CN118130150A - Three-dimensional dynamic sampling system for metal detection - Google Patents
Three-dimensional dynamic sampling system for metal detection Download PDFInfo
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- CN118130150A CN118130150A CN202410256454.9A CN202410256454A CN118130150A CN 118130150 A CN118130150 A CN 118130150A CN 202410256454 A CN202410256454 A CN 202410256454A CN 118130150 A CN118130150 A CN 118130150A
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- 238000005070 sampling Methods 0.000 title claims abstract description 101
- 238000001514 detection method Methods 0.000 title claims abstract description 53
- 229910052751 metal Inorganic materials 0.000 title claims abstract description 17
- 239000002184 metal Substances 0.000 title claims abstract description 17
- 239000002689 soil Substances 0.000 claims abstract description 64
- 238000000034 method Methods 0.000 claims abstract description 30
- 239000011435 rock Substances 0.000 claims abstract description 30
- 238000005553 drilling Methods 0.000 claims abstract description 21
- 238000000746 purification Methods 0.000 claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 16
- 230000002708 enhancing effect Effects 0.000 claims abstract description 13
- 238000012545 processing Methods 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 5
- 238000005457 optimization Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000010410 layer Substances 0.000 description 22
- 230000007246 mechanism Effects 0.000 description 13
- 230000007613 environmental effect Effects 0.000 description 6
- 238000011835 investigation Methods 0.000 description 6
- 230000005641 tunneling Effects 0.000 description 5
- 238000012360 testing method Methods 0.000 description 3
- 230000000737 periodic effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 229910000510 noble metal Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Radar, Positioning & Navigation (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a three-dimensional dynamic sampling system for metal detection, which comprises a crawler, a radar detection subsystem, a drill bit, a soil three-parameter sensor and a data purification enhancing device, wherein the crawler is connected with the radar detection subsystem; the soil three-parameter sensor is used for monitoring the current soil layer or rock stratum in real time so as to transmit the related physical data of the soil layer or the rock stratum; real-time physical parameters of a soil layer or a rock stratum are obtained through real-time monitoring, and data support is provided for subsequent sampling; the beneficial effects of the invention are as follows: the radar detection subsystem penetrates through soil to detect the front of the drilling, so that the collision between a drill bit and an obstacle is avoided, the drill bit is protected, and the smooth proceeding of a sampling process is ensured; the automatic sampling process is realized by setting timing and quantitative parameters, so that the sampling efficiency is improved; interference of real-time monitoring is reduced through the data purification enhancing device, and representativeness of material taking and accuracy of sampling are improved.
Description
Technical Field
The invention belongs to the technical field of drilling sampling, and particularly relates to a three-dimensional dynamic sampling system for metal detection.
Background
In geotechnical engineering investigation, the main working purpose is to understand the rock-soil body and geological structure of a building site or a building section, mainly to study the lithology characteristics, thickness and transverse changes of each stratum, determine the structure and properties of each rock-soil layer in a natural state, understand the weathering depth of bedrock and the rock properties of different weathering degrees, study the occurrence of rock layers and the like, and the geotechnical engineering investigation work also involves the study of hydrogeological conditions, geomorphology, poor geology phenomena and the like, and the sampling work is needed to complete the work.
In geotechnical engineering investigation, sampling work is very important; the sampling work is an indispensable work in geotechnical engineering investigation, and provides a sample for an indoor test for quantitatively researching geotechnical engineering problems; the general sampling work is to take samples in the geological survey of ground engineering and pit test engineering; the sampling work utilizes manpower and various mechanical equipment to know stratum sequence, geotechnical engineering characteristics and geological stratum conditions of stratum below the earth surface or a specific position; the sampling work can reveal and divide the formation, thereby identifying and describing the nature and cost of the rock and soil.
The sampling work is performed in the investigation of bridges, roads, houses and the like, so that the engineering foundation can be known and the foundation soil detection can be carried out; the sampling work is a key link for ensuring the fairness, scientificity and authority of geotechnical engineering investigation results, and plays a very great role in the subsequent working quality; the sampling work can know the physical and mechanical properties and other characteristics of the stratum, so that the related conditions of the surrounding space stratum can be known; sampling work needs to be carried out in projects such as house construction, bridges, roadbeds and the like, and references are provided for subsequent work by knowing real and reliable related data.
A three-dimensional dynamic sampling device for noble metal detection, publication No. CN115290381a, which discloses that the whole device is carried to a specified working position by a crawler; determining according to actual conditions, and excavating a foundation pit with a certain depth in advance; determining a vertical or inclined drilling sampling mode according to actual conditions; if the inclined drilling sampling is selected, the first driving mechanism is subjected to angle adjustment through the second driving mechanism; each group of tunneling mechanism works in advance, and is matched with a lifting device of a crawler or manually lifted, so that deep foundation pit tunneling molding is carried out on soil layers or strata; the first driving mechanism drives the linear adjusting mechanism and the tunneling mechanism to stereoscopically burst, and the tunneling mechanism drives the operation to drill a stereoscopic cavity for the current soil layer or rock stratum; the volume and the shape of the specific cavity are regulated by a linear regulating mechanism driven by a first driving mechanism; the first driving mechanism drives the linear adjusting mechanism and the tunneling mechanism to retract, the first driving mechanism and the whole device are lifted out of soil layers or rock strata, and a sample adsorbed and contaminated on the sampling drill bit is taken out; or flushing the current sample, secondarily drilling and sampling along the original deep foundation pit, the original driving volume and the mode thereof, and recovering the sample adsorbed and contaminated on the sampling drill bit; during sampling, the current soil layer or rock stratum is monitored in real time through the soil three-parameter sensor, and the subsequent fire test operation is assisted in carrying out relevant judgment in a mode of transmitting the relevant physical data of the soil layer or the rock stratum.
The traditional sampling method often has the problems of insufficient sampling representativeness, low sampling precision, easy damage of a drill bit and the like.
Disclosure of Invention
The invention aims to provide a three-dimensional dynamic sampling system for metal detection, which can monitor physical parameters of soil layers or rock strata in real time, realize timing and quantitative automatic sampling and reduce drill bit damage.
In order to achieve the above purpose, the present invention provides the following technical solutions: a three-dimensional dynamic sampling system for metal detection comprises a crawler, a radar detection subsystem, a drill bit, a soil three-parameter sensor and a data purification and enhancement device;
the soil three-parameter sensor is used for monitoring the current soil layer or rock stratum in real time so as to transmit the related physical data of the soil layer or the rock stratum; real-time physical parameters of a soil layer or a rock stratum are obtained through real-time monitoring, and data support is provided for subsequent sampling;
the radar detection subsystem is used for penetrating soil to detect the environment, the target and the obstacle in front of the drilling, so that the damage of the sampling drill bit is reduced, and the tracked vehicle can adjust the movement path in time;
the drill bit is used for realizing timing and quantitative automatic sampling; the drill bit realizes automatic sampling by setting timing and quantitative parameters;
the data purification enhancing device processes the data acquired from the soil three-parameter sensor so as to eliminate possible errors and interference and improve the accuracy and reliability of the data.
As a preferable technical scheme of the invention, the data purification enhancing device comprises a data filter, an outlier detector, a calibration module, a data fusion algorithm and an environment compensation module.
As an preferable technical scheme of the invention, the radar detection subsystem is used for detecting the environment, the target and the obstacle in front of the drilling through soil, and the implementation method is as follows:
Transmitting radar waves: the radar detection subsystem transmits radar waves through an antenna;
Receiving reflected waves: when a radar wave encounters an underground environment, object or obstacle, reflection occurs;
Processing the reflected signal: the received reflected signals are processed by a signal processing circuit, and information about the underground environment, the target and the obstacle is extracted;
generating an image or data: based on the processed reflected signals, the radar detection subsystem generates images or data of the subsurface environment for analysis by an operator.
As a preferred embodiment of the invention, the radar detection subsystem receives the reflected radar waves via the same antenna or a special receiving antenna.
As a preferable technical scheme of the invention, the received reflected signals are processed by the signal processing circuit, and information about the underground environment, the target and the obstacle is extracted, wherein the information comprises the distance, the speed and the direction of the target.
As a preferable technical scheme of the invention, the method for adjusting the movement path of the crawler comprises the following steps:
obstacle avoidance path planning: the control system is used for marking a path for avoiding the obstacle by utilizing calculation rules according to the data provided by the radar detection subsystem;
And (3) adjusting the running speed and direction: the control system adapts to the change of the front environment by adjusting the running speed and the running direction of the tracked vehicle;
And (3) self-adaptive control: and the tracked vehicle carries out real-time path adjustment according to the environment information detected in real time through the self-adaptive control algorithm.
As a preferable technical scheme of the invention, the algorithm comprises a path planning algorithm and an optimization algorithm.
As a preferable technical scheme of the invention, the specific method for realizing automatic sampling by setting timing and quantitative parameters by the drill bit is as follows:
The control system needs to set timing and quantitative parameters according to the sampling requirement; these setting parameters are input into the control system of the sampling system; when the control system receives a command for starting sampling, starting a drill motor according to preset timing parameters, and driving a drill to start drilling; meanwhile, the control system monitors the amount of the soil or rock stratum sample which is already obtained according to the quantitative parameter; in the sampling process, the control system monitors the obtained sample quantity in real time through a soil three-parameter sensor; when the obtained sample amount reaches the preset quantitative parameter, the control system sends an instruction to the drill motor to stop working.
Compared with the prior art, the invention has the beneficial effects that:
The physical parameters of the soil layer or the rock stratum are monitored in real time through a soil three-parameter sensor, and data support is provided for sampling; the radar detection subsystem penetrates through soil to detect the front of the drilling, so that the collision between a drill bit and an obstacle is avoided, the drill bit is protected, and the smooth proceeding of a sampling process is ensured; the automatic sampling process is realized by setting timing and quantitative parameters, so that the sampling efficiency is improved; interference of real-time monitoring is reduced through the data purification enhancing device, and representativeness of material taking and accuracy of sampling are improved.
Drawings
Fig. 1 is a schematic diagram of a system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, a first embodiment of the present invention provides a three-dimensional dynamic sampling system for metal detection, which includes a crawler, a radar detection subsystem, a drill, a soil three-parameter sensor, and a data purification enhancing device;
the soil three-parameter sensor is used for monitoring the current soil layer or rock stratum in real time so as to transmit the related physical data of the soil layer or the rock stratum; real-time physical parameters of a soil layer or a rock stratum are obtained through real-time monitoring, and data support is provided for subsequent sampling;
The radar detection subsystem is used for penetrating soil to detect the environment, the target and the obstacle in front of the drilling, so that the damage of the sampling drill bit is reduced, and the tracked vehicle can adjust the movement path in time; the radar detection subsystem can detect the front of the drilling before sampling, so that the drill bit is prevented from colliding with an obstacle, the drill bit is protected, and the smooth proceeding of the sampling process is ensured;
the drill bit is used for realizing timing and quantitative automatic sampling; the drill bit realizes automatic sampling by setting timing and quantitative parameters;
The data purification enhancing device processes the data acquired from the soil three-parameter sensor to eliminate possible errors and interference and improve the accuracy and reliability of the data; the data purification enhancement device comprises a data filter, an outlier detector, a calibration module, a data fusion algorithm and an environment compensation module; a data filter: the method is used for removing high-frequency noise or periodic interference in the signal, so that the data is smoother and more continuous; outlier detector: for identifying and removing outlier data points that are generated due to sensor failure, external disturbances, or other causes; and a calibration module: calibrating the sensor by using known physical parameters regularly to ensure that the data output by the sensor is accurate; data fusion algorithm: if a plurality of sensors exist in the system, the algorithm can fuse the data of different sensors to obtain more accurate and comprehensive physical parameters of soil layers or strata; an environment compensation module: considering that environmental factors can influence the sensor data, the module can correspondingly compensate the sensor data according to the environmental parameters; through these subassemblies and algorithms, the data purification and enhancement device can effectively reduce the interference in the real-time monitoring process, improves the representativeness of getting materials and the accuracy of sampling.
Example 2
Referring to fig. 1, a second embodiment of the present invention provides a three-dimensional dynamic sampling system for metal detection, which includes a crawler, a radar detection subsystem, a drill, a soil three-parameter sensor, and a data purification enhancing device;
the soil three-parameter sensor is used for monitoring the current soil layer or rock stratum in real time so as to transmit the related physical data of the soil layer or the rock stratum; real-time physical parameters of a soil layer or a rock stratum are obtained through real-time monitoring, and data support is provided for subsequent sampling;
The radar detection subsystem is used for penetrating soil to detect the environment, the target and the obstacle in front of the drilling, so that the damage of the sampling drill bit is reduced, and the tracked vehicle can adjust the movement path in time; the radar detection subsystem can detect the front of the drilling before sampling, so that the drill bit is prevented from colliding with an obstacle, the drill bit is protected, and the smooth proceeding of the sampling process is ensured;
the drill bit is used for realizing timing and quantitative automatic sampling; the drill bit realizes automatic sampling by setting timing and quantitative parameters;
The data purification enhancing device processes the data acquired from the soil three-parameter sensor to eliminate possible errors and interference and improve the accuracy and reliability of the data; the data purification enhancement device comprises a data filter, an outlier detector, a calibration module, a data fusion algorithm and an environment compensation module; a data filter: the method is used for removing high-frequency noise or periodic interference in the signal, so that the data is smoother and more continuous; outlier detector: for identifying and removing outlier data points that are generated due to sensor failure, external disturbances, or other causes; and a calibration module: calibrating the sensor by using known physical parameters regularly to ensure that the data output by the sensor is accurate; data fusion algorithm: if a plurality of sensors exist in the system, the algorithm can fuse the data of different sensors to obtain more accurate and comprehensive physical parameters of soil layers or strata; an environment compensation module: considering that environmental factors can influence the sensor data, the module can correspondingly compensate the sensor data according to the environmental parameters; through these subassemblies and algorithms, the data purification and enhancement device can effectively reduce the interference in the real-time monitoring process, improves the representativeness of getting materials and the accuracy of sampling.
In this embodiment, preferably, the radar detection subsystem is used for penetrating soil to detect the environment, the target and the obstacle in front of the drilling, and the implementation method is as follows:
transmitting radar waves: the radar detection subsystem transmits radar waves through the antenna, and the radar waves have certain penetrating capacity and can penetrate through the soil surface layer to propagate underground;
Receiving reflected waves: when the radar waves meet the underground environment, targets or obstacles, reflection occurs, and the radar detection subsystem receives the reflected radar waves through the same antenna or a special receiving antenna;
Processing the reflected signal: the received reflected signals are processed by a signal processing circuit, and information about the underground environment, the target and the obstacle is extracted; such information includes distance, speed, direction of the target;
Generating an image or data: according to the processed reflected signals, the radar detection subsystem can generate images or data of the underground environment for analysis by operators; the images or data can be presented in a two-dimensional or three-dimensional form, so that operators can be helped to intuitively know the underground condition;
Decision and adjustment: according to the image or data provided by the radar detection subsystem, an operator can judge whether an obstacle or a unfavorable environment exists underground, so as to decide whether to adjust the drilling path of the drill bit or take other measures;
Through the steps, the radar detection subsystem can accurately detect the environment in front of drilling, provides key environment information for the three-dimensional dynamic sampling system for metal detection, and ensures smooth proceeding of the sampling process.
In this embodiment, preferably, the adjustment method of the tracked vehicle to the motion path includes the following steps:
Obstacle avoidance path planning: the control system can plan a path for avoiding the obstacle according to the data provided by the radar detection subsystem, and complex algorithms such as a path planning algorithm and an optimization algorithm are involved so as to ensure that the tracked vehicle can safely and efficiently bypass the obstacle;
And (3) adjusting the running speed and direction: the control system can adapt to the change of the front environment by adjusting the running speed and the running direction of the tracked vehicle; for example, if a large obstacle is detected in front, the control system may slow down the crawler or change its direction of travel to bypass the obstacle;
And (3) self-adaptive control: the tracked vehicle can carry out real-time path adjustment according to the environmental information detected in real time through the self-adaptive control algorithm, and the method requires the tracked vehicle to have certain autonomous navigation and decision making capability, and can automatically adjust the running path according to the environmental change.
In this embodiment, preferably, the specific method for realizing automatic sampling by setting timing and quantitative parameters by the drill is as follows:
Parameter setting: firstly, an operator or a control system needs to set timing and quantitative parameters according to sampling requirements; the timing parameter refers to the time when the drill bit starts sampling and ends sampling, and the quantitative parameter refers to the volume or mass of soil or rock stratum that the drill bit needs to sample;
Control system integration: these setting parameters are input into the control system of the sampling system; the control system is the core of the sampling system and is responsible for coordinating the work of each component, including a drill bit, a motor and a sensor;
And (3) automatic control: when the control system receives a command for starting sampling, the control system starts a drill motor according to preset timing parameters to drive a drill bit to start drilling; meanwhile, the control system monitors the amount of the soil or rock stratum sample which is already obtained according to the quantitative parameter;
Sample size monitoring: in the sampling process, the control system monitors the obtained sample quantity in real time through a soil three-parameter sensor;
Automatic stopping: when the obtained sample quantity reaches a preset quantitative parameter, the control system sends an instruction to the drill motor to stop working, so that the drill can automatically stop sampling according to the quantitative parameter;
Sample collection: after the drill stops working, the operator takes the obtained sample off the drill and carries out subsequent analysis and treatment;
And (3) cyclic operation: if the sampling is needed to be continuously carried out for a plurality of times, the control system automatically repeats the sampling process according to preset timing parameters;
by the method, the drill bit can realize automatic sampling according to the set timing and quantitative parameters, so that the sampling efficiency and accuracy are greatly improved; meanwhile, errors and interference of manual operation are reduced, and the sampling result is more reliable.
The specific embodiments of the present invention are as follows:
step one: starting the crawler to enter a region to be sampled;
step two: real-time monitoring is carried out on the current soil layer or rock stratum through a soil three-parameter sensor, and real-time physical parameters of the soil layer or rock stratum are obtained;
Step three: detecting the environment, the target and the obstacle in front of the drilling through a radar detection subsystem according to the acquired real-time physical parameters;
step four: according to the detection result of the radar detection subsystem, the movement path of the crawler is adjusted, so that the drill bit can smoothly enter a preset sampling position;
step five: setting timing and quantitative parameters, and starting a drill bit to automatically sample;
Step six: in the sampling process, interference of real-time monitoring is reduced through the data purification enhancing device, and representativeness of material taking and sampling accuracy are improved;
Step seven: after the sampling is completed, the sampling result is transmitted to a data analysis system for processing and analysis.
While embodiments of the present invention have been shown and described in detail with reference to the foregoing detailed description, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations may be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A three-dimensional dynamic sampling system for metal detection is characterized in that: the device comprises a crawler, a radar detection subsystem, a drill bit, a soil three-parameter sensor and a data purification enhancing device;
the soil three-parameter sensor is used for monitoring the current soil layer or rock stratum in real time so as to transmit the related physical data of the soil layer or the rock stratum; real-time physical parameters of a soil layer or a rock stratum are obtained through real-time monitoring, and data support is provided for subsequent sampling;
the radar detection subsystem is used for penetrating soil to detect the environment, the target and the obstacle in front of the drilling, so that the damage of the sampling drill bit is reduced, and the tracked vehicle can adjust the movement path in time;
the drill bit is used for realizing timing and quantitative automatic sampling; the drill bit realizes automatic sampling by setting timing and quantitative parameters;
the data purification enhancing device processes the data acquired from the soil three-parameter sensor so as to eliminate possible errors and interference and improve the accuracy and reliability of the data.
2. The stereoscopic dynamic sampling system for metal detection according to claim 1, wherein: the data purification enhancing device comprises a data filter, an outlier detector, a calibration module, a data fusion algorithm and an environment compensation module.
3. The stereoscopic dynamic sampling system for metal detection according to claim 1, wherein: the radar detection subsystem is used for penetrating soil to detect the environment, the target and the obstacle in front of the drilling, and the implementation method is as follows:
Transmitting radar waves: the radar detection subsystem transmits radar waves through an antenna;
Receiving reflected waves: when a radar wave encounters an underground environment, object or obstacle, reflection occurs;
Processing the reflected signal: the received reflected signals are processed by a signal processing circuit, and information about the underground environment, the target and the obstacle is extracted;
generating an image or data: based on the processed reflected signals, the radar detection subsystem generates images or data of the subsurface environment for analysis by an operator.
4. A stereoscopic dynamic sampling system for metal detection according to claim 3, wherein: the radar detection subsystem receives these reflected radar waves via the same antenna or a dedicated receiving antenna.
5. A stereoscopic dynamic sampling system for metal detection according to claim 3, wherein: the received reflected signals are processed by a signal processing circuit, and information about the underground environment, the target and the obstacle is extracted, wherein the information comprises the distance, the speed and the direction of the target.
6. The stereoscopic dynamic sampling system for metal detection according to claim 1, wherein: the method for adjusting the motion path of the tracked vehicle comprises the following steps:
obstacle avoidance path planning: the control system is used for marking a path for avoiding the obstacle by utilizing calculation rules according to the data provided by the radar detection subsystem;
And (3) adjusting the running speed and direction: the control system adapts to the change of the front environment by adjusting the running speed and the running direction of the tracked vehicle;
And (3) self-adaptive control: and the tracked vehicle carries out real-time path adjustment according to the environment information detected in real time through the self-adaptive control algorithm.
7. The stereoscopic dynamic sampling system for metal detection according to claim 6, wherein: the algorithm comprises a path planning algorithm and an optimization algorithm.
8. The stereoscopic dynamic sampling system for metal detection according to claim 1, wherein: the specific method for realizing automatic sampling by setting timing and quantitative parameters by the drill bit is as follows:
The control system needs to set timing and quantitative parameters according to the sampling requirement; these setting parameters are input into the control system of the sampling system; when the control system receives a command for starting sampling, starting a drill motor according to preset timing parameters, and driving a drill to start drilling; meanwhile, the control system monitors the amount of the soil or rock stratum sample which is already obtained according to the quantitative parameter; in the sampling process, the control system monitors the obtained sample quantity in real time through a soil three-parameter sensor; when the obtained sample amount reaches the preset quantitative parameter, the control system sends an instruction to the drill motor to stop working.
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| CN202410256454.9A CN118130150A (en) | 2024-03-06 | 2024-03-06 | Three-dimensional dynamic sampling system for metal detection |
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