A feedback-based emergency investigation, monitoring and early warning system for sudden geological disasters

Abstract

This invention relates to a feedback-based emergency investigation and monitoring early warning system for sudden geological disasters. It includes an emergency remote control command device for sending investigation or monitoring commands to multiple drones and multiple remotely controlled robots; drones for taking aerial photographs of the sudden geological disaster area during terrain-following flight to obtain aerial images; and drones for transmitting these aerial images to the emergency remote control command device via a mesh wireless communication network. Remotely controlled robots are used to acquire ground images and perform laser ranging in the sudden geological disaster area during their movement within the area, sample rocks and / or soil, and break up isolated boulders. This invention enables rapid investigation of sudden geological disasters. Through remote control, remotely controlled robots and drones can work collaboratively, avoiding the need for geological personnel to conduct dangerous investigations and improving the safety of emergency investigation and monitoring of sudden geological disasters.

Description

Technical Field

[0001] This invention relates to the field of geological disaster prevention and control technology, specifically to a feedback-based emergency investigation, monitoring and early warning system for sudden geological disasters. Background Technology

[0002] In recent years, affected by global climate change, human engineering activities, and frequent strong earthquakes, geological disasters have become increasingly prominent. Geological disasters not only directly cause casualties and property losses but also trigger serious social and public safety problems. Timely and targeted emergency investigations and response measures for sudden geological disasters are of great significance for preventing and controlling secondary disasters. Emergency investigations and responses to sudden geological disasters have gradually become important proactive disaster prevention methods. Strengthening the prevention and control of flash floods and geological disasters in key periods and areas, and implementing monitoring, early warning, and comprehensive management demonstrations for key sudden geological disaster hazards are crucial.

[0003] In current technologies, emergency investigation and monitoring of sudden geological disasters still mainly rely on manual and ground-based surveys, which have drawbacks such as being time-consuming, intensive, and unable to provide intuitive and accurate basic information. Furthermore, when using manual survey methods to investigate sudden geological disasters, the potential geological disaster risks pose a certain degree of threat to the personal safety of the investigators. Summary of the Invention

[0004] To address the technical problems in existing technologies where emergency investigation and monitoring of sudden geological disasters still rely primarily on manual and ground-based surveys, which are time-consuming, intensive, and unable to provide intuitive and accurate basic information, this invention provides a feedback-based emergency investigation, monitoring, and early warning system for sudden geological disasters.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0006] A feedback-based emergency investigation, monitoring and early warning system for sudden geological disasters includes an emergency remote control command device, multiple drones and multiple remotely controlled robots;

[0007] The emergency remote control device is used to send investigation or monitoring commands to multiple drones and multiple remotely controlled robots via a Mesh wireless communication network.

[0008] The drone is used to conduct terrain-following flight over the area of ​​sudden geological disaster after receiving the investigation instruction or the monitoring instruction, and to take aerial photos of the area of ​​sudden geological disaster during the terrain-following flight to obtain aerial images, and to send the aerial images to the emergency remote control command device through the Mesh wireless communication network.

[0009] The remote-controlled robot is used to move in the area of ​​sudden geological disaster after receiving the investigation instruction or the monitoring instruction, and to collect ground images and perform laser ranging in the area of ​​sudden geological disaster during the movement, thereby obtaining ground image data of the area of ​​sudden geological disaster and the distance value between two preset location points in the area of ​​sudden geological disaster, and to transmit the ground image data and the distance value to the emergency remote control device through the Mesh wireless communication network.

[0010] The remotely controlled robot is also used to sample rocks and / or soil in areas of sudden geological disasters and to break up isolated boulders in these areas during its movement.

[0011] The beneficial effects of this invention are as follows: By utilizing drones and remotely controlled robots simultaneously for emergency investigation and monitoring of sudden geological disasters, aerial images can be acquired through drone photography, and remotely controlled robots can enter the disaster area for detailed exploration. Furthermore, feed-through communication via mesh wireless communication allows for the collection of more detailed information about the disaster area. Simultaneously, this invention, through the combined use of remotely controlled robots and drones, conducts on-site investigations, sampling, pre-disaster monitoring, and information transmission for sudden geological disasters. It also provides emergency remote control command devices for relevant management departments in handling geological disaster risks, offering reliable technical support for rapid investigation and scientific decision-making in geological disaster prevention and control. This invention enables rapid investigation of sudden geological disasters and, through remote control via a mesh wireless communication network, allows robots and drones to work collaboratively to conduct emergency investigations and monitoring and early warning. Without reducing investigation and response efficiency, it avoids the need for geological personnel to risk their lives during investigations, thus preventing unnecessary casualties.

[0012] Based on the above technical solution, the present invention can be further improved as follows.

[0013] Furthermore, each of the aforementioned drones and each of the remotely controlled robots is equipped with a Mesh wireless router for establishing the Mesh wireless communication network.

[0014] The beneficial effects of adopting the above-mentioned further scheme are that each Mesh wireless router acts as a network node, forming a Mesh wireless communication network. This network provides multi-hop wireless Internet connections, and all Mesh wireless routers share the same IP address. When the availability of a single network node decreases, information is automatically redirected to another network node for transmission. Each node in the wireless communication network can transmit, receive, and forward information.

[0015] Furthermore, each of the Mesh wireless routers serves as a network node, constituting the communication network of the Mesh wireless communication network. The emergency remote control device communicates with multiple Mesh wireless routers via the Internet or satellite links.

[0016] Furthermore, the remote-controlled robot includes a body, on which a zoom camera, an automatic laser rangefinder, a robot battery, and two mechanical legs are mounted;

[0017] The two mechanical legs are used to enable the remotely controlled robot to move in areas prone to sudden geological disasters;

[0018] The automatic laser rangefinder is used to perform laser ranging in areas of sudden geological disasters to obtain the distance between two preset locations in the area of ​​sudden geological disasters.

[0019] The zoom camera is used to collect ground images of areas prone to sudden geological disasters, and to obtain ground image data of the areas prone to sudden geological disasters.

[0020] The robot's battery provides power to the zoom camera, the automatic laser rangefinder, and the two robotic legs.

[0021] Furthermore, the machine body is also equipped with a field toolbox and two robotic arms, each robotic arm being equipped with a robotic hand; the field toolbox contains a handheld drill, a core drill bit, a roller cone drill bit, a hydraulic splitting rod, an earth pressure box, and a sample storage box;

[0022] The earth pressure box is used to monitor earth pressure in a sudden geological disaster area after being installed at a preset location under the control of the two robotic arms, and to obtain earth pressure monitoring data at the preset location in the sudden geological disaster area; wherein, the earth pressure monitoring data is transmitted to an external monitoring instrument through a connecting line on the earth pressure box, and the external monitoring instrument transmits the earth pressure monitoring data to the emergency remote control device through a computer and the Mesh wireless communication network;

[0023] The handheld drill is used to sample rocks and / or soil in areas prone to sudden geological disasters, after the coring drill bit is installed under the control of the two robotic arms, to obtain rock samples and / or soil samples.

[0024] The sample storage box is used to store the rock samples and / or soil samples under the control of the two robotic arms;

[0025] The handheld drill is also used to drill holes in isolated rocks in areas prone to sudden geological disasters, after the roller cone drill bit is installed and controlled by the two robotic arms.

[0026] The hydraulic splitting rod is used to break up the drilled boulder under the control of the two robotic arms;

[0027] The robot's battery is also used to provide power to the handheld drill, the hydraulic splitting rod, and the two robotic arms.

[0028] Furthermore, the field toolbox is also equipped with a tool shovel;

[0029] The tool shovel is used to excavate trenches in areas prone to sudden geological disasters, under the control of the two robotic arms.

[0030] Furthermore, the emergency remote control command device is equipped with a control operating system;

[0031] The control operating system is used to send the survey instructions or the monitoring instructions to multiple drones and multiple remotely controlled robots via a Mesh wireless communication network.

[0032] The emergency remote control device is equipped with a display screen and audio equipment;

[0033] The control operating system is also used to identify the deformation of the disaster body in different time periods in the area of ​​sudden geological disaster by comparing the aerial images at different time periods, mark the location where the deformation of the disaster body exceeds the warning value in the aerial images, send the aerial images corresponding to the location where the deformation of the disaster body exceeds the warning value to the display screen, and send an alarm signal to the audio device.

[0034] The display screen is used to receive and display the aerial images corresponding to the locations where the deformation of the disaster body exceeds the warning value;

[0035] The audio device is used to receive the alarm signal and issue an audio alarm. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of a feedback-type emergency investigation, monitoring and early warning system for sudden geological disasters according to an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the remote-controlled robot in an embodiment of the present invention. Figure 1 ;

[0038] Figure 3 This is a schematic diagram of the structure of the remote-controlled robot in an embodiment of the present invention. Figure 2 ;

[0039] Figure 4 This is a schematic diagram of the field toolbox in an embodiment of the present invention;

[0040] Figure 5 This is a schematic block diagram illustrating the connection structure between the drone and the Mesh wireless router in an embodiment of the present invention;

[0041] Figure 6 This is a schematic block diagram of the composition structure of the remotely controlled robot in an embodiment of the present invention;

[0042] Figure 7 This is a schematic block diagram illustrating the composition of the field toolbox in an embodiment of the present invention;

[0043] Figure 8 This is a schematic block diagram of the composition structure of the emergency remote control command device in an embodiment of the present invention;

[0044] Figure 9 This is a block diagram illustrating the communication principle between the emergency remote control command device and the Mesh wireless communication network in an embodiment of the present invention.

[0045] The attached diagram lists the components represented by each number as follows:

[0046] 1. Mesh wireless communication network; 2. Drone; 21. Drone battery; 22. Drone application; 3. Remote control robot; 31. Robotic arm; 32. Robotic leg; 33. Robotic hand; 34. Robot battery; 35. Zoom camera; 36. Automatic laser rangefinder; 37. Power interface; 38. Robot controller; 39. Network receiver; 4. Field toolbox; 41. Handheld drill; 42. Core drill bit; 43. Roller cone drill bit; 44. Hydraulic splitting rod; 45. Tool shovel; 46. Soil pressure box; 47. Sample preservation box; 5. Emergency remote control device; 51. Control operating system; 52. Display screen; 53. Audio equipment. Detailed Implementation

[0047] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0048] like Figure 1 As shown, this embodiment provides a feedback-type emergency investigation and monitoring early warning system for sudden geological disasters, including an emergency remote control command device 5, multiple drones 2, and multiple remote control robots 3;

[0049] The emergency remote control command device 5 is used to send investigation or monitoring commands to multiple drones 2 and multiple remote control robots 3 through the Mesh wireless communication network 1.

[0050] The UAV 2 is used to conduct ground-following flight over the area of ​​sudden geological disaster after receiving the investigation instruction or the monitoring instruction, and to take aerial photos of the area of ​​sudden geological disaster during the ground-following flight to obtain aerial images.

[0051] The drone 2 is also used to send the aerial images to the emergency remote control and command device 5 through the Mesh wireless communication network 1;

[0052] The remote-controlled robot 3 is used to move in the area of ​​sudden geological disaster after receiving the investigation instruction or the monitoring instruction; during the movement in the area of ​​sudden geological disaster, it performs ground image acquisition and laser ranging in the area of ​​sudden geological disaster to obtain ground image data of the area of ​​sudden geological disaster and the distance value between two preset location points in the area of ​​sudden geological disaster; and transmits the ground image data and the distance value to the emergency remote control device 5 through the Mesh wireless communication network 1.

[0053] The remote-controlled robot 3 is also used to sample rocks and / or soil in the area of ​​sudden geological disasters and to break up isolated boulders in the area of ​​sudden geological disasters during its movement.

[0054] The emergency remote control device 5 sends instructions to the remote control robot 3 and the drone 2 through the Mesh wireless communication network 1. The remote control robot 3 and the drone 2 collect on-site investigation pictures and information of geological disasters and transmit them to the emergency remote control device 5 in real time through the Mesh wireless communication network 1, forming a feedback response mechanism.

[0055] Specifically, each of the drones 2 and each of the remotely controlled robots 3 is equipped with a mesh wireless router for building the mesh wireless communication network 1. Each mesh wireless router acts as a network node, forming the mesh wireless communication network. The wireless communication network provides multi-hop wireless Internet connections, and all mesh wireless routers provide the same IP address for the mesh wireless communication network. When the availability of a single network node decreases, information is automatically transferred to another network node for transmission. Each node in the wireless communication network can transmit, receive, and forward information.

[0056] Each of the Mesh wireless routers serves as a network node, forming the communication network of the Mesh wireless communication network 1. The emergency remote control device 5 communicates with multiple Mesh wireless routers via the Internet or satellite links.

[0057] like Figure 2As shown, the remote-controlled robot 3 includes a body equipped with a network receiver 39, a zoom camera 35, an automatic laser rangefinder 36, a robot battery 34, and two mechanical legs 32. The network receiver 39 connects to the Mesh wireless communication network 1, enabling it to transmit on-site image information and survey data to the emergency remote control command device 5. The robotic arm 31 of the remote-controlled robot 3 is extendable and retractable, and the robotic legs 32 are straight and flexible. The robotic hand 33 has multiple mechanical joints, simulating human hand movements. The remote-controlled robot 3 has a built-in application for controlling its limb movements, allowing it to replace manual labor in conducting on-site investigations of sudden geological disasters. All remote-controlled robots 3 are within the signal coverage range of the Mesh wireless communication network 1 and can automatically connect to it. Through planned control, the emergency remote control command device 5 ensures that the array of multiple drones 2 maintains full Mesh wireless communication network coverage of the sudden geological disaster investigation area during orthogonal pre-scanning flight and terrain-following flight operations, continuously providing wireless communication signals to the remote-controlled robots 3.

[0058] The two mechanical legs 32 are used to enable the remotely controlled robot 3 to move in areas prone to sudden geological disasters.

[0059] The automatic laser rangefinder 36 is used to perform laser ranging in areas of sudden geological disasters to obtain the distance between two preset locations in the area of ​​sudden geological disasters.

[0060] The zoom camera 35 is used to collect ground images of areas prone to sudden geological disasters, and obtain ground image data of the areas prone to sudden geological disasters.

[0061] The robot battery 34 provides power to the zoom camera 35, the automatic laser rangefinder 36, and the two mechanical legs 32.

[0062] like Figure 3 As shown, the machine body is also equipped with two robotic arms 31, each robotic arm 31 is equipped with a robotic hand 33, the robotic hand 33 has multiple mechanical joints, and can simulate the movement of a human hand.

[0063] like Figure 4 As shown, the machine body is also equipped with a field toolbox 4, which contains a handheld drill 41, a core drill bit 42, a roller cone drill bit 43, a hydraulic splitting rod 44, a tool shovel 45, an earth pressure box 46, and a sample storage box 47.

[0064] The earth pressure box 46 is used to monitor earth pressure in a sudden geological disaster area after being installed at a preset position under the control of the two robotic arms 33, and to obtain earth pressure monitoring data at the preset position in the sudden geological disaster area; wherein, the earth pressure monitoring data is transmitted to an external monitoring instrument through a connecting line on the earth pressure box 46, and the external monitoring instrument transmits the earth pressure monitoring data to the emergency remote control command device 5 through a computer and the Mesh wireless communication network 1.

[0065] The handheld drill 41 is used to sample rocks and / or soil in areas of sudden geological disasters after the coring drill bit 42 is installed under the control of the two robotic arms 33, so as to obtain rock samples and / or soil samples.

[0066] The sample storage box 47 is used to store the rock sample and / or soil sample under the control of the two robotic arms 33.

[0067] The handheld drill 41 is also used to drill holes in isolated rocks in areas prone to sudden geological disasters, after the roller cone drill bit 43 is installed and controlled by the two robotic arms 33.

[0068] The hydraulic splitting rod 44 is used to break up isolated rocks that have been drilled in the area of ​​a sudden geological disaster, under the control of the two robotic arms 33.

[0069] The robot battery 34 is also used to provide power to the handheld drill 41 and the two robotic arms 33.

[0070] The tool shovel 45 is used to excavate trenches in areas prone to sudden geological disasters, under the control of the two robotic arms 33.

[0071] The robot battery 34 is also used to provide electrical power to the hydraulic splitting bar 44.

[0072] like Figure 5As shown, each drone 2 is equipped with a mesh wireless router, and each mesh wireless router is equipped with a 600MHz antenna and a 5.8GHz antenna. The 600MHz antenna is used to receive wireless network signals, and the 5.8GHz antenna is used to transmit mesh wireless communication network signals. Each drone 2 has an internal drone battery 21 to ensure power supply. The drone battery 21 is also connected to the onboard mesh wireless router to power it. Each drone 2 has an internal drone application 22 installed, which controls the drones to conduct orthogonal and terrain-following flights over the sudden geological disaster area. The drone application 22 can receive commands transmitted by the emergency remote control device 5 and output digital image information collected on-site by the drones 2. The emergency remote control device 5 can dynamically adjust the position and altitude of the drones in the array during flight to achieve orderly arrangement of the drones 2 in the array, ensuring that the coverage area of ​​each mesh wireless router always covers the sudden geological disaster investigation area.

[0073] The UAV 2 has terrain-following flight capability, used for aerial photography in areas prone to sudden geological disasters with significant terrain undulations. During aerial photography, multiple UAVs 2 are controlled by the emergency remote control device 5, forming a UAV array. Each UAV 2 simultaneously performs orthophoto pre-scanning flights, effectively improving image acquisition speed. Each UAV 2 in the array automatically processes the digital surface model obtained from the orthophoto scan and plans the terrain-following flight route and elevation based on the digital surface model. During terrain-following flight, the UAVs 2 form a similar array to the orthophoto pre-scanning array, and the terrain data obtained from the terrain-following flight is transmitted to the emergency remote control device 5 via the Mesh wireless communication network 1. The integrated software in the control operating system 51 of the emergency remote control device 5 can automatically combine the multiple terrain images returned by the UAV array from the terrain-following flight into a complete terrain image of the sudden geological disaster investigation area.

[0074] like Figure 6As shown, the remote-controlled robot 3 is equipped with two robotic arms 31 and two robotic legs 32, with a robotic hand 33 connected to each robotic arm 31. The robotic arms 31 of the remote-controlled robot 3 can extend and retract, the robotic legs 32 can straighten and bend, and the robotic hands 33 have multiple mechanical joints, simulating human hand movements. The remote-controlled robot 3 is equipped with a robot controller 38, which has a built-in application program. This application program controls the limb movements of the remote-controlled robot 3, enabling it to replace a single operator in conducting on-site investigations of sudden geological disasters. The remote-controlled robot 3 is also equipped with a robot battery 34, which powers the robot 3 and ensures it can complete various operations. All remote-controlled robots 3 are within the coverage area of ​​the Mesh wireless communication network 1 and can automatically connect to it. The remote-controlled robot 3 is equipped with a zoom camera 35 with automatic focus adjustment and an automatic laser rangefinder 36, which can quickly measure the distance between the remote-controlled robot 3 and the target. Each remote-controlled robot 3 is equipped with a field toolbox 4. The remote-controlled robot 3 has a power interface 37, which is internally connected to the robot's battery 34. The robot's battery 34 supplies power to the handheld drill 41 and the hydraulic splitting rod 44 via the power interface 37. The remote-controlled robot 3 has a built-in application that can receive commands sent by the emergency remote control device 5 and output and transmit images and key information collected on-site by the remote-controlled robot 3. The remote-controlled robot 3 has a built-in network receiver 39, which is used to connect to the Mesh wireless communication network 1, thereby enabling the transmission of on-site image information and survey data to the emergency remote control device 5.

[0075] like Figure 7 As shown, the field toolbox 4 includes a handheld drill 41, a coring drill bit 42, a roller cone drill bit 43, a hydraulic splitter 44, a tool shovel 45, an earth pressure chamber 46, and a sample storage box 47. The handheld drill 41 is compatible with the coring drill bit 42 and the roller cone drill bit 43. The coring drill bit 42 is used in conjunction with the handheld drill 41 for coring rock or soil samples, and the roller cone drill bit 43 is used to drill fractured holes in rock. The tool shovel 45 is used to assist the remotely controlled robot 3 in excavating trenches on the disaster site. The earth pressure chamber 46 is used to monitor changes in earth pressure inside the disaster site, and the sample storage box 47 is used to store samples collected during the investigation of sudden geological disasters.

[0076] like Figure 8 As shown, the emergency remote control command device 5 is equipped with a control operating system 51; the control operating system 51 is used to send the investigation command or the monitoring command to multiple drones 2 and multiple remote control robots 3 through the Mesh wireless communication network 1.

[0077] The emergency remote control command device 5 is equipped with a display screen 52 and an audio device 53.

[0078] The control operating system 51 is also used to identify the deformation of the disaster body in different time periods in the sudden geological disaster area by comparing the aerial images at different time periods, mark the location where the deformation of the disaster body exceeds the warning value in the aerial images, send the aerial images corresponding to the location where the deformation of the disaster body exceeds the warning value to the display screen 52, and send an alarm signal to the audio device 53.

[0079] The display screen 52 is used to receive and display the aerial images corresponding to the locations where the deformation of the disaster body exceeds the warning value.

[0080] The audio device 53 is used to receive the alarm signal and issue an audio alarm.

[0081] like Figure 9 As shown, the emergency remote control device 5 and the Mesh wireless communication network 1 can be connected via a public 5G wireless network, a 4G network, a wired network, or a satellite link.

[0082] The specific methods for remotely controlling the key actions of robot 3 are as follows:

[0083] Image Acquisition. The emergency remote control device 5 controls the remote control robot 3 to move towards the target location and adjust its posture so that the zoom camera 35 is facing the target area. The emergency remote control device 5 controls the zoom camera 35 to adjust its focus through the robot controller 38 and completes on-site image acquisition, i.e., on-site video recording. The images acquired by the zoom camera 35 are transmitted to the emergency remote control device 5 by the robot controller 38 through the Mesh wireless communication network 1. The robot controller 38 has a built-in control program.

[0084] Laser ranging. When testing the distance between two specific points, the emergency remote control device 5 first controls the remote control robot 3 to move towards the closer point. After the remote control robot 3 reaches that point, the emergency remote control device 5, through its built-in robot controller 38, controls the robot to adjust its posture so that the automatic laser rangefinder 36 faces the other point being measured. Then, the emergency remote control device 5, through its built-in robot controller 38, controls the automatic laser rangefinder 36 to emit a laser beam towards the other point, measuring the distance between the two points. The distance information collected by the automatic laser rangefinder 36 is transmitted by the robot controller 38 to the emergency remote control device 5 via the Mesh wireless communication network 1.

[0085] Rock and soil sampling. During rock and soil sampling, the emergency remote control device 5 controls the remote control robot 3 to move to the sampling point via the robot controller 38. Then, the robot controller 38 controls the rotation of the mechanical joint in the middle of the upper robotic arm 31 of the remote control robot 3, causing the lower robotic arm to turn towards the back of the remote control robot 3. Next, the mechanical joint near the robotic hand 33 is rotated, moving the robotic hand 33 close to the latch on the back of the remote control robot 3. The robotic hand 33 is then controlled to open the back latch, removing the field toolbox 4. The field toolbox 4 is opened, and the handheld drill 41 and core drill bit 42 are taken out. The handheld drill 41 and core drill bit 42 are connected. The handheld drill 41 is electrically connected to the power interface 37 on the remote control robot 3. The power interface 37 is connected to the robot's battery 34. The robotic hand 33 is then controlled to grip the handheld drill 41 and drill at the designated location to collect rock cores or soil samples. Take out the sample preservation box 47, open the sample preservation box 47 with the help of the robotic arm 33, put the collected rock core or soil sample into the sample preservation box 47, and then put the sample preservation box 47 containing the collected rock core and soil sample into the field toolbox 4.

[0086] Clearing isolated rocks. During a sudden geological disaster investigation, if a potentially dangerous rock is discovered, based on the size of the isolated rock shown on the terrain-following flight image, one or more remotely controlled robots 3 closest to the rock are simultaneously moved towards it using an emergency remote control device 5. After each remotely controlled robot 3 reaches the location of the rock, the emergency remote control device 5 controls the rotation of the middle mechanical joint of the upper robotic arm 31 of the remotely controlled robot 3 via the robot controller 38, causing the lower robotic arm to turn towards the back of the remotely controlled robot 3. Then, the mechanical joint near the robotic hand 33 is rotated, moving the robotic hand 33 close to the latch on the back of the remotely controlled robot 3. The robotic hand 33 is then controlled to open the back latch and remove the field toolbox 4. The field toolbox 4 is opened, and the handheld drill 41 and roller cone drill bit 43 are taken out. The emergency remote control device 5 controls the remote control robot 3 via the robot controller 38 to connect the handheld drill 41 and the roller cone drill bit 43, and electrically connects the handheld drill 41 to the power interface 37 on the remote control robot 3. The emergency remote control device 5 remotely controls the robotic arm 33 to grip the handheld drill 41 and drill a hole in the rock. The above process is repeated to complete all rock breaking drilling. After drilling is completed, the remote control robot 3 disassembles the handheld drill 41 and the roller cone drill bit 43, and disconnects the electrical connection between the handheld drill 41 and the power interface 37. Then, the hydraulic splitting rod 44 is taken out, electrically connected to the power interface 37 on the remote control robot 3, and then placed into the borehole. After all the remote control robots 3 have completed the placement of the hydraulic splitting rods 44, the power switch of each remote control robot 3 is turned on, and each hydraulic splitting rod 44 simultaneously applies pressure to the borehole in the rock, realizing rock splitting and breaking, which can be used for clearing isolated boulders and removing dangerous rock masses.

[0087] Earth pressure monitoring. During earth pressure monitoring, the emergency remote control device 5 controls the remote control robot 3 to move to the earth pressure monitoring point via the robot controller 38. The emergency remote control device 5 controls the rotation of the middle mechanical joint of the robotic arm 31 via the robot controller 38, causing the lower end of the robotic arm to turn towards the back of the remote control robot 3. Then, it rotates the mechanical joint near the robotic hand 33, moving the robotic hand 33 close to the back latch of the remote control robot 3. The robotic hand 33 is then controlled to open the back latch and remove the field toolbox 4. The field toolbox 4 is opened, and the earth pressure box 46 is removed. The emergency remote control device 5 controls the upper joint of the robotic leg 32 of the remote control robot 3 to bend, causing the remote control robot 3 to squat. The emergency remote control device 5 controls the robotic hand 33 to clear away loose soil and install the earth pressure box 46. After the earth pressure box 46 is installed, the emergency remote control device 5 controls the upper joint of the robotic leg 32 of the remote control robot 3 to straighten, causing the remote control robot 3 to stand up. Two robotic arms 33 on the remote-controlled robot 3 hold the connecting cable of the earth pressure box 46, leading the cable outside the disaster area (i.e., outside the sudden geological disaster zone) and connecting it to an external monitoring instrument. The external monitoring instrument is connected to a computer, which accesses the Mesh wireless communication network 1 via an application. The emergency remote control device 5 accesses the application installed on the computer through the Mesh wireless communication network 1 to obtain the earth pressure monitoring data. The external monitoring instrument is specifically a data acquisition device used to collect the earth pressure monitoring data output by the earth pressure box 46.

[0088] The beneficial effects of this invention are as follows: By utilizing both a drone 2 and a remotely controlled robot 3 for simultaneous emergency investigation, monitoring, and early warning of sudden geological disasters, the drone 2 can acquire aerial images, the remotely controlled robot 3 can enter the area of ​​the sudden geological disaster for detailed exploration, and feedback communication can be conducted through Mesh wireless communication to collect more detailed information about the area of ​​the sudden geological disaster. Simultaneously, this invention, by combining the remotely controlled robot 3 and the drone 2 to conduct on-site investigations, sampling, pre-disaster monitoring, and transmission of information on sudden geological disaster risks, provides relevant management departments with an emergency remote control command device for handling geological disaster risks, and provides reliable technical support for rapid investigation of sudden geological disasters and scientific decision-making in geological disaster prevention and control.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the concept and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A feedback-based emergency investigation, monitoring, and early warning system for sudden geological disasters, characterized in that: Includes an emergency remote control command device (5), multiple drones (2) and multiple remote control robots (3); The emergency remote control command device (5) is used to send investigation or monitoring instructions to multiple drones (2) and multiple remote control robots (3) through the Mesh wireless communication network (1); The UAV (2) is used to conduct ground-following flight over the sudden geological disaster area after receiving the investigation instruction or the monitoring instruction, and to take aerial photos of the sudden geological disaster area during the ground-following flight to obtain aerial images, and to send the aerial images to the emergency remote control command device (5) through the Mesh wireless communication network (1). The remote control robot (3) is used to move in the area of ​​sudden geological disaster after receiving the investigation instruction or the monitoring instruction, and to collect ground images and perform laser ranging in the area of ​​sudden geological disaster during the movement, thereby obtaining ground image data of the area of ​​sudden geological disaster and the distance value between two preset locations in the area of ​​sudden geological disaster, and transmitting the ground image data and the distance value to the emergency remote control command device (5) through the Mesh wireless communication network (1). The remote-controlled robot (3) is also used to sample rocks and / or soil in the area of ​​sudden geological disasters and to break up isolated boulders in the area of ​​sudden geological disasters during its movement in the area of ​​sudden geological disasters. Each of the aforementioned drones (2) and each of the aforementioned remotely controlled robots (3) is equipped with a Mesh wireless router for building the Mesh wireless communication network (1); Each of the Mesh wireless routers serves as a network node, forming the communication network of the Mesh wireless communication network (1). The emergency remote control command device (5) communicates with multiple Mesh wireless routers via the Internet or satellite link. The remote-controlled robot (3) includes a body on which a zoom camera (35), an automatic laser rangefinder (36), a robot battery (34), and two mechanical legs (32) are installed. The two mechanical legs (32) are used to enable the remotely controlled robot (3) to move in areas of sudden geological disasters; The automatic laser rangefinder (36) is used to perform laser ranging in the area of ​​sudden geological disasters to obtain the distance between two preset locations in the area of ​​sudden geological disasters. The zoom camera (35) is used to collect ground images of areas prone to sudden geological disasters and obtain ground image data of such areas. The robot battery (34) is used to provide power to the zoom camera (35), the automatic laser rangefinder (36), and the two mechanical legs (32); The machine body is also equipped with a field toolbox (4) and two robotic arms (31), each robotic arm (31) is equipped with a robotic hand (33); the field toolbox (4) is equipped with a handheld drill (41), a core drill bit (42), a roller cone drill bit (43), a hydraulic splitting rod (44), an earth pressure box (46) and a sample storage box (47); The earth pressure box (46) is used to monitor the earth pressure in a sudden geological disaster area after being installed at a preset position under the control of the two robotic arms (33), and to obtain earth pressure monitoring data at the preset position in the sudden geological disaster area; wherein, the earth pressure monitoring data is transmitted to an external monitoring instrument through the connecting line on the earth pressure box (46), and the external monitoring instrument transmits the earth pressure monitoring data to the emergency remote control command device (5) through a computer and the Mesh wireless communication network (1). The handheld drill (41) is used to sample rocks and / or soil in areas of sudden geological disasters after the coring drill bit (42) is installed under the control of the two robotic arms (33), so as to obtain rock samples and / or soil samples. The sample storage box (47) is used to store the rock sample and / or soil sample under the control of the two robotic arms (33); The handheld drill (41) is also used to drill holes in isolated rocks in areas of sudden geological disasters after the roller cone drill bit (43) is installed under the control of the two robotic arms (33); The hydraulic splitting rod is used to break up the drilled boulder under the control of the two robotic arms; The robot battery (34) is also used to provide power to the handheld drill (41), the hydraulic splitting rod (44) and the two robotic arms (33); The emergency remote control command device (5) is equipped with a control operating system (51). The control operating system (51) is used to send the investigation instructions or the monitoring instructions to multiple drones (2) and multiple remotely controlled robots (3) through the Mesh wireless communication network (1); The emergency remote control command device (5) is equipped with a display screen (52) and an audio device (53). The control operating system (51) is also used to identify the deformation of the disaster body in different time periods in the sudden geological disaster area by comparing the aerial images of different time periods, mark the location where the deformation of the disaster body exceeds the warning value in the aerial images, send the aerial images corresponding to the location where the deformation of the disaster body exceeds the warning value to the display screen (52), and send an alarm signal to the audio device (53); The display screen (52) is used to receive and display the aerial images corresponding to the locations where the deformation of the disaster body exceeds the warning value; The audio device (53) is used to receive the alarm signal and issue an audio alarm.

2. The feedback-based emergency investigation and monitoring early warning system for sudden geological disasters according to claim 1, characterized in that: The field toolbox (4) is also equipped with a tool shovel (45); The tool shovel (45) is used to excavate trenches in areas prone to sudden geological disasters, under the control of the two robotic arms (33).

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