Geological exploration device in pipe, geological exploration method, device and storage medium

Abstract

The application relates to a geological detection device in a pipe, a geological detection method, a device and a storage medium. The geological detection device in the pipe comprises a driving assembly, a mounting table, a first detection assembly, a second detection assembly and a controller. The mounting table can rotate circumferentially around an axis of the mounting table. The first detection assembly and the second detection assembly are installed on the mounting table and are used for collecting geological information in a radial direction of the mounting table. The controller is used for controlling the driving assembly to drive the geological detection device to move, acquiring geological information and controlling the mounting table to rotate. Since the first detection assembly and the second detection assembly are installed on the mounting table, the geological information in different directions of the mounting table can be detected, and the mounting table is controlled to rotate before returning, so that the detection directions of the first detection assembly and the second detection assembly are changed, thereby expanding the geological detection range of the geological detection device in the pipe in a geological detection process. Therefore, the problem of incomplete geological detection can be solved, and the efficiency of geological detection is improved.

Description

Technical Field

[0001] This application relates to the field of geological exploration, and in particular to in-pipe geological exploration equipment, geological exploration methods, equipment and storage media. Background Technology

[0002] Geological surveying refers to the use of detection devices to inspect boreholes, sewers, concrete structures, etc., to understand the geological conditions of hidden areas such as roadbeds and underground pipelines. Geological surveying is widely used in the acceptance of concealed projects and the elimination of safety hazards.

[0003] In order to detect geological information in areas deep below the ground, one related technology involves controlling a robot to move inside an underground pipeline and using geological radar to detect geological information near the pipeline.

[0004] However, geological radars with longer detection ranges have lower resolution and cannot detect small geological changes, while geological radars with higher resolution have shorter detection ranges and cannot detect geological changes at greater distances. This leads to incomplete geological surveys. Summary of the Invention

[0005] To help improve the problem of incomplete geological exploration, this application provides in-tube geological exploration equipment, geological exploration methods, equipment, and storage media.

[0006] Firstly, the geological exploration equipment provided in this application adopts the following technical solution:

[0007] A pipe-based geological exploration device, the device comprising:

[0008] A drive assembly for driving the detection device to move; the drive assembly includes a first drive mechanism and a second drive mechanism.

[0009] A mounting platform is connected to the first driving mechanism and the second driving mechanism respectively, and is used to mount the detection component. The mounting platform can rotate circumferentially around its axis, and the direction of the axis of the mounting platform is the same as the direction of movement of the detection device.

[0010] A first detection component is mounted on the platform and is used to detect first geological information in a first detection direction radial to the platform.

[0011] A second detection component is mounted on the platform and is used to detect second geological information in a second detection direction radial to the platform, the second detection direction being different from the first detection direction.

[0012] The controller, which is connected to the drive assembly, the mounting platform, the first detection assembly, and the second detection assembly respectively, is used for:

[0013] In response to a start detection command, the drive component is controlled to move the detection device in a first direction of travel to acquire the first geological information and the second geological information.

[0014] In response to a return control command, the platform is rotated; the drive assembly is controlled to move the detection device in a second direction of travel to acquire the first geological information and the second geological information, wherein the second direction of travel is opposite to the first direction of travel.

[0015] By adopting the above technical solution, a first detection component and a second detection component are installed on the platform to detect geological information in different radial directions of the platform. Before returning, the platform is rotated to change the detection direction of the first and second detection components, thereby expanding the geological detection range of the in-tube geological detection equipment in a single geological detection process. Therefore, the problem of incomplete geological detection can be solved and the efficiency of geological detection can be improved.

[0016] Optionally, the first detection component is an image acquisition component, and the second detection component is a geological exploration radar; the first geological information is image information, and the second geological information is a reflected signal of the detection signal sent by the geological exploration radar.

[0017] By adopting the above technical solutions, different types of geological information can be detected simultaneously, which facilitates the analysis of geology by combining different types of geological information and can improve the accuracy of geological exploration.

[0018] Optionally, the first detection component is a first geological detection radar, the second detection component is a second geological detection radar, and the frequency of the antenna of the first geological detection radar is different from the frequency of the antenna of the second geological detection radar; the first detection information is the reflected signal of the detection signal sent by the first geological detection radar, and the second detection information is the reflected signal of the detection signal sent by the second geological detection radar.

[0019] By adopting the above technical solutions, geological changes that are both distant and small in size can be identified based on geological information detected at different distances and resolutions, thereby improving the accuracy of geological exploration.

[0020] Secondly, the geological exploration method provided in this application adopts the following technical solution:

[0021] A geological exploration method, used in any of the in-tube geological exploration devices provided in the first aspect, the method comprising:

[0022] In response to a start detection command, the drive component is controlled to move the detection device in a first direction of travel to acquire the first geological information and the second geological information.

[0023] In response to a return control command, the platform is rotated; the drive assembly is controlled to move the detection device in a second direction of travel to acquire the first geological information and the second geological information, wherein the second direction of travel is opposite to the first direction of travel.

[0024] By adopting the above technical solution, first and second geological information are acquired during the process of controlling the detection equipment to move in the first direction of travel. Before controlling the detection equipment to move in the second direction of travel, the platform is rotated to change the acquisition direction of the first and second detection information, thereby expanding the geological detection range of the in-tube geological detection equipment in a single geological detection process. Therefore, the problem of incomplete geological detection can be solved and the efficiency of geological detection can be improved.

[0025] Optionally, the first detection component is the same as the second detection component, and the angle between the first detection direction and the second detection direction is a first angle;

[0026] The control of the platform rotation includes:

[0027] The platform is controlled to rotate by a second angle, which matches the first angle.

[0028] By adopting the above technical solution, the acquisition direction of the first and second detection information can be changed by rotating the mounting platform, thereby enabling the in-tube geological exploration equipment to collect geological information from more directions during a single exploration process. This can solve the problem of incomplete geological exploration and improve the efficiency of geological exploration.

[0029] Optionally, the first detection component is different from the second detection component, and controlling the rotation of the platform includes:

[0030] Obtain the current operating mode of the detection device;

[0031] The platform is rotated based on the current operating mode.

[0032] By adopting the above technical solution, the rotation mode of the platform can be determined according to the working mode, thereby meeting the requirements of different application scenarios for the collected geological information and broadening the application scenarios of the in-tube geological exploration equipment.

[0033] Optionally, the current working mode is a first working mode, and controlling the rotation of the platform based on the current working mode includes:

[0034] Control the platform to rotate by a preset fourth angle;

[0035] or,

[0036] The current working mode is the second working mode, and the step of controlling the rotation of the platform based on the current working mode includes:

[0037] The platform is controlled to rotate at a preset fifth angle in a preset rotation direction.

[0038] By adopting the above technical solution, the rotation angle and / or rotation direction of the platform can be determined according to the working mode, thereby accurately controlling the rotation of the platform. This can meet the requirements of different application scenarios for the range or content of geological information collection, and broaden the application scenarios of in-pipe geological exploration equipment.

[0039] Thirdly, this application provides a computer device, which adopts the following technical solution:

[0040] A computer device includes a memory and a processor, wherein the memory stores a computer program capable of being loaded by the processor and executing any of the methods provided in the second aspect.

[0041] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0042] A computer-readable storage medium storing a computer program capable of being loaded by a processor and executing any of the methods provided in the second aspect.

[0043] In summary, this application includes at least one of the following beneficial technical effects:

[0044] 1. By installing a first detection component and a second detection component on the platform, geological information in different radial directions of the platform can be detected. Before returning, the platform is rotated to change the detection direction of the first and second detection components, thereby expanding the geological detection range of the in-tube geological detection equipment in a single geological detection process. Therefore, the problem of incomplete geological detection can be solved and the efficiency of geological detection can be improved.

[0045] 2. By setting up image acquisition components and geological exploration radar, different types of geological information can be detected simultaneously, which facilitates the analysis of geology by combining different types of geological information and can improve the accuracy of geological exploration.

[0046] 3. By setting up detection radars with different frequencies, it is possible to determine the locations of geological changes that are both distant and small in size based on the geological information detected at different distances and resolutions, thereby improving the accuracy of geological exploration. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the structure of the in-pipe geological exploration equipment provided in the embodiments of this application;

[0048] Figure 2 This is a schematic diagram of the structure of the in-pipe geological exploration equipment provided in the embodiments of this application;

[0049] Figure 3 This is a schematic flowchart of the geological exploration method provided in the embodiments of this application;

[0050] Figure 4 This is a schematic diagram of the structure of a computer device that has been implemented according to the embodiments of this application.

[0051] Explanation of reference numerals in the attached drawings: 110, drive assembly; 120, mounting platform; 130, first detection assembly; 140, second detection assembly; 111, first drive mechanism; 112, second drive mechanism; 121, housing; 122, first mounting part; 123, second mounting part. Detailed Implementation

[0052] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-4 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0053] This application discloses a pipe-based geological exploration device. (Refer to...) Figure 1 The geological exploration equipment in the pipe includes a drive assembly 110, a platform 120, a first exploration assembly 130, a second exploration assembly 140, and a controller (not shown in the figure).

[0054] Drive component 110 is used to drive the movement of the detection device. (See reference) Figure 2 The drive component 110 includes a first drive mechanism 111 and a second drive mechanism 112.

[0055] Optionally, the first drive mechanism 111 includes a frame, a drive component, and a connecting part. The drive component and the connecting part are mounted on the frame. The drive component includes a wheel and a drive motor. The wheel is connected to the drive end of the drive motor through a transmission component, so that the wheel can rotate under the drive of the drive motor, thereby moving the detection equipment. The connecting part is used to connect with the mounting platform 120.

[0056] The drive unit can be directly mounted on the frame, or it can be mounted on the frame through other buffer devices such as springs or hydraulic devices. This embodiment does not limit the way the drive unit is mounted on the frame.

[0057] The transmission component can be a belt, a gear, or a chain, as long as it can realize the power transmission between the drive motor and the wheel. This embodiment does not limit the type of transmission component.

[0058] In one example, the drive motor is a servo motor.

[0059] In this embodiment, the movement direction of the detection device is controlled by controlling the rotation direction of the drive motor.

[0060] Optionally, the movement direction of the detection equipment includes a forward direction and a backward direction. The forward direction refers to the direction in which the detection equipment moves towards the front of the detection equipment, and the backward direction refers to the direction in which the detection equipment moves towards the rear of the detection equipment. Different components are installed on the front of the detection equipment and the rear of the geological equipment in the pipe. For example, a visual sensor is installed on the front of the detection equipment, and a control cable is installed on the rear of the geological equipment in the pipe.

[0061] Optionally, the drive component can have one wheel, or two or more. This embodiment does not limit the number of wheels in the drive component.

[0062] In one instance, refer to Figure 2 The number of wheels in the drive unit is two.

[0063] Optionally, the number of driving components in the first driving mechanism 111 can be one, or two or more. This embodiment does not limit the number of driving components in the first driving mechanism 111.

[0064] In one example, the number of driving components in the first drive mechanism 111 is one, and the driving component is located at the bottom middle position of the first drive mechanism 111.

[0065] In another example, the first drive mechanism 111 has two drive elements; in this case, refer to Figure 2 The two driving components are located on the left and right sides of the bottom of the first driving mechanism 111, respectively.

[0066] Optionally, the included angle between the two drive components is 120 degrees.

[0067] In practical implementation, in order to better adapt to pipes with different apertures, the frame also includes a telescopic component in this embodiment. At this time, the length of the frame can be adaptively adjusted according to the aperture of the pipe.

[0068] The second drive mechanism 112 is implemented in the same way as the first drive mechanism 111 described above, and will not be repeated here. In actual implementation, the functions can be adapted according to the installation positions of the first drive mechanism 111 and the second drive mechanism 112. For example, a vision sensor can be installed on the drive mechanism installed on the front side of the detection device, and a control cable can be installed on the drive mechanism installed on the rear side of the detection device.

[0069] refer to Figure 2 The mounting platform 120 is connected to the first drive mechanism 111 and the second drive mechanism 112 respectively, and is used to mount the detection component. The mounting platform 120 can rotate circumferentially around the axis of the mounting platform 120, and the direction of the axis of the mounting platform 120 is the same as the direction of movement of the detection device.

[0070] Optionally, the mounting platform 120 includes a housing 121, a fixed shaft (not shown in the figure), a rotary drive mechanism (not shown in the figure), a first mounting portion 122, a second mounting portion 123, a first connecting portion (not shown in the figure), and a second connecting portion (not shown in the figure). The housing 121 is cylindrical, and the fixed shaft is installed at the center of the housing 121 and is coaxial with the housing 121. The rotary drive mechanism is located inside the housing 121 and is used to drive the housing 121 to rotate circumferentially around the axis of the mounting platform 120. The first mounting portion 122 and the second mounting portion 123 are provided on the sides of the housing 121 and are used to mount the first detection component 130 and the second detection component 140. The first connecting portion and the second connecting portion are respectively located on the two bottom surfaces of the housing 121 and are used to connect with the connecting portion of the first drive mechanism 111 and the connecting portion of the second drive mechanism 112.

[0071] In one example, such as Figure 1 As shown, the shell 121 is cylindrical.

[0072] In one example, the rotating mechanism includes a rotary drive motor, a drive gear, and a driven gear. The drive gear is mounted on the drive end of the rotary drive motor, and the driven gear meshes with the drive gear and is fixedly connected to the inner wall of the housing 121, thereby driving the housing 121 to rotate circumferentially around the axis of the mounting platform 120.

[0073] Optionally, the rotary drive motor is fixed on a fixed shaft.

[0074] In this embodiment, the first mounting part 122 is used to install the first detection component 130, the second mounting part 123 is used to install the second detection component 140, the first connecting part is used to connect with the connecting part of the first driving mechanism 111, and the second connecting part is used to connect with the connecting part of the second driving mechanism 112. In actual implementation, other mounting and connecting methods can also be used, and this embodiment does not limit them.

[0075] In one example, a threaded hole is provided on the inner side of the first mounting part 122, and a limiting groove matching the threaded hole is provided on the first detection component 130. In this case, the first detection component 130 is mounted on the first mounting part 122 by screws.

[0076] In another example, the first mounting part 122 is provided with a first snap-fit ​​structure, and the first detection component 130 is provided with a second snap-fit ​​structure adapted to the first snap-fit ​​structure. In this case, the first detection component 130 is installed on the first mounting part 122 by snap-fit.

[0077] In actual implementation, the first detection component 130 may also be installed on the first mounting part 122 in other ways. This embodiment does not limit the way the first detection component 130 is installed on the first mounting part 122.

[0078] The second mounting part 123 is the same as the first mounting part 122. The method of mounting the second detection component 140 on the second mounting part 123 is the same as the method of mounting the first detection component 130 on the first mounting part 122. This embodiment will not be described in detail.

[0079] Optionally, in order to facilitate the adjustment of the detection range of the first detection component 130 and the second detection component 140, the housing 121 may be provided with two or more mounting parts. In this case, the first mounting part 122 and the second mounting part 123 may be selected from the various mounting parts according to actual needs, so that the detection range of the first detection component 130 and the range of the second detection component 140 meet the actual needs.

[0080] In one example, in order to achieve different functions, the detection device is set with different working modes. The positions of the first mounting part 122 and the second mounting part 123 corresponding to each working mode are preset. At this time, it is convenient to process the geological information collected by the first detection component 130 and the second detection component 140.

[0081] Optionally, the positions of the first mounting part 122 and the second mounting part 123 corresponding to the working mode can be set according to the functions required to be achieved in different working modes. Therefore, in a specific embodiment, the user can set the positions of the first mounting part 122 and the second mounting part 123 according to the functions required to be achieved in different working modes.

[0082] Optionally, a flange is provided on the first connecting part of the mounting platform 120, and the flange is connected to the fixed shaft of the mounting platform 120. The connection method between the flange and the fixed shaft can be an interference fit or a stud connection. This embodiment does not limit the connection method between the flange and the fixed shaft.

[0083] The structure of the second connecting part of the mounting platform 120 is the same as that of the first connecting part of the mounting platform 120 described above, and will not be described again in this embodiment.

[0084] In one example, the connecting part of the first drive mechanism 111 is provided with a stepped hole that matches the flange on the first connecting part of the mounting platform 120. The wall of the stepped hole contacts the circumferential surface of the flange, and the end face of the stepped hole has a threaded hole. The flange has a screw hole that matches the threaded hole, so that the first drive mechanism 111 and the flange can be fixedly connected, thereby connecting the first drive mechanism 111 and the mounting platform 120.

[0085] The connection method between the connecting part of the second drive mechanism 112 and the second connecting part of the mounting platform 120 is the same as the connection method between the connecting part of the first drive mechanism 111 and the first connecting part of the mounting platform 120, and will not be described again in this embodiment.

[0086] In this embodiment, the first detection component 130 and the second detection component 140 are used to collect geological information in the radial direction of the platform 120. Specifically, the first detection component 130 is used to detect first geological information in a first detection direction in the radial direction of the platform 120, and the second detection component 140 is used to detect second geological information in a second detection direction in the radial direction of the platform 120, wherein the second detection direction is different from the first detection direction.

[0087] Optionally, the geological information can be the reflected signal of the detection signal sent by the geological exploration radar, or it can be the image information collected by the image acquisition component, as long as it can reflect the geological changes. This embodiment does not limit the type of geological information.

[0088] In this embodiment, the direction pointed to by the axis of the mounting platform 120 is taken as the front and rear directions for illustration.

[0089] Optionally, the first detection direction and the second detection direction can be any direction radially of the mounting platform 120. In this embodiment, the direction of the first detection direction and the second detection direction are not limited.

[0090] Since the scope of the first geological information is determined based on the first detection direction, and the location of the second geological information is determined based on the second detection direction, in order to detect geological information more comprehensively, the angle between the first detection direction and the second detection direction can optionally be 90 degrees or 180 degrees.

[0091] In one example, the angle between the first detection direction and the second detection direction is 90 degrees. The first detection direction is directly to the left of the platform 120 in the radial direction, and the second detection direction is directly above the platform 120 in the radial direction.

[0092] In another example, the angle between the first detection direction and the second detection direction is 180 degrees, the first detection direction is directly to the left of the platform 120 in the radial direction, and the second detection direction is directly to the right of the platform 120 in the radial direction.

[0093] The first detection component 130 and the second detection component 140 can be geological exploration radars or image acquisition components. When both the first detection component 130 and the second detection component 140 are geological exploration radars, the antenna frequencies of the geological exploration radars can be the same or different. This embodiment does not limit the types of the first detection component 130 and the second detection component 140.

[0094] Optionally, the first detection component 130 and the second detection component 140 may be the same or different.

[0095] In one example, the first detection component 130 is an image acquisition component, and the second detection component 140 is a geological radar. In this case, the first geological information is image information, and the second geological information is the reflected signal of the detection signal sent by the geological radar. Thus, different types of geological information can be detected simultaneously, and combining these different types of geological information for geological analysis can improve the accuracy of geological exploration.

[0096] In another example, the first detection component 130 is a first geological radar, and the second detection component 140 is a second geological radar. The antenna frequencies of the first and second geological radars are different. In this case, the first detection information is the reflected signal of the detection signal sent by the first geological radar, and the second detection information is the reflected signal of the detection signal sent by the second geological radar. Thus, based on the detected geological information at different distances and resolutions, distant and small-scale geological changes can be identified, improving the accuracy of geological exploration.

[0097] Since the detection range of a geological radar is negatively correlated with the frequency of its antenna, while its resolution is positively correlated with the frequency of its antenna, a geological radar using a low-frequency antenna can detect cavities at a greater distance but cannot detect smaller cavities, while a geological radar using a medium- or high-frequency antenna can detect smaller cavities but cannot detect cavities at a greater distance, one implementation involves setting one of the first and second geological radars to a low-frequency antenna and the other to a high-frequency antenna. This allows for the detection of geological information at different distances and resolutions, thus expanding the scope of geological information collection.

[0098] In this embodiment, the controller is connected to the drive component 110, the mounting platform 120, the first detection component 130, and the second detection component 140, respectively, and is used to control the detection equipment to collect geological information. The controller can be a tablet computer, a microcomputer, a microcontroller unit (MCU), or other components with computing and storage functions. This embodiment does not limit the type of controller.

[0099] In this embodiment, the controller is used to: in response to a start detection command, control the drive component 110 to move the detection device in a first direction of travel to acquire first geological information and second geological information; in response to a return control command, control the platform 120 to rotate; and the drive component 110 to move the detection device in a second direction of travel to acquire first geological information and second geological information, wherein the second direction of travel is opposite to the first direction of travel.

[0100] Optionally, controlling the drive assembly 110 to move the detection device in a first direction of travel includes: controlling the drive motor of the first drive mechanism 111 and the drive motor of the second drive mechanism 112 to rotate in a first rotation direction; controlling the drive assembly 110 to move the detection device in a second direction of travel includes: controlling the drive motor of the first drive mechanism 111 and the drive motor of the second drive mechanism 112 to rotate in a second rotation direction, the second rotation direction being opposite to the first rotation direction.

[0101] Optionally, the first rotation direction can be the rotation direction when the drive motor is connected in the forward direction, or it can be the rotation direction when the drive motor is connected in the reverse direction. This embodiment does not limit this.

[0102] Optionally, the detection device also includes a communication component (not shown in the figure). The communication component is connected to the controller and is used to communicate with the host computer, receive control commands from the host computer, and transmit geological information to the host computer. Optionally, the host computer can be a computer, tablet computer, server, or other device with communication capabilities. This embodiment does not limit the type of host computer.

[0103] Optionally, the communication component can be a wired communication component, such as a wired communication cable interface, or it can be a wireless communication component, such as a WiFi communication component. This embodiment does not limit the implementation method of the communication component.

[0104] In a specific implementation, the detection device may also include other components, such as power supply components, obstacle sensors, etc., but this embodiment does not limit this.

[0105] The implementation principle of the in-pipe geological exploration device in this application embodiment is as follows: by installing a first detection component and a second detection component on the mounting platform, geological information in different radial directions of the mounting platform is detected. During the exploration work, the mounting platform is controlled to rotate to change the detection direction of the first detection component and the second detection component, thereby expanding the geological exploration range of the in-pipe geological exploration device in a single geological exploration process. Therefore, the problem of incomplete geological exploration can be solved and the efficiency of geological exploration can be improved.

[0106] This application also discloses a geological exploration method. This embodiment uses the application of this method in the aforementioned in-pipe geological exploration equipment as an example for illustration. In actual implementation, this method can also be used in other equipment, in which case the other equipment is communicatively connected to the aforementioned in-pipe geological exploration equipment. (Refer to...) Figure 3 Geological exploration methods include:

[0107] Step 301: In response to the start detection command, control the drive component to move the detection device in the first direction of travel to acquire first geological information and second geological information.

[0108] The first geological information is the geological information in the first detection direction of the platform's radial direction detected by the first detection component, and the second geological information is the geological information in the second detection direction of the platform's radial direction detected by the second detection component. The second detection direction is different from the first detection direction.

[0109] In one example, the detection device can provide a data interface to receive a start detection command sent by a user. This start detection command may include a first direction of travel and other user-defined requirements, such as: travel speed, detection device operating mode, first detection direction, second detection direction, type of first detection component, type of second detection component, etc. In one embodiment, this information may be data directly input by the user, in the form of specific parameters, or it may be the detection device's operating mode, etc. In another embodiment, this information may be pre-defined in the detection device, for example, the first direction of travel being the front side of the geological equipment in the pipe. This reduces the content of the start detection command, making it easier for the user to send the start detection command.

[0110] In one example, the data interface is the communication interface of the probe device. In this case, the start probe command is sent by other devices to the probe device, and a communication connection is established between the other devices and the probe device.

[0111] For example, other devices act as host computers. When geological exploration is required, the host computer sends a start exploration command to the exploration equipment.

[0112] In another example, the data interface is a control and / or physical button set on the detection device. In this case, the start detection command is generated by the detection device in response to the user's operation of the control and / or physical button set on the geological detection device.

[0113] For example, the start detection command is generated based on the user's trigger operation on the virtual controls displayed on the electronic display screen of the geological equipment in the pipe.

[0114] Optionally, the first direction of travel can be the forward direction of the detection device, or it can be the backward direction of the detection device. This embodiment does not limit this.

[0115] Since the scope of the first geological information is determined based on the first detection direction, and the scope of the second geological information is determined based on the second detection direction, in order to maximize the scope of geological information detection and facilitate the subsequent processing of the data obtained from the detection, the first and second detection directions can optionally be divided into the following cases:

[0116] In the first implementation, the angle between the first and second detection directions is 90 degrees. In one embodiment, the first detection direction is directly to the left of the platform's radial direction, and the second detection direction is directly above or below the platform's radial direction. In another implementation, the first detection direction is directly to the right of the platform's radial direction, and the second detection direction is directly above or below the platform's radial direction.

[0117] The second method involves a 180-degree angle between the first and second detection directions. In one implementation, the first detection direction is directly to the left of the platform's radial direction, and the second detection direction is directly to the right of the platform's radial direction. In another implementation, the first detection direction is directly above the platform's radial direction, and the second detection direction is directly below the platform's radial direction.

[0118] The third method involves an angle of 120 degrees between the first and second detection directions. In one example, the first detection direction is 30 degrees below and to the left of the platform's radial direction, and the second detection direction is directly above the platform's radial direction. In another implementation, the first detection direction is directly above the platform's radial direction, and the second detection direction is 30 degrees below and to the right of the platform's radial direction.

[0119] In actual implementation, the first detection direction can also be other directions, such as the upper left of the platform's radial direction. In this case, the second detection direction is the upper right of the platform's radial direction. This embodiment does not limit the actual direction of the first and second detection directions.

[0120] Optionally, acquiring the first geological information and the second geological information may also include recording the acquisition locations of the first geological information and the second geological information.

[0121] The acquisition location includes the location of the detection equipment when acquiring the first geological information and the second geological information, and / or the first detection direction for acquiring the first geological information and the second detection direction for acquiring the second geological information.

[0122] Optionally, the location information of the detection equipment can be the location information recorded by the positioning device installed on the detection equipment, or it can be the mileage information recorded by the odometer installed on the detection equipment. This embodiment does not limit the method of obtaining the location information of the geological equipment.

[0123] For example, the location information of the detection device is the odometer recorded on the detection device. In this case, the location information is 50 meters from the starting point.

[0124] In one example, the first detection direction for acquiring first geological information and the second detection direction for acquiring second geological information are obtained based on the start detection command. In this case, the start detection command includes the first detection direction for acquiring first geological information and the second detection direction for acquiring second geological information when the detection begins.

[0125] In another example, the first detection direction for acquiring the first geological information and the second detection direction for acquiring the second geological information are determined based on the operating mode of the detection equipment.

[0126] The first detection direction for collecting the first geological information and the second detection direction for collecting the second geological information, corresponding to the working mode, are pre-stored in the detection equipment. They can be set according to the functions required by different working modes. Therefore, in a specific implementation, the user can pre-set the first detection direction and the second detection direction according to the functions required by each working mode. When working in a working mode, the detection equipment can determine the first detection direction and the second detection direction according to the working mode. In this way, it is convenient to determine the first detection direction for collecting the first geological information and the second detection direction for collecting the second geological information when starting detection under different working modes.

[0127] Step 302: In response to the return control command, control the platform to rotate; control the drive component to move the detection equipment in the second direction of travel to obtain the first geological information and the second geological information.

[0128] The second direction of travel is opposite to the first direction of travel.

[0129] Optionally, the method for obtaining the return control command is the same as the method for obtaining the start probe command in step 301, and this embodiment will not repeat it here.

[0130] Optionally, the second direction of travel can be determined based on the first direction of travel, or it can be specified by the user through a return control command, or it can be preset. This embodiment does not limit the method of determining the second direction of travel.

[0131] Optionally, the rotation of the platform can be controlled, including controlling the rotation of the platform based on the working mode of the geological exploration equipment.

[0132] The working mode of the geological exploration equipment can be set based on whether the first detection component and the second detection component are the same, or it can be set based on different geological exploration needs. This embodiment limits the way the working mode of the geological exploration equipment is set.

[0133] Optionally, the following methods can be used to control the rotation of the platform:

[0134] In the first case, the first detection component is the same as the second detection component. In this case, controlling the platform to rotate includes: controlling the platform to rotate a second angle, the second angle matching the first angle.

[0135] The matching relationship between the second angle and the first angle is pre-stored in the detection device and can be determined according to different detection ranges. Therefore, in a specific implementation, the user can pre-set the second angle according to the detection range of each first angle. When the detection device is working at a first angle, the geological equipment in the pipe can determine the second angle according to the size of the first angle.

[0136] Optionally, controlling the platform to rotate a second angle includes: controlling the platform to rotate a second angle in the default rotation direction.

[0137] Optionally, the default rotation direction can be clockwise or counterclockwise; this embodiment does not limit the default rotation direction. For ease of description, this embodiment uses a clockwise default rotation direction as an example.

[0138] In one example, the first angle is 90 degrees, and the second angle is 180 degrees.

[0139] For example: before rotation, the first detection direction is directly to the left of the platform's radial direction, and the second detection direction is directly above the platform's radial direction. After rotation, the first detection direction is directly to the right of the platform's radial direction, and the second detection direction is directly below the platform's radial direction.

[0140] In another example, the first angle is 180 degrees, and the second angle is 90 degrees.

[0141] For example: before rotation, the first detection direction is directly to the left of the platform's radial direction, and the second detection direction is directly to the right of the platform's radial direction. After rotation, the first detection direction is directly above the platform's radial direction, and the second detection direction is directly below the platform's radial direction.

[0142] In the above technical solution, since the first detection component is the same as the second detection component, by rotating the platform, the detection equipment can detect geological information in four mutually perpendicular directions in the radial direction of the platform during one detection process. Therefore, it can detect geological information near the pipeline to the greatest extent.

[0143] In actual implementation, the correspondence between the second angle and the first angle is not limited to the above situation. Users can set it themselves according to their actual needs. This embodiment does not limit the correspondence between the second angle and the first angle.

[0144] In the second case, the first detection component is different from the second detection component. In this case, controlling the rotation of the platform includes: acquiring the current working mode of the detection device; and controlling the rotation of the platform based on the current working mode.

[0145] In one example, the current working mode is the first working mode, and the rotation of the platform is controlled based on the current working mode, including: controlling the platform to rotate by a preset fourth angle.

[0146] The first working mode refers to the key detection mode, which means that during the entire detection process, the first detection component and the second detection component are used to detect the same direction respectively.

[0147] Optionally, when in the first working mode, the angle between the first detection direction and the second detection direction is 180 degrees.

[0148] Optionally, the preset fourth angle is 180 degrees. That is, the first detection direction after rotation is the same as the second detection direction before rotation, and the second detection direction after rotation is the same as the first detection direction before rotation.

[0149] In one example, when the pipeline robot travels in a first direction, it uses a first detection component to detect directly above the platform in the radial direction and a second detection component to detect directly below the platform in the radial direction. That is, the first detection direction is directly above the platform in the radial direction, and the second detection direction is directly below the platform in the radial direction. When the pipeline robot travels in a second direction, it uses the second detection component to detect directly above the platform in the radial direction and the first detection component to detect directly below the platform in the radial direction. That is, the second detection direction is directly above the platform in the radial direction, and the first detection direction is directly below the platform in the radial direction. In this way, it is possible to use the first detection component and the second detection component to detect in the same direction in a single detection process.

[0150] Optionally, the mounting platform can be rotated by a preset fourth angle, including: controlling the platform to rotate by a preset fourth angle in the default rotation direction.

[0151] In another example, the current working mode is the second working mode, and the rotation of the platform is controlled based on the current working mode, including: controlling the platform to rotate a preset fifth angle in a preset rotation direction.

[0152] The second working mode refers to the separate detection mode, which means that during the entire detection process, one of the first detection component and the second detection component is used to detect the key detection direction, while the other detection component is used to detect other directions.

[0153] The preset rotation direction is the rotation direction corresponding to the second working mode, and the preset fifth angle is the angle between the first detection direction and the second detection direction in the second working mode.

[0154] Optionally, a preset rotation direction and a preset fifth angle are pre-stored in the in-tube geological exploration robot. The rotation direction can be determined based on the relative positional relationship between the first and second detection directions in the second working mode, and the fifth angle can be determined based on the angle between the first and second detection directions in the second working mode. Therefore, in a specific implementation, the user can pre-determine the preset rotation direction and the preset fifth angle based on the relative position and angle between the first and second detection directions in each second working mode. When working in a second working mode, the detection device can determine the preset rotation direction and the preset fifth angle based on that second working mode, thus satisfying the requirements of different second working modes.

[0155] In one example, the second working mode is as follows: When the in-tube geological exploration robot is moving in the first direction of travel, it uses the first detection component to detect the radial left side of the platform and the second detection component to detect the radial top of the platform. That is, the first detection direction is the radial left side of the platform, the second detection direction is the radial top of the platform, and the focus detection direction is the radial top of the platform. At this time, the preset rotation direction is from the first detection direction to the second detection direction, and the preset fifth angle is 90 degrees. When the in-tube geological exploration robot is moving in the second direction of travel, it uses the first detection component to detect the radial top of the platform and the second detection component to detect the radial right side of the platform. That is, the first detection direction is the radial top of the platform, and the second detection direction is the radial right side of the platform. In this way, it is possible to use the first and second detection components to detect the focus direction respectively during one detection process, while using another detection component to detect other directions.

[0156] In another example, the second working mode is as follows: When the in-tube geological exploration robot is moving in the first direction of travel, it uses the first detection component to detect in the direction 30 degrees to the left and below the radial direction of the platform, and uses the second detection component to detect directly above the radial direction of the platform. That is, the first detection direction is 30 degrees to the left and below the radial direction of the platform, and the second detection direction is directly above the radial direction of the platform. The key detection direction is directly above the radial direction of the platform. At this time, the preset rotation direction is from the first detection direction to the second detection direction, and the preset fifth angle is 120 degrees. When the in-tube geological exploration robot is moving in the second direction of travel, it uses the first detection component to detect radially directly above the platform, and uses the second detection component to detect in the direction 30 degrees to the right and below the radial direction of the platform. That is, the first detection direction is directly above the radial direction of the platform, and the second detection direction is 30 degrees to the right and below the radial direction of the platform. In this way, it is possible to use the first detection component and the second detection component to detect the key direction respectively during one detection process, while using another detection component to detect other directions.

[0157] Optionally, the geological exploration method provided in this embodiment further includes: determining geological conditions based on first geological information and second geological information.

[0158] In one example, different detection areas are divided according to the acquisition location. In this case, the geological conditions are determined based on the first geological information and the second geological information in the following two ways:

[0159] In the first case, the first detection component and the second detection component are the same. In this case, the first geological information and the second geological information are of the same type. In this case, the geological conditions are determined based on the first geological information and the second geological information, including: determining the geological information of the collection location corresponding to the first geological information based on the first geological information; and determining the second geological information of the collection location corresponding to the second geological information based on the second geological information.

[0160] The second type involves a second detection component that differs from the first detection component. In this case, the collection locations corresponding to the first geological information and the second geological information may overlap. In this case, the geological conditions are determined based on the first and second geological information, including: for areas where the collection locations corresponding to the first and second geological information overlap, the geological information of the overlapping area is determined based on the first and second geological information corresponding to the overlapping area; for areas where the collection locations corresponding to the first and second geological information do not overlap, the geological information of the collection location corresponding to the first geological information is determined based on the first geological information, and the geological information of the collection location corresponding to the second geological information is determined based on the second geological information.

[0161] Optionally, overlapping acquisition locations mean that the location of the detection device and the detection direction of the detection component are the same.

[0162] For example, when the acquisition device moves in the first direction, the first acquisition direction is directly above the radial direction of the platform. When it moves in the second direction, the second acquisition direction is directly above the radial direction of the platform. At this time, an overlapping area of ​​acquisition positions will be formed directly above the radial direction of the platform.

[0163] In another example, different geological exploration areas are divided according to the location of the detection equipment. In this case, the geological conditions are determined based on the first geological information and the second geological information, including: determining the geological conditions based on the first geological information and the second geological information collected by the detection equipment at the same location.

[0164] Since the second direction of travel is opposite to the first direction of travel, the location that the detection equipment passes through when moving in the first direction of travel will also be passed through when moving in the second direction of travel. Therefore, in one detection process, the geological equipment can collect first geological information in two radial directions and second geological information in two radial directions at that location, thus improving the accuracy of the determined geological information.

[0165] The implementation principle of a geological exploration method in this application embodiment is as follows: during the process of controlling the exploration equipment to move in the first direction of travel, first geological information and second geological information are acquired. Before controlling the exploration equipment to move in the second direction of travel, the platform is controlled to rotate to change the acquisition direction of the first and second exploration information, thereby expanding the geological exploration range of the geological exploration equipment in the pipeline during a geological exploration process. Therefore, the problem of incomplete geological exploration can be solved and the efficiency of geological exploration can be improved.

[0166] This application also discloses a computer device.

[0167] Specifically, the computer device includes a memory 410 and a processor 420.

[0168] like Figure 4 The image shows a server disclosed in this application. The computer device includes a memory 410 and a processor 420. The number of processors 420 in the computer device can be one or more. Figure 3 Taking a processor 420 as an example; the memory 410 and processor 420 in the device can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0169] The memory 410, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the geological exploration method in this embodiment of the invention. The processor 420 executes various functional applications and data processing of the device / terminal / device by running the software programs, instructions, and modules stored in the memory 410, thereby realizing the geological exploration method described above.

[0170] This application also discloses a computer-readable storage medium.

[0171] Specifically, the computer-readable storage medium stores a computer program that can be loaded by a processor and executed as described above for geological exploration. The computer-readable storage medium includes, for example, various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0172] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A pipe-based geological exploration device, characterized in that, The device includes: A drive assembly for driving the detection device to move; the drive assembly includes a first drive mechanism and a second drive mechanism. A mounting platform is connected to a first driving mechanism and a second driving mechanism respectively, and is used to mount a detection component. The mounting platform can rotate circumferentially around its axis, and the direction of the axis of the mounting platform is the same as the direction of movement of the detection device. The mounting platform includes a housing, a fixed shaft, a rotary driving mechanism, a first mounting part, and a second mounting part. The housing is columnar, the fixed shaft is installed at the center of the housing and is coaxial with the housing, the rotary driving mechanism is located inside the housing, and is used to drive the housing to rotate circumferentially around the axis of the mounting platform, and the first mounting part and the second mounting part are provided on the side of the housing, and are used to mount the first detection component and the second detection component respectively. A first detection component is mounted on the platform and is used to detect first geological information in a first detection direction radial to the platform. The first detection component is a first geological detection radar, and the first geological information is a reflected signal of the detection signal sent by the first geological detection radar. The second detection component is mounted on the platform and is used to detect second geological information in a second detection direction radial to the platform. The angle between the first detection direction and the second detection direction is 90 degrees or 180 degrees. The second detection component is a second geological detection radar. The second geological information is the reflected signal of the detection signal sent by the second geological detection radar. One of the first geological detection radar and the second geological detection radar is a low-frequency antenna geological detection radar used to detect cavities at a greater distance, and the other is a high-frequency antenna geological detection radar used to detect cavities of a smaller size. The controller, which is connected to the drive assembly, the mounting platform, the first detection assembly, and the second detection assembly respectively, is used for: In response to a start detection command, the drive component is controlled to move the detection device in a first direction of travel to acquire the first geological information and the second geological information. In response to a return control command, the platform is rotated; the drive assembly is controlled to move the detection device in a second direction of travel to acquire the first geological information and the second geological information, wherein the second direction of travel is opposite to the first direction of travel. The control of the platform rotation includes: when the current working mode is the first working mode, controlling the platform to rotate by a preset fourth angle; when the current working mode is the second working mode, controlling the platform to rotate by a preset fifth angle. The step of acquiring the first geological information and the second geological information further includes: recording the collection locations of the first geological information and the second geological information, wherein the collection location includes the location of the detection device when collecting the first geological information and the second geological information, the first detection direction for collecting the first geological information, and the second detection direction for collecting the second geological information; For areas where the acquisition locations corresponding to the first geological information and the second geological information overlap, the geological information of the overlapping area is determined based on the first geological information and the second geological information corresponding to the overlapping area; for areas where the acquisition locations corresponding to the first geological information and the second geological information do not overlap, the geological information of the acquisition location corresponding to the first geological information is determined based on the first geological information, and the geological information of the acquisition location corresponding to the second geological information is determined based on the second geological information; overlapping acquisition locations mean that the positions of the detection equipment and the detection directions of the detection components are the same.

2. A geological exploration method, characterized in that, In the in-tube geological exploration device of claim 1, the method comprises: In response to a start detection command, the drive component is controlled to move the detection device in a first direction of travel to acquire the first geological information and the second geological information. In response to a return control command, the platform is controlled to rotate; the drive assembly is controlled to move the detection device in a second direction of travel to acquire the first geological information and the second geological information, wherein the second direction of travel is opposite to the first direction of travel.

3. A computer device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in claim 2.

4. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed as described in claim 2.

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