Vehicle-mounted three-dimensional ground penetrating radar system based on induction type distance triggering acquisition

Abstract

The utility model provides a vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance triggering acquisition, which comprises a mobile damping bracket, a Doppler distance triggering device and a three-dimensional ground penetrating radar device, and is characterized in that the Doppler distance triggering device and the three-dimensional ground penetrating radar device are both mounted on the mobile damping bracket; the movable damping support is used for being connected with a vehicle. The Doppler distance triggering device is used for emitting electromagnetic pulses in real time to scan the ground, calculating the relative movement speed of the three-dimensional ground penetrating radar device and the ground according to the frequency difference between the echo frequency and the emission frequency of the electromagnetic pulses, and calculating the corresponding movement distance according to the relative movement speed. When the corresponding moving distance reaches a preset threshold value, a trigger signal is generated; and the three-dimensional ground penetrating radar device is connected with the Doppler distance triggering device and is used for performing underground data acquisition when receiving the triggering signal.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic detection of road surface conditions, and more specifically, to an in-vehicle three-dimensional ground penetrating radar system based on inductive distance-triggered acquisition. Background Art

[0002] The problem of road collapse is becoming increasingly serious. To solve this problem, a large number of cities use in-vehicle ground penetrating radar to conduct coverage scanning and detection of roads, and discover hidden underground cavities, voids, looseness and other diseases in advance. In order to accurately measure and locate, a distance trigger device is required to perform radar scanning of the ground at fixed intervals. Currently, a distance encoder and a wheel disc are fixed on the wheel, and the moving distance is calculated according to the encoded information generated during rotation and the wheel circumference. There are two problems with this triggering method:

[0003] (1) The complex cable connection between the ground penetrating radar and the wheel needs to be reinstalled every time, which is time-consuming and laborious, and has a large potential safety hazard;

[0004] (2) When the tire pressure changes, the wheel circumference changes, resulting in inaccurate trigger distance.

[0005] Therefore, there is an urgent need to propose an in-vehicle three-dimensional ground penetrating radar system based on inductive distance-triggered acquisition with high trigger accuracy, no need for repeated installation and disassembly, and convenient and efficient field work. Summary of the Utility Model

[0006] The purpose of the embodiments of the present disclosure is to provide an in-vehicle three-dimensional ground penetrating radar system based on inductive distance-triggered acquisition to improve the inductive trigger accuracy and work efficiency.

[0007] In a first aspect, the present utility model provides an in-vehicle three-dimensional ground penetrating radar system based on inductive distance-triggered acquisition, including: a mobile shock-absorbing bracket, a Doppler distance trigger device, and a three-dimensional ground penetrating radar device. The Doppler distance trigger device and the three-dimensional ground penetrating radar device are both installed on the mobile shock-absorbing bracket, and the mobile shock-absorbing bracket is used to connect to a vehicle;

[0008] The Doppler distance trigger device is used to continuously emit electromagnetic pulses to scan the ground, calculate the relative movement speed between the three-dimensional ground penetrating radar device and the ground according to the frequency difference between the echo frequency and the emission frequency of the electromagnetic pulse, calculate the corresponding moving distance according to the relative movement speed, and generate a trigger signal when the corresponding moving distance reaches a preset threshold;

[0009] The three-dimensional ground penetrating radar device is connected to the Doppler distance trigger device and is used to perform underground data acquisition when receiving the trigger signal.

[0010] Further, the installation angle of the Doppler distance trigger device forms a 35° angle with the ground, and the installation height is 600 mm from the ground.

[0011] Further, the vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition further includes a mobile positioning device, which is used to be installed on the vehicle. The mobile positioning device is connected to the Doppler distance trigger device, and is used to sense the real-time position information of the three-dimensional ground penetrating radar device and send the real-time position information of the three-dimensional ground penetrating radar device to the Doppler distance trigger device;

[0012] The Doppler distance trigger device is used to correct the sensed position information of the three-dimensional ground penetrating radar device according to the real-time position information, and generate a trigger signal when the corresponding moving distance reaches a preset threshold and the sensed position information reaches a predetermined position.

[0013] Further, the frequency of the electromagnetic pulse is 24 GHz.

[0014] Further, the trigger signal is a square wave with a frequency of 36 Hz.

[0015] Further, the Doppler distance trigger device is located above the three-dimensional ground penetrating radar device and on one side of the three-dimensional ground penetrating radar device.

[0016] Further, the preset threshold is any value between 1 cm and 10 cm.

[0017] Further, the three-dimensional ground penetrating radar device further includes a main control module. The main control module of the three-dimensional ground penetrating radar device is connected to the Doppler distance trigger device and is used to perform underground data acquisition when receiving the trigger signal.

[0018] For the vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition of the present utility model, the Doppler distance trigger device generates trigger signals at preset threshold intervals, and connects the trigger signals to the three-dimensional ground penetrating radar device, so that the three-dimensional ground penetrating radar device can perform data acquisition at preset threshold intervals, realizing inductive distance trigger acquisition, with high trigger accuracy, uniform data distribution, no need for repeated installation and disassembly, and being convenient and efficient during field work. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 It is a schematic diagram of an in-vehicle three-dimensional ground penetrating radar system based on inductive distance trigger acquisition according to an embodiment of the present disclosure.

[0021] Figure 2 It is a schematic diagram of the installation height and angle of the Doppler distance trigger device in the in-vehicle three-dimensional ground penetrating radar system based on inductive distance trigger acquisition according to an embodiment of the present disclosure. Detailed implementation manners

[0022] The embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

[0023] It should be noted that, without conflict, the following embodiments and the features in the embodiments may be combined with each other; and, based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0024] It should be noted that the following describes various aspects of embodiments within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present disclosure, those skilled in the art should understand that one aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement an apparatus and / or practice a method. In addition, this apparatus and / or practice of this method may be implemented using other structures and / or functionality in addition to one or more of the aspects described herein.

[0025] The inventors of the present application found in the research that: according to the Doppler effect, when the wave source moves relative to the reference object, the echo frequency will change, so that the relative speed or distance from the ground can be obtained. The Doppler distance trigger device made using this principle can generate trigger signals at fixed distance intervals, and connecting the trigger signals to the main control module of the ground penetrating radar can enable the ground penetrating radar to perform data acquisition at the set distance intervals. In the Doppler distance trigger, electromagnetic waves are used as the wave source. When the vehicle moves, there is relative motion between the propagation direction of the electromagnetic waves and the road surface, and the frequency of the electromagnetic waves will change. This change in frequency is detected and can be used to trigger the ground penetrating radar to perform data acquisition. The in-vehicle ground penetrating radar using the Doppler distance trigger device realizes inductive distance trigger acquisition, with high trigger accuracy, uniform data distribution, no need for repeated installation and disassembly, and is convenient and efficient during field work.

[0026] Figure 1 It is a schematic diagram of an in-vehicle three-dimensional ground penetrating radar system based on inductive distance trigger acquisition according to an embodiment of the present disclosure. AsFigure 1 As shown in the figure, the vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition includes:

[0027] A mobile shock-absorbing bracket 10, a Doppler distance trigger device 11, and a three-dimensional ground penetrating radar device 12. The Doppler distance trigger device and the three-dimensional ground penetrating radar device are both installed on the mobile shock-absorbing bracket, and the mobile shock-absorbing bracket is used to connect to a vehicle;

[0028] The Doppler distance trigger device is used to continuously emit electromagnetic pulses to scan the ground in real time. According to the frequency difference between the echo frequency and the emission frequency of the electromagnetic pulses, calculate the relative movement speed between the three-dimensional ground penetrating radar device and the ground, and calculate the corresponding moving distance according to the relative movement speed, and generate a trigger signal when the corresponding moving distance reaches a preset threshold;

[0029] The three-dimensional ground penetrating radar device is connected to the Doppler distance trigger device and is used to perform underground data acquisition when receiving the trigger signal.

[0030] In this embodiment, the vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition generates trigger signals at preset threshold intervals through the Doppler distance trigger device, and connects the trigger signals to the three-dimensional ground penetrating radar device, so that the three-dimensional ground penetrating radar device can perform data acquisition at preset threshold intervals, realizing inductive distance trigger acquisition, with high trigger accuracy, uniform data distribution, no need for repeated installation and disassembly, and being convenient and efficient during field work.

[0031] The above vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition also has at least one of the following multiple preferred embodiments:

[0032] The first one: When the emission direction of the Doppler distance trigger device has a small angle with the road surface, the ranging is more sensitive, but it is easily interfered by other vehicles on the road; when the emission direction of the trigger device has a large angle with the road surface, it is not easily interfered by other vehicles, but may be affected by the radar structure and the housing. After a large number of tests, it is selected that the installation angle is 35° with the horizontal road surface and the installation height is 600 mm. At this time, it has both anti-interference ability and can improve sensitivity.

[0033] Other installation parameters are shown in Table 1:

[0034] Table 1 Installation parameter table of the Doppler distance trigger module

[0035] Serial number Parameter name Parameter value Remarks 1. Installation angle 35° Relative to the ground 2. Installation height 600 mm Relative to the ground 3. Microwave frequency 24 GHz Avoid the working frequency band of the ground penetrating radar 4. Microwave intensity 5 mw Will not interfere with the three-dimensional ground penetrating radar 5. Output frequency 36 Hz / Km / h The faster the speed, the higher the output frequency

[0036] The second method: To compensate for the position deviation between the Doppler ranging device and the vehicle-borne ground penetrating radar, a distance compensation method can be adopted to make the position of the underground target to be measured consistent with the actual position. By adopting this method, it can be ensured that when the ground penetrating radar detects the movement of the vehicle, the ground penetrating radar uniformly collects underground data at a set sampling interval on the traveling route.

[0037] Specifically, the vehicle-borne three-dimensional ground penetrating radar system based on inductive distance trigger acquisition further includes a mobile positioning device, which is used to be installed on the vehicle. The mobile positioning device is connected to the Doppler distance trigger device, and is used to sense the real-time position information of the three-dimensional ground penetrating radar device and send the real-time position information of the three-dimensional ground penetrating radar device to the Doppler distance trigger device;

[0038] The Doppler distance trigger device is used to correct the sensed position information of the three-dimensional ground penetrating radar device according to the real-time position information, and generate a trigger signal when the corresponding moving distance reaches a preset threshold and the sensed position information reaches a predetermined position.

[0039] The third method: The Doppler distance trigger device is located above the three-dimensional ground penetrating radar device and on one side of the three-dimensional ground penetrating radar device. The Doppler distance trigger device is installed at the tail end of the vehicle-borne radar and is not affected by other components of the radar.

[0040] During specific operation, the Doppler radar module continuously emits electromagnetic pulses with a fixed frequency, which can be 24 GHz, to scan the ground. There is a frequency difference between the echo frequency and the transmitted wave frequency. According to the magnitude of the frequency difference, the relative movement speed between the ground penetrating radar and the ground can be accurately calculated. The cumulative moving distance is calculated according to the real-time speed, and a trigger signal is generated when the set trigger interval is reached. The trigger signal is a square wave with a frequency that can be 36 Hz. The ground penetrating radar is triggered by the high level of this square wave signal to collect underground data. When using the Doppler distance trigger method to collect data, after the vehicle-borne radar system moves a fixed distance, a trigger signal is generated, and the vehicle-borne ground penetrating radar collects a set of data according to the trigger signal, and continuously collects data in this way. The distance trigger interval can be set, that is, the preset threshold can be any value between 1 cm and 10 cm. The three-dimensional ground penetrating radar device further includes a main control module, and the main control module of the three-dimensional ground penetrating radar device is connected to the Doppler distance trigger device and is used to collect underground data when receiving the trigger signal.

[0041] In this case, the program code read from the storage medium itself can implement the functions of any one of the above embodiments, so the program code and the storage medium storing the program code constitute a part of the present invention.

[0042] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer via a communication network.

[0043] In addition, it should be clear that not only can the functions of any one of the above embodiments be realized by executing the program code read by a computer, but also by making the operating system or the like operating on the computer execute part or all of the actual operations based on the instructions of the program code.

[0044] In addition, it can be understood that the program code read from the storage medium is written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion unit connected to the computer, and then the CPU or the like installed on the expansion board or the expansion unit executes part and all of the actual operations based on the instructions of the program code, so as to realize the functions of any one of the above embodiments.

[0045] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted according to needs. The system structures described in the above embodiments can be physical structures or logical structures, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities respectively, or some components in multiple independent devices may be jointly implemented.

[0046] In the above embodiments, the hardware units can be implemented mechanically or electrically. For example, a hardware unit can include permanent dedicated circuits or logic (such as a dedicated processor, FPGA, or ASIC) to complete the corresponding operations. The hardware unit can also include programmable logic or circuits (such as a general-purpose processor or other programmable processors), which can be temporarily set by software to complete the corresponding operations. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0047] The above has detailedly shown and described the present invention through the drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above-mentioned multiple embodiments, those skilled in the art can know that more embodiments of the present invention can be obtained by combining the code review means in the above different embodiments, and these embodiments are also within the protection scope of the present invention.

Claims

1. A vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition, characterized in that: include: A mobile shock absorbing bracket, a Doppler distance trigger device and a three-dimensional ground penetrating radar device, wherein the Doppler distance trigger device and the three-dimensional ground penetrating radar device are both installed on the mobile shock absorbing bracket, and the mobile shock absorbing bracket is used to be connected to a vehicle; The Doppler distance trigger device is used to transmit electromagnetic pulses in real time to scan the ground, calculate the relative movement speed of the three-dimensional ground penetrating radar device and the ground according to the frequency difference between the echo frequency and the transmission frequency of the electromagnetic pulse, calculate the corresponding movement distance according to the relative movement speed, and generate a trigger signal when the corresponding movement distance reaches a preset threshold; The three-dimensional ground penetrating radar device is connected to the Doppler distance trigger device and is used for collecting underground data when receiving the trigger signal.

2. The vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition according to claim 1 is characterized in that: The Doppler distance trigger device is installed at an angle of 35° to the ground, and the installation height is 600 mm from the ground.

3. The vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition according to claim 2 is characterized in that: It also includes a mobile positioning device, which is used to be installed on the vehicle and is used to sense the real-time position information of the three-dimensional ground penetrating radar device; the Doppler distance trigger device is used to generate a trigger signal when the corresponding moving distance reaches a preset threshold.

4. The vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition according to claim 3 is characterized in that: The frequency of the electromagnetic pulse is 24 GHz.

5. The vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance trigger acquisition according to claim 4 is characterized in that: The trigger signal is a square wave with a frequency of 36 Hz.

6. The vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance triggering acquisition according to claim 5 is characterized in that: The Doppler distance triggering device is located above the three-dimensional ground penetrating radar device and is located on one side of the three-dimensional ground penetrating radar device.

7. The vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance triggering acquisition according to claim 6 is characterized in that: The preset threshold value is any value between 1 cm and 10 cm.

8. The vehicle-mounted three-dimensional ground penetrating radar system based on inductive distance triggering acquisition according to claim 7 is characterized in that: The three-dimensional ground penetrating radar device also includes a main control module, which is connected to the Doppler distance trigger device and is used to collect underground data when receiving the trigger signal.

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