Ultra-wideband active electromagnetic intelligent detection method and platform

Abstract

The invention belongs to the technical field of geophysical exploration, and provides an ultra-wideband active electromagnetic intelligent detection method and platform, and the technical scheme comprises the steps: configuring detection parameters of an unmanned plane transient electromagnetic detection module and an unmanned plane ground penetrating radar module according to a cooperative detection demand; based on the configured detection parameters, performing preliminary detection on the specified detection area to obtain transient electromagnetic data and ground penetrating radar data; interpreting the transient electromagnetic data and the ground penetrating radar data to generate an imaging result; and determining the depth and position of the detection target based on an imaging result, re-determining an abnormal region range based on the depth and position of the detection target, and determining an optimal detection parameter combination of the unmanned aerial vehicle transient electromagnetic detection module and the unmanned aerial vehicle ground penetrating radar module according to the abnormal region range. According to the method, the unmanned aerial vehicle cooperative detection technology, the multi-frequency detection technology and the imaging technology are combined, the limitation of the prior art is solved, a new refined cooperative detection method is provided, and the method is suitable for various application scenes.

Description

Technical Field

[0001] The present invention belongs to geophysical exploration technology, and in particular relates to an ultra-wideband active electromagnetic intelligent detection method and platform. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In the field of geological exploration and resource detection, traditional detection methods often rely on ground or vehicle-mounted equipment. These methods are limited in complex terrain and urban environments and it is difficult to achieve large-scale, high-precision detection. With the development of drone technology, drone platforms have gradually become a new choice for geological exploration due to their flexibility and cost-effectiveness. The electromagnetic detection equipment carried by drones can provide a wider coverage and higher resolution, especially in airborne electromagnetic exploration methods. The application of drone platforms has become a trend.

[0004] However, electromagnetic detection technology for UAV platforms faces a series of challenges. The electromagnetic noise generated by the motor and electronic equipment of the UAV may interfere with the detection signal and affect the accuracy of the data. In addition, the detection equipment carried by the UAV needs to have sufficient sensitivity and broadband characteristics to adapt to different geological conditions and detection targets.

[0005] In addition, traditional detection technologies such as geological exploration and archaeological surveys are often limited by ground conditions and equipment, resulting in insufficient detection depth and accuracy, and difficulty in covering large areas. Especially in complex terrain and harsh environments, traditional detection methods are difficult to achieve refined detection of underground structures. In addition, targets at different depths require detection technologies of different frequencies, and single-frequency detection equipment cannot meet the needs of refined detection. Summary of the invention

[0006] In order to solve at least one technical problem existing in the above-mentioned background technology, the present invention provides an ultra-wideband active electromagnetic intelligent detection method and platform, which solves the limitations of the existing technology by combining drone collaborative detection technology, multi-frequency detection technology and imaging technology, and provides a new refined collaborative detection method suitable for a variety of application scenarios.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A first aspect of the present invention provides an ultra-wideband active electromagnetic intelligent detection method, comprising the following steps:

[0009] According to the requirements of collaborative detection, configure the detection parameters of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module;

[0010] Based on the configured detection parameters, conduct preliminary detection of the designated detection area to obtain transient electromagnetic detection data and ground penetrating radar detection data;

[0011] Interpret transient electromagnetic detection data and ground penetrating radar detection data to generate imaging results;

[0012] Determine the depth and position of the detection target based on the imaging results, and re-define the scope of the abnormal area based on the depth and position of the detection target;

[0013] Determine the optimal detection parameter combination of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the range of the abnormal area;

[0014] Collaborative detection is performed based on the optimal combination of detection parameters, and decisions on handling abnormal situations in abnormal areas are generated based on the collaborative detection results.

[0015] Further, the configuring the detection parameters of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the collaborative detection requirements includes: configuring the detection modes of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the collaborative detection instructions;

[0016] According to the required detection depth, select the equally spaced frequency intervals of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module;

[0017] According to the size of the detection area, plan the collaborative detection route of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module, encrypt the route and / or adjust the altitude.

[0018] Furthermore, the detection modes of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module include:

[0019] First, both the UAV transient electromagnetic detection module and the UAV ground penetrating radar module adopt the detection mode of "ground transmission and air reception";

[0020] Second, the UAV transient electromagnetic detection module adopts the detection mode of "ground transmission and air reception", while the ground penetrating radar module adopts the detection mode of "ground transmission and low-altitude flight reception or fixed-point reception";

[0021] Third, only one of the detection modules is selected for operation, while the other module remains on standby.

[0022] Furthermore, the UAV transient electromagnetic detection module and the UAV ground penetrating radar module include a transmitting module and a receiving module, the transmitting modules are both transmitted on the ground, and the receiving modules are performed in the air; the antennas of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are both provided with N pairs of frequency intervals, dividing the frequency intervals into equally spaced areas, and selecting the most suitable frequency combination through the detection depths corresponding to different preset frequencies.

[0023] Furthermore, the interpretation of transient electromagnetic data and ground penetrating radar data to generate imaging results includes:

[0024] Generate apparent resistivity profiles, 3D footprint distributions, secondary field attenuation curves, and bipolar rectangular wave response profiles for transient electromagnetic data;

[0025] Generate time profiles, B-Scan images, C-Scan images, 3D images, radar reflection images and geological radar reverse time migration imaging results for ground penetrating radar data.

[0026] Furthermore, the re-delineation of the abnormal area includes the depth range and the lateral range, wherein the depth range readjusts the frequency of the collaborative detection according to the resistivity and frequency amplitude information of the collaborative detection;

[0027] The redesign of the lateral range involves replanning the collaborative detection area and designing the survey line based on the characteristics of the detection target, including densifying the survey line, that is, reducing the lateral survey line spacing and / or increasing the lateral survey line density and / or adding vertical survey lines relative to the original survey line.

[0028] Furthermore, generating abnormal situation handling decisions in abnormal areas based on collaborative detection results includes: combining UAV transient electromagnetic data and UAV ground penetrating radar data and imaging results, making a comprehensive judgment on the detection target, associating it with the preset target decision opinions, and outputting the decision opinions based on the correlation.

[0029] The second aspect of the present invention provides an ultra-wideband active electromagnetic intelligent detection platform, comprising a UAV transient electromagnetic detection module, a UAV ground penetrating radar module and a controller, wherein the controller is connected to the UAV transient electromagnetic detection module and the UAV ground penetrating radar module respectively; the controller comprises a parameter configuration module, a data acquisition module, an imaging module and a collaborative detection module;

[0030] The parameter configuration module is configured to: configure detection parameters of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to collaborative detection requirements;

[0031] The data acquisition module is configured to: perform preliminary detection of a designated detection area based on configured detection parameters, and acquire transient electromagnetic detection data and ground penetrating radar detection data;

[0032] The imaging module is configured to: interpret transient electromagnetic detection data and ground penetrating radar detection data to generate imaging results;

[0033] Determine the depth and position of the detection target based on the imaging results, and re-define the scope of the abnormal area based on the depth and position of the detection target;

[0034] The collaborative detection module is configured to: determine the optimal detection parameter combination of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the range of the abnormal area; perform collaborative detection based on the optimal detection parameter combination, and generate an abnormal situation handling decision in the abnormal area based on the collaborative detection results.

[0035] Furthermore, the UAV transient electromagnetic detection module and the UAV ground penetrating radar module include a transmitting module and a receiving module, the transmitting modules are both transmitted on the ground, and the receiving modules are performed in the air; the antennas of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are both provided with N pairs of frequency intervals, dividing the frequency intervals into equally spaced areas, where N≥1.

[0036] Furthermore, the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are arranged on the corresponding UAV, and the UAV includes a hollow frame and a power system. The hollow frame includes multiple arms, and the end of each arm is provided with a power system. The middle of the hollow frame is a coil storage cabin for accommodating a split receiving coil; the power system includes a coaxially distributed rotor shaft, an insulating wing and a double-layer motor. The insulating wing is divided into an upper and lower layer, both of which are connected to the rotor shaft, and the inner and outer layer motors of the double-layer motor rotate in opposite directions.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. The present invention can configure the detection methods of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the detection requirements, intelligently select equally spaced frequency intervals, plan collaborative detection routes, and save the collected detection information. The control unit uses the received and stored data to perform imaging interpretation on the detection target body, and outputs decision information to provide data-based decision support.

[0039] 2. The present invention determines the depth of the target body through pre-detection. Through the automated pre-detection process, the control unit can determine the approximate depth and position of the detection target, providing an important reference for accurate detection. The present invention realizes the refined collaborative detection of the detection target by re-circling the abnormal area and determining the antenna detection frequency combination, providing comprehensive information of the target body, including its main structure and microstructure details.

[0040] 3. The drone group cooperates in detecting the transmitting and receiving modules, which reduces ground interference and improves the quality of signal reception by transmitting on the ground and receiving in the air. The drone ground penetrating radar module can receive signals in low-altitude flight, or choose a ground fixed-point receiving method to meet different detection needs. The drone transient electromagnetic detection module and the drone ground penetrating radar module are respectively equipped with antennas of different frequency ranges. By setting up ultra-wideband detection, the detection of targets at different depths can be achieved, which enhances the detection depth and accuracy.

[0041] 4. The present invention proposes a drone group collaborative detection power module. The drone group detection module adopts a special drone. The detection module is composed of a drone transient electromagnetic detection module and a drone ground penetrating radar module. These two modules work together to achieve refined detection of different detection depths in the detection area and improve detection efficiency.

[0042] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0044] Figure 1 This is a flow chart of an ultra-wideband active electromagnetic intelligent detection method provided by an embodiment of the present invention;

[0045] Figure 2 It is a schematic diagram of an ultra-wideband active electromagnetic intelligent detection platform provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0047] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0048] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0049] Electromagnetic detection technology for UAV platforms faces a series of challenges. The electromagnetic noise generated by the motor and electronic equipment of the UAV may interfere with the detection signal and affect the accuracy of the data. In addition, the detection equipment carried by the UAV needs to have sufficient sensitivity and broadband characteristics to adapt to different geological conditions and detection targets.

[0050] In addition, traditional detection technologies such as geological exploration and archaeological surveys are often limited by ground conditions and equipment, resulting in insufficient detection depth and accuracy, and difficulty in covering large areas. Especially in complex terrain and harsh environments, traditional detection methods are difficult to achieve refined detection of underground structures. In addition, targets at different depths require detection technologies of different frequencies, and single-frequency detection equipment cannot meet the needs of refined detection.

[0051] The present invention combines unmanned aerial vehicle collaborative detection technology, multi-frequency detection technology and imaging technology, solves the limitations of the prior art, and provides a new refined collaborative detection method. According to the collaborative detection requirements, the detection parameters of the unmanned aerial vehicle transient electromagnetic detection module and the unmanned aerial vehicle ground penetrating radar module are configured; based on the configured detection parameters, a preliminary detection is performed on the designated detection area to obtain transient electromagnetic data and ground penetrating radar data; the transient electromagnetic data and ground penetrating radar data are interpreted to generate imaging results; based on the imaging results, the depth and position of the detection target are determined, and the range of the abnormal area is re-determined based on the depth and position of the detection target, and the optimal detection parameter combination of the unmanned aerial vehicle transient electromagnetic detection module and the unmanned aerial vehicle ground penetrating radar module is determined according to the range of the abnormal area. The present invention combines unmanned aerial vehicle collaborative detection technology, multi-frequency detection technology and imaging technology, solves the limitations of the prior art, and provides a new refined collaborative detection method, which is suitable for a variety of application scenarios.

[0052] Embodiment 1

[0053] like Figure 1 As shown, this embodiment provides an ultra-wideband active electromagnetic intelligent detection method, comprising the following steps:

[0054] Step 1: According to the requirements of collaborative detection, configure the parameters of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module;

[0055] The specific steps include:

[0056] Step 101: According to the specific requirements of the collaborative detection, the detection modes of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are configured;

[0057] In this embodiment, when setting the detection mode, the UAV transient electromagnetic detection module and the UAV ground penetrating radar module can be set to adopt the detection mode of "ground transmission, air reception"; or, the UAV transient electromagnetic detection module can be set to adopt the detection mode of "ground transmission, air reception", while the ground penetrating radar module can adopt the detection mode of "ground transmission, low-altitude flight reception or fixed-point reception". In addition, according to the specific requirements of the detection task, only one of the detection modules can be selected for operation, while the other module remains in standby state.

[0058] After configuring the detection mode of collaborative detection, according to the detection instructions, the UAV transient electromagnetic detection module detects the main structure of the target, while the UAV ground penetrating radar module performs supplementary detection of its detailed or surrounding microstructures. This form of collaborative detection can be designed and adjusted according to specific detection needs. This collaborative detection method can provide comprehensive information about the target, including its main structure and microstructure details, thereby achieving refined collaborative detection of the target.

[0059] Step 102: selecting equally spaced frequency intervals of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the required detection depth;

[0060] The UAV transient electromagnetic detection module and the UAV ground penetrating radar module include a transmitting module and a receiving module, wherein the transmitting module is transmitted on the ground and the receiving module is transmitted in the air; the antennas of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are both provided with N pairs of frequency intervals, dividing the frequency intervals into equally spaced areas, wherein N≥1.

[0061] By presetting the detection depths corresponding to different frequencies, the most suitable frequency combination is selected to achieve accurate detection of the target.

[0062] In this embodiment, in terms of frequency range, the coil transmission frequency range of the UAV transient electromagnetic detection module is 100 Hz-1 MHz, and the transmitting and receiving antenna frequency range of the UAV ground penetrating radar module is 1 MHz-2 GHz.

[0063] In shallow layers (<10m), transient electromagnetic generally chooses a frequency range of 500kHz-1MHz, and ground penetrating radar generally chooses 1GHz-2GHz; in middle layers (10m-30m), transient electromagnetic generally chooses a frequency range of 10kHz-500kHz, and ground penetrating radar generally chooses 500MHz-1GHz; in deep layers (>30m), transient electromagnetic generally chooses a frequency range of 10Hz-10kHz, and ground penetrating radar generally chooses 1MHz-500MHz.

[0064] In shallow layers, high-frequency antennas are generally selected, and in deep layers, low-frequency antennas are generally selected. The best combination can be selected based on the approximate depth and antenna frequency.

[0065] The drone group cooperates with the transmitting and receiving modules to reduce ground interference and improve the quality of signal reception by transmitting on the ground and receiving in the air. The drone ground penetrating radar module can receive signals in low-altitude flight, or choose a fixed-point ground reception method to meet different detection needs. The drone transient electromagnetic detection module and the drone ground penetrating radar module are respectively equipped with antennas with different frequency ranges. By setting up ultra-wideband detection, they can detect targets at different depths, enhancing the detection depth and accuracy.

[0066] Step 103: plan the collaborative detection route of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the size of the detection area, encrypt the route and / or adjust the altitude.

[0067] Step 2: Based on the configured detection parameters, conduct preliminary detection of the designated detection area to obtain transient electromagnetic detection data and ground penetrating radar detection data;

[0068] In this embodiment, the acquired transient electromagnetic detection data and ground penetrating radar detection data used for imaging are stored in a device with storage function such as a hard disk drive or a memory card.

[0069] Step 3: Interpret the transient electromagnetic data and ground penetrating radar data to generate imaging results, and determine the approximate depth and position of the detection target based on the imaging results.

[0070] In this embodiment, an apparent resistivity profile, a three-dimensional footprint distribution diagram, a secondary field attenuation curve diagram, and a bipolar rectangular wave response profile diagram can be generated for transient electromagnetic data;

[0071] For ground penetrating radar data, time profiles, B-Scan images, C-Scan images, 3D images, radar reflection images and geological radar reverse time migration imaging results can be generated.

[0072] These images intuitively demonstrate the characteristics of underground structures and can provide important reference for precise detection.

[0073] The core of this stage lies in the intelligent setting of the control unit, in which the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are both configured in automatic cruise detection mode, performing preliminary detection of the designated detection area, collecting and storing preliminary data, and the control unit determines the approximate depth and position of the detection target through preliminary data analysis results.

[0074] Step 4: Re-define the range of the abnormal area based on the depth and position of the detection target, and determine the optimal detection parameter combination of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the range of the abnormal area;

[0075] After the initial detection, the depth and position of the target body are known. Then the detection range of the abnormal area is narrowed down to further determine the precise area. The range of the abnormal area is redefined including the depth range and the lateral range.

[0076] Delineating the depth range means re-adjusting the frequency of collaborative detection according to the resistivity and frequency amplitude information of collaborative detection, and selecting the most appropriate detection frequency according to different detection depths to ensure the best balance between signal penetration and resolution;

[0077] It should be noted that readjustment is to select the frequencies of the N pairs of equally spaced antennas, because different frequencies correspond to different detection depths. For example, after the range is determined, the best combination of depth and location may be: "Transient electromagnetic selects antennas with a frequency range of 10kHz-500kHz, and ground penetrating radar selects a frequency range of 500MHz-1GHz."

[0078] The redesign of the lateral range involves replanning the collaborative detection area and designing the survey line based on the characteristics of the detection target, including densifying the survey line, that is, reducing the lateral survey line spacing and / or increasing the lateral survey line density and / or adding vertical survey lines relative to the original survey line.

[0079] After re-circling the abnormal area based on the pre-detection results and determining the depth and position of the detection target, the detection parameters are configured according to different frequency ranges. The coil transmission frequency range of the UAV transient electromagnetic detection module is 100Hz-1MHz, and the transmitting and receiving antenna frequency range of the UAV ground penetrating radar module is 1MHz-2GHz. Different frequencies can be configured for different detection depths, and the two frequency ranges can be combined according to different depths.

[0080] The present invention selects the optimal collaborative detection frequency combination by comprehensively considering the pre-detection results, the target depth range and the survey line design results.

[0081] Step 5: Perform collaborative detection based on the optimal detection parameter combination, and generate decision information based on the collaborative detection results. In this embodiment, different decision-making opinions are preset in advance according to different geological anomalies;

[0082] The UAV transient electromagnetic data, UAV ground penetrating radar data and imaging results are integrated with the geological information of the detection area (geological maps, geological reports and geophysical data, etc.), and the preset processing opinions are associated; the final decision-making processing opinions are output based on the detection results and the associated results.

[0083] For example, based on the processed radar images, analyze the underground structural features, such as cavities, cracks, pipelines, etc. In the detection of building foundations, if a large number of void areas are found and part of the silt layer may have been soaked in water, there is a risk of building settlement. At this time, it is recommended to establish a long-term deformation measurement mechanism to monitor the deformation and settlement trends of the outside and inside of the building to prevent possible overall catastrophic accidents.

[0084] For example, transient electromagnetic detection finds that in geothermal field development, if high-resistance rock walls are found to block heat exchange between the north and south zones, it is recommended to carry out enhanced geothermal development in the north zone to fully utilize deep high-temperature geothermal resources. In mineral resource exploration, if deep concealed ore bodies are identified, further drilling verification and resource development are recommended.

[0085] In the present invention, according to the detection instructions, the UAV transient electromagnetic detection module detects the main structure of the target body, while the UAV ground penetrating radar module performs supplementary detection of its detailed or surrounding microstructures. This form of collaborative detection can be designed and adjusted according to specific detection needs. The control unit finally receives and stores data, interprets data through refined imaging, and outputs decision information. This collaborative detection method can provide comprehensive information about the target body, including its main structure and microstructure details, and provide high-resolution local details and boundary features while paying attention to the overall situation, thereby realizing refined collaborative detection of the target body.

[0086] Embodiment 2

[0087] The present embodiment provides an ultra-wideband active electromagnetic intelligent detection platform, including a UAV transient electromagnetic detection module, a UAV ground penetrating radar module and a controller, wherein the controller is connected to the UAV transient electromagnetic detection module and the UAV ground penetrating radar module respectively; the controller includes a parameter configuration module, a data acquisition module, an imaging module and a collaborative detection module;

[0088] The parameter configuration module is configured to: configure detection parameters of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to collaborative detection requirements;

[0089] The data acquisition module is configured to: perform preliminary detection of a designated detection area based on configured detection parameters to acquire transient electromagnetic data and ground penetrating radar data;

[0090] The imaging module is configured to: interpret transient electromagnetic data and ground penetrating radar data to generate imaging results;

[0091] The collaborative detection module is configured to: determine the depth and position of the detection target based on the imaging results, redetermine the scope of the abnormal area based on the depth and position of the detection target, and determine the optimal detection parameter combination of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the scope of the abnormal area.

[0092] In this embodiment, the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are arranged on the corresponding UAV, and the UAV is a special UAV, which adopts a multi-rotor UAV, including a hollow frame and a power system;

[0093] The hollow frame has a plurality of arms, each end of which is provided with a power system, and the middle of the hollow frame is provided with a coil storage cabin for accommodating a split receiving coil.

[0094] The power system includes a coaxially distributed rotor shaft, an insulating wing and a double-layer motor. The insulating wing is divided into two layers, both connected to the rotor shaft. The inner and outer layers of the double-layer motor rotate in opposite directions to eliminate electromagnetic signal interference generated when the internal rotor rotates, and the insulating wing will not generate electromagnetic interference due to cutting magnetic flux lines, ensuring the purity of the detection signal.

[0095] like Figure 2 As shown, in this embodiment, the transmitting modules of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are both transmitted on the ground; the receiving module is performed in the air to reduce ground interference and improve the signal reception quality. Specifically, the UAV ground penetrating radar module can receive in low-altitude flight (less than 5 meters), or choose a ground fixed-point receiving method to meet different detection needs.

[0096] In terms of frequency range, the coil transmission frequency range of the drone transient electromagnetic detection module is 100Hz-1MHz, and the transmitting and receiving antenna frequency range of the drone ground penetrating radar module is 1MHz-2GHz. In order to achieve ultra-wideband detection and enhance detection depth and accuracy, both detection module antennas are equipped with N pairs of frequency intervals, dividing the frequency into equally spaced areas, where N≥1.

[0097] The transmitting modules are designed to pass bipolar pulse current, including but not limited to trapezoidal wave, half-sine wave, triangle wave, etc., to adapt to different geological conditions and detection targets.

[0098] Embodiment 4

[0099] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the ultra-wideband active electromagnetic intelligent detection method as described above are implemented.

[0100] Embodiment 5

[0101] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the ultra-wideband active electromagnetic intelligent detection method described above are implemented.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An ultra-wideband active electromagnetic intelligent detection method, characterized in that: The steps include: According to the requirements of collaborative detection, configure the detection parameters of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module; Based on the configured detection parameters, conduct preliminary detection of the designated detection area to obtain transient electromagnetic detection data and ground penetrating radar detection data; Interpret transient electromagnetic detection data and ground penetrating radar detection data to generate imaging results; Determine the depth and position of the detection target based on the imaging results, and re-define the scope of the abnormal area based on the depth and position of the detection target; Determine the optimal detection parameter combination of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the range of the abnormal area; Collaborative detection is performed based on the optimal combination of detection parameters, and decisions on handling abnormal situations in abnormal areas are generated based on the collaborative detection results.

2. The ultra-wideband active electromagnetic intelligent detection method according to claim 1, characterized in that: The configuring the detection parameters of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the collaborative detection requirements includes: configuring the detection modes of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the collaborative detection instructions; According to the required detection depth, select the equally spaced frequency intervals of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module; According to the size of the detection area, plan the collaborative detection route of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module, encrypt the route and / or adjust the altitude.

3. The ultra-wideband active electromagnetic intelligent detection method according to claim 2, characterized in that: The detection modes of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module include: First, both the UAV transient electromagnetic detection module and the UAV ground penetrating radar module adopt the detection mode of "ground transmission and air reception"; Second, the UAV transient electromagnetic detection module adopts the detection mode of "ground transmission, air reception", while the ground penetrating radar module adopts the detection mode of "ground transmission, low-altitude flight reception or fixed-point reception"; Third, only one of the detection modules is selected for operation, while the other module remains on standby.

4. The ultra-wideband active electromagnetic intelligent detection method according to claim 2, characterized in that: The UAV transient electromagnetic detection module and the UAV ground penetrating radar module include a transmitting module and a receiving module, wherein the transmitting module is transmitted on the ground and the receiving module is transmitted in the air; the antennas of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are both provided with N pairs of frequency intervals, which divide the frequency intervals into equally spaced areas, and select the most suitable frequency combination through the detection depths corresponding to different preset frequencies.

5. The ultra-wideband active electromagnetic intelligent detection method according to claim 1, characterized in that: The transient electromagnetic data and ground penetrating radar data are interpreted to generate imaging results, including: Generate apparent resistivity profiles, 3D footprint distributions, secondary field attenuation curves, and bipolar rectangular wave response profiles for transient electromagnetic data; Generate time profiles, B-Scan images, C-Scan images, 3D images, radar reflection images and geological radar reverse time migration imaging results for ground penetrating radar data.

6. The ultra-wideband active electromagnetic intelligent detection method according to claim 1, characterized in that: The redefinition of the abnormal area includes the determination of the vertical range and the horizontal range, wherein the vertical range is delineated by re-adjusting the frequency of the coordinated detection according to the resistivity and frequency amplitude information of the coordinated detection; The redesign of the lateral range involves replanning the collaborative detection area and designing the survey line based on the characteristics of the detection target, including densifying the survey line, that is, reducing the lateral survey line spacing and / or increasing the lateral survey line density and / or adding vertical survey lines relative to the original survey line.

7. The ultra-wideband active electromagnetic intelligent detection method according to claim 1, characterized in that: The abnormal situation handling decisions in abnormal areas based on the collaborative detection results include: combining the UAV transient electromagnetic data and the UAV ground penetrating radar data and imaging results to make a comprehensive judgment on the detection target, and associating it with the preset target decision opinions, and outputting the decision opinions based on the correlation.

8. An ultra-wideband active electromagnetic intelligent detection platform, characterized in that: It includes a UAV transient electromagnetic detection module, a UAV ground penetrating radar module and a controller, wherein the controller is connected to the UAV transient electromagnetic detection module and the UAV ground penetrating radar module respectively; the controller includes a parameter configuration module, a data acquisition module, an imaging module and a collaborative detection module; The parameter configuration module is configured to: configure detection parameters of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to collaborative detection requirements; The data acquisition module is configured to: perform preliminary detection of a designated detection area based on configured detection parameters, and acquire transient electromagnetic detection data and ground penetrating radar detection data; The imaging module is configured to: interpret transient electromagnetic detection data and ground penetrating radar detection data to generate imaging results; Determine the depth and position of the detection target based on the imaging results, and re-define the scope of the abnormal area based on the depth and position of the detection target; The collaborative detection module is configured to: determine the optimal detection parameter combination of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module according to the range of the abnormal area; perform collaborative detection based on the optimal detection parameter combination, and generate an abnormal situation handling decision in the abnormal area based on the collaborative detection results.

9. The ultra-wideband active electromagnetic intelligent detection platform according to claim 8, characterized in that: The UAV transient electromagnetic detection module and the UAV ground penetrating radar module include a transmitting module and a receiving module, wherein the transmitting module is transmitted on the ground and the receiving module is transmitted in the air; the antennas of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module are both provided with N pairs of frequency intervals, dividing the frequency intervals into equally spaced areas, wherein N≥1.

10. The ultra-wideband active electromagnetic intelligent detection platform according to claim 8, characterized in that: The UAV transient electromagnetic detection module and the UAV ground penetrating radar module are arranged on the corresponding UAV. The UAV includes a hollow frame and a power system. The hollow frame includes multiple arms, and the end of each arm is provided with a power system. The middle of the hollow frame is a coil storage cabin for accommodating a split receiving coil; the power system includes a coaxially distributed rotor shaft, an insulating wing and a double-layer motor. The insulating wing is divided into an upper and lower layer, both of which are connected to the rotor shaft, and the inner and outer layer motors of the double-layer motor rotate in opposite directions.

Images