Underground space unmanned floor abnormal body change monitoring system and method
By combining microseismic monitoring and transient electromagnetic detection, an unmanned monitoring system has solved the problems of strong reliance on manual labor and large positioning errors in the monitoring of anomalies in the foundation of underground spaces. It has achieved efficient, continuous, and accurate anomaly location and status assessment, and provided real-time risk warnings.
Patent Information
- Application Number
- CN202511050470.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-29
- Publication Date
- 2025-11-21
AI Technical Summary
Existing technologies for monitoring anomalies in underground space floor slabs suffer from high reliance on manual labor, low automation, fragmented data acquisition and interpretation processes, large positioning errors, and an inability to achieve efficient, continuous, and accurate monitoring. In particular, they cannot accurately determine real-time changes in the location and shape of anomalies.
By combining microseismic monitoring and transient electromagnetic detection, an unmanned monitoring system is constructed using unmanned detection vehicle platforms, nodal geophones, self-organizing network relay nodes, and towed transient electromagnetic equipment. This enables efficient, continuous, and accurate location identification and status assessment of anomalies in the underground space floor.
It enables efficient, continuous, and accurate location identification and status assessment of anomalies in the underground space floor, providing real-time and reliable risk warnings and technical support for the safe mining and utilization of underground space resources.
Smart Images
Figure CN120993513A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to an underground space unmanned floor abnormal body change monitoring system and method, in particular to an unmanned floor abnormal body change monitoring method using seismic equipment and transient electromagnetic equipment in underground space. BACKGROUND
[0002] The traditional monitoring method has many technical bottlenecks and operational limitations. With the continuous development of deep resource development and the use of urban underground space, higher requirements are put forward for the long-term, dynamic monitoring accuracy, timeliness and efficiency of the floor abnormal body, especially the need to discover the change trend of the abnormal body in time to provide support for risk early warning.
[0003] The main defects of the prior art are in three aspects: first, strong artificial dependence, such as the need for manual repeated deployment of a large number of geophones in the seismic wave method, and the need for frequent on-site debugging of equipment by operating personnel in the transient electromagnetic method, which not only increases the labor intensity and safety risk, but also limits the improvement of long-term, continuous monitoring efficiency and the coherence of data. Second, single physical field monitoring has the problem of multiple solutions, and it is difficult to fully and dynamically characterize the geometric characteristics, physical parameters and their changes over time of the abnormal body by relying only on single or intermittent collection of seismic wave or electromagnetic data, resulting in large uncertainty in the interpretation results and difficulty in effectively evaluating the stability or evolution risk of the abnormal body. Third, the traditional method has low automation degree, and the data collection, processing and interpretation links are disconnected, which cannot realize near real-time analysis, automatic alarm and rapid response to dynamic changes.
[0004] At the same time, the existing underground space transient electromagnetic detection is generally carried out by moving the car with the transient electromagnetic detector to drive through the detection area to detect below it, and the wheels of the moving car use meter wheels to obtain the mileage and then locate the coordinates of the subsequent detection results. However, due to the complex and uneven road surface of the underground space, the mileage data recorded by the meter wheels has errors, resulting in large positioning errors of the transient electromagnetic detection results, and the corresponding data results cannot be obtained. In addition, due to the limitations of the microseismic method and the limited layout direction of the underground space observation system in the underground space, the microseismic monitoring has good positioning effect on the microseismic occurrence position, but it is difficult to accurately determine the overall contour shape of the abnormal body, and thus the shape change of the abnormal body cannot be determined. Monitoring the real-time change of the position and contour shape of the abnormal body can provide data support for subsequent underground space safety construction.
[0005] In view of the above technical problems, how to provide a new device and method to efficiently, continuously and accurately locate and identify the abnormal body under the floor of the underground space and evaluate the state, and the whole process is implemented unmanned, is the research direction of the present application. SUMMARY
[0006] In view of the problems in the prior art, the underground space unmanned floor abnormal body change monitoring system and method provided by the application adopts a combination of microseismic monitoring and transient electromagnetic detection, can efficiently, continuously and accurately locate and identify the abnormal body under the floor of the underground space and evaluate the state, and the whole process is implemented unmanned.
[0007] In order to achieve the above-mentioned purpose, the technical scheme adopted by the application is: an underground space unmanned floor abnormal body change monitoring system, comprising an unmanned detection vehicle platform, a control device, a perception radar holder, a mechanical arm, a node type detector, a self-organizing network relay node and a towed transient electromagnetic equipment; the node type detector and the self-organizing network relay node are placed on the unmanned detection vehicle platform, the perception radar holder is mounted on the unmanned detection vehicle platform and is used to acquire surrounding environment data; the mechanical arm is mounted on the unmanned detection vehicle platform and is used to place the node type detector and the self-organizing network relay node at a desired position; the towed transient electromagnetic equipment is connected with the unmanned detection vehicle platform through a connecting piece, so that the unmanned detection vehicle platform can drive the towed transient electromagnetic equipment to move and is used to perform transient electromagnetic detection under a moving path; the control device is connected with the perception radar holder, the node type detector, the mechanical arm and the towed transient electromagnetic equipment, is used to receive environment data and microseismic data fed back by the perception radar holder and the node type detector, and control the travel of the unmanned detection vehicle platform and the action of the mechanical arm.
[0008] Further, the lower part of the unmanned detection vehicle platform is provided with a moving track for moving the unmanned detection vehicle platform; the towed transient electromagnetic equipment is provided with a plurality of meter counting wheels for recording the travel distance of the towed transient electromagnetic equipment.
[0009] Further, the node type detector is a wireless node type microseismic detector, and a plurality of wireless node type microseismic detectors are arranged to form a seismic observation system for receiving microseismic signals transmitted from below the floor.
[0010] Further, the control device is provided with a wireless communication module, and the self-organizing network relay node is a plurality of self-organizing network relay nodes, which are arranged to form a self-organizing network for wirelessly connecting the control device with a ground data processing center through the self-organizing network.
[0011] Further, the connecting piece is a rigid rod. The rigid rod is used to ensure that the towed transient electromagnetic equipment will not lose control and be wound into the moving track of the unmanned monitoring vehicle when the unmanned monitoring vehicle platform turns at the end of the underground space tunnel.
[0012] The detection method of the above-mentioned underground space unmanned floor abnormal body change monitoring system comprises the following steps:
[0013] Step one, underground space modeling and monitoring area determination: according to the existing underground space data, the target underground space is modeled in three dimensions, and the model is imported into the monitoring system as an environmental map; and according to the existing data, the high-risk area in the environmental map is circled as the target monitoring area, and the self-organizing network relay node and node detector layout position (intersection, underground space inflection point or network signal stable transmission limit) are determined to ensure the stable communication of the monitoring system during the monitoring process.
[0014] Step two, placing the unmanned monitoring system: setting the unmanned floor anomaly body change monitoring system at the entrance of the underground space;
[0015] Step three, arranging node detectors and self-organizing network relay nodes: separating the unmanned exploration vehicle platform from the towed transient electromagnetic equipment at the placement site, the unmanned exploration vehicle platform carries the self-organizing network relay node and the node detector, moves to the self-organizing network relay node position determined in step one, and arranges the self-organizing network relay node through the mechanical arm; then, entering the target monitoring area, using the mechanical arm to arrange the node detector in the target monitoring area according to the position determined in step one.
[0016] Step four, microseismic data and transient electromagnetic data acquisition: connecting the unmanned exploration vehicle platform with the towed transient electromagnetic equipment at the placement site, starting the towed transient electromagnetic equipment and driving it through the target monitoring area by the unmanned exploration vehicle platform, the towed transient electromagnetic equipment performs transient electromagnetic detection at different positions in the target monitoring area during the movement, and records the corresponding transient electromagnetic data through the meter wheel, and continuously performs transient electromagnetic detection on the target monitoring area within a period of time; at the same time, each node detector receives the microseismic data of the target monitoring area in the time period; the principle of transient electromagnetic detection is that when the transient electromagnetic coil of the towed transient electromagnetic equipment is passed through a step current, a primary electromagnetic field will be excited around it, which is axisymmetrically distributed and propagates upward and downward; in the actual detection process, due to the large distance between the transient electromagnetic coil and the roadway roof, and the rapid decay law of electromagnetic field in air r -3 (r is the propagation distance), the influence of the upward propagation of the primary field on the detection result can be ignored. When the downward propagating primary electromagnetic field encounters a low resistance anomaly body, it will excite an induced eddy current inside it. According to the law of induction, the eddy current will generate a secondary electromagnetic field and propagate upward to the receiving coil, thereby causing the observed apparent resistivity curve to change. By analyzing these changes, the detection and positioning of the floor anomaly body can be realized. By repeatedly observing the same detection position at different times, the dynamic update information of the electrical properties of the anomaly body over time can be obtained, so as to realize the unmanned monitoring of the floor anomaly body update (i.e. the change of the anomaly body) by using the transient electromagnetic method.
[0017] The principle behind nodal geophones receiving microseismic data is that they can effectively acquire microseismic signals generated by the fracturing of rocks in the underlying strata. By processing these microseismic signals using a source localization algorithm, the spatial location of the rock fracturing event can be accurately determined.
[0018] Step 5: Determine the location and changes of the anomaly: The control device feeds back the acquired microseismic data and transient electromagnetic data to the ground data processing center through the self-organizing network relay node. The location of the anomaly is determined by the transient electromagnetic data, and the coordinates of the anomaly update are corrected by combining the microseismic data, thereby obtaining the location and changes of the anomaly.
[0019] Step Six: Detection of All Target Areas: The unmanned detection vehicle platform retrieves each nodal geophone in the current target area using a robotic arm, and repeats steps three to five for each target area to obtain the location and changes of anomalies within each target monitoring area. After completion, the unmanned detection vehicle platform retrieves the nodal geophones and self-organizing network relay nodes using a robotic arm and returns them to their placement location, completing the detection work of the entire underground space.
[0020] Furthermore, in step five, the coordinates of the anomaly changes are corrected using microseismic data, specifically as follows:
[0021] ① The initial transient electromagnetic detection data is inverted to obtain the location of the anomaly identified by the initial transient electromagnetic detection.
[0022] ② Perform inversion on the transient electromagnetic detection data after time T, and fit the inverted anomaly result with the initial transient electromagnetic detection anomaly to obtain the position update of the transient electromagnetic detection anomaly.
[0023] ③ Locate all microseismic events within time T to obtain the location results of microseismic events involving the fracturing of the rock in the underground space floor.
[0024] ④ The geometric boundary of the transient electromagnetic detection anomaly location update is used as the constraint boundary of the microseismic event clustering algorithm. The microseismic event clustering algorithm is constrained by the distance between the microseismic event location and the geometric center and the energy of the microseismic event. Finally, the location and change of the anomaly after the microseismic location result is identified.
[0025] Furthermore, the constraints of the microseismic event clustering algorithm in step ④ are specifically as follows:
[0026] I. Establish a coordinate system with the forward direction of the unmanned exploration vehicle platform as the positive x-axis and the negative direction of gravity as the positive y-axis, and then calculate the coordinates of the center point of the anomaly update:
[0027]
[0028] Where V is the volume of the anomaly update, calculated using the formula V=∫∫∫ V dV, where dV is the volume element (dxdydz in Cartesian coordinates). These are the x, y, and z coordinates of the anomaly update center, respectively.
[0029] II. Shift the anomaly update amount along the x-axis, and denote the shift amount as x. 移 The coordinates of the anomaly update after translation are:
[0030] III. Discretize and traverse the positions of all candidate anomalies within the parameter space Ω of all possible neighborhoods after translation. For each candidate location, calculate its corresponding likelihood function value L, which is defined as the weighted sum of the spatial proximity and energy release of all microseismic events i belonging to that candidate location:
[0031]
[0032] Among them, (x i ,y i ,z i Let E be the coordinate of the i-th microseismic event. i K(d) represents the energy of the event, and K(d) is a spatial kernel function (such as a Gaussian kernel or an exponential kernel) used to quantify the location of the microseismic event and the location of candidate anomalies. The proximity of the Euclidean distance d between them (the smaller the value of d, the larger the value of K(d)); the candidate position corresponding to the maximum value of the above likelihood function is the position after the anomaly update amount is corrected.
[0033] Compared with existing technologies, this invention employs a specific unmanned monitoring system for changes in underground slab anomalies. This system places nodal geophones and self-organizing network relay nodes in desired locations to construct a microseismic monitoring system unmanned, and establishes a wireless network. Simultaneously, it utilizes a towed transient electromagnetic device for transient electromagnetic detection, thereby obtaining microseismic data and transient electromagnetic detection data for the detection area over a certain period. The transient electromagnetic data is used to determine the location of anomalies, and the coordinates of the anomaly updates are corrected based on the microseismic data, thus obtaining the location and changes of the anomalies. Through this process, efficient, continuous, and accurate location identification and status assessment of anomalies beneath the underground space slab can be achieved, all implemented unmanned. This provides real-time and reliable risk warnings and technical support for the safe mining and efficient utilization of underground space resources. Attached Figure Description
[0034] Figure 1 This is a schematic diagram of the monitoring system of the present invention;
[0035] Figure 2 is the abnormal body positioning and microseismic monitoring positioning result graph of the transient electromagnetic data inversion of the present application;
[0036] Figure 3 is the abnormal body position and change condition graph after microseismic positioning correction of the present application;
[0037] Figure 4 is the flow plane schematic diagram of the unmanned floor abnormal body change detection in the present application.
[0038] In the figure: 1, intermediate node in ad hoc network, 2, towed transient electromagnetic equipment, 3, mobile track, 4, unmanned monitoring vehicle platform, 5, mechanical arm, 6, node type detector, 7, transient electromagnetic primary field eddy current, 8, initial transient electromagnetic detection abnormal body position identification, 9, transient electromagnetic detection abnormal body position update amount, 10, underground space floor rock fracture microseismic event positioning result. DETAILED DESCRIPTION
[0039] The present application will be further described below.
[0040] As shown in Figure 1 , an underground space unmanned floor abnormal body change monitoring system, comprising an unmanned detection vehicle platform, a control device, a perception radar holder, a mechanical arm, a node type detector, an ad hoc network relay node and a towed transient electromagnetic equipment; the node type detector and the ad hoc network relay node are placed on the unmanned detection vehicle platform, the perception radar holder is installed on the unmanned detection vehicle platform and is used to obtain surrounding environment data; the mechanical arm is installed on the unmanned detection vehicle platform and is used to place the node type detector and the ad hoc network relay node at the required position; the towed transient electromagnetic equipment is connected with the unmanned detection vehicle platform through a connecting piece, so that the unmanned detection vehicle platform can drive the towed transient electromagnetic equipment to move and is used for transient electromagnetic detection under the moving path; the control device is connected with the perception radar holder, the node type detector, the mechanical arm and the towed transient electromagnetic equipment, is used to receive the environment data and microseismic data fed back by the perception radar holder and the node type detector, and controls the travel of the unmanned detection vehicle platform and the action of the mechanical arm.
[0041] As an improvement of the present application, the unmanned exploration vehicle platform is provided with a moving track at the lower part, which is used for the movement of the unmanned exploration vehicle platform; the towed transient electromagnetic equipment is provided with four meter counting wheels, which are used for recording the travel distance of the towed transient electromagnetic equipment. The node detector is a wireless node microseismic detector, and a plurality of wireless node microseismic detectors are arranged to form a seismic observation system, which is used for receiving the microseismic signals from the bottom. The control device is provided with a wireless communication module, and a plurality of self-organizing network relay nodes are arranged to form a self-organizing network, which is used for wirelessly connecting the control device and the ground data processing center through the self-organizing network. The connecting piece is a rigid rod. The rigid rod is used to ensure that the towed transient electromagnetic equipment will not lose control and be rolled into the moving track of the unmanned monitoring vehicle platform when the unmanned monitoring vehicle platform turns at the end of the underground space tunnel.
[0042] The unmanned exploration vehicle platform, the control device, the sensing radar holder, the mechanical arm, the node detector, the self-organizing network relay node and the towed transient electromagnetic equipment are all existing devices or components, which can be directly purchased from the market, and the present application only uses their functions to achieve the purpose required by the present application, without improving their structural components.
[0043] The detection method of the underground space unmanned floor abnormal body change monitoring system includes the following steps:
[0044] Step one, underground space modeling and monitoring area determination: according to the existing underground space data, a three-dimensional model of the target underground space is established, and the model is imported into the monitoring system as an environment map; and according to the existing data, the high-risk area in the environment map is circled as the target monitoring area, and the layout positions of the self-organizing network relay node and the node detector (intersection, underground space inflection point or network signal stable transmission limit) are determined to ensure the stable communication of the monitoring system during the monitoring process, as shown in Figure 4 .
[0045] Step two, placing the unmanned monitoring system: placing the unmanned floor abnormal body change monitoring system at the entrance of the underground space; the placing position includes the unmanned monitoring system placing point, the unmanned monitoring system charging pile and the monitoring data transmission interface. The unmanned monitoring system placing point is used for parking the unmanned monitoring system; the charging pile can charge the monitoring system to meet the long-term use of the equipment; the monitoring data transmission interface is used for wirelessly transmitting the monitoring data to the interface for local storage when the unmanned monitoring system returns to the placing position, and the data can be transmitted to the ground data processing center in a wired manner to ensure the stability of data transmission.
[0046] Step three, arranging the nodal geophone and the ad hoc network relay node: at the installation site, separate the unmanned exploration vehicle platform from the towed transient electromagnetic equipment, and move the unmanned exploration vehicle platform to the position of the ad hoc network relay node determined in step one to arrange the ad hoc network relay node through the mechanical arm; then, enter the target monitoring area, and use the mechanical arm to arrange the nodal geophone at the position determined in step one in the target monitoring area.
[0047] Step four, microseismic data and transient electromagnetic data acquisition: at the installation site, connect the unmanned exploration vehicle platform with the towed transient electromagnetic equipment, start the towed transient electromagnetic equipment, and drive it through the target monitoring area by the unmanned exploration vehicle platform. The towed transient electromagnetic equipment performs transient electromagnetic detection at different positions of the target monitoring area during the movement, and records the corresponding transient electromagnetic data through the meter wheel. The transient electromagnetic detection is performed on the target monitoring area for a period of time. Meanwhile, each nodal geophone receives the microseismic data of the target monitoring area in the time period. The principle of transient electromagnetic detection is as follows: when the transient electromagnetic coil of the towed transient electromagnetic equipment is connected with a step current, a primary electromagnetic field is excited in the space around the coil. The electromagnetic field is axisymmetrically distributed and propagates upward and downward. In actual detection, the upward propagation of the primary field can be ignored because of the large distance between the transient electromagnetic coil and the roadway roof, and the rapid decay of the electromagnetic field in air follows the law of r -3 (r is the propagation distance). When the downward propagating primary electromagnetic field encounters a low-resistance abnormal body, an induced eddy current is excited in the abnormal body. According to the law of Lenz, the eddy current generates a secondary electromagnetic field and propagates upward to the receiving coil, thereby causing the observed apparent resistivity curve to change. By analyzing these changes, the detection and positioning of the floor abnormal body can be realized. By repeatedly observing the same detection position at different times, the dynamic update information of the electrical properties of the abnormal body with time can be obtained, so as to realize the unmanned monitoring of the update of the floor abnormal body (i.e., the change of the abnormal body) by using the transient electromagnetic method.
[0048] The principle of the nodal geophone receiving the microseismic data is that it can effectively collect the microseismic signals generated by the rock rupture of the floor stratum. Through the source positioning algorithm processing of these microseismic signals, the spatial position of the rock rupture event can be accurately determined.
[0049] Step five, determining the position of the abnormal body and the change of the abnormal body: the control device feeds back the obtained microseismic data and transient electromagnetic data to the ground data processing center through the ad hoc network relay node, and determines the position of the abnormal body through the transient electromagnetic data, specifically as follows:
[0050] The distance estimation formula of the towed transient electromagnetic equipment is as follows:
[0051] x0 = (x10 + x20 + x30 + x40) / 4
[0052] D = [(x1 - x0) + (x2 - x0) + (x3 - x0) + (x4 - x0)] / 4
[0053] Wherein x0 is the initial position of the transient electromagnetic coil starting to collect, x10, x20, x30, x40 are the initial distance values of the four odometer starting transient electromagnetic collection respectively, D is the estimated distance of the towed transient electromagnetic, used to calibrate the horizontal coordinate of the transient electromagnetic data, x1, x2, x3, x4 are the real-time distance values of the four odometer transient electromagnetic collection respectively.
[0054] However, under complex road conditions, when the towed equipment is driven by the front tracked vehicle, the odometer positioning accuracy of the tracked vehicle is significantly reduced due to the influence of road undulation, unevenness and sliding effect, resulting in cumulative error in estimating the position of the abnormal body determined by the transient electromagnetic data. Therefore, the coordinates of the abnormal body update are corrected in combination with the microseismic data, which is specifically:
[0055] ①, the initial transient electromagnetic exploration data is inverted to obtain the initial transient electromagnetic exploration abnormal body position, which is represented by a shallow green dashed frame in Figure 2 、 3 .
[0056] ②, the transient electromagnetic exploration data after time T is inverted, the abnormal body results obtained by inversion are fitted with the initial transient electromagnetic exploration abnormal body, and the transient electromagnetic exploration abnormal body position update is obtained, which is represented by a shallow blue dashed frame in Figure 2 、 3 .
[0057] ③, all microseismic events in time T are positioned to obtain the positioning results of the microseismic events of the rock fracture of the underground space floor.
[0058] ④, the geometric boundary of the transient electromagnetic exploration abnormal body position update is taken as the constraint boundary of the microseismic event clustering algorithm, and the microseismic event clustering algorithm is constrained by the distance between the microseismic event positioning and the geometric center and the energy of the microseismic event, which is specifically:
[0059] Ⅰ, the advancing direction of the unmanned exploration vehicle platform is taken as the positive direction of x axis, and the negative direction of gravity is taken as the positive direction of y axis to establish a coordinate system, and then the center point coordinates of the abnormal body update are calculated:
[0060]
[0061] Wherein, V is the volume of the abnormal body update, and the calculation formula is V = ∫∫∫ VdV, where dV is the volume element (dxdydz in Cartesian coordinates). These are the x, y, and z coordinates of the anomaly update center, respectively.
[0062] II. Shift the anomaly update amount along the x-axis, and denote the shift amount as x. 移 The coordinates of the anomaly update after translation are:
[0063] III. Discretize and traverse the positions of all candidate anomalies within the parameter space Ω of all possible neighborhoods after translation. For each candidate location, calculate its corresponding likelihood function value L, which is defined as the weighted sum of the spatial proximity and energy release of all microseismic events i belonging to that candidate location:
[0064]
[0065] Among them, (x i ,y i ,z i Let E be the coordinate of the i-th microseismic event. i K(d) represents the energy of the event, and K(d) is a spatial kernel function (such as a Gaussian kernel or an exponential kernel) used to quantify the location of the microseismic event and the location of candidate anomalies. The proximity of the Euclidean distance d between them (the smaller the value of d, the larger the value of K(d)); the candidate position corresponding to the maximum value of the above likelihood function is the position after the anomaly update amount is corrected; finally, the position and change of the anomaly after the microseismic location result is identified.
[0066] Step Six: Detection of All Target Areas: The unmanned detection vehicle platform retrieves each nodal geophone in the current target area using a robotic arm, and repeats steps three to five for each target area to obtain the location and changes of anomalies within each target monitoring area. After completion, the unmanned detection vehicle platform retrieves the nodal geophones and self-organizing network relay nodes using a robotic arm and returns them to their placement location, completing the detection work of the entire underground space.
[0067] Furthermore, if more comprehensive monitoring of the target area is required, multiple unmanned monitoring systems can be deployed simultaneously in this underground space. By planning the operating hours and monitoring areas of each monitoring system, a spatiotemporally coordinated monitoring network can be constructed, effectively solving the monitoring blind spots that occur during energy replenishment and data transmission of a single monitoring system, and significantly improving the reliability of the monitoring system and the completeness of data acquisition.
[0068] The above merely describes the preferred embodiments of the present application, and it should be pointed out that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.
Claims
1. An underground space unmanned floor anomaly body change monitoring system characterized by, The unmanned exploration vehicle platform, the control device, the perception radar holder, the mechanical arm, the node type detector, the self-organizing network relay node and the towed transient electromagnetic equipment are included. The node type detector and the self-organizing network relay node are placed on the unmanned exploration vehicle platform, and the perception radar holder is installed on the unmanned exploration vehicle platform and used for acquiring surrounding environment data. The mechanical arm is installed on the unmanned exploration vehicle platform and used for placing the node type detector and the self-organizing network relay node at required positions. The towed transient electromagnetic equipment is connected with the unmanned exploration vehicle platform through a connecting piece, so that the unmanned exploration vehicle platform can drive the towed transient electromagnetic equipment to move and is used for transient electromagnetic exploration under a moving path.
2. The underground space unmanned floor anomaly body change monitoring system according to claim 1, characterized in that, The control device is connected with the perception radar holder, the node type detector, the mechanical arm and the towed transient electromagnetic equipment, is used for receiving environment data and microseismic data fed back by the perception radar holder and the node type detector, and controls driving of the unmanned exploration vehicle platform and action of the mechanical arm.
3. The underground space unmanned floor anomaly body change monitoring system according to claim 1, characterized in that, The unmanned exploration vehicle platform is provided with a moving track at a lower part and is used for moving the unmanned exploration vehicle platform.
4. The underground space unmanned floor anomaly body change monitoring system according to claim 1, characterized in that, The node type detector is a wireless node type microseismic detector, and a plurality of wireless node type microseismic detectors are arranged to form a seismic observation system and are used for receiving microseismic signals transmitted from below a bottom plate.
5. The underground space unmanned floor anomaly body change monitoring system according to claim 1, characterized in that, The control device is provided with a wireless communication module, and a plurality of self-organizing network relay nodes are arranged to form a self-organizing network and are used for wirelessly connecting the control device with a ground data processing center through the self-organizing network.
6. A method of detecting an anomaly in an unmanned floor of an underground space according to the system of any one of claims 1 to 5, characterized in that, The connecting piece is a rigid rod. The following steps are included: Step one, underground space modeling and monitored area determination: according to existing underground space data, a three-dimensional model of a target underground space is established, and the model is imported into a monitoring system as an environment map. According to existing data, a high-risk area is circled in the environment map as a target monitoring area, and the arrangement positions of the self-organizing network relay node and the node type detector are determined to ensure stable communication of the monitoring system during monitoring. Step two, placement of the unmanned monitoring system: an unmanned bottom plate abnormal body change monitoring system placement position is set at an underground space entrance. Step three, arrangement of the node type detector and the self-organizing network relay node: the unmanned exploration vehicle platform and the towed transient electromagnetic equipment are separated at the placement position, the unmanned exploration vehicle platform carries the self-organizing network relay node and the node type detector, moves to the self-organizing network relay node position determined in step one and arranges the self-organizing network relay node through the mechanical arm. Then, the node type detector is arranged in the target monitoring area according to the position determined in step one by using the mechanical arm. Step four, microseismic data and transient electromagnetic data acquisition: connect the unmanned exploration vehicle platform with the towed transient electromagnetic equipment at the parking place, start the towed transient electromagnetic equipment and drive it through the target monitoring area through the unmanned exploration vehicle platform, and the towed transient electromagnetic equipment performs transient electromagnetic detection on different positions of the target monitoring area during movement, and records the corresponding transient electromagnetic data through the meter wheel, and continuously performs transient electromagnetic detection on the target monitoring area within a period of time; at the same time, each node detector receives the microseismic data of the target monitoring area in the time period; Step five, determining the position of the abnormal body and the change of the abnormal body: the control device feeds back the obtained microseismic data and transient electromagnetic data to the ground data processing center through the ad hoc network relay node, determines the position of the abnormal body through the transient electromagnetic data, and corrects the coordinates of the abnormal body update amount combined with the microseismic data, so as to obtain the position of the abnormal body and the change of the abnormal body; Step six, all target area detection: the unmanned exploration vehicle platform retracts each node detector of the current target area through the mechanical arm, and repeats steps three to five for each target area detection, so as to obtain the position of the abnormal body and the change of the abnormal body in each target monitoring area; after completion, the unmanned exploration vehicle platform retracts the node detector and the ad hoc network relay node through the mechanical arm, and returns to the parking place, completing the detection work of the entire underground space.
7. The method of claim 6, wherein, In step five, the coordinates of the abnormal body change amount are corrected combined with the microseismic data, specifically: ①, inverse the initial transient electromagnetic detection data to obtain the initial transient electromagnetic detection abnormal body position; ②, inverse the transient electromagnetic detection data after time T, fit the abnormal body results obtained by inversion with the initial transient electromagnetic detection abnormal body, and obtain the transient electromagnetic detection abnormal body position update amount; ③, position all microseismic events within time T to obtain the underground space bottom rock fracture microseismic event positioning result; ④, take the geometric boundary of the transient electromagnetic detection abnormal body position update amount as the constraint boundary of the microseismic event clustering algorithm, combine the distance between the microseismic event positioning and the geometric center and the energy of the microseismic event to constrain the microseismic event clustering algorithm, and finally identify the corrected abnormal body position and change after the microseismic positioning result.
8. The method of claim 7, wherein, In step ④, the microseismic event clustering algorithm constraint is specifically: Ⅰ, establish a coordinate system with the forward direction of the unmanned exploration vehicle platform as the positive direction of the x axis and the negative direction of the gravitational force as the positive direction of the y axis, and then calculate the center point coordinates of the abnormal body update amount: Wherein, V is the volume of the anomaly body update amount, the calculation formula is V = ∫∫∫ V dV, dV is a volume element, Respectively, x, y, z coordinates of the anomaly body update amount center; II. Translate the abnormal body update amount along the x-axis direction, and record the translation amount as x 移 The coordinates of the abnormal body update amount after translation are III. Discretely iterating over all candidate anomaly locations within the neighborhood parameter space Ω possible at all translated positions For each candidate location, compute its corresponding likelihood function value L, defined as the weighted sum of spatial proximity and energy release of all microseismic events i attributed to the candidate location: where (x i ,y i ,z i ) is the coordinate of the i-th microseismic event, E i is the energy of the event, and K(d) is a spatial kernel function that quantifies the proximity of the Euclidean distance d between the microseismic event location and the candidate anomaly location . The candidate location corresponding to the maximum of the likelihood function is the updated location of the anomaly after correction.