2199 results about "Confined space" patented technology

The present invention relates to the technical field of environmental perception in confined spaces, and discloses a multi-modal coupled perception method for target recognition and region segmentation in a confined space. The method comprises: firstly, constructing a 3D point cloud data processing network, a 2D point cloud data processing network, and an image data processing network; next, constructing a feature fusion device, and outputting a bird's-eye view incorporating multi-sensor information; then constructing a multi-scale feature fusion extraction network and a network output head, outputting a target recognition and region segmentation result, and designing a loss function to train a network weight; and finally, inputting 3D point cloud data, 2D point cloud data, and camera image data into a network model, performing inference to obtain a target recognition and region segmentation prediction result, and performing visual rendering on the prediction result. In the present invention, in view of the characteristics of a millimeter-wave radar, a multi-modal coupled perception network is constructed, so that effective information in mass point cloud data of the millimeter-wave radar can be deeply mined, thereby effectively improving the detection accuracy of target recognition.

The invention discloses an intelligent construction site confined space operation monitoring and early warning method based on artificial intelligence, and the method comprises the following steps: S1, collecting source data in a confined space operation environment, and carrying out the preprocessing; s2, analyzing the environmental safety condition in the closed space; s3, using a DINOv2 target detection model to identify the existence state of the operator and the wearing condition of the protective equipment, and monitoring the behavior action of the operator in combination with a MotionBERT attitude estimation algorithm; s4, performing health state analysis on the operating personnel; s5, predicting the risk change trend of the closed space operation environment by using an SARIMA model; s6, all the results are fused to generate a final risk assessment result; s7, when a set early warning threshold value is reached, alarm information is generated; and S8, dynamically adjusting early warning parameters. According to the method, a DINOv2 target detection model, a MotionBERT attitude estimation algorithm and an SARIMA model are combined, monitoring and early warning of closed space operation are achieved, and the method has high-precision detection, intelligent identification and risk prediction capabilities.

The present invention belongs to the technical field of anchor protection apparatuses. Provided is an automatic anchor protection platform having combined support of anchor rods and anchor cables. The automatic anchor protection platform comprises a movable chassis, a multi-cycle anchor rod drilling rig, an anchor rod drilling rig posture positioning control device, an anchor cable support device, a temporary support device, an electrical system and a hydraulic system. Said automatic anchor protection platform integrates the multi-circle anchor rod drilling rig, the anchor cable support device and the temporary support device, and therefore meets the anchoring and support requirements of roadways under different geological conditions, allows anchor rod and anchor cable parallel support operations to be conducted at the same time, and achieves efficient coordinating matching linkage integrated design, thus further promoting efficient operation processes in limited spaces such as coal mines and tunnels.

The invention provides a flexible palladium film hydrogen sensor and a preparation method thereof, the flexible palladium film hydrogen sensor is sequentially provided with a flexible substrate, a hydrogen sensitive sensing layer and a contact connection layer from bottom to top, and the contact connection layer is connected with a resistance measurement unit; and the hydrogen-sensitive sensing layer is a palladium or palladium alloy film with a conical micro-nano structure. The palladium or palladium alloy thin film with the conical micro-nano structure provides a hydrogen sensor conical surface micro-nano structure with a high specific surface area for the flexible palladium thin film hydrogen sensor, and the process that hydrogen is adsorbed, dissolved and diffused into the palladium or palladium alloy thin film is accelerated, so that the response speed of the sensor is increased; according to the hydrogen sensor, the flexible substrate is adopted, so that the hydrogen sensor can be conveniently arranged in various narrow spaces, and the applicability of the hydrogen sensor in various scenes is improved.

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.

The invention discloses an intelligent induction and early warning system for poisonous gas in a limited space, and relates to the technical field of gas induction and early warning. A three-dimensional structure model of the limited space is constructed, and non-uniform grid division is carried out based on barrier characteristics; multiple types of toxic gas sensing units are arranged in the grids, and gas concentration data are collected in real time; constructing a toxic gas three-dimensional cloud picture, and generating a dynamic weight field based on the concentration gradient; fusing operator positioning and trajectory prediction information, and establishing an individual risk exposure model; calculating a space-time intersection of the toxic gas cloud picture and the high-risk track area to form a fusion risk matrix; realizing linkage early warning control of a region level and an individual level through multi-level dynamic threshold judgment and thermal block clustering identification; the system can realize accurate perception and active response of the toxic gas gathering trend and personnel exposure risk in the complex limited space, has the technical advantages of high sensitivity, high intelligence and low false alarm, and is suitable for various limited space scenes such as chemical engineering, tunnels and mines.

The invention discloses a self-adaptive gait control method, system and device for a quadruped robot in a limited space and a medium, and belongs to the technical field of gait control. Identifying terrain categories through a classifier and acquiring initial gait parameters from a gait library; adjusting the gait parameters according to the terrain gradient and the roughness to obtain optimized gait parameters; calculating stability indexes and fusing scores; when the score is lower than a threshold value, an adjustment strategy is determined according to an instability mode to correct gait parameters; a foot end track is generated and control is executed; and the executed information is fed back to terrain perception to form a closed loop. According to the method, the terrain recognition accuracy is improved through multi-modal information fusion, the adaptive mapping from the terrain to the gait is established to achieve automatic gait switching and parameter optimization, the stability is evaluated through multi-index fusion, a targeted adjustment strategy is selected according to an instability mode, the adaptive gait control problem under the limited space and the complex terrain is solved, and the adaptive gait recognition accuracy is improved. And the movement efficiency and the stability are improved.

The invention discloses a PINN-based limited space internal explosion damage parameter prediction method and system. The method comprises the steps of completing data acquisition and constructing a time sequence data set; model construction is completed, and the time sequence modeling capability is enhanced; determining a total loss function and adding boundary condition constraints to enable model prediction to accord with physical laws; firstly optimizing data loss, then introducing a physical residual error, and finally activating a boundary speed suppression loss item and adjusting a learning rate; in combination with a learning rate dynamic scheduling and early stop mechanism, the training efficiency and stability are improved through adaptive residual weighted balance data and physical constraint loss; and predicting parameters such as pressure, temperature and speed of each point in the limited space in multiple time frames by using the trained model, calculating impulse based on a pressure time history, evaluating personnel damage, and completing damage zoning in the limited space. And efficient modeling under a complex boundary condition and a limited space environment is completed.

The invention belongs to the technical field of agronomy experiment devices, and particularly relates to a mulch-mulched soil environment simulation device which comprises a closed space, an air inlet and an air outlet. The mulching film sample is arranged in the closed space; the top of the soil simulation assembly is in contact with the bottom of the mulching film sample, and the soil simulation assembly is used for simulating a soil environment covered by the bottom of the mulching film sample; the natural environment simulation assembly is communicated with the closed space, the natural environment simulation assembly is used for simulating environmental conditions of the top of the mulching film sample, and the environmental conditions comprise temperature and humidity parameters, illumination parameters, rainfall parameters and wind speed parameters. According to the invention, researchers can accurately and controllably carry out experiments indoors, simulate soil states under different mulching film materials and environmental conditions, and deeply understand the influence of mulching film mulching on key parameters such as soil moisture, temperature and gas exchange. Scientific basis is provided for agricultural production and crop management, and sustainable development of agriculture is promoted.

The invention discloses a narrow space spraying trajectory planning method based on reinforcement learning, and the method comprises the steps: obtaining environment data through a LiDAR camera and a TOF camera, and obtaining a LiDAR point cloud and a TOF point cloud; carrying out registration fusion on the LiDAR point cloud and the TOF point cloud, and carrying out normal vector unification processing on each point of the fused point cloud; reconstructing by introducing a Poisson equation improved by shielding perception weight, and eliminating noise through Laplacian smoothing processing to obtain a target point cloud set; designing a state space, an action space and a reward function of reinforcement learning according to the planning of the spraying path trajectory, and determining a spraying path trajectory planning strategy; and based on the target point cloud set, adopting a spraying path trajectory planning strategy to carry out spraying trajectory planning. Sensor data fusion is realized through an improved iterative nearest point algorithm, and a shielding area is repaired in cooperation with a Poisson reconstruction algorithm, so that accurate correspondence between input parameters and output film thickness can be realized, and the control precision of the spraying thickness is remarkably improved.

The invention belongs to the technical field of gas monitoring, and discloses a limited space gas monitoring method, system and device based on the Internet of Things and a medium, and the method comprises the steps: obtaining gas sensing data transmitted by a pre-constructed gas sensing node network through an optimal transmission path; performing gas concentration prediction on the gas sensing data by using a long short-term memory neural network and a random forest algorithm, comparing a prediction result with a preset early warning threshold value, and triggering an alarm of a corresponding level; and determining a prediction error based on a prediction result, dynamically optimizing an early warning threshold based on the prediction error, and continuously optimizing the plan through a closed-loop feedback mechanism. By introducing the gas monitoring sensor, the wireless Internet of Things ad hoc network technology, the edge computing and the cloud collaborative architecture, the toxic gas real-time monitoring with high sensitivity, low power consumption, flexible deployment and intelligent analysis is realized.

The invention belongs to the technical field of engineering construction equipment, and discloses a trolley variable-diameter launching method which comprises the following steps: firstly, reducing the width of a trolley from 6m to 4.9 m through a trolley narrowing mechanism so as to transport and hoist in a limited space and complete assembly; when tunneling to 80m, expanding the width of the trolley to 6m, and recovering the bearing capacity of the trolley; continuously tunneling to 110m, hoisting a subsequent trolley, and connecting to form a complete machine; and after the shield body passes through the starting tunnel portal, the diameters of the cutter head, the shield body and the shield tail are synchronously expanded to the size required by construction. According to the method, through the flow design of narrowing transportation, reducing assembly and step-by-step expansion, the problems that a traditional shield tunneling machine cannot be started in a limited space and the construction efficiency is low are solved, and the construction efficiency and feasibility under the complex working condition are improved.

The invention relates to the technical field of underwater pipeline measurement, in particular to a manifold connection pose measuring device suitable for an underwater limited space and a solving algorithm. The device comprises an angle measuring mechanism and a rope length detecting mechanism, and is fixed on a flange end face of a detected pipeline through a centering mechanism; the angle measuring mechanism is composed of an orthogonal shaft system and a magnetic coupling encoder, and the linear displacement is mapped into an angle signal by combining a sliding rail and a measuring rope extension arm; the rope length detection mechanism winds a stainless steel measuring rope through a friction hub in an anti-corrosion shell, and the number of rotation turns is detected through an encoder so as to calculate the rope length. The method comprises the steps of establishing a measuring rope infinitesimal stress model, calculating a suspension curve based on a parabola theory, constructing an absolute coordinate system and a reference coordinate system, and resolving the relative pose of the two pipelines through pose parameters and a transition matrix. The working load of a diver is reduced through lightweight design and a low-friction shaft system, and high-precision pose measurement is achieved by combining the parabola theory and dynamic coordinate transformation.

The invention discloses a shielding space operation communication gateway system based on PLC and 5G multimode fusion, and relates to the technical field of communication gateways, through integrating a task intention recognition module, a link semantic modeling module, an intelligent strategy regulation and control unit, a cross-link redundancy coding and decoding module, a link abnormal game detection module and a cognitive evolution management module; modeling is carried out through task-driven communication service requirements, semantic abstraction is carried out on a link state in combination with a graph neural network, a system constructs a double-input reinforcement learning model, and joint scheduling of link selection, coding configuration and energy consumption control is realized; meanwhile, the abnormal behavior of the link is judged through an adversarial sample recognition and game mechanism, and a main strategy structure is optimized based on a multi-strategy scoring and inheritance mechanism; the system has the capabilities of intelligent decision making of communication strategies, anomaly defense and self-evolution optimization, and is particularly suitable for high-reliability operation communication requirements in a limited space in wireless communication shielding environments such as a hearth, an air pre-heater, an absorption tower, a tunnel, a mine and a subway.

The invention relates to a fusion detection method for heterogeneous sensors of an intelligent gangue selection robot in a limited space, and belongs to the field of fusion of technical heterogeneous sensors. VOC time sequence signals of a bionic electronic nose array, laser radar cloud data and pose information of an inertial measurement unit are synchronously collected, and the VOC time sequence signals are denoised through a generative adversarial network model; voxel filtering and outlier elimination are carried out on the laser radar cloud data; the VOC concentration gradient is predicted based on CFD simulation, a three-dimensional environment map is constructed in combination with laser radar cloud data and inertial measurement unit poses, and a smell concentration thermodynamic diagram is marked; and extracting robust odor fingerprints from the denoised VOC time sequence signals, aligning feature distribution of different mining areas, and updating the classification model. According to the scheme, the gangue selection robot is guided to preferentially explore a hidden area with low VOC concentration and high CO2 accumulation through the odor concentration gradient, and the detection capacity of non-dominant gangue piles is remarkably improved.

The invention relates to the technical field of continuum robot control, in particular to an under-actuated active and passive cooperative control device for a continuum robot. The two sections of mechanical arms are connected in a staggered mode to form two sections of continuous mechanical arms moving independently, each mechanical arm is provided with a plurality of bending units which are sequentially connected in the same position, the pre-tightening compensation mechanism is installed on the core body in the circumferential direction, the under-actuated control mechanism is installed on the installation disc, and the first rope is connected with the mechanical arms and the rope fixing plate; one end of the second rope is connected with the mechanical arm, and the other end of the second rope sequentially penetrates through the mechanical arm, the pre-tightening compensation mechanism and the first positioning wheel assembly and then is connected with the rope fixing plate to form a tension compensation loop for the first rope. The two-section continuum structural design is adopted, kinematics dimension reduction is achieved, and the multi-direction bending capacity can be achieved in a narrow space through bionic optimization. A combined type pre-tightening mechanism with a spring and a pulley combined is adopted, rope deformation is passively compensated through an elastic element, and dynamic tension maintaining is achieved.

The utility model discloses an aircraft sliding door pressure relief test device, which comprises a clamping mechanism and an actuator, the clamping mechanism comprises a vertically arranged rectangular frame, a sliding door is vertically arranged in the rectangular frame, and an upper frame and a lower frame of the rectangular frame are respectively fixed on the upper side and the lower side of a framework of the sliding door. The left frame and the right frame of the rectangular frame do not make contact with the left side and the right side of the framework of the sliding door, the transmission end of the actuator acts on the pressure relief opening cover on one side on the plane in the heading direction of the sliding door to form a loading point, and the actuator loads and applies force to test whether the pressure relief opening cover is separated from the pressure relief lock at the opening value and is normally opened relative to the framework. On the basis of analysis of structural forms and pressure relief loads of the pressure relief opening cover and the pressure relief lock of the aircraft sliding door, the open test device is provided, a confined space pressing test is not needed, the actuator directly acts on the pressure relief opening cover of the sliding door to load and apply force, the test device can be repeatedly used, the test implementation process is easy to operate, and the test efficiency is improved. Test results are accurate, and test cost can be reduced.

The invention relates to the technical field of dust concentration detection, in particular to an online detection method and system based on limited space dust concentration, and the method comprises the following steps: based on each detection area, analyzing scattered light signals, classifying the scattered light signals into different particle size categories according to angles and coordinates, and performing signal compensation in combination with real-time humidity; adjusting the irradiation direction of the LED array to optimize illumination distribution, comparing light intensity differences, dynamically scheduling uniform illumination areas, subdividing detection points, analyzing layering signals, and obtaining particle size layering concentration data. According to the invention, distribution mapping with distinct particle size category difference is realized by using a spatial multi-dimensional layered structure, signal adaptability is improved by fusing a humidity dynamic response mechanism, particle size, humidity and illumination multi-source data are dynamically fused, local environment interference is eliminated through layering and compensation linkage, and the accuracy of the system is improved. The continuity of data expression and the response speed of concentration monitoring are improved, and continuous dynamic tracking of the dust state in a limited space complex environment is supported.

The invention provides a BIM (Building Information Modeling)-based engineering electromechanical installation method. The method comprises the following steps: establishing an engineering electromechanical BIM model; carrying out model collision check and optimization; construction simulation and scheme making are carried out; field installation and implementation; and installation acceptance and model filing. According to the method, the geometric and attribute integrated BIM model is constructed through data collection and digital drawing review, full-dimensional collision detection is carried out, key pipeline specification requirements are preferably guaranteed, model data reliability is guaranteed, construction disjunction caused by drawing errors is avoided, the problem of pipeline collision is solved in advance, and the construction efficiency is improved. Material waste and construction period delay of dismantling and reassembling in the construction stage are reduced, meanwhile, the risk of illegal acceptance of key pipelines is reduced, and the limited space utilization rate is increased.

The utility model discloses full-automatic stator coil taping equipment, which comprises a machine table, a guide rail is fixedly arranged on the machine table, two ends of the guide rail are respectively and fixedly provided with a base plate, one end, far away from the machine table, of each base plate is provided with a placement plate, and the placement plates are used for placing stator coils; according to the full-automatic stator coil taping device, constant-tension stable winding and binding are achieved in a limited space, and it is guaranteed that accurate transverse translation is conducted in the constant-tension winding and binding process; when the equipment is taped, the posture is stable, and the movement is accurate; after one side of the stator coil is taped, the stator coil does not need to be disassembled, and the other side of the stator coil can be taped only by turning over the stator coil, so that the step of repeatedly clamping and positioning is saved, and the taping efficiency is improved.

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.

The invention discloses a thermal power plant limited space operation safety and environment multi-parameter monitoring system, and relates to the technical field of operation safety monitoring. A structure parameter model is constructed based on a space volume structure, a gas exchange path, a risk type and an operation position, and multi-parameter sensing nodes are configured; extracting abnormal fluctuation characteristics of the environmental parameters through edge computing nodes; a gas flow model and a heat distribution model are combined to carry out space-time inversion, a risk source is positioned, a space risk heat map is dynamically generated, the position and action state of an operator can be obtained in real time, the exposure probability is calculated, and automatic identification and graded early warning of a high-risk area are realized; the system has high-precision, low-delay and full-coverage monitoring capability, and the intrinsic safety of limited space operation of the thermal power plant is improved.

The invention discloses a limited space gas monitoring and emergency response method and system based on multi-modal sensing and intelligent decision, and a storage medium, and aims to solve the problems of one-sided monitoring, low recognition precision and the like in the prior art. The method comprises the steps of system initialization and parameter configuration, multi-modal data real-time acquisition and transmission, fusion analysis and risk identification, leakage source positioning and concentration field modeling, multi-stage dynamic emergency response, emergency process adjustment interaction and system self-learning optimization. The system comprises a multi-mode sensing assembly, an intelligent decision-making module and the like, and can integrate a personnel positioning system and an access control system. According to the method, the risk identification precision is improved through multi-source data fusion, the response pertinence is enhanced through a dynamic emergency strategy, the adaptability is guaranteed through a self-learning and linkage mechanism, and comprehensive safety guarantee is provided for limited space operation.

The invention discloses a self-adaptive climbing track system in a cable-stayed bridge tower and a fire extinguishing robot, and belongs to the technical field of bridge fire fighting. The self-adaptive climbing rail system in the cable-stayed bridge tower comprises a rail system composed of standardized aluminum alloy modules. The invention discloses a four-wheel independently-driven robot. A central control system; and the rapid supply stations are arranged along the track system at intervals. The problems of fire extinguishing blind areas, poor equipment adaptability and response delay in a high-rise closed space of a cable-stayed bridge tower are solved, and the purpose of all-weather three-dimensional active protection is achieved.

The invention provides an analog simulation method for a concrete bridge widening structure in a limited space, and belongs to the technical field of analog simulation, and the method comprises the steps: constructing a multi-scale-multi-constraint coupling finite element model of a widening structure adaptive to the limited space, defining a multi-dimensional simulation boundary condition driven by the limited space, and constructing a multi-scale-multi-constraint coupling finite element model of the widening structure; and performing staged coupling simulation analysis under a limited space working condition, performing multi-objective optimization iteration on limited space constraint based on a simulation result, and preferentially screening a parameter combination which reaches the mechanical standard and has the minimum space redundancy for practical application of the concrete bridge widening structure. The simulation precision of the bridge widening structure is effectively ensured, the transformation efficiency is improved, and the engineering risk is reduced.

The invention relates to the technical field of aircraft maintenance, and particularly discloses a guide supporting structure for replacing large components of an aircraft. The longitudinal supporting seat can be movably arranged on the vehicle body in the horizontal direction; the linkage operation adjusting mechanism is arranged on the side wall of the longitudinal supporting seat and is used for providing two independent transmission powers with variable speeds for the longitudinal supporting seat; the lifting mechanism can be movably arranged on the longitudinal supporting seat in a sleeving mode in a lifting mode, the lifting mechanism is further provided with a rotatable retainer, the retainer is used for fixing an aircraft landing gear in a disassembly and assembly state, and lifting power of the lifting mechanism and rotating power of the retainer both come from the longitudinal supporting seat. According to the invention, multi-degree-of-freedom adjustment in a limited space is realized, and meanwhile, a guide supporting structure with high positioning precision and operation convenience is taken into account, so that the safety and efficiency of replacement operation of large components of an aircraft are improved.

The invention relates to a double-robot automatic calibration method based on self-adaptive point location planning in a restricted space, and belongs to the technical field of double-robot calibration, and the method comprises the steps: building a three-dimensional simulation model of a double-robot operation space on an Rviz platform based on an ROS architecture; a collision detection module is used for randomly generating a calibration point composed of collision-free double-robot joint angle vectors; when the robot is driven to move, data of the motion capture camera and positive kinematics Cartesian coordinates of the double robots are synchronously collected, a calibration result is obtained through optimization of a least square method by adopting a hand-eye calibration algorithm, and the effectiveness of the calibration result is judged through the average value of data calibration precision until calibration of the double robots is completed. Simulation modeling, collision detection and a hand-eye calibration technology are fused, a complex calibration problem is converted into a virtual environment parameter optimization process through a self-adaptive sampling strategy and a data synchronous acquisition mechanism, calibration robustness and precision are remarkably improved, and guarantee is provided for high-precision cooperative control of double robots.

The invention discloses a handheld laser radar scanner and an application method of the handheld laser radar scanner in rural house surveying and mapping, and aims to solve the problems of low efficiency, poor precision and insufficient environmental adaptability of traditional surveying and mapping. The equipment integrates a multi-line laser radar, an inertial navigation system (INS), a multispectral imaging unit and an edge calculation module, and realizes three-dimensional reconstruction through a dynamic scanning strategy and an intelligent point cloud fusion algorithm. The core innovation comprises: 1, a multi-modal data fusion technology: laser point cloud and a multi-spectral image cooperate to identify physical characteristics of rural house building materials (such as rammed earth and wood); the narrow space is optimally designed, the size of the device is smaller than or equal to 15 cm * 8 cm * 5 cm, one-hand operation is supported, and indoor collision is avoided through a built-in anti-collision sensor; and 3, a farm house special algorithm library which comprises a roof inclination angle calculation module, a crack detection module and a structure safety evaluation module. Actual measurement shows that the equipment can still realize + / -2cm absolute precision in a GNSS signal-free environment, the surveying and mapping of 200m < 2 > rural houses can be completed in only 20 minutes through one-time operation, and the efficiency is improved by 5 times compared with that of a traditional total station.

The invention discloses a limited space operation early warning method, system, equipment and medium, and the method comprises the steps: obtaining real-time monitoring data of an operation environment of a target limited space, inputting the real-time monitoring data into a pre-trained multi-source data fusion network model, obtaining data features corresponding to the real-time monitoring data, and carrying out the early warning of the operation environment of the target limited space; inputting the data features into a pre-trained risk assessment model, generating an operation risk level of the target limited space, judging whether the current operation environment is in a dangerous state or not according to the operation risk level, and if the current operation environment is judged to be in the dangerous state, identifying the risk source of the target limited space through a Bayesian network-based dangerous source identification model. According to real-time monitoring data, a hazard source is identified, the hazard source and data features are input into an early warning value generation model based on deep reinforcement learning, an early warning value is generated, an early warning strategy for a target limited space is determined according to the early warning value and the hazard source, and the flexibility of limited space operation early warning is improved.

The invention discloses an underwater explosion near-field shock wave indirect measurement device in a limited space, a measurement method and an installation method, belongs to the technical field of explosion shock wave load measurement, and solves the technical problem that near-field shock wave measurement and free-field shock wave decoupling measurement cannot be realized due to direct action of strong shock waves and interference of reflected waves in the prior art. The device is of a shock tube type structure and comprises a measuring structure head round tube, a measuring structure tail round tube, a sensor tail bypass extension round tube, a sensor head bypass extension round tube, an underwater explosion free field sensor, a sensor tail bypass round tube and a sensor head bypass round tube. And the tail part of the underwater explosion free field sensor extends into the sensor tail part bypass extension circular tube, and the head part of the underwater explosion free field sensor extends into the sensor head part bypass extension circular tube. The method is suitable for the field of impact measurement of underwater explosion and can be applied to the field of performance evaluation of underwater explosion sources.