A ground penetrating radar underground infrastructure defect intelligent detection method and system

Abstract

The present application belongs to the technical field of underground engineering detection, and discloses a ground penetrating radar underground infrastructure defect intelligent detection method and system, which comprises obtaining electromagnetic echo signals formed by ground penetrating radar detection, establishing a mapping relationship between spatial positions and medium responses according to radar motion trajectories, echo propagation time and medium reflection response relationships, and generating underground medium response distribution information; based on the underground medium response distribution information, correlating and analyzing electromagnetic propagation processes corresponding to different spatial positions according to echo continuous change relationships between adjacent detection positions, and generating an echo propagation path set; according to the echo propagation path set, analyzing spatial offset relationships between echo propagation paths, determining electromagnetic propagation disturbance regions in combination with propagation change laws corresponding to continuous detection positions, and generating a defect candidate region set; the reliability of defect detection results is effectively improved, and the misjudgment rate is reduced.

Description

Technical Field

[0001] This invention relates to the field of underground engineering inspection technology, and more specifically, to a ground-penetrating radar intelligent detection method and system for defects in underground infrastructure. Background Technology

[0002] Ground-penetrating radar (GPR), as a non-destructive detection method, is widely used for detecting defects in infrastructure such as underground pipelines, foundation structures, road base layers, and underground cavities. GPR works by emitting electromagnetic waves into the ground and receiving the reflected echoes, inferring the distribution of the underground medium based on the propagation time, amplitude, and phase information of the echoes. However, existing GPR detection methods typically only analyze the echo signals from a single detection location independently, lacking the correlation processing of the continuous changes in echoes between adjacent detection locations. This results in the underground medium response information being discrete and isolated, making it difficult to accurately reflect the continuous distribution characteristics of underground structures.

[0003] Meanwhile, existing defect identification methods typically rely solely on echo anomalies at a single location to determine the presence of a defect, lacking comprehensive correlation analysis of electromagnetic propagation paths across multiple detection locations. This makes it prone to misclassifying local noise or incidental disturbances as defect areas, and easily overlooking defects that persist along the propagation path but whose amplitude changes are not significant at a single point. Furthermore, existing methods usually determine defect boundaries based solely on the changing trend of a single echo path, without considering the overall changing patterns of multiple propagation paths within the defect candidate area. This results in inaccurate defect boundary determination and incomplete descriptions of the defect's spatial morphology.

[0004] On the other hand, existing ground-penetrating radar detection results usually lack an effective verification mechanism and do not verify the consistency between multiple echo propagation paths corresponding to the same defect, which may lead to misjudgment of the detection results and the reliability of the detection results needs to be improved.

[0005] In view of this, the present invention proposes an intelligent detection method for defects in underground infrastructure using ground penetrating radar to solve the above problems. Summary of the Invention

[0006] To overcome the aforementioned shortcomings of the prior art and to achieve the above objectives, the present invention provides the following technical solution: a ground-penetrating radar intelligent detection method for defects in underground infrastructure, comprising: S1. Acquire electromagnetic echo signals generated by ground-penetrating radar detection, and establish a mapping relationship between spatial location and medium response based on radar trajectory, echo propagation time, and medium reflection response relationship to generate underground medium response distribution information; S2. Based on the response distribution information of the underground medium, and according to the continuous change relationship of the echo between adjacent detection locations, the electromagnetic propagation process corresponding to different spatial locations is correlated and analyzed to generate a set of echo propagation paths. S3. Based on the set of echo propagation paths, analyze the spatial offset relationship between the echo propagation paths, and combine the propagation change law corresponding to the continuous detection position to determine the electromagnetic propagation disturbance area and generate a set of defect candidate areas. S4. Based on the set of defect candidate regions, analyze the trend of defect boundary changes according to the change relationship of echo propagation path within the candidate regions, determine the spatial range and boundary correlation of defects, and form defect spatial morphology description information. S5. Combining the spatial morphology description information of defects, verify the consistency relationship between different echo propagation paths and generate the defect detection results of underground infrastructure.

[0007] Preferably, establishing the mapping relationship between spatial location and medium response includes: The spatial coordinate information corresponding to each detection location during the movement of the ground penetrating radar is obtained, and the spatial coordinate information is correlated with the electromagnetic echo signal in time; the correspondence between the underground response location and the detection location is determined based on the propagation time of the electromagnetic echo signal. The medium response state at different locations is determined by combining the amplitude changes and reflection characteristics during the echo return process; the response locations are arranged according to the detection location sequence to establish a mapping relationship between the detection spatial location and the underground medium response.

[0008] Preferably, the generation of underground medium response distribution information includes: Based on the mapping relationship between spatial location and medium response, the medium response information corresponding to different detection locations is associated and arranged according to underground spatial coordinates; the continuous distribution state of underground structure is determined according to the medium response change relationship between adjacent spatial locations, and the medium response information with spatial correlation is combined to form underground medium response distribution information covering the detection area.

[0009] Preferably, the correlation analysis of electromagnetic propagation processes corresponding to different spatial locations includes: Based on the response distribution information of the underground medium, the echo propagation time, amplitude and phase change information of adjacent detection locations are obtained; the propagation connection relationship between adjacent spatial locations is determined according to whether the echo changes between adjacent locations satisfy the continuous propagation relationship; the propagation locations that satisfy the connection relationship are associated according to the order of the detection locations to form a continuous electromagnetic propagation process.

[0010] Preferably, the set of generated echo propagation paths includes: Based on the propagation connection relationship in the continuous electromagnetic propagation process, multiple continuous propagation positions are combined to form a single electromagnetic propagation path; multiple electromagnetic propagation paths formed in the detection area are spatially classified and associated and stored according to the path start position, propagation direction and end position to generate an echo propagation path set.

[0011] Preferably, the method for generating the set of defect candidate regions includes: The spatial position change information corresponding to each propagation path in the echo propagation path set is obtained, and the spatial position difference between adjacent propagation paths is used as the basis for path offset analysis. Based on the offset change relationship of each propagation path at continuous detection positions, the spatial region where the offset exists is determined, and the region that meets the continuous offset condition is determined as the electromagnetic propagation disturbance region, generating a set of defect candidate regions.

[0012] Preferably, the method for forming defect spatial morphology description information includes: Based on the set of candidate defect regions, information on the change of echo propagation paths within each candidate region is obtained; the location of the defect boundary is determined according to the continuous relationship of the propagation path change trend at different locations within the candidate region; the spatial range of the defect and the boundary extension relationship are determined by associating the spatial connection relationships between the boundary locations, thus forming information on the spatial morphology of the defect.

[0013] Preferably, the method for verifying the consistency relationship between different echo propagation paths includes: Several echo propagation paths corresponding to the spatial morphology description information of the defect are obtained, and the spatial location, boundary relationship and propagation change trend of each propagation path are compared. When the spatial range and boundary change relationship of multiple propagation paths meet the consistency condition, the spatial morphology description information of the defect is determined to have passed the consistency verification.

[0014] Preferably, the method for generating underground infrastructure defect detection results includes: Based on the spatial morphology description information of defects that has passed consistency verification, the spatial location, range information and propagation path correlation of the defects are integrated; defect identification information is established according to the integrated defect spatial characteristics, and the defect location, defect range and defect morphology information are correlated and output to generate the defect detection results of underground infrastructure.

[0015] A ground-penetrating radar intelligent detection system for defects in underground infrastructure includes: The underground medium response module is used to acquire electromagnetic echo signals generated by ground penetrating radar detection, establish a mapping relationship between spatial location and medium response based on radar trajectory, echo propagation time and medium reflection response relationship, and generate underground medium response distribution information. The echo path reconstruction module is used to perform correlation analysis on the electromagnetic propagation process corresponding to different spatial locations based on the response distribution information of the underground medium and the continuous change relationship of the echo between adjacent detection locations, and generate a set of echo propagation paths. The defect disturbance analysis module is used to analyze the spatial offset relationship between echo propagation paths based on the set of echo propagation paths, determine the electromagnetic propagation disturbance area by combining the propagation change law corresponding to the continuous detection position, and generate a set of defect candidate areas. The defect morphology analysis module is used to analyze the defect boundary change trend based on the defect candidate region set and the echo propagation path change relationship within the candidate region, determine the defect spatial range and boundary correlation, and form defect spatial morphology description information. The defect result verification module is used to verify the consistency relationship between different echo propagation paths by combining defect spatial morphology description information, and generate defect detection results for underground infrastructure.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention establishes a mapping relationship between the detection location and the response of the underground medium, and continuously correlates the echo information of adjacent detection locations. This allows the distribution information of the underground medium response to continuously reflect the state of the underground structure, avoiding the information fragmentation problem caused by isolated single-point analysis. Secondly, by performing overall correlation analysis on multiple electromagnetic propagation paths and combining the propagation change law of continuous detection locations, the electromagnetic propagation disturbance area is determined, reducing misjudgments caused by single-point noise or accidental disturbances. At the same time, it can identify defects whose amplitude changes are not obvious at a single point but persist along the propagation path. Next, the defect boundary is determined by the overall analysis of the changing trends of multiple propagation paths in the candidate area, making the description of the defect spatial morphology more complete and accurate. Finally, by verifying the consistency of multiple echo propagation paths, only the defect spatial morphology that passes the verification is determined as the final detection result, improving the reliability of the defect detection results and reducing the misjudgment rate. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the intelligent detection method for defects in underground infrastructure using ground-penetrating radar according to the present invention. Figure 2 This is a schematic diagram of the structure of a ground-penetrating radar intelligent detection system for underground infrastructure defects according to the present invention. Detailed Implementation

[0018] 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. Example

[0019] Please see Figure 1 As shown in the figure, this embodiment provides an intelligent detection method for defects in underground infrastructure using ground penetrating radar, which specifically includes the following steps: S1. Acquire electromagnetic echo signals generated by ground-penetrating radar detection, and establish a mapping relationship between spatial location and medium response based on radar trajectory, echo propagation time, and medium reflection response relationship to generate underground medium response distribution information; S2. Based on the response distribution information of the underground medium, and according to the continuous change relationship of the echo between adjacent detection locations, the electromagnetic propagation process corresponding to different spatial locations is correlated and a set of echo propagation paths is generated. S3. Based on the set of echo propagation paths, analyze the spatial offset relationship between the echo propagation paths, and combine the propagation change law corresponding to the continuous detection position to determine the electromagnetic propagation disturbance area and generate a set of defect candidate areas. S4. Based on the set of defect candidate regions, analyze the trend of defect boundary changes according to the change relationship of echo propagation path within the candidate regions, determine the spatial range and boundary correlation of defects, and form defect spatial morphology description information. S5. Combining the spatial morphology description information of defects, verify the consistency relationship between different echo propagation paths and generate the defect detection results of underground infrastructure.

[0020] Methods for establishing the mapping relationship between spatial location and medium response include: The spatial coordinate information corresponding to each detection location during the movement of the ground penetrating radar is obtained, and the spatial coordinate information is correlated with the electromagnetic echo signal in time; the correspondence between the underground response location and the detection location is determined based on the propagation time of the electromagnetic echo signal. In this embodiment, it should be noted that as the ground-penetrating radar moves along the detection path, a positioning device records the spatial coordinates of the radar antenna in real time. These spatial coordinates include the horizontal position coordinates along the detection direction and the lateral offset coordinates, uniquely identifying the radar's position within the detection area. Simultaneously, the ground-penetrating radar antenna continuously transmits electromagnetic waves into the ground and receives corresponding echo signals. Each transmission and reception process corresponds to a timestamp, thereby temporally associating the spatial coordinates with the corresponding electromagnetic echo signal, ensuring that each electromagnetic echo signal corresponds to a specific spatial location on the detection path.

[0021] Furthermore, the correspondence between the underground response location and the detection location is determined based on the propagation time of the electromagnetic echo signal. Specifically, electromagnetic waves propagate at a certain speed in the underground medium. Based on the time difference between the transmission and reception times, combined with the electromagnetic wave propagation speed in the underground medium, the vertical depth of the reflecting interface relative to the detection location can be calculated, thereby determining the underground response location corresponding to the echo signal. For example, if an electromagnetic wave is emitted from a detection location and a significant reflected echo is received after 15 nanoseconds, and the electromagnetic wave propagation speed in the underground medium is 0.1 m / nanosecond, then the reflecting interface can be calculated to be located approximately 0.75 meters below the detection location. Therefore, it is determined that there is a corresponding underground response location at a depth of 0.75 meters for that detection location.

[0022] The medium response state at different locations is determined by combining the amplitude changes and reflection characteristics during the echo return process; the response locations are arranged according to the detection location sequence to establish a mapping relationship between the detection spatial location and the underground medium response.

[0023] It should be noted that different underground media exhibit varying reflection characteristics of electromagnetic waves. The media response state can be determined based on the echo amplitude, polarity changes, and waveform characteristics. For example, when a dense soil layer exists underground, the echo amplitude is relatively stable with minimal variation; however, when there are abrupt media interfaces such as cavities or pipes underground, the echo amplitude will show a significant increase or polarity reversal. Based on these amplitude variations and reflection characteristics, the system determines the media response state at each detection location at the corresponding depth, such as whether the response at that location is a normal soil layer response, a dense structure response, or a media abrupt change response.

[0024] Furthermore, following the order in which the ground-penetrating radar moves along the detection path, the response positions corresponding to each detection location are arranged. The coordinates of each detection location are then linked and recorded with the corresponding depth response information and media response status in a unified data format. This establishes a mapping relationship between the detection spatial location and the underground media response, enabling the system to quickly find the corresponding underground media response based on the coordinates of any detection location. For example, if the ground-penetrating radar moves along a 20-meter-long detection line at 0.1-meter intervals, forming 200 detection locations, the system sequentially links and records the coordinates, depth response position, and media response status for each detection location, creating a mapping table between the detection spatial location and the underground media response.

[0025] Methods for generating subsurface medium response distribution information include: Based on the mapping relationship between spatial location and medium response, the medium response information corresponding to different detection locations is associated and arranged according to underground spatial coordinates; the continuous distribution state of underground structure is determined according to the medium response change relationship between adjacent spatial locations, and the medium response information with spatial correlation is combined to form underground medium response distribution information covering the detection area.

[0026] In this embodiment, it should be noted that after obtaining the medium response state corresponding to a single detection location, the underground medium response module further arranges the medium response information corresponding to all detection locations within the detection area according to their spatial coordinates, forming a two-dimensional or three-dimensional medium response grid covering the entire detection area. Specifically, using the detection path direction as the horizontal coordinate and the depth direction as the vertical coordinate, the medium response state corresponding to each detection location at different depths is filled into the corresponding grid position, so that the underground medium response information can be organized according to spatial distribution relationships, rather than being stored in isolation at each detection location.

[0027] Furthermore, the continuous distribution state of the underground structure is determined based on the relationship between changes in the medium response between adjacent spatial locations. Specifically, the medium response states at the same depth are compared between adjacent detection locations. When the medium response states at adjacent locations remain consistent or show a gradual change trend, the underground structure in that area is determined to be continuously distributed. When the medium response states at adjacent locations change abruptly, the location is marked as potentially indicating a structural change. For example, if 10 adjacent detection locations within a certain detection area all show a dense soil layer response at a depth of 0.5 meters, the underground structure within that depth range is determined to be continuously distributed. However, if the response state at the 11th detection location suddenly changes to a strong reflective characteristic, that location is marked as a point of change in the underground structure.

[0028] It should be noted that the system combines spatially correlated media response information, that is, it incorporates media response information within a continuously distributed area and information on marked structural change points into a unified data structure, forming underground media response distribution information covering the entire detection area, providing a data foundation for subsequent echo propagation path reconstruction. For example, for the aforementioned detection line with a length of 20 meters and a detection interval of 0.1 meters, the system ultimately generates a grid of underground media response distribution information containing 200 detection locations, each corresponding to multiple depth layers of media response status.

[0029] Methods for correlation analysis of electromagnetic propagation processes at different spatial locations include: Based on the response distribution information of the underground medium, the echo propagation time, amplitude and phase change information of adjacent detection locations are obtained; the propagation connection relationship between adjacent spatial locations is determined according to whether the echo changes between adjacent locations satisfy the continuous propagation relationship; the propagation locations that satisfy the connection relationship are associated according to the order of the detection locations to form a continuous electromagnetic propagation process.

[0030] In this embodiment, it should be noted that after obtaining the underground medium response distribution information, the echo path reconstruction module further performs correlation analysis on the echo information between adjacent detection locations. Specifically, it extracts the echo propagation time, amplitude, and phase information corresponding to two adjacent detection locations within a similar depth range, and compares the three comprehensively. When the difference in echo propagation time between adjacent detection locations is small, the amplitude change is gradual, and the phase change is continuous, it is determined that the echo signals between the adjacent locations originate from continuous propagation through the same reflecting interface, thereby establishing a propagation connection relationship between adjacent spatial locations. When the echo propagation time, amplitude, or phase between adjacent detection locations shows a significant jump, exceeding a preset range, it is determined that the adjacent locations do not satisfy a continuous propagation relationship, and no propagation connection relationship is established.

[0031] For example, the echo propagation time at detection location A at a depth of 0.75 meters is 15 nanoseconds, the amplitude is 120, and the phase is positive; the echo propagation time at the adjacent detection location B at the same depth is 15.2 nanoseconds, the amplitude is 125, and the phase is also positive. The variation of the three parameters is within the preset range, so it is determined that there is a propagation connection between detection location A and detection location B at this depth.

[0032] Furthermore, following the sequential arrangement of the ground-penetrating radar detection locations, all propagation locations satisfying the connectivity relationship are sequentially associated to form a continuous electromagnetic propagation process extending along the detection path. It should be noted that multiple reflective interfaces may exist simultaneously within the same detection area. Therefore, the system needs to perform the above association analysis process separately for different depth layers, forming continuous electromagnetic propagation processes corresponding to different reflective interfaces to avoid confusion between echo information from different depth layers. For example, for the aforementioned detection line, the system forms a continuous electromagnetic propagation process at a depth of 0.75 meters, covering detection positions 1 to 80, and simultaneously forms another continuous electromagnetic propagation process at a depth of 1.2 meters, covering detection positions 30 to 150. These two propagation processes correspond to different underground reflective interfaces.

[0033] Methods for generating echo propagation path sets include: Based on the propagation connection relationship in the continuous electromagnetic propagation process, multiple continuous propagation positions are combined to form a single electromagnetic propagation path; multiple electromagnetic propagation paths formed in the detection area are spatially classified and associated and stored according to the path start position, propagation direction and end position to generate an echo propagation path set.

[0034] It should be noted that the echo path reconstruction module combines the continuous electromagnetic propagation process formed in the aforementioned steps according to the detection position range it covers. It integrates a series of continuous detection positions and their medium response information corresponding to the same reflecting interface into a complete electromagnetic propagation path. This path records the starting position, propagation direction, and ending position of the reflecting interface along the detection direction, as well as the depth and response state of each point on the path. For example, the continuous electromagnetic propagation process covering detection positions 1 to 80 at a depth of 0.75 meters is combined into an electromagnetic propagation path, recording that the path starts at detection position 1, ends at detection position 80, extends along the detection direction, and has an average depth of approximately 0.75 meters.

[0035] Furthermore, for the multiple electromagnetic propagation paths formed within the entire detection area, the system spatially categorizes and associates them according to their starting position, propagation direction, and ending position, forming a unified set of echo propagation paths. For example, if a detection area contains six electromagnetic propagation paths, each corresponding to a reflection interface at a different depth or in a different section, the system records the path number, starting detection position, ending detection position, propagation direction, and corresponding medium response information for these six paths in a unified format, organizing them into an echo propagation path set to provide a data foundation for subsequent defect candidate area identification.

[0036] Methods for generating a set of defect candidate regions include: The spatial position change information corresponding to each propagation path in the echo propagation path set is obtained, and the spatial position difference between adjacent propagation paths is used as the basis for path offset analysis. Based on the offset change relationship of each propagation path at continuous detection positions, the spatial region where the offset exists is determined, and the region that meets the continuous offset condition is determined as the electromagnetic propagation disturbance region, generating a set of defect candidate regions.

[0037] In this embodiment, it should be noted that the electromagnetic propagation path of a normal underground structure typically maintains a relatively stable depth distribution along the detection direction, meaning that the depth values ​​at each detection location along the path vary little. However, when defects such as cavities, voids, or breaks exist underground, the electromagnetic wave propagation velocity or the position of the reflection interface will change locally, causing the corresponding electromagnetic propagation path to exhibit depth shifts or path curvature in the defect area. The defect disturbance analysis module first obtains the spatial position change information along the detection direction for each propagation path in the echo propagation path set, i.e., the depth value sequence corresponding to each detection location along that path.

[0038] Furthermore, the spatial positions of adjacent propagation paths at the same detection location are compared, and the positional difference between them is calculated. This difference is used as the basis for path offset analysis. For example, if path one corresponds to a depth of 0.75 meters at detection location 50, and path two corresponds to a depth of 0.78 meters at the same detection location, then the calculated offset between the two paths at that location is 0.03 meters. The system calculates the offset between adjacent paths point by point along the detection direction, forming an offset change sequence.

[0039] It should be noted that the spatial region where the offset persists is determined based on the offset variation relationship of each propagation path at consecutive detection positions. Specifically, when the offset exceeds a preset offset threshold at multiple consecutive detection positions, the propagation path in that region is determined to have a persistent offset phenomenon and is marked as an electromagnetic propagation disturbance region. If the offset only occasionally exceeds the threshold at a single detection position and then returns to normal, that position is not identified as a disturbance region to avoid misjudging occasional noise as a defect. For example, if the offset threshold is set to 0.02 meters, and the offset between path one and path two exceeds this threshold at 16 consecutive detection positions between detection position 60 and detection position 75, then the spatial region corresponding to detection positions 60 to 75 is determined to be an electromagnetic propagation disturbance region.

[0040] The system summarizes all electromagnetic propagation disturbance regions that meet the continuous offset condition to form a set of defect candidate regions. Each candidate region records its corresponding start detection position, end detection position, propagation path number involved, and offset change, providing basic data for subsequent defect boundary analysis.

[0041] Methods for generating spatial morphological description information of defects include: Based on the set of candidate defect regions, information on the change of echo propagation paths within each candidate region is obtained; the location of the defect boundary is determined according to the continuous relationship of the propagation path change trend at different locations within the candidate region; the spatial range of the defect and the boundary extension relationship are determined by associating the spatial connection relationships between the boundary locations, thus forming information on the spatial morphology of the defect.

[0042] In this embodiment, it should be noted that the defect morphology analysis module further acquires the change information of all echo propagation paths involved in each candidate region in the defect candidate region set at each detection position, including the change amplitude, change rate, and change direction of the path depth. By analyzing the change trend of the propagation path within the candidate region, the positions where the path change trend changes from stable to offset and from offset back to stable are determined, and these change inflection points are determined as the boundary positions corresponding to the defect. For example, in the candidate region corresponding to detection positions 60 to 75, the path offset begins to increase significantly at detection position 60, reaches a maximum offset of 0.06 meters at detection position 67, and then gradually decreases, recovering to below the threshold at detection position 75. Therefore, detection positions 60 and 75 are determined as the two boundary positions of the defect along the detection direction.

[0043] Furthermore, by associating the spatial connections between boundary positions, the spatial range of the defect along the detection direction is determined, specifically the detection distance range between boundary positions 60 and 75. Simultaneously, combined with the depth offset information corresponding to the candidate region, the range of the defect in the depth direction is determined. Additionally, it should be noted that when the same defect has corresponding candidate regions on multiple transverse detection lines, the system further associates the boundary positions determined on different detection lines according to transverse spatial coordinates to determine the boundary extension relationship of the defect in the transverse direction. This integrates the boundary information of the defect along the detection direction, depth direction, and transverse direction, forming a defect spatial morphology description that can completely describe the three-dimensional spatial form of the defect.

[0044] For example, a candidate defect region is defined on detection line 1 with boundary positions 60 to 75, corresponding to a depth range of 0.75 meters to 0.81 meters; on the adjacent detection line 2, the boundary positions are defined as detection positions 58 to 77, corresponding to a depth range of 0.74 meters to 0.82 meters. The system horizontally correlates the boundary information corresponding to the two detection lines to determine that the defect is approximately 1.5 meters long along the detection direction, approximately 0.4 meters wide along the lateral direction, and has a depth range of 0.74 meters to 0.82 meters, thus forming a complete description of the defect's spatial morphology.

[0045] Methods for verifying the consistency relationship between different echo propagation paths include: Several echo propagation paths corresponding to the spatial morphology description information of the defect are obtained, and the spatial location, boundary relationship and propagation change trend of each propagation path are compared. When the spatial range and boundary change relationship of multiple propagation paths meet the consistency condition, the spatial morphology description information of the defect is determined to have passed the consistency verification.

[0046] It should be noted that the defect result verification module acquires all echo propagation paths involved in forming the defect spatial morphology description information in the aforementioned steps, including multiple paths along the detection direction and multiple paths along the lateral direction. It then compares the defect spatial location, boundary relationships, and propagation trends determined by each propagation path. When the differences between the defect start position, end position, depth range, and boundary extension direction determined by multiple propagation paths are all within a preset consistency range, these propagation paths are deemed to meet the consistency condition, and the defect spatial morphology description information is determined to pass the consistency verification. When there are significant differences between the defect location, range, or boundary relationships determined by different propagation paths, exceeding the preset consistency range, the defect spatial morphology description information is determined to fail the consistency verification. The system may mark the candidate area as suspected noise interference or re-analyze the boundary, rather than directly outputting it as the final defect result.

[0047] For example, for the aforementioned defect candidate area, the starting detection positions of detection line 1, detection line 2, and detection line 3 (which is used for supplementary detection along the lateral direction) are independently determined to be 60, 58, and 59, and the ending detection positions are 75, 77, and 76. The differences between the three are all within the preset allowable range of two detection positions, and the depth range determined by the three detection lines is between 0.74 meters and 0.82 meters. The differences are also within the allowable range. Therefore, the system determines that the spatial morphology description information of the defect passes the consistency verification, confirming that there is indeed a defect in the area, rather than a misjudgment caused by accidental noise.

[0048] Methods for generating defect detection results for underground infrastructure include: Based on the spatial morphology description information of defects that has passed consistency verification, the spatial location, range information and propagation path correlation of the defects are integrated; defect identification information is established according to the integrated defect spatial characteristics, and the defect location, defect range and defect morphology information are correlated and output to generate the defect detection results of underground infrastructure.

[0049] It should be noted that after completing consistency verification, the defect result verification module integrates the spatial location information, the range information along the detection direction and lateral direction, and the correlation relationships of multiple echo propagation paths on which the defect judgment is based, for the verified defect spatial morphology description information, forming complete defect feature data. Subsequently, based on the integrated defect spatial features, the system establishes a unique defect identification information for the defect, used to distinguish and manage multiple defects identified within the detection area. Finally, the system outputs the defect location, defect range, and defect morphology information in a unified format, forming the underground infrastructure defect detection results for subsequent engineering assessment or maintenance decisions.

[0050] For example, for the aforementioned defect area that passed the consistency verification, the system establishes a defect identifier as D001 and outputs the following detection results: the defect type is suspected underground cavity; the defect location is from the detection start coordinates (6.0 meters, 0 meters) to the end coordinates (7.5 meters, 0.4 meters); the defect depth ranges from 0.74 meters to 0.82 meters; the defect is approximately 1.5 meters long along the detection direction, approximately 0.4 meters wide laterally, and approximately 0.08 meters deep. This information together constitutes the complete detection result for the underground infrastructure defect, realizing a complete detection process from acquiring electromagnetic echo signals to outputting the final defect spatial morphology. Example

[0051] Please see Figure 2 As shown, for parts not described in detail in this embodiment, please refer to the description in Embodiment 1. A ground-penetrating radar intelligent detection system for underground infrastructure defects is provided, including: The underground medium response module is used to acquire electromagnetic echo signals generated by ground penetrating radar detection, establish a mapping relationship between spatial location and medium response based on radar trajectory, echo propagation time and medium reflection response relationship, and generate underground medium response distribution information. The echo path reconstruction module is used to perform correlation analysis on the electromagnetic propagation process corresponding to different spatial locations based on the response distribution information of the underground medium and the continuous change relationship of the echo between adjacent detection locations, and generate a set of echo propagation paths. The defect disturbance analysis module is used to analyze the spatial offset relationship between echo propagation paths based on the set of echo propagation paths, determine the electromagnetic propagation disturbance area by combining the propagation change law corresponding to the continuous detection position, and generate a set of defect candidate areas. The defect morphology analysis module is used to analyze the defect boundary change trend based on the defect candidate region set and the echo propagation path change relationship within the candidate region, determine the defect spatial range and boundary correlation, and form defect spatial morphology description information. The defect result verification module is used to verify the consistency relationship between different echo propagation paths by combining defect spatial morphology description information, and generate defect detection results for underground infrastructure.

[0052] The five modules are connected via wired and / or wireless means to achieve data transmission between modules. Each module sequentially receives the output results of the previous module as the basis for its own processing, forming a complete processing link from electromagnetic echo signal acquisition to the final defect detection result output. Among them, the underground medium response module implements the specific processing procedure of step S1 in Embodiment 1, including determining the detection location coordinates based on the radar motion trajectory, determining the underground response location based on the echo propagation time, determining the medium response state based on the amplitude and reflection characteristics, and associating and combining the medium response information corresponding to each detection location according to spatial coordinates to generate underground medium response distribution information covering the detection area, providing a data foundation for the echo path reconstruction module.

[0053] The echo path reconstruction module implements the specific processing procedure of step S2 in embodiment one. By obtaining the echo propagation time, amplitude and phase information of adjacent detection positions, it determines whether the adjacent positions satisfy the continuous propagation relationship, and associates and combines the detection positions that satisfy the connection relationship in the order of arrangement to form a continuous electromagnetic propagation process, and then organizes and forms an echo propagation path set, which is then transmitted to the defect disturbance analysis module.

[0054] The defect disturbance analysis module implements the specific processing procedure of step S3 in embodiment one. By calculating the spatial position offset between adjacent propagation paths, it identifies the region where the offset continuously exceeds the preset threshold at consecutive detection positions. This region is determined as the electromagnetic propagation disturbance region and is summarized to form a defect candidate region set, which is then transmitted to the defect morphology analysis module.

[0055] The defect morphology analysis module implements the specific processing procedure of step S4 in embodiment one. By analyzing the change trend of the propagation path inside the candidate region from stable to offset and then back to stable, it determines the boundary position of the defect along the detection direction, lateral direction and depth direction, and integrates the boundary information in multiple directions to form defect spatial morphology description information that can completely describe the three-dimensional spatial morphology of the defect, and transmits it to the defect result verification module.

[0056] The defect result verification module implements the specific processing procedure of step S5 in Example 1. By comparing the consistency between the defect location, range and boundary relationship determined by multiple independent echo propagation paths, only the defect spatial morphology description information that meets the consistency condition is confirmed as a valid defect. The verified defect information is integrated to establish a defect identifier and associate and output the defect location, defect range and defect morphology information, and finally generate the underground infrastructure defect detection result.

[0057] Through the collaborative processing of the above modules, a complete closed-loop processing process for electromagnetic echo signals is realized, from initial acquisition, spatial location mapping, propagation path reconstruction, defect area identification, defect boundary analysis to final result verification output. This enables ground-penetrating radar detection results to more accurately and completely reflect the actual defect status of underground infrastructure. At the same time, the multi-path consistency verification mechanism effectively reduces the misjudgment rate of detection results, improving the reliability and practicality of intelligent detection of underground infrastructure defects. Example

[0058] This embodiment discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the operation mode of the intelligent detection method for underground infrastructure defects using ground penetrating radar provided above.

[0059] Since the electronic device described in this embodiment is the one used in implementing the intelligent detection method and system for underground infrastructure defects based on ground penetrating radar in this application embodiment, those skilled in the art can understand the specific implementation methods and various variations of the electronic device in this embodiment based on the intelligent detection method and system for underground infrastructure defects based on ground penetrating radar described in this application embodiment. Therefore, how the electronic device implements the method in this application embodiment will not be described in detail here. As long as those skilled in the art implement the electronic device used in the intelligent detection method and system for underground infrastructure defects based on ground penetrating radar in this application embodiment, it falls within the scope of protection of this application.

[0060] It should be noted that all formulas in this manual are calculated by removing dimensions and taking their numerical values. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters and thresholds in the formulas are set by those skilled in the art according to the actual situation.

[0061] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for intelligent detection of defects in underground infrastructure using ground-penetrating radar, characterized in that, include: S1. Acquire electromagnetic echo signals generated by ground-penetrating radar detection, and establish a mapping relationship between spatial location and medium response based on radar trajectory, echo propagation time, and medium reflection response relationship to generate underground medium response distribution information; S2. Based on the response distribution information of the underground medium, and according to the continuous change relationship of the echo between adjacent detection locations, the electromagnetic propagation process corresponding to different spatial locations is correlated and a set of echo propagation paths is generated. S3. Based on the set of echo propagation paths, analyze the spatial offset relationship between the echo propagation paths, and combine the propagation change law corresponding to the continuous detection position to determine the electromagnetic propagation disturbance area and generate a set of defect candidate areas. S4. Based on the set of defect candidate regions, analyze the trend of defect boundary changes according to the change relationship of echo propagation path within the candidate regions, determine the spatial range and boundary correlation of defects, and form defect spatial morphology description information. S5. Combining the spatial morphology description information of defects, verify the consistency relationship between different echo propagation paths and generate the defect detection results of underground infrastructure.

2. The intelligent detection method for defects in underground infrastructure using ground-penetrating radar according to claim 1, characterized in that, The establishment of the mapping relationship between spatial location and medium response includes: The spatial coordinate information corresponding to each detection location during the movement of the ground penetrating radar is obtained, and the spatial coordinate information is correlated with the electromagnetic echo signal in time; the correspondence between the underground response location and the detection location is determined based on the propagation time of the electromagnetic echo signal. The medium response state at different locations is determined by combining the amplitude changes and reflection characteristics during the echo return process; the response locations are arranged according to the detection location sequence to establish a mapping relationship between the detection spatial location and the underground medium response.

3. The intelligent detection method for defects in underground infrastructure using ground-penetrating radar according to claim 2, characterized in that, The generated subsurface medium response distribution information includes: Based on the mapping relationship between spatial location and medium response, the medium response information corresponding to different detection locations is associated and arranged according to underground spatial coordinates; the continuous distribution state of underground structure is determined according to the medium response change relationship between adjacent spatial locations, and the medium response information with spatial correlation is combined to form underground medium response distribution information covering the detection area.

4. The intelligent detection method for defects in underground infrastructure using ground-penetrating radar according to claim 3, characterized in that, The correlation analysis of electromagnetic propagation processes at different spatial locations includes: Based on the response distribution information of the underground medium, the echo propagation time, amplitude and phase change information of adjacent detection locations are obtained; the propagation connection relationship between adjacent spatial locations is determined according to whether the echo changes between adjacent locations satisfy the continuous propagation relationship; the propagation locations that satisfy the connection relationship are associated according to the order of the detection locations to form a continuous electromagnetic propagation process.

5. The intelligent detection method for defects in underground infrastructure using ground-penetrating radar according to claim 4, characterized in that, The set of generated echo propagation paths includes: Based on the propagation connection relationship in the continuous electromagnetic propagation process, multiple continuous propagation positions are combined to form a single electromagnetic propagation path; multiple electromagnetic propagation paths formed in the detection area are spatially classified and associated and stored according to the path start position, propagation direction and end position to generate an echo propagation path set.

6. The intelligent detection method for defects in underground infrastructure using ground-penetrating radar according to claim 5, characterized in that, The method for generating the set of defect candidate regions includes: The spatial position change information corresponding to each propagation path in the echo propagation path set is obtained, and the spatial position difference between adjacent propagation paths is used as the basis for path offset analysis. Based on the offset change relationship of each propagation path at continuous detection positions, the spatial region where the offset exists is determined, and the region that meets the continuous offset condition is determined as the electromagnetic propagation disturbance region, generating a set of defect candidate regions.

7. The intelligent detection method for defects in underground infrastructure using ground-penetrating radar according to claim 6, characterized in that, The method for forming defect spatial morphology description information includes: Based on the set of candidate defect regions, information on the change of echo propagation paths within each candidate region is obtained; the location of the defect boundary is determined according to the continuous relationship of the propagation path change trend at different locations within the candidate region; the spatial range of the defect and the boundary extension relationship are determined by associating the spatial connection relationships between the boundary locations, thus forming information on the spatial morphology of the defect.

8. The intelligent detection method for defects in underground infrastructure using ground-penetrating radar according to claim 7, characterized in that, The method for verifying the consistency relationship between different echo propagation paths includes: Several echo propagation paths corresponding to the spatial morphology description information of the defect are obtained, and the spatial location, boundary relationship and propagation change trend of each propagation path are compared. When the spatial range and boundary change relationship of multiple propagation paths meet the consistency condition, the spatial morphology description information of the defect is determined to have passed the consistency verification.

9. The intelligent detection method for defects in underground infrastructure using ground-penetrating radar according to claim 8, characterized in that, The method for generating underground infrastructure defect detection results includes: Based on the spatial morphology description information of defects that has passed consistency verification, the spatial location, range information and propagation path correlation of the defects are integrated; defect identification information is established according to the integrated defect spatial characteristics, and the defect location, defect range and defect morphology information are correlated and output to generate the defect detection results of underground infrastructure.

10. A ground-penetrating radar (GPR) intelligent detection system for underground infrastructure defects, used to implement the GPR intelligent detection method for underground infrastructure defects as described in any one of claims 1 to 9, characterized in that, include: The underground medium response module is used to acquire electromagnetic echo signals generated by ground penetrating radar detection, establish a mapping relationship between spatial location and medium response based on radar trajectory, echo propagation time and medium reflection response relationship, and generate underground medium response distribution information. The echo path reconstruction module is used to perform correlation analysis on the electromagnetic propagation process corresponding to different spatial locations based on the response distribution information of the underground medium and the continuous change relationship of the echo between adjacent detection locations, and generate a set of echo propagation paths. The defect disturbance analysis module is used to analyze the spatial offset relationship between echo propagation paths based on the set of echo propagation paths, determine the electromagnetic propagation disturbance area by combining the propagation change law corresponding to the continuous detection position, and generate a set of defect candidate areas. The defect morphology analysis module is used to analyze the defect boundary change trend based on the defect candidate region set and the echo propagation path change relationship within the candidate region, determine the defect spatial range and boundary correlation, and form defect spatial morphology description information. The defect result verification module is used to verify the consistency relationship between different echo propagation paths by combining defect spatial morphology description information, and generate defect detection results for underground infrastructure.

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