CN111897020B - Underground target detection system and method - Google Patents
Underground target detection system and method Download PDFInfo
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- CN111897020B CN111897020B CN202010775402.4A CN202010775402A CN111897020B CN 111897020 B CN111897020 B CN 111897020B CN 202010775402 A CN202010775402 A CN 202010775402A CN 111897020 B CN111897020 B CN 111897020B
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Abstract
The invention provides a system and a method for detecting underground targets, wherein the system comprises: the radar module is used for generating and transmitting a pulse signal, receiving a reflected wave of an underground target to the pulse signal, and processing the reflected wave to obtain a first signal; the electromagnetic induction module is used for generating an excitation signal, radiating an electromagnetic field under the action of the excitation signal and an underground target, generating induced electromotive force, further outputting a voltage change signal, and processing the voltage change signal to obtain a second signal; and the main control module is used for confirming whether the underground target is a metal object or not and confirming the depth of the underground target according to the first signal and the second signal. The invention effectively identifies whether the underground target is a metal target.
Description
Technical Field
The invention relates to the field of road safety risk detection, in particular to an underground target detection system and method.
Background
The ground penetrating radar is a high-new nondestructive detection technology which is rapidly developed in recent years, and can carry out high-resolution imaging on an underground target, but the target is difficult to directly judge whether to be metal or nonmetal, and accurate detection depth cannot be obtained. Aiming at the requirements of underground target material identification and accurate depth acquisition, a novel detection system combining electromagnetic induction and a ground penetrating radar is developed. The system can directly distinguish the metal target from the nonmetal target and can obtain the accurate depth of the target.
Ground Penetrating Radar (GPR) is a high-new nondestructive testing technology that has been rapidly developed in recent years. The underground target can be imaged by utilizing the GPR technology, but the underground target cannot be directly judged to be metal or nonmetal, and the detection depth error is large. Electromagnetic induction (EMI) utilizes a transmitting coil to transmit an alternating magnetic field (called a primary field) to a surrounding space, if an object with high conductivity exists in the adjacent space, an eddy current can be formed in the object, the eddy current forms a same-frequency alternating magnetic field (called a secondary field) in the surrounding space, and the position and the depth of the object can be accurately detected according to the change of the secondary field. The method is sensitive to metal objects, the detection depth is accurate, and objects with low conductivity are difficult to detect.
Therefore, how to effectively detect whether the underground target is a metal target becomes an urgent technical problem to be solved.
Disclosure of Invention
The invention aims to provide an underground target detection system and method to solve the problem that whether an underground target is a metal object or not is difficult to identify in the prior art.
According to a first aspect of the invention, a subterranean target detection system comprises: the radar module is used for generating and transmitting a pulse signal, receiving a reflected wave of an underground target to the pulse signal, and processing the reflected wave to obtain a first signal;
the electromagnetic induction module is used for generating an excitation signal, radiating an electromagnetic field under the action of the excitation signal and an underground target, generating induced electromotive force, further outputting a voltage change signal, and processing the voltage change signal to obtain a second signal;
and the main control module is used for confirming whether the underground target is a metal object or not and confirming the depth of the underground target according to the first signal and the second signal.
Further, the main control module comprises:
the time sequence control logic unit is used for generating time sequence signals and control signals required by the radar module and the electromagnetic induction module, and receiving and storing the first signals and the second signals;
and the processing unit is used for confirming whether the underground target is a metal object or not and the depth of the underground target according to the first signal and the second signal.
Further, the processing unit includes:
the object identification subunit is used for determining the position where the hyperbolic characteristic appears in the first signal as the position of the underground object, performing derivation processing on a curve corresponding to the second signal, and determining that the underground object is metal when 3 derivatives before the determined position of the underground object are continuously positive and 3 derivatives after the determined position of the underground object are continuously negative;
a target depth predicting subunit, configured to determine, according to a preset correspondence between each signal value and each target depth value, a target depth value corresponding to the second signal; determining the propagation speed of the pulse signal according to the corresponding target depth value and the time difference between the pulse signal transmission and the first signal reception of the radar module; and determining the depth of the subsurface target according to the propagation speed of the pulse signal.
Further, the processing unit is an embedded ARM system; or/and the sequential control logic unit is a programmable logic gate array.
Further, the radar module includes: a transmitter, a receiver, a transmitting antenna and a receiving antenna;
the transmitter is used for generating a pulse signal;
the transmitting antenna is used for radiating a pulse signal generated by a transmitter;
the receiving antenna is used for receiving the reflected wave of the underground target to the pulse signal and sending the reflected wave to the receiver;
the receiver is used for sampling and digitizing the reflected wave to obtain the first signal.
Further, the receiver includes: the digital-to-analog conversion circuit is connected with the programmable logic gate array.
Further, the electromagnetic induction module includes: the device comprises a signal generating circuit, an induction coil and a signal acquisition circuit;
the signal generating circuit is used for generating an excitation signal to excite the induction coil;
the induction coil is used for inducing the induction current of the underground target and radiating an electromagnetic field to enable the induction coil to generate induced electromotive force, so that the output voltage of the induction coil is changed and a voltage change signal is output;
the signal acquisition circuit is used for converting the voltage change signal into a digital signal to obtain the second signal.
Further, the induction coil comprises two first coils and a second coil, and the size of the second coil is larger than that of the first coils; the two first coils are positioned in the second coil and are symmetrically distributed on the upper side and the lower side of the second coil; the transmitting antenna and the receiving antenna are located on the periphery of the second coil and are symmetrically distributed on the left side and the right side of the second coil.
The invention also provides an underground target detection method, which comprises the following steps:
the radar module generates and transmits a pulse signal, receives a reflected wave of an underground target to the pulse signal, and processes the reflected wave to obtain a first signal;
the electromagnetic induction module generates an excitation signal and radiates an electromagnetic field under the action of the excitation signal and an underground target so as to generate induced electromotive force, further output a voltage change signal and process the voltage change signal to obtain a second signal;
and the main control module confirms whether the underground target is a metal object and the depth of the underground target according to the first signal and the second signal.
Further, the main control module, according to the first signal and the second signal, determining whether the underground target is a metal object and the depth of the underground target includes:
the main control module determines the position of the hyperbolic characteristic in the first signal as the position of an underground target, conducts derivation processing on a curve corresponding to the second signal, and determines that the underground target is metal when 3 derivatives before the determined position of the underground target are continuously positive and 3 derivatives after the determined position of the underground target are continuously negative; determining a target depth value corresponding to the second signal according to a preset corresponding relation between each signal value and each target depth value; determining the propagation speed of the pulse signal according to the corresponding target depth value and the time difference between the pulse signal transmission and the first signal reception of the radar module; and determining the depth of the subsurface target according to the propagation speed of the pulse signal.
The underground target detection system and the method effectively combine two detection means of GPR and EMI together, the GPR and the EMI work simultaneously and data are fused in real time, the underground detection capacity and efficiency are obviously improved, the detected target can be directly judged to be metal or nonmetal, and the accurate depth of the underground target is obtained.
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 block diagram of an embodiment of an underground target detection system of the present invention;
FIG. 2 is a waveform of an output from a transmitting antenna of a radar module in an embodiment of an underground target detection system of the present invention;
FIG. 3 is a diagram of a received waveform of a receiving antenna of a radar module in an embodiment of an underground target detection system of the present invention;
FIG. 4 is a schematic diagram of the structural layout of the transmitting antenna and the receiving antenna of the radar module and the electromagnetic induction module of another embodiment of the underground target detection system of the present invention;
FIG. 5 is a signal diagram of a first signal of a radar module in another embodiment of a subsurface target detection system of the present invention;
FIG. 6 is a signal diagram of a second signal from an electromagnetic induction module in another embodiment of a subsurface target detection system of the invention.
FIG. 7 is a flowchart of an embodiment of a method for detecting an underground target of 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.
As shown in fig. 1, the present invention is an underground object detecting system, including:
the radar module (specifically, the ultra-wideband radar module) is used for generating and transmitting a pulse signal, receiving a reflected wave of an underground target on the pulse signal, and processing the reflected wave to obtain a first signal;
the electromagnetic induction module is used for generating an excitation signal, radiating an electromagnetic field under the action of the excitation signal and an underground target, generating induced electromotive force, further outputting a voltage change signal, and processing the voltage change signal to obtain a second signal;
and the main control module is used for confirming whether the underground target is a metal object or not and confirming the depth of the underground target according to the first signal and the second signal.
In specific operation, as a preferred scheme, the radar module may include a transmitter, a receiver, a transmitting antenna and a receiving antenna; the electromagnetic induction module may include a signal generation circuit (i.e., the signal generation module in fig. 1), a signal acquisition circuit (i.e., the receiving module in fig. 1), and an induction coil. The master control system may be based on a programmable gate array (FPGA) and an embedded ARM system. The FPGA is the core of the whole system timing and control logic generation. The trigger clock signals required by the transmitter, the analog sample-and-hold circuit and the electromagnetic induction module are all generated by the FPGA. Meanwhile, the FPGA realizes the minimum stepping time delay of 16 picoseconds by controlling the programmable delay chip and provides the stepping time delay for the analog sample-and-hold circuit so as to realize the function of equivalent sampling. And data of radar and electromagnetic induction are packaged in the FPGA and transmitted to the ARM system for further processing and display according to a specific data protocol, and the data in the acquisition process can also be transmitted to a computer through a WiFi interface for real-time display. Specifically, the measuring wheel links to each other with underground target detection system, and the built-in encoder of measuring wheel rotates through the wheel and drives the encoder and rotate and count, and the encoder rotates a week and has fixed count value, consequently can obtain the distance that underground target detection system removed through the count value of encoder.
Further preferably, the radar module may include a transmitter, a receiver, a transmitting antenna, and a receiving antenna. The transmitter is used for generating narrow pulse signals, the transmitting antenna radiates the pulse signals generated by the transmitter, the receiving antenna receives reflected waves of the radar from a target and sends the reflected waves to the receiver for sampling and digitalization, and the main control module generates time sequences and control signals required by all units of the radar module. The transmitter uses a step recovery diode to generate a pulse signal having a gaussian waveform. The transmitter generates a pair of balanced narrow pulses under the control of a trigger clock signal generated by the main control module. The frequency of the antenna is designed to be 400MHz, a planar butterfly dipole antenna is adopted, the antenna has good impedance characteristic and compact dielectric coupling capacity, and meanwhile, a certain loading technology is adopted to effectively weaken secondary reflection at the tail end of the antenna and keep the antenna to have good time domain characteristic, as shown in fig. 2 and fig. 3.
With continued reference to fig. 1, in particular, the receiver may include a wideband balun, a Low Noise Amplifier (LNA), an analog sample-and-hold circuit, and a low speed AD. The radar echo signal received by the receiving antenna is firstly converted into a single-ended signal through the broadband balun, the signal amplitude is about 100 millivolts, and in order to improve the dynamic range of the radar module, the signal needs to be amplified by using an LNA (low-noise amplifier) so as to meet the requirement of the input range of a post-stage sample-and-hold circuit. The amplified echo signal passes through an analog sample and hold circuit, and a radio frequency signal is converted into an audio signal by using an analog sampling gate based on a Sampling Phase Detector (SPD) and combining with an equivalent sampling technology. The audio signal converted by the sampling hold circuit is subjected to analog-to-digital conversion through AD, and the converted digital signal is sent to the main control module for data storage and processing.
The electromagnetic induction module is composed of a signal generating circuit, an induction coil and an acquisition circuit, wherein a signal transmitting system generates an excitation signal with the repetition frequency of 1.6kHz under the control of a host to excite the coil, the induction coil induces the induced current of the detected metal and radiates an electromagnetic field (namely a secondary field) to enable the induction coil to generate induced electromotive force, so that the output voltage of the coil changes, the output signal is converted into a digital signal through the signal acquisition system and is sent into a main control system to be processed, and a corresponding result is obtained. The frequency of the induction coil is designed to be 40KHz, the number of turns is 120, and the diameter is 3 cm.
The arrangement of the induction coil and the radar antenna is influenced by a number of factors. In order to enable the radar module and the sensing module to simultaneously acquire the reflected signals of the same target, a layout mode of a common central point is adopted, as shown in fig. 4. The left side and the right side are provided with radar transmitting and receiving antennas, and the middle induction coil comprises two small coils (namely a first coil) and a large coil (namely a second coil) which respectively correspond to the small range and the large range. Because of the interference between the antenna and the coil, a special shielding material is needed to isolate them. The design criteria for a particular subsurface target detection system may be illustrated in FIG. 1.
TABLE 1 System design index
Specifically, the main control module may include:
a sequential control logic unit (specifically, the programmable gate array) for generating a sequential signal and a control signal required by the radar module and the electromagnetic induction module, and receiving and storing the first signal and the second signal;
and the processing unit (specifically, the embedded ARM system) is configured to determine whether the underground target is a metal object and a depth of the underground target according to the first signal and the second signal.
Further preferably: the processing unit includes:
and the target identification subunit is used for determining the position where the hyperbolic characteristic appears in the first signal as the position of the underground target, performing derivation processing on a curve corresponding to the second signal, and determining that the underground target is metal when 3 derivatives before the determined position of the underground target are continuously positive and 3 derivatives after the determined position of the underground target are continuously negative. The method specifically comprises the following steps: in the position where the radar cross section has a reflection target (shown as a hyperbolic position in fig. 5), by referring to a sensing signal curve (shown as fig. 6), if the curve has an inflection point which changes from small to large and then becomes small, the target can be judged to be metal, and if the sensing curve does not have the inflection point, the target can be judged to be non-metal. The principle of the inflection point judgment method is to continuously differentiate a curve, wherein 3 derivatives before a certain point after differentiation are continuously positive, and 3 derivatives after the point are continuously negative, namely, an inflection point exists, and then the point is judged to correspond to a metal target; if there is only a hyperbolic characteristic on the radar cross section, but there is no inflection point on the induction curve and the signal value is low, it can be determined as a non-metallic target. The actually measured induction curve may have small fluctuation locally, at this time, the error judgment rate of the inflection point is judged to be high by directly using the algorithm, and zero-phase filtering processing can be performed on the induction signal before the inflection point is judged.
A target depth predicting subunit, configured to determine, according to a preset correspondence between each signal value and each target depth value, a target depth value corresponding to the second signal; determining the propagation speed of the pulse signal according to the corresponding target depth value and the time difference between the pulse signal transmission and the first signal reception of the radar module; and determining the depth of the subsurface target according to the propagation speed of the pulse signal. In a specific operation, in order to obtain an accurate depth of a detected target, the accurate propagation speed of the electromagnetic wave in the medium needs to be inverted, all targets are automatically identified by radar data, then the depth of the metal target is obtained by the electromagnetic induction module (the value of the second signal of the electromagnetic induction module and the depth value of the metal target can be determined through multiple experiments, that is, the corresponding relationship between preset signal values and the depth values of the targets can be obtained through an experimental means), the propagation time from the electromagnetic wave to the target (i.e., the time difference between the pulse signal transmission and the first signal reception of the radar module) is obtained from the radar data, and the propagation speed of the electromagnetic wave in the medium, that is, the depth/time difference of the metal target, is calculated. Because the electromagnetic induction module does not output a voltage change signal for the non-metal target, after the propagation speed of the electromagnetic wave in the medium is determined through the depth and the time difference of the metal target, the propagation time of the electromagnetic wave to the target is obtained according to the propagation speed and radar data for the non-metal target, and the depth of the non-metal target can also be obtained.
Referring specifically to fig. 5 and 6, the reinforcing bars and PVC pipes buried in concrete were tested, and the results are shown in fig. 5. It can be seen from fig. 5 that both the steel bar and the PVC pipe present hyperbolic characteristics in the radar image, and it is difficult to directly determine which target is the PVC pipe only by the radar data, and the electromagnetic induction data must be combined for comprehensive analysis. Fig. 6 is a graph plotted using the sensing signals in the test data, and it can be seen that the hyperbolic reflection marked by the blue circle in fig. 5 has no protrusion at the corresponding position of the sensing curve in fig. 6, and the sensing signal value is small, so it can be inferred that it is a non-metal target PVC pipe.
The method effectively combines two detection means of GPR and EMI together, GPR and EMI work simultaneously and data are fused in real time, the capacity and efficiency of underground detection are obviously improved, the detected target can be directly judged to be metal or nonmetal, and the accurate depth of the underground target can be obtained.
As shown in fig. 7, the present invention provides an underground target detection method, which is a method implementation manner of the embodiment of the system shown in fig. 1 to 6, and the explanation of the embodiment shown in fig. 1 to 6 can be applied to this embodiment, and the underground target detection method of this embodiment includes:
step 701: the radar module generates and transmits a pulse signal, receives a reflected wave of an underground target to the pulse signal, and processes the reflected wave to obtain a first signal;
step 702: the electromagnetic induction module generates an excitation signal and radiates an electromagnetic field under the action of the excitation signal and an underground target so as to generate induced electromotive force, further output a voltage change signal and process the voltage change signal to obtain a second signal;
step 703: and the main control module confirms whether the underground target is a metal object and the depth of the underground target according to the first signal and the second signal.
Preferably: step 703 may include:
the main control module determines the position of the hyperbolic characteristic in the first signal as the position of an underground target, conducts derivation processing on a curve corresponding to the second signal, and determines that the underground target is metal when 3 derivatives before the determined position of the underground target are continuously positive and 3 derivatives after the determined position of the underground target are continuously negative; determining a target depth value corresponding to the second signal according to a preset corresponding relation between each signal value and each target depth value; determining the propagation speed of the pulse signal according to the corresponding target depth value and the time difference between the pulse signal transmission and the first signal reception of the radar module; and determining the depth of the subsurface target according to the propagation speed of the pulse signal.
The present embodiment has the corresponding technical effects of the above-mentioned underground target detection system, and will not be described herein again.
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 (8)
1. An underground target detection system, comprising:
the radar module is used for generating and transmitting a pulse signal, receiving a reflected wave of an underground target to the pulse signal, and processing the reflected wave to obtain a first signal;
the electromagnetic induction module is used for generating an excitation signal, radiating an electromagnetic field under the action of the excitation signal and an underground target, generating induced electromotive force, further outputting a voltage change signal, and processing the voltage change signal to obtain a second signal;
the main control module is used for confirming whether the underground target is a metal object or not and confirming the depth of the underground target according to the first signal and the second signal;
the master control module comprises:
the processing unit is used for confirming whether the underground target is a metal object or not and the depth of the underground target according to the first signal and the second signal;
the processing unit includes:
the object identification subunit is used for determining the position where the hyperbolic characteristic appears in the first signal as the position of the underground object, performing derivation processing on a curve corresponding to the second signal, and determining that the underground object is metal when 3 derivatives before the determined position of the underground object are continuously positive and 3 derivatives after the determined position of the underground object are continuously negative;
a target depth predicting subunit, configured to determine, according to a preset correspondence between each signal value and each target depth value, a target depth value corresponding to the second signal; determining the propagation speed of the pulse signal according to the corresponding target depth value and the time difference between the pulse signal transmission and the first signal reception of the radar module; and determining the depth of the subsurface target according to the propagation speed of the pulse signal.
2. A subsurface target detection system as claimed in claim 1 wherein: the master control module comprises:
and the time sequence control logic unit is used for generating time sequence signals and control signals required by the radar module and the electromagnetic induction module, and receiving and storing the first signals and the second signals.
3. A subsurface target detection system as claimed in claim 1 wherein: the processing unit is an embedded ARM system; or/and the sequential control logic unit is a programmable logic gate array.
4. A subsurface target detection system as claimed in claim 3 wherein: the radar module includes: a transmitter, a receiver, a transmitting antenna and a receiving antenna;
the transmitter is used for generating a pulse signal;
the transmitting antenna is used for radiating a pulse signal generated by a transmitter;
the receiving antenna is used for receiving the reflected wave of the underground target to the pulse signal and sending the reflected wave to the receiver;
the receiver is used for sampling and digitizing the reflected wave to obtain the first signal.
5. The subsurface target detection system of claim 4 wherein: the receiver includes: the digital-to-analog conversion circuit is connected with the programmable logic gate array.
6. The subsurface target detection system of claim 4 wherein: the electromagnetic induction module includes: the device comprises a signal generating circuit, an induction coil and a signal acquisition circuit;
the signal generating circuit is used for generating an excitation signal to excite the induction coil;
the induction coil is used for inducing the induction current of the underground target and radiating an electromagnetic field to enable the induction coil to generate induced electromotive force, so that the output voltage of the induction coil is changed and a voltage change signal is output;
the signal acquisition circuit is used for converting the voltage change signal into a digital signal to obtain the second signal.
7. A subsurface target detection system as claimed in claim 6 wherein: the induction coil comprises two first coils and a second coil, and the size diameter of the second coil is larger than that of the first coils; the two first coils are positioned in the second coil and are symmetrically distributed on the upper side and the lower side of the second coil; the transmitting antenna and the receiving antenna are located on the periphery of the second coil and are symmetrically distributed on the left side and the right side of the second coil.
8. A method of detecting an underground target, comprising:
the radar module generates and transmits a pulse signal, receives a reflected wave of an underground target to the pulse signal, and processes the reflected wave to obtain a first signal;
the electromagnetic induction module generates an excitation signal and radiates an electromagnetic field under the action of the excitation signal and an underground target so as to generate induced electromotive force, further output a voltage change signal and process the voltage change signal to obtain a second signal;
the main control module confirms whether the underground target is a metal object and the depth of the underground target according to the first signal and the second signal;
the main control module confirms whether the underground target is a metal object or not and the depth of the underground target according to the first signal and the second signal, and the main control module comprises:
the main control module determines the position of the hyperbolic characteristic in the first signal as the position of an underground target, conducts derivation processing on a curve corresponding to the second signal, and determines that the underground target is metal when 3 derivatives before the determined position of the underground target are continuously positive and 3 derivatives after the determined position of the underground target are continuously negative;
determining a target depth value corresponding to the second signal according to a preset corresponding relation between each signal value and each target depth value; determining the propagation speed of the pulse signal according to the corresponding target depth value and the time difference between the pulse signal transmission and the first signal reception of the radar module; and determining the depth of the subsurface target according to the propagation speed of the pulse signal.
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| CN112363232A (en) * | 2020-11-21 | 2021-02-12 | 中北大学 | Metal detection system under multimode array excitation |
| CN112965118B (en) * | 2021-04-19 | 2023-10-13 | 广州市山脉科技信息咨询有限公司 | Underground pipeline position depth detector |
| KR102442543B1 (en) * | 2021-08-05 | 2022-09-13 | 미승씨앤에스검사주식회사 | Mobile GPR exploration apparatus |
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