CN112612021A - Method for detecting ground penetrating radar in shallow water - Google Patents
Method for detecting ground penetrating radar in shallow water Download PDFInfo
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- CN112612021A CN112612021A CN202011307467.2A CN202011307467A CN112612021A CN 112612021 A CN112612021 A CN 112612021A CN 202011307467 A CN202011307467 A CN 202011307467A CN 112612021 A CN112612021 A CN 112612021A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
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- Ocean & Marine Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
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Abstract
The invention relates to a method for detecting a ground penetrating radar in a shallow water area, which adopts a measuring device consisting of a detecting device, an unmanned ship, a GPS device, a camera device, a wireless control communication device and a water positioning device, and comprises the following steps: the unmanned aerial vehicle flies to a water area to be detected first, and coordinates of a detection starting point and a detection end point of a detection area are collected and positioned; the unmanned aerial vehicle conveys the water positioning device to a planned and designated coordinate position; placing the unmanned ship provided with the detection device in a water area; enabling the unmanned ship to run to the initial position in the water area to be detected through the wireless control communication module; tracking the underwater positioning device through the camera device to enable the ground penetrating radar carried in the underwater positioning device to transmit and collect radar signals according to a set measuring line, and collecting initial data; after the detection is finished, data processing is carried out according to data of radar data in the detection device through wireless transmission, and finally, the soil layer under the detected water area is displayed on a radar result map by combining the collected positioning information.
Description
Technical Field
The invention relates to a method for detecting an underwater obstacle by using a ground penetrating radar, in particular to a method for detecting in a shallow water area by using the ground penetrating radar.
Background
Before the construction of water engineering such as navigation channel and harbor, the obstacles and distribution under water are found out, which is the most basic precondition for project engineering design and construction. The method is characterized in that the exploration work of underwater obstacles is carried out by a geophysical exploration technology (short for geophysical exploration), the geophysical exploration is based on the difference of physical characteristics between an exploration target and objects around the exploration target, and the physical principle is utilized to realize the search of a specific target by observing and researching the space and time distribution rule of a physical field. Before geophysical prospecting work, a corresponding geophysical prospecting method is selected according to the difference between the characteristics of a target to be searched and the characteristics of objects around the target, and at present, a ground penetrating radar is mainly applied to detect obstacles in the engineering.
However, in actual port and channel construction, most of underwater obstacles are detected by adopting methods such as traditional manual probing and cofferdam large excavation, the method needs a great deal of manpower and material resources, the working efficiency is low, and great risk exists when manual probing is carried out in water.
Disclosure of Invention
The invention aims to solve the underwater obstacle detection requirement, and provides the method for detecting the ground penetrating radar in the shallow water area.
In order to achieve the purpose, the technical scheme of the invention is as follows: a method for detecting a ground penetrating radar in a shallow water area is characterized in that a measuring device consisting of a detecting device, an unmanned ship, a GPS device, a camera device, a wireless control communication device and a water positioning device is adopted, the detecting device comprises the ground penetrating radar and a tablet personal computer, the ground penetrating radar is arranged at the central position of the bottom of the unmanned ship, propeller mechanisms are arranged on two sides of the tail of a ship body of the unmanned ship, the GPS device is arranged in the middle of the tail of the ship body and connected with the detecting device through data communication lines, the camera devices are arranged on the front portion and the rear portion of the ship body, four fixing rings are arranged on the periphery of the ship body, the wireless control communication device is further arranged in the ship body, the water positioning device comprises an unmanned aerial vehicle, a strong magnet, an infrared emitter and a floating platform, the infrared emitter is arranged on; the bottom of the unmanned aerial vehicle is provided with a strong magnet and is connected with the strong magnet at the top of the floating platform through the strong magnet; the method comprises the following specific steps:
(1) the unmanned aerial vehicle flies to a water area to be detected first, and coordinates of a detection starting point and a detection end point of a detection area are collected and positioned;
(2) planning a detection path of the water detection area through the acquired coordinate position;
(3) conveying the water positioning device to a planned and designated coordinate position by using an unmanned aerial vehicle;
(4) placing the unmanned ship provided with the detection device in a water area;
(5) enabling the unmanned ship to run to the initial position in the water area to be detected through the wireless control communication device;
(6) the advancing direction and the advancing speed of the unmanned ship are set, the underwater positioning device is tracked through the camera device, so that the ground penetrating radar carried in the underwater positioning device transmits and collects radar signals according to a set line measuring line, and initial data collection is carried out;
(7) after the initial data acquisition is finished, data processing is carried out on radar data in the detection device through data transmitted wirelessly, then the water depth of a detection area is fitted, the error between the actual water depth and the water depth is calculated, the radar wave speed is adjusted on the basis, the water depth of the detection area is fitted, and detection parameters are adjusted;
(8) repositioning, namely driving the unmanned ship to an initial position in a water area to be detected through a wireless control communication module;
(9) tracking the underwater positioning device through the camera device to enable the ground penetrating radar carried in the underwater positioning device to transmit and collect radar signals again according to a set measuring line;
(10) after the detection is finished, data processing is carried out according to data of radar data in the detection device through wireless transmission, and finally, the soil layer under the detected water area is displayed on a radar result map by combining the collected positioning information.
Furthermore, the ground penetrating radar is a full-shielding host dual-frequency antenna and can transmit data through a wireless network.
Further, the camera device is an infrared tracking camera and is used for tracking the positioning device on water during detection.
Compared with the prior art, the invention has the following advantages and beneficial effects:
according to the invention, the unmanned aerial vehicle and the water positioning device are adopted for positioning, the unmanned ship remote control method is combined with ground penetrating radar detection, the underwater obstacles can be detected more quickly and conveniently, the specific position depth and other conditions of the underwater obstacles can be detected visually in real time, the problem that the position condition of the underwater obstacles can be known only by underwater manual probing or cofferdam excavation is solved, manpower and material resources are saved, and the construction efficiency and the safety coefficient are improved.
Drawings
FIG. 1 is a schematic view of a detection apparatus employed in the present invention;
FIG. 2 is a schematic view of a marine positioning device;
FIG. 3 is a schematic illustration of the detection of the present invention;
fig. 4 is a flow chart of the detection method of the present invention.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
As shown in fig. 1 and 2, a device for detecting a ground penetrating radar in a shallow water area comprises a detecting device 1, an unmanned ship 2, a GPS device 3, a camera device 4, a wireless control communication device 5 and a water positioning device 6.
The detection device 1 comprises a ground penetrating radar 101, a radar power supply 102 and a tablet computer 103. The ground penetrating radar 101 is arranged at the center of the bottom of the unmanned ship 2, and the unmanned ship 2 comprises a ship body, a propeller mechanism 201 and a fixing ring 202. The propeller mechanisms 201 are arranged on two sides of the tail of the ship body, the GPS device 3 is arranged in the middle of the ship body, and the GPS device 3 comprises a connecting rod 301 and a data communication line 302. The GPS device 3 is arranged in the middle of the ship body through a connecting rod 301 and is connected with the detecting device 1 through a data communication line 302, the camera devices 4 are arranged at the front part and the rear part of the ship body, four fixing rings 202 are arranged around the ship body, and a wireless control communication device 5 is further arranged in the ship body. The wireless control communication device 5 comprises a speed regulating motor 501, a switch controller 502, a power supply 503, a wireless remote control device 504, a wireless signal transmitting and receiving device 505 and an unmanned ship control terminal 506. An output shaft of the speed regulating motor 501 is connected with the propeller mechanism 201, the speed regulating motor 501 is connected with a power source 503 through a switch controller 502, and is connected with a wireless signal transmitting and receiving device 505 through a wireless remote control device 504, and the wireless signal transmitting and receiving device 505 is in communication connection with an unmanned ship control terminal 506 through a wireless communication mode. The water positioning device 6 comprises an unmanned aerial vehicle 601, a strong magnet 602, an infrared emitter 603, a floating platform 604 and a balance rod 605. The bottom of the floating platform 604 is made of polystyrene foam plastics, the bottom is provided with a group of cylindrical balance rods 605 made of PVC materials, the upper part is provided with an infrared emitter 603, and the center of the top is provided with a strong magnet 602; the strong magnetism 602 of unmanned aerial vehicle 601 bottom installation can be connected with the strong magnetism 602 at floating platform 604 top, transports floating platform 604 to the surface of water assigned position. The ground penetrating radar 101 is a full-shielding host dual-frequency antenna and can transmit data through a wireless network. The camera device 4 is an infrared tracking camera and tracks the positioning device 6 on the water when detecting.
As shown in fig. 3 and 4, the method for detecting in shallow water by using the ground penetrating radar of the invention comprises the following steps:
(1) controlling the unmanned aerial vehicle 601 to fly to a water area to be detected firstly, carrying out coordinate acquisition and positioning of four points of detection areas A1, A2, E1 and E2, detecting coordinate acquisition and positioning of a starting point A1, B1, C1, D1, E1 and a terminal point A2, B2, C2, D2 and E2, and acquiring coordinates of positioning points Z1, Z2, Z3, Z4 and Z5;
(2) planning a detection path of the water detection area through the acquired coordinate positions: five line measurement paths and directions including line measurement A1-A2 positioning point Z1, line measurement B1-B2 positioning point Z2, line measurement C1-C2 positioning point Z3, line measurement D1-D2 positioning point Z4, line measurement E1-E2 positioning point Z5 and the like.
(3) The unmanned aerial vehicle 601 is connected with the water positioning device 6 through the strong magnet 602, the water is conveyed to the first planned measuring line A1-A2 to designate the coordinate position of the positioning point Z1, the infrared transmitter 603 is started, and the direction is aligned with the terminal position A2 of the measuring line.
(4) The detection device 1 is placed in the unmanned ship 2, the GPS device 3 is installed at the central position of the detection device 1 through the connecting rod 301, and the steel cable is sleeved in the fixing ring 202 to hoist the unmanned ship 2 to the water area.
(5) The unmanned ship control terminal 506 drives the unmanned ship 2 to the a1 starting position in the water area to be tested through the wireless remote control module 504.
(6) The advancing direction and the advancing speed of the unmanned ship 2 are set, the camera device 4 is started, infrared rays emitted by the infrared emitter 603 on the water positioning device 6 are tracked through the infrared camera, the unmanned ship is controlled to enable the ground penetrating radar 101 carried in the unmanned ship to emit and collect radar signals according to a set line measuring line, and the GPS device 3 collects coordinates of a travelling line to the position of a terminal A2.
(7) After the initial data acquisition is finished, data images acquired by the ground penetrating radar 101 in the detection device 1 are transmitted to the tablet personal computer 103 in a wireless mode, data processing is carried out, then the water depth of a detection area is fitted, the error between the actual water depth and the water depth is calculated, and the wave speed and the parameters of the radar are adjusted on the basis.
(8) The unmanned ship control terminal 506 controls 504 the unmanned ship 2 to drive to the initial position (A1, B1, C1, D1 and E1) in the water area to be detected through the wireless control communication module, the unmanned plane 601 is connected with the positioning device 6 on the water through the strong magnet 602 to convey the water to the positioning points (Z1, Z2, Z3, Z4 and Z5),
(9) the camera device 4 is started, infrared rays emitted by the infrared emitter 603 on the water positioning device 6 are tracked through the infrared camera, the unmanned ship is controlled to enable the ground penetrating radar 101 carried in the unmanned ship to transmit and collect radar signals according to a set line measuring line, and the GPS device 3 collects coordinates of a travelling path to a terminal position.
(10) And finishing the acquisition of all the measuring line data to finish the water detection work. Data images collected by the ground penetrating radar 101 in the detection device 1 are transmitted to the tablet personal computer 103 in a wireless mode, data processing is carried out, and finally, the soil layer radar result chart under the detected water area is displayed by combining the collected positioning information.
The above embodiments are only used for illustrating the technical solutions and principles of the present invention, and the structures, connection manners, and the like of the components may be changed, and all equivalent changes and improvements made on the basis of the technical solutions of the present invention to achieve the effects of the present invention should not be excluded from the scope of protection of the present invention.
Claims (3)
1. A method for detecting a ground penetrating radar in a shallow water area is characterized by comprising the following steps: the method comprises the following steps that a measuring device consisting of a detection device, an unmanned ship, a GPS device, a camera device, a wireless control communication device and a water positioning device is adopted, the detection device comprises a ground penetrating radar and a tablet personal computer, the ground penetrating radar is arranged at the central position of the bottom of the unmanned ship, propeller mechanisms are arranged on two sides of the tail of a ship body of the unmanned ship, the GPS device is arranged in the middle of the tail of the ship body and connected with the detection device through data communication lines, the camera devices are arranged on the front portion and the rear portion of the ship body, four fixing rings are arranged on the periphery of the ship body, the wireless control communication device is further arranged in the ship body, the water positioning device comprises an unmanned aerial vehicle, strong magnets, an infrared emitter and a floating platform, the infrared emitter is arranged; the bottom of the unmanned aerial vehicle is provided with a strong magnet and is connected with the strong magnet at the top of the floating platform through the strong magnet; the method comprises the following specific steps:
(1) the unmanned aerial vehicle flies to a water area to be detected first, and coordinates of a detection starting point and a detection end point of a detection area are collected and positioned;
(2) planning a detection path of the water detection area through the acquired coordinate position;
(3) conveying the water positioning device to a planned and designated coordinate position by using an unmanned aerial vehicle;
(4) placing the unmanned ship provided with the detection device in a water area;
(5) enabling the unmanned ship to run to the initial position in the water area to be detected through the wireless control communication device;
(6) the advancing direction and the advancing speed of the unmanned ship are set, the underwater positioning device is tracked through the camera device, so that the ground penetrating radar carried in the underwater positioning device transmits and collects radar signals according to a set line measuring line, and initial data collection is carried out;
(7) after the initial data acquisition is finished, data processing is carried out on radar data in the detection device through data transmitted wirelessly, then the water depth of a detection area is fitted, the error between the actual water depth and the water depth is calculated, the radar wave speed is adjusted on the basis, the water depth of the detection area is fitted, and detection parameters are adjusted;
(8) repositioning, namely driving the unmanned ship to an initial position in a water area to be detected through a wireless control communication module;
(9) tracking the underwater positioning device through the camera device to enable the ground penetrating radar carried in the underwater positioning device to transmit and collect radar signals again according to a set measuring line;
(10) after the detection is finished, data processing is carried out according to data of radar data in the detection device through wireless transmission, and finally, the soil layer under the detected water area is displayed on a radar result map by combining the collected positioning information.
2. The method for detecting the ground penetrating radar in the shallow water according to claim 1, wherein: the ground penetrating radar is a full-shielding host dual-frequency antenna and can transmit data through a wireless network.
3. The method for detecting the ground penetrating radar in the shallow water according to claim 1, wherein: the camera device is an infrared tracking camera and is used for tracking the positioning device on water during detection.
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