Unmanned tracked vehicle transient electromagnetic device and method for underground hazardous source detection

Abstract

The present invention discloses an unmanned tracked vehicle transient electromagnetic device and method for underground hazardous source detection. The centers of four receiving wireframes in the detection device coincide with the midpoints of the edges of the transmitting wireframe respectively. This arrangement can eliminate the mutual inductance between the receiving wireframes and improve the detection accuracy. The detection area is divided into four quadrants using the four receiving wireframes, and then reference data and thresholds are set. The reference data is used to determine whether there is a hazardous source within the current detection range after comparison with the detection data. If it is determined that there is no hazardous source, subsequent detection work can be carried out as soon as possible. If there is a hazardous source, a proportional factor is introduced, and the proportional factors of each quadrant are compared with the threshold value respectively, so as to accurately locate the hazardous source within a certain quadrant. This dual judgment method not only ensures the detection efficiency, but also effectively and accurately locates the hazardous source. In addition, the unmanned tracked vehicle is used to carry the detection device, which greatly improves the efficiency and safety of hazardous source detection.

Description

Technical Field

[0001] The invention relates to a transient electromagnetic device and method of an unmanned tracked vehicle for detecting underground dangerous sources, belonging to the technical field of unmanned detection. Background Art

[0002] The rapid and effective removal of hazardous sources is crucial to life safety and economic development. Detection of hazardous sources in complex environments such as mountainous areas and underground spaces still requires further research. With the development of unmanned technology, detection of hazardous sources based on unmanned platforms has shown important advantages. For example, drone detection systems can improve efficiency and safety, but because drones need to fly at a higher altitude than the ground, and hazardous sources are generally at a certain distance below the ground, the electromagnetic signal attenuates with increasing distance, resulting in weak signals obtained in this way. Therefore, the performance requirements of magnetic sensors are extremely high, which not only leads to higher costs for drones, but also lower detection accuracy. Unmanned tracked vehicles can detect at closer distances, and the signals are more obvious, making them more widely used on applicable ground.

[0003] At present, geophysical detection methods have been used for the detection of dangerous sources in complex environments, mainly including magnetic detection technology, infrared technology, microgravity method, ground penetrating radar method and transient electromagnetic method. Magnetic detection technology is easily interfered by the outside world; infrared technology cannot detect deeply buried targets; microgravity method has low efficiency for large-area detection; ground penetrating radar method has high requirements for data interpretation and short detection distance of about 50m. In contrast, transient electromagnetic method has a longer detection distance of up to 100m, higher efficiency, and is widely used for dangerous source detection. This method can detect complete dangerous sources and a large number of broken metal shrapnel, which will cause abnormal system response. However, how to judge the orientation of the detection object based on the abnormal response is the key. However, the existing transient electromagnetic device has few channels and low detection efficiency, resulting in shallow blind spots, and its orientation judgment is poor, making it difficult to achieve accurate positioning.

[0004] In view of the problems existing in the above-mentioned prior art, how to provide a new detection device and method so that it can accurately locate the danger source while ensuring a large detection depth is the research direction required by the present invention. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides a transient electromagnetic device and method for an unmanned tracked vehicle for detecting underground hazardous sources, which can achieve accurate positioning of hazardous sources while ensuring a large detection depth.

[0006] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: an unmanned tracked vehicle transient electromagnetic device for underground dangerous source detection, comprising an unmanned tracked vehicle and a detection device;

[0007] The detection device comprises a flexible layer, a transmitting wire frame and four receiving wire frames. The transmitting wire frame is square and fixed on the surface of the flexible layer, and is used to transmit electromagnetic signals. The four receiving wire frames are all square and are respectively installed on the four sides of the transmitting wire frame, and the center of each receiving wire frame coincides with the midpoint of the side where it is located, and is used to receive electromagnetic signals. When the flexible layer is folded, the transmitting wire frame and the four receiving wire frames are wrapped, and the areas of the transmitting wire frame and the four receiving wire frames are reduced.

[0008] The unmanned tracked vehicle is equipped with a transient electromagnetic instrument, a control center, a wireless communication module, a manipulator and a placement platform. The placement platform is installed at the front of the unmanned tracked vehicle and is used to place the detection device. The transient electromagnetic instrument is connected to a transmitting wireframe and four receiving wireframes to control the transmitting wireframe to transmit electromagnetic signals and obtain electromagnetic signals received by the four receiving wireframes. The manipulator is used to unfold or fold the flexible layer. The control center is connected to the transient electromagnetic instrument, the wireless communication module and the manipulator. The control center receives control instructions sent by the control terminal through the wireless communication module to control the movement of the unmanned tracked vehicle, the movement of the manipulator and the opening and closing of the transient electromagnetic instrument. At the same time, the control center obtains the received electromagnetic signals, analyzes and processes them, determines whether there is a dangerous source and locates it, and sends the results to the control terminal through the wireless communication module after the processing is completed.

[0009] Furthermore, the flexible layer is made of curtain material.

[0010] Furthermore, the manipulator includes a manipulator arm and a hook, the hook is installed at the end of the manipulator arm, the flexible layer is square, and each corner thereof is provided with a ring; when the flexible layer is folded, the manipulator arm drives the hook to move to any one of the rings, so that the ring is put on the hook, and then the hook is moved to another ring arranged diagonally with the ring, and the current ring is put on the hook, at which time the hook rises to realize the folding process of the flexible layer; when the flexible layer is unfolded, the manipulator arm drives the hook to place the flexible layer in a folded state on the placement platform, and both rings are detached from the hook, and according to the situation of the flexible layer after placement, the flexible layer is fully unfolded by dragging each ring by the hook.

[0011] The working method of the above-mentioned unmanned tracked vehicle transient electromagnetic device for underground dangerous source detection comprises the following specific steps:

[0012] Step 1: Define the detection area and lay out the survey lines: Use geophysical detection methods on the ground to find out the general distribution pattern of the underground geological structure, delineate multiple geological structure target areas to be accurately detected, and lay out multiple parallel and equally spaced survey lines in the ground area corresponding to each geological structure target area;

[0013] Step 2: Determine the benchmark data required for detection: Deploy the detection device of the transient electromagnetic device of the unmanned crawler vehicle and drive it to a flat, open area without abnormal bodies to conduct a transient electromagnetic detection. The voltage data obtained after processing the acquired data is recorded as V 0 Then, a water ball is buried in the stratum just below the center point of the transmitting wire frame, and another transient electromagnetic detection is performed. The voltage data obtained after processing the acquired data is recorded as V 1 ;

[0014] Step 3: Precise detection of the first geological structure target area: The control terminal issues a travel command, and the control center receives the command through the wireless communication module, and controls the unmanned crawler vehicle to move to the first geological structure target area, and starts to conduct 360° all-round precise detection of the geological structure target area. The specific process is as follows:

[0015] A. First, the first survey line in the geological structure target area is detected. The unmanned crawler vehicle starts to detect along the first survey line and divides the survey line into several survey points. The unmanned crawler vehicle stops when it reaches the first survey point. Then the control center controls the transient electromagnetic instrument to use the transmitting wire frame to stimulate the electromagnetic signal. The four receiving wire frames receive the electromagnetic signal and feed it back to the control center through the transient electromagnetic instrument. After the control center analyzes and processes the data, the electromagnetic data V of the first survey point is obtained. 探 , if V 0 ≤V 探 <V 1 , it means that there is no danger source in the detection area below the measuring point; if V 探 =V 1 , it is judged as an abnormal water body. The present invention is a detection of metal hazard sources, so abnormal water bodies are not considered; if V 探 >V 1 , it means that there is a dangerous source (i.e., a metal anomaly) in the detection area below the measuring point. Taking the center point of the transmitting wireframe as the reference point, the detection area directly below the transmitting wireframe is divided into four quadrants using the two diagonals of the transmitting wireframe. A receiving wireframe is distributed in each quadrant. Then, the mean value of the electromagnetic data of each of the four quadrants is obtained, and the electromagnetic data V of the first measuring point is calculated. 探 The proportional factors P of each quadrant are calculated by dividing the electromagnetic data of each quadrant respectively, and finally the proportional factors P of each quadrant are compared with the set threshold value. If the proportional factor P of a quadrant exceeds the threshold value, it is determined that the hazard source is in the quadrant, thereby completing the precise positioning of the hazard source; after completing the detection of the measuring point, continue to control the unmanned crawler vehicle to reach the second measuring point and repeat the detection and data processing process of the first measuring point in this step, and continue to repeat this process until the detection process of the first measuring line is completed;

[0016] B. After the first survey line is completed, the unmanned crawler vehicle is controlled to turn around and drive to one end of the second survey line, and step A is repeated to carry out the detection process of the second survey line, and this process is repeated until the detection process of all survey lines is completed;

[0017] C. The control center controls the manipulator to fold the flexible layer to wrap the transmitting wire frame and the four receiving wire frames, and protect the transmitting wire frame and the four receiving wire frames during transportation, thereby completing 360° all-round and accurate detection of the first geological structure target area;

[0018] Step 4: Precise detection of all geological structure target areas: The control center controls the unmanned crawler vehicle to move until it reaches the second geological structure target area, stops, controls the manipulator to unfold the flexible layer, and repeats the detection process of step 3 to complete 360° all-round precise detection of the second geological structure target area; repeat this process until 360° all-round precise detection of all geological structure target areas is completed.

[0019] Furthermore, the precise location of the danger source in step A is specifically as follows: firstly, the average value V of the induced voltage in each quadrant during the detection of the measuring point is obtained. 均 , and then use the following formula to calculate the electromagnetic data V of the measuring point 探 :

[0020]

[0021] Where m is the number of quadrants;

[0022] Next, the calculation formula for the proportional factor P is set as:

[0023]

[0024] The proportional factor P of each quadrant in the detection of the measuring point is calculated by the above formula, and the threshold is set to P 0 , and then the proportional factor P of each quadrant is respectively compared with the threshold P 0 Compare, if P ≥ P in a quadrant 0 , it is determined that the hazard source is within this quadrant, thereby completing the precise positioning of the hazard source.

[0025] Furthermore, the specific process of determining the threshold in step A is as follows: first, a ground area without any metal anomaly is selected, and the ground area is divided according to the four quadrants divided by the detection device each time, and then the metal anomaly is pre-buried in the ground of one of the quadrants, and the other quadrants remain unchanged, and the detection device is used to detect the area, so as to obtain the average induced voltage value V of each of the four quadrants. 均 The electromagnetic data V of this detection is obtained by averaging the induced voltage values ​​of each quadrant. 探 , V 探Divide by V of each quadrant 均 The proportional factors P of each quadrant are obtained. According to the results, the proportional factors P of the three quadrants without buried metal anomalies are all less than 1, while the proportional factor P of the quadrant with buried metal anomalies is greater than 1. In order to accurately determine the threshold, metal anomalies of different shapes (such as spheres, cuboids, irregular polyhedrons, etc.) are buried and the above experimental process is repeated. Finally, the proportional factors P of the quadrants with buried metal anomalies are averaged as the threshold P. 0 .

[0026] Compared with the prior art, the present invention adopts a combination of an unmanned tracked vehicle and a detection device, which has the following advantages:

[0027] 1. The detection device of the present invention adopts a transmitting wireframe and four receiving wireframes, and the centers of the four receiving wireframes coincide with the midpoints of each side of the transmitting wireframe. This layout makes the number of magnetic flux lines passing into and out of the receiving wireframe equal, which can eliminate the mutual inductance between the receiving wireframes and improve the detection accuracy; and the detection area is divided into four quadrants by using the layout positions of the four receiving wireframes, so that the hazard source can be located in a certain quadrant after the subsequent processing of the detection data, thereby determining the relative position between the hazard source and the unmanned tracked vehicle. Since the unmanned tracked vehicle is used to carry the detection device, the potential harm of hazard source detection to personnel and equipment is avoided, and the efficiency and safety of hazard source detection are greatly improved.

[0028] 2. When processing the detection data, the present invention first sets the benchmark data and the threshold value, wherein the benchmark data is used to determine whether there is a danger source within the current detection range after comparison with the detection data. If it is judged that there is no danger source, the detection work of the next measuring point can be carried out as soon as possible; if there is, a proportional factor is introduced, and the proportional factors of each quadrant are calculated and compared with the threshold value respectively, so as to accurately locate the danger source within a certain quadrant, which is convenient for the subsequent disposal of the danger source; this dual judgment method first quickly determines whether there is a danger source in the detection area. If not, subsequent detection work is carried out in time. If it is judged that there is a danger source, subsequent precise positioning is carried out. This not only ensures the detection efficiency, but also effectively and accurately locates the danger source.

[0029] 3. The present invention places the transmitting wire frame and the four receiving wire frames on one side surface of the flexible layer, so that during normal detection, the flexible layer is kept fully unfolded to meet the detection requirements; when the unmanned tracked vehicle needs to be transported after the detection is completed, the flexible layer can be folded by a manipulator to wrap the transmitting wire frame and the four receiving wire frames and reduce the area of ​​the transmitting wire frame and the four receiving wire frames; this not only protects the transmitting wire frame and the four receiving wire frames, but also reduces the area to facilitate the driving of the unmanned tracked vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1It is a schematic diagram of laying out the survey line in the present invention;

[0031] Figure 2 It is a structural schematic diagram of the unmanned tracked vehicle of the present invention;

[0032] Figure 3 It is a schematic diagram of the quadrant division of the detection device in the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of the detection device in the present invention.

[0034] In the figure: 1-flexible layer, 2-transmitting wireframe, 3-receiving wireframe, 4-transient electromagnetic instrument, 5-control center, 6-wireless communication module, 7-mechanical arm, 8-hook, 9-placing platform, 10-ring. DETAILED DESCRIPTION

[0035] The present invention will be further described below.

[0036] like Figure 2 As shown, a transient electromagnetic device for an unmanned tracked vehicle for detecting underground dangerous sources includes an unmanned tracked vehicle and a detection device;

[0037] like Figure 4 As shown, the detection device includes a flexible layer 1, a transmitting wire frame 2 and four receiving wire frames 3. The transmitting wire frame 1 is square and fixed on the surface of the flexible layer 1, and is used to transmit electromagnetic signals; the four receiving wire frames 3 are all square, and the four receiving wire frames 3 are respectively installed on the four sides of the transmitting wire frame 1, and the center of each receiving wire frame 3 coincides with the midpoint of the side where it is located, and is used to receive electromagnetic signals; when the flexible layer 1 is folded, the transmitting wire frame 2 and the four receiving wire frames 3 are wrapped, and the area of ​​the transmitting wire frame 2 and the four receiving wire frames 3 is reduced; in this way, when no detection and transportation is carried out, not only can the transmitting wire frame 2 and the four receiving wire frames 3 be protected, but also the area can be reduced to facilitate the driving of the unmanned crawler vehicle; the flexible layer 1 is made of cloth curtain material, which is an existing material, has good plasticity and high wear resistance, and can meet the needs.

[0038] like Figure 2As shown, the unmanned tracked vehicle is equipped with a transient electromagnetic instrument 4, a control center 5, a wireless communication module 6, a manipulator and a placement platform 9. The placement platform 9 is installed at the front of the unmanned tracked vehicle and is used to place the detection device; the transient electromagnetic instrument 4 is connected to the transmitting wire frame 2 and the four receiving wire frames 3, and is used to control the transmitting wire frame 2 to transmit electromagnetic signals and obtain the electromagnetic signals received by the four receiving wire frames 3; the manipulator is used to unfold or fold the flexible layer 1; the control center 5 is connected to the transient electromagnetic instrument 4, the wireless communication module 6 and the manipulator, and the control center 5 receives the control instructions sent by the control terminal through the wireless communication module 6 to control the travel of the unmanned tracked vehicle, the movement of the manipulator and the opening and closing of the transient electromagnetic instrument 4. At the same time, the control center 5 obtains the received electromagnetic signal and determines whether there is a dangerous source and locates it after analysis and processing. After the processing is completed, the result is sent to the control terminal through the wireless communication module 6.

[0039] As an improvement of the present invention, the manipulator includes a manipulator 7 and a hook 8, the hook 8 is installed at the end of the manipulator 7, the flexible layer 1 is square, and each corner thereof is provided with a ring 10; when the flexible layer 1 is folded, the manipulator 7 drives the hook 8 to move to any one of the rings 10, so that the ring 10 is sleeved on the hook 8, and then the hook 8 is moved to another ring 10 arranged diagonally with the ring 10, and the current ring 10 is sleeved on the hook 8, at which time the hook 8 rises to realize the folding process of the flexible layer 1; when the flexible layer 1 is unfolded, the manipulator 7 drives the hook 8 to place the flexible layer 1 in a folded state on the placement platform 9, and both rings 10 are separated from the hook 8, and according to the situation after the flexible layer 1 is placed, each ring 10 is dragged by the hook 8 to realize the complete unfolding process of the flexible layer 1. The above-mentioned manipulator is realized by the existing structure; in addition, in order to ensure the detection accuracy and unfolding efficiency of different geological conditions, before each detection starts, the flexible layer 1 can be unfolded and laid manually, and after completion, the personnel leave to start the unmanned detection process.

[0040] The working method of the above-mentioned unmanned tracked vehicle transient electromagnetic device for underground dangerous source detection comprises the following specific steps:

[0041] Step 1: Define the detection area and lay out the survey lines: Use geophysical detection methods on the ground to find out the general distribution pattern of the underground geological structure, circle multiple geological structure target areas to be accurately detected, and lay out multiple parallel and equally spaced survey lines in the ground area corresponding to each geological structure target area. Figure 1 As shown;

[0042] Step 2: Determine the benchmark data required for detection: Deploy the detection device of the transient electromagnetic device of the unmanned crawler vehicle and drive it to a flat, open area without abnormal bodies to conduct a transient electromagnetic detection. The voltage data obtained after processing the acquired data is recorded as V 0Then, a water ball is buried in the stratum just below the center point of the transmitting wire frame 2, and another transient electromagnetic detection is performed. The voltage data obtained after processing the acquired data is recorded as V 1 The reason for burying the water ball and then measuring is that the voltage value V measured by transient electromagnetic 探 It is related to the electrical conductivity σ and magnetic permeability μ of the anomaly. The electrical conductivity σ of water is smaller than that of the metal anomaly, so the anomaly response is also smaller than that of the metal anomaly. Therefore, by measuring the water ball in this way, a baseline data is set to facilitate subsequent detections to quickly determine whether there is a dangerous source (i.e., a metal anomaly) in the detection area, thereby improving detection efficiency.

[0043] Step 3: Precise detection of the first geological structure target area: The control terminal issues a travel command, and the control center 5 receives the command through the wireless communication module 6, and controls the unmanned crawler vehicle to move to the first geological structure target area, and starts to conduct 360° all-round precise detection of the geological structure target area. The specific process is as follows:

[0044] A. First, the first survey line in the geological structure target area is detected. The unmanned crawler vehicle starts to detect along the first survey line and divides the survey line into several survey points. The unmanned crawler vehicle stops when it reaches the first survey point. Then the control center 5 controls the transient electromagnetic instrument 4 to use the transmitting wire frame 2 to excite the electromagnetic signal. The four receiving wire frames 3 receive the electromagnetic signal and feed it back to the control center 5 through the transient electromagnetic instrument 4. After the control center 5 analyzes and processes the data, the electromagnetic data V of the first survey point is obtained. 探 , if V 0 ≤V 探 <V 1 , it means that there is no danger source in the detection area below the measuring point; if V 探 =V 1 , it is judged as an abnormal water body. The present invention is a detection of metal hazard sources, so abnormal water bodies are not considered; if V 探 >V 1 , it means that there is a dangerous source (i.e., a metal anomaly) in the detection area below the measuring point. Taking the center point of the transmitting wire frame 2 as the reference point, the detection area directly below the transmitting wire frame 2 is divided into four quadrants using the two diagonal lines of the transmitting wire frame 2. Figure 3 As shown, a receiving wireframe 3 is distributed in each quadrant, and then the average value of the electromagnetic data of each of the four quadrants is obtained, and the electromagnetic data V of the first measuring point is converted into 探The proportional factor P of each quadrant is calculated by dividing the electromagnetic data of each quadrant respectively, and finally the proportional factor P of each quadrant is compared with the set threshold. The specific process of determining the threshold is: first select a ground area without any metal anomaly underground, and divide the ground area according to the four quadrants divided by the detection device each time, then bury the metal anomaly in the ground of one of the quadrants in advance, and keep the other quadrants unchanged, and use the detection device to detect the area, so as to obtain the average induced voltage value V of each of the four quadrants 均 The electromagnetic data V of this detection is obtained by averaging the induced voltage values ​​of each quadrant. 探 , V 探 Divide by V of each quadrant 均 The proportional factors P of each quadrant are obtained. According to the results, the proportional factors P of the three quadrants without buried metal anomalies are all less than 1, while the proportional factor P of the quadrant with buried metal anomalies is greater than 1. In order to accurately determine the threshold, in this embodiment, metal anomalies of different shapes (such as spheres, cuboids, irregular polyhedrons, etc.) are buried respectively and the above experimental process is repeated. Finally, the proportional factors P of the quadrants with buried metal anomalies are averaged as the threshold P. 0 .

[0045] If the proportional factor P of a quadrant exceeds the threshold P 0 , it is determined that the hazard source is in this quadrant, so as to complete the accurate positioning of the hazard source. Specifically, first obtain the average value V of the induced voltage value of each quadrant when detecting the measuring point 均 , the specific formula is:

[0046]

[0047] Where V is the induced voltage value measured by each electromagnetic signal received by a receiving wireframe in a certain quadrant, Vi is the absolute sum of the induced voltage values ​​of all electromagnetic signals received in this quadrant, n is the number of measurement channels of the transient electromagnetic instrument 4, and V 均 is the mean value of the induced voltage in a certain quadrant;

[0048] Then the electromagnetic data V of the measuring point is calculated using the following formula 探 :

[0049]

[0050] Where m is the number of quadrants;

[0051] In addition, in the above step 2, V 0 and V 0 The respective calculation process and V 探 The calculation formula and process used are the same;

[0052] Next, the calculation formula for the proportional factor P is set as:

[0053]

[0054] The proportional factor P of each quadrant in the detection of the measuring point is calculated by the above formula, and the threshold is set to P 0 , and then the proportional factor P of each quadrant is respectively compared with the threshold P 0 Compare, if P ≥ P in a quadrant 0 , it is determined that the hazard source is within this quadrant, thereby completing the precise positioning of the hazard source.

[0055] After completing the detection of the measuring point, continue to control the unmanned crawler vehicle to reach the second measuring point and repeat the detection and data processing process of the first measuring point in this step, and continue to repeat this process until the detection process of the first measuring line is completed;

[0056] B. After the first survey line is completed, the unmanned crawler vehicle is controlled to turn around and drive to one end of the second survey line, and step A is repeated to carry out the detection process of the second survey line, and this process is repeated until the detection process of all survey lines is completed;

[0057] C. The control center 5 controls the manipulator to fold the flexible layer 1 to wrap the transmitting wire frame 2 and the four receiving wire frames 3, so as to protect the transmitting wire frame 2 and the four receiving wire frames 3 during transportation, thereby completing 360° all-round and accurate detection of the first geological structure target area;

[0058] Step 4: Precise detection of all geological structure target areas: The control center controls the unmanned crawler vehicle to move until it reaches the second geological structure target area, stops, controls the manipulator to unfold the flexible layer 1, and repeats the detection process of step 3 to complete the 360° all-round precise detection of the second geological structure target area; repeat this process until the 360° all-round precise detection of all geological structure target areas is completed.

[0059] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A transient electromagnetic device for unmanned tracked vehicles used for underground dangerous source detection, characterized in that: Includes unmanned tracked vehicles and detection devices; The detection device comprises a flexible layer, a transmitting wire frame and four receiving wire frames. The transmitting wire frame is square and fixed on the surface of the flexible layer, and is used to transmit electromagnetic signals. The four receiving wire frames are all square and are respectively installed on the four sides of the transmitting wire frame, and the center of each receiving wire frame coincides with the midpoint of the side where it is located, and is used to receive electromagnetic signals. When the flexible layer is folded, the transmitting wire frame and the four receiving wire frames are wrapped, and the areas of the transmitting wire frame and the four receiving wire frames are reduced. The unmanned tracked vehicle is equipped with a transient electromagnetic instrument, a control center, a wireless communication module, a manipulator and a placement platform, and the placement platform is installed at the front of the unmanned tracked vehicle for placing the detection device; The transient electromagnetic instrument is connected to the transmitting wireframe and four receiving wireframes, and is used to control the transmitting wireframe to transmit electromagnetic signals and obtain electromagnetic signals received by the four receiving wireframes; the manipulator is used to unfold or fold the flexible layer; the control center is connected to the transient electromagnetic instrument, the wireless communication module and the manipulator, and the control center receives control instructions sent by the control terminal through the wireless communication module to control the movement of the unmanned tracked vehicle, the movement of the manipulator and the opening and closing of the transient electromagnetic instrument. At the same time, the control center obtains the received electromagnetic signals, analyzes and processes them, determines whether there is a dangerous source and locates it, and sends the results to the control terminal through the wireless communication module after processing is completed.

2. The unmanned tracked vehicle transient electromagnetic device for underground dangerous source detection according to claim 1 is characterized in that: The flexible layer is made of curtain material.

3. The unmanned tracked vehicle transient electromagnetic device for underground dangerous source detection according to claim 1 is characterized in that: The manipulator comprises a manipulator arm and a hook, wherein the hook is mounted at the end of the manipulator arm, and the flexible layer is square with circular rings at each corner thereof; when the flexible layer is folded, the manipulator arm drives the hook to move to any one of the circular rings so that the circular ring is put on the hook, and then the hook is moved to another circular ring arranged diagonally with the circular ring, and the current circular ring is put on the hook, at which time the hook rises to realize the folding process of the flexible layer; when the flexible layer is unfolded, the manipulator arm drives the hook to place the flexible layer in a folded state on a placement platform, and both circular rings are detached from the hook, and according to the situation of the flexible layer after being placed, the flexible layer is fully unfolded by dragging each circular ring through the hook.

4. A method for operating the transient electromagnetic device of an unmanned tracked vehicle for underground dangerous source detection according to any one of claims 1 to 3, characterized in that: The specific steps are: Step 1: Define the detection area and lay out the survey lines: Use geophysical detection methods on the ground to find out the general distribution pattern of the underground geological structure, delineate multiple geological structure target areas to be accurately detected, and lay out multiple parallel and equally spaced survey lines in the ground area corresponding to each geological structure target area; Step 2: Determine the benchmark data required for detection: unfold the detection device of the transient electromagnetic device of the unmanned crawler vehicle, and drive it to a flat, open area without abnormal bodies to conduct a transient electromagnetic detection. The voltage data obtained after processing the acquired data is recorded as V0. Then, bury a water ball in the stratum just below the center point of the transmitting wire frame, and conduct another transient electromagnetic detection. The voltage data obtained after processing the acquired data is recorded as V1. Step 3: Precise detection of the first geological structure target area: The control terminal issues a travel command, and the control center receives the command through the wireless communication module, and controls the unmanned crawler vehicle to move to the first geological structure target area, and starts to conduct 360° all-round precise detection of the geological structure target area. The specific process is as follows: A. First, the first survey line in the geological structure target area is detected. The unmanned crawler vehicle starts to detect along the first survey line and divides the survey line into several survey points. The unmanned crawler vehicle stops when it reaches the first survey point. Then the control center controls the transient electromagnetic instrument to use the transmitting wire frame to stimulate the electromagnetic signal. The four receiving wire frames receive the electromagnetic signal and feed it back to the control center through the transient electromagnetic instrument. After the control center analyzes and processes the data, the electromagnetic data V of the first survey point is obtained. 探 , if V0≤V 探 <V1, it means there is no danger source in the detection area below the measuring point; if V 探 > V1, it means that there is a dangerous source in the detection area below the measuring point. Taking the center point of the transmitting wireframe as the reference point, the detection area directly below the transmitting wireframe is divided into four quadrants using the two diagonals of the transmitting wireframe. A receiving wireframe is distributed in each quadrant. Then, the mean value of the electromagnetic data of each of the four quadrants is obtained, and the electromagnetic data V of the first measuring point is calculated. 探 The proportional factors P of each quadrant are calculated by dividing the electromagnetic data of each quadrant respectively, and finally the proportional factors P of each quadrant are compared with the set threshold value. If the proportional factor P of a quadrant exceeds the threshold value, it is determined that the hazard source is in the quadrant, thereby completing the precise positioning of the hazard source; after completing the detection of the measuring point, continue to control the unmanned crawler vehicle to reach the second measuring point and repeat the detection and data processing process of the first measuring point in this step, and continue to repeat this process until the detection process of the first measuring line is completed; B. After the first survey line is completed, the unmanned crawler vehicle is controlled to turn around and drive to one end of the second survey line, and step A is repeated to carry out the detection process of the second survey line, and this process is repeated until the detection process of all survey lines is completed; C. The control center controls the manipulator to fold the flexible layer to wrap the transmitting wire frame and the four receiving wire frames, and protect the transmitting wire frame and the four receiving wire frames during transportation, thereby completing 360° all-round and accurate detection of the first geological structure target area; Step 4: Precise detection of all geological structure target areas: The control center controls the unmanned crawler vehicle to move until it reaches the second geological structure target area, stops, controls the manipulator to unfold the flexible layer, and repeats the detection process of step 3 to complete 360° all-round precise detection of the second geological structure target area; repeat this process until 360° all-round precise detection of all geological structure target areas is completed.

5. The working method according to claim 4, characterized in that: The precise positioning of the danger source in step A is specifically as follows: first obtain the average value V of the induced voltage value of each quadrant during the detection of the measuring point 均 , and then use the following formula to calculate the electromagnetic data V of the measuring point 探 : Where m is the number of quadrants; Next, the calculation formula for the proportional factor P is set as: The proportional factor P of each quadrant during the detection of the measuring point is calculated by the above formula. The threshold is set as P0, and then the proportional factor P of each quadrant is compared with the threshold P0 respectively. If P ≥ P0 of a quadrant, it is determined that the hazard source is in the quadrant, thereby completing the precise positioning of the hazard source.

6. The working method according to claim 5, characterized in that: The specific process of determining the threshold value in step A is as follows: first, a ground area without any metal anomaly is selected, and the ground area is divided according to the four quadrants divided by the detection device each time, and then the metal anomaly is pre-buried in the ground of one of the quadrants, and the other quadrants remain unchanged, and the detection device is used to detect the area, so as to obtain the average induced voltage value V of each of the four quadrants. 均 The electromagnetic data V of this detection is obtained by averaging the induced voltage values ​​of each quadrant. 探 , V 探 Divide by V of each quadrant 均 The proportional factors P of each quadrant are obtained. According to the results, the proportional factors P of the three quadrants without buried metal anomalies are all less than 1, while the proportional factor P of the quadrant with buried metal anomalies is greater than 1. In order to accurately determine the threshold value, metal anomalies of different shapes are buried separately and the above experimental process is repeated. Finally, the average of the proportional factors P of the quadrant with buried metal anomalies each time is taken as the threshold value P0.

Images