Method for testing quality of seismic node instrument through unmanned aerial vehicle

Abstract

The invention discloses a method for carrying out quality inspection on a seismic node instrument by using an unmanned aerial vehicle, which comprises the following steps of: mounting node instrument quality inspection equipment containing an X-BT super Bluetooth chip by using the unmanned aerial vehicle, arranging plane coordinates and decimeter-level precision elevation according to a centimeter-level precision node instrument actually measured in the field, and accurately making a kml file by using related software; cruising inflection points and cruising heights are set point by point, finally, an air route matched with the actual shape of a measuring line and the surface fluctuation condition is formed and uploaded to an unmanned aerial vehicle controller, quality inspection is conducted on the node instruments in a ground-air simultaneous quality inspection mode, and it is ensured that all the node instruments participating in a collection task are in a good state. Compared with the conventional manual quality inspection, the method has the characteristics of high efficiency, low cost, small risk and reliable technology.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas exploration, and in particular to a method for quality inspection of seismic node instruments by unmanned aerial vehicles. Background Art

[0002] At present, wireless node instruments have begun to be widely used in seismic acquisition production. In order to ensure that the node instruments are in a good receiving state during production, it is necessary to conduct quality inspection on all node instruments before production, obtain the QC data of the nodes, including voltage, coordinates and other status information, analyze and judge whether the working state of the nodes is normal, whether they need to be replaced or maintained, etc., and then organize the replacement of node instruments with problems. The working state of the node instrument has a huge impact on seismic acquisition production, so the quality inspection of the node instrument is a very important work link.

[0003] Traditionally, manual quality inspection methods are usually adopted. Quality inspectors carry out quality inspection of node instruments one by one on foot along the survey line with handheld scanning instruments. This requires a large amount of manpower and vehicle equipment. Especially in areas with complex terrain conditions, the quality inspection efficiency is low, the cost is high, and there are great safety hazards, which seriously affects project production.

[0004] New node equipment is constantly updating communication technology, resulting in new node instrument status transmission modes based on communication protocols such as Wifi, Bluetooth and even Lora, which makes long-distance quality inspection operations possible. Rotary-wing UAVs have the advantages of intelligent, automated and stable flight in ultra-low altitudes. Therefore, it is necessary to study the use of new organizational plans and technical methods for UAV quality inspection node instruments to achieve the goals of improving the quality, speeding up, improving efficiency, reducing costs and reducing safety hazards of quality inspection work. Summary of the invention

[0005] The present invention provides a method for quality inspection of seismic node instruments by drones, which is used to solve the problems of low efficiency, high cost and great safety hazards of conventional manual quality inspection. Technical solution:

[0006] Step 101: Quality inspection of Android devices and multi-rotor drone selection;

[0007] Step 102: Software and hardware integration of drone and quality inspection equipment;

[0008] Step 103: Design the inspection route and upload it;

[0009] Step 104: Synchronous ground-air quality inspection.

[0010] Furthermore, the quality inspection of the Android device and the multi-rotor drone selection in step 101 specifically includes:

[0011] To meet the needs of work, the Android devices (such as mobile phones, tablets, etc.) used for quality inspection must contain X-BT super Bluetooth chips to ensure that the communication distance is greater than 80 meters. Multi-rotor drones need to have long endurance, high intelligence, and professional flight load platforms to mount quality inspection Android devices.

[0012] Furthermore, the software and hardware integration of the drone and the quality inspection equipment in step 102 specifically includes:

[0013] Ensure that the node equipment is correctly and firmly mounted on the drone, and its position cannot block the drone's satellite antenna and various sensors such as radar, so as not to affect its performance; the node quality inspection software must be installed and run normally on the quality inspection equipment, generally in an Android environment, and be able to refresh automatically; the quality inspection equipment and the ground control computer are equipped with 4G network conditions, and the existing remote control programs Airdroid and AirMirror between smart devices are used to connect the ground control end and the air controlled end through the 4G network and remotely interact, realizing ground-air synchronous control, which is used to monitor the real-time status of aerial node inspections and various control operations such as program start and termination, file acquisition, data transmission, exception handling, etc.; the drone's built-in controller must also have the configuration to use kml file navigation.

[0014] Furthermore, in step 103, the inspection route is designed and uploaded, which specifically includes:

[0015] Since the status information of each node instrument needs to be collected during drone quality inspection, the drone must fly point by point along the survey line and control the flight altitude within the Bluetooth communication distance. That is, the plane coordinates and decimeter-level precision elevation are laid out according to the measured centimeter-level precision node instruments, and kml files are accurately created. The cruise turning points and cruise altitudes are set point by point. Finally, a route that matches the actual shape of the survey line and the surface undulations is formed and uploaded to the drone controller.

[0016] In the process of implementing kml cruise files, it is necessary to convert the measured plane grid coordinates into the latitude and longitude coordinates required by the kml file according to the following formula:

[0017]

[0018] Where:

[0019]

[0020] T f =tan 2 B f

[0021] C f =e 2 cos 2 B

[0022]

[0023] Among them, x is the north coordinate, y is the east coordinate, B represents latitude, L represents longitude, L0 represents the central meridian longitude, B f Indicates the latitude of the bottom point, N f is the radius of curvature of the bottom point circle, a is the major semi-axis of the ellipsoid, e is the first eccentricity of the meridian ellipse, β, e1, R f , T f , C f , D are codes introduced to simplify the main formula.

[0024] Then we independently wrote a program to accurately create a compatible and matching kml cruise file according to the standard defined drone route format requirements.

[0025] Furthermore, the ground-air synchronous quality inspection in step 104 specifically includes:

[0026] Using the 4G network, the aerial quality inspection equipment is connected to the ground computer online. When the drone carrying the quality inspection equipment flies point by point and altitude by altitude along the designed kml route and performs quality inspection, a new workflow of ground-air integrated node inspection, maintenance, and rectification is realized under remote program control, completely replacing the manual mode. Details are as follows:

[0027] 1) Through remote, real-time, synchronous and control between ground and air, the ground UAV quality inspection team monitors the running status of the air quality inspection program and discovers node instruments with abnormal status at the first time.

[0028] 2) As needed, technicians can instantly acquire, store and transmit back the data files generated during the inspection process;

[0029] 3) Simultaneously conduct on-site analysis and processing to extract information such as abnormal node coordinates;

[0030] 4) Issue dispatch instructions and transmit data to ground maintenance personnel through the network as soon as possible;

[0031] 5) Dispatch each team to coordinate and complete node maintenance, replacement and other rectification work quickly and efficiently.

[0032] Beneficial effects of the present invention

[0033] The present invention provides a method for quality inspection of seismic node instruments by unmanned aerial vehicles. The unmanned aerial vehicle is equipped with a quality inspection device with an X-BT super Bluetooth chip, and the unmanned aerial vehicle automatically performs flight quality inspection point by point according to the designed route. The ground-to-air synchronization mode is adopted during the quality inspection, and abnormal node instrument information is obtained at any time. Instructions are issued to maintenance personnel at the first time to quickly and efficiently complete rectification work such as node maintenance and replacement, thereby solving the problems of low efficiency, high cost and great safety hazards of traditional manual quality inspection. The method has the characteristics of high efficiency, small safety hazards, economic feasibility and reliable technology compared with conventional manual quality inspection.

[0034] The present invention has obvious effects in project production practice, and one drone quality inspection team can replace 20 full-manual quality inspection personnel. The new technology integration and production organization mode realizes the use of science and technology to promote the project's "quality improvement, speed improvement, and efficiency improvement" work. Taking node maintenance and rectification work as an example, compared with the traditional manual mode of returning the data to the base after inspection, processing and analysis, and then assigning tasks for ground node maintenance and rectification, the "drone +" technology realizes a timely, fast, and efficient "same-day parallel mode". The QC inspection, maintenance and replacement of the task area nodes and other rectification work can be completed within the same working day. It has the characteristics of high efficiency, less safety hazards, economic feasibility, and reliable technology compared to the conventional manual mode, and the "three improvements" effect is obvious. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The figure is a flow chart of a node instrument UAV quality inspection method according to an embodiment of the present invention.

[0036] Figure 2 The invention is a block diagram of an inspection method for a node instrument UAV according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with embodiments, but the protection scope of the present invention is not limited thereto:

[0038] The executor of this embodiment is the node instrument quality inspection.

[0039] Combination Figure 1 and Figure 2 The present invention provides a method for quality inspection of seismic node instruments by using an unmanned aerial vehicle, comprising:

[0040] Step 101, determine the quality inspection Android device and multi-rotor drone.

[0041] Specifically, the drone collects the broadcast information of the ground node instrument in Bluetooth mode, which must ensure sufficient signal reception distance and safety at the flight altitude of the drone. Therefore, the cruising safety altitude and effective Bluetooth reception distance must be harmoniously unified. The X-BT super Bluetooth technology is used to solve the problem of short communication distance of the node instrument, and the drone can perform node instrument quality inspection at an altitude of more than 80 meters. Therefore, the quality inspection equipment must be equipped with an X-BT super Bluetooth chip. Currently, some models of Huawei mobile phones have X-BT super Bluetooth chips. To complete the daily inspection workload of tens of thousands of node instruments with a connection distance of hundreds of kilometers, it is particularly important to choose a long-endurance, highly intelligent, and professional flight load platform. After verification by multiple projects, DJI M300RTK is currently a long-range flight platform that is more suitable for node instrument quality inspection operations. Its drone intelligent attitude stabilization system composed of high-precision sensors such as gyroscopes, ultrasonic waves, barometers, and GNSS RTK, combined with pre-designed route files, can accurately control the drone inspection system to stably execute the inspection route with centimeter-level horizontal accuracy in the set airspace, ensuring high-stability flight inspection operations in low airspace.

[0042] Step 102, integrating the software and hardware of the drone and the quality inspection equipment.

[0043] Specifically, use clips, brackets, etc. to ensure that the node equipment is conveniently, correctly and stably mounted on the drone. Its position cannot block the drone's satellite antenna and various sensors such as radar, so as not to affect its performance. The quality inspection software must be able to be installed and run normally on the quality inspection equipment, generally in an Android environment, and be able to refresh automatically. Both the quality inspection equipment and the ground control computer must install a synchronous control program and be equipped with 4G conditions to be able to use the network environment. The drone's built-in controller must also be configured to use kml file navigation.

[0044] Step 103, design the inspection route and upload it.

[0045] Specifically, according to the centimeter-level precision node instrument measured in the field, the plane coordinates and decimeter-level precision elevation are laid out, and the kml file is accurately produced using relevant software.

[0046] First, convert the measured plane grid coordinates into the WGS84 longitude and latitude coordinates required by the kml file. Then write a program to accurately create the kml file according to the kml format requirements that are fully compatible with drones as defined by the standard. Set the cruising turning point and cruising altitude point by point, and finally form a route that matches the actual shape of the survey line and the surface undulations and upload it to the drone controller. The elevation setting of the inspection route point by point and the stable hovering and vertical take-off and landing characteristics of the rotor drone enable the inspection platform to follow the undulations of the terrain to achieve a truly decimeter-level precision effect of terrain-simulating flight when performing crossing operations in complex terrain areas such as mountains and deserts, and the safety is unprecedentedly improved.

[0047] Step 104: synchronous ground-air quality inspection.

[0048] Specifically, the quality inspection equipment and ground computers are equipped with 4G networks and are installed with corresponding controlled and master remote control programs, which can realize the functions of remote desktop connection and remote real-time control of controlled equipment. All QC information of ground nodes obtained by the quality inspection equipment can be viewed and obtained in real time using the ground master computer, and various operation instructions can be sent to the quality inspection equipment on the controlled end in the air in real time.

[0049] When working, the drone load quality inspection equipment uses the 4G network to connect to the ground computer, and through the remote control program, it can realize real-time synchronous control of the aerial quality inspection equipment, monitor the running status of the aerial quality inspection program, and promptly find the node instrument with abnormal status. The data files generated during the inspection process are acquired, stored and transmitted at any time, and the on-site analysis and processing are carried out simultaneously to extract the coordinates of abnormal nodes and other information. The dispatch instructions and data transmission are sent to the ground maintenance personnel through the network communication software as soon as possible, so as to dispatch various teams to coordinate and uniformly, quickly and efficiently complete the rectification work such as node maintenance and replacement.

[0050] Compared with the existing manual quality inspection technology, the beneficial effects of the present invention are:

[0051] (1) The method of the present invention is not limited by surface conditions and can be used to inspect node instruments in all terrains;

[0052] (2) The method of the present invention has high efficiency, low cost and low risk;

[0053] (3) The method of the present invention is economically feasible, technically reliable, and can be better applied to seismic exploration and acquisition projects.

[0054] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no logical conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for quality inspection of seismic node instruments by unmanned aerial vehicles, characterized in that The process of quality inspection method includes: Step 101: Quality inspection of Android devices and multi-rotor drones, wherein the Android devices contain X-BT super Bluetooth chips; Step 102: Software and hardware integration of drone and quality inspection equipment; Step 103: Design the inspection route and upload it; Step 104: Synchronous ground-air quality inspection.

2. The method according to claim 1, characterized in that The Android device and multi-rotor drone selected in step 101 have a communication distance of more than 80 meters for the X-BT super Bluetooth chip; the multi-rotor drone needs to have the characteristics of a long-endurance, high-intelligence, and professional flight payload platform for mounting quality inspection Android devices.

3. The method according to claim 1, characterized in that The software and hardware integration of the drone and the quality inspection equipment described in step 102 specifically includes: The node equipment must be mounted on the drone correctly and firmly, and its position cannot block the drone's satellite antenna and various radar sensors to avoid affecting their performance; the quality inspection software must be installed on the quality inspection equipment and run normally, and be able to refresh automatically; both the quality inspection equipment and the ground control computer must install the synchronous control program and be equipped with 4G conditions to be able to use the network environment; the drone's built-in controller must also be configured to use kml file navigation.

4. The method according to claim 1, characterized in that The inspection route is designed and uploaded as described in step 103, specifically including: the UAV must fly point by point along the survey line, and control the flight altitude within the Bluetooth communication distance, that is, the plane coordinates and decimeter-level precision elevation are laid out according to the measured centimeter-level precision node instrument, the kml file is accurately prepared, the cruise turning point and the cruise altitude are set point by point, and finally a route that matches the actual shape of the survey line and the surface undulation is formed and uploaded to the UAV controller.

5. The method according to claim 4, characterized in that In the process of implementing kml file, the measured plane grid coordinates (x, y) are converted into the latitude and longitude coordinates (B, L) required by kml file according to the following formula: Where: <h2 style=";text-align:left;direction:ltr">T<h2 style=";text-align:left;direction:ltr"> f <h2 style=";text-align:left;direction:ltr"> =tan<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> B<h2 style=";text-align:left;direction:ltr"> f C f =and 2 what 2 B f Among them, x is the north coordinate, y is the east coordinate, and B represents the latitude. L represents longitude, L0 represents the central meridian longitude, B f Indicates the latitude of the bottom point, N f is the radius of curvature of the bottom point circle, a is the major semi-axis of the ellipsoid, e is the first eccentricity of the meridian ellipse, β, e1, R f , T f , C f , D are codes introduced to simplify the main formula.

6. The method according to claim 1, characterized in that The ground-air synchronous quality inspection in step 104 specifically includes: Suitable remote control programs are installed on both the aerial quality inspection equipment and the ground computers, which are connected using the 4G network to achieve remote, real-time, and synchronous control of the aerial quality inspection equipment from the ground computer, monitor the operation of the aerial quality inspection program, and promptly discover node instruments with abnormal status; acquire, store, and transmit back the data files generated during the inspection process at any time, conduct on-site analysis, extract abnormal node coordinate information, and promptly issue dispatch instructions and data from the Internet to ground maintenance personnel, so as to quickly and efficiently complete the maintenance and replacement of node instruments.

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