CN111007572A - Automatic identification method, device and system for road underground cavity - Google Patents
Automatic identification method, device and system for road underground cavity Download PDFInfo
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Abstract
The invention provides an automatic identification method, a device and a system for road underground cavities, wherein the method comprises the following steps: acquiring sensing data of the ground penetrating radar of each area on the road, wherein the sensing data is used for representing the amplitude of a reflected wave based on the ground penetrating radar; calculating the reflected wave energy value of each area according to the sensing data of the ground penetrating radar, and determining a first area of which the reflected wave energy value is greater than a first preset threshold value; calculating a reflection coefficient of a reflected wave in the first region and a Fourier spectrum amplitude of the reflected wave according to the sensing data of the first region, and further calculating a cavity response value of the reflected wave in the first region according to the reflection coefficient of the reflected wave in the first region and the Fourier spectrum amplitude of the reflected wave; and judging the position corresponding to the first area with the cavity response value larger than the second preset threshold value as an underground cavity. The method can improve the accuracy and reliability of the detection of the underground cavities of the road.
Description
Technical Field
The invention relates to the field of road detection, in particular to an automatic identification method, device and system for underground cavities of roads.
Background
Due to vehicle vibration, road surface water seepage, underground pipeline water seepage and other reasons, the urban road frequently has the problems of cracking, deformation, settlement, collapse and the like. By means of a geophysical prospecting method, urban road detection is carried out regularly, and hidden danger of road collapse can be early warned in advance. The ground penetrating radar method is a road detection geophysical prospecting method which can simultaneously meet the requirements of rapidness, no damage and high resolution.
At present, radar road detection data are interpreted manually, and in the face of mass data generated by rapid road detection, the manual method is low in efficiency and cannot submit an interpretation result in time, interpretation accuracy rates of different personnel are greatly different, and reliability is low.
Disclosure of Invention
The invention aims to provide a method, a device and a system for automatically identifying underground road cavities, which aim to solve the problems of low accuracy and low reliability of the manual interpretation of radar road detection data in the prior art.
According to a first aspect of the invention, a method for automatically identifying a road underground cavity comprises the following steps: acquiring sensing data of the ground penetrating radar of each area on the road; the sensing data is used for representing the amplitude of a ground penetrating radar-based reflected wave; calculating the reflected wave energy value of each area according to the sensing data of the ground penetrating radar, and determining a first area of which the reflected wave energy value is greater than a first preset threshold value; calculating a reflection coefficient of a reflected wave in the first region and a Fourier spectrum amplitude of the reflected wave according to the sensing data of the first region, and further calculating a cavity response value of the reflected wave in the first region according to the reflection coefficient of the reflected wave in the first region and the Fourier spectrum amplitude of the reflected wave; and judging the position corresponding to the first area with the cavity response value larger than the second preset threshold value as an underground cavity.
Further, the step of calculating the cavity response value of the reflected wave in the first region according to the reflection coefficient of the reflected wave in the first region and the fourier spectrum amplitude of the reflected wave includes:
and calculating the void response value of the reflected wave in the first area according to the weighted summation of the reflection coefficient of the reflected wave in the first area and the Fourier spectrum amplitude of the reflected wave.
Further, before the step of calculating the hole response value of the reflected wave in the first region according to the weighted summation of the reflection coefficient of the reflected wave in the first region and the fourier spectrum amplitude of the reflected wave, the method comprises:
calculating the reflection coefficient of the reflected wave in each first area, and calculating the average value of the reflection coefficients of the reflected wave in each first area;
determining areas with the reflection coefficients larger than the average value in each first area as second areas, wherein the first areas comprise the second areas;
calculating a cavity response value of the reflected wave in the first area according to the weighted summation of the reflection coefficient of the reflected wave in the first area and the Fourier spectrum amplitude of the reflected wave, and determining the position corresponding to the first area with the cavity response value larger than a second preset threshold value as an underground cavity, wherein the step comprises the following steps:
and calculating the cavity response value of the reflected wave in the second area according to the weighted summation of the reflection coefficient of the reflected wave in the second area and the Fourier spectrum amplitude of the reflected wave, and judging the position corresponding to the second area with the cavity response value being greater than a second preset threshold value as an underground cavity.
Further, the step of acquiring sensing data of the ground penetrating radar is followed by: and filtering the sensing data of the acquired ground penetrating radar.
Further, the reflected wave energy value E is calculated as follows:
wherein N is the number of sampling points, PiThe amplitude of the reflected wave of the ith sampling point is obtained;
the reflection coefficient R is calculated as follows:
wherein, P0The peak value of the direct wave; the fourier spectrum amplitude F (ω) of the reflected wave is calculated as follows:
the hole response value K of the reflected wave is calculated in the following way that K is α R + β F (omega), α is a preset reflection coefficient weight, and β is a preset Fourier spectrum amplitude weight.
According to a second aspect of the present invention, an apparatus for automatically identifying a road underground cavity, comprises: the system comprises an acquisition module, a detection module and a processing module, wherein the acquisition module is used for acquiring sensing data of the ground penetrating radar in each area on a road, and the sensing data is used for representing the amplitude of a reflected wave based on the ground penetrating radar;
the processing module is used for calculating the reflected wave energy value of each area according to the sensing data of the ground penetrating radar and determining a first area with the reflected wave energy value being larger than a first preset threshold value; calculating a reflection coefficient of a reflected wave in the first region and a Fourier spectrum amplitude of the reflected wave according to the sensing data of the first region, and further calculating a cavity response value of the reflected wave in the first region according to the reflection coefficient of the reflected wave in the first region and the Fourier spectrum amplitude of the reflected wave;
and the identification module is used for judging the position corresponding to the first area with the cavity response value larger than a second preset threshold value as an underground cavity.
Further, the processing module is further configured to calculate a void response value of the reflected wave in the first region according to a weighted summation of a reflection coefficient of the reflected wave in the first region and a fourier spectrum amplitude of the reflected wave.
Further, the processing module is further configured to calculate a reflection coefficient of the reflected wave in each first area, and calculate an average value of the reflection coefficients of the reflected waves in each first area; determining an area with a reflection coefficient larger than the average value in each first area as a second area; calculating a hole response value of the reflected wave in the second area according to the weighted summation of the reflection coefficient of the reflected wave in the second area and the Fourier spectrum amplitude of the reflected wave, and judging the position corresponding to the second area with the hole response value larger than a second preset threshold value as an underground hole; wherein the first region comprises a second region.
Further, the automatic identification device for the underground cavity of the road further comprises: the filtering module is used for filtering the sensing data of the acquired ground penetrating radar;
the reflected wave energy value E is calculated as follows:
wherein N is the number of sampling points, PiThe amplitude of the reflected wave of the ith sampling point is obtained;
the reflection coefficient R is calculated as follows:
wherein, P0The peak value of the direct wave; the fourier spectrum amplitude F (ω) of the reflected wave is calculated as follows:
the hole response value K of the reflected wave is calculated in the following way that K is α R + β F (omega), α is a preset reflection coefficient weight, and β is a preset Fourier spectrum amplitude weight.
According to a third aspect of the invention, the system for automatically identifying the road underground cavity comprises the device for automatically identifying the road underground cavity and a ground penetrating radar, wherein the device for automatically identifying the road underground cavity is in communication connection with the ground penetrating radar.
According to the method, the device and the system for automatically identifying the road underground cavity, the first area with the energy accumulated value of the ground penetrating radar sensing data larger than the first preset threshold value is determined, the cavity response value of the first area is obtained through calculation according to the reflection coefficient of the first area and the Fourier spectrum amplitude, the position corresponding to the first area with the cavity response value larger than the second preset threshold value is determined as the underground cavity, and the accuracy and the reliability of radar road detection data interpretation are improved based on the analysis of the difference of the physical properties of the cavity and the surrounding medium at the interface of the underground cavity.
Other characteristic features and advantages of the invention will become apparent from the following description of exemplary embodiments, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to indicate like elements. The drawings in the following description are directed to some, but not all embodiments of the invention. For a person skilled in the art, other figures can be derived from these figures without inventive effort.
FIG. 1 is a flow chart of an embodiment of a method for automatically identifying road underground cavities according to the present invention;
FIG. 2 is a flow chart of another embodiment of the method for automatically identifying underground cavities in roads of the present invention;
FIG. 3 is a schematic diagram of features of the holes identified by the automatic identification method shown in FIG. 2 in a radar image;
FIG. 4 is a schematic diagram of a Fourier magnitude spectrum of a region shown by a dashed box at a hole position in FIG. 3, wherein a peak between an abscissa 200 and an abscissa 400 is a characteristic of the hole in the Fourier spectrum;
the dotted line in FIG. 5 marks the features of the homogeneous medium in the radar image;
FIG. 6 is a Fourier magnitude spectrum at the dashed line of the uniform medium in FIG. 5, wherein the peaks between the abscissa 200 and the abscissa 400 are the characteristic of the non-voids in the Fourier spectrum;
FIG. 7 is a block diagram of an embodiment of an automatic road underground cavity recognition device according to the present invention;
FIG. 8 is a block diagram of an embodiment of an automatic identification system for underground cavities in a road according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The research of the invention finds that: the difference of the physical properties of the cavity and the surrounding medium at the interface of the underground cavity is huge, strong reflection is generated when electromagnetic waves are transmitted, the strong reflection is mainly based on high-frequency components, and a high-frequency peak value can be formed in a frequency spectrum. When the electromagnetic wave is transmitted in a uniform medium, strong reflection cannot be generated, and corresponding high-frequency response cannot exist in a frequency spectrum. The difference between the electromagnetic physical properties of the cavity and the surrounding medium is huge, the reflection coefficient obtained through calculation is larger than that of a normal area, and meanwhile the underground cavity of the road can be accurately identified by combining Fourier frequency spectrum. The following detailed description is made in conjunction with the embodiments illustrated in the various figures.
As shown in FIG. 1, the invention relates to an automatic identification method of road underground cavities, which comprises the following steps:
step 101: acquiring sensing data of the ground penetrating radar of each area on the road, wherein the sensing data is used for representing the amplitude of a reflected wave based on the ground penetrating radar;
step 102: calculating the reflected wave energy value of each area according to the sensing data of the ground penetrating radar, and determining a first area of which the reflected wave energy value is greater than a first preset threshold value; calculating a reflection coefficient of a reflected wave in the first region and a Fourier spectrum amplitude of the reflected wave according to the sensing data of the first region, and further calculating a cavity response value of the reflected wave in the first region according to the reflection coefficient of the reflected wave in the first region and the Fourier spectrum amplitude of the reflected wave;
step 103: and judging the position corresponding to the first area with the cavity response value larger than the second preset threshold value as an underground cavity.
According to the embodiment of the automatic identification method of the road underground cavity, the first area with the energy accumulated value of the ground penetrating radar sensing data larger than the first preset threshold value is determined, the cavity response value of the first area is obtained through calculation according to the reflection coefficient of the first area and the Fourier spectrum amplitude, the position corresponding to the first area with the cavity response value larger than the second preset threshold value is determined as the underground cavity, and the accuracy and the reliability of radar road detection data interpretation are improved based on the analysis of the difference of the physical properties of the cavity and the surrounding medium at the interface of the underground cavity.
As shown in fig. 2, the present invention provides an automatic identification method for underground road cavities, which is a preferred implementation of the embodiment of the method shown in fig. 1, and the explanation of the embodiment shown in fig. 1 can be applied to this embodiment, and the automatic identification method of this embodiment includes:
step 201: carrying out data loading to acquire sensing data of the ground penetrating radar;
step 202: filtering the ground penetrating radar data to remove interference clutter; the specific filtering manner can be various, such as mean filtering, FK filtering (Frequency Wave-number domain filtering), etc.;
step 203: calculating an energy accumulated value for the filtered data; the energy accumulation value can be calculated in various ways, such as summing the squares of the amplitude values of all points of each data track; the reflected wave energy value E is calculated as follows:
wherein N is the number of sampling points, PiThe amplitude of the reflected wave of the ith sampling point is obtained;
step 204: determining a region with an energy value smaller than or equal to a first preset threshold as a non-cavity region; the size of the first preset threshold is set according to actual needs, and is not limited herein;
step 205: determining an area with an energy value larger than a first preset threshold value as a first area, and calculating a reflection coefficient; calculating the average value of the reflection coefficients of all the first areas; the reflection coefficient refers to the ratio of the amplitude value domain direct wave amplitude value of each point of each channel of data; such asThe reflection coefficient R is calculated as follows:
wherein, P0The peak value of the direct wave;
step 206: determining a first area with a reflection coefficient less than or equal to the average value of the reflection coefficients as a non-void area;
step 207: calculating a fourier spectrum of a region (as a second region, the first region includes the second region) in which the reflection coefficient is larger than the average value; for the area (namely a second area) with the reflection coefficient larger than the average value, carrying out weighted summation on the reflection coefficient and the Fourier spectrum amplitude to obtain a void response value; such as: the fourier spectrum magnitude F (ω) of the reflected wave is calculated as follows:
the calculation method of the hole response value K of the reflected wave is as follows, wherein K is α R + β F (omega), α is a preset reflection coefficient weight, β is a preset Fourier spectrum amplitude weight, the specific values of α and β can be set according to actual needs, including but not limited to the fact that the weights of the two are both 1, and unequal weights can be selected according to actual experimental conditions.
Step 208: judging the position of the void response value less than or equal to a second preset threshold value as a non-underground void; the size of the second preset threshold is set according to actual needs, and is not limited herein;
step 209: and judging the position with the cavity response value larger than the second preset threshold value as an underground cavity.
The experimental results of the automatic identification method for the road underground cavity in the embodiment can be seen in fig. 3-6, and it can be seen that the accuracy and reliability of interpretation of radar road detection data can be effectively improved by the automatic identification method for the road underground cavity in the embodiment.
According to the embodiment of the automatic identification method of the road underground cavity, after the first area is determined, the reflection coefficient of each data is calculated for the whole radar data, the size of the reflection coefficient of each data is compared with the average value of the reflection coefficients, the second area with the reflection coefficient larger than the average value of the reflection coefficients is defined, FFT operation is conducted on the data of the second area, the Fourier frequency spectrum of each data is calculated, weighted summation calculation is conducted on the reflection coefficient and the Fourier frequency spectrum, the cavity response value is obtained, the position with the cavity response value larger than the threshold value can be determined as the underground cavity area, and the accuracy and reliability of radar road detection data interpretation can be effectively improved.
As shown in fig. 7, the present invention further provides an automatic identification device for underground road cavities, which is a corresponding device embodiment to the method embodiments shown in fig. 1 and 2, and the explanation of the embodiments shown in fig. 1 to 6 can be applied to this embodiment, and the automatic identification device includes:
an obtaining module 701, configured to obtain sensing data of a ground penetrating radar in each area on a road, where the sensing data is used to characterize an amplitude of a reflected wave based on the ground penetrating radar;
the processing module 702 is configured to calculate a reflected wave energy value of each region according to the sensing data of the ground penetrating radar, and determine a first region in which the reflected wave energy value is greater than a first preset threshold; calculating a reflection coefficient of a reflected wave in the first region and a Fourier spectrum amplitude of the reflected wave according to the sensing data of the first region, and further calculating a cavity response value of the reflected wave in the first region according to the reflection coefficient of the reflected wave in the first region and the Fourier spectrum amplitude of the reflected wave;
the identifying module 703 is configured to determine a position corresponding to the first area where the cavity response value is greater than the second preset threshold as an underground cavity.
Further, the processing module 702 is further configured to calculate a void response value of the first region according to a weighted summation of the reflection coefficient of the first region and the fourier spectrum amplitude.
Further, the processing module 702 is further configured to calculate a reflection coefficient of the reflected wave in each first area, and calculate an average value of the reflection coefficients of the reflected waves in each first area; determining an area with a reflection coefficient larger than the average value in each first area as a second area; calculating a hole response value of the reflected wave in the second area according to the weighted summation of the reflection coefficient of the reflected wave in the second area and the Fourier spectrum amplitude of the reflected wave, and judging the position corresponding to the second area with the hole response value larger than a second preset threshold value as an underground hole; wherein the first region comprises a second region.
Further, the automatic identification device for the underground road cavity may further include: and a filtering module 704, configured to perform filtering processing on the sensing data of the ground penetrating radar.
As shown in fig. 8, the present invention further provides an automatic identification system for underground road cavities, which comprises the automatic identification device shown in fig. 7. The explanation of the embodiment shown in fig. 1-7 can be applied to this embodiment, and the automatic identification system of this embodiment includes the automatic identification device for the underground cavity of the road and the ground penetrating radar, and the automatic identification device is connected to the ground penetrating radar in communication.
The automatic identification system for the road underground cavity has the corresponding technical effects of the automatic identification device for the road underground cavity, and the details are not repeated herein.
The above-described aspects may be implemented individually or in various combinations, and such variations are within the scope of the present invention.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic identification method for underground road cavities is characterized by comprising the following steps:
acquiring sensing data of the ground penetrating radar of each area on the road, wherein the sensing data is used for representing the amplitude of a reflected wave based on the ground penetrating radar;
calculating the reflected wave energy value of each area according to the sensing data of the ground penetrating radar, and determining a first area of which the reflected wave energy value is greater than a first preset threshold value;
calculating a reflection coefficient of a reflected wave in the first region and a Fourier spectrum amplitude of the reflected wave according to the sensing data of the first region, and further calculating a cavity response value of the reflected wave in the first region according to the reflection coefficient of the reflected wave in the first region and the Fourier spectrum amplitude of the reflected wave;
and judging the position corresponding to the first area with the cavity response value larger than the second preset threshold value as an underground cavity.
2. The method for automatically identifying an underground cavity of a road according to claim 1, wherein: calculating a hole response value of the reflected wave in the first area according to the reflection coefficient of the reflected wave in the first area and the Fourier spectrum amplitude of the reflected wave, wherein the step comprises the following steps:
and calculating the void response value of the reflected wave in the first area according to the weighted summation of the reflection coefficient of the reflected wave in the first area and the Fourier spectrum amplitude of the reflected wave.
3. The method for automatically identifying an underground cavity of a road according to claim 2, wherein: the method comprises the following steps of calculating the void response value of the reflected wave in the first area according to the weighted summation of the reflection coefficient of the reflected wave in the first area and the Fourier spectrum amplitude of the reflected wave, wherein the method comprises the following steps:
calculating the reflection coefficient of the reflected wave in each first area, and calculating the average value of the reflection coefficients of the reflected wave in each first area;
determining areas with the reflection coefficients larger than the average value in each first area as second areas, wherein the first areas comprise the second areas;
calculating a cavity response value of the reflected wave in the first area according to the weighted summation of the reflection coefficient of the reflected wave in the first area and the Fourier spectrum amplitude of the reflected wave, and determining the position corresponding to the first area with the cavity response value larger than a second preset threshold value as an underground cavity, wherein the step comprises the following steps:
and calculating the cavity response value of the reflected wave in the second area according to the weighted summation of the reflection coefficient of the reflected wave in the second area and the Fourier spectrum amplitude of the reflected wave, and judging the position corresponding to the second area with the cavity response value being greater than a second preset threshold value as an underground cavity.
4. The method of claim 3, wherein the step of obtaining sensed data of the ground penetrating radar of each area on the road is followed by:
and filtering the sensing data of the acquired ground penetrating radar.
5. The method for automatically identifying an underground cavity of a road according to any one of claims 1 to 4, wherein:
the reflected wave energy value E is calculated as follows:
wherein N is the number of sampling points, PiThe amplitude of the reflected wave of the ith sampling point is obtained;
the reflection coefficient R is calculated as follows:
wherein, P0The peak value of the direct wave; the fourier spectrum amplitude F (ω) of the reflected wave is calculated as follows:
the hole response value K of the reflected wave is calculated in the following way that K is α R + β F (omega), α is a preset reflection coefficient weight, and β is a preset Fourier spectrum amplitude weight.
6. An automatic identification device of road underground cavity, characterized by, includes:
the system comprises an acquisition module, a detection module and a processing module, wherein the acquisition module is used for acquiring sensing data of the ground penetrating radar in each area on a road, and the sensing data is used for representing the amplitude of a reflected wave based on the ground penetrating radar;
the processing module is used for calculating the reflected wave energy value of each area according to the sensing data of the ground penetrating radar and determining a first area with the reflected wave energy value being larger than a first preset threshold value; calculating a reflection coefficient of a reflected wave in the first region and a Fourier spectrum amplitude of the reflected wave according to the sensing data of the first region, and further calculating a cavity response value of the reflected wave in the first region according to the reflection coefficient of the reflected wave in the first region and the Fourier spectrum amplitude of the reflected wave;
and the identification module is used for judging the position corresponding to the first area with the cavity response value larger than a second preset threshold value as an underground cavity.
7. The apparatus for automatically identifying an underground cavity of a road according to claim 6, wherein: the processing module is further configured to calculate a void response value of the reflected wave in the first region according to a weighted summation of a reflection coefficient of the reflected wave in the first region and a fourier spectrum amplitude of the reflected wave.
8. The apparatus according to claim 7, wherein the processing module is further configured to calculate a reflection coefficient of the reflected wave in each of the first areas, and calculate an average value of the reflection coefficients of the reflected waves in each of the first areas; determining an area with a reflection coefficient larger than the average value in each first area as a second area; calculating a hole response value of the reflected wave in the second area according to the weighted summation of the reflection coefficient of the reflected wave in the second area and the Fourier spectrum amplitude of the reflected wave, and judging the position corresponding to the second area with the hole response value larger than a second preset threshold value as an underground hole; wherein the first region comprises a second region.
9. The apparatus for automatically identifying an underground cavity of a road according to any one of claims 6 to 8, further comprising:
the filtering module is used for filtering the sensing data of the acquired ground penetrating radar;
the reflected wave energy value E is calculated as follows:
wherein N is the number of sampling points, PiThe amplitude of the reflected wave of the ith sampling point is obtained;
the reflection coefficient R is calculated as follows:
wherein, P0The peak value of the direct wave; the fourier spectrum amplitude F (ω) of the reflected wave is calculated as follows:
the hole response value K of the reflected wave is calculated in the following way that K is α R + β F (omega), α is a preset reflection coefficient weight, and β is a preset Fourier spectrum amplitude weight.
10. An automatic identification system for underground road cavities, characterized in that it comprises an automatic identification device for underground road cavities according to any one of claims 6 to 9 and a ground penetrating radar, said automatic identification device being connected in communication with the ground penetrating radar.
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| CN114076943A (en) * | 2021-11-17 | 2022-02-22 | 广州市市政工程试验检测有限公司 | Rapid automatic comprehensive detection method for urban road underground cavity |
| CN114137517A (en) * | 2022-02-07 | 2022-03-04 | 北京中科蓝图科技有限公司 | Ground penetrating detection method and device for road and ground penetrating radar device |
| CN115267143A (en) * | 2022-09-28 | 2022-11-01 | 江苏筑升土木工程科技有限公司 | Road cavity defect detection system and detection method |
| CN115793086A (en) * | 2023-02-07 | 2023-03-14 | 武汉新楚光电科技发展有限公司 | Optical cable laying environment underground cavity judgment method and system based on optical fiber sensing |
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