CN114814834B - Two-dimensional and three-dimensional integrated road detection method and device - Google Patents

Abstract

The present application provides a two-dimensional and three-dimensional integrated road detection method and device, wherein the method comprises: obtaining target two-dimensional radar data obtained by performing ground-penetrating detection on a target road through a two-dimensional radar, and obtaining target three-dimensional radar data obtained by performing ground-penetrating detection on a target road through a three-dimensional radar, wherein both the two-dimensional radar and the three-dimensional radar are located on a ground-penetrating radar device of the target road; performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; and simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on a display interface of the target device.

Description

Two-dimensional and three-dimensional integrated road detection method and device

The application relates to a split application of the original application with the application number of 202210115703.3 and the application date of 2022, 02 and 07, and the application name of two-three-dimensional integrated road detection method and device.

Technical Field

The application relates to the field of Internet, in particular to a two-dimensional and three-dimensional integrated road detection method and device.

Background

With the increase of the service time, the change of the topography under the road surface and the like, the collapse situation of the road is in an annual rising trend, and the property and the life safety of people are directly threatened. In order to discover the hidden danger of collapse in advance and avoid the occurrence of collapse accidents, three-dimensional radars for detecting the ground are generally adopted at present to detect the road regularly.

However, when the three-dimensional radar is used for detecting the hidden danger of collapse, the hidden danger which is generally about to happen can be detected, and if the hidden danger cannot be analyzed and processed in time and found, the occurrence of collapse accidents can not be effectively avoided. Therefore, the road detection method in the related art has the problem that the road abnormality cannot be found in time due to high timeliness of abnormality analysis.

Disclosure of Invention

The application provides a two-dimensional and three-dimensional integrated road detection method and device, which at least solve the problem that the road abnormality cannot be found in time due to high timeliness of abnormality analysis in a road detection mode in the related technology.

According to one aspect of the embodiment of the application, a two-dimensional three-dimensional integrated road detection method is provided, and comprises the steps of obtaining target two-dimensional radar data obtained by detecting a target road by a two-dimensional radar in a ground penetrating manner, obtaining target three-dimensional radar data obtained by detecting the target road by a three-dimensional radar in a ground penetrating manner, wherein the two-dimensional radar and the three-dimensional radar are both located on a ground penetrating radar device of the target road, performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is larger than the second detection depth, and simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on a display interface of target equipment.

According to another aspect of the embodiment of the application, a two-dimensional and three-dimensional integrated road detection device is provided, which comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring target two-dimensional radar data obtained by detecting a target road by a two-dimensional radar in a ground penetrating manner and acquiring target three-dimensional radar data obtained by detecting the target road by a three-dimensional radar in a ground penetrating manner, the two-dimensional radar and the three-dimensional radar are both positioned on the ground penetrating radar device of the target road, the processing unit is used for performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is larger than the second detection depth, and the display unit is used for simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on a display interface of a target device.

According to another aspect of the embodiment of the application, a two-dimensional and three-dimensional integrated road detection device is provided, and the two-dimensional and three-dimensional integrated road detection device comprises a two-dimensional radar, a three-dimensional radar, a data processing unit, an imaging processing unit and a three-dimensional imaging unit, wherein the data processing unit is used for acquiring target two-dimensional radar data obtained by detecting a target road through the two-dimensional radar in a ground penetrating manner, acquiring target three-dimensional radar data obtained by detecting the target road through the three-dimensional radar in a ground penetrating manner, the imaging processing unit is used for carrying out imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and carrying out imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is larger than the second detection depth, and the two-dimensional imaging result and the three-dimensional imaging result are simultaneously displayed on a display interface of target equipment.

According to still another aspect of the embodiment of the application, a ground penetrating radar device is further provided, and the ground penetrating radar device comprises a two-dimensional radar and a three-dimensional radar which are arranged back and forth along a target direction, wherein the two-dimensional radar comprises at least one antenna pair, the at least one antenna pair is arranged side by side along the direction perpendicular to the target direction, the direction of each antenna pair of the at least one antenna pair is perpendicular to the target direction, a transmitting antenna and a receiving antenna of each antenna pair are arranged in parallel back and forth along the target direction, and the three-dimensional radar comprises a plurality of transmitting antennas and a plurality of receiving antennas, and the directions of the transmitting antennas and the receiving antennas are parallel to the target direction.

According to yet another aspect of the embodiments of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus, where the memory is configured to store a computer program, and the processor is configured to execute the method steps in any of the foregoing embodiments by running the computer program stored on the memory.

According to a further aspect of the embodiments of the present application there is also provided a computer readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the method steps of any of the embodiments described above when run.

According to a further aspect of embodiments of the present application there is also provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium, a processor of a computer device reading the computer instructions from the computer readable storage medium, the processor executing the computer instructions causing the computer device to perform the method steps of any of the embodiments described above.

In the embodiment of the application, a road ground detection mode is adopted by combining a two-dimensional radar with a three-dimensional radar, target two-dimensional radar data obtained by detecting a target road by the two-dimensional radar and target three-dimensional radar data obtained by detecting the target road by the three-dimensional radar are obtained, wherein the two-dimensional radar and the three-dimensional radar are both positioned on a ground detection radar device of the target road, the target two-dimensional radar data are subjected to imaging processing to obtain a two-dimensional imaging result, and the target three-dimensional radar data are subjected to imaging processing to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, the first detection depth is larger than the second detection depth, and the two-dimensional imaging result and the three-dimensional imaging result are simultaneously displayed on a display interface of target equipment.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a block diagram of an alternative ground penetrating radar apparatus according to an embodiment of the present invention;

FIG. 2 is a block diagram of another alternative ground penetrating radar apparatus in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of a hardware environment of an alternative two-dimensional integrated roadway detection method according to an embodiment of the present invention;

FIG. 4 is a flow chart of an alternative two-dimensional integrated road detection method according to an embodiment of the application;

FIG. 5 is a schematic diagram of an alternative two-dimensional integrated roadway detection method according to an embodiment of the present application;

FIG. 6 is a schematic illustration of an alternative detection range according to an embodiment of the application;

FIG. 7 is a schematic illustration of an alternative detection range according to an embodiment of the application;

FIG. 8 is a schematic view of an alternative ranging wheel according to an embodiment of the present application;

FIG. 9 is a schematic diagram of an alternative two-dimensional multi-channel parallel imaging modality according to an embodiment of the present application;

FIG. 10 is a schematic illustration of an alternative three-dimensional combined imaging modality according to an embodiment of the present application;

FIG. 11 is a block diagram of an alternative two-dimensional integrated road detection device according to an embodiment of the present application;

FIG. 12 is a block diagram of another alternative two-dimensional integrated roadway detection apparatus in accordance with an embodiment of the present application;

fig. 13 is a block diagram of an alternative electronic device in accordance with an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to an aspect of the embodiment of the present application, there is provided a ground penetrating radar device, which may be a two-dimensional radar and three-dimensional radar integrated ground penetrating radar device. As shown in fig. 1, the ground penetrating radar apparatus 100 includes:

A two-dimensional radar 102;

Three-dimensional radar 104.

The two-dimensional radar 102 and the three-dimensional radar 104 are disposed back and forth along the target direction. The target direction here is a direction related to the front and rear of the ground penetrating radar device 100, for example, a rear-to-front direction, a front-to-rear direction, and a direction set in other manners.

Alternatively, the two-dimensional radar 102 may include at least one antenna pair (e.g., 2 antenna pairs, 4 antenna pairs, etc.), with at least one antenna pair positioned side-by-side along a direction perpendicular to the target direction, with each antenna pair oriented perpendicular to the target direction. For each antenna pair, each antenna pair includes a transmitting antenna and a receiving antenna, which are disposed in parallel back and forth along the target direction.

For example, as shown in fig. 2, in order to ensure the detection depth, a two-dimensional radar part in the ground penetrating radar device adopts a 100M (Hz) butterfly antenna, and 4 channels are totally adopted, each channel comprises two antennas, one is a transmitting antenna, the other is a receiving antenna, the two antennas are arranged in parallel front and back, and the 4 channels are integrally and arranged at the rear end of the device.

Alternatively, the three-dimensional radar may include a plurality of transmitting antennas and a plurality of receiving antennas, and the number of transmitting antennas and the number of receiving antennas included in the three-dimensional radar may be the same or different. The directions of the transmitting antennas and the receiving antennas are the same, so that data reception is facilitated, and the directions of the transmitting antennas and the receiving antennas can be parallel to the target direction, so that signal interference between the two-dimensional radar and the three-dimensional radar is avoided. The plurality of transmitting antennas and the plurality of receiving antennas may be arranged side by side, i.e. one transmitting antenna corresponds to one receiving antenna.

It should be noted that, the three-dimensional radar may include a plurality of transmitting antennas and a plurality of receiving antennas, or the plurality of transmitting antennas and the plurality of receiving antennas may form a plurality of channels, and the channel spacing of the three-dimensional radar is smaller than a certain distance, for example, a quarter wavelength, so that information between the channels may be ensured not to be lost through dense channels.

Optionally, the three-dimensional radar may also include a transmitting channel and a plurality of receiving channels, or a plurality of transmitting channels and a receiving channel, etc., and by setting a plurality of transmitting antennas and a plurality of receiving antennas, the three-dimensional radar data of a plurality of channels may be conveniently obtained, thereby improving the rationality of ground detection.

For example, a three-dimensional radar section in a ground penetrating radar apparatus employs 400M butterfly antennas, which may include a plurality of transmitting antennas and a plurality of receiving antennas. The radar signal transmitted by each transmitting antenna can be received by at least one receiving antenna, and therefore, at least the same number of channels as the transmitting antennas can be formed.

The two-dimensional radar and the three-dimensional radar are arranged back and forth along the target direction through the ground penetrating radar device, the two-dimensional radar comprises at least one antenna pair, the at least one antenna pair is arranged side by side along the vertical direction of the target direction, the direction of each antenna pair of the at least one antenna pair is vertical to the target direction, the transmitting antenna and the receiving antenna of each antenna pair are arranged in parallel back and forth along the target direction, the three-dimensional radar comprises a plurality of transmitting antennas and a plurality of receiving antennas, the directions of the plurality of transmitting antennas and the directions of the plurality of receiving antennas are parallel to the target direction, the problem that the road abnormality cannot be found in time due to high timeliness of abnormality analysis in a road detection mode in the related technology is solved, and the timeliness and the accuracy of road abnormality analysis are improved.

As an alternative embodiment, a plurality of transmitting antennas and a plurality of receiving antennas are disposed alternately in front and rear rows along the target direction.

In order to ensure smaller channel spacing, the transmitting antennas and the receiving antennas of the three-dimensional radar can be arranged in a front-back two-row crossing mode, wherein the front row is the transmitting antenna, the rear row is the receiving antenna (the front row is the receiving antenna, the rear row is the transmitting antenna, and the front and the rear are relative to the target direction). Through the arrangement mode, the channel spacing can be reduced by half compared with that of a conventional single-row arrangement mode, so that the imaging precision is improved.

Here, one transmitting antenna and the corresponding one receiving antenna may form one channel, and a channel position of one channel is an intermediate position of the transmitting antenna and the receiving antenna of the channel. The channel pitch refers to the distance between the channel locations of two channels.

For example, as shown in fig. 2, the ground penetrating radar device may include 9 transmitting antennas and 8 receiving antennas, forming 16 channels. The channel spacing (i.e., the distance between the center points of two adjacent dashed lines in fig. 2) may be less than one quarter of the wavelength of the radar in the subsurface medium, with the 400M antenna radiating radar waves having a wavelength of 25 cm in the medium, calculated as dielectric constant 9, i.e., the channel spacing is required to be less than 6.25 cm.

When transmitting from the transmitting antennas at the two ends, only the nearest receiving antenna receives, and when each transmitting antenna in the middle transmits, the left receiving antenna and the right receiving antenna simultaneously receive, and the transmitting antennas rotate one by one, so that 16 channels of radar data are finally generated.

Through the embodiment, the transmitting antenna and the receiving antenna of the three-dimensional radar are arranged in a front-back two-row crossing mode, so that the channel distance can be reduced, and the imaging precision is improved.

According to another aspect of the embodiment of the application, a two-dimensional and three-dimensional integrated road detection method is provided. Alternatively, in the present embodiment, the above-described two-three-dimensional integrated road detection method may be applied to a hardware environment constituted by the ground penetrating radar device 302 and the server 304 as shown in fig. 3. As shown in fig. 3, a server 304 (e.g., a data processing side) is connected to the ground penetrating radar device 302 (e.g., a data acquisition side) via a network, and is operable to provide services (e.g., data processing, etc.) to the ground penetrating radar device 302, and a database may be provided on the server 304 or independent of the server, for providing data storage services to the server 304.

Such networks include, but are not limited to, wide area, metropolitan or local area networks, and the ground penetrating radar apparatus 302 may be, but is not limited to, acquisition devices deployed with two-dimensional and three-dimensional radars, and the like. The two-dimensional and three-dimensional integrated road detection method of the embodiment of the application can be executed by the ground penetrating radar device 302, can be executed by the server 304, and can be executed by the ground penetrating radar device 302 and the server 304 together. The ground penetrating radar device 302 may perform the two-dimensional and three-dimensional integrated road detection method according to the embodiment of the present application.

For example, the ground penetrating radar device 302 performs a method of detecting a road with two or three dimensions as shown in fig. 4, and the method may include the following steps:

Step S402, obtaining target two-dimensional radar data obtained by performing ground penetrating detection on a target road through a two-dimensional radar, and obtaining target three-dimensional radar data obtained by performing ground penetrating detection on the target road through a three-dimensional radar.

The two-dimensional and three-dimensional integrated road detection method in the embodiment of the application can be applied to a scene of detecting the ground of the road by the ground penetrating radar device, and can be used for periodically detecting the road and discovering the hidden danger of collapse in advance, thereby avoiding the occurrence of collapse accidents. The ground penetrating radar device in this embodiment may be the ground penetrating radar device in the foregoing embodiment, as shown in fig. 5, when the road is detected by the ground penetrating radar device, the ground penetrating radar device may be placed along the longitudinal direction of the road to be detected, the radar signal covers the whole lane width, and the detection can be completed only by one scan of a single lane, thereby effectively improving the detection efficiency. The width of the ground penetrating radar device can be configured according to the width of the road to be detected, for example, the width can be designed to be 3.5 meters.

The ground penetrating radar device may have a two-dimensional radar and a three-dimensional radar. The method has the advantages that the method is high in detection depth of the two-dimensional radar, the imaging accuracy is not high and the display is not visual, the imaging accuracy of the three-dimensional radar is high, the display is visual, the detection depth is small, the characteristics of high detection depth of the two-dimensional radar and high imaging accuracy of the three-dimensional radar can be combined by combining the two-dimensional radar and the three-dimensional radar, so that efficient ground detection is realized, two-dimensional radar data and three-dimensional radar data can be obtained at the same time through one-time detection, the detection depth is guaranteed, and visual and high-accuracy imaging of shallow underground targets can be realized.

In this embodiment, the ground penetrating radar device may have one or more operation modes, for example, the ground penetrating radar device may have three operation modes of a mode in which the two-dimensional radar operates alone, a mode in which the three-dimensional radar operates alone, and a mode in which the two-dimensional radar and the three-dimensional radar operate simultaneously. The three working modes can flexibly meet the requirements of road detection in different scenes.

The two-dimensional radar and the three-dimensional radar can work in a time-sharing switching mode, and the switching mode can be high-power rapid microwave switch switching or manual switching. The switching is selected according to task requirements, for example, only shallow targets are detected, the three-dimensional mode can be switched, if only deep targets are concerned, the two-dimensional mode can be switched, the simultaneous working mode can be used all the time, and the working mode switching can provide diversified selections.

In the case of ground penetrating detection of a target road, the ground penetrating radar device may be disposed on the target road in the manner shown in fig. 5, and activated. The ground penetrating radar device can acquire target two-dimensional radar data. The two-dimensional radar includes at least one antenna pair (i.e., at least one two-dimensional radar channel), at least one two-dimensional radar data may be acquired. And the ground penetrating radar device can acquire target three-dimensional radar data. The three-dimensional radar may form a plurality of channels (i.e., a plurality of three-dimensional radar channels), and a plurality of three-dimensional radar data may be acquired.

Alternatively, the acquisition of the two-dimensional radar data and the three-dimensional radar data may be performed separately, i.e., the two-dimensional radar data is acquired first and then the three-dimensional radar data is acquired, or the three-dimensional radar data is acquired first and then the two-dimensional radar data is acquired. The acquisition of the two-dimensional radar data and the three-dimensional radar data may be performed simultaneously, i.e., the two-dimensional radar data and the three-dimensional radar data are acquired simultaneously. Alternatively, the acquisition of the three-dimensional radar data may be triggered based on the acquired two-dimensional radar data, i.e., when an abnormal target is identified from the target two-dimensional radar data, the three-dimensional radar is triggered to detect the abnormal target. This is not limited in this embodiment.

Step S404, imaging processing is carried out on the target two-dimensional radar data to obtain a two-dimensional imaging result, and imaging processing is carried out on the target three-dimensional radar data to obtain a three-dimensional imaging result.

After the target two-dimensional radar data are obtained, the ground penetrating radar device can perform imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result. The target two-dimensional radar data includes at least one two-dimensional radar data corresponding to at least one channel (two-dimensional radar channel), all or part of the two-dimensional radar data of the channels may be subjected to imaging processing, and the obtained two-dimensional imaging result may be a two-dimensional imaging result corresponding to all or part of the channels. Here, the two-dimensional imaging result is an imaging result from the ground of the target road to the first detection depth.

After the target three-dimensional radar data is obtained, the ground penetrating radar device can perform imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result. The target three-dimensional radar data includes a plurality of three-dimensional radar data corresponding to a plurality of channels (three-dimensional radar channels), all or part of the three-dimensional radar data of the channels may be subjected to imaging processing, and the obtained three-dimensional imaging result may be a three-dimensional imaging result corresponding to all or part of the channels. Here, the three-dimensional imaging result is an imaging result from the ground of the target road to the second detection depth. The detection depth of the two-dimensional radar is higher than the detection depth of the three-dimensional radar, and therefore, the first detection depth is greater than the second detection depth.

Step S406, simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device.

After the two-dimensional imaging result and the three-dimensional imaging result are obtained, the ground penetrating radar device can control the two-dimensional imaging result and the three-dimensional imaging result to be displayed on the display interface of the target equipment at the same time. The target device may be a ground penetrating radar device or a device connected to a ground penetrating radar device. The target device may have a display screen, on which a display interface may be displayed, and the display interface may have one or more display areas, and the two-dimensional imaging result and the three-dimensional imaging result may be displayed in different display areas, respectively, or may be displayed in the same display area after the advanced data fusion.

In the two-dimensional imaging results, the imaging results of different two-dimensional radar channels can be displayed in different display areas, or can be displayed in the same display area after the data fusion is performed. In the three-dimensional imaging results, the imaging results of different channels can be displayed in different display areas, or can be displayed in the same display area after the data fusion is performed. The manner of simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result in this embodiment is not limited.

The method comprises the steps of S402 to S406, obtaining target two-dimensional radar data obtained by detecting the target road through a two-dimensional radar and obtaining target three-dimensional radar data obtained by detecting the target road through a three-dimensional radar, wherein the two-dimensional radar and the three-dimensional radar are both positioned on a ground penetrating radar device of the target road, imaging the target two-dimensional radar data to obtain a two-dimensional imaging result, and imaging the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, the first detection depth is larger than the second detection depth, and the two-dimensional imaging result and the three-dimensional imaging result are simultaneously displayed on a display interface of target equipment.

As an alternative embodiment, after performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, the method further includes:

S11, determining first position information of an abnormal target in a two-dimensional imaging result when the abnormal target is detected from the two-dimensional imaging result;

And S12, generating a first trigger signal, wherein the first trigger signal is used for triggering the three-dimensional radar to perform ground detection on the target road according to the first position information so as to acquire target three-dimensional radar data, and the three-dimensional imaging result contains an abnormal target.

In the present embodiment, the ground penetrating detection of the target road by the three-dimensional radar may be triggered to be performed in the case where an abnormal target is detected from the two-dimensional imaging result. After the two-dimensional imaging result is obtained, abnormal target detection can be carried out on the two-dimensional imaging result, and an abnormal detection result is determined. In the case where the abnormality detection result is used to indicate that an abnormality target is detected from the two-dimensional imaging result, the position of the abnormality target in the two-dimensional imaging result may be determined, resulting in the first position information.

In order to more intuitively check the abnormal target, determining whether the abnormal target can cause conditions such as road collapse or not, a first trigger signal can be generated according to the first position information, and the second trigger information can be used for triggering the three-dimensional radar to perform ground detection on the target road according to the first position information, so that target three-dimensional radar data containing the abnormal target can be obtained, and the three-dimensional imaging result contains the abnormal target.

When the ground penetrating detection is carried out on the target road according to the first position information, the ground penetrating radar device can firstly convert the first position information into the target position information under the world coordinate system and control the three-dimensional radar to carry out the ground penetrating detection on the target road according to the converted target position information.

According to the embodiment, the three-dimensional radar is controlled to detect the ground based on the abnormal target detected from the two-dimensional imaging result, so that the accuracy of the ground detection can be improved, and the timeliness of the abnormal detection can be improved.

As an alternative embodiment, generating the first trigger signal includes:

s21, determining a detection range of the three-dimensional radar for detecting the ground of the target road according to the first position information and the second position information of the three-dimensional radar;

S22, generating a first trigger signal, wherein the first trigger signal is used for indicating the three-dimensional radar to perform ground penetrating detection on the target road according to the detection range.

In this embodiment, when the trigger signal of the three-dimensional radar is generated, a detection range of the three-dimensional radar for detecting the ground of the target road may be determined according to the first position information and the second position information of the three-dimensional radar, so that the abnormal target is located in the detection range of the three-dimensional radar. Alternatively, the first position information may be converted into target position information in a three-dimensional coordinate system (may be a world coordinate system or a three-dimensional coordinate system with a certain reference point as an origin), and the detection range may be determined according to the target position information and the second position information of the three-dimensional radar.

The detection range may include at least one of a horizontal range and a depth range, wherein the horizontal range may be a range of a first distance around a horizontal position of the abnormal target on the ground, and a range of a left-right direction may be a default range. If the two-dimensional radar can swing in a direction perpendicular to the target road, the horizontal range may be a range of each of the second distances left and right with the above-described horizontal position as the center. The depth range may be a range of up and down third distances centered on a depth position (i.e., target depth) of the abnormal target perpendicular to the ground, and the range in the left-right direction may be a default range. If the three-dimensional radar can swing in a direction perpendicular to the target road, the horizontal range may be a range of the fourth distances from the left to the right centered on the depth position.

The first distance, the second distance, the third distance, and the fourth distance may be distances determined based on target information of the detected abnormal target (e.g., a shape of the abnormal target). Alternatively, the first distance may also be the distance between the two-dimensional radar to the three-dimensional radar (avoiding deviation of the radar position leading to no detection of an anomalous target). Here, the front-rear direction refers to a forward and backward direction along the target road, which is relative to the detection direction of the ground penetrating radar device, for example, as shown by an arrow direction in fig. 5, the arrow is directed in a forward direction, and the reverse direction is a sequential direction. The first left-right direction is a direction perpendicular to the target road on the horizontal slice. The vertical direction means upward and downward directions along a direction perpendicular to the ground, and the second left-right direction is the same as the first left-right direction.

For example, as shown in fig. 6, when the horizontal position of the abnormal target on the ground is O1, and the rectangular frame in which the shape of the abnormal target projected on the ground is shown by the dotted line frame in fig. 6, the horizontal range to be detected may be determined to be the range of each of front and rear d1 (an example of the first distance) and each of left and right d2 (an example of the second distance) around O1.

For example, as shown in fig. 7, if the depth position of the abnormal target on the ground is O2, and the rectangular frame in which the abnormal target is projected on the vertical plane of the road is shown by the dotted line frame in fig. 7, the depth range to be detected may be determined to be the range of each of the upper and lower d3 (an example of the third distance) and each of the left and right d4 (an example of the fourth distance) around O2.

Optionally, the ground penetrating radar device may further determine a target depth of the abnormal target according to the first location information, and execute the step S21 only when the target depth is less than or equal to the maximum ground penetrating depth of the three-dimensional radar, otherwise, determine that the three-dimensional radar cannot detect the abnormal target when the target depth is greater than the maximum ground penetrating depth of the three-dimensional radar, and send an abnormal prompt message to the target object, where the abnormal prompt message is used to prompt that the abnormal target is detected by the two-dimensional radar, and may also prompt the target depth of the abnormal target.

After determining the detection range of the three-dimensional radar, or after determining the detection range of the three-dimensional radar and the three-dimensional radar can detect an abnormal target, the ground penetrating radar device can generate a first trigger signal, wherein the first trigger signal is used for indicating the three-dimensional radar to perform ground penetrating detection on the target road according to the determined detection range. The three-dimensional radar can perform ground detection on the target road according to the determined detection range, so that target three-dimensional radar data are obtained.

Optionally, the ground penetrating radar device may determine a detection parameter of the three-dimensional radar according to the detection range, where the detection parameter may include a detection angle, and the detection angle is a radar angle when the three-dimensional radar detects an abnormal target. The ground penetrating radar device can generate a first trigger signal according to the detection parameters, and the first trigger signal is used for indicating the three-dimensional radar to detect the ground penetrating of the target road by using the detection parameters. Here, the detection angle may include an angle formed by two sides of which a line between a start point and a vertex of the horizontal range is an angle with respect to the abnormal target, and an angle formed by two sides of which a line between a start point and a vertex of the depth range is an angle with respect to the abnormal target.

The detection angle may be determined based on at least one of a horizontal range and a depth range of the detection. For example, the detection angle of the three-dimensional radar in the direction along the target road may be determined based on the above-described horizontal position and first distance, or the detection angle of the three-dimensional radar in the direction along the target road and the detection angle in the direction perpendicular to the target road may be determined based on the above-described horizontal position, first distance, and second distance. For another example, a detection angle of the three-dimensional radar in a direction along the target road may be determined based on the above-described depth position and third distance, or a detection angle of the three-dimensional radar in a direction along the target road and a detection angle in a direction perpendicular to the target road may be determined based on the above-described depth position, third distance, and fourth distance. For another example, the detection angle of the three-dimensional radar in the direction along the target road may be determined based on the above-described horizontal position, depth position, first distance, and third distance, or the detection angle of the three-dimensional radar in the direction along the target road and the detection angle in the direction perpendicular to the target road may be determined based on the above-described horizontal position, depth position, first distance, second distance, third distance, and fourth distance. Other ways of determining the detection angle of the three-dimensional radar may also be used, which is not limited in this embodiment.

By determining the detection range of the three-dimensional radar based on the position information of the abnormal target, the detection accuracy of the abnormal target can be improved, and the utilization efficiency of ground penetrating resources (for example, the three-dimensional radar) can be improved.

As an alternative embodiment, before acquiring the target two-dimensional radar data obtained by performing ground penetrating detection on the target road by the two-dimensional radar, and acquiring the target three-dimensional radar data obtained by performing ground penetrating detection on the target road by the three-dimensional radar, the method further includes:

S31, receiving a second trigger signal sent by the trigger equipment, wherein the second trigger signal is generated after the distance measuring component of the trigger equipment rotates for a set distance, and the second trigger signal is used for triggering the two-dimensional radar and the three-dimensional radar to perform ground penetrating detection on a target road.

In this embodiment, the ground penetrating detection of the target road may be triggered by the trigger device generating the trigger signal. The triggering device may have a distance measuring means which generates a triggering signal after every rotation of the distance measuring means by a set distance. The triggering device may be a ranging wheel, an example of which may be as shown in fig. 8. The triggering signal currently generated by the triggering equipment is a second triggering signal, and the second triggering signal is used for triggering the two-dimensional radar and the three-dimensional radar to perform ground penetrating detection on the target road. The ground penetrating radar device can receive the second trigger signal and trigger the two-dimensional radar and the three-dimensional radar to detect the ground based on the received second trigger signal.

For example, in order to ensure the synchronization of two-dimensional data and three-dimensional data, a ranging wheel triggering mode can be adopted to trigger a ground penetrating radar device to acquire data. After each fixed distance (i.e. a set distance, typically 2 cm or 5 cm) the ranging wheel rotates, a trigger signal is generated, and the two-dimensional radar and the three-dimensional radar collect data simultaneously according to the trigger signal. The triggering distance of the distance measuring wheel can be set, and the setting range is from 1 cm to 10 cm. The radar data of 4 channels of the two-dimensional radar and the radar data of 16 channels of the three-dimensional radar can be acquired every time the ranging wheel rotates, and finally, a plurality of groups (triggered for multiple) of radar data of 4+18 channels are obtained.

According to the embodiment, the ground detection is triggered based on the trigger signal generated after the distance measuring component of the trigger equipment rotates for a set distance, so that the synchronization of two-dimensional data and three-dimensional data can be ensured, and the convenience of data acquisition is improved.

As an alternative embodiment, acquiring target two-dimensional radar data obtained by performing ground penetrating detection on a target road by a two-dimensional radar, and acquiring target three-dimensional radar data obtained by performing ground penetrating detection on a target road by a three-dimensional radar, includes:

s41, performing ground penetrating detection on a target road by using a two-dimensional radar in a horizontal polarization mode to obtain target two-dimensional radar data;

s42, detecting the ground of the target road by adopting an oblique polarization mode through the three-dimensional radar to obtain target three-dimensional radar data.

In this embodiment, the ground penetrating radar device is provided with two different excitation modes (i.e., polarization modes) at the same time, the excitation mode of the three-dimensional radar part is oblique excitation, the excitation mode of the two-dimensional radar part is horizontal excitation, namely, the two-dimensional radar adopts a horizontal polarization mode to detect the ground of the target road to obtain target two-dimensional radar data, and the three-dimensional radar adopts an oblique polarization mode to detect the ground of the target road to obtain target three-dimensional radar data.

The two excitation modes are beneficial to imaging targets distributed in different directions underground, and a single excitation direction is clear for imaging targets with a long direction parallel to the excitation direction, and is unclear for imaging targets perpendicular to the direction. The three-dimensional radar part uses oblique excitation to reduce the channel spacing and acquire data with higher linear density, each channel of the two-dimensional radar part images independently without spacing requirement, but a detection target can be missed between two channels with too large spacing, and horizontal excitation is adopted for deeper detection.

Alternatively, because the upper antenna and the lower antenna of the two-dimensional radar part are combined to form a channel, the two antennas can not incline, but can be turned 90 degrees to become vertical excitation, and the horizontal excitation has better imaging effect compared with the vertical excitation.

According to the embodiment, the three-dimensional radar adopts an oblique excitation mode, and the two-dimensional radar adopts a horizontal excitation mode, so that targets distributed in different directions in the ground can be conveniently imaged, and the accuracy of underground target detection is improved.

As an alternative embodiment, the two-dimensional radar includes a plurality of antenna pairs arranged side by side, each of the plurality of antenna pairs includes a different transmitting antenna and a receiving signal, and the two-dimensional radar may be arranged in a manner as shown in fig. 1 and 2, and the plurality of antenna pairs may form a plurality of channels. Correspondingly, acquiring target two-dimensional radar data obtained by performing ground penetrating detection on a target road through the two-dimensional radar comprises:

S51, responding to the acquired third trigger signal, splitting the third trigger signal into a plurality of trigger signals, wherein the third trigger signal is used for triggering the two-dimensional radar to perform ground penetrating detection on a target road, and the plurality of trigger signals are in one-to-one correspondence with the plurality of antenna pairs;

S52, triggering a transmitting antenna of each antenna pair to transmit a two-dimensional radar signal to the ground of a target road by using each trigger signal in the plurality of trigger signals;

S53, acquiring echo signals of two-dimensional radar signals transmitted by corresponding transmitting antennas and received by receiving antennas of each antenna pair, and obtaining two-dimensional radar data of a plurality of channels.

In this embodiment, multiple channels of the two-dimensional radar may collect data simultaneously. The ground penetrating radar device may receive a third trigger signal, where the third trigger signal is used to trigger the two-dimensional radar to perform ground penetrating detection on the target road, and a generation manner of the third trigger signal is similar to that of the second trigger signal, which is not described herein. After the third trigger signal is obtained, the ground penetrating radar device can split the third trigger signal into a plurality of trigger signals, and the number of the split trigger signals can be the same as the number of two-dimensional radar channels contained in the two-dimensional radar.

For each trigger signal in the split trigger signals, the ground penetrating radar device can respectively trigger the transmitting antenna of each antenna pair to transmit a two-dimensional radar signal to the ground of the target road, and acquire the echo signals of the two-dimensional radar signals transmitted by the corresponding transmitting antenna and received by the receiving antenna of each antenna pair, so as to obtain two-dimensional radar data of a plurality of channels, namely target two-dimensional radar data. Optionally, if the two-dimensional radar further includes other antenna pairs, the target two-dimensional radar data may further include other two-dimensional radar data, which is not limited in this embodiment.

For example, the trigger signal generated by the ranging wheel may be 1 divided into 4, and each channel of the two-dimensional radar may collect one data after receiving the trigger signal.

According to the embodiment, the triggering signals are split into the triggering signals to respectively trigger the transmitting antennas of different channels of the two-dimensional radar to transmit the two-dimensional radar data, so that the convenience of data acquisition can be improved.

As an alternative embodiment, the target two-dimensional radar data comprises two-dimensional radar data of a plurality of channels, and the imaging processing is carried out on the target two-dimensional radar data to obtain a two-dimensional imaging result, which comprises the following steps:

S61, performing parallel imaging processing on the two-dimensional radar data of the multiple channels to obtain a two-dimensional imaging result.

The two-dimensional radar data of the plurality of channels may be subjected to imaging processing, respectively, or a part thereof may be selected for the imaging processing. In this embodiment, in order to facilitate finding the distribution state of the underground target, parallel imaging processing may be performed on the two-dimensional radar data of multiple channels, so as to obtain a two-dimensional imaging result.

For example, the two-dimensional radar part adopts a multi-channel stacking mode for parallel imaging, and each channel can be referenced and compared in real time, so that the distribution state of an underground target can be conveniently found, and the imaging mode can be shown as shown in fig. 9.

According to the embodiment, the two-dimensional radar part is imaged in parallel in a multi-channel stacking mode, so that the distribution state of an underground target can be found conveniently, and the accuracy of target detection is improved.

As an alternative embodiment, the three-dimensional radar includes M transmitting antennas and N receiving antennas, where M and N are each a value greater than or equal to 1, and M and N may be the same or different. Correspondingly, obtaining target three-dimensional radar data obtained by detecting the ground penetrating of a target road through the three-dimensional radar comprises the following steps:

s71, responding to the acquired fourth trigger signal, and sequentially triggering each of the M transmitting antennas to transmit a three-dimensional radar signal to the ground of the target road;

S72, respectively acquiring echo signals of three-dimensional radar signals transmitted by each transmitting antenna and received by receiving antennas corresponding to each transmitting antenna in the N receiving antennas, and obtaining three-dimensional radar data of a plurality of channels.

In this embodiment, M transmitting antennas of the three-dimensional radar may trigger to transmit three-dimensional radar signals in sequence, so as to perform ground detection. The ground penetrating radar device may receive a fourth trigger signal, where the fourth trigger signal is used to trigger the three-dimensional radar to perform ground penetrating detection on the target road, and a generation manner of the fourth trigger signal is similar to that of the second trigger signal, which is not described herein. The fourth trigger signal and the third trigger signal may be the same trigger signal or different trigger signals. This is not limited in this embodiment.

After the fourth trigger signal is obtained, the ground penetrating radar device can trigger each of the M transmitting antennas to transmit three-dimensional radar signals to the ground of the target road in sequence, and respectively obtain echo signals of the three-dimensional radar signals transmitted by each transmitting antenna and received by a receiving antenna corresponding to each transmitting antenna in the N receiving antennas, so that three-dimensional radar data of a plurality of channels are obtained. I.e. target three-dimensional radar data. Optionally, if the three-dimensional radar further includes other transmitting antennas and receiving antennas, the target three-dimensional radar data may further include other three-dimensional radar data, which is not limited in this embodiment.

Alternatively, in order to increase the detection speed, the two ends of the M transmitting antennas may be triggered simultaneously to transmit the three-dimensional radar signal to the ground of the target road, where the same receiving antenna corresponding to the different transmitting antennas only allows to receive the echo signal of the three-dimensional radar signal transmitted by one transmitting antenna at the same time.

According to the embodiment, the three-dimensional radar signals are transmitted to the ground of the road by triggering the transmitting antennas in sequence, so that signal interference among different channels can be avoided, and the accuracy of receiving echo signals of the three-dimensional radar signals is improved.

As an alternative embodiment, the M transmitting antennas and the N receiving antennas may be disposed in two rows, one after the other, where n=m-1, for example, as shown in fig. 2. Correspondingly, acquiring echo signals of three-dimensional radar signals transmitted by each transmitting antenna and received by receiving antennas corresponding to each transmitting antenna in N receiving antennas respectively to obtain three-dimensional radar data of a plurality of channels, wherein the method comprises the following steps:

S81, under the condition that the current transmitting antenna is a transmitting antenna positioned at one end of M transmitting antennas, acquiring echo signals of three-dimensional radar signals transmitted by the current transmitting antenna and received by one receiving antenna adjacent to the current transmitting antenna in N receiving antennas, and obtaining three-dimensional radar data of one channel;

S82, under the condition that the current transmitting antenna is a transmitting antenna positioned in the middle position of the M transmitting antennas, echo signals of three-dimensional radar signals transmitted by the current transmitting antenna and received by two receiving antennas adjacent to the current transmitting antenna in the N receiving antennas are obtained, and three-dimensional radar data of two channels are obtained.

In this embodiment, when the transmitting antennas at two ends of the three-dimensional radar transmit radar signals, only the nearest receiving antenna receives echo signals, and when each transmitting antenna in the middle transmits radar signals, the left receiving antenna and the right receiving antenna simultaneously receive echo signals, and the transmitting antennas rotate one by one, so that signal interference between different channels is avoided.

For the current transmitting antenna, if the current transmitting antenna is a transmitting antenna positioned at one end of the M transmitting antennas, echo signals of three-dimensional radar signals transmitted by the current transmitting antenna and received by one receiving antenna adjacent to the current transmitting antenna in the N receiving antennas can be obtained, and three-dimensional radar data of one channel can be obtained. There are two transmitting antennas at one end, and thus, three-dimensional radar data of two channels can be obtained.

If the current transmitting antenna is a transmitting antenna positioned in the middle position of the M transmitting antennas, echo signals of three-dimensional radar signals transmitted by the current transmitting antenna and received by two receiving antennas adjacent to the current transmitting antenna in the N receiving antennas can be obtained, and three-dimensional radar data of two channels can be obtained. The transmitting antenna located at the middle position has M-2, so that three-dimensional radar data of 2 (M-2) channels can be obtained. Thus, three-dimensional radar data of 2 (M-1) channels can be acquired in total.

Through the embodiment, the transmitting antenna and the receiving antenna of the three-dimensional radar are arranged in a front-back two-row crossing mode, so that the channel distance can be reduced, and the imaging precision is improved.

As an alternative embodiment, the target three-dimensional radar data comprises three-dimensional radar data of a plurality of channels. The three-dimensional radar section may be imaged in a combination of horizontal slice, transverse slice and longitudinal line profile, as shown in fig. 10. Correspondingly, imaging processing is carried out on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the three-dimensional imaging result comprises at least one of the following steps:

S91, performing horizontal slicing processing on the three-dimensional radar data of the channels to obtain a first imaging result.

The ground penetrating radar device can perform horizontal slicing processing on three-dimensional radar data of a plurality of channels, and fuse the three-dimensional radar data of the plurality of channels together (for example, fuse by adopting an offset imaging algorithm) to obtain a first imaging result, wherein the first imaging result is an imaging result of a target depth position below the ground of a target road, so that the imaging result of a certain fixed depth position below the ground can be displayed.

For example, the horizontal slice fuses three-dimensional radar data of 16 channels together by using an offset imaging algorithm, and displays imaging results of a certain fixed depth position below the ground, wherein the depth position can be arbitrarily selected. The offset imaging algorithm may be an imaging process based on a positional offset between the transmit antennas.

S92, performing transverse slicing processing on the three-dimensional radar data of the channels to obtain second imaging results.

The ground penetrating radar device may perform a cross-slice process on the three-dimensional radar data of the plurality of channels, fuse the three-dimensional radar data of the plurality of channels together (for example, fuse with an offset imaging algorithm) to obtain a second imaging result, where the second imaging result is an imaging result from the ground of the target road to a third detection depth perpendicular to the road direction of the target road, and the third detection depth may be less than or equal to the second detection depth.

For example, the lateral slice fuses together 16 channel radar data using an offset imaging algorithm, displaying imaging results from ground to probe depth perpendicular to the road direction.

S93, performing longitudinal slicing processing on the three-dimensional radar data of the target channel in the three-dimensional radar data of the multiple channels to obtain a third imaging result.

The ground penetrating radar device may perform longitudinal slicing processing on three-dimensional radar data of a target channel in the three-dimensional radar data of the multiple channels, to obtain a third imaging result, where the third imaging result is an imaging result from the ground of the target road to a fourth detection depth along a road direction of the target road, and the fourth detection depth may be less than or equal to the second detection depth.

For example, the longitudinal profile shows the imaging result of one of 16 channels along the road direction, which can be switched arbitrarily.

The three-dimensional imaging result may be at least one of the first imaging result, the second imaging result, and the third imaging result, or may be a combined imaging result of the three, which is not limited in this embodiment.

By this embodiment, by performing all or part of processing in the horizontal slice, the lateral slice, and the longitudinal line profile on the three-dimensional radar data of a plurality of channels, the flexibility of the three-dimensional imaging processing can be improved.

As an alternative embodiment, imaging the target two-dimensional radar data to obtain a two-dimensional imaging result includes:

S101, determining the distance between the center of the two-dimensional radar and the center of the three-dimensional radar to obtain the center distance of the target;

s102, imaging processing is carried out on the target two-dimensional radar data according to the target center distance, and a two-dimensional imaging result is obtained, wherein the advance of imaging of the target two-dimensional radar data is matched with the target center distance.

In this embodiment, in order to compensate for the imaging position deviation of the two-dimensional radar and the three-dimensional radar, a distance compensation algorithm may be used to make the imaging positions of the two-dimensional radar and the three-dimensional radar of the underground measured object consistent. The distance compensation algorithm is to calculate the fixed distance from the center to the center of the two-dimensional radar and the three-dimensional radar, advance the two-dimensional radar data according to the fixed distance and align the two-dimensional radar data with the three-dimensional radar data.

The ground penetrating radar device can firstly determine the distance between the center of the two-dimensional radar and the center between the three-dimensional radars, and obtain the center distance of the target. According to the target center distance, the ground penetrating radar device can image the target two-dimensional radar data according to the target center distance, for example, the target two-dimensional radar data is advanced according to the target center distance, and the advance of imaging the target two-dimensional radar data is matched with the target center distance, so that a two-dimensional imaging result is obtained.

According to the method and the device for detecting the target imaging, the fixed distance from the center to the center of the two-dimensional radar and the three-dimensional radar is calculated, the two-dimensional radar data are advanced according to the fixed distance and aligned with the three-dimensional radar data, imaging position deviation of the two-dimensional radar and the three-dimensional radar can be made up, and the target imaging accuracy is improved.

As an alternative embodiment, before simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device, the method further includes:

s111, determining third position information of a detection target in a two-dimensional imaging result and fourth position information of the detection target in a three-dimensional imaging result;

and S112, performing fusion operation on the two-dimensional imaging result and the three-dimensional imaging result according to the third position information and the fourth position information to obtain a target imaging result.

In order to intuitively display the imaging result and improve the convenience of information display, the two-dimensional imaging result and the three-dimensional imaging result may be fused first, where the fusing may be performed based on the positions of the detection targets in the two-dimensional imaging result and the three-dimensional imaging result, and the detection targets may be the abnormal targets or the normal targets, which is not limited in this embodiment.

The ground penetrating radar device may determine third position information of the detection target in the two-dimensional imaging result and fourth position information of the detection target in the three-dimensional imaging result, respectively. According to the third position information and the fourth position information, the ground penetrating radar device can perform fusion operation on the two-dimensional imaging result and the three-dimensional imaging result to obtain a target imaging result. The above-mentioned fusion operation can determine the overlapping area of the two-dimensional imaging result and the three-dimensional imaging result according to the third position information and the fourth position information, and replace the overlapping area of the two-dimensional imaging result with the corresponding area of the three-dimensional imaging result to obtain the target imaging result.

Alternatively, the overlapping area in the two-dimensional imaging result may be replaced with the corresponding area in the three-dimensional imaging result, and other areas except for the overlapping area in the two-dimensional imaging result and other areas except for the corresponding area in the three-dimensional imaging result are reserved, so as to obtain the target imaging result. Correspondingly, the two-dimensional imaging result and the three-dimensional imaging result displayed simultaneously on the display interface of the target device may be the target imaging result.

Alternatively, the ground penetrating radar device may determine a first imaging scale of the two-dimensional imaging result and a second imaging scale of the three-dimensional imaging result, and may also determine a first imaging angle of the two-dimensional imaging result and a second imaging angle of the three-dimensional imaging result. And adjusting the three-dimensional imaging result according to the first imaging proportion and the second imaging proportion (or the first imaging proportion, the second imaging proportion, the first imaging angle and the second imaging angle) to obtain an adjusted three-dimensional imaging result. Then, the ground penetrating radar device can determine the position information of the detected target and fuse the imaging results in a similar manner as described above, and will not be described in detail herein.

According to the embodiment, the imaging result can be visually displayed by fusing the imaging result according to the imaging position and displaying the fused imaging result, so that the convenience of information display is improved.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk) and including instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.

According to still another aspect of the embodiment of the present application, there is also provided a two-three-dimensional integrated road detection apparatus for implementing the two-three-dimensional integrated road detection method described above. Fig. 11 is a block diagram of an alternative two-dimensional integrated road detection device according to an embodiment of the present application, and as shown in fig. 11, the device may include:

The acquiring unit 1102 is configured to acquire target two-dimensional radar data obtained by performing ground penetrating detection on a target road by using a two-dimensional radar, and acquire target three-dimensional radar data obtained by performing ground penetrating detection on the target road by using a three-dimensional radar, where the two-dimensional radar and the three-dimensional radar are both located on a ground penetrating radar device of the target road;

The processing unit 1104 is connected with the acquisition unit 1102, and is used for performing imaging processing on target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is larger than the second detection depth;

A display unit 1106, coupled to the processing unit 1104, for displaying the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device at the same time.

It should be noted that, the acquiring unit 1102 in this embodiment may be used to perform the above-mentioned step S402, the processing unit 1104 in this embodiment may be used to perform the above-mentioned step S404, and the display unit 1106 in this embodiment may be used to perform the above-mentioned step S406.

The method comprises the steps of obtaining target two-dimensional radar data obtained by detecting a target road through a two-dimensional radar and obtaining target three-dimensional radar data obtained by detecting the target road through a three-dimensional radar, wherein the two-dimensional radar and the three-dimensional radar are both located on a ground penetrating radar device of the target road, performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, the first detection depth is larger than the second detection depth, and the two-dimensional imaging result and the three-dimensional imaging result are simultaneously displayed on a display interface of target equipment.

As an alternative embodiment, the above device further comprises:

a first determining unit configured to determine first position information of an abnormal target in a two-dimensional imaging result in a case where the abnormal target is detected from the two-dimensional imaging result after performing imaging processing on target two-dimensional radar data to obtain the two-dimensional imaging result;

the generation unit is used for generating a first trigger signal, wherein the first trigger signal is used for triggering the three-dimensional radar to perform ground detection on the target road according to the first position information so as to acquire target three-dimensional radar data, and the three-dimensional imaging result contains an abnormal target.

As an alternative embodiment, the generating unit comprises:

The first determining module is used for determining a detection range of the three-dimensional radar for detecting the ground of the target road according to the first position information and the second position information of the three-dimensional radar;

The generation module is used for generating a first trigger signal, wherein the first trigger signal is used for indicating the three-dimensional radar to perform ground detection on the target road according to the detection range.

As an alternative embodiment, the above device further comprises:

The receiving unit is used for receiving a second trigger signal sent by the trigger device before acquiring target two-dimensional radar data obtained by detecting the target road through the two-dimensional radar and acquiring target three-dimensional radar data obtained by detecting the target road through the three-dimensional radar, wherein the second trigger signal is a trigger signal generated after the distance measuring component of the trigger device rotates for a set distance, and the second trigger signal is used for triggering the two-dimensional radar and the three-dimensional radar to detect the target road through the ground.

As an alternative embodiment, the acquisition unit comprises:

The first detection module is used for detecting the ground penetrating of the target road by adopting a horizontal polarization mode through the two-dimensional radar to obtain target two-dimensional radar data;

the second detection module is used for detecting the ground penetrating of the target road by adopting an oblique polarization mode through the three-dimensional radar to obtain target three-dimensional radar data.

As an alternative embodiment, the two-dimensional radar includes a plurality of antenna pairs arranged side by side, each of the plurality of antenna pairs including a different transmitting antenna and receiving signal:

The splitting module is used for responding to the acquired third trigger signal and splitting the third trigger signal into a plurality of trigger signals, wherein the third trigger signal is used for triggering the two-dimensional radar to perform ground penetrating detection on the target road, and the trigger signals are in one-to-one correspondence with the antenna pairs;

the first triggering module is used for triggering the transmitting antenna of each antenna pair to transmit a two-dimensional radar signal to the ground of a target road by using each triggering signal in the plurality of triggering signals;

The first acquisition module is used for acquiring echo signals of the two-dimensional radar signals transmitted by the corresponding transmitting antennas and received by the receiving antennas of each antenna pair to obtain two-dimensional radar data of a plurality of channels, wherein the target two-dimensional radar data comprise the two-dimensional radar data of the plurality of channels.

As an alternative embodiment, the target two-dimensional radar data comprises a plurality of channels of two-dimensional radar data, a processing unit comprising:

The first processing module is used for carrying out parallel imaging processing on the two-dimensional radar data of the multiple channels to obtain a two-dimensional imaging result.

As an alternative embodiment, the three-dimensional radar includes M transmitting antennas and N receiving antennas, an acquisition unit including:

The second triggering module is used for responding to the acquired fourth triggering signal and triggering each transmitting antenna in the M transmitting antennas to transmit a three-dimensional radar signal to the ground of the target road in sequence;

the second acquisition module is used for respectively acquiring echo signals of the three-dimensional radar signals transmitted by each transmitting antenna and received by the receiving antenna corresponding to each transmitting antenna in the N receiving antennas to obtain three-dimensional radar data of a plurality of channels, wherein the target three-dimensional radar data comprises three-dimensional radar data of the plurality of channels.

As an alternative embodiment, M transmitting antennas and N receiving antennas are disposed in front of and behind each other, n=m-1, and the second acquisition module includes:

the first acquisition sub-module is used for acquiring echo signals of three-dimensional radar signals transmitted by the current transmitting antenna and received by one receiving antenna adjacent to the current transmitting antenna in N receiving antennas under the condition that the current transmitting antenna is the transmitting antenna positioned at one end of the M transmitting antennas, so as to obtain three-dimensional radar data of one channel;

And the second acquisition sub-module is used for acquiring echo signals of three-dimensional radar signals transmitted by the current transmitting antenna and received by two receiving antennas adjacent to the current transmitting antenna in the N receiving antennas under the condition that the current transmitting antenna is the transmitting antenna positioned in the middle position of the M transmitting antennas, so as to obtain three-dimensional radar data of two channels.

As an alternative embodiment, the target three-dimensional radar data comprises three-dimensional radar data of a plurality of channels, the processing unit comprising at least one of:

The second processing module is used for performing horizontal slicing processing on the three-dimensional radar data of the multiple channels to obtain a first imaging result, wherein the first imaging result is an imaging result of a target depth position below the ground of the target road;

The third processing module is used for performing transverse slicing processing on the three-dimensional radar data of the multiple channels to obtain a second imaging result, wherein the second imaging result is an imaging result from the ground of the target road to a third detection depth, which is perpendicular to the road direction of the target road, and the third detection depth is smaller than or equal to the second detection depth;

And a fourth processing module, configured to perform longitudinal slicing processing on three-dimensional radar data of a target channel in the three-dimensional radar data of multiple channels, to obtain a third imaging result, where the third imaging result is an imaging result from the ground of the target road to a fourth detection depth along a road direction of the target road, and the fourth detection depth is less than or equal to the second detection depth.

As an alternative embodiment, the processing unit comprises:

the second determining module is used for determining the distance between the center of the two-dimensional radar and the center of the three-dimensional radar to obtain the center distance of the target;

And the fifth processing module is used for carrying out imaging processing on the target two-dimensional radar data according to the target center distance to obtain a two-dimensional imaging result, wherein the advance of imaging of the target two-dimensional radar data is matched with the target center distance.

As an alternative embodiment, the device further comprises a second determining unit, the display unit comprising a display module, wherein,

The second determining unit is used for determining third position information of the detection target in the two-dimensional imaging result and fourth position information of the detection target in the three-dimensional imaging result before the two-dimensional imaging result and the three-dimensional imaging result are simultaneously displayed on a display interface of the target equipment;

and the display module is used for displaying the target imaging result on a display interface of the target equipment.

It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 3, where the hardware environment includes a network environment.

According to still another aspect of the embodiment of the present application, there is also provided a two-three-dimensional integrated road detection apparatus for implementing the two-three-dimensional integrated road detection method described above. Fig. 12 is a block diagram of another alternative two-dimensional integrated road detection device according to an embodiment of the present application, and as shown in fig. 12, the device may include:

a two-dimensional radar 1202;

A three-dimensional radar 1204;

the data processing unit 1206 is configured to acquire target two-dimensional radar data obtained by performing ground penetrating detection on a target road through the two-dimensional radar, and acquire target three-dimensional radar data obtained by performing ground penetrating detection on the target road through the three-dimensional radar, perform imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and perform imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, the first detection depth is greater than the second detection depth, and simultaneously display the two-dimensional imaging result and the three-dimensional imaging result on a display interface of the target device.

It should be noted that the data processing unit 1206 in this embodiment may be configured to perform the above-described step S402, step S404, and step S406.

Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.

According to still another aspect of the embodiment of the present application, there is also provided an electronic device for implementing the two-dimensional and three-dimensional integrated road detection method, where the electronic device may be a server, a terminal, or a combination thereof.

Fig. 13 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 1302, a communication interface 1304, a memory 1306, and a communication bus 1308, as shown in fig. 13, wherein the processor 1302, the communication interface 1304, and the memory 1306 communicate with each other via the communication bus 1308, wherein,

A memory 1306 for storing a computer program;

The processor 1302, when executing the computer program stored on the memory 1306, performs the following steps:

S1, acquiring target two-dimensional radar data obtained by performing ground penetrating detection on a target road through a two-dimensional radar, and acquiring target three-dimensional radar data obtained by performing ground penetrating detection on the target road through a three-dimensional radar, wherein the two-dimensional radar and the three-dimensional radar are both positioned on a ground penetrating radar device of the target road;

S2, performing imaging processing on target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of a target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is larger than the second detection depth;

and S3, simultaneously displaying a two-dimensional imaging result and a three-dimensional imaging result on a display interface of the target equipment.

Alternatively, in the present embodiment, the above-described communication bus may be a PCI (PERIPHERAL COMPONENTINTERCONNECT, peripheral component interconnect standard) bus, or an EISA (Extended Industry StandardArchitecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 13, but not only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The memory may include RAM or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

As an example, as shown in fig. 13, the memory 1302 may include, but is not limited to, the acquisition unit 1102, the processing unit 1104, and the display unit 1106 in the two-dimensional integrated road detection device. In addition, other module units in the two-dimensional integrated road detection device may be included, but are not limited to, and are not described in detail in this example.

The Processor may be a general-purpose Processor, including but not limited to a CPU (CentralProcessing Unit ), NP (Network Processor, network Processor), etc., and may also be a DSP (DIGITAL SIGNAL Processor), ASIC (ApplicationSpecific Integrated Circuit ), FPGA (Field-ProgrammableGate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.

In addition, the electronic equipment further comprises a display for simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result, such as a target imaging result.

Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.

It will be appreciated by those skilled in the art that the structure shown in fig. 13 is only illustrative, and the device implementing the two-dimensional and three-dimensional integrated road detection method may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palm computer, a mobile internet device (MobileInternet Devices, MID), a PAD, etc. Fig. 13 is not limited to the structure of the electronic device described above. For example, the terminal device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in fig. 13, or have a different configuration than shown in fig. 13.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute on associated hardware, and the program may be stored in a computer readable storage medium, where the storage medium may include a flash disk, a ROM, a RAM, a magnetic disk, an optical disk, or the like.

According to yet another aspect of an embodiment of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-described storage medium may be used for executing the program code of the above-described two-three-dimensional integrated road detection method.

Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.

Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:

S1, acquiring target two-dimensional radar data obtained by performing ground penetrating detection on a target road through a two-dimensional radar, and acquiring target three-dimensional radar data obtained by performing ground penetrating detection on the target road through a three-dimensional radar, wherein the two-dimensional radar and the three-dimensional radar are both positioned on a ground penetrating radar device of the target road;

S2, performing imaging processing on target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of a target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is larger than the second detection depth;

and S3, simultaneously displaying a two-dimensional imaging result and a three-dimensional imaging result on a display interface of the target equipment.

Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.

Alternatively, in the present embodiment, the storage medium may include, but is not limited to, a USB flash disk, a ROM, a RAM, a removable hard disk, a magnetic disk, or an optical disk, etc., which may store the program code.

According to a further aspect of embodiments of the present application there is also provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium, a processor of a computer device reading the computer instructions from the computer readable storage medium, the processor executing the computer instructions causing the computer device to perform the method steps of any of the embodiments described above.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the method described in the embodiments of the present application.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In several embodiments provided by the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.

Claims (10)

1. A two-dimensional and three-dimensional integrated road detection method, characterized by comprising: Acquire target two-dimensional radar data obtained by ground-penetrating detection of a target road by a two-dimensional radar, and acquire target three-dimensional radar data obtained by ground-penetrating detection of the target road by a three-dimensional radar, wherein both the two-dimensional radar and the three-dimensional radar are located on a ground-penetrating radar device of the target road, and the three-dimensional radar includes M transmitting antennas and N receiving antennas; Performing imaging processing on the two-dimensional radar data of the target to obtain a two-dimensional imaging result, and performing imaging processing on the three-dimensional radar data of the target to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; Simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on a display interface of a target device; The step of acquiring target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar includes: In response to the acquired fourth trigger signal, triggering each of the M transmitting antennas in sequence to transmit a three-dimensional radar signal to the ground of the target road; Respectively obtain echo signals of the three-dimensional radar signal transmitted by each transmitting antenna and received by the receiving antennas corresponding to each transmitting antenna among the N receiving antennas to obtain three-dimensional radar data of multiple channels, wherein the target three-dimensional radar data includes the three-dimensional radar data of the multiple channels; wherein, after the imaging processing is performed on the target two-dimensional radar data to obtain a two-dimensional imaging result, the method further includes: in the case where an abnormal target is detected from the two-dimensional imaging result, determining first position information of the abnormal target in the two-dimensional imaging result; and generating a first trigger signal, wherein the first trigger signal is used to trigger the three-dimensional radar to perform ground penetration detection on the target road according to the first position information to obtain the target three-dimensional radar data, wherein the three-dimensional imaging result includes the abnormal target. 2. The method according to claim 1, characterized in that before acquiring the target two-dimensional radar data obtained by performing ground-penetrating detection on the target road through a two-dimensional radar and acquiring the target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar, the method further comprises: Receive a second trigger signal sent by a trigger device, wherein the second trigger signal is a trigger signal generated after the distance measuring component of the trigger device rotates a set distance, and the second trigger signal is used to trigger the two-dimensional radar and the three-dimensional radar to perform ground penetration detection on the target road. 3. The method according to claim 1, characterized in that the step of acquiring target two-dimensional radar data obtained by performing ground-penetrating detection on the target road through a two-dimensional radar, and acquiring target three-dimensional radar data obtained by performing ground-penetrating detection on the target road through a three-dimensional radar, comprises: Performing ground detection on the target road by the two-dimensional radar in a horizontal polarization manner to obtain the target two-dimensional radar data; The three-dimensional radar uses an oblique polarization method to perform ground penetration detection on the target road to obtain the target three-dimensional radar data. 4. The method according to claim 1 is characterized in that the two-dimensional radar includes a plurality of antenna pairs arranged side by side, each of the plurality of antenna pairs includes a different transmitting antenna and receiving signal; and the step of acquiring target two-dimensional radar data obtained by ground-penetrating detection of the target road by the two-dimensional radar comprises: In response to the acquired third trigger signal, split the third trigger signal into multiple trigger signals, wherein the third trigger signal is used to trigger the two-dimensional radar to perform ground penetration detection on the target road, and the multiple trigger signals correspond one-to-one to the multiple antenna pairs; Using each of the multiple trigger signals to trigger the transmitting antenna of each antenna pair to transmit a two-dimensional radar signal to the ground of the target road; Acquire an echo signal of a two-dimensional radar signal received by a receiving antenna of each antenna pair and transmitted by a corresponding transmitting antenna to obtain two-dimensional radar data of multiple channels, wherein the target two-dimensional radar data includes the two-dimensional radar data of the multiple channels. 5. The method according to claim 1, wherein the target two-dimensional radar data comprises two-dimensional radar data of multiple channels; and the imaging processing of the target two-dimensional radar data to obtain a two-dimensional imaging result comprises: Parallel imaging processing is performed on the two-dimensional radar data of the multiple channels to obtain the two-dimensional imaging result. 6. The method according to claim 1, characterized in that the M transmitting antennas and the N receiving antennas are placed crosswise in two rows in front and back, N=M-1; the step of respectively acquiring the echo signals of the three-dimensional radar signal received by the receiving antennas corresponding to each transmitting antenna among the N receiving antennas and transmitted by each transmitting antenna to obtain the three-dimensional radar data of multiple channels comprises: When the current transmitting antenna is a transmitting antenna located at one end among the M transmitting antennas, an echo signal of a three-dimensional radar signal transmitted by the current transmitting antenna and received by a receiving antenna adjacent to the current transmitting antenna among the N receiving antennas is obtained to obtain three-dimensional radar data of one channel; When the current transmitting antenna is a transmitting antenna located in the middle of the M transmitting antennas, echo signals of the three-dimensional radar signal transmitted by the current transmitting antenna and received by two receiving antennas adjacent to the current transmitting antenna among the N receiving antennas are obtained to obtain three-dimensional radar data of two channels. 7. The method according to claim 1, wherein the target three-dimensional radar data comprises three-dimensional radar data of multiple channels; and the imaging processing of the target three-dimensional radar data to obtain a three-dimensional imaging result comprises at least one of the following: Performing horizontal slicing processing on the three-dimensional radar data of the multiple channels to obtain a first imaging result, wherein the first imaging result is an imaging result of a target depth position below the ground of the target road; Performing transverse slicing processing on the three-dimensional radar data of the multiple channels to obtain a second imaging result, wherein the second imaging result is an imaging result perpendicular to the road direction of the target road and from the ground of the target road to a third detection depth, and the third detection depth is less than or equal to the second detection depth; Perform longitudinal slicing processing on the three-dimensional radar data of the target channel among the three-dimensional radar data of the multiple channels to obtain a third imaging result, wherein the third imaging result is an imaging result along the road direction of the target road and from the ground of the target road to a fourth detection depth, and the fourth detection depth is less than or equal to the second detection depth. 8. The method according to claim 1, characterized in that the step of performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result comprises: Determine the distance between the center of the two-dimensional radar and the center of the three-dimensional radar to obtain a target center distance; The target two-dimensional radar data is imaged according to the target center distance to obtain the two-dimensional imaging result, wherein the lead amount of the target two-dimensional radar data imaging matches the target center distance. 9. The method according to any one of claims 1 to 8, characterized in that Before simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device, the method further includes: determining third position information of the detection target in the two-dimensional imaging result and fourth position information of the detection target in the three-dimensional imaging result; performing a fusion operation on the two-dimensional imaging result and the three-dimensional imaging result according to the third position information and the fourth position information to obtain a target imaging result; The simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on the display interface of the target device includes: displaying the target imaging result on the display interface of the target device. 10. A two-dimensional and three-dimensional integrated road detection device, characterized by comprising: 2D radar; A three-dimensional radar, wherein the three-dimensional radar comprises M transmitting antennas and N receiving antennas; A data processing unit, used for acquiring target two-dimensional radar data obtained by performing ground-penetrating detection on the target road by the two-dimensional radar, and acquiring target three-dimensional radar data obtained by performing ground-penetrating detection on the target road by the three-dimensional radar; performing imaging processing on the target two-dimensional radar data to obtain a two-dimensional imaging result, and performing imaging processing on the target three-dimensional radar data to obtain a three-dimensional imaging result, wherein the two-dimensional imaging result is an imaging result from the ground of the target road to a first detection depth, and the three-dimensional imaging result is an imaging result from the ground of the target road to a second detection depth, and the first detection depth is greater than the second detection depth; and simultaneously displaying the two-dimensional imaging result and the three-dimensional imaging result on a display interface of a target device; The data processing unit is further used to obtain target three-dimensional radar data obtained by ground-penetrating detection of the target road by the three-dimensional radar by executing the following steps: in response to the fourth trigger signal obtained, trigger each of the M transmitting antennas in sequence to transmit a three-dimensional radar signal to the ground of the target road; respectively obtain the echo signal of the three-dimensional radar signal transmitted by each transmitting antenna and received by the receiving antenna corresponding to each transmitting antenna among the N receiving antennas, so as to obtain three-dimensional radar data of multiple channels, wherein the target three-dimensional radar data includes the three-dimensional radar data of the multiple channels; Among them, the data processing unit is also used to determine the first position information of the abnormal target in the two-dimensional imaging result after imaging the target two-dimensional radar data to obtain the two-dimensional imaging result, when an abnormal target is detected from the two-dimensional imaging result; generate a first trigger signal, wherein the first trigger signal is used to trigger the three-dimensional radar to perform ground penetration detection on the target road according to the first position information to obtain the target three-dimensional radar data, and the three-dimensional imaging result includes the abnormal target.