Urban shallow surface high-precision automatic seismic exploration device and method

Abstract

The application discloses a kind of urban shallow surface high-precision automated seismic exploration device and method, and exploration device includes vehicle-mounted seismic source device and receiving device;The vehicle-mounted seismic source device includes first vehicle body, and GPS, exciter, lifting base plate, remote control system and exciter driving system are installed on the first vehicle body, the remote control system is connected with the exciter driving system, the GPS, the lifting base plate, the exciter and the receiving device communication;The receiving device is used for the acquisition of seismic wave signal;The GPS is used for positioning vehicle-mounted seismic source device;The remote control system is used for receiving the data sent by the GPS and the receiving device, and controls the exciter driving system, the GPS, the lifting base plate, the exciter and the receiving device work;The lifting base plate is used to drive the exciter to contact or away from ground;Exciter driving system is used to drive the exciter to generate vibration to excite seismic wave.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of shallow geophysical exploration, in particular to a high-precision automatic seismic exploration device and method for urban shallow surface. BACKGROUND

[0002] With the development of the world economy, the urbanization process is becoming faster and faster. The urban shallow surface exploration technology for major projects such as city planning, construction, monitoring, quality inspection, and safety evaluation has developed rapidly and gradually become one of the emerging frontiers in the field of geophysics. High-precision exploration of urban shallow surface can provide accurate underground information, help decision-makers make scientific and reasonable policies, promote the sustainable development of the city and the safety of urban residents' facilities, and become an indispensable technical support in the process of urban planning and construction.

[0003] However, the high population density, high noise, high electromagnetic interference and human interference environment of the city, the high steel and concrete of the near-surface, and the complexity and diversity of the underground exploration targets of the city have brought great challenges to urban geophysical exploration, greatly affecting the exploration accuracy, and making the traditional electromagnetic exploration method limited in the city. Therefore, the shallow seismic reflection wave method is more commonly used in urban exploration. However, the traditional seismic exploration also has certain limitations. The shallow seismic reflection wave method has limited depth and precision when low-energy excitation is used, but high-energy excitation will affect the safety of surrounding buildings.

[0004] For example, the traditional seismic exploration generally uses explosives to excite and bury geophones on the ground to receive seismic wave signals, which will have a certain impact on the urban environment, and consume a lot of manpower, material resources and financial resources, and is low in efficiency. SUMMARY

[0005] The purpose of the present application is to provide a high-precision automatic seismic exploration device and method for urban shallow surface, which aims to solve the problem of large impact on the urban environment and low efficiency of the prior art seismic exploration.

[0006] The technical solution adopted by the present application to solve the technical problem is as follows:

[0007] The present application provides a high-precision automatic seismic exploration device for urban shallow surface, comprising a vehicle-mounted seismic source device and a receiving device.

[0008] The vehicle-mounted seismic source device comprises a first vehicle body, and a GPS, a vibration exciter, a lifting base plate, a remote control system and a vibration exciter driving system mounted on the first vehicle body, and the remote control system is in communication connection with the vibration exciter driving system, the GPS, the lifting base plate, the vibration exciter and the receiving device.

[0009] The receiving device is used for collecting seismic wave signals.

[0010] The GPS is used for positioning the vehicle-mounted seismic source device;

[0011] The remote control system is used for receiving data sent by the GPS and the receiving device, and controlling the vibration exciter driving system, the GPS, the lifting base plate, the vibration exciter and the receiving device to work;

[0012] The lifting base plate is used for driving the vibration exciter to contact or move away from the ground;

[0013] The vibration exciter driving system is used for driving the vibration exciter to generate vibration to excite seismic waves.

[0014] According to the above technical means, the embodiments of the present application select the controllable seismic source to excite seismic waves, which has the characteristics of green environmental protection, safety and effectiveness compared with the traditional explosive source, and the vehicle-mounted remote control system is arranged to control the detection, which improves the safety of the staff, and has the advantages of convenient operation and high work efficiency.

[0015] Further, the vibration exciter is specifically a vibration exciter array, the vibration exciter array includes a plurality of sub-vibration exciter elements, the plurality of sub-vibration exciter elements are arranged into the vibration exciter array, and the vibration exciter driving system controls the delay of the seismic waves excited by the adjacent sub-vibration exciter elements in the excitation direction of the vibration exciter array.

[0016] According to the above technical means, the embodiments of the present application use the vibration exciter array to excite seismic waves for target detection, the vibration exciter can effectively improve the upper limit vibration frequency of the controllable seismic source vibrator, which is beneficial to realize the purpose of high-frequency and high-resolution seismic exploration, adopts the phased array technology, sets different delay times, sequentially delays each sub-vibration exciter in the vibration exciter array to form a phased seismic source, thereby focusing seismic wave energy, forming a directional beam, limiting the propagation of energy on the ground surface, focusing energy on the deep exploration area, reducing the impact on the surrounding ground surface environment, improving the signal-to-noise ratio of the geological target body seismic data, and better obtaining the geological information of the target body to be studied, thereby providing a more reliable basis for the accurate positioning and imaging of underground structures.

[0017] Further, the plurality of sub-vibration exciter elements are linearly arranged at equal intervals to form a one-dimensional linear array, or are uniformly distributed to form a two-dimensional planar array.

[0018] According to the above technical means, the uniformly arranged vibration exciter array of the embodiments of the present application can simply focus seismic wave energy and form a directional beam through a unified delay parameter, and the direction of the seismic waves generated by the vibration exciter array can be simply controlled, which has the advantage of simple control.

[0019] Further, the exciter array is specifically an electromagnetic exciter array, the sub-exciter element is specifically a sub-electromagnetic exciter element, and the exciter driving system is specifically an electromagnetic driving system.

[0020] According to the above technical means, the electromagnetic exciter has the advantages of high reliability, high efficiency, easy control, etc.

[0021] Further, the receiving device comprises a fiber optic light source, a distributed fiber optic acoustic wave sensor and a mobile carrier, the distributed fiber optic acoustic wave sensor is carried on the mobile carrier, the mobile carrier has an automatic lifting device for moving the distributed fiber optic acoustic wave sensor vertically along the ground, the distributed fiber optic acoustic wave sensor is connected with the fiber optic light source, and the fiber optic light source is fixed on the vehicle body.

[0022] According to the above technical means, the mobile carrier can carry the distributed fiber optic acoustic wave sensor for deployment, reducing the operation of the test personnel and improving the efficiency of the test deployment.

[0023] Further, the receiving device further comprises a fiber optic winch, the distributed fiber optic acoustic wave sensor is wound on the fiber optic winch, and the fiber optic winch is fixed on the vehicle body.

[0024] According to the above technical means, the fiber optic winch can orderly accommodate the distributed fiber optic acoustic wave sensor for deployment and recovery.

[0025] Further, the receiving device comprises a second vehicle body and a second GPS, the second GPS is fixed on the second vehicle body, and the fiber optic light source and the fiber optic winch are specifically fixed on the second vehicle body.

[0026] According to the above technical means, the receiving device and the vehicle-mounted seismic source device are arranged separately, so that more flexible measurement can be realized during seismic exploration measurement, various measurement requirements can be met, and the laying length of the distributed fiber optic acoustic wave sensor can be correspondingly reduced without being connected with the vehicle compartment of the vehicle-mounted seismic source device.

[0027] The present application also provides a city shallow surface high-precision automatic seismic exploration method, which comprises:

[0028] The receiving device is arranged at the measurement position, the remote control system obtains the range size of the detection area and the specific requirements of the detection object, and the remote control system selects corresponding measuring lines and vehicle driving speeds according to the range size of the detection area and the specific requirements of the detection object.

[0029] The remote control system selects corresponding measuring points according to the measuring lines.

[0030] The vehicle-mounted seismic source device emits seismic waves in sequence for each measuring point, and the receiving device receives the seismic wave signals to perform seismic exploration measurement.

[0031] According to the above technical means, the embodiments of the present application automatically calculate the measuring line and measuring point through the vehicle-mounted remote control system, and accurately position the vehicle through GPS to perform measurement, which reduces the operation steps of the tester and has the advantages of convenient operation and high work efficiency.

[0032] Further, the vehicle-mounted seismic source device emits seismic waves, and the receiving device receives the seismic wave signals to perform seismic exploration measurement, specifically comprising:

[0033] The vehicle-mounted seismic source device travels along the measuring line to the measuring point at the driving speed of the vehicle body;

[0034] The lifting base plate of the vehicle-mounted seismic source device is lowered to drive the exciter to closely contact the ground;

[0035] The exciter driving system drives the exciter to vibrate according to the angle of the required seismic wave beam and corresponding delay excitation parameters to excite seismic waves, detects the target stratum, and the remote control system synchronously collects the seismic wave signals through the receiving device;

[0036] The remote control system checks whether the obtained seismic wave signal data meets the predetermined standard, if yes, stores the seismic wave signal data and resets the lifting base plate, and if not, re-performs the seismic exploration measurement on the measuring point.

[0037] According to the above technical means, the embodiments of the present application detect the measurement results, and re-measure when the measurement results do not meet the requirements, to ensure that appropriate measurement results are obtained.

[0038] Further, the delay excitation parameters specifically meet:

[0039]

[0040] In the formula, τ is the delay excitation parameter, d is the spacing between adjacent sub-exciter elements, v is the wave speed of the seismic wave, θ max is the angle between the vertical direction of the seismic wave propagation direction and the excitation direction of the exciter array.

[0041] According to the above technical means, the embodiments of the present application can realize focused seismic wave energy, form a directional beam, limit the propagation of energy on the ground surface, focus energy on the deep exploration area, reduce the impact on the surrounding ground surface environment, improve the signal-to-noise ratio of the geological target body seismic data, and better obtain the geological information of the target body to be studied, thereby providing a more reliable basis for the accurate positioning and imaging of underground structures.

[0042] The present application has the following effects by adopting the technical scheme:

[0043] The present application has the following effects by adopting the technical scheme: BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a structural schematic diagram of a seismic exploration device in the embodiment one of the present application;

[0045] Figure 2 is a flowchart of a seismic exploration measurement process of the seismic exploration device of the present application;

[0046] Figure 3 is a schematic diagram of the principle of the phased array of the present application;

[0047] Figure 4 is a structural schematic diagram of a vehicle-mounted seismic source device in the embodiment two of the present application;

[0048] Figure 5 is a structural schematic diagram of a receiving device in the embodiment two of the present application;

[0049] Figure 6 is a flowchart of a seismic exploration method in the embodiment three of the present application.

[0050] Label explanation:

[0051] 11, first vehicle body; 12, second vehicle body; 2, GPS; 3, vehicle compartment; 4, electromagnetic drive system; 5, electromagnetic vibrator array; 6, optical fiber light source; 7, optical fiber winch; 8, distributed optical sound wave sensor; 9, mobile carrier. DETAILED DESCRIPTION

[0052] To make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application is further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0053] In the following description, specific details are set forth in order to provide a thorough understanding of the embodiments of the present application. However, persons skilled in the art should understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0054] It should be understood that the word "comprising" when used in the specification and claims herein, specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0055] It should also be understood that the terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

[0056] It should further be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and that the term "at least one of' denotes one, or a plurality of, or any combination of the listed items.

[0057] Embodiment One

[0058] Please refer to Figure 1 , embodiment one is a kind of urban shallow surface high-precision automated seismic exploration device, including vehicle-mounted seismic source device and receiving device.

[0059] The vehicle-mounted seismic source device includes a first vehicle body 11, and a GPS 2, an electromagnetic vibrator array 5, a lifting base plate, a remote control system and an electromagnetic drive system 4 mounted on the first vehicle body 11, the remote control system is in communication connection with the electromagnetic drive system 4, the GPS 2, the electromagnetic vibrator array 5 and the receiving device, to control the work of each system.

[0060] Wherein, the first vehicle body 11 includes a carriage 3, the lifting base plate and the electromagnetic vibrator array 5 are located at the tail of the carriage 3, the lifting base plate is located at the bottom surface of the tail of the carriage 3, and the electromagnetic vibrator array 5 is located towards the bottom surface of the lifting base plate, when the first vehicle body 11 moves, the lifting base plate drives the electromagnetic vibrator array 5 away from the ground, to avoid affecting the operation of the vehicle, when measuring, the lifting base plate drives the electromagnetic vibrator array 5 to descend to closely contact with the ground, so that the oscillation wave generated by the electromagnetic vibrator propagates along the ground to measure, the electromagnetic vibrator array 5 includes a plurality of sub-electromagnetic vibrator elements, the plurality of sub-electromagnetic vibrator elements are equidistantly linearly arranged into a one-dimensional linear array, or uniformly arranged into a two-dimensional surface array. The electromagnetic drive system 4 includes a power supply and a controller of the phased seismic source, and the power supply and the controller of the phased seismic source are respectively electrically connected with the electromagnetic vibrator array 5.

[0061] Vibration exciter is a device attached to some machinery and equipment to generate excitation force, is an important component of mechanical vibration. Vibration exciter can make the excited object obtain a certain form and size of vibration, according to the excitation type, vibration exciter is divided into inertia type, electric type, electromagnetic type, electro-hydraulic type, pneumatic type and hydraulic type. Vibration exciter can produce unidirectional or multidirectional, simple or non simple harmonic excitation force.

[0062] The electromagnetic exciter inputs the periodically changing current into the electromagnet coil, and the periodically changing excitation force is generated between the excited member and the electromagnet. The electromagnetic exciter applied in vibration machinery is usually composed of electromagnet core with coil and armature, and spring is installed between the core and the armature. When alternating current, alternating current plus direct current or pulsating current after half-wave rectification is input to the coil, the periodically changing excitation force can be generated.

[0063] The receiving device is specifically a traction receiving device, the traction receiving device comprises a fiber optic light source 6, a fiber optic winch 7, a distributed fiber optic acoustic sensor (DAS) and a mobile carrier, wherein the fiber optic light source 6 and the fiber optic winch 7 are located inside the carriage 3, the distributed fiber optic acoustic sensor is wound on the fiber optic winch 7, one end is connected with the light line light source, the other end is carried on the mobile carrier, when the first vehicle body 11 moves, the distributed fiber optic acoustic sensor and the mobile carrier are located inside the carriage 3 and move together with the first vehicle body 11, when measuring, the distributed fiber optic acoustic sensor is driven by the mobile carrier to deploy the distributed fiber optic acoustic sensor.

[0064] Please refer to Figure 2 , the urban shallow surface high-precision automatic seismic exploration device opens the remote control system first when performing exploration measurement, controls the remote control system to communicate with the GPS 2, the electromagnetic drive system 4 and the automatic lifting system, checks the GPS 2 signal quality, and completes initialization;

[0065] The distributed fiber optic acoustic sensor is arranged at the measurement position, the range size of the detection area and the specific requirements of the detection object are obtained, and the corresponding measuring line and the first vehicle body 11 driving speed are selected according to the range size of the detection area and the specific requirements of the detection object;

[0066] According to the measuring line, the corresponding measuring point is selected;

[0067] The seismic exploration device is controlled to perform seismic exploration measurement on each measuring point in turn.

[0068] The seismic exploration measurement specifically comprises:

[0069] The seismic exploration device is controlled to drive at the first vehicle body 11 driving speed along the measuring line to the measuring point.

[0070] The lowering base plate of the vehicle-mounted seismic source device is controlled to lower the electromagnetic vibrator array 5 to be in close contact with the ground, the mobile carrier is controlled to lower the distributed optical fiber acoustic wave sensor, and the distributed optical fiber acoustic wave sensor is pressed to be in close contact with the ground, so as to ensure good coupling effect and received seismic wave signals;

[0071] The electromagnetic driving system 4 is controlled to set a delay excitation time, the electromagnetic vibrator array 5 is controlled to vibrate to directionally excite a seismic wave beam, the target stratum is focused and detected, and the distributed optical fiber acoustic wave sensor is used to collect seismic wave signals synchronously.

[0072] It is checked whether the obtained seismic wave signal data meets a predetermined standard, if yes, the seismic wave signal data is stored and the lowering base plate is raised, and if not, the seismic exploration measurement is re-performed on the measuring point.

[0073] After the seismic exploration device controls the seismic exploration measurement on each measuring point to be performed in sequence, the remote control system is switched to a driving mode, the lowering base plate of the vehicle-mounted seismic source device is controlled to raise the electromagnetic vibrator array 5 to return to the original position, the automatic lifting system of the mobile carrier is controlled to return to the initial position, and the light cable winch is controlled to rotate to recover the distributed optical fiber.

[0074] In urban areas, a controllable seismic source can be selected to excite seismic waves, which has the characteristics of green environmental protection, safety and effectiveness compared with a traditional explosive source. However, the seismic wave energy excited by a single seismic source is small, and the seismic wave propagates in a half space without directionality, and in a strong background noise environment, the signal-to-noise ratio is low, which is difficult to meet the exploration demand; the multi-seismic source combination excitation method can increase the seismic wave energy, but only the seismic wave energy propagating downward perpendicular to the ground surface can be enhanced, and the target of interest cannot be directionally explored, and at the same time, the signal-to-noise ratio is improved, which often leads to a decrease in seismic record resolution, and even causes waveform distortion, which cannot achieve the expected effect of urban shallow high-resolution seismic exploration.

[0075] Therefore, in the embodiment, a phased array active source technology is used for high-precision detection of urban shallow ground. The phased array active source technology uses a controllable seismic source array, sets different delay times, directionally excites a seismic wave beam, focuses the energy of the array to a certain direction or a certain point, so as to achieve the purpose of detecting the target direction and enhancing the target reflection signal.

[0076] Specifically, please refer to Figure 3In this embodiment, the control of the electromagnetic exciter array 5 to perform vibration operation and directional excitation of seismic beams is based on the principle of one-dimensional linear phased array. Phase control is achieved by controlling the delayed excitation time of adjacent sub-electromagnetic exciter elements, so that the electromagnetic exciter array 5 constitutes a phased source array to achieve the purpose of focused detection.

[0077] Specifically, the total field strength E generated by the phased-source earthquake at point P, which is relatively far from the subsurface medium, is:

[0078]

[0079] In the formula, E n This represents the electric field strength at point P of the nth sub-electromagnetic exciter element. This represents the phase advance of the subsequent sub-electromagnetic exciter element relative to the preceding sub-electromagnetic exciter element:

[0080]

[0081] wave number in the formula λ is the wavelength, d is the spacing between adjacent sub-electromagnetic exciter elements, θ is the angle between the direction of seismic wave propagation and the direction perpendicular to the excitation direction of the electromagnetic exciter element, and β is the constant phase difference between adjacent sub-electromagnetic exciter elements.

[0082] β = -2πfτ;

[0083] In the formula, f is the vibration frequency of the electromagnetic exciter array; τ is the delay excitation time between adjacent sub-electromagnetic exciter elements.

[0084] Analyzing the formula for the total field strength E generated by a phased-source seismic source at a point P relatively far in the underground medium, it can be seen that when the phase difference between adjacent sub-electromagnetic exciter elements... That is, β = kd sinθ max At that time, the field strength of the phased source is the largest at point P (i.e., P is at the main seismic beam θ). max In the direction of the seismic wave signals generated by each sub-electromagnetic exciter element are reflected and superimposed in phase on the detector, resulting in the strongest signal, which is equivalent to n times that of a single sub-electromagnetic exciter element.

[0085] Normalizing the total field intensity E generated by the phased source at point P, which is relatively far from the subsurface medium, yields the direction factor of the phased source array as follows:

[0086]

[0087] Therefore, the direction of the main beam of the seismic wave directionally excited by the phased-source seismic wave is: When probing the target area, v = λf is a known wave velocity. Therefore, by selecting an appropriate delay excitation parameter τ, seismic beams can be directionally excited, i.e., when it is necessary to transmit θ...max Delay excitation parameter in angle seismic beam time

[0088] In the present application, the receiving device (DAS) is moved under the traction of the vehicle-mounted seismic source device, so we need to set appropriate delay excitation parameters τ to focus on the detection of the lower stratum opposite to the line direction, so as to ensure the quality of the received seismic wave signal.

[0089] Embodiment two

[0090] Please refer to Figure 4 and Figure 5 The difference between this embodiment and embodiment one is that the receiving device further comprises a second vehicle body 12 and a GPS 2 mounted on the second vehicle body 12,

[0091] The GPS 2, the fiber optic light source 6, the fiber optic winch 7, the distributed fiber optic acoustic sensor, and the mobile carrier of the receiving device are mounted on the second vehicle body 12.

[0092] Among them, the GPS 2 of the receiving device is located at the front of the second vehicle body 12, and the fiber optic light source 6 and the fiber optic winch 7 are fixedly arranged in the carriage 3 of the second vehicle body 12.

[0093] In this embodiment, the receiving device is arranged separately from the vehicle-mounted seismic source device, so that more flexible measurement can be realized during seismic exploration measurement, meeting the needs of various measurements, and because the distributed fiber optic acoustic sensor does not need to be connected to the carriage of the vehicle-mounted seismic source device, the laying length can also be correspondingly reduced.

[0094] Embodiment three

[0095] Please refer to Figure 6 The present embodiment is a kind of urban shallow surface high-precision automatic seismic exploration method, the urban shallow surface high-precision automatic seismic exploration method comprises:

[0096] The receiving device is arranged at the measurement position, the remote control system obtains the range size of the detection area and the specific needs of the detection object, and the remote control system selects the corresponding measuring line and vehicle body driving speed according to the range size of the detection area and the specific needs of the detection object;

[0097] The remote control system selects the corresponding measuring point according to the measuring line;

[0098] Each measuring point is sequentially emitted by the vehicle-mounted seismic source device, and the seismic wave signal is received by the receiving device to perform seismic exploration measurement.

[0099] Further, the seismic wave is emitted by the vehicle-mounted seismic source device, and the seismic wave signal is received by the receiving device to perform seismic exploration measurement, specifically including:

[0100] The vehicle-mounted seismic source device drives along the measuring line to the measuring point at the driving speed of the vehicle body;

[0101] The lifting base plate of the vehicle-mounted seismic source device is lowered to drive the vibration exciter to closely contact with the ground;

[0102] The vibration exciter driving system drives the vibration exciter to vibrate and excite the seismic wave according to the angle of the seismic wave beam to be excited, and the corresponding delay excitation parameter, detects the target stratum, and the remote control system synchronously collects the seismic wave signal through the receiving device;

[0103] The remote control system checks whether the obtained seismic wave signal data meets the predetermined standard, if yes, stores the seismic wave signal data and resets the lifting base plate, and if not, re-performs the seismic exploration measurement on the measuring point.

[0104] Further, the delay excitation parameter specifically meets:

[0105]

[0106] In the formula, tau is the delay excitation parameter, d is the interval between adjacent sub-vibration exciter elements, v is the wave number of the seismic wave, and theta is the angle between the vertical direction of the seismic wave propagation direction and the excitation direction of the vibration exciter array. max

[0107] To sum up, the present application uses the electromagnetic vibration exciter array to excite the seismic wave for target detection, and the electromagnetic vibration exciter can effectively improve the upper limit vibration frequency of the controllable seismic source vibration exciter, which is beneficial to realize the purpose of high-frequency and high-resolution seismic exploration. In addition, the embodiment adopts the phased array technology, sets different delay times, and sequentially delays each sub-electromagnetic vibration exciter in the electromagnetic vibration exciter array to form a phased seismic source, thereby focusing the seismic wave energy, forming a directional beam, limiting the energy propagation on the ground, focusing the energy on the deep exploration area, reducing the influence on the surrounding ground environment, improving the signal-to-noise ratio of the geological target body seismic data, and better obtaining the geological information of the target body to be studied, thereby providing a more reliable basis for the accurate positioning and imaging of the underground structure. In addition, the present application adopts the remote control mode for detection, improves the safety of the staff, and also has the advantages of convenient operation and high work efficiency.

[0108] ​It should be noted that in the present application, the terms "comprising", "containing" or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal including a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article, or terminal. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or terminal that includes the element.

[0109] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program. The program can be stored in a computer-readable storage medium, and the program can include the processes of the above-mentioned method embodiments when executed. The storage medium can be a memory, a magnetic disc, an optical disc, etc.

[0110] It should be understood that the application is not limited to the above examples, and those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes should be within the protection scope of the appended claims of the present application.

Claims

1. A high-precision automatic urban shallow surface seismic exploration device, characterized in that, The vehicle-mounted seismic source device and the receiving device are included; The vehicle-mounted seismic source device includes a first vehicle body, and a GPS, a vibration exciter, a lifting base plate, a remote control system and a vibration exciter driving system mounted on the first vehicle body, and the remote control system is in communication connection with the vibration exciter driving system, the GPS, the lifting base plate, the vibration exciter and the receiving device; The receiving device is used for collecting seismic wave signals; The GPS is used for positioning the vehicle-mounted seismic source device; The remote control system is used for receiving data sent by the GPS and the receiving device, and controlling the vibration exciter driving system, the GPS, the lifting base plate, the vibration exciter and the receiving device to work; The lifting base plate is used for driving the vibration exciter to contact or move away from the ground; The vibration exciter driving system is used for driving the vibration exciter to generate vibration to excite seismic waves; The vibration exciter is specifically a vibration exciter array, the vibration exciter array includes a plurality of sub-vibration exciter elements, the plurality of sub-vibration exciter elements are uniformly arranged into a two-dimensional surface array to form the vibration exciter array, and the vibration exciter driving system controls the delay of the seismic waves excited by the adjacent sub-vibration exciter elements in the excitation direction of the vibration exciter array; The receiving device is arranged at a measurement position, the remote control system acquires the range size of a detection area and specific requirements of a detection object, and selects corresponding measuring lines and a vehicle body driving speed according to the range size of the detection area and the specific requirements of the detection object; The remote control system selects corresponding measuring points according to the measuring lines; Each measuring point is sequentially excited by the vehicle-mounted seismic source device to emit seismic waves, and the seismic wave signals are received by the receiving device to perform seismic exploration measurement; The vehicle-mounted seismic source device drives the vehicle body to drive at the vehicle body driving speed along the measuring line to the measuring point to be stationary; The lifting base plate of the vehicle-mounted seismic source device is lowered to drive the vibration exciter to be in close contact with the ground; The electromagnetic driving system sets delay excitation parameters, the vibration exciter driving system drives the electromagnetic vibration exciter array to vibrate according to the corresponding delay excitation parameters according to the angle of the seismic wave beam to be emitted as needed to excite seismic waves, and the remote control system synchronously collects the seismic wave signals through the distributed optical fiber acoustic sensor to detect the target stratum; When the seismic exploration device completes the seismic exploration measurement for each measuring point, the remote control system switches to a driving mode, controls the lifting base plate to drive the electromagnetic vibration exciter array to rise back to the original position, controls the automatic lifting system of the mobile carrier to rise back to the initial position, and controls the optical fiber winch to rotate to recover the distributed optical fiber; The remote control system checks whether the acquired seismic wave signal data meets the predetermined standard, and if yes, stores the seismic wave signal data and resets the lifting base plate, and if not, re-performs the seismic exploration measurement for the measuring point; The delay excitation parameters specifically meet the following conditions: The vibration exciter array is specifically an electromagnetic vibration exciter array, the sub-vibration exciter elements are specifically sub-electromagnetic vibration exciter elements, and the vibration exciter driving system is specifically an electromagnetic driving system; ； wherein is a time delay excitation parameter, is a spacing between adjacent sub-exciter elements, is a wave number of the seismic wave, is an angle between a direction of propagation of the seismic wave and a perpendicular direction to the exciter array excitation direction; ​ The receiving device comprises a fiber optic light source, a distributed fiber optic acoustic sensor and a mobile carrier, the distributed fiber optic acoustic sensor is carried on the mobile carrier, the mobile carrier is provided with an automatic lifting device for moving the distributed fiber optic acoustic sensor vertically relative to the ground, the distributed fiber optic acoustic sensor is connected to the fiber optic light source, and the fiber optic light source is fixed on the vehicle body; The receiving device further comprises a fiber optic winch, the distributed fiber optic acoustic sensor is arranged on the fiber optic winch, and the fiber optic winch is fixed on the vehicle body; By setting different delay times, each sub-electromagnetic exciter element in the array of electromagnetic exciters is sequentially delayed to form a phased seismic source, thereby focusing seismic wave energy, forming a directional beam, limiting the propagation of energy on the ground, focusing energy on the deep exploration area, and reducing the impact on the surrounding ground environment.

2. The urban shallow surface high-precision automatic seismic exploration device according to claim 1, characterized in that, The plurality of sub-excitation elements are linearly arranged at equal intervals to form a one-dimensional linear array, or are uniformly distributed to form a two-dimensional planar array.

3. The urban shallow surface high-precision automatic seismic exploration device according to claim 1, characterized in that, The receiving device comprises a second vehicle body and a second GPS, the second GPS is fixed on the second vehicle body, and the fiber optic light source and the fiber optic winch are specifically fixed on the second vehicle body.

4. A high-precision automatic seismic exploration method for urban shallow ground based on the device of any one of claims 1-3, characterized in that, The urban shallow surface high-precision automatic seismic exploration method comprises: The receiving device is arranged at a measurement position, the remote control system obtains the range size of the exploration area and the specific requirements of the exploration object, and the remote control system selects corresponding measurement lines and vehicle body driving speeds according to the range size of the exploration area and the specific requirements of the exploration object; The remote control system selects corresponding measurement points according to the measurement lines; Each measurement point is sequentially excited by the vehicle-mounted seismic source device to emit seismic waves, and the receiving device receives the seismic wave signals to perform seismic exploration measurement; The vehicle-mounted seismic source device drives the electromagnetic exciter array to vibrate according to the corresponding delay excitation parameters, thereby exciting seismic waves and detecting the target stratum, and the remote control system synchronously collects the seismic wave signals through the distributed fiber optic acoustic sensor; When the control seismic exploration device completes the seismic exploration measurement of each measurement point, the remote control system switches to the driving mode, controls the lifting base plate to drive the electromagnetic exciter array to return to the original position, controls the automatic lifting system of the mobile carrier to return to the initial position, and controls the fiber optic winch to rotate to recover the distributed fiber optic; The remote control system checks whether the obtained seismic wave signal data meets the predetermined standard, if yes, stores the seismic wave signal data and resets the lifting base plate, and if not, re-performs the seismic exploration measurement on the measurement point; The delay excitation parameters specifically meet: The exciter array is specifically an electromagnetic exciter array, the sub-excitation element is specifically a sub-electromagnetic excitation element, and the excitation driving system is specifically an electromagnetic driving system. ​ ​ ； wherein is a time delay excitation parameter, is a spacing between adjacent sub-exciter elements, is a wave number of the seismic wave, is an angle between a direction of propagation of the seismic wave and a perpendicular direction to the exciter array excitation direction; ​ The receiving device comprises a fiber optic light source, a distributed fiber optic acoustic wave sensor and a mobile carrier, the distributed fiber optic acoustic wave sensor is carried on the mobile carrier, the mobile carrier has an automatic lifting device for moving the distributed fiber optic acoustic wave sensor vertically to the ground, the distributed fiber optic acoustic wave sensor is connected with the fiber optic light source, and the fiber optic light source is fixed on the vehicle body; The receiving device further comprises a fiber optic winch, the distributed fiber optic acoustic wave sensor is arranged on the fiber optic winch, and the fiber optic winch is fixed on the vehicle body; By setting different delay times, each sub-electromagnetic vibration element in the array of electromagnetic vibration exciters is sequentially delayed to form a phased vibration source, thereby focusing seismic wave energy, forming a directional beam, limiting the propagation of energy on the ground, focusing energy on the deep exploration area, and reducing the influence on the surrounding ground environment.

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