CN115932979A - Detection system and method under buried unexploded bomb noncooperative low-frequency magnetic excitation - Google Patents
Detection system and method under buried unexploded bomb noncooperative low-frequency magnetic excitation Download PDFInfo
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- CN115932979A CN115932979A CN202310157702.XA CN202310157702A CN115932979A CN 115932979 A CN115932979 A CN 115932979A CN 202310157702 A CN202310157702 A CN 202310157702A CN 115932979 A CN115932979 A CN 115932979A
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Abstract
The invention discloses a detection system and a detection method under buried unexploded bomb non-cooperative low-frequency magnetic excitation, which utilize a low-frequency magnetic sensor array to collect spatial magnetic signals of an area where unexploded bombs possibly exist in the environment of wide-area distributed high-voltage power transmission network magnetic excitation; and carrying out Fourier transform and drying removal treatment on the spatial magnetic signal to obtain a distribution image of the low-frequency magnetic field intensity on a horizontal plane, judging the position of the magnetic anomaly through comparison and analysis of adjacent data of the image, and taking the position with the magnetic anomaly as the position of the buried unexploded bomb. According to the invention, an electromagnetic field is not required to be actively excited, and a 50Hz low-frequency alternating magnetic field generated by a high-voltage power transmission network is directly utilized to carry out remote unmanned autonomous safe and efficient detection on a secondary 50Hz low-frequency alternating magnetic field excited by an underground unexplosive bomb, so that accurate position information of the unexplosive bomb is obtained.
Description
Technical Field
The invention belongs to the technical field of underground buried unexplosive bomb detection, and particularly relates to a buried unexplosive bomb detection system and method based on wide-area distributed high-voltage power transmission network magnetic excitation.
Background
The underground embedded unexploded bombs comprise mortar bombs, grenades, land mines, aeronautical missions and the like, are not yet exploded bombs which are left in battlefields, military performance target fields or in the past war and have unknown accurate positions and types, and can cause huge threats to lives and properties of people if not removed. Underground embedded unexploded bomb detection and positioning are important links for clearing hidden dangers left in a battlefield and guaranteeing the safety of a target range. The active detection method needs a detection system to actively transmit an excitation signal, and achieves the purpose of detecting a target by detecting a secondary induction signal, such as a transient electromagnetic method. However, the active detection method system is complex in construction, large in volume and weight, difficult in electromagnetic compatibility design, high in cost and large in power consumption, and has very limited continuous detection time and efficiency no matter based on an artificial detection method or a vehicle-mounted or unmanned aerial vehicle detection means. The common methods of the passive detection method include a magnetic method and the like, although the method is economical and can partially overcome some problems brought by the active detection method, the method can detect only unexploded bombs which are buried underground and have magnetism, and has the disadvantages of poor detection capability, high false alarm rate and false alarm rate, low accuracy and incapability of being used for non-magnetic targets. How to efficiently and accurately detect and position underground buried unexploded bombs is a technical problem to be solved urgently in the military field.
Disclosure of Invention
The invention provides a detection system and a detection method under underground unexplosive non-cooperative low-frequency magnetic excitation, which do not need to actively excite an electromagnetic field, but directly utilize a 50Hz low-frequency alternating magnetic field generated by a high-voltage power transmission network to carry out remote unmanned autonomous safe and efficient detection on a secondary 50Hz low-frequency alternating magnetic field excited by the underground unexplosive, and obtain accurate position information of the unexplosive.
According to a first aspect of the embodiments of the present invention, there is provided a method for detecting a buried unexplosive bomb under non-cooperative low-frequency magnetic excitation, including: collecting spatial magnetic signals of a region where unexploded bombs possibly exist in a wide-area distributed high-voltage transmission network magnetic excitation environment by using a low-frequency magnetic sensor array; and analyzing the change rule of the space magnetic field according to the space magnetic signal, and taking the position with magnetic anomaly as the position of the buried unexploded bomb.
In some examples, fourier transform and dessication processing is performed on the spatial magnetic signal to obtain a distribution image of the low-frequency magnetic field intensity on a horizontal plane, and then the position of the magnetic anomaly is determined through comparative analysis of adjacent data of the image.
In some examples, the position information of a motion platform carrying the low-frequency magnetic sensor array is recorded in real time by receiving satellite navigation system positioning information, and meanwhile, the position of the buried unexploded bomb is positioned by combining the position where the magnetic anomaly occurs.
In some examples, an electronic map is used for tracking and displaying the motion track of the motion platform in real time and marking the position of the buried unexploded bomb.
In some examples, according to the landform and the spatial distribution condition of the detected low-frequency magnetic field, traversing the possible existing area of the unexplosive bomb and the obstacle avoidance scheme, and planning the detection path in real time.
In some examples, the location of the buried unexploded round is transmitted to a remote data terminal, and control signals to the motion platform are obtained from the remote data terminal.
According to a second aspect of the embodiments of the present invention, there is provided a buried unexplosive bomb uncooperative low frequency magnetic excitation lower detection system, comprising: the low-frequency magnetic sensor array is used for collecting spatial magnetic signals of a region where unexplosive bombs possibly exist in the environment of wide-area distributed high-voltage transmission network magnetic excitation; and the suspected target judgment module analyzes the change rule of the space magnetic field according to the space magnetic signal and takes the position with magnetic abnormality as the position of the buried unexploded bomb.
In some examples, the suspected object determining module performs fourier transform and dessication on the spatial magnetic signal to obtain a distribution image of the low-frequency magnetic field strength on a horizontal plane, and determines the position of the magnetic anomaly through comparison and analysis of adjacent data of the image.
In some examples, the system further comprises a suspected target positioning module configured to record the position information of the moving platform carrying the detection system in real time by receiving satellite navigation system positioning information, and simultaneously position the position of the buried unexploded bomb by combining the position of the occurrence of the magnetic anomaly.
In some examples, the system further comprises a geographic information module which is configured to provide an electronic map, track and display the motion track of the motion platform in real time and mark the position of the buried unexploded bomb.
In some examples, the detection path planning module is further configured to plan the detection path in real time by traversing the possible existing area of the unexplosive projectile and the obstacle avoidance scheme according to the landform and the spatial distribution condition of the detected low-frequency magnetic field.
In some examples, further comprising a wireless communication module configured to transmit a location where a buried unexploded bomb will be located to a remote data terminal and to obtain control signals for the motion platform from the remote data terminal.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
Fig. 1 is a schematic diagram of the generation of a detection magnetic field under buried unexplosive non-cooperative low-frequency magnetic excitation according to an embodiment of the present invention.
Fig. 2 is a block diagram of a detection system under buried unexploded bomb non-cooperative low-frequency magnetic excitation according to an embodiment of the invention.
Fig. 3 is a schematic diagram of detection under buried unexplosive non-cooperative low-frequency magnetic excitation according to an embodiment of the present invention.
Fig. 4 is a schematic view of a tri-axial fluxgate sensor according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of an arrangement of a buried unexploded bomb detection system on an unmanned vehicle according to an embodiment of the invention.
Fig. 6 is a schematic layout view of a triaxial fluxgate sensor provided in an unmanned vehicle according to an embodiment of the present invention.
Fig. 7 is a flowchart of a detection method under buried unexplosive non-cooperative low-frequency magnetic excitation according to an embodiment of the present invention.
Fig. 8 is a flow chart of an implementation of detection under buried unexplosive non-cooperative low-frequency magnetic excitation according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of an autonomous detection path of an unmanned vehicle under underground unexplosive non-cooperative low-frequency magnetic excitation according to an embodiment of the present invention.
Detailed Description
China is a large country for power production and consumption, and six regional power grids, namely a China power grid, a China east power grid, a China North power grid, a China south power grid, a China North power grid and a China North-West power grid, are formed at present. In order to change the line voltage of electric power generated by a power plant through a four-way eight-reach transmission line and a step-up/step-down transformer and transmit the electric power to a wide electric energy consumption area step by step, except that a northwest power grid takes 750/330kV as a main grid frame and 220kV as high-voltage transmission, the other five regional power grids form a power grid structure with 500kV as a backbone, 220kV as a main trunk and 110kV or 66kV as high-voltage 50Hz alternating-current transmission. In addition, 8 ultrahigh voltage 50Hz alternating current transmission lines of 1000kV in China are in operation, the voltage class of the 50Hz alternating current high-voltage transmission network of the Xinjiang power grid and the Tibet power grid is 220kV, and the voltage class is connected to the northwest power grid through the direct current transmission line. In these grids, the 50Hz alternating current of the transmission line typically reaches several thousand amperes.
Fig. 1 shows the principle of detecting magnetic field generation under buried unexplosive non-cooperative low frequency magnetic excitation. According to the Biot-Safaer and electromagnetic induction law, as shown in FIG. 1, 50Hz alternating current of a wide-area distributed high-voltage transmission line generates a 50Hz low-frequency alternating magnetic field in space. The electromagnetic field has low frequency, long wavelength, long propagation distance and strong penetrating power, and can even penetrate through soil and go deep into the ground. When a metal unexplosive target exists at the place where the low-frequency alternating magnetic field arrives, an electromagnetic induction effect is generated between the metal unexplosive target and the underground metal unexplosive, and a secondary 50Hz low-frequency alternating magnetic field is excited in the space near the metal unexplosive target. When the low-frequency magnetic induction detector finds that the low-frequency magnetic anomaly exists in the area, the suspected unexploded target can be judged and positioned.
The source of a target magnetic excitation source detected under buried unexplosive non-cooperative low-frequency magnetic excitation is illustrated by taking a 50Hz low-frequency alternating magnetic field in space as an example through a mathematical model. When the soil permeability and conductivity are respectively
And &>
50Hz low frequencyThe skin depth or penetration depth of the electromagnetic field in the ground is->
And is and
therefore, the 50Hz high-voltage transmission low-frequency electromagnetic waves have strong penetrating power and penetrate into the soil layer to reach the depth of embedding the unexploded bomb, so that a 50Hz secondary low-frequency magnetic field carrying the target information of the metal unexploded bomb is excited, and when the detector has enough sensitivity, the abnormal value of the 50Hz low-frequency magnetic field of the detection point can be sensed, and the suspicious target can be found and positioned. When the sensitivity of the electromagnetic detector is fixed, the larger the electromagnetic field intensity of the original signal is, the larger the propagation distance is when the signal is attenuated to the minimum value which can be detected by the detector is; when the electromagnetic field intensity of the original signal is constant, the higher the sensitivity is, the larger the detectable range of the detector is.
Distributed high-voltage alternating transmission grid
The section is formed, and then at any point in the space>
The total primary alternating magnetic field of the excitation is
Wherein the content of the first and second substances,x，y，zthe coordinates of the points of the spatial field are represented,tindicates the current time, an
When a metal embedded body exists underground, according to the law of electromagnetic induction, under the action of a 50Hz alternating electromagnetic field, a changing magnetic field can generate an electric field, and induced electromotive force is generated
Wherein the content of the first and second substances,
is a conductor surface>
Is a time varying magnetic field passing through a conductor.
At induced electromotive force
A closed-loop eddy current is generated in the conductor, which is often strong owing to the low specific resistance of the conductor target, and a secondary alternating magnetic field is excited in space>
. When the high-voltage transmission network has->
At any point in space, at a time of stage>
The total secondary alternating magnetic field of the excitation is
Wherein the content of the first and second substances,
at any point in space
The total alternating magnetic field can be expressed as
The field is a space-time four-dimensional function, which reflects that when a metal embedded body (such as an unexploded bomb) exists underground under the excitation of a magnetic field generated by alternating current of a wide-area distributed power transmission network, compared with a space background field, the space magnetic field of a target existing region is abnormal at a frequency point of 50Hz, and whether a suspected target exists or not can be judged and positioned by detecting the change of the magnetic field along with the space.
Therefore, in order to improve the detection efficiency, probability, positioning accuracy and personnel safety of the unexploded bomb buried underground in the target ground, the invention indirectly utilizes a 50Hz electromagnetic field excited by a high-voltage power transmission network in space, excites a low-frequency induction magnetic field generated by the buried unexploded bomb based on a low-frequency electromagnetic field generated by 50Hz current of the non-cooperative high-voltage power transmission network, and carries a multi-component magnetic probe through a motion platform to sense the low-frequency induction magnetic field excited by a target. In addition, the platform detection system is remotely controlled by adopting a network, so that the system autonomously makes a decision and carries out detection. The motion platform of the invention can be an unmanned vehicle.
Fig. 2 shows a block diagram of a detection system under buried unexplosive non-cooperative low-frequency magnetic excitation. Fig. 3 shows a detection schematic diagram under buried unexplosive non-cooperative low-frequency magnetic excitation. The unmanned vehicle is taken as an example and comprises a vehicle body, an asynchronous motor wheel driving universal wheel, a driving module and a control module, the unmanned vehicle is provided with the detection system, and the detection system can dynamically sense the magnetic field of the position of the sensor in motion along with the movement of the unmanned vehicle platform. As shown in fig. 2 and 3, the detection system includes a low-frequency magnetic induction detection module, and the low-frequency magnetic induction detection module includes a low-frequency magnetic sensor array, a low-frequency magnetic induction signal analog-to-digital conversion module, and a suspected target determination module.
The low-frequency magnetic sensor array comprises a plurality of three-axis fluxgate probes uniformly distributed on a straight line. The structure of the triaxial fluxgate probe is shown in fig. 4. Each three-axis fluxgate probe is installed on a structural member without magnetic materials, three measuring axes of the three-axis vector magnetic sensor are consistent in direction and fixed on a platform, and the platform is fixed below a platform chassis when the platform is an unmanned vehicle and dynamically detects in motion along with the movement of the platform for sensing and low noiseAmplifying the vicinity of the probe
、/>
And &>
Magnetic fields in three directions.
The low-frequency magnetic induction signal analog-to-digital conversion module is used for collecting the low-frequency magnetic signals sensed by each triaxial fluxgate probe to realize analog-to-digital conversion.
The suspected target judgment module is used for analyzing the change rule of the space magnetic field and judging whether the suspected target exists or not. The suspected target judging module adopts FPGA and multi-core DSP architecture design, carries out Fast Fourier Transform (FFT) and drying removal processing on space magnetic signals acquired by the plurality of three-axis fluxgate probes to obtain a distribution image of low-frequency magnetic field intensity on a horizontal plane, and judges whether magnetic anomaly exists or not through comparative analysis of adjacent data, thereby judging whether the suspected target exists or not and the position of the suspected target.
The suspected target is judged and positioned by the following basic steps:
firstly, the magnetic field of the detection area is acquired by a magnetic detector
An image;
secondly, set the detecting cars at the same height, to
Carrying out mean value filtering on the image to obtain a smoothed image
Wherein the content of the first and second substances,x，yrespectively representing the rows and columns of the magnetic field image,mandnrepresentation filterThe rows and the columns of (a) are,
representing the magnetic field image before filtering,h(m，n) Represents a filter, <' > is present>
Representing the filtered magnetic field distribution image.
Finally, the 50Hz low-frequency magnetic field abnormal image obtained by the processing
Calculating a local variance to ≥>
Scale to traverse £ er>
Get->
Local variance in the range of ^ 5>
Whereby the location of an underground buried suspicious object is ^ based>
And is and
wherein the content of the first and second substances,1andwrespectively representing the length and width of the spatial sample,
representing an estimate of the spatial position of the target.
I.e. by detection and identification
And judging the existence and the position of the suspicious object by the abnormity of the gray value on the image.
The detection system with the low-frequency magnetic sensor array, the low-frequency magnetic induction signal analog-to-digital conversion module and the suspected target judgment module can be produced and sold independently, namely the detection system can be used as an independent system to be arranged on existing equipment such as a mine sweeper.
The detection system may further include a suspected target location module. The suspected target positioning module records the position information of the platform in real time by receiving the positioning information of a Beidou satellite navigation system, a GPS (global positioning system), a Galileo satellite navigation system or a Glonass satellite navigation system, and simultaneously positions the suspected buried unexploded bomb target by combining the position where the 50Hz magnetic anomaly occurs.
The detection system may further comprise a geographic information module. The geographic information module provides a high-resolution electronic map for real-time tracking and displaying of the platform motion trail and timely marking of suspicious targets.
The detection system can also comprise a detection path planning module. And the detection path planning module traverses the rough measurement, the fine measurement, the suspicious target area range and the obstacle avoidance scheme according to the landform and the detected spatial distribution condition of the 50Hz low-frequency magnetic field, and plans the detection path in real time.
The detection system further comprises a wireless communication module for realizing remote wireless communication and data information interaction between the platform and the remote data terminal, and the application does not limit the specific technology used for wireless communication. The remote data terminal adopts a mobile phone, a tablet computer, a personal computer and the like. The remote data terminal is loaded with software specially developed for the detection system, so that the whole detection system is controlled, and the working state and the detection condition of each module of the remote platform are displayed and mastered in real time.
The detection system can also comprise a detection system comprehensive control management module. The detection system comprehensive control management module is designed based on FPGA and PLC and is used for coordinating the subsystems such as a platform, a low-frequency magnetic induction detection module, an information comprehensive processing module, a suspected target positioning module, a geographic information module, a detection path planning module and a wireless communication module to work in a coordinated mode.
The detection system may further include a power management module. The power management module adopts a rechargeable high-energy lithium battery pack, so that the endurance time is prolonged for saving energy, and the energy of the battery is adjusted and optimally distributed in real time according to the task working conditions of detection and each module of the system.
As shown in fig. 5 and 6, the low-frequency magnetic sensor array is fixed on the motion platform and faces the ground, the low-frequency magnetic sensing signal analog-to-digital conversion module, the suspected target judgment module, the suspected target positioning module, the geographic information module, the detection path autonomous planning module and the detection system comprehensive control management module are installed in a box body of the platform, and the box body is designed by adopting a structural member made of non-magnetic materials such as carbon fiber or plastic and has a radio frequency magnetic interference shielding effect.
Fig. 7 shows a flow chart of a detection method under buried unexplosive non-cooperative low-frequency magnetic excitation. As shown in fig. 7, the detection method includes: step 10, carrying out fast Fourier transform on the sampled data to obtain a magnetic field value of a 50Hz frequency point; step 11, obtaining a magnetic field distribution image of a detection area based on the magnetic detection data of the whole area; step 12, carrying out mean value filtering on the magnetic field image to obtain a smooth image; step 13, calculating local variance of the processed 50Hz magnetic field abnormal image; step 14, detecting and judging whether the suspicious target exists or not according to the local variance of the magnetic field image; and positioning and marking the target by combining satellite positioning and an electronic map. The more detailed implementation of the various steps is described above with reference to the detection system section.
Fig. 8 shows a flow chart of an implementation of detection under buried unexplosive non-cooperative low frequency magnetic excitation. The detection process of the buried unexploded bomb by the detection system and the detection method of the invention is described in the following with reference to fig. 8.
And step 20, inputting the area range in which the unexploded bomb possibly exists into a high-resolution electronic map, and setting detection parameters.
And step 21, placing the unmanned automatic trolley detection system outside the set safety distance of the suspected unexploded bomb area.
And step 21, the remote data terminal is far away from the suspected unexploded bomb area.
And step 22, uploading the preliminarily planned unmanned automatic trolley detection path to a detection system comprehensive control management module by the remote data terminal.
Step 23, under the control of the remote data terminal, the unmanned automatic trolley detection system can carry out reciprocating autonomous detection in a bow shape on the detection area according to the graph shown in fig. 9, and the detection process is transmitted back to the remote data terminal in real time; the ground data processing terminal receives and stores data in real time; once a suspicious target is found, the unmanned automatic trolley detection system marks the geographical position information of the suspected suspicious target on a high-resolution electronic map through the processes of rough measurement, fine measurement and the like, and quickly transmits the detection result back to the remote data terminal in a danger alarm mode;
and 24, recovering the detection system after the detection is finished.
Claims (10)
1. A detection method under buried unexploded bomb non-cooperative low-frequency magnetic excitation is characterized by comprising the following steps:
collecting a spatial low-frequency magnetic signal of a region where unexploded bombs possibly exist in the environment of wide-area distributed high-voltage transmission network magnetic excitation by using a low-frequency magnetic sensor array;
and according to the space low-frequency magnetic signal, analyzing the change rule of the space magnetic field, and taking the position with magnetic anomaly as the position of the buried unexploded bomb.
2. The detection method according to claim 1, wherein the spatial low-frequency magnetic signal is subjected to fourier transform and drying processing to obtain a distribution image of the low-frequency magnetic field intensity on a horizontal plane, and the position of the magnetic anomaly is determined by comparing and analyzing adjacent data of the image.
3. The detection method according to claim 2, wherein the position information of the motion platform carrying the low-frequency magnetic sensor array is recorded in real time by receiving satellite navigation system positioning information, and the position of the buried unexploded bomb is positioned by combining the position of the occurrence of the magnetic anomaly.
4. The detection method according to claim 3, characterized in that an electronic map is used for carrying out real-time tracking display on the motion track of the motion platform and marking the position of the buried unexploded bomb; traversing the possible existing area of the unexploded bomb and the obstacle avoidance scheme according to the landform and the detected space distribution condition of the low-frequency magnetic field, and planning the detection path in real time.
5. A detection method according to any one of claims 1 to 4, characterised in that the location where a buried unexploded bomb will be located is transmitted to a remote data terminal and control signals for the motion platform are obtained from the remote data terminal.
6. A buried unexploded bomb non-cooperative low frequency magnetic excitation lower detection system, comprising:
the low-frequency magnetic sensor array is used for collecting a spatial low-frequency magnetic signal of a region where unexploded bombs possibly exist in the environment of wide-area distributed high-voltage power transmission network magnetic excitation; and
and the suspected target judgment module analyzes the change rule of the space magnetic field according to the space low-frequency magnetic signal and takes the position with magnetic anomaly as the position of the buried unexploded bomb.
7. The detection system according to claim 6, wherein the suspected target determination module performs Fourier transform and drying processing on the spatial low-frequency magnetic signal to obtain a distribution image of the low-frequency magnetic field intensity on a horizontal plane, and determines the position of the magnetic anomaly by comparing and analyzing adjacent data of the image.
8. The detection system of claim 7, further comprising a suspected target positioning module configured to record position information of a moving platform carrying the detection system in real time by receiving satellite navigation system positioning information, and to position the position of a buried unexploded bomb in combination with the position of the occurrence of the magnetic anomaly.
9. The detection system of claim 8, further comprising: the geographic information module is configured to provide an electronic map, track and display the motion track of the motion platform in real time and mark the position of the buried unexploded bomb; and the detection path planning module is configured to traverse the possible existing area of the unexplosive bomb and the obstacle avoidance scheme according to the landform and the spatial distribution condition of the detected low-frequency magnetic field, and plan the detection path in real time.
10. The detection system of any one of claims 6 to 9, further comprising a wireless communication module configured to transmit the location of a buried unexploded bomb to a remote data terminal and to obtain a control signal for the motion platform from the remote data terminal.
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