28 results about "Unexploded ordnance" patented technology

The invention belongs to the technical field of geophysical exploration, and particularly discloses a differential transient electromagnetic method device and an unexploded ordnance detection method thereof.The differential transient electromagnetic method device is characterized in that a transmitter injects emission current into an emission loop, and the emission loop generates a primary field excitation signal; the underground anomalous body target generates a secondary field excitation signal under the action of the primary field excitation signal; the receiving coil assembly is based on the structure of a differential coil, synchronously counteracts a primary field excitation signal and a uniform background signal in an induced voltage, and expands a local asymmetric differential signal generated by an underground anomalous body target; and the receiver carries out time sequence analysis on the local asymmetric differential signals and extracts differential signal features so as to realize positioning and identification of an underground anomalous body target. The device is suitable for detection of shallow-buried small bodies such as UXO, the overall arrangement range of the device is small, and rapid arrangement and mobile observation in the field are facilitated.

A system and processes detect, identify a Unexploded Ordnances (UXOs) and / or categorize UXOs in near real-time using Unmanned Aerial Vehicles (UAVs). In accordance with various disclosed embodiments, the equipment includes such UAVs (also referred to herein as “drones,”) that include a plurality of sensors for imaging the terrain of a geographic area to analyze the terrain and detect anomalies and / or changes that may be indicative location of UXOs, for example, soil moving activity performed in association with the burying the UXO. Additionally, the UAVs include processing equipment, e.g., one or more small form factor devices, e.g., Next Unit of Computing (NUC) compute elements or the like, that provide processing power to provide EDGE computing on the data gathered at the UAV.

The invention provides a three-dimensional magnetic anomaly feature extraction method and system applied to unexploded ordnance identification, and the method comprises the steps: rotating the angle of an unexploded ordnance, and adjusting the position of a first magnetometer relative to the unexploded ordnance; the data recording instrument records unexploded ordnance identification information and position data and angle data of the unexploded ordnance relative to the first magnetometer, and original magnetic anomaly data of the unexploded ordnance is obtained by combining the first magnetic data and a difference value of synchronously collected second magnetic data; performing inversion based on the original magnetic anomaly data and the position data of a plurality of positions corresponding to the same angle so as to form a three-dimensional point cloud model at the angle; and performing inversion based on the three-dimensional point cloud model of the multiple angles to form three-dimensional magnetic anomaly features. Multiple groups of original magnetic anomaly data of the unexploded ordnance are collected and inverted in the outdoor environment to form three-dimensional magnetic anomaly features capable of being compared and matched with actually measured data, and the efficiency, accuracy and convenience of unexploded ordnance detection are improved.

The invention discloses a device for dismantling a buried underwater unexploded ordnance, the device works based on an underwater robot, the device is composed of a shell, a connecting port, a sensor, a driving rod, a protection releasing element, a small motor, a telescopic rod, a shaped charge, a magnetic detection device, a telescopic sleeve and a supporting plate, and the shape of the buried unexploded ordnance is detected through the magnetic detection device; an explosive ordnance disposal scheme is determined after information is transmitted to the water operation platform, the telescopic rod controls the telescopic sleeve to ensure the position relation between the shaped charge and the unexploded ammunition, and the shaped charge is provided with an intelligent fuze which can be detonated after the robot is away from the unexploded ammunition. The device for destroying and burying the underwater unexploded ordnance has the advantage that the position relation between the shaped charge and the unexploded ordnance is fixed through the telescopic sleeve, the shaped charge can be accurately detonated, the unexploded ordnance can be detonated, the effect of accurately destroying and burying the underwater unexploded ordnance is achieved, meanwhile, the device can be produced in batches, and high economic benefits are achieved.

The utility model relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle detection device which comprises a mounting plate, the outer wall of the mounting plate is provided with a stabilizing assembly used for stabilizing the detection device in the flight process of an unmanned aerial vehicle, the bottom of the mounting plate is fixedly connected with a connecting plate, and the bottom of the connecting plate is fixedly connected with a fixing plate. A middle shaft is rotatably connected to the inner wall of the fixing plate, a bearing is fixedly connected to the outer wall of the middle shaft, a control box is fixedly connected to the outer wall of the bearing, a second bevel gear is fixedly connected to the outer wall of the middle shaft, and a first bevel gear is rotatably connected to the inner wall of the bottom of the control box; the outer wall of the first bevel gear is connected with the outer wall of the second bevel gear in a meshed mode. According to the utility model, the angle of the detection device is adjusted by adding the angle adjusting assembly, so that the detection device can monitor unexploded ordnance of different models and earth surface thunders in different detection ranges, and the detection efficiency is better.

The invention provides a sub-meter buried unexploded ordnance detection and identification method based on correlation three-dimensional magnetic imaging, and the method comprises the steps: obtaining ground surface magnetic anomaly measured data and corresponding trajectory data of a detection region, and dividing a local anomaly region according to a magnetic anomaly change rate; dividing the underground space corresponding to the local abnormal region into three-dimensional grids based on the local abnormal region, calculating the theoretical magnetic anomaly of each grid node based on a magnetic dipole model, obtaining a normalized local correlation coefficient point by point with the measured data of the magnetic anomaly, and reserving nodes higher than a preset threshold as candidate nodes; taking error minimization between theoretical magnetic anomaly of the candidate node and magnetic anomaly measured data as a fitness function, and obtaining an optimal magnetization parameter and an optimal local correlation imaging coefficient based on particle swarm optimization iterative optimization; and based on the optimal local correlation imaging coefficient, carrying out integration according to a spatial position, generating a three-dimensional magnetic imaging result of the detection area, and obtaining a contour parameter and a spatial position of the sub-meter buried unexploded ordnance.

The invention discloses an unexploded ordnance laser destroying device, which belongs to the technical field of unexploded ordnance destroying, and comprises a laser destroying equipment body comprising a laser aiming and launching device; the protection component comprises a protection shell arranged on the laser aiming and transmitting device and is used for protecting the laser aiming and transmitting device, and a fixing assembly is arranged on the protection shell; the launching device protection mechanism is arranged on the protection shell; according to the laser aiming and launching device, through multiple protection structures such as the front end shielding mechanism and the launching device protection mechanism, the shielding plate can be rapidly triggered to shield the front end of the laser aiming and launching device when the unexploded ordnance explodes, and the protection shell is made of impact-resistant materials such as high-strength alloy steel or bulletproof ceramic composite materials; and fragments and shock waves generated by explosion can be resisted, core parts are prevented from being damaged, meanwhile, an operator remotely operates through the control panel, the risk of close-range contact is reduced, and the overall operation safety is greatly improved.

This invention discloses a method and apparatus for magnetic detection of unexploded ordnance, comprising: acquiring three components of a magnetic field near the unexploded ordnance using an array sensor; sending the three components of the magnetic field to an information processing terminal; processing the three components of the magnetic field to obtain a magnetic gradient tensor; and determining the location of the unexploded ordnance based on the magnetic gradient tensor. This invention can achieve accurate detection of the location of unexploded ordnance.

The invention provides an intelligent detection method and device for unexploded ordnance, electronic equipment and a medium, and effectively solves the problem that an existing unexploded ordnance detection method is low in detection accuracy due to geological interference of iron ore and the like. The method comprises the following steps: acquiring original magnetic data, determining magnetic data based on the original magnetic data, controlling a detection model to preprocess the magnetic data to obtain target magnetic data, and respectively extracting features to obtain time sequence features and frequency spectrum features; fusing the time sequence features and the frequency spectrum features to obtain unexploded ordnance features, and constructing a pyramid feature map of the unexploded ordnance features to perform detection based on the pyramid feature map to obtain a plurality of candidate detection results; and screening out a target detection result from the plurality of candidate detection results according to a preset screening method, so as to detect the unexploded ordnance in the to-be-detected area based on target position information in the target detection result.

The invention provides a three-dimensional magnetic anomaly feature extraction method and system for identifying an unexploded ordnance, and the method comprises the steps: setting a near-end magnetometer and a far-end magnetometer corresponding to the unexploded ordnance; rotating the angle of the unexploded ordnance, and adjusting the position of the near-end magnetometer; the data recording instrument records unexploded ordnance identification information and position data and angle data of the unexploded ordnance relative to the near-end magnetometer, and original magnetic anomaly data of the unexploded ordnance are obtained through calculation; performing inversion based on the original magnetic anomaly data and the position data of a plurality of positions corresponding to the same angle so as to form a three-dimensional point cloud model at the angle; and performing inversion based on the three-dimensional point cloud model of the multiple angles to form three-dimensional magnetic anomaly features. According to the three-dimensional magnetic anomaly feature extraction method, multiple groups of original magnetic anomaly data of the unexploded ordnance are collected and inverted in the outdoor environment to form the three-dimensional magnetic anomaly features, and the efficiency, accuracy and convenience of unexploded ordnance detection are improved.

This invention relates to the field of seabed detection technology, specifically to a method and system for identifying unexploded ordnance (UFOs) based on multi-source data. The method includes: acquiring multi-source detection data from the seabed surface and initial screening of magnetic anomalies; screening of suspected mine points based on mine magnetic moment modeling; screening of suspected mine points based on estimated burial depth; screening of suspected mine points based on estimated weight; and refined verification of suspected mine points. The method performs initial screening based on the obtained unexploded ordnance magnetic anomaly data, and combines this with geological information such as shallow seismic profile data, side-scan sonar data, and synthetic aperture sonar data, mine modeling and magnetic anomaly matching algorithms, and methods for screening based on estimated burial depth and estimated weight to eliminate non-unexploded ordnance magnetic anomalies. Finally, refined verification is achieved through a magnetically encrypted detection method, enabling the identification and location of unexploded ordnance.

This application belongs to the field of geophysical exploration technology, specifically disclosing a differential transient electromagnetic method device and its unexploded ordnance detection method. In the differential transient electromagnetic method device, the transmitter injects a transmission current into the transmission loop, generating a primary field excitation signal. Under the influence of the primary field excitation signal, the subsurface anomaly target generates a secondary field excitation signal. The receiving coil assembly, based on a differential coil structure, synchronously cancels the primary field excitation signal and the uniform background signal in the induced voltage, amplifying the local asymmetric differential signal generated by the subsurface anomaly target. The receiver performs time-series analysis on the local asymmetric differential signal, extracts differential signal features, and achieves the location and identification of the subsurface anomaly target. This application is suitable for the detection of shallowly buried small bodies such as UXOs. The overall deployment range of the device is small, facilitating rapid deployment and mobile observation in the field.

The application provides a kind of intelligent detection method, device, electronic equipment and medium for unexploded bomb, effectively solve the problem of low detection accuracy caused by iron ore and other geological disturbances in the existing unexploded bomb detection method.The method comprises: obtaining original magnetic data, determining magnetic data based on the original magnetic data, controlling the detection model to preprocess the magnetic data to obtain target magnetic data, extracting features to obtain time sequence features and frequency spectrum features respectively;Fusion of the time sequence feature and the frequency spectrum feature obtains the unexploded bomb feature, and constructs the pyramid feature map of the unexploded bomb feature to detect based on the pyramid feature map to obtain multiple candidate detection results;According to the pre-set screening method, the target detection result is screened out from the multiple candidate detection results, to detect the unexploded bomb in the to-be-detected area based on the target position information in the target detection result.

The invention provides a multi-buried unexploded ordnance magnetic anomaly image recognition method based on a YOLO model, and the method comprises the steps: constructing a magnetic dipole simulation model, obtaining an unexploded ordnance magnetic anomaly data set which comprises a two-dimensional magnetic anomaly graph and corresponding bounding box coordinates through adjusting the magnetic moment, magnetic declination and position parameters of the magnetic dipole simulation model, and obtaining the unexploded ordnance magnetic anomaly image. Dividing the data set into a training data set and a verification data set in proportion; performing data enhancement preprocessing on the training data set; obtaining an optimal hyper-parameter combination of a YOLO model based on a genetic algorithm, carrying out YOLO model training based on the training data set after enhancement preprocessing, carrying out YOLO model verification based on the verification data set, and obtaining a multi-buried target magnetic anomaly image recognition YOLO model; based on aeromagnetic detection equipment, a two-dimensional magnetic anomaly distribution diagram of the to-be-detected area is obtained, the two-dimensional magnetic anomaly distribution diagram is input into the multi-buried-target magnetic anomaly image recognition YOLO model, and unexploded ordnance coordinates and confidence are obtained.

The present invention is directed to improved precision in object detection, reducing the false positive rates. In particular, the present invention is directed to improved methods, tools and systems of detecting and identifying objects, such as explosives (e.g., landmines and unexploded ordnance) using an unmanned aerial vehicles. The present invention offers solutions to the problem of the high rate of false positives that take time and resources away from real objects, such as these landmines.

The invention provides an unmanned aerial vehicle optical image unexploded ordnance detection method and system based on pseudo label generation, and the system comprises a ground station processing module, an unmanned aerial vehicle and ground station communication module, an airborne calculation module, and an unmanned aerial vehicle platform. The operation route is transmitted to the airborne calculation module through the unmanned aerial vehicle and ground station communication module; the airborne calculation module uploads an operation route to the unmanned aerial vehicle platform, controls the unmanned aerial vehicle to execute a first search task, receives images acquired by the unmanned aerial vehicle in real time, and transmits the images acquired in real time to the ground station processing module through the unmanned aerial vehicle and ground station communication module; according to the invention, real-time target identification can be carried out on the image shot by the unmanned aerial vehicle, the target latitude and longitude are calculated, and the target latitude and longitude and the image are filed.

The application discloses a kind of based on neural network magnetic data inversion submarine cable efficient detection method, belong to the technical field of detection of submarine cable.The method includes: receiving magnetic anomaly time series signal, local time domain feature is extracted by one-dimensional convolution and obtains multi-channel one-dimensional convolution feature map by ReLU activation and normalization;Channel weight adaptive weighting is realized by SE channel attention module;Obtain double attention enhanced feature map by multi-head self-attention of lower triangular mask mechanism;After being compressed by global average pooling, respectively, output spatial position parameters by position parameter regression module, output magnetic anomaly detection probability by detection probability classification module.The application constructs end-to-end deep learning network, avoids the false solution and time-consuming problem caused by improper parameter selection of Euler deconvolution method, can accurately and efficiently identify and locate submarine cable magnetic anomaly, significantly improves detection accuracy and efficiency, and is suitable for fast detection of underwater magnetic targets such as submarine cable and unexploded ordnance.

This invention discloses a continuously fired unexploded ordnance incineration and destruction system and method, belonging to the field of unexploded ordnance destruction technology. It includes an incinerator loading mechanism, a stepper motor rotating mechanism, and a laser ranging and positioning mechanism. The incinerator loading mechanism is a cylindrical structure with multiple loading holes for loading the incinerator. These loading holes are evenly distributed around the axis of the loading mechanism. Between each adjacent loading hole is a laser ranging hole connecting the two bottom surfaces of the loading mechanism. These laser ranging holes are located on the same circle and are evenly distributed. The stepper motor rotating mechanism is connected to and controls the rotation of the incinerator loading mechanism. The laser ranging and positioning mechanism is fixedly connected to the stepper motor rotating mechanism and is used to coordinate with the laser ranging holes on both sides of the loading holes to achieve unexploded ordnance positioning. This invention can improve penetration effect and destruction efficiency.

This invention provides an expandable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance (UAV) detection mechanism, belonging to the technical field of detection mechanisms. This expandable magnetic gradient UAV UAV unexploded ordnance detection mechanism includes a multi-rotor UAV platform, UAV landing gear, a single-axis non-magnetic mounting rod, cesium optically pumped magnetometer probes, and a magnetic gradient collector. The single-axis non-magnetic mounting rod is horizontally fixed below the UAV platform, with cesium optically pumped magnetometer probes installed at both ends, forming a single-axis dual-probe magnetic gradient detection unit. An extension shaft connecting rod is also provided, which is vertically connected to the single-axis non-magnetic mounting rod via a quick-connect interface. Cesium optically pumped magnetometer probes are installed at both ends of the extension shaft connecting rod, together with the single-axis non-magnetic mounting rod, forming a dual-axis four-probe magnetic gradient detection unit. The magnetic gradient collector is located inside the UAV fuselage and is electrically connected to each cesium optically pumped magnetometer probe, solving the problems of insufficient detection accuracy and low deployment efficiency of traditional UAV unexploded ordnance detection mechanisms in complex environments.

1. The name of the design product: geomagnetic detection device. 2. The use of the design product: for road cavity detection, resource exploration, cultural relic exploration, unexploded ordnance detection, underground pipeline detection. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

An aerial vehicle system for detecting magnetized objects comprises a propulsion system and a sensor bar having magnetic field sensors at opposite ends to collect magnetic field data. In one example, the sensor bar extends at least one and a half times the propulsion system's length. The system further includes a positioning system, an altitude sensor, and an energy storage system.

The invention discloses an air-ground cooperative multi-source perception and unexploded object intelligent identification system, and relates to the technical field of intelligent identification. The method comprises the following steps: firstly, acquiring perception data of each cooperation unit corresponding to a perception target in an air-ground cooperation multi-source perception area by an unexploded object intelligent identification perception platform, and performing multi-source confidence degree processing based on heterogeneous perception data of each cooperation unit corresponding to the perception target to obtain a perception confidence degree evaluation value; carrying out conflict analysis on the perception confidence evaluation value of each cooperation unit corresponding to the perception target to obtain a decision weight vector, carrying out task urgency analysis on the operation state data of each cooperation unit corresponding to the perception target to obtain a task urgency analysis index value, and carrying out task urgency analysis according to the task urgency analysis index value to obtain a decision weight vector; and in combination with decision-making weight vector dynamic cooperative regulation and control analysis, a cooperative guidance instruction is obtained, and then dynamic reconfiguration of air-ground cooperative resources and planning configuration of an action sequence are performed, so that the reliability of task identification processing of the system is improved.

The invention discloses a destroying device for underwater unexploded ordnance. The destroying device comprises a base, a flexible supporting plate, a shaped charge, three sets of rotating rod mechanisms and three sets of rope winding and unwinding devices. Two sets of rotating rod mechanisms are arranged on one side of the base at intervals, a set of rotating rod mechanism is arranged on the other side of the base, the three sets of rotating rod mechanisms are distributed in a delta shape, in the folded state, the base and the three sets of rotating rod mechanisms jointly form a U-shaped opening, the flexible supporting plate and the shaped charge are symmetrically fixed to the front side and the rear side of the base, and the flexible supporting plate and the U-shaped opening are located on the same side. And a group of rope winding and unwinding devices are arranged on each group of rotating rod mechanisms. The rotating rod mechanism and the rope take-up and pay-off device cooperate with high-stability operation through the function relation, and the device is simple in structure and low in cost as a loss product.

The utility model provides a kind of machine dog device of exploring and arranging unexploded bomb, belong to machine dog technical field including four-legged robot, four-legged robot is provided with multi-axis mechanical arm, and the movable end of multi-axis mechanical arm is detachably connected with exploring and arranging tool, and exploring and arranging tool is connected between multi-axis mechanical arm by connecting piece, connecting piece includes support and two ear hooks, support is arranged in the movable end of multi-axis mechanical arm, two ear hooks are symmetrically arranged on exploring and arranging tool, and the side of two ear hooks mutually close is all set with groove, connecting groove for being used for two ear hooks to be worn into is set on support, two respectively for being used for wearing into two grooves and abutting the inner wall of groove abutting rod are linearly slidably arranged in connecting groove, and two respectively for being used for driving two abutting rods to move elastic member are equipped on support. With the effect of improving the safety of staff exploring and arranging work.

The invention provides an unmanned aerial vehicle non-coplanar array type transient electromagnetic system for unexploded ordnance detection. The unmanned aerial vehicle non-coplanar array type transient electromagnetic system comprises an unmanned aerial vehicle, a signal transmitting device and an array type receiving device. The signal transmitting device is fixedly arranged on a body of the unmanned aerial vehicle, the array type receiving device is arranged below the body of the unmanned aerial vehicle, and the array type receiving device is detachably and fixedly connected with the body of the unmanned aerial vehicle through a connecting mechanism; the unexploded ordnance detection method has the advantages of high maneuverability, high detection speed, high efficiency and no terrain limitation during unexploded ordnance detection, and the personnel safety risk can be effectively reduced; moreover, the transmitting coil and the receiving coil are not in the same plane, thereby reducing the mutual inductance between the transmitting coil and the receiving coil, highlighting the resolution of a superficial target body, effectively enlarging the detection range, and improving the detection accuracy and efficiency.

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

This invention discloses a robot and control system for drilling underground. The robot includes a vehicle body with a flexible robotic arm connected to its end. The vehicle body is also connected to a guide mechanism for guiding the movement of the flexible robotic arm. The guide mechanism includes a folding arm with a connector at its end. The connector is connected to a guide frame, and the guide frame is provided with a fixing rod for connection and fixation. The guide frame and the fixing rod are connected to at least two sets of guide wheel assemblies. The two sets of guide wheel assemblies are provided with a flow channel for accommodating and guiding the flexible robotic arm through. This invention enables the flexible robotic arm to be extended along the flow channel by setting the guide mechanism. The flow mechanism includes two sets of guide wheel assemblies to clamp and guide the flexible robotic arm. The movement of the flexible robotic arm is driven by a hollow drill bit and a drive wheel set in the flexible robotic arm. The unexploded ordnance is destroyed by setting an energy-destroying device in the hollow drill bit.

The present invention relates to a system and method for aerial detection and identification of explosives on the ground, and more particularly to a system and method for detecting and identifying land mines and unexploded ordnance (UXO) on the ground. Additionally, a model is trained to generate orthomosaic images for comparing captured images with training images to predict the location of unknown explosives within a target area.