Active dialogue type distributed microseismic life detection monitoring system and monitoring method

Abstract

The application discloses an active dialogue type distributed microseismic life detection monitoring system and a monitoring method, and belongs to the technical field of microseismic monitoring and life search and rescue. The system comprises a plurality of distributed detection nodes and a coordination control module, can be cooperatively deployed with an optical fiber sensing system, and has a passive early warning and active dialogue dual-mode working mode. In the passive early warning mode, the distributed nodes realize wide-area microseismic signal blind scanning, the optical fiber sensing system monitors key structure nodes, and in combination with microbreakage and loosening precursors of a covered structure, hierarchical early warning is realized. In the active dialogue mode, each node relies on a solid medium to synchronously emit a low-frequency microseismic calling signal, awakens and guides a trapped person to generate a vibration response, the system calculates a response signal propagation time length based on an excitation emission time T0, solves a target three-dimensional coordinate in combination with a multi-node space positioning algorithm, and realizes accurate search and rescue positioning. The system has a fault-tolerant self-recovery mechanism, a single-point fault does not affect overall operation, a set of hardware can cover a pre-disaster structure early warning and a whole process of post-disaster active life search and rescue, and is suitable for a plurality of engineering safety protection scenes such as mines, tunnels and ancient buildings.

Description

Technical Field

[0001] This invention belongs to the field of life detection and microseismic monitoring technology, specifically involving a distributed microseismic system that combines pre-disaster structural safety early warning with post-disaster active dialogue-based life detection. It can be applied to various scenarios requiring disaster early warning and emergency search and rescue, such as mines, tunnels, subways, bridges, dams, ancient buildings, and urban buildings. Background Technology

[0002] In existing technologies, pre-disaster early warning and post-disaster search and rescue are typically accomplished by two independent systems: early warning systems such as microseismic monitoring and fiber optic sensing are used to continuously monitor precursor signals such as rock mass fracturing and structural deformation, but they cannot quickly locate trapped personnel after a disaster occurs; search and rescue equipment such as airborne acoustic wave detection, radar, and infrared sensors are used to find survivors after a disaster, but they cannot provide early warning information before a disaster. The two systems lack hardware compatibility and data sharing, resulting in high deployment costs and delayed disaster response.

[0003] Traditional active acoustic seismic detection technology has three inherent technical limitations: First, relying on air as a medium to transmit sound waves, it attenuates quickly and has weak penetration in ruins, soil, and concrete structures, making it difficult to capture the faint physiological vibrations of deeply buried and trapped personnel. Second, most of them are single-point independent probes, and there is no unified timing coordination mechanism among the terminals. They are easily affected by local environmental noise interference, resulting in a high false alarm rate and the inability to reduce noise through cross-verification of multi-channel data. Third, without a system-level fault-tolerant compensation architecture, if any probe is damaged or fails due to power failure, a detection blind zone will be directly formed in the corresponding area, and the overall detection integrity of the system cannot be guaranteed.

[0004] While existing microseismic early warning systems can monitor geology and structures, they mostly use permanently buried fixed sensors, which lack deployment flexibility and do not have active dialogue-based life detection capabilities. They also cannot switch to search and rescue operation mode after a disaster occurs.

[0005] In summary, current technologies have not yet developed a microseismic detection and monitoring system that simultaneously possesses active dialogue response and positioning capabilities, distributed fault-tolerant self-healing capabilities, and dual-mode full-cycle reuse capabilities, making it difficult to meet the dual needs of pre-disaster early warning and post-disaster search and rescue. Summary of the Invention

[0006] Purpose of the invention To address the shortcomings of existing technologies, this invention provides an active dialogue-based distributed microseismic life detection and monitoring system and method. It achieves dual-mode reuse of passive perception and early warning and active excitation detection through the same set of distributed node hardware. It improves the detection accuracy and detection rate of post-disaster search and rescue by relying on the time difference positioning mechanism of active interactive response. Combined with a distributed fault-tolerant and self-healing architecture, it ensures the system reliability in extreme environments and achieves full-chain technical coverage from pre-disaster early warning to post-disaster search and rescue. Technical solution

[0007] System Solution An active dialogue-based distributed microseismic life detection and monitoring system includes multiple distributed detection nodes and a coordination and control module that communicates with each detection node.

[0008] Each of the aforementioned detection nodes possesses bidirectional capabilities for microseismic excitation and signal acquisition, and is configured to dynamically switch between at least two operating modes: In passive sensing mode, the detection node is used to receive environmental microseismic signals in the monitoring area; In active excitation mode, the detection node is used to transmit micro-vibration excitation signals with preset characteristics to the solid medium.

[0009] The coordination and control module is configured to perform the following functions: synchronously control the collaborative operation of all detection nodes in passive sensing mode or active excitation mode; monitor the working status of each detection node in real time, and dynamically adjust the working parameters of at least one neighboring detection node when the target detection node fails, so as to compensate for the monitoring coverage gap caused by the failed node. The control detection nodes transmit active interactive signals to the solid medium and receive response vibration signals from the target object. Based on the time difference of the response vibration signals arriving at each distributed detection node, the three-dimensional spatial position of the target object is calculated. Based on changes in the monitored environment, the system is triggered to switch between passive sensing mode and active stimulation mode. After locating the target object, the control detection node transmits preset interactive information to the target through the solid medium and receives the vibration response signal from the target, thus realizing two-way information interaction.

[0010] Furthermore, the multiple distributed detection nodes are deployed as an array covering the monitoring area, with the distance between adjacent detection nodes being less than a preset threshold, ensuring continuous coverage of the monitoring area.

[0011] Furthermore, the detection node has a built-in signal processing unit and a communication unit; the signal processing unit is used to filter, amplify, or extract features from the received microseismic signals, and the communication unit is used to interact with other detection nodes or coordination control modules.

[0012] Furthermore, the coordination and control module identifies the failure status of the probe node through a preset failure detection algorithm. The failure status includes at least one of hardware failure, communication interruption, or signal abnormality.

[0013] Furthermore, the dynamic adjustment of the operating parameters of neighboring detection nodes includes adjusting at least one of the following: the transmission power, sampling frequency, signal processing algorithm weights, or detection direction of the neighboring detection nodes.

[0014] Furthermore, the calculation of the three-dimensional spatial position based on the time difference of the response vibration signal specifically involves: recording the unified transmission time of the active interaction signal and the reception time of the response vibration signal at each detection node; and calculating the spatial position of the target object based on the difference in reception times of each node and the deployment coordinates of the detection nodes.

[0015] Furthermore, the micro-vibration excitation signal with the preset characteristics includes at least one of preset frequency, amplitude, encoding sequence, or modulation method.

[0016] Furthermore, the two-way information interaction supports both vibration transmission and voice transmission interaction pathways, and the system can automatically switch the interaction pathway according to the medium environment.

[0017] As a preferred embodiment, the system can be deployed in conjunction with a distributed optical fiber sensing system. The optical fiber system is used for long-distance continuous monitoring of strain, temperature, and vibration parameters, while this system is used for accurate identification of microseismic events at key nodes. The data from the two systems are cross-verified to achieve fusion early warning of area perception and point positioning.

[0018] As a preferred implementation, the system adopts an edge computing architecture. Data acquisition, fusion analysis, feature recognition, and early warning judgment are all completed in the local coordination and control module, without relying on external networks and cloud servers. It can operate independently in environments where the network or power is off.

[0019] Dual-mode operation This system shares the same hardware architecture for both operating modes, eliminating the need for additional independent equipment and fully covering the entire disaster prevention and mitigation cycle. Passive sensing mode (pre-disaster early warning): This mode is entered by default after the system is powered on. Distributed detection nodes continuously collect environmental microseismic signals, and the coordination and control module performs spectrum analysis, energy calculation, and event rate statistics in real time. When abnormal precursors such as rock mass rupture and structural damage are detected and exceed the preset threshold, the corresponding level of early warning information and the coordinates of the abnormal area are output.

[0020] Active stimulation mode (post-disaster search and rescue): After a disaster occurs, switch to this mode. The coordination and control module drives the detection nodes to emit microseismic active interaction signals and receive response vibration signals from the target objects to complete life identification, location and two-way information exchange.

[0021] The two modes can be switched manually or automatically by the system based on disaster signals, user commands, or preset trigger conditions.

[0022] Methods and solutions An active, dialogue-based, distributed microseismic life detection and monitoring method, applied to the aforementioned system, includes the following steps: Control multiple distributed detection nodes to simultaneously enter passive sensing mode or active activation mode, and coordinate to cover the monitoring area; In active excitation mode, active interactive signals are emitted into the solid medium, and the response vibration signals fed back by the target object are collected; The working status of the detection nodes is monitored in real time. When a node failure is detected, the working parameters of the neighboring nodes are dynamically adjusted to compensate for the monitoring coverage gaps. Based on the time difference of the response vibration signal arriving at each detection node, the three-dimensional spatial position of the target object is calculated. Once the location is established, it actively transmits interactive information to the target object and receives feedback, thus completing a two-way dialogue interaction; The system automatically switches its operating mode based on changes in the monitored environment. Beneficial effects

[0023] Full-cycle hardware reuse: The same set of distributed node hardware supports both passive perception and early warning and active stimulation detection modes, covering the entire chain from pre-disaster early warning to post-disaster search and rescue, avoiding the duplication of two independent sets of equipment, reducing hardware costs, and eliminating disaster response delays.

[0024] The accuracy and detection rate of search and rescue positioning have been significantly improved: The positioning mechanism of active interactive trigger response vibration is adopted. The signal transmission time is controllable and the signal-to-noise ratio is high. It solves the technical problems of random signals, high missed detection rate and large positioning error of traditional passive search and rescue. It has a stronger ability to identify deeply buried targets in complex solid media environments.

[0025] Deep closed-loop detection and interaction: The active interaction signal has the dual functions of positioning triggering and information transmission. Positioning and two-way interaction reuse the same solid conduction path. The target can be guided to adjust its position and the positioning coordinates can be updated synchronously through interaction, realizing the technological upgrade from "one-way detection" to "human-machine closed-loop interaction".

[0026] Higher reliability in extreme environments: It has system-level fault tolerance and self-healing capabilities. When a node fails, it compensates for the coverage gap by dynamically adjusting the detection parameters of neighboring nodes, without relying on manual repair. Even in extreme scenarios where disasters cause damage to some equipment, it can still maintain early warning and search and rescue capabilities.

[0027] Flexible deployment and strong adaptability: The distributed array architecture can be adapted to monitoring areas of different sizes and shapes. Relying on solid media to transmit signals, it can be widely used in early warning and search and rescue work in various scenarios such as soil, concrete, and wood structures. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the global deployment structure of the distributed detection nodes of the present invention; Figure 2 A schematic diagram of the bidirectional vibration interaction workflow for a single detection node; Figure 3 This is a flowchart of the active excitation-feedback response closed-loop process of the system of the present invention; Figure 4 A schematic diagram of a preferred flexible netting deployment configuration; Figure 5 This is a flowchart of the three-dimensional positioning algorithm based on excitation-feedback time difference of the present invention. Detailed Implementation

[0029] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments. The following embodiments are only used to illustrate the implementation of the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0030] Drawing number explanation like Figure 1 As shown, 1 represents the target monitoring area, 2 represents the detection node, and 3 represents the coordination and control module.

[0031] like Figure 2 As shown, 1 is the microseismic excitation unit, 2 is the microseismic sensing unit, 3 is the node control unit, 4 is the coupling base plate, and 5 is the solid medium.

[0032] like Figure 3 As shown in the figure, this diagram illustrates the closed-loop process of the system's active excitation-feedback response. Specifically: 1 is the excitation transmitting unit, responsible for transmitting the encoded active interaction signal to the medium and strictly recording the signal transmission time T0; 2 is the global signal acquisition unit, used to receive the response vibration signal from the target object and synchronously record the reception time of each node; 3 is the back-end data processing unit, which calculates the signal propagation time based on the difference between T0 and the reception time, and solves for the target's three-dimensional coordinates; 4 is the feedback re-triggering mechanism (shown by the dashed line), which instructs the excitation transmitting unit to re-trigger the interaction when the positioning confidence is insufficient.

[0033] like Figure 4 As shown, 1 is the rollable storage end, 2 is the flexible mesh substrate, 3 is the upper edge fixing part, 4 is the upper edge reinforcing strip, 5 is the integrated detection node, 6 is the effective coverage area, 7, 8, and 9 are the lower edge fixing parts, 10 is the lower edge reinforcing strip, 11 is the end fixing buckle, and 12 is the auxiliary fixing part.

[0034] like Figure 5 As shown in the figure, this diagram illustrates in detail... Figure 3 The positioning calculation logic of the mid-to-back-end data processing unit includes: 1. Preprocessed multi-channel signal input; 2. Round-trip delay extraction step, calculating signal propagation time based on excitation transmission reference T0 and the receiving time of each node; 3. Reading the deployment reference coordinates of the detection nodes; 4. Simultaneous solution process of the distance equation system (non-hyperbolic equation); 5. Output of the target's three-dimensional coordinates.

[0035] Example 1: Passive Sensing Mode – Early Warning of Roof Instability in Mining Goaf Areas In this embodiment, 16 detection nodes are arranged in a 4×4 matrix, with an adjacent node spacing of 2.2m, and deployed on the bottom surface of the mine goaf roadway. After the system is powered on, it defaults to passive sensing mode and continuously collects environmental microseismic signals.

[0036] The coordination and control module analyzes the microseismic event rate, energy release trend, and spectral characteristics in real time. When the frequency of microseismic events suddenly increases from an average of 5 times / hour to 30 times / hour within 1 hour, and the low-frequency energy of 10-50Hz continues to rise, it is determined to be a precursor to roof instability, triggering an orange warning, outputting the coordinates of the abnormal area, and linking the on-site audible and visual alarms.

[0037] Example 2: Active Incentive Mode – Search and Rescue of People Trapped in a Collapse Accident This embodiment achieves positioning based on excitation-feedback round-trip time difference: the coordination control module accurately records the unified transmission time T0 of the excitation signal, and each detection node synchronously collects the response vibration signal from the target and records the reception time. The back-end data processing unit calculates the signal propagation time based on the difference between T0 and the reception time, and, combined with the wave velocity in the solid medium, directly calculates the distance from the target to each node, and solves the target's three-dimensional coordinates by solving a system of distance equations. This process relies on the absolute time reference T0, rather than the relative time difference between base stations in traditional TDOA, and the positioning error is less than 0.5 meters. "It should be noted that a single detection node can only determine the distance from the target to itself; the target's three-dimensional coordinates need to be solved by solving a system of spherical equations using the distance measurements from at least three non-coplanar detection nodes." Example 3: Verification of Fault Tolerance and Self-Healing Mechanism This embodiment simulates a single-node failure scenario: when the 5th detection node fails to respond to the heartbeat command three times in a row, the coordination and control module determines that the node has failed and automatically removes it from the list of valid nodes. At the same time, it schedules the four surrounding adjacent nodes to increase the sampling frequency by 25% and the gain by 6dB. The detection range of the adjacent nodes covers the area of ​​the failed node, compensating for the monitoring coverage gap.

[0038] Verification results show that the overall detection function of the system is not interrupted under single-point failure, the positioning accuracy decreases by less than 10%, and no permanent detection blind zone is generated.

[0039] In this embodiment, node failure states include three categories: hardware failure, communication interruption, and signal abnormality. Compensation and adjustment parameters include transmission power, sampling frequency, gain, and detection direction.

[0040] Example 4: Passive Sensing Mode – Early Warning of Structural Safety at Key Nodes of Ancient Buildings In this embodiment, 16 detection nodes are deployed at the load-bearing columns, beam connection nodes, and key parts of the walls of the ancient wooden structure. The system operates in passive sensing mode, continuously acquiring microseismic signals and analyzing the microseismic energy, event rate, spectral characteristics, and time delay changes between nodes in real time.

[0041] When the frequency of microseismic events at a certain bracket node exceeds three times the historical baseline, and the time delay of adjacent nodes increases abnormally, it is determined to be a sign of loose connection or material fatigue, triggering a yellow warning, outputting the abnormal node number and coordinates, and prompting manual inspection.

[0042] Example 5: Flexible Net-like Rapid Deployment Form As a preferred physical deployment form, in this embodiment, all detection nodes are integrated on a flexible mesh substrate to form an integrated detection mesh, which can be quickly laid out and rolled up for storage, and can conform to complex curved surfaces such as the bottom of the alley, slopes, and building floors.

[0043] After the netting is unfolded, its position is fixed by the edge fasteners, and the fixed spacing between nodes is preset. There is no need for manual point-by-point measurement and deployment, which can achieve rapid deployment at disaster sites in seconds.

[0044] This embodiment is only a preferred deployment method. The detection nodes of this system can also be deployed in various forms such as single-point independent deployment, pre-embedded installation, and surface bonding.

[0045] Example 6: Collaborative Early Warning Integrated with Fiber Optic Systems In this embodiment, the system is deployed in conjunction with a distributed fiber optic sensing system in a subway tunnel. The fiber optic cable is laid along the entire length of the tunnel to continuously monitor strain, temperature, and vibration parameters; the detection nodes of the system are densely deployed at key nodes such as tunnel segment joints and connecting passage interfaces.

[0046] Under normal conditions, the fiber optic system performs continuous sensing across the entire cross-section. When abnormal strain or vibration is detected, it automatically triggers encrypted data acquisition at the corresponding microseismic nodes. When the microseismic system detects a micro-fracture event, it verifies the abnormal response of the fiber optic system. This cross-validation of data from the two systems effectively reduces the false alarm rate and improves the accuracy of early warnings.

[0047] Example 7: System Parameter Selection This embodiment provides a set of preferred parameter configurations, which do not constitute a limitation on the present invention: The system sampling frequency is set to 200Hz, and the propagation velocity of micro-vibration longitudinal waves in concrete medium is set to 3400m / s, which can achieve centimeter-level positioning accuracy. The active interaction signal uses the low frequency band of 8Hz to 15Hz. This frequency band has a low attenuation rate in rock, soil and concrete, which takes into account both the penetration depth and the human perception effect. The micro-vibration excitation signal uses a preset coding sequence, which can filter environmental noise through coding matching and improve the accuracy of signal recognition.

[0048] This system does not require sub-nanosecond clock synchronization between base stations (a rigid requirement of traditional TDOA), but only millisecond-level time synchronization between each node and the coordination and control module. Because the positioning calculation is directly based on the excitation transmission time T0, the system deployment complexity is greatly reduced.

[0049] Example 8: Full-cycle application in scenic area scenarios In this embodiment, the system is deployed in a mountainous scenic area, and the detection nodes are set up at the load-bearing nodes of ancient buildings, rock fissures along the boardwalk, and key structural points in tourist gathering areas.

[0050] In normal operation, the system operates in passive sensing mode, monitoring for anomalies such as structural damage to ancient buildings, micro-fractures in slope rock mass, and precursors to rockfalls, triggering tiered early warnings. After a disaster occurs, it automatically switches to active excitation mode, emitting low-frequency active interactive signals to guide trapped personnel to respond by tapping, quickly completing location and interaction.

[0051] Example 9: Lightweight AI Signal Recognition Upgrade Solution for End-Side Applications As a preferred embodiment, this example equips each detection node with a low-power AI processing unit, carrying a lightweight signal recognition model. This model is configured to perform the following localization processing on the raw microseismic data: Noise filtering: Suppresses environmental interference signals through a preset filtering algorithm; Anomaly feature identification: Based on the identification rules trained by the model, the spatiotemporal features of anomalous microseismic events are extracted and labeled.

[0052] After processing, the detection node only uploads a warning marker (indicating the occurrence of an abnormal event) and the corresponding timestamp to the coordination and control module, rather than the full waveform data.

[0053] The technical benefits of this architecture include: Significantly reduces data transmission burden and improves overall system processing efficiency; Enhance real-time response capabilities and shorten the delay in detecting and reporting abnormal events; Enhance privacy and security by minimizing data transmission.

[0054] The aforementioned technical effects can be achieved by optimizing the complexity of AI models and data processing procedures. Those skilled in the art can make reasonable configurations based on the application scenario requirements and existing technical means. The scope of protection of this application is not limited to specific parameter settings or test results.

Claims

1. An active, interactive, distributed microseismic life detection and monitoring system, characterized in that, include: Multiple distributed probe nodes, each of which is configured to dynamically switch between at least two operating modes, wherein: In passive sensing mode, the detection node is configured to receive microseismic signals from the monitored area; In active excitation mode, the detection node is configured to emit a micro-vibration excitation signal with preset characteristics into the solid medium; A coordination control module, configured to: synchronously control the collaborative operation of the multiple detection nodes in passive sensing mode or active excitation mode; The working status of the detection node is monitored in real time. When the target detection node fails, the working parameters of at least one neighboring detection node are dynamically adjusted to compensate for the monitoring coverage gap caused by the failed node. The control probe nodes transmit active interaction signals into the solid medium, receive response vibration signals from the target object, record the transmission time T0 of the active interaction signal, and calculate the signal propagation time based on the difference between T0 and the reception time of the response vibration signal received by each probe node. Combined with the wave velocity in the solid medium, the distance from the target object to the corresponding node is calculated, and the three-dimensional spatial position of the target is solved by solving a set of multi-node distance equations. Based on changes in the state of the monitored environment, the system is triggered to switch between passive sensing mode and active stimulation mode; After locating the target object, the control detection node transmits preset interactive information to the target through the solid medium and receives the vibration response signal from the target, thus realizing two-way information interaction.

2. The system as described in claim 1, characterized in that, The multiple distributed detection nodes are deployed as an array to cover the monitoring area, wherein the spacing between adjacent detection nodes is configured to be less than a preset threshold to ensure continuous coverage of the monitoring area.

3. The system as described in claim 1 or 2, characterized in that, The detection nodes also include: The signal processing unit is used to filter, amplify, or extract features from the received micro-vibration signals. The communication unit is used to interact with other detection nodes or the coordination and control module.

4. The system as described in claim 1, characterized in that, The coordination control module is further configured as follows: The failure status of the detection node is identified by a preset failure detection algorithm. The failure status includes at least one of hardware failure, communication interruption or signal abnormality.

5. The system as described in any one of claims 1 to 4, characterized in that, The dynamic adjustment of the operating parameters of neighboring detection nodes includes: Adjust at least one of the following: the transmission power, sampling frequency, signal processing algorithm weight, or detection direction of the neighboring detection nodes, to compensate for the coverage hole.

6. The system as described in claim 1, characterized in that, The calculation of the three-dimensional spatial position includes: Record the unified transmission time T0 of the active interaction signal and the reception time of the response vibration signal received by each detection node, and calculate the signal propagation time based on the difference between T0 and the reception time. The initial distance from the target object to the corresponding detection node is determined based on the initial value of the wave velocity in the solid medium. By combining the distance measurements from multiple detection nodes into a system of spherical equations, the three-dimensional coordinates of the target object are solved using the iterative weighted least squares method. The wave velocity parameter is then adaptively corrected based on the medium type and signal attenuation characteristics to output the final positioning result.

7. The system as described in any one of claims 1 to 6, characterized in that, The micro-vibration excitation signal with the preset characteristics includes at least one of the preset frequency, amplitude, encoding sequence, or modulation method.

8. The system as described in any one of claims 1 to 7, characterized in that, The two working modes of the system correspond to different application scenarios: In the scenario of pre-disaster early warning, the system enters a passive sensing mode at a preset cycle to monitor micro-fracture signals in geological structures for disaster early warning. In post-disaster search and rescue scenarios, the system enters an active excitation mode to emit micro-vibration excitation signals and performs life detection and location based on the response vibration signals.

9. The system as described in claim 8, characterized in that, The changes in the state of the monitored environment include at least one of the following: disaster occurrence signals, user commands, or preset triggering conditions.

10. The system as claimed in claim 1, characterized in that, The two-way information interaction supports both vibration transmission and voice transmission interaction pathways, and the system can automatically switch the interaction pathway according to the medium environment. The dynamic conduction interaction uses coded vibration sequences to transmit simple commands; the voice conduction interaction transmits recognizable voice signals through a solid medium via a low-frequency bone conduction mechanism; the system automatically switches paths based on the signal-to-noise ratio and frequency band characteristics of the response signal.

11. A life detection method based on the system according to any one of claims 1 to 10, characterized in that, Includes the following steps: Control multiple distributed detection nodes to simultaneously enter passive sensing mode or active activation mode, and coordinate to cover the monitoring area; In active excitation mode, active interactive signals are emitted into the solid medium, and the response vibration signals fed back by the target object are collected; The working status of the detection nodes is monitored in real time. When a node failure is detected, the working parameters of the neighboring nodes are dynamically adjusted to compensate for the monitoring coverage gaps. The signal propagation time is calculated based on the difference between T0 and the reception time of the response vibration signal received by each detection node. The distance from the target object to the corresponding node is calculated by combining the wave velocity in the solid medium. The three-dimensional coordinates of the target object are calculated by solving the spherical equation system using the distance measurements of multiple detection nodes. Once the location is established, it actively transmits interactive information to the target object and receives feedback, thus completing a two-way dialogue interaction; The system automatically switches its operating mode based on changes in the monitored environment.

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