Unmanned aerial vehicle detection system and method for complex terrain private mining mineral goaf

Abstract

The invention relates to the technical field of mining detection, in particular to an unmanned aerial vehicle detection system and method for a private mining goaf in a complex terrain, system hardware comprises an unmanned aerial vehicle remote controller, an unmanned aerial vehicle, a small wireless signal repeater and a large signal repeater. The unmanned aerial vehicle can be put into the goaf through drilling, goaf image data and parameters such as temperature, humidity and air pressure are obtained, the detection range of the unmanned aerial vehicle is expanded through matched use of the large signal repeater and the small wireless signal repeater, the goaf can be detected more carefully and comprehensively, corresponding data are transmitted to the ground end in time, and the goaf is more accurately detected. The method enables engineering exploration personnel to visually know the condition of the goaf, prevents the exploration personnel from being in a dangerous environment, and solves the technical problem that a conventional private mining goaf detection method is not direct and accurate.

Description

Technical Field

[0001] The present invention relates to the field of mining detection technology, and in particular to an unmanned aerial vehicle detection system and method for mining void areas in complex terrain. Background Art

[0002] my country is rich in mineral resources and widely distributed. Mineral resources located underground will form goafs after mining. With the development of transportation infrastructure construction, highway construction will inevitably encounter the situation of underlying goafs. Underground goafs will cause the risk of deep sinking and collapse of the surface, causing surface highway diseases, threatening highway driving safety and the safety of people's lives and property. Large-scale formal mineral mining generally has a deep mining depth, complete mining data and geological survey data, advanced mining technology, and goaf support that meets the specifications. The distribution range and structural characteristics of its goaf can be fully understood by consulting relevant materials. However, private mining goafs generally have a shallow mining depth, the mining routes are not planned and randomly distributed, the tunnel support is simple and lacks mining data and geological survey data. They have problems such as poor regularity of spatial distribution characteristics, strong concealment, and complex roof collapse. In order to provide a clear basis for the treatment of private mining goafs, we need to explore the distribution of private mining goafs.

[0003] Traditional methods for exploring the goaf of privately-mined mining include on-site exploration by personnel, geophysical exploration, and engineering drilling exploration, but they all have certain disadvantages. For example, for on-site exploration by personnel, the tunnels in the goaf of privately-mined mining are generally small in width and height, with simple support and are very easy to collapse, which puts the exploration personnel at risk of losing their lives; geophysical exploration is an indirect detection with relatively low detection accuracy; engineering drilling requires the combination of geophysical exploration to select drilling points, and there is also a large element of luck. When using a borehole TV to inspect the borehole, the detection range is only the area near the borehole TV camera. Summary of the invention

[0004] The purpose of the present invention is to provide a UAV detection system and method for privately mined mining areas in complex terrain, which can directly detect privately mined mining areas in complex terrain and detect the mining areas through engineering drilling holes, thereby avoiding exploration personnel from being in a dangerous environment and improving the detection range of privately mined mining areas.

[0005] To achieve the above-mentioned purpose, the present invention provides a UAV detection system for complex terrain private mining goaf areas, comprising a UAV remote controller, a UAV, a small wireless signal repeater and a large signal repeater, wherein the UAV remote controller, the UAV, the small wireless signal repeater and the large signal repeater are communicatively connected with each other;

[0006] The drone includes an airborne high-speed wireless transmission module, an airborne high-definition image transmission module, an airborne infrared imaging module, an airborne air pressure sensor, and an airborne temperature sensor. The airborne high-definition image transmission module and the airborne infrared imaging module are used to obtain image data of the environment in the goaf, the airborne air pressure sensor and the airborne temperature sensor are used to obtain air pressure and temperature data in the goaf, respectively, and the airborne high-speed wireless transmission module sends the corresponding data for storage and processing;

[0007] A controllable hook is arranged at the bottom of the drone, and the small wireless signal repeater is carried and released through the controllable hook.

[0008] Among them, the small wireless signal repeater includes a hanging ring column, a signal repeater body and an anti-sinking pad. The hanging ring column is fixedly connected to the signal repeater body and is located on the upper part of the signal repeater body. The anti-sinking pad is arranged below the signal repeater body and is connected to the signal repeater body through a cable tie. Cable tie holes are provided on the signal repeater body and the anti-sinking pad.

[0009] The anti-sinking pad is made of lightweight foamed plastic material, and its bottom area is much larger than the bottom area of ​​the signal repeater.

[0010] Among them, a plurality of signal antennas are arranged on the signal repeater body, and the plurality of signal antennas are evenly and symmetrically arranged on the top of the signal repeater body. The hanging ring column is arranged between the signal antennas, and a hanging ring is installed on the top of the hanging ring column.

[0011] The large signal repeater comprises a large signal repeater, a bracket and a spherical antenna. The spherical antenna is connected to the large signal repeater by a cable, and the bracket is used to support the cable of the spherical antenna.

[0012] Furthermore, the present invention also proposes a method for detecting unmanned aerial vehicles (UAVs) in complex terrain privately mined mining areas. The method uses the UAV detection system for detecting unmanned aerial vehicles (UAVs) in complex terrain privately mined mining areas, including the following steps:

[0013] Step 1: Turn on the ground terminal, power on the drone remote controller, drone and related equipment, and connect the signal frequency;

[0014] Step 2: Turn on the large signal repeater as needed;

[0015] Step 3: Use the drone remote control to control the drone into the goaf and deploy a small wireless signal repeater according to detection needs;

[0016] Step 4: The ground end receives the goaf data sent by the drone and performs data processing and analysis.

[0017] The present invention provides a drone detection system and method for privately mined mining goafs in complex terrain. The system hardware includes a drone remote control, a drone, a small wireless signal repeater and a large signal repeater. For privately mined mining goafs that are inaccessible to personnel and have complex environments, the drone can be dropped into the goaf through drilling to obtain image data of the goaf and parameters such as temperature, humidity, and air pressure. The large signal repeater is then used in combination with the small wireless signal repeater to expand the detection range of the drone, and the goaf can be detected in a more detailed and comprehensive manner. The corresponding data can be transmitted to the ground in a timely manner, so that engineering survey personnel can intuitively understand the situation in the goaf, avoiding survey personnel from being in a dangerous environment, and solving the technical problem that traditional privately mined mining goaf detection methods are not direct and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the architecture of an unmanned aerial vehicle detection system for privately mined mining areas in complex terrain according to the present invention.

[0020] Figure 2 It is a schematic diagram of the module structure of the UAV of the present invention.

[0021] Figure 3 It is a schematic diagram of the process of carrying a small wireless signal repeater on a drone in a drone detection system for privately mined mining areas in complex terrain according to the present invention.

[0022] Figure 4 It is a structural schematic diagram of the small wireless signal repeater of the present invention.

[0023] Figure 5 It is a structural schematic diagram of a signal repeater body of the small wireless signal repeater of the present invention.

[0024] Figure 6 It is a schematic diagram of the top view of the anti-sinking pad of the small wireless signal repeater of the present invention.

[0025] Figure 7 It is a schematic diagram of a scenario in which the present invention uses only a small wireless signal repeater to perform goaf detection.

[0026] 1-UAV remote control, 2-UAV, 3-small wireless signal repeater, 31-hanging ring column, 32-signal repeater body, 33-anti-sinking pad, 4-large signal repeater, 41-large signal repeater, 42-bracket, 43-spherical antenna, 5-controllable hook, 6-tie hole, 7-signal antenna, 8-hanging ring. DETAILED DESCRIPTION

[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0028] See also Figures 1 to 6 The present invention provides a UAV detection system for complex terrain private mining goaf, comprising a UAV remote controller 1, a UAV 2, a small wireless signal repeater 3 and a large signal repeater 4, wherein the UAV remote controller 1, the UAV 2, the small wireless signal repeater 3 and the large signal repeater 4 are communicatively connected;

[0029] like Figure 2 As shown, the drone 2 includes an airborne high-speed wireless transmission module, an airborne high-definition image transmission module, an airborne infrared imaging module, an airborne air pressure sensor, and an airborne temperature sensor. The airborne high-definition image transmission module and the airborne infrared imaging module are used to obtain image data of the environment in the goaf, the airborne air pressure sensor and the airborne temperature sensor are used to obtain air pressure and temperature data in the goaf, respectively, and the airborne high-speed wireless transmission module sends the corresponding data for storage and processing;

[0030] The bottom of the drone 2 is provided with a controllable hook 5, and the small wireless signal repeater 3 is carried and released through the controllable hook 5. By controlling the closing and opening of the hook, the small wireless signal repeater 3 can be released. The small wireless signal repeater 3 can provide signal relay for the drone 2 in the complex environment of the private mining area, ensure the signal transmission of the drone 2, and expand the exploration range of the drone 2. Figure 3 The figure shows the process of the drone 2 carrying the small wireless signal repeater 3.

[0031] Further, such as Figures 4 to 6As shown, the small wireless signal repeater 3 includes a hanging ring column 31, a signal repeater body 32 and an anti-sinking pad 33. The hanging ring column 31 is fixedly connected to the signal repeater body 32 and is located at the upper part of the signal repeater body 32. The anti-sinking pad 33 is arranged below the signal repeater body 32 and is connected to the signal repeater body 32 through a cable tie. Cable tie holes 6 are provided on the signal repeater body 32 and the anti-sinking pad 33.

[0032] The anti-sinking pad 33 is made of lightweight foamed plastic material, and its bottom area is much larger than the bottom area of ​​the signal repeater, which can prevent the signal repeater from sinking and losing its effectiveness in complex goaf environments such as silt and water accumulation, thereby improving the ability of the signal repeater body 32 to resist interference from complex environments.

[0033] The signal repeater body 32 is provided with a plurality of signal antennas 7 , which are evenly and symmetrically arranged on the top of the signal repeater body 32 , the hanging ring column 31 is arranged between the signal antennas 7 , and a hanging ring 8 is installed on the top of the hanging ring column 31 .

[0034] In this embodiment, the small wireless signal repeater 3 has its own power supply and transmits the signal through the signal antenna 7 system to provide signal relay for the drone 2, thereby expanding the range of activities of the drone 2.

[0035] like Figure 7 As shown, the large signal repeater 4 includes a large signal repeater 41, a bracket 42 and a spherical antenna 43, the spherical antenna 43 is connected to the large signal repeater 41 by a cable, and the bracket 42 is used to support the cable of the spherical antenna 43. When exploring the mined-out area of ​​privately mined minerals under the borehole, the spherical antenna 43 of the large signal repeater 4 can be placed in the mined-out area by a cable through the borehole to provide signal relay for the detection of the drone 2. The spherical antenna 43 and its cable can also be fixed on a hard rod-shaped object, and it can be placed in the mined-out area to relay the system signal of the drone 2.

[0036] Furthermore, the present invention also proposes a method for detecting unmanned aerial vehicles (UAVs) in complex terrain privately mined mining areas. The method uses the UAV detection system for detecting unmanned aerial vehicles (UAVs) in complex terrain privately mined mining areas, including the following steps:

[0037] Step 1: Turn on the ground terminal, power on the drone remote controller, drone and related equipment, and connect the signal frequency;

[0038] Step 2: Turn on the large signal repeater as needed;

[0039] Step 3: Use the drone remote control to control the drone into the goaf and deploy a small wireless signal repeater according to detection needs;

[0040] Step 4: The ground end receives the goaf data sent by the drone and performs data processing and analysis.

[0041] The following is a further explanation based on specific application scenarios. The application scenarios of drone systems for detecting mining voids in complex terrain are as follows:

[0042] like Figure 7 As shown in the figure, for the goafs of privately mined mining areas where the tunnel openings are leaking, drones are deployed from the tunnel openings. For the situation where the environment in the goafs of privately mined mining areas is complex and easy to interfere with the signal transmission of drones, a small wireless signal repeater is deployed to solve the problem. The small wireless signal repeater has its own power supply and can provide signal relay services for a certain period of time. The image transmission system, infrared imaging system, temperature and humidity sensor, and air pressure sensor on the drone are used to detect the situation in the goaf and transmit the data to the ground end.

[0043] In addition, if Figure 1 As shown in the figure, for the detection of the goaf of privately mined minerals under the borehole, the spherical antenna of the large signal repeater is first suspended into the goaf through the borehole, and then the drone is suspended into the goaf through the cable and takes off in the goaf. Then, a small wireless signal repeater is used to provide additional signal relay services for the drone. The situation in the goaf is detected and the data is transmitted to the ground end through the airborne high-definition image transmission module, airborne infrared imaging module, airborne pressure sensor and airborne temperature sensor on the drone.

[0044] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A drone detection system for mining voids in complex terrain, characterized in that: It includes a drone remote controller, a drone, a small wireless signal repeater and a large signal repeater, wherein the drone remote controller, the drone, the small wireless signal repeater and the large signal repeater are communicatively connected with each other; The drone includes an airborne high-speed wireless transmission module, an airborne high-definition image transmission module, an airborne infrared imaging module, an airborne air pressure sensor, and an airborne temperature sensor. The airborne high-definition image transmission module and the airborne infrared imaging module are used to obtain image data of the environment in the goaf, the airborne air pressure sensor and the airborne temperature sensor are used to obtain air pressure and temperature data in the goaf, respectively, and the airborne high-speed wireless transmission module sends the corresponding data for storage and processing; A controllable hook is arranged at the bottom of the drone, and the small wireless signal repeater is carried and released through the controllable hook.

2. The unmanned aerial vehicle detection system for mining voids in complex terrain as claimed in claim 1 is characterized in that: The small wireless signal repeater includes a hanging ring column, a signal repeater body and an anti-sinking pad. The hanging ring column is fixedly connected to the signal repeater body and is located on the upper part of the signal repeater body. The anti-sinking pad is arranged below the signal repeater body and is connected to the signal repeater body through a cable tie. Cable tie holes are provided on the signal repeater body and the anti-sinking pad.

3. The unmanned aerial vehicle detection system for mining voids in complex terrain as claimed in claim 2 is characterized in that: The anti-sinking pad is made of lightweight foamed plastic material, and its bottom area is much larger than the bottom area of ​​the signal repeater.

4. The unmanned aerial vehicle detection system for mining voids in complex terrain as claimed in claim 3 is characterized in that: The signal repeater body is provided with a plurality of signal antennas, which are evenly and symmetrically arranged on the top of the signal repeater body. The hanging ring column is arranged between the signal antennas, and a hanging ring is installed on the top of the hanging ring column.

5. The unmanned aerial vehicle detection system for mining voids in complex terrain as claimed in claim 4 is characterized in that: The large signal repeater comprises a large signal repeater, a bracket and a spherical antenna. The spherical antenna is connected to the large signal repeater by a cable, and the bracket is used to support the cable of the spherical antenna.

6. A method for detecting goafs of illegal mining in complex terrain by using a drone, using a drone detection system for goafs of illegal mining in complex terrain as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1: Turn on the ground terminal, power on the drone remote controller, drone and related equipment, and connect the signal frequency; Step 2: Turn on the large signal repeater as needed; Step 3: Use the drone remote control to control the drone into the goaf and deploy a small wireless signal repeater according to detection needs; Step 4: The ground end receives the goaf data sent by the drone and performs data processing and analysis.

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