Automatic positioning and detector pit digging method

Abstract

The invention provides an automatic positioning and geophone pit digging method, and belongs to the technical field of seismic exploration. The problem that an existing detector is low in burying and pit digging efficiency is solved. According to the automatic positioning and geophone pit digging method, in a seismic exploration area, a high-precision grid map is generated in an unmanned aerial vehicle surveying and mapping mode; according to the target body grid map and seismic exploration precision requirements, constructing detector embedding point locations, obtaining embedding coordinates of each detector and forming a detector distribution map, and then planning a travel route of the unmanned hole digging vehicle; setting the pit digging depth of the unmanned pit digging vehicle according to the category and characteristics of the site covering layer of the seismic exploration area; and the advancing route, the detector embedding coordinates and the digging depth are imported into a control program of the unmanned digging vehicle, and the unmanned digging vehicle is controlled to advance according to the input data and sequentially dig pits. Compared with manual pit digging, the unmanned mechanical pit digging equipment with the structure can realize all-weather work, time and labor cost can be greatly reduced, and pit digging quality and efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of seismic exploration, in particular to an automatic positioning and geophone pit digging method. Background Art

[0002] With the advancement of seismic exploration and acquisition technology and the upgrading of geophone equipment, node-based geophone acquisition systems have gradually become the primary method for collecting seismic data. To ensure data quality during seismic exploration in desert and Gobi areas, geophones must be buried in surface pits dug. Traditionally, geophone placement and range are determined using GPS on-site positioning within the target area. Pit holes are then dug manually with shovels, the geophones placed, and compacted. Shallow 3D seismic surveys typically cover areas exceeding 1 square kilometer, with geophone spacing of 5 to 10 meters and a density of 9,801 to 39,601 geophones per square kilometer. This operating model requires significant time for initial geophone deployment and pit digging, and requires numerous personnel to ensure adequate preparation for the exploration.

[0003] The China Patent Network currently discloses a four-wheel tractor-mounted digging machine [Authorization Announcement No.: CN204738335U], which includes a connecting rod joint, a frame, a positioning clip, a motor component, connecting bolts, an auger bit, a hinged joint, an automatic shaft, a support frame, and a control switch. The frame is provided with the connecting rod joint and the support frame; the automatic shaft is connected to the frame via a hinged joint; the motor component is connected to the frame via a positioning clip; the auger bit is connected to the frame via connecting bolts; and a control switch is provided on the top of the digging machine.

[0004] The above-mentioned four-wheel tractor carrying digging machine has the following defects: it does not have an automatic positioning function, and digging requires additional manual participation, which has limited improvement in the efficiency of fixed-point burial of seismic exploration detectors. Summary of the Invention

[0005] The purpose of the present invention is to address the above-mentioned problems in the existing technology and propose an automated positioning and detector digging method. The technical problem to be solved by the present invention is: how to solve the problem of low efficiency of existing detector burial digging.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] An automated positioning and geophone digging method comprises the following steps, characterized in that:

[0008] Step 1: Generate a high-precision raster map in the seismic exploration area through drone mapping;

[0009] Step 2: Based on the target volume grid map and seismic exploration accuracy requirements, construct the geophone burial points, obtain the burial coordinates of each geophone and form a geophone distribution map, and then plan the route of the unmanned excavator;

[0010] Step 3: Set the digging depth of the unmanned excavator according to the site cover type and characteristics of the seismic exploration area;

[0011] Step 4: Import the route, detector burial coordinates and digging depth into the control program of the unmanned digging vehicle, and control the unmanned digging vehicle to move according to the input data and dig holes in sequence.

[0012] This method utilizes high-precision surface grid maps measured by drone aerial survey technology, giving the system the advantage of efficient and high-precision positioning. By combining high-precision positioning, pit digging, and pit bottom compaction technologies, a standardized and uniform detector burial pit is formed throughout the entire site, improving the overall geophysical interpretation coupling effect. With a detector density of tens of thousands per square kilometer, unmanned mechanical pit digging equipment can work around the clock compared to manual digging, significantly reducing time and labor costs and improving digging quality and efficiency.

[0013] In the above-mentioned automated positioning and detector pit digging method, in the above-mentioned step 1, a rectangular detector burying area is planned in the seismic exploration area, and a plurality of detector burying points are constructed in the detector burying area, and all the detector burying points are distributed in a matrix.

[0014] In the above-mentioned automated positioning and detector digging method, the unmanned digging vehicle includes a drilling assembly and a compacting assembly arranged at the front end of the unmanned digging vehicle, the front end of the unmanned digging vehicle has a guide rod arranged vertically, a slider is slidably arranged on the guide rod, the unmanned digging vehicle is provided with a cylinder 1 for driving the slider to slide vertically, the slider is provided with a mounting seat that can slide horizontally, the unmanned digging vehicle is provided with a cylinder 2 for driving the mounting seat to slide horizontally, the drilling assembly is slidably arranged on the mounting seat, the side of the mounting seat is provided with a support that can slide vertically, the mounting seat is provided with a cylinder 3 for driving the support to slide vertically, the compacting assembly is arranged on the support, and when the cylinder 2 is actuated, the compacting assembly can move to the position of the drilling assembly.

[0015] When the unmanned excavator is working, the oil cylinder drives the slider to move downward, and the slider moves downward, drives the mounting seat to move downward, and drives the drilling assembly to move downward. The drilling assembly performs drilling operation at the detector burying point. After the drilling is completed, the oil cylinder drives the slider to move upward and drives the drilling assembly to move upward. A hole is drilled at the detector burying point. At this time, the oil cylinder drives the mounting seat to move horizontally, and the mounting seat drives the support to move horizontally, so that the compaction assembly on the support moves to the position of the original drilling assembly. The oil cylinder drives the support to slide downward relative to the mounting seat, and then drives the compaction assembly on the support to move downward. The compaction assembly compacts the hole, so that the hole forms a complete, regular hole that is convenient for the detector to be fully placed, ensuring that the depth of each detector placement hole is uniform, the error is small, and the compaction degree is consistent, thereby improving the overall geophysical interpretation coupling effect.

[0016] In the above-mentioned automated positioning and geophone digging method, the drilling assembly includes a drill bit mounted on a mounting base and a motor for driving the drill bit to rotate. The compacting assembly includes a cylinder 4 mounted on a support. The lower end of the piston rod of the cylinder 4 is provided with a compacting head. The compacting head is cylindrical, has an outer diameter identical to that of the drill bit, and has a hemispherical compacting portion at its lower end. When the motor drives the drill bit to rotate, the drill bit is able to drill a hole in the exploration area. When the cylinder 3 drives the support to slide downward relative to the mounting base, and the support descends to a certain height, the cylinder 4 drives the compacting head into the hole, and the hemispherical compacting portion presses against the bottom of the hole, facilitating the compaction operation of the bottom of the hole. The outer peripheral surface of the compacting head also modifies the inner wall of the hole, making the inner wall of the hole smoother and facilitating the insertion of the geophone.

[0017] In the aforementioned automated positioning and geophone digging method, a threaded hole is formed on the upper end surface of the compacting head, and the lower end of the piston rod of the oil cylinder 4 is threadedly connected to the threaded hole. Because the compacting head is used for compaction operations, the end of the compacting head is susceptible to wear or damage. The connection method between the compacting head and the piston rod facilitates installation and removal of the compacting head from the piston rod. The compacting head can also be replaced according to the size of the drill bit. Different drill bits with different outer diameters require compacting heads with the same outer diameter.

[0018] In the above-mentioned automated positioning and detector digging method, the upper end of the drill bit has a cylindrical assembly part, the drill bit has a hollow cavity arranged along its axial direction, the hollow cavity extends into the assembly part, the lower end of the hollow cavity extends to the lower end of the drill bit, a bearing sleeve is fixed on the mounting seat, the assembly part is passed through the bearing sleeve, the upper end of the bearing sleeve has an upper bearing chamber, the upper bearing chamber is provided with an upper bearing sleeved on the assembly part, the lower end of the bearing sleeve has a lower bearing chamber, the lower bearing chamber is provided with a lower bearing sleeved on the assembly part, the upper bearing chamber and the lower bearing chamber are connected to each other. There is a flow chamber between the bearing chambers, and a water inlet hole and a water outlet hole connected to the flow chamber are provided on the outer circumferential surface of the bearing sleeve. The assembly part has a reduced diameter part located in the flow chamber, and a water inlet hole two connecting the flow chamber and the hollow cavity is provided on the outer circumferential surface of the reduced diameter part. A water outlet hole two connecting the hollow cavity is provided on the outer circumferential surface of the lower end of the drill bit; the unmanned digging vehicle is provided with a water pump and a water tank, the water inlet hole one is connected to a water inlet pipe, and the water outlet hole one is provided with a water outlet pipe, the water inlet end of the water pump is connected to the water tank, the water outlet end of the water pump is connected to the water inlet pipe, and one end of the water outlet pipe is connected to the water tank.

[0019] Since the drill bit easily heats up during the drilling process, it is easy to be damaged if the drill bit is not cooled down in time. The present structure realizes water cooling and cooling of the drill bit throughout the operation of the drill bit. Specifically, the water pump draws water from the water tank and flows it into the water inlet pipe. The water in the water inlet pipe enters the flow chamber. The water in the flow chamber enters the hollow cavity through the second water inlet hole, that is, the water flows from the upper end of the drill bit to the lower end of the drill bit, and part of the water flows out from the second water outlet hole. In this process, the entire drill bit is cooled down, ensuring that the drill bit is not easily damaged and extending the service life of the drill bit. In addition, the second water outlet hole is arranged at the lower end of the drill bit. Therefore, during the drilling process, water continuously flows out from the lower end of the drill bit. The water can soften the soil or soil around the drill bit, making the drilling operation of the drill bit smoother, reducing damage to the drill bit and extending the service life of the drill bit. In addition, part of the water in the flow chamber flows from the first water outlet hole into the water outlet pipe and then flows back to the water tank. This process enables the water to be continuously recycled. The drill bit is rotatably connected to the bearing sleeve through the upper bearing and the lower bearing, and the bearing sleeve is fixed on the mounting seat, that is, when the motor drives the drill bit to rotate, the bearing sleeve is stationary. The design of the reduced diameter part increases the volume of the flow chamber, so that the flow chamber can accommodate water as much as possible, ensuring that the water in the flow chamber can flow into the hollow cavity. The reduced diameter part is completely located in the flow chamber, and the rotation of the reduced diameter part does not affect the water in the flow chamber from entering the hollow cavity.

[0020] In the above-mentioned automated positioning and detector digging method, an annular sealing cavity is provided below the upper bearing and above the lower bearing, and a fixed sealing block, a sealing ring and a dynamic sealing block are arranged in the sealing cavity. The sealing ring is arranged between the fixed sealing block and the dynamic sealing block, and the fixed sealing block and the dynamic sealing block are both clamped in the middle of the sealing ring. The outer peripheral surface of the sealing ring is in contact with the inner peripheral surface of the sealing cavity, and the inner peripheral surface of the sealing ring is in contact with the outer peripheral surface of the assembly part. A pressure hole connected to the flow chamber is provided on the bottom surface of the sealing cavity, and the dynamic sealing block is arranged in contact with the pressure hole. After the water pump sends water into the flow chamber, the water in the flow chamber is high-pressure water. The high-pressure water enters the pressure hole and acts on the dynamic sealing block. The high-pressure water pushes the dynamic sealing block, causing the fixed sealing block and the dynamic sealing block to clamp the sealing ring, thereby causing the sealing ring to deform to a certain extent, that is, the sealing ring is flattened to a certain extent, so that the outer circumference of the sealing ring and the inner circumference of the sealing cavity fit more closely, and the inner circumference of the sealing ring and the outer circumference of the assembly part fit more closely, thereby improving the sealing effect of the sealing ring and preventing water from entering the bearing chamber and causing damage to the bearing.

[0021] In the above-mentioned automated positioning and detector digging method, the middle part of the sealing ring is an annular sealing body, the inner side of the sealing body has an annular inner sealing body, and the outer side has an annular outer sealing body, the thickness of the inner sealing body gradually increases from the inside to the outside, and the thickness of the outer sealing body gradually increases from the outside to the inside, the end faces of the inner sealing body and the outer sealing body are both arc surfaces, and the upper surface and lower surface of the sealing body both have an annular pressing part, the end of one pressing part abuts against the fixed sealing block, and the end of the other pressing part abuts against the dynamic sealing block. After high-pressure water acts on the dynamic sealing block, the dynamic sealing block and the fixed sealing block clamp the sealing ring, that is, the dynamic sealing block and the fixed sealing block both squeeze the pressing part, and the pressing part is squeezed and then transmitted to the sealing body, causing the sealing body to deform slightly, mainly producing a deformation trend of flattening, so that the inner side of the sealing body extends inward and the outer side extends outward, so that the arc surface of the end of the inner sealing body and the arc surface of the end of the outer sealing body are respectively fitted more closely with their respective sealing surfaces. The sealing ring shape design of this structure makes the sealing ring more deformed and transfers the deformation to the inner sealing body and the outer sealing body, so that the inner sealing body deforms and extends inward, and the outer sealing body deforms and extends outward, thereby improving the sealing effect.

[0022] In the above-mentioned automated positioning and geophone pit digging method, the inner circumference of the bearing sleeve has an annular upper flange and an annular lower flange, a flow chamber is formed between the upper and lower flanges, the outer circumferences of the upper and lower flanges are both in contact with the outer circumference of the assembly portion, and the upper and lower flanges are both provided with pressure holes, a plurality of which are spaced circumferentially. The outer circumferences of the upper and lower flanges are in contact with the outer circumference of the assembly portion to form a sealing structure. This structure allows water in the flow chamber to act on the dynamic seal block only through the pressure holes. The circumferential spacing of all pressure holes ensures that the dynamic seal block is uniformly stressed at all circumferential locations, thereby ensuring that all circumferential locations of the sealing ring can also undergo stable deformation.

[0023] Compared with the existing technology, the automated positioning and detector digging method of the present invention has the following advantages: this method utilizes the high-precision grid map of the surface measured by drone aerial survey technology, giving the system the advantage of efficient and high-precision positioning; combining high-precision positioning, digging and pit bottom compaction technologies to form standard and unified detector burial pits for the entire site, improving the overall geophysical interpretation coupling effect; at a detector layout density of tens of thousands per square kilometer, unmanned mechanical digging equipment can achieve all-weather operation compared to manual digging, which can greatly reduce time and labor costs and improve digging quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flow chart of the present invention.

[0025] Figure 2 It is a schematic diagram of the distribution of the buried points of the detectors of the present invention.

[0026] Figure 3 This is one of the three-dimensional structural schematic diagrams of the unmanned digging vehicle of the present invention.

[0027] Figure 4 This is the second schematic diagram of the three-dimensional structure of the unmanned pit digging vehicle of the present invention.

[0028] Figure 5 It is a schematic diagram of the cross-sectional structure of the compacting head of the present invention.

[0029] Figure 6 It is a schematic diagram of the local three-dimensional structure of the present invention.

[0030] Figure 7 It is a partial cross-sectional structural schematic diagram of the present invention.

[0031] Figure 8 yes Figure 7 Schematic diagram of the enlarged structure of part A in the middle.

[0032] In the figure, 1. Unmanned excavator; 2. Drilling assembly; 20. Drill bit; 200. Assembly part; 201. Hollow cavity; 202. Water inlet hole 2; 203. Reducing part; 21. Motor; 22. Water outlet pipe; 28. Water outlet hole 2; 3. Compacting assembly; 30. Oil cylinder 4; 31. Compacting head; 310. Hemispherical compacting part; 311. Threaded hole; 4. Guide rod; 5. Slider; 6. Oil cylinder 1; 7. Mounting seat; 8. Support; 9. Oil cylinder 2; 10. Oil cylinder 3; 11. Bearing Sleeve; 110, water inlet hole 1; 111, water outlet hole 1; 12, upper bearing chamber; 13, upper bearing; 14, lower bearing chamber; 15, lower bearing; 16, flow chamber; 17, water pump; 18, water tank; 19, water inlet pipe; 23, sealing chamber; 24, fixed sealing block; 25, sealing ring; 250, sealing body; 251, inner sealing body; 252, outer sealing body; 253, pressing part; 26, dynamic sealing block; 27, pressure hole; 112, upper flange; 113, lower flange. DETAILED DESCRIPTION

[0033] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0034] like Figure 1 and Figure 2 As shown, an automatic positioning and detector digging method includes the following steps:

[0035] Step 1: Generate a high-precision raster map in the seismic exploration area through drone mapping;

[0036] Step 2: Based on the target volume grid map and seismic exploration accuracy requirements, construct the geophone burial points, obtain the burial coordinates of each geophone and form a geophone distribution map, and then plan the route of the unmanned excavator 1;

[0037] Step 3: setting the digging depth of the unmanned digging vehicle 1 according to the site cover type and characteristics of the seismic exploration area;

[0038] Step 4: Import the travel route, detector burial coordinates and digging depth into the control program of the unmanned digging vehicle 1, and control the unmanned digging vehicle 1 to move according to the input data and dig holes in sequence.

[0039] In the above step 1, a rectangular geophone burying area is planned in the seismic exploration area, and a number of geophone burying points are constructed in the geophone burying area. All geophone burying points are distributed in a matrix.

[0040] like Figures 3 to 8As shown, the unmanned digging vehicle 1 includes a drilling assembly 2 and a compacting assembly 3 arranged at the front end of the unmanned digging vehicle 1. The front end of the unmanned digging vehicle 1 has a guide rod 4 arranged vertically, and a slider 5 is slidably arranged on the guide rod 4. The unmanned digging vehicle 1 is provided with a cylinder 1 6 for driving the slider 5 to slide vertically, and the slider 5 is provided with a mounting seat 7 that can slide horizontally. The unmanned digging vehicle 1 is provided with a cylinder 2 9 for driving the mounting seat 7 to slide horizontally. The drilling assembly 2 is slidably arranged on the mounting seat 7, and a support 8 that can slide vertically is provided on the side of the mounting seat 7. The support 8 is connected to the mounting seat 7, and the support 8 can slide vertically relative to the mounting seat 7. The mounting seat 7 is provided with a cylinder 3 10 for driving the support 8 to slide vertically. The compacting assembly 3 is arranged on the support 8. When the cylinder 2 9 is actuated, the compacting assembly 3 can move to the position of the drilling assembly 2. When the unmanned excavator is working, the oil cylinder 1 6 drives the slider 5 to move downward, and the slider 5 moves downward, and the mounting seat 7 moves downward. After the mounting seat 7 moves downward, the drilling assembly 2 moves downward, and the drilling assembly 2 performs a drilling operation at the detector burying point. After the drilling is completed, the oil cylinder 1 6 drives the slider 5 to move upward, thereby driving the drilling assembly 2 to move upward, and a hole is drilled at the detector burying point. At this time, the oil cylinder 2 9 drives the mounting seat 7 to move horizontally, and the mounting seat 7 drives the support 8 to move horizontally, so that the compacting assembly 3 on the support 8 moves to the position of the original drilling assembly 2, and the oil cylinder 3 10 drives the support 8 to slide downward relative to the mounting seat 7, thereby driving the compacting assembly 3 on the support 8 to move downward, and the compacting assembly 3 compacts the hole, so that the hole forms a complete, regular hole that is convenient for the detector to be fully placed, ensuring that the depth of each detector placement hole is uniform, the error is small, and the compaction degree is consistent, thereby improving the overall geophysical interpretation coupling effect.

[0041] like Figure 3 As shown, the drilling assembly 2 includes a drill bit 20 mounted on a mounting base 7 and a motor 21 for driving the drill bit 20. The compacting assembly 3 includes a cylinder 24 30 mounted on a support 8. A compacting head 31 is provided at the lower end of the piston rod of the cylinder 24 30. The compacting head 31 is cylindrical, with an outer diameter identical to that of the drill bit 20. The lower end of the compacting head 31 has a hemispherical compacting portion 310. When the motor 21 drives the drill bit 20 to rotate, the drill bit 20 is able to drill a hole in the exploration area. When the cylinder 3 10 drives the support 8 to slide downward relative to the mounting base 7 and the support 8 descends to a certain height, the cylinder 30 drives the compacting head 31 into the hole, where the hemispherical compacting portion 310 presses against the bottom of the hole, facilitating compaction. Furthermore, the outer circumference of the compacting head 31 also modifies the inner wall of the hole, making it smoother and facilitating the placement of a geophone.

[0042] like Figure 5As shown, the upper end surface of the compacting head 31 is provided with a threaded hole 311, into which the lower end of the piston rod of the oil cylinder 20 is threadedly connected. Since the compacting head 31 is used for compaction operations, the end of the compacting head 31 is susceptible to wear or damage. The connection method between the compacting head 31 and the piston rod facilitates installation and removal of the compacting head 31 from the piston rod. The compacting head 31 can also be replaced according to the size of the drill bit 20. Different drill bits 20 with different outer diameters require compacting heads 31 with the same outer diameter.

[0043] like Figure 6 、 Figure 7 and Figure 8As shown, the upper end of the drill bit 20 has a cylindrical assembly portion 200, and the drill bit 20 has a hollow cavity 201 arranged along its axial direction. The hollow cavity 201 extends into the assembly portion 200, and the lower end of the hollow cavity 201 extends to the lower end of the drill bit 20. A bearing sleeve 11 is fixed on the mounting seat 7, and the assembly portion 200 is passed through the bearing sleeve 11. The upper end of the bearing sleeve 11 has an upper bearing chamber 12, and the upper bearing chamber 12 is provided with an upper bearing 13 sleeved on the assembly portion 200. The lower end of the bearing sleeve 11 has a lower bearing chamber 14, and the lower bearing chamber 14 is provided with a lower bearing 15 sleeved on the assembly portion 200. A flow chamber 16 is provided between the upper bearing chamber 12 and the lower bearing chamber 14. The outer circumference of the sleeve 11 is provided with a water inlet hole 110 and a water outlet hole 111, which communicate with the flow chamber 16. The assembly portion 200 has a reduced diameter portion 203 located within the flow chamber 16. The outer circumference of the reduced diameter portion 203 is provided with a water inlet hole 202, which communicates with the flow chamber 16 and the hollow cavity 201. The outer circumference of the lower end of the drill bit 20 is provided with a water outlet hole 28, which communicates with the hollow cavity 201. The unmanned excavating vehicle 1 is provided with a water pump 17 and a water tank 18. The water inlet hole 110 is connected to a water inlet pipe 19, and the water outlet hole 111 is provided with a water outlet pipe 22. The water inlet end of the water pump 17 is connected to the water tank 18, the water outlet end of the water pump 17 is connected to the water inlet pipe 19, and one end of the water outlet pipe 22 is connected to the water tank 18. Since the drill bit 20 easily heats up during drilling, it is easily damaged if it is not cooled in time. This structure realizes full water cooling of the drill bit 20 during the operation of the drill bit 20. Specifically, the water pump 17 pumps the water in the water tank 18 and flows it into the water inlet pipe 19. The water in the water inlet pipe 19 enters the flow chamber 16. The water in the flow chamber 16 enters the hollow cavity 201 through the second water inlet hole 202. That is, the water flows from the upper end of the drill bit 20 to the lower end of the drill bit 20, and part of the water flows out from the second water outlet hole 28. In this process, the entire drill bit 20 is cooled to ensure that the drill bit 20 is not easily damaged. In addition, the second water outlet hole 28 is arranged at the lower end of the drill bit 20. Therefore, during the drilling process of the drill bit 20, water continuously flows out from the lower end of the drill bit 20. The water can soften the soil or soil around the drill bit 20, making the drilling operation of the drill bit 20 smoother, reducing the damage to the drill bit 20 and extending the service life of the drill bit 20. In addition, part of the water in the flow chamber 16 flows into the water outlet pipe from the first water outlet hole 111, and then flows back to the water tank 18. This process enables the water to be continuously recycled.The drill bit 20 is rotatably connected to the bearing sleeve 11 through the upper bearing 13 and the lower bearing 14, and the bearing sleeve 11 is fixed on the mounting seat 7, that is, when the motor 21 drives the drill bit 20 to rotate, the bearing sleeve 11 is stationary. The design of the reduced diameter portion 203 increases the volume of the flow chamber 16, so that the flow chamber 16 can accommodate as much water as possible, ensuring that the water in the flow chamber 16 can flow into the hollow cavity 201. The reduced diameter portion 203 is completely located in the flow chamber 16, and the rotation of the reduced diameter portion 203 does not affect the water in the flow chamber 16 from entering the hollow cavity 201.

[0044] like Figure 7 and Figure 8 As shown, an annular sealing cavity 23 is provided below the upper bearing 13 and above the lower bearing 15. A fixed sealing block 24, a sealing ring 25 and a dynamic sealing block 26 are arranged in the sealing cavity 23. The sealing ring 25 is arranged between the fixed sealing block 24 and the dynamic sealing block 26. The fixed sealing block 24 and the dynamic sealing block 26 are both clamped in the middle of the sealing ring 25. The outer peripheral surface of the sealing ring 25 fits with the inner peripheral surface of the sealing cavity 23, and the inner peripheral surface of the sealing ring 25 fits with the outer peripheral surface of the assembly part 200. A pressure hole 27 connected to the flow chamber 16 is opened on the bottom surface of the sealing cavity 23, and the dynamic sealing block 26 is arranged in contact with the pressure hole 27. The middle part of the sealing ring 25 is an annular sealing body 250, the inner side of the sealing body 250 has an annular inner sealing body 251, and the outer side has an annular outer sealing body 252. The thickness of the inner sealing body 251 gradually increases from the inside to the outside, and the thickness of the outer sealing body 252 gradually increases from the outside to the inside. The end faces of the inner sealing body 251 and the outer sealing body 252 are both arc surfaces. The upper surface and lower surface of the sealing body 250 both have an annular pressing portion 253, the end of one pressing portion 253 abuts against the fixed sealing block 24, and the end of the other pressing portion 253 abuts against the dynamic sealing block 26. After high-pressure water acts on the dynamic sealing block 26, the dynamic sealing block 26 and the fixed sealing block 24 clamp the sealing ring 25, that is, the dynamic sealing block 26 and the fixed sealing block 24 both squeeze the pressing part 253, and the pressing part 253 is squeezed and then transmitted to the sealing body 250, causing the sealing body 250 to deform slightly, mainly producing a deformation trend of flattening, so that the inner side of the sealing body 250 extends inward and the outer side extends outward, so that the arc surface of the end of the inner sealing body 251 and the arc surface of the end of the outer sealing body 252 are respectively more closely fitted with their respective sealing surfaces. The shape design of the sealing ring 25 of this structure makes the sealing ring 25 more deformed and transfers the deformation to the inner sealing body 251 and the outer sealing body 252, so that the inner sealing body 251 deforms and extends inward, and the outer sealing body 252 deforms and extends outward, thereby improving the sealing effect.

[0045] like Figure 7 and Figure 8As shown, the inner circumference of the bearing sleeve 11 includes an annular upper flange 112 and an annular lower flange 113. A flow chamber 16 is formed between the upper and lower flanges 112, 113. The outer circumferences of the upper and lower flanges 112, 113 are in contact with the outer circumference of the assembly portion 200. Both the upper and lower flanges 112, 113 are provided with pressure holes 27. There are multiple pressure holes 27, all spaced circumferentially. The outer circumferences of the upper and lower flanges 112, 113 are in contact with the outer circumference of the assembly portion 200, forming a sealing structure. This structure allows water in the flow chamber 16 to act on the dynamic seal block 26 only through the pressure holes 27. The circumferential spacing of the pressure holes 27 ensures that the dynamic seal block 26 is uniformly stressed at all circumferential locations, thereby ensuring that all circumferential locations of the seal ring 25 can also undergo stable deformation.

[0046] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope of the appended claims.

Claims

1. An automated positioning and geophone digging method comprising the following steps, characterized in that: Step 1: Generate a high-precision raster map in the seismic exploration area through drone mapping; Step 2: Based on the target volume grid map and seismic exploration accuracy requirements, construct the detector burial points, obtain the burial coordinates of each detector and form a detector distribution map, and then plan the route of the unmanned excavator (1); Step 3: setting the digging depth of the unmanned digging vehicle (1) according to the site cover type and characteristics of the seismic exploration area; Step 4: Import the travel route, detector burial coordinates and digging depth into the control program of the unmanned digging vehicle (1), and control the unmanned digging vehicle (1) to travel according to the input data and dig holes in sequence.

2. The automated positioning and geophone digging method according to claim 1, characterized in that: In the above step 1, a rectangular geophone burying area is planned in the seismic exploration area, and a number of geophone burying points are constructed in the geophone burying area. All geophone burying points are distributed in a matrix.

3. The automated positioning and geophone digging method according to claim 1, characterized in that: The unmanned pit digging vehicle (1) comprises a drilling assembly (2) and a compacting assembly (3) arranged at the front end of the unmanned pit digging vehicle (1); the front end of the unmanned pit digging vehicle (1) has a guide rod (4) arranged vertically, a slider (5) is slidably arranged on the guide rod (4), and the unmanned pit digging vehicle (1) is provided with an oil cylinder (6) for driving the slider (5) to slide vertically, and a mounting seat (7) capable of sliding horizontally is provided on the slider (5). A second oil cylinder (9) is provided for driving the mounting seat (7) to slide in the transverse direction. The drilling assembly (2) is slidably provided on the mounting seat (7). A support (8) capable of sliding in the vertical direction is provided on the side of the mounting seat (7). A third oil cylinder (10) is provided on the mounting seat (7) for driving the support (8) to slide in the vertical direction. The compacting assembly (3) is provided on the support (8). When the second oil cylinder (9) is actuated, the compacting assembly (3) can move to the position of the drilling assembly (2).

4. The automated positioning and geophone digging method according to claim 3, characterized in that: The drilling assembly (2) includes a drill bit (20) arranged on a mounting seat (7) and a motor (21) for driving the drill bit (20) to rotate. The compacting assembly (3) includes a cylinder (30) arranged on a support (8). A compacting head (31) is provided at the lower end of the piston rod of the cylinder (30). The compacting head (31) is cylindrical, and the outer diameter of the compacting head (31) is the same as the outer diameter of the drill bit (20). The lower end of the compacting head (31) has a hemispherical compacting portion (310).

5. The automated positioning and geophone digging method according to claim 4, characterized in that: The upper end surface of the compacting head (31) is provided with a threaded hole (311), and the lower end of the piston rod of the oil cylinder (30) is threadedly connected to the threaded hole (311).

6. The automated positioning and geophone digging method according to claim 4, characterized in that: The upper end of the drill bit (20) has a cylindrical assembly portion (200), the drill bit (20) has a hollow cavity (201) arranged along its axial direction, the hollow cavity (201) extends into the assembly portion (200), the lower end of the hollow cavity (201) extends to the lower end of the drill bit (20), a bearing sleeve (11) is fixed on the mounting seat (7), the assembly portion (200) is inserted into the bearing sleeve (11), and the bearing The upper end of the sleeve (11) has an upper bearing chamber (12), in which an upper bearing (13) sleeved on the assembly portion (200) is arranged. The lower end of the bearing sleeve (11) has a lower bearing chamber (14), in which a lower bearing (15) sleeved on the assembly portion (200) is arranged. A flow chamber (16) is provided between the upper bearing chamber (12) and the lower bearing chamber (14). The outer circumference of the sleeve (11) is provided with a water inlet hole (110) and a water outlet hole (111) communicating with the flow chamber (16); the assembly portion (200) has a reduced diameter portion (203) located in the flow chamber (16); the outer circumference of the reduced diameter portion (203) is provided with a water inlet hole (202) communicating with the flow chamber (16) and the hollow cavity (201); the outer circumference of the lower end of the drill bit (20) is provided with a water outlet hole (202) communicating with the hollow cavity (201); ) of the water outlet hole 2 (21); the unmanned digging vehicle (1) is provided with a water pump (17) and a water tank (18), the water inlet hole 1 (110) is connected to a water inlet pipe (19), the water outlet hole 1 (111) is provided with a water outlet pipe (22), the water inlet end of the water pump (17) is connected to the water tank (18), the water outlet end of the water pump (17) is connected to the water inlet pipe (19), and one end of the water outlet pipe (22) is connected to the water tank (18).

7. The automated positioning and geophone digging method according to claim 6, characterized in that: An annular sealing cavity (23) is provided below the upper bearing (13) and above the lower bearing (15). A fixed sealing block (24), a sealing ring (25) and a dynamic sealing block (26) are provided in the sealing cavity (23). The sealing ring (25) is provided between the fixed sealing block (24) and the dynamic sealing block (26). The fixed sealing block (24) and the dynamic sealing block (26) are both clamped in the middle of the sealing ring (25). The outer peripheral surface of the sealing ring (25) is in contact with the inner peripheral surface of the sealing cavity (23). The inner peripheral surface of the sealing ring (25) is in contact with the outer peripheral surface of the assembly portion (200). A pressure hole (27) communicating with the flow chamber (16) is provided on the bottom surface of the sealing cavity (23). The dynamic sealing block (26) is provided in contact with the pressure hole (27).

8. The automated positioning and geophone digging method according to claim 7, characterized in that: The middle part of the sealing ring (25) is an annular sealing body (250), the inner side of the sealing body (250) has an annular inner sealing body (251), and the outer side has an annular outer sealing body (252), the thickness of the inner sealing body (251) gradually increases from the inside to the outside, and the thickness of the outer sealing body (252) gradually increases from the outside to the inside, the end face of the inner sealing body (251) and the end face of the outer sealing body (252) are both arc surfaces, and the upper surface and lower surface of the sealing body (250) both have an annular pressing portion (253), the end of one pressing portion (253) abuts against the fixed sealing block (24), and the end of the other pressing portion (253) abuts against the dynamic sealing block (26).

9. An automated positioning and geophone digging method according to claim 7 or 8, characterized in that: The inner circumference of the bearing sleeve (11) has an annular upper flange (112) and an annular lower flange (113), and the flow chamber (16) is formed between the upper flange (112) and the lower flange (113). The outer circumference of the upper flange (110) and the outer circumference of the lower flange (113) are both in contact with the outer circumference of the assembly portion (200). The upper flange (112) and the lower flange (113) are both provided with the pressure holes (27). There are a plurality of pressure holes (27), and all the pressure holes (27) are arranged at intervals along the circumferential direction.

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