UGV Sensor Retrieval With Overburden Excavation for Buried Geophones
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Solution Overview
Problem
Existing geophysical sensor retrieval systems face challenges in automatically retrieving sensors buried under blowing sand and silt, as they become partially or totally buried during surveys, complicating automated retrieval processes.
Innovation Solution
A self-propelled unmanned ground vehicle (UGV) equipped with a navigation controller, excavator controller, and extractor controller, which uses sensors to determine the position and depth of buried geophysical sensors, removes overburden, and extracts the sensors using an extractor system, capable of operating in challenging terrains like frozen tundra and free blowing sand.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated retrieval is used for sensors deployed in blowing sand and silt conditions, then economic efficiency is improved by reducing manual labor, but the retrieval process becomes complicated when sensors are partially or totally buried
Solution Approach 1:
The retrieval system is divided into distinct functional modules: a sensor detection subsystem that locates buried sensors using electromagnetic signals, an excavation subsystem that removes overburden material, and a retrieval subsystem that extracts sensors. This segmentation allows each module to specialize in its function, enabling automated operation even when sensors are buried, thereby maintaining economic efficiency without excessive complexity
Solution Approach 2:
The system performs preliminary detection and localization of sensors before excavation begins. The detection subsystem identifies sensor positions and depths in advance, allowing the excavation subsystem to target only the necessary areas. This preliminary action prevents unnecessary excavation and simplifies the overall retrieval process while maintaining automation
2Adaptability or versatility
If sensors are deployed in environments with blowing sand and silt, then survey coverage is improved, but sensors become partially or totally buried requiring different retrieval apparatus
Solution Approach 1:
The retrieval system is designed as a universal apparatus that can handle multiple retrieval scenarios: sensors exposed at the surface, sensors partially buried in sand and silt, and sensors deeply buried requiring excavation. The system integrates detection, excavation, and retrieval functions into a single multi-functional platform, eliminating the need for different specialized apparatus for different burial conditions while maintaining adaptability to various survey environments
Data Source
AI summary
A sensor retrieval system includes a self-propelled unmanned ground vehicle (UGV) having a control system including a navigation controller, an excavator controller and an extractor controller. The navigation controller has instructions to move the UGV to proximate a geodetic position of a sensor disposed proximate a surface of the ground. The UGV further comprises a sensor position locator arranged to determine distance, direction and relative elevation of the sensor with respect to the UGV. An extractor is in signal communication with the extractor controller. The extractor comprises means for lifting the sensor from the ground to a predetermined depth. An excavator is in signal communication with the excavator controller. The excavator comprises means for removing overburden from above the sensor to leave the overburden to at most the predetermined depth. The navigation controller has instructions to position the UGV such that the extractor is disposed above the sensor when the relative elevation is at most the predetermined depth and to position the UGV such that the excavator is disposed above the sensor when the relative elevation is above the predetermined depth. The navigation controller, the extractor controller and the excavator controller have instructions to position the UGV, operate the extractor and operate the excavator to remove excess overburden and extract the sensor based on the relative elevation.