Unexploded ordnance magnetic gradient detection method and detection system based on ice surface drilling

Abstract

The invention discloses an unexploded ammunition magnetic gradient detection method based on ice surface drilling. The unexploded ammunition magnetic gradient detection method comprises the following steps that S001, a drilling robot is adopted for drilling different partitions; s002, acquiring a first detection signal of the subarea by adopting a magnetic gradient probe rod; s003, judging whether the first detection signal is abnormal or not; s004, arranging a plurality of detection points in the abnormal area; s005, acquiring a plurality of corresponding second detection signals by adopting the magnetic gradient probe rod; s006, recording the plurality of second detection signals by using a data recording device and sending the second detection signals to a data processing terminal; s007, the data processing terminal processes the second detection signal and draws an underwater magnetic anomaly graph; and S008, the position of the unexploded ordnance is judged. According to the invention, the drilling operation is carried out on the ice surface, so that the magnetic gradient probe rod can go deep into the water through the drill hole until reaching the water bottom to carry out the measurement operation, and the freezing period of the north is fully utilized to realize the freezing period operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of safety detection, in particular to a method and system for detecting unexploded ordnance based on ice surface drilling. BACKGROUND

[0002] Currently, the underwater unexploded ordnance detection technology is an international problem. The traditional method mainly uses a dynamic ship and a towed marine magnetometer to form an underwater magnetic anomaly detection system. However, this method has the following shortcomings: 1. poor positioning accuracy, the flowing water surface is not easy to position, and the underwater towed marine magnetometer has poor consistency in height from the water bottom, which cannot meet the requirements of accurate positioning of unexploded ordnance; 2. complex underwater topography, if the underwater topography has a large drop, the entire survey area needs to be divided, and sonar needs to be used for underwater topographic mapping in the early stage, which increases the operation difficulty and cost, and the efficiency is very low; 3. this method cannot detect targets under ice layer, which has a great limitation in the northern ice-covered areas. The above shortcomings limit the ability of underwater unexploded ordnance detection in China. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art and provide a method and system for detecting unexploded ordnance based on ice surface drilling to solve the technical problems raised in the background.

[0004] To achieve the above-mentioned purpose, the present application realizes the following technical solutions: The present application solves the above-mentioned problems through the following technical means: The present application provides a method for detecting unexploded ordnance based on ice surface drilling, comprising the following steps: S001, dividing the ice surface of the detection area into different zones, and drilling holes in different zones using a drilling robot; S002, using a magnetic gradient probe to extend into the water bottom from the drill holes in different zones to detect and obtain the first detection signal of the zone; S003, judging whether the first detection signal is abnormal, if it is abnormal, the zone is an abnormal zone; S004, arranging multiple detection points in the abnormal zone and drilling holes in the multiple detection points using a drilling robot; S005, using the magnetic gradient probe to extend into the water bottom from the drill holes of the multiple detection points to detect and obtain multiple second detection signals corresponding to the multiple detection points; S006, using a data collection device to collect the multiple second detection signals and send them to a data processing terminal; S007, the data processing terminal processes the multiple second detection signals and draws an underwater magnetic anomaly map; S008、The information processing terminal judges the position of the unexploded bomb according to the underwater magnetic anomaly map.

[0005] Preferably, in step S004, the plurality of detection points are distributed in a net structure at equal intervals.

[0006] Preferably, step S006 specifically comprises: sending the plurality of second detection signals collected by the data collection device to the information processing terminal through a transmission line or a wireless transmission module.

[0007] Preferably, the first detection signal and the second detection signal comprise: magnetic gradient data, water depth data and ice surface latitude and longitude data.

[0008] The application further provides a detection system for unexploded bomb magnetic gradient detection based on ice surface drilling, comprising a drilling robot for automatically drilling the ice surface, a magnetic gradient probe for detecting the drilling of the drilling robot, a data collection device for storing, recording and displaying the drilling data of the drilling robot and the detection data of the magnetic gradient probe, and a data processing terminal for processing the magnetic anomaly data.

[0009] Preferably, the magnetic gradient probe comprises a connecting rod, an extension rod detachably connected to one end of the connecting rod, a detection head arranged at the other end of the probe body, and a heat insulation protective sleeve wrapped outside the detection head.

[0010] Preferably, the detection head comprises two optical pump magnetometers for detecting the magnetic field anomaly caused by the unexploded bomb, an attitude sensor for calculating and outputting the three-dimensional attitude angle of the unexploded bomb, a water depth sensor for detecting the water level, and a temperature sensor for detecting the water temperature.

[0011] Preferably, the data collection device is in a wearable structure, and in specific implementation, can be designed integrally with a thermal outerwear.

[0012] Preferably, the data collection device further comprises a separate control screen structure.

[0013] Specifically, the control screen structure is a watch display screen.

[0014] From the above technical solution, the application has the following beneficial effects: This invention relates to a magnetic gradient detection method and system for unexploded ordnance based on ice drilling. By drilling into the ice surface, the magnetic gradient probe can penetrate deep into the water to the bottom for measurement, making full use of the ice-covered period in northern regions. Specifically, it involves the following aspects: 1. High positioning accuracy; obtaining coordinates on the ice surface is easier than obtaining coordinates on flowing water; 2. No need to consider complex underwater terrain; each measuring point is at a consistent distance from the bottom, resulting in good accuracy consistency; 3. This method can be used during the ice-covered period, supplementing traditional methods and increasing the available working time. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the magnetic gradient detection method for unexploded ordnance based on ice surface drilling according to the present invention. Figure 2 This is a structural block diagram of the detection system of the present invention. Detailed Implementation

[0016] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0017] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0018] Example 1 The unexploded ordnance magnetic gradient detection method based on ice surface drilling described in this embodiment is as follows: Figure 1 As shown, it includes the following steps: S001. Divide the ice surface of the detection area into sections, and use a drilling robot to drill holes in different sections; S002. Use magnetic gradient probes to extend into the water bottom from the boreholes in different zones to obtain the first detection signal of the zone. S003. Determine whether the first detection signal is abnormal. If it is abnormal, the partition area is an abnormal area. S004. Multiple detection points are set up in the abnormal area, and a drilling robot is used to drill holes in the multiple detection points; S005. The magnetic gradient probe is inserted into the water bottom from the boreholes at multiple detection points to obtain multiple corresponding second detection signals. S006. Use a data acquisition device to acquire multiple second detection signals and send them to a data processing terminal; S007. The data processing terminal processes multiple second detection signals and draws an underwater magnetic anomaly map. S008. The information processing terminal determines the location of unexploded ordnance based on the underwater magnetic anomaly map.

[0019] Preferably, in step S004, the plurality of detection points are distributed in a mesh structure at equal intervals.

[0020] Preferably, step S006 specifically includes: sending the multiple second detection signals collected by the data collection device to the information processing terminal via a transmission line or wireless transmission module.

[0021] Preferably, the first detection signal and the second detection signal include: magnetic gradient data, water depth data, and ice surface latitude and longitude data.

[0022] In practice, by setting the borehole spacing, two measurement modes can be achieved: coarse measurement and fine measurement. Coarse measurement is suitable for large-area scanning and delineating magnetic anomaly areas, while fine measurement is suitable for refined detection of magnetic anomaly areas and provides accurate positioning of unexploded ordnance.

[0023] The unexploded ordnance magnetic gradient detection method based on ice surface drilling described in this embodiment allows the magnetic gradient probe to penetrate deep into the water to the bottom for measurement by drilling on the ice surface, making full use of the ice-covered period in northern regions. Specifically, it involves the following aspects: 1. High positioning accuracy; obtaining coordinates on ice is easier than obtaining coordinates on flowing water; 2. No need to consider complex underwater terrain; each measuring point is at a consistent distance from the bottom, resulting in good accuracy consistency; 3. This method can be used during the ice-covered period, supplementing traditional methods and increasing the available working time.

[0024] Example 2 The detection system described in this embodiment is used for the magnetic gradient detection of unexploded ordnance based on ice surface drilling in Embodiment 1, such as... Figure 2 As shown, it includes a drilling robot for automated drilling of ice surfaces, a magnetic gradient probe for detecting the boreholes drilled by the drilling robot, a data recording device for storing, recording and displaying the drilling data of the drilling robot and the detection data of the magnetic gradient probe, and a data processing terminal for processing magnetic anomaly data.

[0025] Preferably, the magnetic gradient probe rod comprises a connecting rod, an extension rod detachably connected to one end of the connecting rod, a detection head arranged at the other end of the probe rod body, and a heat insulation protective sleeve wrapped outside the detection head, the extension rod is arranged to ensure that the magnetic gradient probe rod covers different water depths as much as possible, and the heat insulation protective sleeve can reduce damage to the low-temperature equipment and enable the low-temperature equipment to work for a long time at low temperature.

[0026] Preferably, the detection head comprises two optical pumping magnetometers for detecting magnetic field anomalies caused by unexploded bombs, an attitude sensor for calculating and outputting the three-dimensional attitude angle of the unexploded bomb, a water depth sensor for detecting the water level, and a temperature sensor for detecting the water temperature.

[0027] Preferably, the data collection device is in a wearable structure, and in specific implementation, can be designed integrally with a thermal clothing to ensure that the equipment can work for a long time at low temperature.

[0028] Preferably, the data collection device further comprises a separate control screen structure, and the separate control screen structure can be held in hand for operation, fully considering the operability of the equipment under the premise of thermal clothing.

[0029] Specifically, the control screen structure is a watch display screen, and the portability of the equipment is enhanced.

[0030] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application, although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, and all of them should be covered in the scope of the claims of the present application.

Claims

1. A method for detecting the magnetic gradient of unexploded ordnance based on drilling into ice surfaces, characterized in that: Includes the following steps: S001. Divide the ice surface of the detection area into sections, and use a drilling robot to drill holes in different sections; S002. Use magnetic gradient probes to extend into the water bottom from the boreholes in different zones to obtain the first detection signal of the zone. S003. Determine whether the first detection signal is abnormal. If it is abnormal, the partition area is an abnormal area. S004. Multiple detection points are set up in the abnormal area, and a drilling robot is used to drill holes in the multiple detection points; S005. The magnetic gradient probe is inserted into the water bottom from the boreholes at multiple detection points to obtain multiple corresponding second detection signals. S006. Use a data acquisition device to acquire multiple second detection signals and send them to a data processing terminal; S007. The data processing terminal processes multiple second detection signals and draws an underwater magnetic anomaly map. S008. The information processing terminal determines the location of unexploded ordnance based on the underwater magnetic anomaly map.

2. The method for detecting the magnetic gradient of unexploded ordnance based on drilling on the ice surface according to claim 1, characterized in that: In step S004, the multiple detection points are distributed in a mesh structure at equal intervals.

3. The method for detecting the magnetic gradient of unexploded ordnance based on drilling on the ice surface according to claim 1, characterized in that: Step S006 specifically includes: sending multiple second detection signals collected by the data collection device to the information processing terminal via a transmission line or wireless transmission module.

4. The method for detecting the magnetic gradient of unexploded ordnance based on drilling on the ice surface according to claim 1, characterized in that: The first detection signal and the second detection signal include: magnetic gradient data, water depth data and ice surface latitude and longitude data.

5. A detection system for detecting the magnetic gradient of unexploded ordnance based on ice surface drilling as described in claim 1, characterized in that: It includes a drilling robot for automated drilling of ice surfaces, a magnetic gradient probe for detecting the boreholes drilled by the drilling robot, a data recording device for storing, recording and displaying the drilling data of the drilling robot and the detection data of the magnetic gradient probe, and a data processing terminal for processing magnetic anomaly data.

6. The detection system according to claim 5, characterized in that: The magnetic gradient probe includes a connecting rod, an extension rod detachably connected to one end of the connecting rod, a probe head located at the other end of the probe body, and a heat-insulating protective sleeve wrapped around the probe head.

7. The detection system according to claim 5 or 6, characterized in that: The probe includes two optically pumped magnetometer probes for detecting magnetic field anomalies caused by unexploded ordnance, an attitude sensor for calculating and outputting the three-dimensional attitude angle of the unexploded ordnance, a water depth sensor for detecting water level, and a temperature sensor for detecting water temperature.

8. The detection system according to claim 5, characterized in that: The data collection device is a wearable structure.

9. The detection system according to claim 5, characterized in that: The data acquisition device also includes an independent control panel structure.

10. The detection system according to claim 9, characterized in that: The control screen is a watch display screen.

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