Hydrogeological measurement device and method

Abstract

The invention discloses a hydrogeological survey device and method, and belongs to the technical field of hydrogeological survey, the hydrogeological survey device comprises a wireless remote controller and a four-footed mobile robot wirelessly connected with the wireless remote controller, and a mounting plate is arranged on the back of the four-footed mobile robot; a control terminal, a coiling mechanism and a pulley mechanism which are wirelessly connected with the wireless remote controller are arranged on the mounting plate, the control terminal is connected with a signal wire, and the signal wire sequentially bypasses the coiling mechanism and the pulley mechanism and is connected with an integrated probe. The four-legged mobile robot is specially designed for hydrogeological measurement, the four-legged mobile robot technology which is most advanced at present is adopted in the scheme, measurement can be carried out without building a supporting platform on site in each measurement well during measurement, and time, labor and manpower are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrogeological surveying, and specifically relates to a hydrogeological surveying device and method. Background Art

[0002] Before the drilling construction process, it is usually necessary to carry out hydrogeological tests (such as pumping, water injection, etc.) and well logging and other work to obtain various hydrogeological data for quantitatively evaluating the aquifer, which is generally carried out on the basis of ground surveying and geophysical prospecting work.

[0003] Currently, in order to measure the accuracy of data, multiple measuring wells will be drilled. During the measurement, all multiple measuring wells need to be measured. However, the landform of each measuring wellhead is different. During the measurement, a support platform needs to be built on site for each measuring well according to the actual situation, which not only takes time and has a high labor cost, but also increases the workload of building the support platform.

[0004] Therefore, it has become an urgent technical problem in this field to propose a hydrogeological surveying device that can improve the measurement efficiency. Summary of the Invention

[0005] In view of the above deficiencies of the prior art, the present invention provides a hydrogeological surveying device and method; the hydrogeological surveying device and method are designed specifically for hydrogeological surveying. This solution adopts the currently most advanced four-legged mobile robot technology. During the measurement, it is no longer necessary to build a support platform on site for each measuring well, and the measurement can be carried out, saving time, labor and manpower.

[0006] To solve the above technical problems, on the one hand, a hydrogeological surveying device provided by the present invention includes a wireless remote controller and a four-legged mobile robot wirelessly connected to the wireless remote controller. An installation plate is provided on the back of the four-legged mobile robot. A control terminal, a wire winding mechanism and a pulley mechanism that are wirelessly connected to the wireless remote controller are provided on the installation plate. The control terminal is connected with a signal wire, and the signal wire successively bypasses the wire winding mechanism and the pulley mechanism and is connected with an integrated probe.

[0007] In a further improvement of the present invention, the wire winding mechanism includes a U-shaped seat provided at the right end of the installation plate. A reduction motor is provided on the outside of the U-shaped seat. The reduction motor is connected with a rotating shaft. The rotating shaft passes through a bearing embedded in the U-shaped seat and is connected with a drum. The signal wire is wound around the drum.

[0008] In a further improvement of the present invention, the reduction motor is connected with the control terminal.

[0009] In a further improvement of the present invention, the pulley mechanism includes a bracket provided at the left end of the installation plate. A pulley is rotatably provided on the bracket, and the signal wire is wound around the pulley.

[0010] In a further improvement of the present invention, the integrated probe integrates a pressure sensor, a water level detector, a hole depth detector, an apparent resistivity detector, a pH meter, and a dissolved oxygen sensor.

[0011] In a further improvement of the present invention, a bottom plate is provided on the back of the quadruped mobile robot, an electric rotating table is provided on the bottom plate, and the electric rotating table is connected to a mounting plate; the electric rotating table is connected to a control terminal.

[0012] In a further improvement of the present invention, a vision sensor is provided on the quadruped mobile robot.

[0013] On the one hand, the present invention provides a measurement method using the described hydrogeological survey device, including the following steps: 1) The wireless remote control issues a command to the quadruped mobile robot to find the measurement wellhead and perform measurement. The quadruped mobile robot moves to the measurement well, the vision sensor scans the surrounding environment, and the quadruped mobile robot calculates a suitable measurement position. 2) The control terminal controls the start of the reduction motor, pays out the signal wire, and the integrated probe extends down into the measurement well. 3) The integrated probe feeds back the measured information to the control terminal, and the control terminal transmits the information to the wireless remote control. 4) After the measurement is completed, the control terminal controls the start of the reduction motor and winds up the signal wire. 5) After the wire winding is completed, the quadruped mobile robot continues to move to find the next measurement wellhead.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention is designed specifically for hydrogeological surveys. This solution uses the most advanced quadruped mobile robot technology at present. During measurement, there is no need to build a support platform on site for each measurement well, so measurement can be carried out, saving time, labor, and manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] To more clearly illustrate the background technology or the technical solution of the present invention, the attached drawings used in the prior art or the specific implementation manners are briefly introduced below; obviously, the structures, ratios, sizes, etc. shown in the drawings of the specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementable conditions of the present invention. Therefore, they do not have technical essence. Any modification of the structure, change of the ratio relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0016] Figure 1 It is a schematic structural diagram of a specific implementation manner of the present invention.

[0017] Figure 2 This is a schematic diagram of the step flow of the specific implementation manner of the present invention.

[0018] As shown in the figure: 1. Quadruped mobile robot; 2. Mounting plate; 3. Control terminal; 4. U-shaped seat; 5. Reduction motor; 6. Rotary drum; 7. Signal wire; 8. Bracket; 9. Pulley; 10. Integrated probe. Specific implementation manner

[0019] In order to enable those skilled in the art of the present technology to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative labor shall fall within the protection scope of the present invention.

[0020] At the same time, the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. cited in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention. The change or adjustment of its relative relationship, without substantial change in the technical content, should also be regarded as the scope in which the present invention can be implemented.

[0021] At the same time, in the description of this specification, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0022] Currently, in order to measure the accuracy of data, multiple measurement wells will be drilled. During measurement, multiple measurement wells need to be measured, but the geomorphic forms of each measurement wellhead are different. When measuring, each measurement well needs to build a support platform on-site according to the actual situation, which not only wastes a lot of time but also increases the workload of building the support platform (for example, the patented technology with the application number 202111025973.7 and the name of a hydrogeological measurement device, and the patented technology with the application number 202010486485.5 and the name of a hydrogeological measurement device).

[0023] Therefore, it has become an urgent technical problem in this field to propose a hydrogeological survey device that can improve the measurement efficiency.

[0024] The design concept of this application is to adopt the currently most advanced quadruped mobile robot technology (quadruped mobile robots have advantages such as autonomous movement, no need for a platform, and multi-sensor integration), replacing manual measurement. When measuring, there is no need to build a support platform on-site for each measurement well, and measurement can be carried out, saving time, labor, and manpower.

[0025] As Figure 1-2 shown, this application provides a hydrogeological survey device, including a wireless remote control and a quadruped mobile robot 1 wirelessly connected to the wireless remote control (the communication protocol between the wireless remote control and the control terminal 3 can use Wi-Fi, Bluetooth, LoRa, etc.). The quadruped mobile robot 1 has a load-bearing capacity of ≥20 kg and a lidar environmental perception function; an installation plate 2 is provided on the back of the quadruped mobile robot 1 (the installation plate 2 can be installed on the back of the quadruped mobile robot 1 using bolts, etc.). A control terminal 3, a wire winding mechanism, and a pulley mechanism wirelessly connected to the wireless remote control are provided on the installation plate 2. The control terminal 3 is connected to a signal wire 7. The signal wire 7 sequentially bypasses the wire winding mechanism and the pulley mechanism and is connected to an integrated probe 10, and the integrated probe 10 is used for multi-parameter hydrogeological data acquisition.

[0026] The quadruped mobile robot 1 is recommended to be Unitree Go2. Unitree Go2 is a quadruped mobile robot with high cost performance, and its core includes: ‌Voice AI large model‌: Empowered by the large model GPT, it can understand user instructions and realize various interactive functions; ‌Quadruped bionic design‌: It has good environmental perception ability and terrain adaptation ability; ‌High load-bearing capacity‌: The maximum load can be 20 kg, suitable for carrying heavy objects; ‌Long battery life‌: The standard version has a battery life of about 3 - 5 hours, and the long battery life version can reach 4 - 6 hours; ‌Environmental perception ability: It is equipped with a standard 4D ultra-wide-angle lidar and has good environmental perception ability; Powerful motion performance: The joint performance is improved by 30%, and the maximum torque can reach 45 N·m. It has powerful motion performance and can perform various actions, such as stretching, shaking hands, and making a heart shape, and has good terrain adaptation ability. Whether it is a flat road or some relatively complex terrains, it can walk well.

[0027] Of course, users can also use other models of the quadruped mobile robot 1. For the specific model selection, users can purchase it according to their own circumstances.

[0028] Among them, the wire winding mechanism includes a U-shaped seat 4 arranged at the right end of the mounting plate 2. A speed reduction motor 5 is arranged on the outer side of the U-shaped seat 4. The speed reduction motor 5 is connected with a rotating shaft, and the rotating shaft passes through a bearing embedded in the U-shaped seat 4 and is connected with a rotating cylinder 6. A signal wire 7 is wound around the rotating cylinder 6; the speed reduction motor 5 is connected with the control terminal 3.

[0029] Among them, the pulley mechanism includes a bracket 8 arranged at the left end of the mounting plate 2. A pulley 9 is rotatably arranged on the bracket 8, and the signal wire 7 is wound around the pulley 9.

[0030] The control terminal 3 controls the speed reduction motor 5 to start, the rotating cylinder 6 rotates, the signal wire 7 pays out, the integrated probe 10 extends downward into the measurement well, the integrated probe 10 feeds back the measured information to the control terminal 3, the control terminal 3 transmits the information to the wireless remote controller. After the measurement is completed, the control terminal 3 controls the speed reduction motor 5 to start, the rotating cylinder 6 rotates, and the signal wire 7 winds up.

[0031] This device can also be installed with a signal wire anti-winding mechanism. A tension sensor and a guide wheel group are added to the wire winding mechanism to monitor the tension of the signal wire 7 in real time. With the closed-loop control of the speed reduction motor 5, winding during wire payout / winding-up can be avoided.

[0032] Among them, the integrated probe 10 includes a hydrogeological parameter detection module, and the hydrogeological parameter detection module integrates a pressure sensor, a water level detector, a hole depth detector, a apparent resistivity detector, a pH meter and a dissolved oxygen sensor.

[0033] Among them, a bottom plate is arranged on the back of the quadruped mobile robot 1. An electric rotary table is arranged on the bottom plate, and the electric rotary table is connected with the mounting plate 2; the electric rotary table is connected with the control terminal 3; a visual sensor is arranged on the quadruped mobile robot 1.

[0034] The multi-angle precise positioning of the probe is realized through the electric rotary table (such as 360° rotation + pitch adjustment) to adapt to different wellhead heights and inclination angles.

[0035] Among them, the foot joints of the quadruped mobile robot 1 are configured with harmonic reducers, and anti-slip rubber pads are provided at the foot ends. Anti-slip rubber or serrated metal structures are added to the feet of the quadruped mobile robot 1 to enhance the grip on complex terrains such as muddy and sandy areas; the foot joints of the quadruped mobile robot 1 adopt harmonic reducers, and the maximum torque is increased to 45 N·m. Combined with the path planning algorithm based on the ROS system, it can move stably on slopes with a slope ≤ 30°.

[0036] The quadruped mobile robot 1 is additionally provided with a multi-modal environment perception mechanism. On the basis of the standard lidar, a thermal imaging camera and an ultrasonic sensor are added for precise positioning at night or in narrow wellheads.

[0037] The shell and sensor interface of the quadruped mobile robot 1 are sealed to the IP67 level to adapt to humid and dusty environments.

[0038] The quadruped mobile robot 1 optimizes the control algorithm: 1. Autonomous navigation and path planning Dynamic terrain modeling: Based on visual sensor data (such as lidar point clouds), a three-dimensional topographic map is constructed in real time, and the optimal path is planned through the SLAM algorithm.

[0039] Obstacle avoidance strategy: Introduce a reinforcement learning algorithm to train the quadruped mobile robot to recognize wellhead obstacles (such as gravel and vegetation), and automatically adjust the gait (such as raising the feet and lateral movement).

[0040] 2. Precise control of the probe operation Depth closed-loop control: Through the feedback signal of the hole depth detector, the rotational speed of the reduction motor is adjusted in real time to ensure that the probe is accurately lowered to the target depth at a preset speed (such as 0.5 m / s).

[0041] Multi-sensor collaboration: Design a data fusion algorithm to synchronously process parameters such as pressure, water level, and pH value, automatically verify data consistency, and trigger a retest mechanism in case of anomalies.

[0042] 3. Energy and communication management Low-power mode: In the non-moving state, non-essential sensors are automatically turned off to extend the battery life to more than 6 hours.

[0043] Anti-interference communication protocol: Adopt LoRa wireless transmission technology to ensure stable data transmission with the control terminal 3 in the narrow and deep well environment (such as 50 m underground).

[0044] Among them, the control terminal 3 is built-in with a PID controller to adjust the rotational speed of the reduction motor according to the tension sensor signal; the control terminal is built-in with a PID controller to dynamically adjust the rotational speed of the reduction motor according to the feedback signal of the tension sensor, so that the wire release error of the signal wire 7 is controlled within ±2 cm. The wireless remote controller and the quadruped mobile robot use AES-256 encrypted communication to prevent signal interference or data tampering in the field environment.

[0045] The control terminal 3 runs based on an embedded real-time operating system (RTOS) and includes the following functional modules, Instruction parsing module, which receives the operation instructions of the wireless remote controller (such as starting measurement and adjusting the probe depth), and converts them into control signals; Motor control module, which adjusts the rotational speed of the reduction motor through the PID algorithm to achieve precise wire release / wire retraction of the signal wire; The data acquisition module synchronously reads multi-sensor data (such as pressure, water level, pH value, etc.) of the integrated probe and performs preprocessing (such as filtering and unit conversion); The data transmission module encrypts and transmits the acquired data to the wireless remote controller through the LoRa wireless protocol; The storage management module stores the original data and calibration parameters in the local SD card according to the time stamp in the format of CSV files; The data verification module is used to perform CRC verification on the sensor data; The dual-channel communication module supports the switching between LoRa and Bluetooth protocols.

[0046] The control terminal 3 is built-in with the following exception handling mechanisms: Over-limit protection of the signal line tension. When the tension sensor detects that the pulling force of the signal line exceeds the threshold (such as 50N), the wire release is immediately stopped and an alarm is triggered; Data transmission redundancy. Dual-channel communication is adopted (main channel LoRa + backup channel Bluetooth), and the backup channel is automatically switched when the main channel is interrupted; Data integrity verification. Timestamps and hash values are added to the transmitted data, and retransmission is requested when the verification fails at the receiving end.

[0047] The software logic flow of the control terminal is as follows: Initialize the hardware devices (including the reduction motor, sensors, and communication module); Enter the standby state and continuously listen for instructions from the wireless remote controller; After receiving the'start measurement' instruction, start the path planning algorithm and control the quadruped mobile robot to move to the measurement wellhead; Drive the reduction motor to release the wire through the motor control module and synchronously collect the probe data; The data acquisition module verifies the original data (such as CRC verification), and abnormal data triggers automatic retesting; After passing the verification, the data is stored locally and transmitted to the wireless remote controller in real time; After the measurement is completed, control the motor to wind up the wire and return to the standby state.

[0048] This application provides a measurement method using the described hydrogeological measurement device, including the following steps, 1) The wireless remote controller issues a command to the quadruped mobile robot 1 to find the measurement wellhead and perform measurement. The quadruped mobile robot 1 moves to the measurement well, and the visual sensor scans the surrounding environment. The quadruped mobile robot 1 calculates a suitable measurement position (based on the environmental scan data of the visual sensor, the measurement position is determined through the path planning algorithm of the control terminal); 2) The control terminal 3 controls the reduction motor 5 to start, the signal line 7 is released, and the integrated probe 10 extends down into the measurement well; 3) The integrated probe 10 feeds back the measured information to the control terminal 3, and the control terminal 3 transmits the information to the wireless remote controller; 4) After the measurement is completed, the control terminal 3 controls the reduction motor 5 to start, and the signal line 7 winds up the wire; 5) After the wire winding is completed, the quadruped mobile robot 1 continues to move to find the next measurement wellhead.

[0049] The present invention discloses a multifunctional adaptive hydrogeological measurement device, which combines advanced quadruped mobile robot technology to replace manual measurement, realizes multi-directional accurate positioning of the probe, integrates a detector module to complete multi-parameter integrated measurement, and adapts to different wellhead heights through the action transformation of the quadruped mobile robot; this device solves the problems of cumbersome operation, single function and insufficient stability in the prior art, and significantly improves the efficiency of hydrogeological exploration and the reliability of data.

[0050] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, those of ordinary skill in the art can make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions should all be within the scope of the present invention. / Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A hydrogeological survey device, characterized in that, It includes a wireless remote controller and a quadruped mobile robot wirelessly connected to the wireless remote controller. An installation plate is provided on the back of the quadruped mobile robot. A control terminal, a wire winding mechanism, and a pulley mechanism wirelessly connected to the wireless remote controller are provided on the installation plate. The control terminal is connected with a signal wire, and the signal wire sequentially bypasses the wire winding mechanism and the pulley mechanism and is connected with an integrated probe.

2. The hydrogeological survey device according to claim 1, characterized in that, The wire winding mechanism includes a U-shaped seat arranged at the right end of the installation plate. A reduction motor is arranged on the outer side of the U-shaped seat. The reduction motor is connected with a rotating shaft. The rotating shaft passes through a bearing embedded in the U-shaped seat and is connected with a rotating cylinder. The signal wire is wound around the rotating cylinder.

3. The hydrogeological survey device according to claim 2, characterized in that, The reduction motor is connected with the control terminal.

4. The hydrogeological survey device according to claim 1, characterized in that, The pulley mechanism includes a bracket arranged at the left end of the installation plate. A pulley is rotatably arranged on the bracket, and the signal wire is wound around the pulley.

5. The hydrogeological survey device according to claim 1, characterized in that, The integrated probe integrates a pressure sensor, a water level detector, a hole depth detector, a apparent resistivity detector, a pH meter, and a dissolved oxygen sensor.

6. The hydrogeological survey device according to claim 1, characterized in that, A bottom plate is provided on the back of the quadruped mobile robot. An electric rotating table is provided on the bottom plate. The electric rotating table is connected with the installation plate; the electric rotating table is connected with the control terminal.

7. The hydrogeological survey device according to claim 1, characterized in that, A vision sensor is provided on the quadruped mobile robot.

8. A measurement method using the hydrogeological survey device described in claim 1, characterized in that, It includes the following steps. 1) The wireless remote controller issues an order to the quadruped mobile robot to find and measure the measurement wellhead. The quadruped mobile robot moves to the measurement well. The vision sensor scans the surrounding environment, and the quadruped mobile robot calculates a suitable measurement position. 2) The control terminal controls the reduction motor to start, the signal wire pays out, and the integrated probe extends down into the measurement well. 3) The integrated probe feeds back the measured information to the control terminal, and the control terminal transmits the information to the wireless remote controller. 4) After the measurement is completed, the control terminal controls the reduction motor to start, and the signal wire takes in the wire. 5) After the wire taking-in is completed, the quadruped mobile robot continues to move to find the next measurement wellhead.

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