In recent years, the environmental perception technology for robotic system has attracted a lot of attention from researchers, but only a little of studies on environmental perception technology are focused on the space underground. Meanwhile, in the field of mobile robotic systems, with the development of research on underground emergency hedging and buried targets’ high-resolution fault imaging, more and more attention has also been paid to underground environmental detection and perception. This article proposes a ground-penetrating radar-based underground environmental perception radar (UEPR) for mobile robotic system indoors. The underground environmental perception radar can achieve noncontact and real-time perception, which helps people detect buried targets and get the image of targets more conveniently and precisely. Major contributions of this work are threefold. Firstly, a stepped frequency continuous wave modulation and demodulation scheme is proposed; secondly, a switch device for a six-channel antenna array is designed and contributed; thirdly, based on a linear antenna array and a signal processing platform, the underground environmental perception radar is supposed to achieve three-dimensional imaging in underground space indoors with its low power consumption. For the experiment of three-dimensional imaging on the copper box and underground environment indoors, the process of imaging is successful, although the size of them is a little bigger than the real size. In addition, the comparison experiment shows that the resolution of underground environmental perception radar system is similar with that of sound wave methods, and the working range of underground environmental perception radar system is deeper than the others. It can be concluded that the underground environmental perception radar can detect the copper box underground and perceive something special within 1.5 m depth.

中文翻译：

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基于探地雷达的机器人系统地下环境感知雷达

近年来，机器人系统的环境感知技术引起了研究人员的广泛关注，但对环境感知技术的研究很少集中在地下空间。同时，在移动机器人系统领域，随着地下应急避险和埋藏目标高分辨率断层成像研究的开展，地下环境检测与感知也越来越受到重视。本文提出了一种基于探地雷达的地下环境感知雷达（UEPR），用于室内移动机器人系统。地下环境感知雷达可实现非接触、实时感知，帮助人们更方便、更准确地探测埋藏目标，获取目标图像。这项工作的主要贡献有三方面。首先提出了步进频率连续波调制解调方案；其次，设计并贡献了一种用于六通道天线阵列的开关装置；第三，基于线性天线阵列和信号处理平台，地下环境感知雷达以低功耗实现室内地下空间三维成像。对于室内铜箱和地下环境的三维成像实验，成像过程是成功的，虽然它们的尺寸比实际尺寸稍大。此外，对比实验表明，地下环境感知雷达系统的分辨率与声波方法的分辨率相似，并且地下环境感知雷达系统的工作范围比其他系统更深。可以得出结论，地下环境感知雷达可以探测到地下铜箱，感知1.5m深度范围内的特殊情况。