阅读说明：本技术 一种基于探地雷达的摇摆控制数据采集方法 (Swing control data acquisition method based on ground penetrating radar ) 是由 闫睿 王增义 杨超 赵东方 徐克举 曾新宇 李银 张俊杰 于 2020-12-18 设计创作，主要内容包括：一种基于探地雷达的摇摆控制数据采集方法,采集方法包括采集终端针对被探测目标进行采集以产生原始数据；采集终端针对探地雷达摇摆状态变化发送控制指令；探地雷达摇摆状态变化包括：左摆动状态、右摆动状态、停止状态等；控制指令包括：雷达主机采集、雷达主机停止采集和原始数据保存；探地雷达处于左摆动状态、右摆动状态时,采集终端获取摆动角度,依据摆动角度控制雷达主机采集所述原始数据；探地雷达处于停止状态,采集终端获取摆动角度,并控制雷达主机停止采集原始数据；摆动角度的范围为-180度至180度,0度表示探地雷达工作平面的正上方,-180度和180度均表示探地雷达工作平面的正下方,探地雷达工作平面是指探地雷达初始布设平面。(A swing control data acquisition method based on a ground penetrating radar comprises the steps that an acquisition terminal acquires data aiming at a detected target to generate original data; the method comprises the steps that an acquisition terminal sends a control instruction aiming at the change of the swing state of the ground penetrating radar; the change of the swing state of the ground penetrating radar comprises the following steps: left swing state, right swing state, stopped state, etc.; the control instructions include: collecting by a radar host, stopping collecting by the radar host and storing original data; when the ground penetrating radar is in a left swing state and a right swing state, the acquisition terminal acquires a swing angle and controls the radar host to acquire the original data according to the swing angle; the method comprises the following steps that a ground penetrating radar is in a stop state, an acquisition terminal acquires a swing angle and controls a radar host to stop acquiring original data; the range of the swing angle is-180 degrees to 180 degrees, 0 degree represents the position right above the ground penetrating radar working plane, 180 degrees and 180 degrees both represent the position right below the ground penetrating radar working plane, and the ground penetrating radar working plane refers to the initial laying plane of the ground penetrating radar.)

1. A swing control data acquisition method based on a ground penetrating radar is characterized by comprising the following steps:

the acquisition terminal acquires the detected target to generate original data and stores the original data to the radar host;

the acquisition terminal sends a control instruction aiming at the change of the swing state of the ground penetrating radar and controls the radar host to acquire the original data through the control instruction;

the change of the swaying state of the ground penetrating radar comprises the following steps: left swing state, right swing state, stopped state, etc.;

the control instructions include: the radar host computer collects data, the radar host computer stops collecting the data and the original data are stored;

when the ground penetrating radar is in the left swing state and the right swing state, the acquisition terminal acquires a swing angle and controls the radar host to acquire the original data according to the swing angle;

when the ground penetrating radar is in the stop state, the acquisition terminal acquires a swing angle and controls the radar host to stop acquiring the original data according to the swing angle;

the range of the swing angle is-180 degrees to 180 degrees, 0 degree represents the position right above a ground penetrating radar working plane, 180 degrees and 180 degrees both represent the position right below the ground penetrating radar working plane, and the ground penetrating radar working plane refers to the initial laying plane of the ground penetrating radar.

Technical Field

The invention belongs to the field of nondestructive testing, and particularly relates to a swing control data acquisition method based on a ground penetrating radar.

Background

The detection work of the drainage pipeline is heavy, at present, the visual inspection is mainly carried out by a camera, the influence of the dirt on the pipe wall of the drainage pipeline and the sewage in the pipe is received, and the visual inspection effect is poor only by the aid of the camera. Therefore, a drainage pipeline detection system based on the swing robot is designed and developed, the system comprises modules such as a high-definition camera, a gyroscope and a ground penetrating radar, and effective detection can be carried out on the drainage pipeline. The top end of the swinging robot is a mechanical arm which can swing left and right, and the high-frequency ground penetrating radar antenna is placed at the top of the mechanical arm and used for detecting disease information on the upper part of the drainage pipeline.

Therefore, the swing control data acquisition method is expected to be invented, the swing state signal acquired by the gyroscope can be utilized to control the high-frequency ground penetrating radar device to detect the pipe wall and the environment around the pipe, the overall condition of the drainage pipe can be evaluated, and a series of social public safety problems such as road surface collapse caused by the breakage of the pipe can be avoided.

Disclosure of Invention

The invention aims to provide a ground penetrating radar-based swing control data acquisition method, which controls a radar host to acquire data through a control signal sent by a gyroscope.

In order to achieve the above object, the present invention provides a method for collecting sway control data based on a ground penetrating radar, the method comprising:

the acquisition terminal acquires the detected target to generate original data and stores the original data to the radar host;

the acquisition terminal sends a control instruction aiming at the change of the swing state of the ground penetrating radar and controls the radar host to acquire the original data through the control instruction;

the change of the swaying state of the ground penetrating radar comprises the following steps: left swing state, right swing state, stopped state, etc.;

the control instructions include: the radar host computer collects data, the radar host computer stops collecting the data and the original data are stored;

when the ground penetrating radar is in the left swing state and the right swing state, the acquisition terminal acquires a swing angle and controls the radar host to acquire the original data according to the swing angle;

when the ground penetrating radar is in the stop state, the acquisition terminal acquires a swing angle and controls the radar host to stop acquiring the original data according to the swing angle;

the range of the swing angle is-180 degrees to 180 degrees, 0 degree represents the position right above a ground penetrating radar working plane, 180 degrees and 180 degrees both represent the position right below the ground penetrating radar working plane, and the ground penetrating radar working plane refers to the initial laying plane of the ground penetrating radar.

The invention has the beneficial effects that:

the collecting terminal collects the detected target to generate original data, the original data are stored in the radar host, the collecting terminal sends a control instruction aiming at the swing state change of the ground penetrating radar and controls the radar host to collect the original data through the control instruction, and the swing state change of the ground penetrating radar comprises the following steps: left swing state, right swing state, stop state, etc., the control instructions include: the method comprises the steps that radar host collection and radar host stop collection and raw data storage, when the ground penetrating radar is in a left swing state and a right swing state, a collection terminal obtains a swing angle, the radar host is controlled to collect raw data according to the swing angle, when the ground penetrating radar is in the stop state, the collection terminal obtains the swing angle, the radar host is controlled to stop collecting raw data according to the swing angle, the range of the swing angle is-180 degrees to 180 degrees, 0 degree represents that the ground penetrating radar is located right above a ground penetrating radar working plane, 180 degrees and 180 degrees represent that the ground penetrating radar is located right below the ground penetrating radar working plane, and the ground penetrating radar working plane is a plane which is initially arranged on the ground penetrating radar.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.

Fig. 1 shows a flow chart of a method for georadar-based sway control data acquisition according to an embodiment of the invention.

Fig. 2 is a schematic structural diagram illustrating a method for collecting sway control data based on a georadar according to an embodiment of the present invention.

Detailed Description

Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

According to the invention, the method for collecting the swing control data based on the ground penetrating radar comprises the following steps:

the acquisition terminal acquires the detected target to generate original data and stores the original data to the radar host;

the acquisition terminal sends a control instruction aiming at the change of the swing state of the ground penetrating radar and controls the radar host to acquire original data through the control instruction;

the change of the swing state of the ground penetrating radar comprises the following steps: left swing state, right swing state, stopped state, etc.;

the control instructions include: collecting by a radar host, stopping collecting by the radar host and storing original data;

when the ground penetrating radar is in a left swing state and a right swing state, the acquisition terminal acquires a swing angle and controls the radar host to acquire original data according to the swing angle;

when the ground penetrating radar is in a stop state, the acquisition terminal acquires a swing angle and controls the radar host to stop acquiring original data according to the swing angle;

the range of the swing angle is-180 degrees to 180 degrees, 0 degree represents the position right above the ground penetrating radar working plane, 180 degrees and 180 degrees both represent the position right below the ground penetrating radar working plane, and the ground penetrating radar working plane refers to the initial laying plane of the ground penetrating radar.

Specifically, the collecting terminal collects the detected target to generate original data, and stores the original data in the radar host, the collecting terminal sends a control instruction for the swing state change of the ground penetrating radar, and controls the radar host to collect the original data through the control instruction, and the swing state change of the ground penetrating radar comprises: left swing state, right swing state, stop state, etc., the control instructions include: the method comprises the steps that radar host collection and radar host stop collection and raw data storage, when the ground penetrating radar is in a left swing state and a right swing state, a collection terminal obtains a swing angle, the radar host is controlled to collect raw data according to the swing angle, when the ground penetrating radar is in the stop state, the collection terminal obtains the swing angle, the radar host is controlled to stop collecting raw data according to the swing angle, the range of the swing angle is-180 degrees to 180 degrees, 0 degree represents that the ground penetrating radar is located right above a ground penetrating radar working plane, 180 degrees and 180 degrees represent that the ground penetrating radar is located right below the ground penetrating radar working plane, and the ground penetrating radar working plane is a plane which is initially arranged on the ground penetrating radar.

Examples

As shown in fig. 1-2, a method for collecting sway control data based on a ground penetrating radar includes:

the acquisition terminal acquires the detected target to generate original data and stores the original data to the radar host;

the acquisition terminal sends a control instruction aiming at the change of the swing state of the ground penetrating radar and controls the radar host to acquire original data through the control instruction;

the change of the swing state of the ground penetrating radar comprises the following steps: left swing state, right swing state, stopped state, etc.;

the control instructions include: collecting by a radar host, stopping collecting by the radar host and storing original data;

when the ground penetrating radar is in a left swing state and a right swing state, the acquisition terminal acquires a swing angle and controls the radar host to acquire original data according to the swing angle;

when the ground penetrating radar is in a stop state, the acquisition terminal acquires a swing angle and controls the radar host to stop acquiring original data according to the swing angle;

the range of the swing angle is-180 degrees to 180 degrees, 0 degree represents the position right above the ground penetrating radar working plane, 180 degrees and 180 degrees both represent the position right below the ground penetrating radar working plane, and the ground penetrating radar working plane refers to the initial laying plane of the ground penetrating radar.

The acquisition terminal adopts a microcomputer, a notebook computer or a tablet personal computer with storage and display functions, is matched with a Windows operating system, and is connected with the radar host through a network cable. The radar host adopts a single chip microcomputer or an FPGA (field programmable gate array) to perform data processing and instruction control, stores original data through a chip with a storage function, and is connected with the acquisition terminal through a network cable.

Specifically, as shown in fig. 2, the acquisition terminal is connected to the radar host through a network cable by using a microcomputer, a notebook computer or a tablet computer with storage and display functions, and matching with a Windows operating system. The radar host adopts a single chip microcomputer or an FPGA (field programmable gate array) to perform data processing and instruction control, stores original data through a chip with a storage function, and is connected with the acquisition terminal through a network cable. The radar host computer adopts singlechip or FPGA to acquire the swing angle information of gyroscope, and sends to acquisition terminal, by acquisition terminal sends control command, control radar host computer and accomplish data acquisition.

In summary, the acquisition terminal acquires the detected target to generate original data, and stores the original data in the radar host, the acquisition terminal sends a control instruction for the change of the swing state of the ground penetrating radar, and controls the radar host to acquire the original data through the control instruction, and the change of the swing state of the ground penetrating radar includes: left swing state, right swing state, stop state, etc., the control instructions include: the method comprises the steps that radar host collection and radar host stop collection and raw data storage, when the ground penetrating radar is in a left swing state and a right swing state, a collection terminal obtains a swing angle, the radar host is controlled to collect raw data according to the swing angle, when the ground penetrating radar is in the stop state, the collection terminal obtains the swing angle, the radar host is controlled to stop collecting raw data according to the swing angle, the range of the swing angle is-180 degrees to 180 degrees, 0 degree represents that the ground penetrating radar is located right above a ground penetrating radar working plane, 180 degrees and 180 degrees represent that the ground penetrating radar is located right below the ground penetrating radar working plane, and the ground penetrating radar working plane is a plane which is initially arranged on the ground penetrating radar.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.