Air-to-Ground Capacitor Non-Contact Spectral Excitation Detection System and Method

Abstract

This invention belongs to the field of induced polarization detection technology, and provides an air-to-ground capacitive non-contact spectral induced polarization detection system and method. Multiple power supply electrodes are spaced along the detection route, and a capacitor plate acquisition module is mounted on the UAV flight module. The UAV flight module and mobile platform unit are controlled to travel along the detection route. Excitation signals with preset amplitude, current, voltage, and / or frequency are sent to the power supply electrodes, and feedback data generated by the capacitor plate acquisition module is acquired. Based on the feedback data, the optimal detection flight altitude is calculated. After all measurement points are detected, the acquired full-band data is comprehensively processed and imaged to generate an apparent resistivity distribution map and polarization parameter profile of the subsurface medium, obtaining the electrical information of the surface. This invention can quickly acquire surface and shallow subsurface electrical information over a large area and is suitable for efficient induced polarization detection under various terrain conditions.

Description

Technical Field

[0001] This invention belongs to the field of induced polarization detection technology, specifically relating to an air-to-ground capacitance non-contact spectral induced polarization detection system and method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] During underground engineering construction, the geological conditions ahead are equally complex and variable, often accompanied by unfavorable geological bodies such as fault fracture zones, solution zones, and water-rich fissures. The presence of water-bearing bodies is particularly dangerous, easily leading to soil softening, a sudden drop in strength, and triggering secondary disasters such as landslides and collapses. Once such geological disasters occur, they can easily endanger the lives of construction personnel and the operation of machinery and equipment, causing delays and significant losses. To ensure the safety and smooth progress of surface construction, it is essential to accurately and quickly ascertain the underground geological structure and groundwater conditions before construction, especially the distribution and characteristics of water-bearing unfavorable geological bodies, and then formulate reasonable engineering designs and treatment plans. Therefore, the accuracy of sudden water inrush detection and the efficiency of the detection process are crucial to ensuring the safety and progress of surface construction, and have irreplaceable engineering significance.

[0004] Induced polarization (IP) is an important electrical exploration method widely used in fields such as metal mineral exploration, water resources, environmental geology, and engineering geology. Traditional IPI detection typically involves manually transporting the instrument and deploying contact-type ground electrodes. This involves transporting the instrument to a specific location and arranging supply electrodes (A, B) and measuring electrodes (M, N) at fixed intervals along the survey line. Current injection and voltage measurement are achieved by connecting the electrodes to the instrument via wires. This method relies on good conductive contact between the electrodes and the ground to ensure signal strength and measurement accuracy. It has significant advantages in areas with flat terrain, moist soil, and favorable construction conditions, and has been widely applied in metal mineral exploration, water resource surveys, and engineering geological evaluation.

[0005] However, this method has significant limitations in complex or sensitive environments such as high mountains and canyons, dense forests, wetlands, densely built-up areas, steep slopes, and areas with vegetated cover.

[0006] (1) The terrain is steep and the drop is large, which makes it difficult to lay cables and make them unstable, resulting in a high safety risk.

[0007] (2) Dense vegetation cover obscures the ground surface and seriously affects the layout of survey lines.

[0008] (3) The surface is a high-resistivity stratum (such as bare rock and dry sand), and the excitation signal is extremely weak or even interrupted.

[0009] (4) Traditional manual transportation of instruments and wiring is cumbersome and requires frequent movement, resulting in low overall efficiency and difficulty in meeting the needs of rapid exploration in complex sites. Summary of the Invention

[0010] To address the aforementioned problems, this invention proposes an air-to-ground capacitive non-contact spectral induced polarization detection system and method. This invention is applicable to complex terrain conditions, possesses ground-to-air coordinated excitation and non-contact electric field acquisition capabilities, enables high-efficiency and high-resolution electrical detection, and has automated deployment and adaptive adjustment capabilities to meet the diverse needs of today's geological exploration and disaster early warning.

[0011] According to some embodiments, the present invention adopts the following technical solution:

[0012] An air-to-ground capacitive non-contact spectral induced polarization detection system includes at least one UAV flight module, a mobile platform unit, and multiple power supply electrodes spaced apart along the detection route, wherein:

[0013] Each UAV flight module is equipped with a capacitor plate data acquisition module to sense changes in the spatial electric field between the ground and the air.

[0014] Power cables are connected between each power supply electrode. The mobile platform unit is equipped with a transmitter unit, a hybrid power supply transmitter system, a wireless signal receiver unit, a signal processing unit, and a main control unit. The transmitter unit is used to send excitation signals with preset amplitude, current, voltage, and / or frequency to the power supply electrodes under the control of the hybrid power supply transmitter system. The wireless signal receiver unit is used to acquire feedback data generated by the capacitor board acquisition module.

[0015] The main control unit is used to calculate the optimal detection flight altitude based on the feedback data, so as to adjust the flight altitude of the UAV flight module and realize the capacitive coupling between the capacitor board acquisition module and the ground surface.

[0016] The signal processing unit is used to process and analyze the feedback data to obtain the electrical information of the earth's surface.

[0017] The technical solution of this invention forms a ground-air collaborative detection system that can quickly acquire surface and shallow electrical information over a large area. It is particularly suitable for areas where traditional electrode methods cannot be effectively carried out, such as extremely complex mountainous areas and areas with thick vegetation cover. In other words, it is suitable for efficient excitation polarization detection under various terrain conditions.

[0018] As an alternative implementation, the hybrid power transmitter system includes a generator unit, a battery unit, a supercapacitor unit, a bidirectional DC / DC unit, a DC bus, and an energy management unit, wherein the DC bus is used to provide a unified power supply bus for the other units;

[0019] The generator unit is used to provide continuous average power output and is equipped with rectification and power factor correction circuits at the output end;

[0020] The battery unit is used to provide auxiliary power when the load current surges, and includes a lithium battery pack and a matching battery management system.

[0021] The supercapacitor unit is used to rapidly release energy during current polarity reversal or sudden peaks to maintain the DC bus voltage stability and avoid instantaneous drops.

[0022] The bidirectional DC / DC unit is used to realize bidirectional energy flow between the generator unit, battery unit and supercapacitor unit, and to regulate voltage and current;

[0023] The energy management unit is used to automatically allocate the output ratio of the generator unit, battery unit and supercapacitor unit according to the real-time detected load current and DC bus voltage, so that the generator unit undertakes the average power, and the battery unit and supercapacitor unit undertake the switching and peak power.

[0024] As an alternative implementation, the signal processing unit includes a signal adaptive filter, a reference signal generation unit, an error signal detection unit, and an adaptive weight update unit, wherein the reference signal generation unit is used to construct a reference input signal;

[0025] The error signal detection unit is used to calculate the difference between the filtered output and the desired response;

[0026] The adaptive weight update unit is used to dynamically adjust the filtering coefficients based on the difference calculated by the error signal detection unit, so as to maintain the optimal noise suppression performance under different operating conditions.

[0027] The adaptive signal filter is used to estimate and cancel the power frequency interference and low-frequency drift caused by attitude in the acquired signal in real time, using the least mean square or recursive least square algorithm, with the power frequency and its harmonic signals and the UAV flight attitude parameters as reference inputs.

[0028] As an alternative implementation, the power supply cable has a multi-channel integrated structure, which integrates multiple independent insulated conductors within a single sheath. The number of conductors matches the number of electrodes required for electrical exploration, and an overall shielding layer is wrapped around the sheath.

[0029] An electrode tap is provided at regular intervals on the power supply cable for connecting the power supply electrode.

[0030] As an alternative implementation, the UAV flight module includes a UAV body, a dual-capacitor coupling plate unit, a wireless acquisition and transmission unit, a flight altitude closed-loop control unit, and a wireless data communication and control unit. The dual-capacitor coupling plate unit is suspended below the UAV body. The dual-capacitor coupling plate unit includes two metal capacitor plates that form a differential acquisition structure, which serve as the M pole and N pole, respectively, for sensing changes in the electric field in the ground-air space.

[0031] The wireless acquisition and transmission unit is used to wirelessly transmit the acquired signals to the main control unit or other UAV flight modules.

[0032] The flight altitude closed-loop control unit is equipped with sensors to detect the altitude between the dual-capacitor coupling plate unit and the ground;

[0033] The wireless data communication and control unit is used to receive commands transmitted by the main control unit and drive the UAV to start and adjust its flight altitude.

[0034] As an alternative implementation, the UAV flight module includes two UAV flight modules that fly in coordination. Each UAV flight module includes a UAV body, a single capacitor board unit, a wireless acquisition and transmission unit, a flight altitude closed-loop control unit, and a wireless data communication and control unit. The single capacitor board unit is suspended below the UAV body. The single capacitor board unit includes a metal capacitor board. The single capacitor board units of the two UAV flight modules form an MN pole pair.

[0035] The wireless acquisition and transmission unit is used to wirelessly transmit the acquired signals to the main control unit or other UAV flight modules.

[0036] The flight altitude closed-loop control unit is equipped with a sensor for detecting the altitude between the single capacitor board unit and the ground;

[0037] The wireless data communication and control unit is used to receive instructions transmitted by the main control unit and drive the UAV body to start and adjust the flight altitude of the corresponding UAV flight module.

[0038] Furthermore, the individual capacitor board units are connected between different drone flight modules via retractable connection cable units.

[0039] As an alternative implementation, the capacitor bank acquisition module is configured with a capacitor signal amplification module, which includes a differential charge amplifier, a programmable gain instrumentation amplifier, and a guard ring drive circuit, wherein:

[0040] The differential charge amplifier is used to convert the high-impedance weak current signal collected by the capacitor plate into a voltage signal, thereby achieving low-noise conversion.

[0041] The programmable gain instrumentation amplifier is used to adjust the amplification factor according to the signal strength to adapt to the signal amplitude differences under different operating conditions.

[0042] The guard ring drive circuit is used to provide in-phase potential drive, effectively suppressing parasitic leakage current and edge effects, and ensuring the stability of high impedance signal input.

[0043] As an optional implementation, the UAV flight module is also equipped with a UAV anti-sway module. The UAV anti-sway module includes a main load-bearing frame, an equicentric suspension mechanism, an anti-torsion stabilization module, a mechanical limit unit, and an aerodynamic stabilizer. The main load-bearing frame is located on the belly of the UAV and is rigidly connected to the fuselage. It serves as the main force channel for the installation reference and load. The main load-bearing frame is equipped with a quick-release interface for docking with other components.

[0044] The equicentric suspension mechanism suspends the carrier frame below the main support frame with multi-point symmetrical connecting rods. The geometric center of the carrier frame is aligned with the geometric center of the main support frame, and universal wheels are provided at the connection between the connecting rods and the carrier frame.

[0045] The anti-torsion stabilization module includes an elastic body disposed in the coaxial joint of the carrier frame and coaxially installed with the isocentric suspension mechanism. As a torsional stiffness unit, the elastic body provides a restoring torque around the vertical axis, so that the carrier frame automatically returns to the correct position after being deflected by the wind.

[0046] The mechanical limiting unit is located between the equicentric suspension mechanism and the main load-bearing frame to limit the maximum torsion angle and prevent excessive rotation and structural impact under abnormal working conditions.

[0047] The aerodynamic stabilizer is a symmetrical tail fin and / or fairing disposed on the outer edge of the carrier plate frame.

[0048] As a further embodiment, a damper is provided at the connection between the isocentric suspension mechanism and the carrier frame. The damper includes a positioning pin, a housing, a rotor disk, and a silicone oil working chamber. The housing is used to form a sealed silicone oil working chamber and bear the external load. The housing is connected to the isocentric suspension mechanism. The silicone oil working chamber is used to contain the viscous medium and form a controlled flow channel. The rotor disk is placed in the silicone oil working chamber and forms a shear flow field with the inner wall of the housing, generating a damping torque related to the angular velocity, thereby dissipating energy from the torsional motion.

[0049] The working method of the above-mentioned air-to-ground capacitance non-contact spectral induced polarization detection system includes the following steps:

[0050] Multiple power supply electrodes are set at intervals along the detection route, and the power supply electrodes are connected to each other by power supply cables;

[0051] A capacitor bank data acquisition module is mounted on the drone's flight module;

[0052] Control the UAV flight module and mobile platform unit to travel along the detection route;

[0053] The hybrid power supply transmitter system controls the transmitter unit to send excitation signals with preset amplitude, current, voltage and / or frequency to the power supply electrodes, and acquires feedback data generated by the capacitor board acquisition module;

[0054] Based on the feedback data, the optimal detection flight altitude is calculated to adjust the flight altitude of the UAV flight module, thereby achieving capacitive coupling between the capacitor plate acquisition module and the ground surface;

[0055] Once all the measurement point detection tasks are completed, the collected full-band data is comprehensively processed and imaged to generate an apparent resistivity distribution map and polarization parameter profile map of the underground medium, thus obtaining the electrical information of the surface.

[0056] As an alternative implementation, during the process of controlling the UAV flight module and mobile platform unit to travel along the detection route, a cruise propulsion-type feedback data signal acquisition is adopted, wherein the acquired signal and position information are synchronously transmitted back, and the frequency range is set to 0.5Hz~1000Hz.

[0057] As an alternative implementation method, the process of calculating the optimal detection flight altitude based on feedback data includes: considering the pitch / roll angle and finite plate edge effect of the UAV during actual flight, introducing attitude correction factors and edge correction terms, correcting the capacitance calculation model under the ideal parallel plate model, calibrating the attitude correction factors and edge correction terms using the capacitance value measured at a known altitude, calculating the maximum flight altitude of the UAV using the corrected capacitance calculation model, and using this altitude as a limit for control.

[0058] As a further implementation method, the modified capacitance calculation model is as follows:

[0059] ;

[0060] in, denoted as the tilt angle between the carrier plate and the ground; P is the perimeter of the capacitor plate; k is the empirical coefficient of the edge field. This is a correction factor for inhomogeneous conductors. Where is the vacuum dielectric constant; A is the area of ​​the capacitor plate; C is the coupling capacitance; h is the flight altitude. The values ​​of k are obtained through calibration.

[0061] As an alternative implementation method, before comprehensive processing and imaging inversion of the acquired full-band data, signal processing is performed, including the following steps:

[0062] Generates a sine / cosine reference signal with a synchronous clock frequency that is consistent with the power frequency;

[0063] The amplified original waveform is used as the target signal, and the error signal is obtained by subtracting it from the filtered signal.

[0064] The filter coefficients are adjusted in real time based on the magnitude of the error signal using the least mean square or recursive least square algorithm.

[0065] The dynamically updated filter output is an estimate of the interference signal, which is superimposed on and canceled out by the target signal, effectively weakening the power frequency component, low-frequency drift, and wind-induced disturbances in the final output signal.

[0066] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0067] This invention employs an aerial drone equipped with a capacitor plate parallel acquisition device to receive signals through capacitive coupling electrodes that do not contact the ground. It is suitable for unconventional surface environments such as extremely complex mountainous areas, areas with dense vegetation cover, and areas with unlimited seawater. Compared with traditional ground electrode deployment, the air-to-ground system can use drones or vehicle-mounted equipment to quickly complete measurements.

[0068] This invention employs an aerial drone equipped with a capacitor plate parallel data acquisition device, which enables rapid measurement over a large area and acquisition of electrical distribution data over a large scale region.

[0069] This invention uses a capacitor plate carried by an aerial drone to sense changes in the distribution of surface and underground charges. The capacitor coupling strength is adjusted by the drone's flight altitude to determine the optimal detection flight altitude, and the flight altitude is corrected in real time through interaction between the drone and the main control unit.

[0070] The present invention employs a capacitor plate mounting and anti-sway module to effectively prevent the drone from swaying in the wind when the capacitor plate is mounted.

[0071] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0072] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0073] Figure 1 This is a schematic diagram of the overall arrangement of the device provided in one embodiment of the present invention;

[0074] Figure 2This is a structural diagram of a capacitor carrier frame provided in one embodiment of the present invention, wherein (a) is a front view, (b) is an enlarged view of the damping unit structure, and (a) is a top view;

[0075] Figure 3 This is a schematic diagram of a drone provided in one embodiment of the present invention;

[0076] Figure 4 This is a block diagram of an air-to-ground capacitor non-contact spectral induced polarization detection device provided in one embodiment of the present invention;

[0077] Figure 5 This is a flowchart of the detection process provided in one embodiment of the present invention;

[0078] The components include: 1. Tracked vehicle-mounted high-power transmitter; 2. UAV-mounted capacitor plate acquisition module; 3. Power supply electrode; 4. Power supply cable; 5. Tunnel cavity; 6. Water-bearing body; 7. Mobile platform unit; 8. Transmitter unit; 9. Wireless signal receiver unit; 10. Main control unit and communication scheduling unit; 11. Wireless data communication and remote control unit; 12. Cable interface; 13. UAV unit; 14. Dual capacitor coupling plate unit; 15. Wireless acquisition and transmission unit; 16. Flight altitude closed-loop control unit; 17. Wireless data communication and control unit; 18. Capacitor signal amplification module; 19. Differential charge amplifier; 20. Programmable gain. 21. Instrumentation amplifier; 22. Reference signal generation unit; 23. Error signal detection unit; 24. Adaptive weight update unit; 25. Generator unit; 26. Battery unit; 27. Bidirectional DC / DC unit; 28. Capacitor unit; 29. ​​Energy management unit; 30. DC bus; 31. Signal adaptive filter module; 32. Torsional stiffness unit; 33. Main load-bearing frame; 34. Equicentric suspension mechanism; 35. Aerodynamic stabilizer; 36. Damper; 37. Mechanical limit unit; 38. Carrier plate frame; 39. Capacitor plate; 40. Positioning pin; 41. Housing; 42. Silicone oil working chamber; 43. Rotor disk; 44. Retractable connecting cable. Detailed Implementation

[0079] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0080] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0081] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0082] Where there is no conflict, the embodiments and features described in this application may be combined with each other.

[0083] Example 1

[0084] This embodiment proposes a non-contact, air-to-ground capacitor spectral induced polarization detection system, the arrangement of which is as follows: Figure 1 As shown, it mainly includes: a tracked vehicle-mounted high-power transmitter host 1 (hereinafter also referred to as the host), a UAV-mounted capacitor board acquisition module 2, a power supply cable 4, a power supply electrode 3, a capacitor signal amplification module 18, and a signal adaptive filter module 30; wherein, the capacitor signal amplification module 18 and the signal adaptive filter module 30 are respectively integrated in the tracked vehicle-mounted high-power transmitter host 1 and the UAV-mounted capacitor board acquisition module 2.

[0085] Based on the engineering exploration requirements and the terrain conditions of the survey area, the tracked vehicle-mounted high-power transmitter host 1 uses its built-in path planning and cable laying system to automatically lay the power supply cable 4 according to the preset survey line and electrode position, and connects it to the power supply electrode 3 to ensure grounding effect and power supply stability.

[0086] In some survey areas, there are underground tunnel cavities 5 and water-bearing bodies 6.

[0087] The drone is activated, equipped with capacitor board acquisition module 2, to complete the device self-test and establish a wireless communication link with the tracked vehicle-mounted high-power transmitter host 1.

[0088] Flight and operation commands are issued to the capacitor board acquisition module 2 mounted on the UAV via the main control unit and communication scheduling unit of the tracked vehicle-mounted high-power transmitter host 1.

[0089] After receiving instructions, the UAV, equipped with capacitor board acquisition module 2, takes off and flies to the designated measurement point according to the set flight altitude, trajectory and speed, ensuring that the aerial capacitor board 38 and the ground power supply system form an effective capacitor coupling circuit.

[0090] The tracked vehicle-mounted high-power transmitter 1 continuously outputs an electrical excitation signal of a set frequency band to the power supply electrode 3. The response signal of the underground medium is received by the capacitor plate acquisition module 2 carried by the UAV through air-to-ground capacitive coupling and is transmitted back to the tracked vehicle-mounted high-power transmitter 1 in real time via a wireless link.

[0091] During operation, the tracked vehicle-mounted high-power transmitter 1 monitors data quality in real time and sends adjustment commands to the UAV when necessary to optimize signal acquisition.

[0092] After all the measurement point detection tasks are completed, the UAV will transmit the remaining buffer data to the tracked vehicle-mounted high-power transmitter host 1. The host's main control unit will perform comprehensive processing and imaging inversion on the collected full-band data to generate results such as the apparent resistivity distribution map and polarization parameter profile map of the underground medium.

[0093] Through the above implementation method, this embodiment can efficiently detect geological bodies in front of the tunnel face without ground contact with the electrode array. It is particularly suitable for areas with complex terrain, sensitive environment and poor grounding conditions, effectively improving the flexibility, environmental adaptability and data reliability of the detection operation.

[0094] In this implementation, the tracked vehicle-mounted excitation host is as follows: Figure 2 As shown, specifically, the tracked vehicle-mounted high-power transmitter 1 includes: a mobile platform unit 7, a transmitter unit 8, a wireless signal receiver unit 9, a main control unit and communication scheduling unit 10, a wireless data communication and remote control unit 11, and a cable interface 12, and is equipped with a signal adaptive filter module 30 and a high-power generator module.

[0095] During the detection operation, the mobile platform unit 7 drives the entire device to the vicinity of the designated detection area;

[0096] After the power supply electrodes and cables are laid out on the ground, connect the cables to cable interface 12 and turn on other units;

[0097] The main control unit and communication scheduling unit 10 control the transmitter unit 8 to supply power, and at the same time control the wireless data communication and remote control unit 11 to drive the UAV to the planned location for measurement;

[0098] In the early stage of drone takeoff, the wireless signal receiver unit 9 receives the altitude signal transmitted by the drone in real time and controls the drone to fly to the optimal altitude for detection operations through wireless data communication and remote control unit 11.

[0099] During the reconnaissance operation, the wireless signal receiver unit 9 receives the electrical signals detected by the UAV in real time and transmits the signals to the signal adaptive filter module 30 for data noise reduction.

[0100] The denoised data is transmitted to the main control unit and communication scheduling unit 10 for data storage, interpretation and imaging;

[0101] When the detection is completed, the main control unit and the communication scheduling unit 10 send instructions to recall the UAV unit to complete the equipment recovery.

[0102] Example 2

[0103] In this embodiment, the signal processing module of the tracked vehicle-mounted high-power transmitter 1 is equipped with a signal adaptive filter module 30, such as... Figure 4 As shown.

[0104] This filter is built on the principle of Adaptive Noise Cancellation (ANC). It uses power frequency signals, harmonic signals and UAV attitude parameters as reference inputs, and dynamically adjusts the filter weights through an adaptive algorithm to achieve real-time suppression of interference components in the capacitive signal.

[0105] The work steps are as follows:

[0106] Step 1: Reference signal generation unit 21 constructs the reference signal: A sine / cosine reference signal consistent with the power frequency is generated by the host synchronous clock, while auxiliary parameters such as UAV altitude and attitude are collected simultaneously. The reference signal contains the main interference components.

[0107] Step 2: Error signal detection unit 22 performs error signal detection: the original waveform after capacitor signal amplification is used as the target signal, and the error signal is obtained by subtracting it from the filter output signal.

[0108] Step 3: The adaptive weight update unit 23 performs the final signal denoising and updates the signal: The adaptive filter uses the least mean square (LMS) or recursive least square (RLS) algorithm to adjust the filter coefficients in real time according to the magnitude of the error signal.

[0109] Step 4: The output of the dynamically updated filter is an estimated value of the interference signal, which is superimposed on the target signal to cancel it out, so that the power frequency component, low frequency drift and wind-induced disturbance in the final output signal are effectively weakened.

[0110] Explanation of noise reduction principle:

[0111] The core idea of ​​this filter is to take advantage of the characteristic that "interference has a reference, but the signal has no reference": by introducing a reference signal similar to the noise, and using an adaptive algorithm to adjust in real time, the filter output is made to approximate the interference component as closely as possible. Thus, after subtracting the original signal from the output, useful geological response information is retained while noise is removed.

[0112] Example 3

[0113] Unlike other embodiments, the drone in this embodiment is equipped with a capacitor bank acquisition module 2, as shown in the example. Figure 3As shown, specifically, the UAV is equipped with a capacitor board acquisition module 2, which includes: UAV unit 13, dual capacitor coupling board unit 14, wireless acquisition and transmission unit 15, flight altitude closed-loop control unit 16, and wireless data communication and control unit 17.

[0114] During the detection operation, the mobile platform unit 7 drives the entire device to the vicinity of the designated detection area. According to the survey line design, power supply electrodes and cables are first laid on the ground. The electrode arrangement method is as follows: two power supply electrodes 3 (A and B poles) are driven into the ground at the start and end points of the survey line or other predetermined locations. Copper or stainless steel rods with good conductivity and corrosion resistance are preferred. The insertion depth is generally 0.3–0.8 meters to ensure low grounding resistance. On dry or high-resistance surfaces, the grounding effect can be improved by watering, adding salt water, or filling with moist fine soil. The power supply cable 4 is laid along the ground and reliably connected to the electrodes, with its route as straight as possible, minimizing sharp bends and crossings to reduce signal loss and external interference. After the installation is completed, the power supply cable is connected to the cable interface 12 of the tracked vehicle-mounted excitation host, and the relevant functional units are activated.

[0115] The parameter setting method for spectrum-induced polarization power supply is executed by the main control unit and the communication scheduling unit 10. This includes setting the power supply frequency range (e.g., a multi-band scanning mode from 0.1Hz to 1kHz or a single-frequency mode) on the main control interface based on the target depth and medium characteristics; the power supply voltage amplitude (typically tens to hundreds of volts, automatically adjusted according to grounding resistance); the power supply waveform type (sine wave, square wave, or step waveform); and the number of superpositions and sampling time for each frequency point. The main control unit can write these parameters into the control module of the transmitter unit 8, enabling it to automatically output electrical excitation signals according to the preset frequency sequence and amplitude during operation. It also has real-time monitoring and dynamic adjustment functions to cope with changes in on-site grounding conditions and signal quality.

[0116] Subsequently, dual control is achieved simultaneously through the operation of the main control unit and the communication scheduling unit 10: on the one hand, the transmitter unit 8 is controlled to output a set spectrum excitation signal to the power supply electrode; on the other hand, the UAV is driven to the planned location for measurement through wireless data communication and the remote control unit 11. In the initial stage of UAV takeoff, the wireless signal receiver unit 9 receives the altitude signal transmitted by the UAV in real time, and precisely controls the UAV to fly to the optimal altitude through wireless data communication and the remote control unit 11, ensuring effective capacitive coupling between the air-to-ground capacitor plate and the ground power supply system.

[0117] During the detection phase, the wireless signal receiver unit 9 continuously receives the electrical response signals collected by the UAV and transmits them back to the main control unit and communication scheduling unit 10 in real time for storage, interpretation, and imaging processing. After all measurement points are completed, the main control unit and communication scheduling unit 10 send a recall command to the UAV to complete the recovery of the aerial data acquisition equipment.

[0118] The wireless data communication and control unit 17 receives the instructions transmitted by the host and drives the UAV unit 13 to start and fly;

[0119] During the flight of the UAV unit 13, the flight altitude closed-loop control unit 16 measures the flight altitude in real time and transmits the altitude to the host through the wireless acquisition and transmission unit 15 to adjust the altitude and determine the optimal altitude.

[0120] When the UAV unit 13 flies to the optimal height of the designated position, the host power supply is activated, the dual capacitor coupling plate unit 14 collects signals and transmits the detection data to the host and stores it through the wireless acquisition and transmission unit 15.

[0121] After the first power supply ends, the host transmits a control signal to the wireless data communication and control unit 17; drives the UAV unit 13 to fly to the next detection point, and the dual capacitor coupling plate unit 14 receives the electrical signal for the second power supply.

[0122] The wireless acquisition and transmission unit is used to wirelessly transmit the acquired signals to the host and can also contact other drones, so that knowing the location of one drone can reveal the location of all drones.

[0123] The collected signals and real-time location information are synchronously packaged and uploaded to the vehicle host or back-end processing module.

[0124] The flight altitude closed-loop control unit is equipped with an altitude sensor (laser / ultrasound / barometric pressure) for real-time ranging and transmits flight altitude data during detection.

[0125] Example 4

[0126] In this embodiment, the capacitor board acquisition module 2 of the UAV is equipped with a capacitor signal amplification module 18, such as... Figure 4 As shown.

[0127] The capacitor signal amplification module 18 mainly includes a differential charge amplifier 19, a programmable gain instrumentation amplifier 20 (PGA), and a guard ring drive circuit.

[0128] Differential charge amplifier 19: used to convert the high-impedance weak current signal collected by capacitor plate 38 into a voltage signal, achieving low-noise conversion under pA to nA level input, with an input impedance of not less than 10~12Ω, thereby ensuring that the signal is not distorted due to front-end loading.

[0129] Programmable gain instrumentation amplifier 20: The gain is dynamically adjusted according to the signal amplitude, and the preferred gain range is 1–512 times to adapt to the signal differences under different geological conditions.

[0130] This module can effectively amplify weak capacitance signals while maintaining the original amplitude and phase characteristics, providing a high signal-to-noise ratio input for subsequent digital acquisition and processing.

[0131] The hybrid power transmitter system includes: generator unit 24, battery unit 25, capacitor unit 27, bidirectional DC / DC unit 26, energy management unit 28, and DC bus 29.

[0132] Step 1: Power supply from generator unit 24 (foundation layer)

[0133] The generator unit 24 first converts AC into stable DC power through a rectification and power factor correction circuit; it outputs continuous average power to provide basic load current and DC bus 29 voltage support for the system.

[0134] Step 2: Battery cell 25 assists (medium speed adjustment layer)

[0135] When the load current suddenly increases and exceeds the generator's steady-state output, the battery unit 25 immediately starts working; the battery unit 25 replenishes energy to the DC bus 29 through the bidirectional DC / DC unit 26 to avoid instantaneous voltage drops; the battery mainly undertakes short-term power gaps and transition processes.

[0136] Step 3: Capacitor unit 27 is quickly released (fast response layer)

[0137] When the current polarity reverses or a momentary peak power of the load occurs, the supercapacitor unit 27 discharges rapidly; the bidirectional DC / DC unit 26 instantly replenishes the large current, stabilizing the voltage of the DC bus 29; and works together with the battery unit 25 to absorb or release peak current, ensuring that voltage fluctuations do not exceed the allowable range.

[0138] Step 4: Energy Management Unit 28 (Core Control Layer)

[0139] The system monitors the load current and DC bus voltage in real time; dynamically allocates the output ratio according to the logic that "the generator bears the average power, and the battery and supercapacitor bear the switching and peak power"; and sends control commands to the bidirectional DC / DC unit 26 to ensure that all energy sources work in a coordinated manner.

[0140] Step 5: Stable output from DC bus 29 (unified power supply channel)

[0141] Each module is connected in parallel to the DC bus 29 via the bidirectional DC / DC unit 26; the energy storage capacitor bank is connected in parallel across the two ends of the DC bus 29 to suppress voltage ripple and mitigate transient voltage drops; the DC bus 29 ultimately maintains a stable high-power DC voltage of 700–1000Vdc to supply the transmitter load.

[0142] In this embodiment, the capacitor plate is mounted on an anti-sway module, which sequentially includes: a main load-bearing frame 32, a carrier plate frame 37, an equicentric suspension mechanism 33, an anti-torsional stabilization module (including a torsional stiffness unit 31 and a damping unit), a mechanical limiting unit 36, and an aerodynamic stabilizer 34. Figure 2 As shown.

[0143] Step 1: Fixing the main load-bearing frame 32: Install the main load-bearing frame 32 on the standard mounting surface of the UAV belly, and achieve a rigid connection with the positioning reference through the quick-release interface to complete the determination of the mounting reference.

[0144] Step 2: Installation of the equicentric suspension mechanism 33: Install universal connectors at the four corners of the main load-bearing frame 32, connect four cables / rods, and align their lower ends with the four connecting lugs of the carrier frame 37. Adjust the diagonal tension to align the geometric center of the carrier frame 37 with the suspension rotation center of the equicentric suspension mechanism 33.

[0145] Step 3: Anti-torsion stabilization module: Elastic hinges / torsion members are set in the coaxial joints at the four corners of the carrier plate frame as torsional stiffness units 31, which are coaxially installed with the equicentric suspension mechanism 33 to provide restoring torque for the vertical axis.

[0146] Step 4: The damping unit (also known as the rotational viscous damper 35) is installed on the uniform interface seat at each corner, and assembled in sequence:

[0147] Locating pin 39: Completes precise angular and radial repositioning;

[0148] Housing 40 (or outer shell): The interface seat is fastened to form a sealed installation structure;

[0149] Shaft / Bearing: Equicentric suspension mechanism 33: Coaxially connected with the suspension link trunnion;

[0150] The rotor disk 42 is placed inside the silicone oil working chamber 41, forming a shear flow field with the inner wall of the housing 40;

[0151] Assemble the end caps and seals to complete the sealing of the damping unit.

[0152] A retractable connecting cable 43 is provided at the lower end of the damping unit.

[0153] The locating pin 39 is used for precise angular and radial repositioning during assembly to prevent the housing 40 from creeping under vibration and impact, ensuring long-term stability and repeatable maintenance of damping characteristics. The housing 40 forms a sealed silicone oil working chamber 41 and bears external loads. The housing is connected to the equicentric suspension mechanism 33 to support and protect the shaft, bearings and seals, providing dust and water protection and ensuring reliability in outdoor working conditions. The rotor disk forms a shear flow field with the inner wall of the housing 40 in the silicone oil working chamber 41, generating a damping torque related to angular velocity, thereby dissipating energy from torsional motion and achieving the effect of "being deflected by the wind - rapid attenuation". The silicone oil working chamber 41 is used to contain viscous media and form a controlled flow channel.

[0154] Step 5: Mechanical limiting unit installation: Install anti-rotation flange or arc-shaped limiting component between the interface seat and the housing to limit the maximum relative torsion angle.

[0155] Step 6: Aerodynamic stabilizer installation: Install symmetrical tail fins and / or leading edge fairings on the outer edge of the carrier plate frame to generate a passive self-orienting moment (wind vane effect) under the action of the incoming flow.

[0156] Step 7: Capacitor board fixing and insulation: Lay insulation / vibration damping pads on the insulation mounting surface of the carrier frame, and fix the capacitor board to the carrier frame by positioning posts and pressure plates (or quick-release buckles) to complete quick loading and unloading and repeated positioning; the cable is stress-relieving through the wire clamp and sheath and runs along the side beam.

[0157] In some embodiments, there are two drone units, each equipped with a single capacitor plate. When the two drone units fly together, they each carry a capacitor plate and form a pair of electrodes. The capacitor plate of one drone serves as the M electrode, and the capacitor plate of the other drone serves as the N electrode, so as to form an MN electrode pair for testing.

[0158] The unmanned aerial vehicle (UAV) unit adopts a multi-rotor UAV platform and has stable flight control, autonomous navigation, and flight path planning functions.

[0159] In some embodiments, the UAV flight module includes a UAV body, a dual-capacitor coupling plate unit, a wireless acquisition and transmission unit, a flight altitude closed-loop control unit, and a wireless data communication and control unit. The dual-capacitor coupling plate unit is suspended below the UAV body. The dual-capacitor coupling plate unit includes two metal capacitor plates that form a differential acquisition structure, which serve as the M pole and N pole, respectively, for sensing changes in the electric field in the ground-air space.

[0160] The wireless acquisition and transmission unit is used to wirelessly transmit the acquired signals to the main control unit or other UAV flight modules.

[0161] The flight altitude closed-loop control unit is equipped with sensors to detect the altitude between the dual-capacitor coupling plate unit and the ground.

[0162] The wireless data communication and control unit is used to receive commands transmitted by the main control unit and drive the UAV to start and adjust its flight altitude.

[0163] Example 5

[0164] In this implementation, a non-contact spectral induced polarization detection method based on air-to-ground capacitance is proposed, such as... Figure 5 As shown, it includes the following steps:

[0165] Multiple power supply electrodes are set at intervals along the detection route, and the power supply electrodes are connected to each other by power supply cables;

[0166] A capacitor bank data acquisition module is mounted on the drone's flight module;

[0167] Control the UAV flight module and mobile platform unit to travel along the detection route;

[0168] The hybrid power supply transmitter system controls the transmitter unit to send excitation signals with preset amplitude, current, voltage and / or frequency to the power supply electrodes, and acquires feedback data generated by the capacitor board acquisition module;

[0169] Based on the feedback data, the optimal detection flight altitude is calculated to adjust the flight altitude of the UAV flight module, thereby achieving capacitive coupling between the capacitor plate acquisition module and the ground surface;

[0170] Once all the measurement point detection tasks are completed, the collected full-band data is comprehensively processed and imaged to generate an apparent resistivity distribution map and polarization parameter profile map of the underground medium, thus obtaining the electrical information of the surface.

[0171] The optimal flight altitude determination method for the UAV equipped with capacitor bank data acquisition module 2 is as follows:

[0172] Determine the rock or soil strata information of the detection area based on existing field data;

[0173] Determine the typical minimum capacitance threshold based on rock or soil strata information;

[0174] At a known height h 1 、h The capacitance value C1 was measured at two locations. 、 C2;

[0175] According to the formula:

[0176] ;

[0177] ;

[0178] Solve for the correction coefficients respectively With edge correction coefficient k.

[0179] Substituting the minimum capacitance threshold C and attitude angle θ into the formula:

[0180] ;

[0181] Find the maximum flight altitude.

[0182] Actual flight should be controlled at 60%–90% of the maximum altitude to enhance coupling stability;

[0183] The drone will fly at its maximum altitude.

[0184] The specific detection process includes:

[0185] On-site preparation includes marking the survey line and the location of each measuring point, pre-laying ground power supply electrodes and checking their connection and insulation; checking the route of the power supply cable to avoid sharp bends and sources of interference; completing the division of labor among personnel and conducting safety and airspace verification.

[0186] For power supply electrode installation, drive A and B power supply electrodes into the designated positions on the survey line to a depth of 0.3–0.8 m. Take measures such as humidification or adding salt water to reduce grounding resistance according to ground conditions. The power supply cable is reliably connected to and fixed to the electrodes.

[0187] System initialization and power-on test: Power on the host, drone and data link, complete device self-test and positioning synchronization; set the spectrum range to 0.5Hz~1000Hz; perform zero-point check, and verify the circuit and communication stability with low amplitude and narrow frequency band power-on test.

[0188] Power supply parameters are set via the main control unit, including the operating frequency band, amplitude, sampling rate, number of superpositions, and waveform type. The parameters are automatically written to the transmitter unit, preparing it for formal operation.

[0189] The drone takes off and maintains its altitude. It takes off according to instructions and flies to 60% to 90% of its maximum safe altitude. It adjusts its attitude and position to ensure stable coupling between the capacitor board and the ground power supply system.

[0190] Data acquisition and online quality control are implemented, power supply and aerial differential acquisition are initiated, and the acquired signals and location information are synchronously transmitted back; the signal-to-noise ratio and coupling strength are monitored in real time, and rapid measures such as reducing altitude, increasing amplitude or adjusting frequency band are implemented when anomalies occur, and the anomaly points are retested.

[0191] During the cruise operation, the UAV advances along the survey line to complete the data collection for the entire area. Multiple UAVs can be selected to operate in parallel with staggered phases to reduce mutual interference. After each survey segment is completed, the data is marked and stored for confirmation.

[0192] After the mission is completed, the drone and electrode equipment are recovered and the power is disconnected. The data is backed up and archived, and rapid imaging and inversion are performed on the host computer to generate and archive the inverted imaging results.

[0193] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made by those skilled in the art without creative effort within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An air-to-ground capacitive non-contact frequency spectrum induced polarization exploration system, characterized in that, The unmanned aerial vehicle flight module comprises at least one unmanned aerial vehicle flight module, a mobile platform unit and a plurality of power supply electrodes arranged along a detection route. Each unmanned aerial vehicle flight module is provided with a capacitive plate acquisition module for sensing the space electric field change between the ground and the air. The power supply electrodes are connected by power supply cables, and the mobile platform unit is provided with a transmitter unit, a hybrid power supply transmitter system, a wireless signal receiver unit, a signal processing unit and a main control unit. The transmitter unit is used to send an excitation signal with a preset amplitude, current, voltage or / and frequency to the power supply electrodes under the control of the hybrid power supply transmitter system. The wireless signal receiver unit is used to obtain feedback data generated by the capacitive plate acquisition module.

2. A space-to-ground capacitive non-contact spectral induced polarization exploration system according to claim 1, characterized in that, The main control unit is used to calculate the optimal detection flight height according to the feedback data, so as to adjust the flight height of the unmanned aerial vehicle flight module and realize the capacitive coupling between the capacitive plate acquisition module and the ground surface. The signal processing unit is used to process and analyze the feedback data to obtain the electrical information of the ground surface. The hybrid power supply transmitter system comprises a generator unit, a battery unit, a super capacitor unit, a bidirectional DC / DC unit, a direct current bus and an energy management unit. The generator unit is used to provide continuous average power output and is provided with a rectification and power factor correction circuit at the output end. The battery unit is used to provide auxiliary power when the load current suddenly increases, and comprises a lithium battery pack and a matching battery management system. The super capacitor unit is used to quickly release energy during current polarity reversal or burst peak to maintain the stability of the direct current bus voltage and avoid instantaneous drop.

3. A space-to-ground capacitive non-contact spectral induced polarization exploration system according to claim 1, characterized in that, The bidirectional DC / DC unit is used to realize the bidirectional flow of energy among the generator unit, the battery unit and the super capacitor unit, and to adjust the voltage and current. The energy management unit is used to automatically allocate the output proportion of the generator unit, the battery unit and the super capacitor unit according to the real-time detected load current and direct current bus voltage, so that the generator unit bears the average power, and the battery unit and the super capacitor unit bear the reversal and peak power. The signal processing unit comprises a signal adaptive filter, a reference signal generation unit, an error signal detection unit and an adaptive weight update unit. The reference signal generation unit is used to construct a reference input signal.

4. A space-to-ground capacitive non-contact spectral induced polarization exploration system according to claim 1, characterized in that, The error signal detection unit is used to calculate the difference between the filter output and the expected response. The adaptive weight update unit is used to dynamically adjust the filter coefficient according to the difference calculated by the error signal detection unit, so as to maintain the optimal noise suppression performance under different working conditions. The signal adaptive filter is used to adopt the least mean square or recursive least square algorithm, and uses the power frequency and its harmonic signals and the unmanned aerial vehicle flight attitude parameters as the reference input to estimate and offset the power frequency interference and the low frequency drift caused by the attitude in the acquired signals in real time. The power supply cable has a multi-channel integrated structure, and a plurality of independent insulated conductors are integrated in a single sheath. The number of conductors matches the number of electrodes required by the electrical exploration, and an overall shielding layer is coated outside the sheath. An electrode tap is arranged on the power supply cable at certain intervals for connecting the power supply electrode.

5. A space-to-ground capacitive non-contact spectral induced polarization exploration system according to claim 1, characterized in that, The unmanned aerial vehicle flight module comprises an unmanned aerial vehicle body, a double-capacitive coupling plate unit, a wireless acquisition and transmission unit, a flight height closed-loop control unit and a wireless data communication and control unit, wherein the double-capacitive coupling plate unit is hung below the unmanned aerial vehicle body, and the double-capacitive coupling plate unit comprises two metal capacitive plates, forms a differential acquisition structure, and is used for sensing the electric field change of the ground-air space as an M pole and an N pole, respectively. The wireless acquisition and transmission unit is used for wirelessly transmitting the acquired signals to a master control unit or other unmanned aerial vehicle flight modules. The flight height closed-loop control unit is provided with a sensor for detecting the height of the double-capacitive coupling plate unit and the ground. The wireless data communication and control unit is used for receiving instructions transmitted by the master control unit and driving the unmanned aerial vehicle body to start and adjust the flight height.

6. A space-to-ground capacitive non-contact spectral induced polarization exploration system according to claim 1, characterized in that, The unmanned aerial vehicle flight module comprises two unmanned aerial vehicle flight modules, and the two unmanned aerial vehicle flight modules cooperatively fly, each unmanned aerial vehicle flight module comprises an unmanned aerial vehicle body, a single-capacitive plate unit, a wireless acquisition and transmission unit, a flight height closed-loop control unit and a wireless data communication and control unit, wherein the single-capacitive plate unit is hung below the unmanned aerial vehicle body, and the single-capacitive plate unit comprises one metal capacitive plate, and the single-capacitive plate units of the two unmanned aerial vehicle flight modules form an MN pole pair. The wireless acquisition and transmission unit is used for wirelessly transmitting the acquired signals to a master control unit or other unmanned aerial vehicle flight modules. The flight height closed-loop control unit is provided with a sensor for detecting the height of the single-capacitive plate unit and the ground. The wireless data communication and control unit is used for receiving instructions transmitted by the master control unit and driving the unmanned aerial vehicle body to start and adjust the flight height of the corresponding unmanned aerial vehicle flight module.

7. A space-to-ground capacitive non-contact spectral induced polarization exploration system according to claim 6, characterized in that, The single-capacitive plate units of different unmanned aerial vehicle flight modules are connected through a telescopic connecting cable unit.

8. A space-to-ground capacitive non-contact spectral induced polarization exploration system according to claim 1, characterized in that, The capacitive plate acquisition module is provided with a capacitive signal amplification module, and the capacitive signal amplification module comprises a differential charge amplifier, a programmable gain instrument amplifier and a guard ring driving circuit. The differential charge amplifier is used for converting the high-impedance weak current signal acquired by the capacitive plate into a voltage signal, and realizes low-noise conversion. The programmable gain instrument amplifier is used for adjusting the amplification multiple according to the signal strength, so as to adapt to the signal amplitude difference under different working conditions. The guard ring driving circuit is used for providing in-phase potential driving, effectively inhibiting parasitic leakage current and edge effect, and ensuring the stability of high-impedance signal input.

9. A space-to-ground capacitive non-contact spectral induced polarization exploration system according to claim 1, characterized in that, The unmanned aerial vehicle flight module is further provided with an unmanned aerial vehicle anti-swing module, and the unmanned aerial vehicle anti-swing module comprises a main bearing frame, an isocenter suspension mechanism, an anti-twist stabilization module, a mechanical limiting unit and an aerodynamic stabilization component, wherein the main bearing frame is arranged on the unmanned aerial vehicle belly and is rigidly connected with the body, serves as a mounting reference and a main load bearing channel, and is provided with a quick release interface for interfacing with other components. The equal-center suspension mechanism suspends the load plate frame below the main load frame by multi-point symmetrical connecting rods, the geometric center of the load plate frame is aligned with the geometric center of the main load frame, and universal wheels are arranged at the connecting position of the connecting rods and the load plate frame; The anti-twist stability module includes an elastic body arranged in the coaxial joint of the load plate frame and coaxially installed with the equal-center suspension mechanism, as a torsional stiffness unit, providing a restoring torque around the vertical axis through the elastic body to automatically return the load plate frame to the normal position after wind deflection; The mechanical limiting unit is arranged between the equal-center suspension mechanism and the main load frame to limit the maximum torsion angle and prevent excessive rotation and structural impact in abnormal working conditions; The aerodynamic stability member is a symmetrical tail wing and / or fairing arranged at the outer edge of the load plate frame.

10. A space-to-ground capacitive non-contact spectral induced polarization exploration system according to claim 9, characterized in that, The damper is arranged at the connecting position of the equal-center suspension mechanism and the load plate frame, and includes a positioning pin, a shell, a rotor disc and a silicon oil working cavity, wherein: the shell is used to form a closed silicon oil working cavity and bear external load, the shell is connected with the equal-center suspension mechanism, the silicon oil working cavity is used to accommodate viscous medium and form a controlled flow channel, and the rotor disc is arranged in the silicon oil working cavity and forms a shear flow field with the inner wall of the shell to generate a damping torque related to the angular velocity, thereby dissipating the energy of the torsional motion.

11. A method of operating an air-to-ground capacitive non-contact spectral induced polarization exploration system according to any one of claims 1-10, characterized in that, The method comprises the following steps: a plurality of power supply electrodes are arranged at intervals along the detection route and connected by power supply cables; a capacitive plate acquisition module is mounted on the unmanned aerial vehicle flight module; the unmanned aerial vehicle flight module and the mobile platform unit are controlled to travel along the detection route; a hybrid energy supply transmitter system controls the transmitter unit to send excitation signals of a preset amplitude, current, voltage or / and frequency to the power supply electrodes and acquires feedback data generated by the capacitive plate acquisition module; based on the feedback data, the optimal detection flight height is calculated to adjust the flight height of the unmanned aerial vehicle flight module, so that the capacitive plate acquisition module and the ground surface form a capacitive coupling; after all the measurement points complete the detection task, the collected full-band data is comprehensively processed and imaged to generate a apparent resistivity distribution map and a polarization parameter profile of the underground medium, and the electrical property information of the ground surface is obtained.

12. The method of claim 11, wherein the step of operating comprises the step of: During the process of controlling the unmanned aerial vehicle flight module and the mobile platform unit to travel along the detection route, cruise propulsion type signal acquisition of feedback data is adopted, wherein the acquisition signal and the position information are synchronously returned, and the frequency spectrum range is set to 0.5Hz-1000Hz.

13. The method of claim 11, wherein the step of operating comprises the step of: The process of calculating the optimal detection flight height based on the feedback data comprises: considering the existence of pitch / roll inclination and limited plate edge effect of the unmanned aerial vehicle in actual flight, introducing an attitude correction factor and an edge correction term, correcting the capacitive calculation model under the ideal parallel plate model, calibrating the attitude correction factor and the edge correction term by using the measured capacitance value at the known height, and calculating the maximum flight height of the unmanned aerial vehicle by using the corrected capacitive calculation model, so as to take the height as a limit value for control. ​ 14. The method of claim 13, wherein the step of operating comprises the step of: The corrected capacitive calculation model is: ； wherein, is the attitude tilt angle of the carrier plate and the ground; P is the perimeter of the capacitive plate; k is the empirical coefficient of the fringe field; is the correction coefficient of the heterogeneous conductor, is the vacuum permittivity; A is the area of the capacitive plate; C is the coupling capacitance value; h is the flight height, and the value of k is obtained by calibration.

15. The method of claim 11, wherein the step of operating comprises the step of: Before the collected full-band data is comprehensively processed and imaged, the signal is processed, comprising the following steps: synchronous clock and power frequency consistent sine / cosine reference signal are generated; The error signal is obtained by subtracting the signal filtered by the filter from the amplified original waveform as the target signal; The filter coefficient is corrected in real time according to the error signal size by using the least mean square or recursive least square algorithm; The output of the filter after dynamic updating is the estimated value of the interference signal, which is superimposed with the target signal to offset, so that the power frequency component, low frequency drift and wind-induced disturbance in the final output signal are effectively weakened.

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