An underground space unmanned perception detection system and method

Abstract

The application discloses an underground space unmanned sensing and detecting system and method, wherein an unmanned detecting carrier platform acquires underground space surface layer data through a sensing radar holder and a unmanned aerial vehicle; then, the detecting target area is determined and the driving path is planned according to the acquired data; meanwhile, the unmanned detecting carrier platform places self-organizing network relay nodes at different positions through a mechanical arm and in combination with signal strength, so that a self-organizing network is finally formed, and the communication between the unmanned detecting carrier platform and the unmanned aerial vehicle in the underground space is ensured to be normal; when the unmanned detecting carrier platform drives to the target area, a seismic observation system is formed through the laid node type detector, and an active seismic source and a transient electromagnetic detecting device are started respectively, so that the seismic wave data and the transient electromagnetic data of the target area are acquired; the application can realize the sensing modeling of the underground space in an unmanned mode, and can also accurately acquire the detecting data of the whole underground space, thereby being convenient for the subsequent analysis and processing of the underground space data.

Description

Technical Field

[0001] This invention belongs to the field of unmanned underground space detection technology, specifically an unmanned underground space sensing and detection system and method. Background Technology

[0002] Geological structural seismic detection methods typically rely on seismic wave excitation and reception techniques, analyzing the propagation characteristics of seismic waves in the subsurface medium to infer subsurface structures. Existing seismic detection technologies often require complex manual operations, such as manually placing seismic sources and receiving equipment at specific locations, resulting in low efficiency and a high dependence on operator experience. However, in complex subsurface spaces, there may be environments inaccessible to personnel (such as toxic gases, narrow passages, and collapse risks), significantly increasing the difficulty of manually setting up and operating traditional detection equipment, thus limiting the coverage and accuracy of subsurface space seismic detection.

[0003] Currently, robots on the market can replace human labor for tasks, but most have limited functionality and lack stability. Lacking self-organizing network capabilities, robots relying on GPS for positioning and signal transmission struggle to operate in underground spaces; furthermore, existing robots are primarily controlled by humans. Moreover, current robot functions are mostly focused on perceiving the surface environment of the surrounding space, and there are no solutions that combine robotics technology with geophysical exploration. Integrating robots with geophysical exploration also faces numerous difficulties and challenges. In seismic detection, due to limitations in unmanned operation, existing seismic detectors cannot autonomously attach to the sides and roof of underground spaces, limiting seismic detection and hindering comprehensive exploration of the geological structure in all directions of the underground space.

[0004] Therefore, providing a device and method that can achieve unmanned perception and modeling of underground space, and utilize seismic equipment and transient electromagnetic equipment for unmanned signal excitation, reception and processing to obtain more accurate geological structure information, is an important research direction in this industry. Summary of the Invention

[0005] To address the problems existing in the prior art, the present invention provides an unmanned sensing and detection system and method for underground space, which can effectively solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: an unmanned sensing and detection system for underground space, comprising an unmanned detection vehicle platform, a control device, a sensing radar gimbal, a robotic arm, an active seismic source, a nodal detector, a self-organizing network relay node, and a transient electromagnetic detection device.

[0007] The nodal detector, self-organizing network relay node, and transient electromagnetic detection device are all placed on the unmanned detection vehicle platform. The sensing radar gimbal is mounted on the unmanned detection vehicle platform to acquire surrounding environmental data. The robotic arm is mounted on the unmanned detection vehicle platform to place the nodal detector and self-organizing network relay node in the required positions and to move the transient electromagnetic detection device to the required position for transient electromagnetic detection.

[0008] The active seismic source is mounted on an unmanned detection vehicle platform via a rotating mechanism, and is used to generate seismic waves in different directions as needed.

[0009] The control device is connected to the sensing radar pan-tilt unit, nodal geophone, robotic arm, rotating mechanism, and active seismic source. It is used to receive environmental data and seismic wave data fed back by the sensing radar pan-tilt unit and nodal geophone, and to control the movement of the robotic arm and to control the rotating mechanism to adjust the excitation direction of the active seismic source.

[0010] Furthermore, the unmanned detection vehicle platform is equipped with an unmanned aerial vehicle (UAV) field, where UAVs are parked. The UAVs are used to carry sensing devices to sense and acquire data from underground space, and can also carry nodal geophones to the side walls or top of underground space to build an earthquake observation system.

[0011] Furthermore, the unmanned exploration vehicle platform is equipped with mobile tracks on its lower part for movement.

[0012] Furthermore, there are multiple nodal geophones, and the deployment of multiple nodal geophones forms a seismic observation system for receiving seismic wave data excited by active sources.

[0013] Furthermore, the control device has a built-in wireless communication module and multiple self-organizing network relay nodes. After the multiple self-organizing network relay nodes are deployed, they form a self-organizing network, which enables the control device to wirelessly connect with the ground monitoring center through the self-organizing network. The self-organizing network relay nodes have a built-in signal strength detection module, which is used to measure the signal strength at its location and feed it back to the control device. The control device determines the placement position of the self-organizing network relay nodes based on the signal strength.

[0014] Furthermore, the self-organizing network relay node is equipped with a GPS time synchronization module and a high-precision crystal oscillator time synchronization module. When the self-organizing network relay node is within the GPS signal range, it synchronizes its time according to the GPS signal through the GPS time synchronization module; when the self-organizing network relay node is in a satellite denial environment without GPS signal, it synchronizes its time through the high-precision crystal oscillator time synchronization module; by maintaining time synchronization through the above-mentioned time synchronization, the time error is controlled within 2ms within 24 hours, which meets the needs of underground space perception and detection.

[0015] Furthermore, the control device is a high-performance computer.

[0016] The working method of the aforementioned unmanned sensing and detection system for underground space, specifically the following steps:

[0017] Step 1: Unmanned Sensing Modeling and Network Construction in Underground Space: Based on existing underground space data, the unmanned sensing and detection system enters the underground space. During the entry process, self-organizing network relay nodes are deployed according to signal strength to construct a self-organizing network for the underground space, ensuring continuous wireless communication between the ground monitoring center and the control device. Then, the sensing radar gimbal of the unmanned sensing and detection system, together with the UAV, continuously senses the surface data of the underground space (such as space, temperature, humidity, gas, etc.) and feeds it back to the control device to initially form a three-dimensional model of the underground space, providing background data and environmental information for subsequent detection.

[0018] Step 2: Determine the target underground area for detection: Based on the existing underground space data and the three-dimensional model established in Step 1, analyze the possibility of geological anomalies in the surrounding rock of different areas, and confirm the target area to be detected.

[0019] Step 3: Deploy the seismic observation system and acquire transient electromagnetic data: The unmanned sensing and detection system plans a navigation path to reach the target area based on the 3D model and target area; the control device controls the robotic arm to deploy nodal geophones around the target area, and at the same time, the drone is launched to carry the nodal geophones to the top of the underground space in the target area, thus forming a seismic observation system; at the same time, in the target area, the control device controls the robotic arm to grab the transient electromagnetic detection device and move it to the target rock mass, and activate the transient electromagnetic detection device to acquire transient electromagnetic data of the target area;

[0020] Step 4: Unmanned Vector Source Excitation: Move the unmanned sensing and detection system to the location where the seismic wave needs to be excited, and determine the excitation direction of the seismic wave. The control device controls the rotation mechanism to adjust the excitation direction of the active source so that it is aligned with the target rock mass. After completion, the active source excites the seismic wave, and the seismic observation system continuously receives the seismic wave data to complete the detection of the current target area.

[0021] Step 5: Detection equipment recovery: The active seismic source is reset by the rotation mechanism, and the unmanned sensing and detection system is moved to the position of each nodal geophone. The nodal geophones are then recovered to the unmanned detection vehicle platform by the robotic arm.

[0022] Step Six: Continuous Detection of Underground Space: Continue to repeat steps two to five, using the unmanned sensing and detection system to continue detecting different target areas until the detection of the entire underground space is completed; then the unmanned sensing and detection system begins to withdraw from the underground space, and during the withdrawal process, it sequentially retrieves each self-organizing network relay node starting from the position of the self-organizing network relay node farthest from the entrance of the underground space, until all self-organizing network relay nodes are retrieved and the system completely leaves the underground space.

[0023] Furthermore, in step three, the UAV uses wind pressure to adhere to the top plate, coupling the nodal geophone with the surface of the top plate. This ensures the accuracy of the data received by the nodal geophone and realizes a three-dimensional seismic observation system.

[0024] Compared with existing technologies, this invention employs a combination of an unmanned detection vehicle platform, a drone, a sensing radar gimbal, a robotic arm, an active seismic source, a nodal geophone, self-organizing network relay nodes, and a transient electromagnetic detection device. The unmanned detection vehicle platform enters underground space, acquiring surface data via the sensing radar gimbal, while the drone simultaneously acquires surface data for areas inaccessible to the unmanned platform. Based on the acquired data, the target area is determined, and a travel path is planned. During the unmanned platform's entry into underground space, the robotic arm, combined with signal strength analysis, places self-organizing network relay nodes at different locations, ultimately forming a self-organizing network to ensure unmanned detection... Communication between the measurement vehicle platform and the UAV is normal within the underground space. When the unmanned detection vehicle platform travels to the target area, a seismic observation system is formed by deploying nodal geophones. Active seismic sources and transient electromagnetic detection devices are activated to acquire seismic wave data and transient electromagnetic data of the target area. Continuous detection is carried out on different target areas, ultimately completing the overall detection process of the underground space. Based on the above, this invention can achieve underground space perception and modeling in an unmanned manner, and can also use seismic equipment and transient electromagnetic equipment for unmanned signal excitation, reception, and processing, ultimately acquiring overall underground space detection data, which facilitates subsequent analysis and processing of underground space data. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall layout of the present invention;

[0026] Figure 2 This is a schematic diagram of the active seismic source excitation of the present invention;

[0027] Where (a) represents seismic waves generated by the vertical base plate; and (b) represents seismic waves generated by the vertical sidewall.

[0028] Figure 3 This is a schematic diagram of an unmanned aerial vehicle (UAV) carrying a node-type detector flying to a side wall or top plate in this invention.

[0029] In the diagram: 1. Side wall, 2. Top plate, 3. Nodal detector, 4. Sensing radar gimbal, 5. Robotic arm, 6. Mobile track, 7. Unmanned detection vehicle platform, 8. Active seismic source, 9. Unmanned airport, 10. Self-organizing network relay node, 11. Transient electromagnetic detection device. Detailed Implementation

[0030] The present invention will be further described below.

[0031] like Figure 1 As shown, an unmanned sensing and detection system for underground space includes an unmanned detection vehicle platform 7, a control device, a sensing radar gimbal 4, a robotic arm 5, an active seismic source 8, a nodal geophone 3, a self-organizing network relay node 10, and a transient electromagnetic detection device 11; the control device is a high-performance computer.

[0032] The nodal detector 3, the self-organizing network relay node 10, and the transient electromagnetic detection device 11 are all placed on the unmanned detection vehicle platform 7. The sensing radar gimbal 4 is mounted on the unmanned detection vehicle platform 7 to acquire surrounding environmental data. The robotic arm 5 is mounted on the unmanned detection vehicle platform 7 to place the nodal detector 3 and the self-organizing network relay node 10 in the required positions and to move the transient electromagnetic detection device 11 to the required position for transient electromagnetic detection. The unmanned detection vehicle platform 7 is equipped with a mobile track 6 at the bottom for moving the unmanned detection vehicle platform 7. The unmanned detection vehicle platform 7 is equipped with an unmanned aerial vehicle field 9, on which unmanned aerial vehicles are parked. The unmanned aerial vehicles are used to carry sensing devices (such as light-sensing / infrared cameras, lidar, etc.) to sense and acquire data in the underground space. At the same time, they can carry nodal geophones 3 to the side wall 1 or top plate 2 of the underground space to build an earthquake observation system. There are multiple nodal geophones 3. After multiple nodal geophones 3 are deployed, they form an earthquake observation system to receive seismic wave data excited by active sources.

[0033] The active seismic source 8 is mounted on the unmanned detection vehicle platform 7 via a rotating mechanism, and is used to generate seismic waves in different directions as needed; the active seismic source 8 is an unmanned vector-excited high-pressure aerodynamic pulse seismic source.

[0034] The control device is connected to the sensing radar pan-tilt unit 4, the nodal geophone 3, the robotic arm 5, the rotating mechanism, and the active seismic source 8. It receives environmental data and seismic wave data from the sensing radar pan-tilt unit 4 and the nodal geophone 3, controls the movement of the robotic arm 5, and controls the rotating mechanism to adjust the excitation direction of the active seismic source 8. The control device has a built-in wireless communication module and multiple self-organizing network relay nodes 10. These relay nodes form a self-organizing network, enabling the control device to wirelessly connect to the ground monitoring center via the network. Each self-organizing network relay node 10 has a built-in signal strength detection module. The system measures the signal strength at its current location and feeds it back to the control device. The control device determines the placement of the self-organizing network relay node 10 based on the signal strength. The system detects the network signal when the unmanned exploration vehicle platform 7 reaches a turning point in its travel path or after moving a fixed distance. If the signal strength is poor, the unmanned exploration vehicle platform 7 stops and uses the robotic arm 5 to place a self-organizing network relay node 10 on the base plate at its current location to enhance the network connection. Then it continues to travel until a self-organizing network is formed in the underground space, ensuring that the unmanned exploration vehicle platform 7 will not lose connection due to network anomalies during its movement in the underground space.

[0035] As an improvement of the present invention, the self-organizing network relay node 10 is equipped with a GPS time synchronization module and a high-precision crystal oscillator time synchronization module. When the self-organizing network relay node 10 is within the signal range of GPS, it synchronizes time according to the GPS signal through the GPS time synchronization module; when the self-organizing network relay node 10 is in a satellite denial environment without GPS signal, it synchronizes time through the high-precision crystal oscillator time synchronization module; by maintaining time synchronization through the above-mentioned time synchronization, the time error is controlled within 2ms within 24 hours, which meets the needs of underground space perception and detection.

[0036] As another improvement of the present invention, the nodal geophone 3 is a wireless three-component geophone, which can receive seismic signals from different directions in all space via vector. Simultaneously, the nodal geophone 3 is equipped with a GPS time synchronization module and a high-precision crystal oscillator time synchronization module, which can provide accurate time synchronization for different seismic signals. The unmanned detection vehicle platform 7 has front and rear swing arms installed on its moving tracks 6, increasing its ability to traverse rugged terrain.

[0037] The working method of the aforementioned unmanned sensing and detection system for underground space, specifically the following steps:

[0038] Step 1: Unmanned Sensing Modeling and Network Construction in Underground Space: Based on existing underground space data, the unmanned sensing and detection system enters the underground space. During the entry process, self-organizing network relay nodes 10 are deployed according to signal strength to construct a self-organizing network for the underground space, ensuring continuous wireless communication between the ground monitoring center and the control device. Then, the sensing radar gimbal 4 of the unmanned sensing and detection system, together with the UAV, continuously senses the surface data of the underground space (such as space, temperature, humidity, gas, etc.) and feeds it back to the control device to initially form a three-dimensional model of the underground space, providing background data and environmental information for subsequent detection.

[0039] Step 2: Determine the target underground area for detection: Based on the existing underground space data and the three-dimensional model established in Step 1, analyze the possibility of geological anomalies in the surrounding rock of different areas, and confirm the target area to be detected.

[0040] Step 3: Deploying the seismic observation system and acquiring transient electromagnetic data: The unmanned sensing and detection system plans a navigation path to reach the target area based on the 3D model and target area; the control device controls the robotic arm 5 to deploy the nodal geophone 3 around the target area, and at the same time, the drone is launched to carry the nodal geophone 3 to the roof of the underground space in the target area, and uses wind pressure to adhere to the roof 2, so that the nodal geophone 3 is coupled with the surface of the roof 2, thereby forming a three-dimensional seismic observation system; at the same time, in the target area, the control device controls the robotic arm 5 to grab the transient electromagnetic detection device 11 and move it to the target rock mass, and activate the transient electromagnetic detection device 11 to acquire transient electromagnetic data of the target area;

[0041] Step 4: Unmanned Vector Source Excitation: Move the unmanned sensing and detection system to the location where the seismic wave needs to be excited, and determine the excitation direction of the seismic wave. The control device controls the rotation mechanism to adjust the excitation direction of the active source 8 so that it is aligned with the target rock mass. After completion, the active source 8 excites the seismic wave, and the seismic observation system continuously receives the seismic wave data to complete the detection of the current target area.

[0042] Step 5, Detection Equipment Recovery: The active seismic source 8 is reset by the rotation mechanism, and the unmanned sensing and detection system is moved to the position of each nodal geophone 3. The nodal geophone 3 is then recovered to the unmanned detection vehicle platform by the robotic arm 5.

[0043] Step Six: Continuous Detection of Underground Space: Continue to repeat steps two to five, using the unmanned sensing and detection system to continue detecting different target areas until the detection of the entire underground space is completed; then the unmanned sensing and detection system begins to withdraw from the underground space, and during the withdrawal process, it sequentially retrieves each self-organizing network relay node 10 starting from the position of the self-organizing network relay node 10 farthest from the entrance of the underground space, until all self-organizing network relay nodes 10 are retrieved and the system completely leaves the underground space.

[0044] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A working method for an unmanned sensing and detection system for underground space, characterized in that, The detection system includes an unmanned detection vehicle platform, a control device, a sensing radar pan-tilt unit, a robotic arm, an active seismic source, nodal geophones, self-organizing network relay nodes, and a transient electromagnetic detection device. The control device is connected to the sensing radar pan-tilt unit, nodal geophones, robotic arm, rotation mechanism, and active seismic source. It is used to receive environmental data and seismic wave data fed back by the sensing radar pan-tilt unit and nodal geophones, control the movement of the robotic arm, and adjust the excitation direction of the active seismic source using the rotation mechanism. The specific steps of the method are as follows: Step 1: Unmanned Sensing Modeling and Network Construction in Underground Space: Based on existing underground space data, the unmanned sensing and detection system enters the underground space; during the entry process, it deploys self-organizing network relay nodes according to signal strength to build a self-organizing network in the underground space, ensuring continuous wireless communication between the ground monitoring center and the control device; then, the sensing radar gimbal of the unmanned sensing and detection system, together with the UAV, continuously senses the surface data of the underground space and feeds it back to the control device to initially form a three-dimensional model of the underground space. Step 2: Determine the target underground area for detection: Based on the existing underground space data and the three-dimensional model established in Step 1, analyze the possibility of geological anomalies in the surrounding rock of different areas, and confirm the target area to be detected. Step 3: Deploy the seismic observation system and acquire transient electromagnetic data: The unmanned sensing and detection system plans a navigation path to reach the target area based on the 3D model and target area; The control device is used to control the robotic arm to deploy nodal geophones around the target area, and at the same time, the drone is launched to carry the nodal geophones to the top of the underground space in the target area, thus forming a seismic observation system. The drone uses wind pressure to adhere to the roof, coupling the nodal geophone to the roof surface; at the same time, the target area control device controls the robotic arm to grab the transient electromagnetic detection device and move it to the target rock mass, activate the transient electromagnetic detection device, and acquire transient electromagnetic data of the target area. Step 4: Unmanned Vector Source Excitation: Move the unmanned sensing and detection system to the location where the seismic wave needs to be excited, and determine the excitation direction of the seismic wave. The control device controls the rotation mechanism to adjust the excitation direction of the active source so that it is aligned with the target rock mass. After completion, the active source excites the seismic wave, and the seismic observation system continuously receives the seismic wave data to complete the detection of the current target area. Step 5: Detection equipment recovery: The active seismic source is reset by the rotation mechanism, and the unmanned sensing and detection system is moved to the position of each nodal geophone. The nodal geophones are then recovered to the unmanned detection vehicle platform by the robotic arm. Step Six: Continuous Detection of Underground Space: Continue to repeat steps two to five, using the unmanned sensing and detection system to continue detecting different target areas until the detection of the entire underground space is completed; then the unmanned sensing and detection system begins to withdraw from the underground space, and during the withdrawal process, it sequentially retrieves each self-organizing network relay node starting from the position of the self-organizing network relay node farthest from the entrance of the underground space, until all self-organizing network relay nodes are retrieved and the system completely leaves the underground space.

2. The working method of the unmanned sensing and detection system for underground space according to claim 1, characterized in that, The nodal geophones, self-organizing network relay nodes, and transient electromagnetic detection devices are all mounted on an unmanned detection vehicle platform. A sensing radar gimbal is also mounted on the platform to acquire surrounding environmental data. A robotic arm is mounted on the platform to place the nodal geophones and self-organizing network relay nodes in desired locations and to move the transient electromagnetic detection device to the required location for transient electromagnetic detection. The platform is equipped with an unmanned aerial vehicle (UAV) airport where UAVs are parked. These UAVs carry sensing equipment to perceive and acquire data from the underground space and can also carry nodal geophones to the side walls or ceiling of the underground space to construct an earthquake observation system. The active seismic source is mounted on the platform via a rotating mechanism and is used to rotate as needed. The actuator generates seismic waves in different directions. The control device has a built-in wireless communication module and multiple self-organizing network relay nodes. After deployment, these relay nodes form a self-organizing network, enabling the control device to wirelessly connect with the ground monitoring center. Each self-organizing network relay node has a built-in signal strength detection module to measure the signal strength at its location and feed it back to the control device. The control device determines the placement of the relay node based on the signal strength. Each self-organizing network relay node is equipped with a GPS time synchronization module and a high-precision crystal oscillator time synchronization module. When the relay node is within the GPS signal range, it synchronizes time using the GPS time synchronization module based on the GPS signal. When the relay node is in a satellite-denied environment without GPS signal, it synchronizes time using the high-precision crystal oscillator time synchronization module.

3. The working method of the unmanned sensing and detection system for underground space according to claim 1, characterized in that, The unmanned exploration vehicle platform is equipped with mobile tracks on its lower part for movement.

4. The working method of the unmanned sensing and detection system for underground space according to claim 1, characterized in that, The nodal geophones are multiple, and the deployment of multiple nodal geophones forms a seismic observation system for receiving seismic wave data excited by active sources.

5. The working method of the unmanned sensing and detection system for underground space according to claim 1, characterized in that, The control device is a high-performance computer.

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