Urban complex geological surface-drilling combined detection device, system and method

Abstract

The present application belongs to the technical field of engineering investigation, and provides a kind of city complex geological surface-drilling combined detection device, system and method.The method includes obtaining karst cave spatial position information;According to the spatial position information of karst cave, determine the target drilling point, carry out drilling imaging exploration;If the exploration result is dry karst cave, collect the dust concentration in karst cave, according to the pre-established dust concentration-light supplement intensity correlation mechanism, adjust the light supplement intensity, obtain the image in karst cave and the coordinate information of karst cave boundary point, build karst cave boundary model;If the exploration result is water-filled karst cave, collect the concentration of suspended medium in karst cave, according to the pre-established turbidity-laser wavelength attenuation correlation mechanism, adjust the laser wavelength, obtain the image in karst cave and the coordinate information of karst cave boundary point, build karst cave boundary model;If the exploration result is silt karst cave, determine the coordinate information of karst cave boundary point, build karst cave boundary model.The present application can carry out karst cave fine exploration in city complex environment.

Description

Technical Field

[0001] This invention belongs to the field of engineering survey technology, specifically relating to a combined surface-borehole detection device, system, and method for complex urban geology. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Karst landforms are a typical adverse geological phenomenon in engineering construction. Engineering activities in karst areas often induce problems such as foundation instability, subsidence, seepage, and sudden water inrush. On the one hand, these problems severely restrict engineering construction and affect the project schedule; on the other hand, these engineering accidents seriously endanger people's property and lives, causing adverse economic and social impacts. Therefore, accurate and efficient prediction of karst distribution and its morphological characteristics is urgently needed.

[0004] Currently, geological exploration techniques fall into two main categories: drilling and geophysical exploration. However, the uncertainty, randomness, and concealment of karst development, along with interference from communication signals, noise, and clutter in complex urban environments, significantly impact exploration results. Each method has its own limitations and suitability. For example, drilling is relatively straightforward and can accurately pinpoint the location of karst caves and the thickness of their roof at a given point. However, drilling is costly, can only detect karst formations at single points, has poor continuity, and is prone to "one-hole observations," resulting in blind spots. Commonly used geophysical methods, such as high-density electrical resistivity tomography (EDT) and transient electromagnetic methods (TEM), are sensitive to interference from communication signals and high-voltage lines, and are easily affected by complex urban environments. Their accuracy and resolution are unsatisfactory, and they cannot accurately obtain the scale and morphological characteristics of karst development. In contrast, seismic reflection methods utilize the reflected signals generated at the interfaces of different underground strata by an excitation source to determine geological structural features. Their accuracy and resolution are improved compared to EDT and TEM methods. Karst caves are clearly reflected on seismic reflection profiles, making it relatively easy to determine their location. However, it still cannot meet the needs of precise exploration and cannot accurately define the scale characteristics of caves. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a surface-borehole combined detection device, system, and method for complex urban geological conditions. This invention leverages the advantages of low cost, wide coverage, and high drilling accuracy of geophysical exploration to establish a surface-borehole combined detection mechanism, achieving "point-surface" fusion for location-quantitative detection of adverse geological conditions. Furthermore, to address the challenge of accurately detecting karst cave boundaries in complex geological environments, an optimized method for realistic imaging is proposed, ultimately achieving the goal of refined exploration.

[0006] According to some embodiments, the present invention adopts the following technical solution:

[0007] In the first aspect, the present invention provides a combined surface-borehole detection device for complex urban geology.

[0008] A combined surface-borehole detection device for complex urban geology includes a base, a mounting frame on the base, a retractable probe rod on the mounting frame facing the base, a searchlight, a camera, a 3D laser scanner, a displacement sensor, a dust concentration sensing device, a suspended medium concentration sensing device, and a retractable robotic arm at the top of the retractable probe rod, and a pressure sensor at the end of the retractable robotic arm away from the retractable probe rod.

[0009] If the exploration result is a dry cave, the dust concentration inside the cave is collected by a dust concentration sensing device. Based on the pre-established dust concentration-supplementary light intensity correlation mechanism, the supplementary light intensity of the searchlight is adjusted, images inside the cave are obtained by a camera, and the coordinate information of the cave boundary points is obtained by a 3D laser scanner.

[0010] If the investigation results indicate a water-filled cave, the concentration of suspended media inside the cave is collected using a suspended media concentration sensing device. Based on a pre-established turbidity-laser wavelength attenuation correlation mechanism, the laser wavelength of the 3D laser scanner is adjusted, images inside the cave are acquired through a camera, and the coordinate information of the cave boundary points is obtained through the 3D laser scanner.

[0011] If the investigation reveals a silty cave, the coordinates of the cave's boundary points can be determined by using displacement sensors and the extension length of the extendable robotic arm, combined with pressure data from pressure sensors.

[0012] Furthermore, the base is provided with a through hole, through which the retractable probe enters the cave.

[0013] Furthermore, the distance is measured by a 3D laser scanner, and the angle is measured by a rotation angle measuring device. The 3D coordinates of each point in the cave are calculated based on the distance and angle. The rotation angle measuring device is set at the top of the telescopic probe or on the telescopic robotic arm.

[0014] Furthermore, the step of measuring distance using a 3D laser scanner, measuring angle using a rotation angle measuring device, and calculating the 3D coordinates of each point in the cave based on distance and angle specifically includes: the 3D laser scanner calculates the distance from the device to the target point by the speed and time of laser propagation in the air, determines the angle between points by the interference fringes of the emitted and returned light recorded by the scanner, and then calculates the coordinates of the spatial points, thereby calculating the 3D coordinates of each point in the cave, and thus obtaining the 3D shape and volume parameters of the cave.

[0015] Furthermore, if the exploration result is a silty cave, the determination of the cave boundary point coordinate information by using displacement sensors and the extension length of the telescopic robotic arm, combined with the pressure data from pressure sensors, specifically includes: stopping the extension when the top of the telescopic robotic arm touches the inner boundary of the cave; determining whether it has contacted the boundary and terminating the extension by using the pressure magnitude of the pressure sensor; recording the cumulative extension amount by the displacement sensor; and determining the spatial coordinates of each point on the cave boundary based on the cumulative extension amount and the rotation angle, thus obtaining the cave boundary point coordinate information.

[0016] Secondly, the present invention provides a combined surface-borehole detection system for complex urban geology.

[0017] A combined surface-drilling detection system for complex urban geology includes: a data acquisition device, a drilling equipment, the combined surface-drilling detection system for complex urban geology described in the first aspect, and a central control system that is connected to the data acquisition device, the drilling equipment, and the detection device.

[0018] Data acquisition device, used to obtain spatial location information of the karst cave;

[0019] Drilling equipment is used to determine the target drilling points and carry out drilling imaging exploration based on the spatial location information of the karst cave;

[0020] The detection device uploads images of the cave and the coordinates of the cave's boundary points to the central control system.

[0021] The central control system is used to construct a cave boundary model based on images inside the cave and the coordinates of the cave boundary points; or it is used to construct a cave boundary model based on the coordinates of the cave boundary points.

[0022] Thirdly, this invention provides a method for combined surface-borehole exploration of complex urban geology.

[0023] A combined surface-borehole exploration method for complex urban geological conditions includes:

[0024] Obtain spatial location information of the karst cave;

[0025] Based on the spatial location information of the karst cave, target drilling points were determined, and drilling imaging exploration was carried out.

[0026] If the exploration result is a dry cave, the dust concentration inside the cave is collected. Based on the pre-established dust concentration-light intensity correlation mechanism, the light intensity is adjusted to obtain images of the cave and coordinate information of the cave boundary points, and a cave boundary model is constructed. If the exploration result is a water-filled cave, the suspended medium concentration inside the cave is collected. Based on the pre-established turbidity-laser wavelength attenuation correlation mechanism, the laser wavelength is adjusted to obtain images of the cave and coordinate information of the cave boundary points, and a cave boundary model is constructed. If the exploration result is a silty cave, the coordinate information of the cave boundary points is determined, and a cave boundary model is constructed.

[0027] Furthermore, the acquisition of spatial location information of karst caves specifically includes: acquiring the location information of the source point and receiver point, as well as seismic information; preprocessing the location information of the source point and receiver point, as well as the seismic information; determining the reflection standard layer based on the preprocessed location information of the source point and receiver point, as well as the seismic information; selecting a contrast phase, performing phase comparison and phase closure; identifying the wave type on the time profile, analyzing the relationship between waves, and inferring the geological structure reflected in the profile; determining the location of adverse karst geological structures, and providing an interpretation of the scale of karst development based on seismic data.

[0028] Furthermore, the process of acquiring the location information of the source point and the receiving point, as well as the earthquake information, includes:

[0029] Accurately measure the locations of the seismic source and receiver points within the survey area;

[0030] The side lines are arranged in a straight line, and the tracking interface is observed using multiple coverage technology. During implementation, the source point and the receiving point are moved to repeat the observation after each seismic source is excited, thus forming a multiple coverage observation system.

[0031] Multiple survey lines are laid out within the survey area to increase the density of survey lines and reflect the three-dimensional seismic information under the survey lines.

[0032] Furthermore, the preprocessing of the location information of the source point and receiver point, as well as the seismic information, specifically includes: static correction to eliminate time-distance curve distortion caused by topographic changes; spectral analysis to obtain the spectrum from the seismic signal using Fourier transform to obtain the spectral distribution range of the effective wave and interference wave; digital filtering to filter out or weaken interference waves; dynamic correction to eliminate time difference caused by inconsistent shot-receiver distances and correct waveform changes; superposition processing of gather data to weaken random interference; and migration processing to correct distorted reflection interfaces.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] This invention, relying on existing detection methods and combining technologies such as laser scanning, photographic imaging, and tactile sensing, establishes a combined surface-drilling detection system and method for complex urban geology. This invention can determine the location of adverse geological bodies within the survey area through seismic wave reflection, and obtain quantitative information such as the three-dimensional morphology, spatial volume, and occurrence state of karst caves through borehole imaging. This enables quantitative exploration, digital characterization, and realistic imaging of adverse geological conditions, while improving detection efficiency and reducing investment costs.

[0035] This invention utilizes machine learning to establish a dust concentration-light intensity correlation mechanism, enabling automatic adjustment of light intensity for different dust concentrations; it also establishes a turbidity-laser wavelength attenuation correlation mechanism, enabling automatic adjustment of laser wavelength for different turbidities, thus improving imaging resolution in complex environments. Furthermore, it identifies cave coordinates through laser scanning, and after coordinate transformation and parameter correspondence, realistically constructs 3D models of both dry and water-filled caves. Using a rotatable robotic arm, a multi-point probing measurement method is proposed to acquire contact point coordinate information, unifying it into a global coordinate system, and using interpolation processing to construct a silty cave model. This achieves the goal of visualizing adverse geological formations. Attached Figure Description

[0036] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0037] Figure 1 This is a structural diagram of the detection device in this invention;

[0038] Figure 2 This is a flowchart of the urban complex geological surface-borehole combined detection method in this invention;

[0039] Figure 3 This is a flowchart of the seismic wave reflection method data processing in this invention;

[0040] Figure 4 This is a flowchart of the borehole exploration process in this invention;

[0041] In the diagram, 1-retractable probe, 2-horizontal rotating base, 3-searchlight, 4-3D laser scanner, 5-camera, 6-integrated sensing equipment (from top to bottom: dust concentration sensing device, suspended medium concentration sensing device, displacement sensor, angle measuring device), 7-vertical rotating base, 8-retractable robotic arm, 9-base. Detailed Implementation

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0043] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0044] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the term "comprising" is used in this specification, it indicates the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0045] In this invention, terms such as "end," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely relational terms determined for the convenience of describing the structural relationship of the various components or elements of this invention, and do not specifically refer to any component or element in this invention, nor should they be construed as limiting this invention.

[0046] In this invention, terms such as "connected" and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0047] As described in the background section, the complex urban environment is characterized by high noise levels and significant electromagnetic interference from high-voltage power lines and communication signals, which limits the detection accuracy of conventional geophysical methods such as electrical resistivity tomography and transient electromagnetic methods. Drilling, on the other hand, suffers from drawbacks such as high cost, limited measurement points, and poor continuity. To address these technical problems and achieve efficient and accurate positioning of adverse geological bodies and realistic simulation of karst cave morphology, this invention proposes a combined surface-drilling detection device and method for complex urban geological conditions. Utilizing the high-precision characteristics of seismic wave reflection in shallow exploration, the device accurately determines the location of karst caves. Based on the spatial information provided by geophysical exploration, targeted drilling is conducted. Furthermore, for different karst cave occurrence states, methods such as photogrammetry-laser scanning and probing sensing point identification are proposed to establish karst cave boundary models and achieve a three-dimensional visualization of karst cave morphology. This method offers significant advantages such as high precision and realistic simulation.

[0048] Example 1

[0049] This embodiment provides a combined surface-borehole detection device for complex urban geology.

[0050] A combined surface-borehole detection device for complex urban geology includes a base 9, on which a mounting frame is provided. A retractable probe 1 is provided on the mounting frame in the direction facing the base. The top of the retractable probe is provided with a searchlight 3, a three-dimensional laser scanner 4, a camera 5, a displacement sensor, an angle measuring device, a dust concentration sensing device, a suspended medium concentration sensing device, and a retractable robotic arm 8. A pressure sensor (built into the top of the retractable robotic arm) is provided at the end of the retractable robotic arm away from the retractable probe.

[0051] If the exploration result is a dry cave, the dust concentration inside the cave is collected by the dust concentration sensing device. According to the pre-established dust concentration-supplementary light intensity correlation mechanism, the supplementary light intensity of the searchlight 3 is adjusted, the image inside the cave is obtained by the camera 5, and the coordinate information of the cave boundary point is obtained by the 3D laser scanner 4.

[0052] If the investigation results indicate a water-filled cave, the concentration of suspended media inside the cave is collected using a suspended media concentration sensing device. Based on a pre-established turbidity-laser wavelength attenuation correlation mechanism, the laser wavelength of the 3D laser scanner 4 is adjusted, and images inside the cave are obtained through the camera 5. The coordinate information of the cave boundary points is obtained through the 3D laser scanner.

[0053] If the investigation results indicate a silty cave, the coordinates of the cave's boundary points are determined by using displacement sensors and the extension length of the retractable robotic arm 8, combined with pressure data from pressure sensors.

[0054] The quantitative exploration process for dry and water-filled caves is implemented as follows:

[0055] 1. Using drilling rigs, drilling tools and other mechanical equipment, boreholes are drilled at the locations of karst caves determined by geophysical exploration. The drilling depth should be determined based on the geophysical exploration results.

[0056] 2. To address the challenges of high dust concentration and dim lighting conditions inside dry caves, a dust concentration-light intensity correlation mechanism was established using machine learning. Based on this mechanism, an automatic light intensity adjustment program for different dust concentrations was developed and embedded into the camera probe to improve the imaging resolution of dusty environments.

[0057] like Figure 1 As shown, the camera probe 5 is fixed to the top of the telescopic probe 1 via the rotating base 2, and a sensing integrated device 6 (from top to bottom: dust concentration sensing device, suspended medium concentration sensing device, displacement sensor, and angle measuring device) is installed on the side of the probe. When the instrument is inserted into the dry cave, the extension length of the probe is identified and recorded by the displacement sensor located at the top of the probe. The dust concentration sensing device determines the dust concentration inside the cave. Based on the concentration and the brightness inside the cave, the supplementary lighting intensity is adjusted through the central control system, and then the camera rotates to acquire comprehensive real-time image data of the cave.

[0058] Simultaneously, a 3D laser scanner 4 is mounted on the top of a retractable probe 1 via a rotatable base 2. The 3D coordinates of various points within the cave are calculated by measuring distances and angles. The instrument calculates the distance from the device to the target point using the speed and time of laser propagation in the air. By analyzing the interference fringes of the emitted and returned light recorded by the scanner, the angles between points are determined, and the coordinates of spatial points are calculated. This allows for the calculation of the 3D coordinates of various points within the cave, thus obtaining the cave's 3D shape and volume parameters. Furthermore, through coordinate transformation and parameter correspondence of pixel and point cloud data, an effective fusion method for the two data sources—camera and laser scanning—is established, thereby achieving an effective simulation of the cave's true morphology.

[0059] 3. To address the varying dissolved media and turbidity levels in water-filled caves, a correlation mechanism between turbidity (concentration of suspended media) and laser wavelength attenuation was established. Based on this, an automatic laser wavelength adjustment program for different turbidities was developed, and the relevant program was embedded into the camera probe 5 to improve the imaging resolution of turbid liquid environments.

[0060] The camera probe 5 is fixed to the top of the telescopic probe 1 via the rotating base 2, and a waterproof cover is installed on the outside of the instrument. The instrument is inserted into the water-filled cave, and the extension length of the probe is identified and recorded by the displacement sensor placed at the top of the probe. The concentration of suspended media in the cave is determined by the suspended media concentration sensing device, and the laser wavelength is adjusted by the central control system. Then, the camera rotates to acquire real-time images of the cave from all directions.

[0061] Simultaneously, a 3D laser scanner 4 mounted on the top of the probe was used to acquire the 3D coordinates of the cave boundary points. By transforming the coordinates of pixel and point cloud data and corresponding parameters, an effective fusion method for the two types of data, namely video and laser scanning, was established to achieve an effective simulation of the cave's true morphology.

[0062] The quantitative exploration process of the silty caves is carried out as follows.

[0063] 1. Using drilling rigs, drilling tools and other mechanical equipment, boreholes are drilled at the locations of karst caves determined by geophysical exploration. The drilling depth should be determined based on the geophysical exploration results.

[0064] 2. To address the challenge of obtaining optical information from silt environments, a multi-point penetration volume measurement method is proposed. A rotating device 8 and a retractable robotic arm 3 are mounted on a telescopic rod; this device should also include a drive control unit. The length of the telescopic rod extending into the karst cave is determined by a displacement sensor placed at the top of the telescopic rod.

[0065] The rotating device includes a horizontal rotating base, a horizontal rotating shaft, a rotating component, a vertical rotating shaft, and a rotation angle measuring device. The telescopic robotic arm includes a mounting base, a multi-stage robotic arm, a displacement measuring device, and a pressure sensor.

[0066] The rotating device is fixedly connected to the top of the telescopic rod 1 via the base 2. A horizontal rotating shaft is installed at the other end of the base. The rotating component is connected to the horizontal rotating shaft and rotates around the horizontal rotating shaft under the control of the driving device. The horizontal rotation angle is recorded by the rotation angle measuring device and the data is fed back in real time through the data transmission system.

[0067] Two vertical rotation axes 7 are installed on both sides of the rotating component, and the axial line connecting them is perpendicular to the horizontal rotation axis. The robotic arm mounting base is connected to the vertical rotation axis and rotates around the vertical rotation axis under the control of the drive device. The vertical rotation angle is recorded by the rotation angle measuring device and the data is fed back in real time through the data transmission system, thereby realizing the free rotation and angle measurement of the robotic arm in three-dimensional space.

[0068] Multiple robotic arms are fixed on two mounting bases respectively. The extension and retraction of the multi-stage robotic arms are controlled by a drive device. When the tip of the robotic arm touches the boundary of the cave, the extension stops (this process is regulated and controlled by a pressure sensor at the tip of the robotic arm, which determines whether it has contacted the boundary and terminates the extension based on the pressure). The cumulative extension and retraction is recorded by a displacement measuring device and the data is fed back in real time through a data transmission system.

[0069] Finally, the spatial coordinates of each point on the boundary of the cave are determined based on the amount of expansion and contraction and the rotation angle. After coordinate transformation and interpolation, a cave model is established to realize the quantitative exploration of silty caves.

[0070] Example 2

[0071] This embodiment provides a combined surface-borehole detection system for complex urban geology.

[0072] A combined urban complex geological surface-borehole detection system includes: a data acquisition device, a drilling equipment, the combined urban complex geological surface-borehole detection device described in Example 1, and a central control system that is connected to the data acquisition device, the drilling equipment, and the detection device.

[0073] Data acquisition device, used to obtain spatial location information of the karst cave;

[0074] Drilling equipment is used to determine the target drilling points and carry out drilling imaging exploration based on the spatial location information of the karst cave;

[0075] The detection device uploads images of the cave and the coordinates of the cave's boundary points to the central control system.

[0076] The central control system is used to construct a cave boundary model based on images inside the cave and the coordinates of the cave boundary points; or it is used to construct a cave boundary model based on the coordinates of the cave boundary points.

[0077] The data acquisition device includes a seismic source, a detector, and a recording instrument.

[0078] The seismic source is generated by manual hammering. Given the dense urban housing structures and extensive underground pipeline network, hammering is used to excite the seismic source to mitigate damage to urban buildings and structures. The detector is a velocity detector that receives the mechanical vibrations caused by the seismic waves and converts them into electrical signals of varying strengths. The recording instrument amplifies, filters, amplifies, and records the electrical signals onto a magnetic medium.

[0079] Example 3

[0080] This embodiment provides a method for combined surface-borehole exploration of complex urban geology.

[0081] A combined surface-borehole exploration method for complex urban geological conditions includes:

[0082] Obtain spatial location information of the karst cave;

[0083] Based on the spatial location information of the karst cave, target drilling points were determined, and drilling imaging exploration was carried out.

[0084] If the exploration result is a dry cave, the dust concentration inside the cave is collected. Based on the pre-established dust concentration-light intensity correlation mechanism, the light intensity is adjusted to obtain images of the cave and coordinate information of the cave boundary points, and a cave boundary model is constructed. If the exploration result is a water-filled cave, the suspended medium concentration inside the cave is collected. Based on the pre-established turbidity-laser wavelength attenuation correlation mechanism, the laser wavelength is adjusted to obtain images of the cave and coordinate information of the cave boundary points, and a cave boundary model is constructed. If the exploration result is a silty cave, the coordinate information of the cave boundary points is determined, and a cave boundary model is constructed.

[0085] like Figure 2 As shown, a combined surface-borehole detection method for complex urban geology includes seismic wave reflection positioning and borehole imaging exploration.

[0086] The seismic wave reflection location includes three stages: seismic data acquisition, data processing, and data interpretation.

[0087] The seismic data acquisition includes a seismic source, a geophone, and a recording instrument. The seismic source is generated by manual hammering. Given the dense urban housing structures and underground pipelines, hammering is used to excite the seismic source to reduce damage to urban buildings and structures. The geophone is a velocity detector that receives the mechanical vibrations caused by seismic waves and converts them into electrical signals of varying strengths. The recording instrument amplifies, filters, amplifies, and records the electrical signals onto a magnetic medium.

[0088] The data acquisition process is implemented as follows.

[0089] 1. Use total station, GPS and other positioning devices to accurately measure the location of the seismic source and receiver within the survey area.

[0090] 2. A straight-line layout of the side lines is adopted. In order to improve the seismic wave energy and reduce interference, multiple coverage technology is used to observe the tracked interface. During implementation, the source point and the receiving point are moved and observed repeatedly after each seismic source is excited, thus forming a multiple coverage observation system.

[0091] 3. Arrange multiple survey lines within the survey area to increase the density of survey lines, reflect the three-dimensional seismic information under the survey lines, and meet the accuracy requirements for exploring complex geological structures.

[0092] The aforementioned seismic data processing refers to the process of using a series of methods, such as filtering, correction, and superposition, to weaken the interference in the collected data, which contains a large number of interfering waves, and to obtain a reflection wave seismic profile that conforms to reality. The process is as follows: Figure 3 As shown, the specific implementation is as follows.

[0093] 1. Static correction to eliminate time-distance curve distortion caused by topographic changes.

[0094] 2. Spectrum analysis: Fourier transform is used to obtain the spectrum from the seismic signal to understand the spectral distribution range of the effective wave and the interference wave.

[0095] 3. Digital filtering filters out or weakens interference waves, improving the signal-to-noise ratio.

[0096] 4. Dynamic correction to eliminate time difference caused by inconsistent shot-receiver distance and correct waveform changes.

[0097] 5. Overlay the data from the collection of records to reduce random interference.

[0098] 6. Offset processing corrects distorted reflections, further improving data quality.

[0099] 7. Output the results.

[0100] The interpretation of seismic data refers to the comparative analysis of time profiles, specifically including determining the standard reflection layer; selecting the comparison phase, performing phase comparison and phase closure; identifying the wave types on the time profile, analyzing the relationships between waves, and inferring the geological structures reflected in the profile. Ultimately, the location of adverse karst geological structures is accurately determined, and an interpretation of the scale of karst development based on seismic data is provided.

[0101] Using the spatial location information obtained from the aforementioned surface geophysical positioning method, quantitative borehole imaging exploration is conducted. This quantitative borehole imaging exploration includes the exploration of dry and water-filled caves, as well as silty caves. The process is as follows: Figure 4 .

[0102] The quantitative exploration process for dry and water-filled caves is implemented as follows:

[0103] 1. Using drilling rigs, drilling tools and other mechanical equipment, boreholes are drilled at the locations of karst caves determined by geophysical exploration. The drilling depth should be determined based on the geophysical exploration results.

[0104] 2. To address the challenges of high dust concentration and dim lighting conditions inside dry caves, a dust concentration-light intensity correlation mechanism was established using machine learning. Based on this mechanism, an automatic light intensity adjustment program for different dust concentrations was developed and embedded into the camera probe to improve the imaging resolution of dusty environments.

[0105] The camera probe is fixed to the top of a telescopic probe via a rotating base, and an external dust concentration sensing device is attached to the camera. A rotation angle measuring device is installed on the rotating base. The instrument is extended into the dry cave, and the extension length of the probe is identified and recorded by a displacement sensor located at the top of the probe. The dust concentration in the cave is determined using the dust concentration sensing device. Based on the concentration and the brightness inside the cave, the supplementary lighting intensity is adjusted through a central control system, and then the camera is rotated to acquire comprehensive real-time image data of the cave.

[0106] Simultaneously, a 3D laser scanner is mounted on the top of a retractable probe via a rotatable base. By measuring distances and angles, the 3D coordinates of various points within the cave are calculated. The instrument calculates the distance to the target point using the speed and time of laser propagation in the air. By analyzing the interference fringes of the emitted and returned light recorded by the scanner, the angles between points are determined, and the coordinates of these spatial points are calculated. This allows for the calculation of the 3D coordinates of each point within the cave, thus obtaining the cave's 3D shape and volume parameters. Furthermore, through coordinate transformation and parameter correspondence of pixel and point cloud data, an effective fusion method for the two data sources—camera and laser scanning—is established, thereby achieving an effective simulation of the cave's true morphology.

[0107] 3. To address the varying dissolved media and turbidity levels in water-filled caves, a correlation mechanism between turbidity (concentration of suspended media) and laser wavelength attenuation was established. Based on this, an automatic laser wavelength adjustment program for different turbidities was developed, and the relevant program was embedded into the camera probe to improve the imaging resolution of turbid liquid environments.

[0108] The camera probe is fixed to the top of a telescopic probe via a rotating base, and a suspended medium concentration sensing device is installed on the outside of the probe. A rotation angle measuring device is installed on the rotating base, and a waterproof cover is installed on the instrument. The instrument is inserted into a water-filled cave. The extension length of the probe is identified and recorded by a displacement sensor located at the top of the probe. The suspended medium concentration sensing device determines the concentration of suspended media in the cave. The laser wavelength is adjusted by a central control system, and then the camera rotates to acquire comprehensive real-time image data of the cave.

[0109] Simultaneously, a 3D laser scanner mounted on the top of the probe is used to acquire the 3D coordinates of the cave boundary points. By transforming the coordinates of pixel and point cloud data and mapping the parameters, an effective fusion method for the two types of data—camera and laser scanning—is established to achieve an effective simulation of the cave's true morphology.

[0110] The quantitative exploration process of the silty caves is carried out as follows.

[0111] 1. Using drilling rigs, drilling tools and other mechanical equipment, boreholes are drilled at the locations of karst caves determined by geophysical exploration. The drilling depth should be determined based on the geophysical exploration results.

[0112] 2. To address the challenge of obtaining optical information from silt environments, a multi-point penetration volume measurement method is proposed. A rotating device and a retractable robotic arm are mounted on a telescopic rod, which should also include a drive control device. The length of the telescopic rod extending into the karst cave is determined by a displacement sensor placed at the top of the rod.

[0113] The rotating device includes a base, a horizontal rotating shaft, a rotating component, a vertical rotating shaft, and a rotation angle measuring device. The telescopic robotic arm includes a mounting base, a multi-stage robotic arm, a displacement measuring device, and a pressure sensor.

[0114] The rotating device is fixedly connected to the top of the telescopic rod via a base. A horizontal rotating shaft is installed at the other end of the base. The rotating component is connected to the horizontal rotating shaft and rotates around the horizontal rotating shaft under the control of the driving device. The horizontal rotation angle is recorded by a rotation angle measuring device and the data is fed back in real time through a data transmission system.

[0115] Two vertical rotation axes are mounted on both sides of the rotating component, with the axial line connecting them perpendicular to the horizontal rotation axis. The robotic arm mounting base is connected to the vertical rotation axes and rotates around them under the control of the drive device. The vertical rotation angle is recorded by a rotation angle measuring device and fed back in real time through a data transmission system, thereby enabling the robotic arm to rotate freely in three-dimensional space and measure angles.

[0116] Multiple robotic arms are fixed on two mounting bases respectively. The extension and retraction of the multi-stage robotic arms are controlled by a drive device. When the tip of the robotic arm touches the boundary of the cave, the extension stops (this process is regulated and controlled by a pressure sensor at the tip of the robotic arm, which determines whether it has contacted the boundary and terminates the extension based on the pressure). The cumulative extension and retraction is recorded by a displacement measuring device and the data is fed back in real time through a data transmission system.

[0117] Finally, the spatial coordinates of each point on the boundary of the cave are determined based on the amount of expansion and contraction and the rotation angle. After coordinate transformation and interpolation, a cave model is established to realize the quantitative exploration of silty caves.

[0118] This method reduces detection costs, improves detection efficiency and accuracy, and establishes a mechanism for locating and quantitatively exploring adverse geological bodies, providing technical support for the accurate detection of the development scale and occurrence status of karst caves.

[0119] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A device for combined surface-borehole detection of urban complex geological surfaces, characterized in that it comprises: The base is provided with a mounting rack, and the mounting rack is provided with a telescopic probe rod in the direction of the base. The top end of the telescopic probe rod is provided with a searchlight, a camera, a three-dimensional laser scanner, a displacement sensor, a dust concentration sensing device, a suspended medium concentration sensing device, a telescopic mechanical arm, a rotating device, and a driving control device. The telescopic mechanical arm is provided with a pressure sensor at the end away from the telescopic probe rod. The rotating device is fixedly connected to the top end of the telescopic rod through the base. The other end of the base is provided with a horizontal rotating shaft. The rotating member is connected to the horizontal rotating shaft and rotates around the horizontal rotating shaft under the control of the driving device. Two vertical rotating shafts are installed on the two sides of the rotating member, and the axial connecting line is perpendicular to the horizontal rotating shaft. The mechanical arm mounting seat is connected to the vertical rotating shaft and rotates around the vertical rotating shaft under the control of the driving device. If the exploration result is a dry karst cave, the dust concentration in the cave is collected by the dust concentration sensing device. According to the pre-established dust concentration-light supplement intensity correlation mechanism, the light supplement intensity of the searchlight is adjusted. The image in the cave is obtained by the camera, and the boundary point coordinate information of the cave is obtained by the three-dimensional laser scanner. If the exploration result is a water-filled karst cave, the suspended medium concentration in the cave is collected by the suspended medium concentration sensing device. According to the pre-established turbidity-laser wavelength attenuation correlation mechanism, the laser wavelength of the three-dimensional laser scanner is adjusted. The image in the cave is obtained by the camera, and the boundary point coordinate information of the cave is obtained by the three-dimensional laser scanner. If the exploration result is a silt karst cave, the boundary point coordinate information of the cave is determined by the telescopic length of the telescopic mechanical arm combined with the pressure data of the pressure sensor. Specifically, the telescopic mechanical arm stops elongating when it touches the internal boundary of the cave. Whether the boundary is contacted and the elongation is terminated is determined by the pressure of the pressure sensor. The cumulative telescopic amount is recorded by the displacement sensor. The spatial coordinates of each point on the boundary of the cave are determined according to the cumulative telescopic amount and the rotation angle, and the boundary point coordinate information of the cave is obtained.

2. The urban complex geological surface-drilling combined detection device according to claim 1, characterized in that, The base is provided with a through hole, and the telescopic probe rod passes through the through hole and enters the cave.

3. The urban complex geological surface-drilling combined detection device according to claim 1, characterized in that, The distance is measured by the three-dimensional laser scanner, the angle is measured by the rotation angle measuring device, and the three-dimensional coordinates of each point of the cave are calculated based on the distance and the angle. The rotation angle measuring device is arranged at the top end of the telescopic probe rod or on the telescopic mechanical arm.

4. The urban complex geological surface-drilling combined detection device according to claim 3, characterized in that, The distance is measured by the three-dimensional laser scanner, the angle is measured by the rotation angle measuring device, and the three-dimensional coordinates of each point of the cave are calculated based on the distance and the angle. The rotation angle measuring device is arranged at the top end of the telescopic probe rod or on the telescopic mechanical arm.

5. A city complex geological surface-drilling combined detection system, characterized in that, It comprises: a data acquisition device, a drilling device, the urban complex geological surface-drilling combined detection device of any one of claims 1-4, and a central control system connected with the data acquisition device, the drilling device, and the detection device; A data acquisition device is configured to acquire spatial position information of the karst cave. A drilling device is configured to determine a target drilling point based on the spatial position information of the karst cave and to carry out drilling imaging exploration. A detection device is configured to upload the image in the karst cave and the coordinate information of the boundary point of the karst cave to a central control system. The central control system is configured to construct a boundary model of the karst cave based on the image in the karst cave and the coordinate information of the boundary point of the karst cave or to construct the boundary model of the karst cave based on the coordinate information of the boundary point of the karst cave.

6. A method for detecting the device for detecting urban complex geological surface-drilling combined of any one of claims 1-4, characterized in that, The method comprises the following steps: acquiring spatial position information of the karst cave; determining a target drilling point based on the spatial position information of the karst cave and carrying out drilling imaging exploration; if the exploration result is a dry karst cave, collecting dust concentration in the karst cave, adjusting light intensity based on a pre-established dust concentration-light intensity correlation mechanism, acquiring the image in the karst cave and the coordinate information of the boundary point of the karst cave, and constructing a boundary model of the karst cave; if the exploration result is a water-filled karst cave, collecting suspended medium concentration in the karst cave, adjusting laser wavelength based on a pre-established turbidity-laser wavelength attenuation correlation mechanism, acquiring the image in the karst cave and the coordinate information of the boundary point of the karst cave, and constructing a boundary model of the karst cave; if the exploration result is a silt karst cave, determining the coordinate information of the boundary point of the karst cave, and constructing a boundary model of the karst cave.

7. The method according to claim 6, wherein the method is characterized by, The acquiring of the spatial position information of the karst cave specifically comprises: acquiring position information and seismic information of a seismic source point and a receiving point, pre-processing the position information and seismic information of the seismic source point and the receiving point, determining a reflection standard layer based on the pre-processed position information and seismic information of the seismic source point and the receiving point, selecting a contrast phase, performing phase contrast and phase closure, identifying the type of a wave on a time profile, analyzing the relationship between waves, and deducing geological structures reflected by the profile; and determining the occurrence position of karst poor geological structures and giving an explanation of the development scale of karst based on seismic data.

8. The method according to claim 7, wherein the method is characterized by, The process of acquiring the position information and seismic information of the seismic source point and the receiving point comprises: accurately measuring the positions of the seismic source point and the receiving point within a survey area; arranging side lines in a straight line form and adopting multiple coverage techniques to observe the tracked interface, wherein each time a seismic source is excited, the positions of the seismic source point and the receiving point are moved to repeat the observation, thereby forming a multiple coverage observation system; arranging multiple survey lines within the survey area to improve the density of the survey lines and reflect three-dimensional seismic information under the survey lines.

9. The method according to claim 7, wherein the method is characterized by, The pre-processing of the position information and seismic information of the seismic source point and the receiving point specifically comprises: static correction to eliminate the distortion of time-distance curves caused by topographic changes; spectrum analysis to obtain the frequency spectrum distribution range of effective waves and interference waves by using Fourier transformation to calculate the frequency spectrum from the seismic signal; digital filtering to filter out or weaken the interference waves; dynamic correction to eliminate the time difference caused by the inconsistency of shot-receiver distances and to correct the waveform changes; stack processing of the gather data to weaken random interference; and migration processing to restore the distorted reflection interface.

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