Underground space unmanned sensing detection system and method

Abstract

The invention discloses an underground space unmanned sensing detection system and method. An unmanned detection carrier platform obtains underground space surface data through a sensing radar holder and an unmanned aerial vehicle; then determining a detection target area according to the acquired data and planning a driving path; meanwhile, ad-hoc network relay nodes are placed at different positions on the unmanned detection carrier platform through a mechanical arm in combination with signal strength, an ad-hoc network is finally formed, and normal communication of the unmanned detection carrier platform and the unmanned aerial vehicle in the underground space is guaranteed; when the unmanned detection carrier platform travels to a target area, a seismic observation system is formed by arranging node type detectors, and an active seismic source and a transient electromagnetic detection device are respectively started, so that seismic wave data and transient electromagnetic data of the target area are obtained; according to the method, perception modeling of the underground space can be realized in an unmanned mode, and the overall detection data of the underground space can be accurately acquired, so that subsequent analysis and processing of the underground space data are facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned detection of underground spaces, and specifically relates to an unmanned sensing and detection system and method for underground spaces. Background Art

[0002] Geological tectonic seismic detection methods typically rely on seismic wave excitation and reception techniques, inferring underground structures by analyzing the propagation characteristics of seismic waves in underground media. Existing seismic detection technologies often require complex manual operations, such as manually placing seismic sources and receiving equipment at specific locations. This results in low efficiency and a high reliance on operator experience. However, in complex underground space conditions, there may be inaccessible environments (such as toxic gases, narrow passages, and collapse risks). This significantly increases the difficulty of manually deploying and operating traditional detection equipment, thereby limiting the coverage and detection accuracy of underground space seismic detection.

[0003] Currently, there are robots on the market that can replace human workers, but most have limited functionality and lack stability. Due to their lack of self-organizing networking capabilities, robots that rely on GPS for positioning and signal transmission have difficulty operating underground. Furthermore, existing robots primarily rely on human control for operation. Furthermore, current robots' functions are primarily focused on sensing the surface environment of the surrounding space, and there is no solution that can integrate robotic technology with geophysical exploration. Combining robots with geophysical exploration also faces numerous difficulties and challenges. Regarding seismic detection, due to the limitations of unmanned operation, existing seismometers are difficult to secure autonomously to the side walls and roof of underground spaces. This limits seismic detection and makes it difficult to fully explore the geological structure in all directions of the underground space.

[0004] Therefore, how to provide a device and method that can not only realize the perception modeling of underground space in an unmanned manner, but also use seismic equipment and transient electromagnetic equipment for unmanned signal excitation, reception and processing to obtain more accurate geological structure information is an important research direction in this industry. Summary of the Invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides an unmanned perception and detection system and method for underground space, which can effectively solve the above-mentioned technical problems.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an unmanned sensing and detection system for underground space, including an unmanned detection vehicle platform, a control device, a sensing radar pan-tilt platform, a robotic arm, an active seismic source, a node-type geophone, an ad hoc network relay node and a transient electromagnetic detection device; The node-type geophone, ad hoc network relay node, and transient electromagnetic detection device are all placed on an unmanned detection vehicle platform. The sensing radar pan-tilt platform is installed on the unmanned detection vehicle platform to obtain surrounding environment data. The robotic arm is installed on the unmanned detection vehicle platform to place the node-type geophone and ad hoc network relay node at the desired location and move the transient electromagnetic detection device to the desired location for transient electromagnetic detection. The active seismic source is mounted on the unmanned detection vehicle platform via a rotating mechanism, and is used to stimulate seismic waves in different directions via the rotating mechanism as needed; The control device is connected to the sensing radar pan-tilt platform, nodal geophone, robotic arm, rotating mechanism and active seismic source, and is used to receive environmental data and seismic wave data fed back by the sensing radar pan-tilt platform and nodal geophone, and at the same time control the movement of the robotic arm, and control the rotating mechanism to adjust the excitation direction of the active seismic source.

[0007] Furthermore, the unmanned detection vehicle platform is provided with a drone field, on which drones are parked. The drones are used to carry sensing equipment to sense the underground space and obtain data. At the same time, they can carry node-type detectors to fly to the side wall or top plate of the underground space to build an earthquake observation system.

[0008] Furthermore, the lower part of the unmanned detection vehicle platform is equipped with moving tracks for the movement of the unmanned detection vehicle platform.

[0009] Furthermore, there are multiple node-type geophones, which are arranged to form a seismic observation system for receiving seismic wave data excited by an active seismic source.

[0010] Furthermore, the control device has a built-in wireless communication module, and there are multiple self-organizing network relay nodes. After the multiple self-organizing network relay nodes are deployed, an ad hoc network is formed, which is used to wirelessly connect the control device to the ground monitoring center through the ad hoc network; the self-organizing network relay node has a built-in signal strength detection module, which is used to measure the signal strength of the location and feed it back to the control device. The control device determines the placement position of the self-organizing network relay node based on the signal strength.

[0011] Furthermore, the ad hoc network relay node is provided with a GPS timing module and a high-precision crystal oscillator timing module. When the ad hoc network relay node is within the GPS signal range, the GPS timing module is used to synchronize the time according to the GPS signal; when the ad hoc network relay node is in a satellite-denied environment without GPS signals, the high-precision crystal oscillator timing module is used to synchronize the time; through the above-mentioned timing, the time synchronization is maintained, and the time error is controlled within 2ms within 24 hours, meeting the needs of underground space perception and detection.

[0012] Furthermore, the control device is a high-performance computer.

[0013] The working method of the above-mentioned unmanned underground space sensing and detection system includes the following specific steps: Step 1: Unmanned perception modeling and network construction for underground spaces: Based on existing underground space data, the unmanned perception detection system enters the underground space. During the entry process, ad hoc network relay nodes are deployed based on signal strength to build an ad hoc network for the underground space, ensuring continuous wireless communication between the ground monitoring center and the control device. The perception radar gimbal of the unmanned perception detection system then cooperates with the drone to continuously perceive the surface data of the underground space (such as space, temperature, humidity, and gas). After feeding back to the control device, a preliminary three-dimensional model of the underground space is formed, providing background data and environmental information for subsequent detection. Step 2: Determine the target underground area for exploration: Based on the existing underground space data and the 3D model established in step 1, analyze the possibility of geological anomalies in the surrounding rock in different areas and confirm the target area to be explored; Step 3: Deploy the seismic observation system and acquire transient electromagnetic data: The unmanned sensing and detection system plans a navigation path to the target area based on the three-dimensional model and the target area. The control device controls the robotic arm to deploy node-type detectors around the target area, and simultaneously activates the drone carrying the node-type detectors to fly to the underground space roof of the target area, thereby forming a seismic observation system. At the same time, the control device in the target area controls the robotic arm to grab the transient electromagnetic detection device and move it to the target rock mass, activate the transient electromagnetic detection device, and acquire transient electromagnetic data of the target area. Step 4: Unmanned vector source excitation: The unmanned sensing and detection system is moved to the location where the seismic waves are to be excited, and the excitation direction of the seismic waves is determined. The control device controls the rotation mechanism to adjust the excitation direction of the active source so that it is aimed at the target rock mass. After completion, the active source excites seismic waves, and the seismic observation system continuously receives seismic wave data to complete the detection of the current target area. Step 5: Recover the detection equipment: Reset the active seismic source through the rotating mechanism, move the unmanned sensing and detection system to the position of each node-type geophone, and recover the node-type geophone to the unmanned detection vehicle platform through the robotic arm; Step 6. Continuous detection of underground space: Repeat steps 2 to 5 continuously, using the unmanned sensing detection system to continue detecting different target areas until the detection of the entire underground space is completed; then the unmanned sensing detection system begins to exit the underground space, and during the exit process, it recovers each self-organizing network relay node in turn starting from the position of the self-organizing network relay node farthest from the underground space entrance, until all self-organizing network relay nodes are recovered and the underground space is completely left.

[0014] Furthermore, in step three, the drone is adsorbed on the top plate by wind pressure, so that the node-type geophone is coupled with the top plate surface, which can ensure the accuracy of the data received by the node-type geophone and realize a three-dimensional seismic observation system.

[0015] Compared with the existing technology, the present invention adopts an unmanned detection vehicle platform, a drone, a perception radar pan-tilt platform, a robotic arm, an active seismic source, a node-type detector, a self-organizing network relay node and a transient electromagnetic detection device. The unmanned detection vehicle platform enters the underground space and obtains the surface data of the underground space through the perception radar pan-tilt platform. At the same time, the drone is used to obtain the surface data of the area that the unmanned detection vehicle platform cannot enter; then the required detection target area is determined according to the obtained data, and the driving path is planned; in the process of the unmanned detection vehicle platform entering the underground space, the self-organizing network relay nodes are placed at different positions through the robotic arm and combined with the signal strength, and finally a self-organizing network is formed to ensure unmanned chemical exploration The communication between the detection vehicle platform and the UAV in the underground space is normal; when the unmanned detection vehicle platform travels to the target area, a seismic observation system is formed by deploying node-type detectors, and the active seismic source and transient electromagnetic detection device are respectively started to obtain seismic wave data and transient electromagnetic data of the target area, and continuously detect different target areas, and finally complete the overall detection process of the underground space; through the above, it can be concluded that the present invention can not only realize the perception modeling of the underground space in an unmanned manner, but also use seismic equipment and transient electromagnetic equipment for unmanned signal excitation, reception and processing, and finally obtain the overall detection data of the underground space, which is convenient for subsequent analysis and processing of the underground space data. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall layout of the present invention; Figure 2 This is a schematic diagram of the present invention during active source excitation; Among them, (a) is the vertical bottom plate excitation seismic wave; (b) is the vertical side wall excitation seismic wave; Figure 3 It is a schematic diagram of the UAV carrying the node-type detector flying to the side wall or top plate in the present invention.

[0017] In the figure: 1. Side wall, 2. Top plate, 3. Node detector, 4. Perception radar gimbal, 5. Robotic arm, 6. Mobile track, 7. Unmanned detection vehicle platform, 8. Active seismic source, 9. UAV airport, 10. Ad hoc network relay node, 11. Transient electromagnetic detection device. DETAILED DESCRIPTION

[0018] The present invention will be further described below.

[0019] like Figure 1As shown, an unmanned sensing and detection system for underground space includes an unmanned detection vehicle platform 7, a control device, a sensing radar gimbal 4, a robotic arm 5, an active seismic source 8, a node-type detector 3, a self-organizing network relay node 10 and a transient electromagnetic detection device 11; the control device is a high-performance computer.

[0020] The node-type detector 3, the ad hoc network relay node 10 and the transient electromagnetic detection device 11 are all placed on the unmanned detection vehicle platform 7, and the sensing radar gimbal 4 is installed on the unmanned detection vehicle platform 7 for obtaining surrounding environment data; the robotic arm 5 is installed on the unmanned detection vehicle platform 7 for placing the node-type detector 3 and the ad hoc network relay node 10 at the desired position, and moving the transient electromagnetic detection device 11 to the desired position for transient electromagnetic detection; the lower part of the unmanned detection vehicle platform 7 is equipped with a mobile crawler 6 for moving the unmanned detection vehicle platform 7. The unmanned detection vehicle platform 7 is provided with a drone field 9, on which drones are parked. The drones are used to carry sensing equipment (such as light / infrared cameras, lidars, etc.) to sense the underground space and obtain data. At the same time, they can carry node-type detectors 3 to fly to the side wall 1 or top plate 2 of the underground space to build a seismic observation system; there are multiple node-type detectors 3, and after the multiple node-type detectors 3 are arranged, a seismic observation system is formed to receive seismic wave data excited by active seismic sources.

[0021] The active seismic source 8 is mounted on the unmanned detection vehicle platform 7 via a rotating mechanism, and is used to excite seismic waves in different directions as needed through the rotating mechanism; the active seismic source 8 is an unmanned vector-excited high-pressure pneumatic pulse seismic source; The control device is connected to the sensing radar platform 4, the node-type geophone 3, the mechanical arm 5, the rotating mechanism and the active seismic source 8, and is used to receive the environmental data and seismic wave data fed back by the sensing radar platform 4 and the node-type geophone 3, and at the same time control the movement of the mechanical arm 5, and control the rotating mechanism to adjust the excitation direction of the active seismic source 8; the control device has a built-in wireless communication module, and there are multiple self-organizing network relay nodes 10. After the multiple self-organizing network relay nodes 10 are deployed, an ad hoc network is formed, which is used to enable the control device to be wirelessly connected to the ground monitoring center through the ad hoc network; the self-organizing network relay node 10 has a built-in signal strength detection module Block, used to measure the signal strength of the location and feed it back to the control device, the control device determines the placement position of the self-organizing network relay node 10 according to the signal strength; detects the network signal when a turning point appears in the travel path of the unmanned detection vehicle platform 7 or the unmanned detection vehicle platform 7 moves a fixed distance; if the signal detection strength is poor, the unmanned detection vehicle platform 7 stops and uses the robotic arm 5 to arrange a self-organizing network relay node 10 on the bottom plate at the current position to enhance the network connection, and then continues to move until a self-organizing network is formed in the underground space, ensuring that the unmanned detection vehicle platform 7 will not lose connection due to network abnormalities during the movement of the underground space.

[0022] As an improvement of the present invention, the ad hoc network relay node 10 is provided with a GPS timing module and a high-precision crystal oscillator timing module. When the ad hoc network relay node 10 is within the signal range of the GPS, the time is synchronized according to the GPS signal through the GPS timing module; when the ad hoc network relay node 10 is in a satellite-denied environment without a GPS signal, the time is synchronized through the high-precision crystal oscillator timing module; through the above-mentioned timing, time synchronization is maintained, and the time error is controlled within 2ms within 24 hours, meeting the needs of underground space perception and detection.

[0023] As another improvement to the present invention, the node-type geophone 3 is a wireless three-component geophone capable of vectorially receiving seismic signals from all directions in space. Furthermore, the node-type geophone 3 is equipped with a GPS timing module and a high-precision crystal oscillator timing module, providing synchronized and accurate time for different seismic signals. The mobile tracks 6 of the unmanned exploration vehicle platform 7 are equipped with front and rear swing arms to enhance its ability to navigate rough terrain.

[0024] The working method of the above-mentioned unmanned underground space sensing and detection system includes the following specific steps: Step 1: Unmanned perception modeling and network construction for underground spaces: Based on existing underground space data, the unmanned perception detection system enters the underground space. During the entry process, ad hoc network relay nodes 10 are deployed based on signal strength to build an ad hoc network for the underground space, ensuring continuous wireless communication between the ground monitoring center and the control device. The perception radar gimbal 4 of the unmanned perception detection system then cooperates with the drone to continuously perceive surface data (such as space, temperature, humidity, and gas) of the underground space, and feeds this data back to the control device to initially form a three-dimensional model of the underground space, providing background data and environmental information for subsequent detection. Step 2: Determine the target underground area for exploration: Based on the existing underground space data and the 3D model established in step 1, analyze the possibility of geological anomalies in the surrounding rock in different areas and confirm the target area to be explored; Step 3: Arrange the seismic observation system and obtain transient electromagnetic data: The unmanned sensing and detection system plans a navigation path to the target area based on the three-dimensional model and the target area; use the control device to control the mechanical arm 5 to deploy the node-type detectors 3 around the target area, and at the same time start the drone carrying the node-type detectors 3 to fly to the underground space roof of the target area. Use wind pressure to adsorb on the roof 2, so that the node-type detectors 3 are coupled with the surface of the roof 2, thereby forming a three-dimensional seismic observation system; at the same time, in the target area, the control device controls the mechanical arm 5 to grab the transient electromagnetic detection device 11 and move it to the target rock mass, start the transient electromagnetic detection device 11, and obtain transient electromagnetic data of the target area; Step 4: Unmanned vector source excitation: The unmanned sensing and detection system is moved to the position where the seismic waves need to be excited, and the excitation direction of the seismic waves is determined. The control device controls the rotating mechanism to adjust the excitation direction of the active source 8 so that it is aimed at the target rock mass. After completion, the active source 8 excites seismic waves, and the seismic observation system continuously receives seismic wave data to complete the detection of the current target area. Step 5: Recover the detection equipment: Reset the active seismic source 8 through the rotating mechanism, move the unmanned sensing detection system to the position of each node-type geophone 3, and recover the node-type geophone 3 to the unmanned detection vehicle platform through the robotic arm 5; Step 6. Continuous detection of underground space: Repeat steps 2 to 5 continuously, using the unmanned sensing detection system to continue detecting different target areas until the detection of the entire underground space is completed; then the unmanned sensing detection system begins to exit the underground space, and during the exit process, it starts to recover each self-organizing network relay node 10 in turn starting from the position of the self-organizing network relay node 10 farthest from the underground space entrance, until all self-organizing network relay nodes 10 are recovered and completely leave the underground space.

[0025] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An unmanned underground space sensing and detection system, characterized in that: It includes an unmanned detection vehicle platform, a control device, a sensing radar platform, a robotic arm, an active seismic source, a node-type detector, a self-organizing network relay node and a transient electromagnetic detection device; The node-type geophone, ad hoc network relay node, and transient electromagnetic detection device are all placed on an unmanned detection vehicle platform. The sensing radar pan-tilt platform is installed on the unmanned detection vehicle platform to obtain surrounding environment data. The robotic arm is installed on the unmanned detection vehicle platform to place the node-type geophone and ad hoc network relay node at the desired location and move the transient electromagnetic detection device to the desired location for transient electromagnetic detection. The active seismic source is mounted on the unmanned detection vehicle platform via a rotating mechanism, and is used to stimulate seismic waves in different directions via the rotating mechanism as needed; The control device is connected to the sensing radar pan-tilt platform, nodal geophone, robotic arm, rotating mechanism and active seismic source, and is used to receive environmental data and seismic wave data fed back by the sensing radar pan-tilt platform and nodal geophone, and at the same time control the movement of the robotic arm, and control the rotating mechanism to adjust the excitation direction of the active seismic source.

2. The unmanned underground space sensing and detection system according to claim 1, characterized in that: The unmanned detection vehicle platform is provided with a drone field, on which drones are parked. The drones are used to carry sensing equipment to sense the underground space and acquire data. At the same time, they can carry node-type detectors to fly to the side wall or top plate of the underground space to build an earthquake observation system.

3. The unmanned underground space sensing and detection system according to claim 1, characterized in that: The lower part of the unmanned detection vehicle platform is equipped with moving tracks for the movement of the unmanned detection vehicle platform.

4. The unmanned underground space sensing and detection system according to claim 1, characterized in that: There are multiple node-type geophones, which are arranged to form a seismic observation system for receiving seismic wave data excited by an active seismic source.

5. The unmanned underground space sensing and detection system according to claim 1, characterized in that: The control device has a built-in wireless communication module and multiple self-organizing network relay nodes. After the multiple self-organizing network relay nodes are deployed, an ad hoc network is formed, which is used to wirelessly connect the control device to the ground monitoring center through the ad hoc network; the self-organizing network relay node has a built-in signal strength detection module, which is used to measure the signal strength of the location and feed it back to the control device. The control device determines the placement position of the self-organizing network relay node based on the signal strength.

6. The unmanned underground space sensing and detection system according to claim 1, characterized in that: The ad hoc network relay node is provided with a GPS timing module and a high-precision crystal oscillator timing module. When the ad hoc network relay node is within the GPS signal range, the GPS timing module is used to synchronize time according to the GPS signal; when the ad hoc network relay node is in a satellite-denied environment with no GPS signal, the high-precision crystal oscillator timing module is used to synchronize time.

7. The unmanned underground space sensing and detection system according to claim 1, characterized in that: The control device is a high performance computer.

8. A method for operating an unmanned underground space sensing and detection system according to any one of claims 1 to 7, characterized in that: The specific steps are: Step 1: Unmanned perception modeling and network construction for underground spaces: Based on existing underground space data, the unmanned perception detection system enters the underground space. During the entry process, ad hoc network relay nodes are deployed based on signal strength to build an ad hoc network for the underground space, ensuring continuous wireless communication between the ground monitoring center and the control device. The unmanned perception detection system's perception radar gimbal then cooperates with the drone to continuously perceive the surface data of the underground space, and after feeding back to the control device, a preliminary three-dimensional model of the underground space is formed. Step 2: Determine the target underground area for exploration: Based on the existing underground space data and the 3D model established in step 1, analyze the possibility of geological anomalies in the surrounding rock in different areas and confirm the target area to be explored; Step 3: Deploy the seismic observation system and acquire transient electromagnetic data: The unmanned sensing and detection system plans a navigation path to the target area based on the three-dimensional model and the target area; A control device controls a robotic arm to deploy node-type geophones around the target area, and simultaneously activates a drone carrying the node-type geophones to fly to the underground roof of the target area, thereby forming a seismic observation system. Simultaneously, in the target area, the control device controls the robotic arm to grab a transient electromagnetic detection device and move it to the target rock mass, activating the transient electromagnetic detection device to acquire transient electromagnetic data in the target area. Step 4: Unmanned vector source excitation: The unmanned sensing and detection system is moved to the location where the seismic waves are to be excited, and the excitation direction of the seismic waves is determined. The control device controls the rotation mechanism to adjust the excitation direction of the active source so that it is aimed at the target rock mass. After completion, the active source excites seismic waves, and the seismic observation system continuously receives seismic wave data to complete the detection of the current target area. Step 5: Recover the detection equipment: Reset the active seismic source through the rotating mechanism, move the unmanned sensing and detection system to the position of each node-type geophone, and recover the node-type geophone to the unmanned detection vehicle platform through the robotic arm; Step 6. Continuous detection of underground space: Repeat steps 2 to 5 continuously, using the unmanned sensing detection system to continue detecting different target areas until the detection of the entire underground space is completed; then the unmanned sensing detection system begins to exit the underground space, and during the exit process, it recovers each self-organizing network relay node in turn starting from the position of the self-organizing network relay node farthest from the underground space entrance, until all self-organizing network relay nodes are recovered and the underground space is completely left.

9. The working method according to claim 7, characterized in that: In the step 3, the UAV is adsorbed on the top plate by using wind pressure, so that the node-type detector is coupled with the surface of the top plate.

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