm; 31. First-stage telescopic arm; 32. Second-stage telescopic arm; 33. Third hinge seat; 34. Second rotary motor; 4. Radar scanning device; 41. LiDAR detector; 42. Mounting seat; 43. Drive wheel; 5. Working face. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0043] like Figures 1-5 As shown, this embodiment provides a ground-penetrating radar detection device based on a crab-legged robot, including a radar scanning device 4, a folding telescopic arm 3, and a crab-legged robot. The crab-legged robot includes a vehicle body 1 and crab-legged legs 2 for supporting and fixing the vehicle body 1. Multiple crab-legged legs 2 are arranged at intervals on both sides of the vehicle body 1 along its length. The radar scanning device 4 is rotatably connected to one end of the folding telescopic arm 3, and the other end of the folding telescopic arm 3 is rotatably connected to the vehicle body 1. This embodiment uses the movable vehicle body 1 as a carrying platform, supported and fixed by multiple crab-legged legs 2, which can stably level and fix the vehicle body 1 on uneven ground. At the same time, the folding telescopic arm 3 drives the radar scanning device 4 to actively scan the uneven working face 5, thereby realizing automated detection of complex terrain and uneven working face 5, improving detection coverage, reducing operational safety risks, and improving detection efficiency.

[0044] In some embodiments, the crab-shaped leg 2 includes multiple levels of support legs. The first level support leg 21 is connected to the vehicle body 1 via a first hinge seat 25, and adjacent support legs are hinged together via a second hinge seat 26. The end of the last level support leg is ball-jointed to a support seat 27. The first level support leg closer to the vehicle body 1 is the first level support leg 21, and the first level support leg farther from the vehicle body 1 is the last level support leg. In this embodiment, the multiple levels of support legs of each crab-shaped leg 2 are sequentially hinged together, and the first level support leg 21 is hinged to the vehicle body 1. This allows for multi-level folding and extension of the crab-shaped leg 2, and each folding support can be independently adjusted in height, angle, and length, adapting to complex terrain with a certain slope. The multi-level design ensures sufficient extension length while significantly reducing the overall size in the folded state. By connecting the support seat 27 to the end of the last level support leg via a ball-joint, the support seat 27 can adapt to local tilts and unevenness of the ground when in contact with it, ensuring a full contact surface and thus improving the stability of the device.

[0045] Preferably, the end of the support base 27 that contacts the ground is provided with an elastic buffer layer 28. By providing an elastic buffer layer 28 on the bottom surface of the support base 27, the friction with the ground and the shock absorption can be increased, thereby improving the stability of the equipment during operation. In a specific embodiment, the elastic buffer layer 28 is a vulcanized rubber buffer layer with a Shore hardness controlled at 70±5, which can provide excellent elasticity and durability while ensuring sufficient support rigidity.

[0046] Furthermore, the bottom surface of the elastic buffer layer 28 is provided with several elongated grooves arranged at intervals, which can increase the deformation capacity of the elastic buffer layer 28. When the support 27 acts on the uneven ground, the groove area can undergo greater and freer local compression and bending deformation, so that the entire elastic buffer layer 28 can better conform to the ground contour, thereby significantly enhancing the adaptability to complex terrain and ensuring the stability of the support.

[0047] In some embodiments, the crab-shaped leg 2 further includes a multi-stage linear drive device corresponding to each of the multi-stage support legs. One end of the last stage linear drive device is connected to the second hinge seat 26 at one end of the last stage support leg, and the other end is connected to the last stage support leg. The two ends of the other stages of the linear drive device are respectively connected to the hinge seats at both ends of their corresponding first-stage support legs. In this embodiment, each crab-shaped leg 2 is equipped with a multi-stage linear drive device corresponding to each of the multi-stage support legs. Therefore, the extension movement of each stage support leg is directly controlled by an independent linear drive device. This allows for individual and precise closed-loop control of the extension and contraction of each stage of the crab-shaped leg 2, the end contact height with the ground, and the pressure applied to the ground, thereby adapting to more complex and varied terrains.

[0048] Preferably, each stage of the linear drive device uses an electric cylinder, which has the advantages of high control precision, fast response speed, easy to realize closed-loop control, and simple maintenance, and can realize high-precision and rapid adjustment of each crab leg 2.

[0049] like Figure 3 As shown, in one specific embodiment, the crab-shaped leg 2 includes two levels of support legs, namely a first-level support leg 21 and a second-level support leg 22; one end of the first-level support leg 21 is hinged to a first hinge seat 25, and the other end of the first-level support leg 21 is hinged to a second hinge seat 26; one end of the second-level support leg 22 is hinged to the second hinge seat 26, and the other end of the second-level support leg 22 is ball-jointed to a support seat 27; the crab-shaped leg 2 also includes two levels of linear drive devices, namely a first-level linear drive device 23 and a second-level linear drive device 24; the fixed end of the first-level linear drive device 23 is connected to the first hinge seat 25, and the movable end of the first-level linear drive device 23 is hinged to the second hinge seat 26; the fixed end of the second-level linear drive device 24 is connected to the second hinge seat 26, and the movable end of the second-level linear drive device 24 is hinged to the second-level support leg 22.

[0050] In some embodiments, the vehicle body 1 is provided with a storage slot 15 for accommodating the crab-shaped legs 2. Each storage slot 15 corresponds one-to-one with a crab-shaped leg 2, and each storage slot 15 is equipped with a horizontal rotation mechanism for driving the corresponding crab-shaped leg 2 to rotate horizontally to extend outside the vehicle body 1 or be stored inside the storage slot 15. Specifically, the drive end of the horizontal rotation mechanism is connected to a first hinge seat 25. The horizontal rotation mechanism drives the first hinge seat 25 to rotate horizontally, thereby causing the entire crab-shaped leg 2 to rotate into the storage slot 15 or out of the vehicle body 1. In the non-working state, each crab-shaped leg 2 is folded and rotated into the storage slot 15 by the horizontal rotation mechanism, allowing it to be completely folded and accommodated within its corresponding storage slot 15, greatly reducing space occupation and external interference risks during transportation or movement. In the working state, each crab-shaped leg 2 extends out of the vehicle body 1 after rotating out through the horizontal rotation mechanism, thereby providing support for the vehicle body 1.

[0051] like Figure 5 As shown, in one embodiment, the horizontal rotation mechanism includes a first rotary motor 29 and a vertical rotation shaft. The vertical rotation shaft is rotatably mounted on the vehicle body 1 and connected to the output end of the first rotary motor 29. The first hinge seat 25 is keyed to the vertical rotation shaft. The first rotary motor 29 drives the vertical rotation shaft to rotate, thereby causing the first hinge seat 25 to rotate in the horizontal plane, and then causing the entire crab-shaped leg 2 to rotate into the storage slot 15 or rotate out of the vehicle body 1.

[0052] In some embodiments, the folding telescopic arm 3 includes multiple telescopic arms, and the first-stage telescopic arm 31 is rotatably connected to the vehicle body 1 through an angle adjustment mechanism, adjacent telescopic arms are rotatably connected to each other through an angle adjustment mechanism, and the last-stage telescopic arm is rotatably connected to the radar scanning device 4 through an angle adjustment mechanism. Among them, the first-stage telescopic arm closest to the vehicle body 1 is the first-stage telescopic arm 31, and the first-stage telescopic arm furthest from the vehicle body 1 is the last-stage telescopic arm. The multi-stage telescopic arms of the folding telescopic arm 3 are hinged together, which can realize multi-stage folding and extension of the folding telescopic arm 3, significantly reducing the overall size in the non-working state. Each stage telescopic arm includes a multi-stage sleeve, which can automatically extend and shorten. Each stage telescopic arm controls its pitch angle through the angle adjustment mechanism between it and the previous stage telescopic arm. The first-stage telescopic arm 31 controls its pitch angle through the angle adjustment mechanism connected to the vehicle body 1. The radar scanning device 4 controls its pitch angle through the angle adjustment mechanism connected to the last stage telescopic arm. Through the extension and shortening of each stage telescopic arm, the angle adjustment of the angle adjustment mechanism between each stage telescopic arm, and the angle adjustment mechanism between the telescopic arm and the vehicle body 1 or the radar scanning device 4, the radar scanning device 4 is delivered to and stably maintained in the target position and attitude.

[0053] In one specific embodiment, the folding telescopic arm 3 includes a first-stage telescopic arm 31 and a second-stage telescopic arm 32. The first-stage telescopic arm 31 is rotatably connected to the vehicle body 1 through an angle adjustment mechanism, and the second-stage telescopic arm 32 is connected to the first-stage telescopic arm 31 through an angle adjustment mechanism. The radar scanning device 4 is connected to the second-stage telescopic arm 32 through an angle adjustment mechanism. The first-stage telescopic arm 31 adopts two-stage telescopic extension, and the second-stage telescopic arm 32 adopts three-stage telescopic extension. The maximum working height can reach 13m, and the space occupied after folding is reduced by 68%.

[0054] In this embodiment, the angle adjustment mechanism includes a third hinge seat 33, a horizontal rotation shaft, and a second rotary motor 34. The third hinge seat 33 is installed on the vehicle body 1 or the end of the previous stage telescopic arm. The horizontal rotation shaft is rotatably installed in the third hinge seat 33. The next stage telescopic arm or the radar scanning device 4 is keyed to the horizontal rotation shaft. The output shaft of the second rotary motor 34 is connected to the horizontal rotation shaft, and the second rotary motor 34 drives the horizontal rotation shaft to rotate, thereby driving the next stage telescopic arm to rotate. Specifically, for the angle adjustment mechanism between the first stage telescopic arm 31 and the vehicle body 1, the third hinge seat 33 is installed on the vehicle body 1, and the first stage telescopic arm 31 is keyed to the horizontal rotation shaft; for the angle adjustment mechanism between the radar scanning device 4 and the last stage telescopic arm, the third hinge seat 33 is installed on the radar scanning device 4, and the last stage telescopic arm is keyed to the horizontal rotation shaft; for the angle adjustment mechanism between adjacent stage telescopic arms, the third hinge seat 33 is installed on the previous stage telescopic arm, and the next stage telescopic arm is keyed to the horizontal rotation shaft.

[0055] Furthermore, a housing 14 is provided on the top surface of the vehicle body 1, and a groove extending along the length of the vehicle body 1 is provided in the middle of the housing 14. When the folding telescopic arm 3 is not in operation, each stage of the telescopic arm is shortened and folded into the groove. The multi-stage telescopic arm can be made of high-strength aluminum alloy with a box-shaped cross-section, which ensures strength while achieving the weight reduction of the folding telescopic arm 3. The storage slots 15 are provided on both sides of the length of the housing 14.

[0056] In some embodiments, the radar scanning device 4 includes a mounting base 42, a lidar detector 41, and an automatic obstacle avoidance structure. Both the lidar detector 41 and the automatic obstacle avoidance structure are mounted on the mounting base 42, which is rotatably connected to the folding telescopic arm 3. The lidar detector 41 employs dual lidar sensors for real-time scanning, providing real-time feedback on the working face 5. The automatic obstacle avoidance structure includes four drive wheels 43 located at the four corners of the mounting base 42. These drive wheels 43 dynamically adjust in conjunction with the extension, retraction, and pitch movements of the multi-stage telescopic arm to promptly avoid obstacles on the working face 5.

[0057] In some embodiments, the vehicle body 1 is a four-wheel drive vehicle body 1, including a frame 11 and four wheels 12 mounted at the four corners of the frame 11, and each wheel 12 is equipped with an independent hub motor 13. By driving the four wheels 12 to rotate through the four hub motors 13 respectively, 360° omnidirectional steering can be achieved, and each hub motor 13 adopts closed-loop vector control by an independent motor controller to achieve precise and independent management of the torque and speed of each wheel 12, with a steering synchronization error ≤0.5°.

[0058] Furthermore, the vehicle body 1 is equipped with dual vision cameras, which can acquire stereoscopic vision information of the environment in front in real time and transmit the information to a remote ground station. At the same time, the vehicle body 1 can receive remote control commands from the ground station to realize remote real-time remote operation and automatic emergency obstacle avoidance.

[0059] This embodiment also provides a ground-penetrating radar detection method, using any of the ground-penetrating radar detection devices described above, the method comprising the following steps:

[0060] S1. Control the vehicle body 1 to move and approach the tunnel face 5; specifically, the vehicle body 1 can be moved and approached the tunnel face 5 through remote control and automatic driving.

[0061] S2. The tunnel outline and dimensions, and the over- or under-excavation of the working face 5 are detected by radar scanning device 4. A three-dimensional spatial model of the tunnel is established, and the vertical geological radar survey line of the working face 5 is planned.

[0062] S3. Control the vehicle body 1 to move to the ground below a vertical ground-penetrating radar survey line, the crab-shaped legs 2 open and support on the ground, and the folding telescopic arm 3 drives the radar scanning device 4 to scan along the vertical ground-penetrating radar survey line until the detection of the vertical ground-penetrating radar survey line is completed.

[0063] S4. Repeat step S3 until all vertical ground-penetrating radar lines have been detected. Specifically, each vertical ground-penetrating radar line at the working face 5 shall be detected in accordance with step S3 until all vertical ground-penetrating radar lines have been detected.

[0064] S5. Process and interpret the raw data obtained from the ground-penetrating radar in steps S3 and S4, and establish a three-dimensional model of the ground-penetrating radar detection results.

[0065] In this embodiment, the vehicle body 1 is moved to the ground below the vertical ground-penetrating radar survey line. Multiple crab-shaped legs 2 support and open the vehicle body 1, leveling and fixing it. At the same time, the folding telescopic arm 3 drives the radar scanning device 4 to actively scan the uneven working face 5. This can realize automated detection of complex terrain and uneven working face 5, with high detection coverage, low operational safety risk, and high detection efficiency.

[0066] Furthermore, in step S2, the planned vertical ground-penetrating radar survey line of the working face 5 includes:

[0067] 1) Use radar scanning device 4 to perform point cloud scanning and obtain high-density point cloud data of the tunnel face;

[0068] Specifically, distance calibration, angle calibration, and reflectivity calibration are performed before scanning to ensure accuracy;

[0069] Based on the tunnel design axis, a local construction coordinate system is established, with the X-axis representing the tunnel excavation direction, the Y-axis representing the horizontal and vertical excavation directions, and the Z-axis representing the vertical direction.

[0070] Set the scan resolution to ensure that the point cloud density at the working face is ≥100 points / cm². 2 The scanning range covers the entire working face, including the arch, sidewalls, and invert; the scanning range extends forward 5-10m from the working face, including some supported sections, to avoid obstruction and ensure the integrity of the working face outline.

[0071] If the working face is large, use multi-station scanning, with each station scanning time being 5-10 minutes. Then, stitch together the point clouds from multiple stations to generate an overall point cloud model of the working face.

[0072] 2) Preprocess the point cloud data to remove outliers;

[0073] Specifically, the point clouds from multiple stations are unified into a coordinate system. Based on the tunnel design mileage and dimensions, and after adding redundancy, irrelevant point clouds outside the tunnel are directly trimmed and deleted, retaining only the point clouds within the tunnel face and a 0.5m radius around it.

[0074] Statistical filtering is used to remove isolated points that are too far from the cluster center. Gaussian filtering or moving least squares method is used to smooth the surface of the point cloud on the face of the tunnel and preserve the true contour features.

[0075] If the point cloud density is too high, voxel downsampling is used to reduce the amount of data without losing contour accuracy;

[0076] 3) Calculate the normal distance from each measuring point at the tunnel face to the design cross-section mileage;

[0077] Specifically, the tunnel design cross-section corresponding to the mileage of the tunnel face is extracted, converted into a point cloud model (design cross-section point cloud), and unified to the construction coordinate system;

[0078] For each measuring point P(x,y,z) at the tunnel face, project it along the tunnel excavation direction (X-axis) onto the mileage plane where the design section is located to obtain the projection point P′(x0,y,z). Calculate the normal distance d from all measuring points to the mileage of the design section. When there is over-excavation, d>0; when there is under-excavation, d<0.

[0079] 4) Generate vertical ground-penetrating radar survey lines at certain intervals in the horizontal direction;

[0080] Specifically, the extreme values ​​Ymin and Ymax of the Y-axis (horizontal direction) of the face point cloud are extracted, and the horizontal width of the face W = Ymax - Ymin is calculated. Horizontal intervals are divided according to the designed spacing (generally around 10cm): Yi = Ymin + 0.1 × i (i = 0, 1, ..., k, k = W / 0.1), with each interval corresponding to a vertical ground-penetrating radar line. For each horizontal interval [Yi - 0.05, Yi + 0.05], all face point clouds within that interval are extracted and sorted according to the Z-axis (vertical direction) to generate vertical ground-penetrating radar lines. For sparse sections of measuring points, linear interpolation is used to supplement the measuring points, ensuring the continuity of the vertical ground-penetrating radar lines.

[0081] 5) Evaluate the over-excavation and under-excavation indices for each vertical geological radar survey line;

[0082] Specifically, taking a single survey line as a unit, extract the normal distance data of all survey points on the single survey line, and divide the sum of the normal distances of all survey points by the total number of survey points to obtain the average over-excavation and under-excavation value of the single survey line;

[0083] Based on the average over-excavation and under-excavation value of a single survey line, calculate the difference between the normal distance of all survey points and the average over-excavation and under-excavation value. Sum the squares of all the differences and divide by the total number of survey points to obtain the over-excavation and under-excavation variance (the degree of dispersion of the normal distance of each survey point).

[0084] Extract the extreme values ​​(maximum over-excavation value and minimum under-excavation value) of the normal distances of all measuring points on a single measuring line, and take the maximum absolute value to obtain the absolute value of the maximum deviation.

[0085] The over-excavation / under-excavation index score A is calculated as follows: A = α * average over-excavation / under-excavation value + β * over-excavation / under-excavation variance + γ * absolute value of maximum deviation. α, β, and γ are weighting coefficients, which are comprehensively considered based on the detection purpose and detection conditions. The average over-excavation / under-excavation value determines the accuracy of subsequent interpretation, the over-excavation / under-excavation variance determines the detection time, and the absolute value of the maximum deviation determines the feasibility of this survey line.

[0086] The above steps are used to score all survey lines on the working face, sort them by A value from smallest to largest, generate a survey line score ranking table, and record the ID, Y-axis position, A value and ranking of each survey line;

[0087] 6) Based on the evaluation of over-excavation and under-excavation indicators, pre-select vertical geological radar survey lines;

[0088] Specifically, based on the total number of survey lines N, the horizontal width W of the tunnel face is divided into N equal parts, and the survey line with the lowest score is selected as the pre-selected survey line.

[0089] 7) Verify and optimize the spacing of vertical ground-penetrating radar survey lines;

[0090] Specifically, calculate the horizontal distance between any two pre-selected survey lines. If the horizontal distance is less than 1m, mark it as "distance not met". For survey line blocks that do not meet the distance requirement, replace them with the second-best survey line in the block according to the Y-axis from largest to smallest, and recalculate the distance until the distance between all selected survey lines is ≥1m.

[0091] 8) Result verification and output;

[0092] Specifically, the final selected survey lines are superimposed onto the point cloud model of the working face, and the distribution of the survey lines is checked to ensure that they uniformly cover the working face (arch top, sidewalls, invert arch). The over-excavation and under-excavation indices of the final survey lines are verified to ensure that there are no obvious anomalies, and a working face survey line planning map is formed.

[0093] In this embodiment, the vertical ground-penetrating radar (GPR) survey lines at the tunnel face are planned based on the established three-dimensional spatial model of the tunnel, the density of the GPR survey lines, and the flatness of the ground. The flatness of the ground can be detected by a dual-vision camera mounted on the vehicle body 1.

[0094] Furthermore, in step S3, the folding telescopic arm 3 drives the radar scanning device 4 to scan along the vertical ground-penetrating radar survey line, including:

[0095] The folding telescopic arm 3 is unfolded, and the radar scanning device 4 is rotated so that the lidar detector 41 of the radar scanning device 4 faces the tunnel face. The automatic obstacle avoidance structure is located above and below the lidar detector 41 respectively; the ground radar antenna remains parallel to the tunnel face.

[0096] The telescopic arms of the folding telescopic arm 3 extend at each stage, allowing the lidar detector 41 to reach the top of the vertical ground-penetrating radar survey line;

[0097] Rotate the folding telescopic arm 3 to bring the lidar detector 41 into contact with the tunnel face. The telescopic arms of the folding telescopic arm 3 gradually retract, and the lidar detector 41 performs detection from top to bottom along the vertical geological radar survey line.

[0098] Furthermore, in step S3, the crab-shaped legs 2 are extended and supported on the ground, including:

[0099] The first rotary motor 29 corresponding to each crab leg 2 drives the first hinge seat 25 to rotate, rotating the corresponding crab leg 2 out of the vehicle body 1;

[0100] The first-stage linear drive device 23 and the second-stage linear drive device 24 corresponding to each crab-shaped leg 2 respectively drive the corresponding first-stage support leg 21 and the second-stage support leg 22 to unfold, supporting the corresponding support seat 27 on the ground.

[0101] 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, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A ground-penetrating radar detection device based on a crab-legged robot, comprising a radar scanning device, characterized in that: It also includes a folding telescopic arm and a crab-leg robot. The crab-leg robot includes a vehicle body and crab-shaped legs for supporting and fixing the vehicle body. Multiple crab-shaped legs are arranged at intervals on both sides of the vehicle body along its length. The radar scanning device is rotatably connected to one end of the folding telescopic arm, and the other end of the folding telescopic arm is rotatably connected to the vehicle body.

2. The ground-penetrating radar detection equipment as described in claim 1, characterized in that: The crab-shaped leg includes multiple levels of support legs, with the first level of support leg connected to the vehicle body via a first hinge seat, adjacent levels of support legs being hinged together via a second hinge seat, and the end of the last level of support leg being ball-jointed to a support seat.

3. The ground-penetrating radar detection equipment as described in claim 2, characterized in that: The support base has an elastic buffer layer at the end that contacts the ground.

4. The ground-penetrating radar detection equipment as described in claim 2, characterized in that: The crab-shaped leg also includes a multi-stage linear drive device that corresponds one-to-one with the multi-stage support leg. One end of the last stage linear drive device is connected to the second hinge seat at one end of the last stage support leg, and the other end is connected to the last stage support leg. The two ends of the other stages of linear drive devices are respectively connected to the hinge seats at both ends of their corresponding first-stage support legs.

5. The ground-penetrating radar detection equipment as described in claim 1, characterized in that: The vehicle body is provided with a storage slot for storing the crab-shaped legs. Each storage slot corresponds to one of the crab-shaped legs, and each storage slot is provided with a horizontal rotation mechanism for driving the corresponding crab-shaped leg to rotate horizontally so as to extend out of the vehicle body or be stored in the storage slot.

6. The ground-penetrating radar detection device as described in claim 1, characterized in that: The folding telescopic arm includes multiple telescopic arms, and the first-stage telescopic arm is rotatably connected to the vehicle body through an angle adjustment mechanism. Adjacent telescopic arms are rotatably connected to each other through an angle adjustment mechanism, and the last-stage telescopic arm is rotatably connected to the radar scanning device through an angle adjustment mechanism.

7. The ground-penetrating radar detection device as described in claim 1, characterized in that: The radar scanning device includes a mounting base, a lidar detector, and an automatic obstacle avoidance structure. Both the lidar detector and the automatic obstacle avoidance structure are mounted on the mounting base, which is rotatably connected to the folding telescopic arm.

8. A ground-penetrating radar detection method, characterized in that, The method using the ground-penetrating radar detection equipment according to any one of claims 1-7 includes the following steps: S1. Control the vehicle to move closer to the tunnel face; S2. Detect the tunnel outline and dimensions, and the over- or under-excavation situation at the tunnel face using radar scanning devices, establish a three-dimensional spatial model of the tunnel, and plan the vertical geological radar survey lines at the tunnel face. S3. Control the vehicle to move to the ground below a vertical ground-penetrating radar line, the crab-shaped legs spread out and support the ground, and the folding telescopic arm drives the radar scanning device to scan along the vertical ground-penetrating radar line until the detection of the vertical ground-penetrating radar line is completed. S4. Repeat step S3 until all vertical ground-penetrating radar lines have been detected. S5. Process and interpret the raw data obtained from the ground-penetrating radar in steps S3 and S4, and establish a three-dimensional model of the ground-penetrating radar detection results.

9. The ground-penetrating radar detection method as described in claim 8, characterized in that, In step S2, the planning of the vertical ground-penetrating radar survey line at the working face includes: 1) Use radar scanning devices to perform point cloud scanning and obtain high-density point cloud data of the tunnel face; 2) Preprocess the point cloud data to remove outliers; 3) Calculate the normal distance from each measuring point at the tunnel face to the design cross-section mileage; 4) Generate vertical ground-penetrating radar survey lines at certain intervals in the horizontal direction; 5) Evaluate the over-excavation and under-excavation indices for each vertical geological radar survey line; 6) Based on the evaluation of over-excavation and under-excavation indicators, pre-select vertical geological radar survey lines; 7) Verify and optimize the spacing of vertical ground-penetrating radar survey lines; 8) Result verification and output.

10. The ground-penetrating radar detection method as described in claim 8, characterized in that, In step S3, the folding telescopic arm drives the radar scanning device to scan along the vertical ground-penetrating radar survey line, including: The folding telescopic arm unfolds, and the radar scanning device is rotated so that the lidar detector of the radar scanning device faces the tunnel face. The automatic obstacle avoidance structure is located above and below the lidar detector. The extension of each stage of the folding telescopic arm allows the lidar detector to reach the top of the vertical ground-penetrating radar survey line. Rotate the folding telescopic arm to bring the lidar detector close to the tunnel face. The telescopic arms of the folding telescopic arm gradually retract, and the lidar detector performs detection from top to bottom along the vertical ground-penetrating radar survey line.

Images