CN118169768B - Device and method for roadway detection of unmanned tracked vehicle in underground roadway - Google Patents
Device and method for roadway detection of unmanned tracked vehicle in underground roadway Download PDFInfo
- Publication number
- CN118169768B CN118169768B CN202410312088.4A CN202410312088A CN118169768B CN 118169768 B CN118169768 B CN 118169768B CN 202410312088 A CN202410312088 A CN 202410312088A CN 118169768 B CN118169768 B CN 118169768B
- Authority
- CN
- China
- Prior art keywords
- receiving
- transmitting
- coils
- leaf hyperboloid
- roadway
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 230000002159 abnormal effect Effects 0.000 claims abstract description 24
- 230000004907 flux Effects 0.000 claims abstract description 10
- 230000005284 excitation Effects 0.000 claims abstract description 5
- 230000006698 induction Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 12
- 230000001052 transient effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 230000007480 spreading Effects 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 238000005265 energy consumption Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/18—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for well-logging
- G01V3/26—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for well-logging operating with magnetic or electric fields produced or modified either by the surrounding earth formation or by the detecting device
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Electromagnetism (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a device and a method for detecting an underground roadway by an unmanned tracked vehicle, wherein the device comprises a transmitting device, a receiving device, a central processor and a single-leaf hyperboloid receiving-transmitting mechanism, wherein the single-leaf hyperboloid receiving-transmitting mechanism is in an undeployed state when not in use, and has smaller volume and convenient placement and transportation; the transmitting and receiving mode is double-transmitting and three-receiving after the expansion, and the detection of surrounding abnormal bodies can be realized only by low duty ratio step current, so that the electric quantity is saved and the detection time is prolonged; when the detection excitation is carried out, the two transmitting coils and the second receiving coils of the single-leaf hyperboloid receiving-transmitting mechanism jointly form an equivalent anti-magnetic flux principle coil structure, magnetic flux is eliminated, primary field interference is eliminated, meanwhile, the two transmitting coils and the two first receiving coils respectively jointly form a dual transmitting-receiving coil structure, and whether an abnormal body and a specific azimuth of the abnormal body exist can be accurately judged through the positive and negative conditions of received secondary field signals.
Description
Technical Field
The invention relates to a device and a method for detecting an underground roadway by an unmanned tracked vehicle, and belongs to the technical field of unmanned tracked vehicle roadway detection.
Background
In the field of underground space exploration, due to the high risk of exploration tasks, urgent demands are placed on unmanned, intelligent and portable geophysical prospecting methods. Traditional geophysical prospecting methods face a number of challenges in the underground roadway environment, including complex geological structures, limited working space, and high reliance on personnel safety. The transient electromagnetic method is a time domain electromagnetic method, is a rapid and convenient method widely applied to underground space advanced detection, and a measuring device of the transient electromagnetic method consists of a transmitting loop and a receiving loop. The working process of the transient electromagnetic method can be divided into three steps of transmitting, electromagnetic induction and receiving. Firstly, when underground full-space detection is carried out, due to the existence of full-space effect, a receiving loop receives geologic body responses from different directions, so that the specific azimuth of an abnormal body is difficult to accurately distinguish, and false alarm is caused; secondly, the problem of short endurance is commonly existed in the unmanned tracked vehicle, and the energy consumption and the detection time of the detection method are greatly limited; in addition, the conventional multi-turn small loop wire suitable for underground space detection has the problems of large dead zone, poor anti-interference capability, inaccurate azimuth judgment, high energy consumption and the like.
Therefore, it is necessary to provide a new device and method, so that the device is light and portable, the energy consumption required during detection is low, and the specific orientation of the underground abnormal body can be effectively distinguished after detection, which is the direction of the research required by the invention.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a device and a method for detecting the roadway of an underground roadway unmanned tracked vehicle, which are light and portable, have lower energy consumption during detection, and can effectively distinguish the specific azimuth of an underground abnormal body after detection.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a device for detecting an underground roadway by an unmanned tracked vehicle comprises a transmitting device, a receiving device, a central processor and a single-leaf hyperboloid receiving-transmitting mechanism;
The single-leaf hyperboloid receiving-transmitting mechanism comprises two control bearings, two transmitting coils, two first receiving coils, a second receiving coil and a plurality of straight buses, wherein a plurality of grooves are uniformly distributed on each control bearing, a movable ball is arranged in each groove, and the movable ball can freely rotate in each groove; each movable ball is fixedly connected with one end of a connecting rod through a respective groove opening, and the other end of the connecting rod is provided with a circular ring; the number of the straight buses is the same as the number of the circular rings connected with each control bearing, the two control bearings are coaxially arranged, and the circular rings connected with the two control bearings are in one-to-one correspondence; each straight bus passes through the corresponding circular rings of the two control bearings respectively, so that the two control bearings are symmetrically positioned at two sides of the midpoint of each straight bus; the two transmitting coils are respectively arranged at two ends of the plurality of straight buses; the two first receiving coils are symmetrically arranged on two sides of the midpoint of each straight bus and are both arranged on the straight bus between the control bearing and the transmitting coil; the second receiving coils are arranged at the midpoints of the straight buses; the straight bus is made of a rigid rod, and the transmitting coil, the first receiving coil and the second receiving coil are made of flexible wires;
When the single-leaf hyperboloid receiving and transmitting mechanism does not work, the single-leaf hyperboloid receiving and transmitting mechanism is in an undeployed state, at the moment, all the straight buses are in a mutually parallel state, and the two transmitting coils, the two first receiving coils and the second receiving coils are all in a loose state; when the single-leaf hyperboloid receiving and transmitting mechanism starts to work, the two control bearings are made to rotate reversely, and then each straight bus rotates along with the two control bearings through the force transmission action of the circular ring, the connecting rod and the movable ball until the two transmitting coils, the two first receiving coils and the second receiving coils are in a tight state, at the moment, the planes of the two transmitting coils, the two first receiving coils and the second receiving coils are parallel to each other, and the single-leaf hyperboloid receiving and transmitting mechanism is in an unfolding state and is used for subsequent roadway detection;
The transmitting device is arranged on the unmanned crawler and is used for exciting step current and enabling the two transmitting coils to generate transient electromagnetic signals; the receiving device is arranged on the unmanned tracked vehicle and is used for receiving the induced voltage signals acquired by the first receiving coil and the second receiving coil and feeding back the induced voltage signals to the central processor; the central processor is used for controlling the excitation state of the transmitting device, analyzing and processing the induction voltage signals fed back by the receiving device, and distinguishing the azimuth of the abnormal body.
Further, the straight bus bar is made of PVC pipe.
Further, the control bearing, the movable ball, the connecting rod and the circular ring are all made of PVC materials.
Further, the central processor is a computer.
The working method for the roadway detection device of the unmanned tracked vehicle for the underground roadway comprises the following specific steps of:
A. the device is placed on an unmanned tracked vehicle and is in an undeployed state, and the signal transmission stability among a transmitting device, a receiving device, a central processor, a transmitting coil, a first receiving coil and a second receiving coil is detected;
B. The method comprises the steps that a worker remotely controls an unmanned tracked vehicle to start running in a roadway, when the unmanned tracked vehicle moves to a first measuring point, the unmanned tracked vehicle stops moving, at the moment, a mechanical arm on the unmanned tracked vehicle is used for grabbing a single-leaf hyperboloid receiving-transmitting mechanism stored on the unmanned tracked vehicle, so that two control bearings are reversely rotated, and further, each straight bus rotates along with the two control bearings through the force transmission effect of a circular ring, a connecting rod and a movable ball until the two transmitting coils, the two first receiving coils and the second receiving coils are in a tightening state, and the single-leaf hyperboloid receiving-transmitting mechanism is in a spreading state; after the mechanical arm is unfolded, the single-leaf hyperboloid receiving and transmitting mechanism is vertically arranged on the first measuring point and the mechanical arm is retracted; completing the placing work of the single-leaf hyperboloid receiving and transmitting mechanism;
C. The central processing unit controls the transmitting device to transmit step current with low duty ratio, so that the step current with low duty ratio is simultaneously transmitted to the two transmitting coils, and equal large reverse currents are simultaneously conducted in opposite directions of currents in the two transmitting coils, at the moment, magnetic force lines of sources of the two transmitting coils are horizontal to form a primary field zero magnetic flux surface, the first receiving coil and the second receiving coil both receive fed back transient electromagnetic signals and generate corresponding induction voltage secondary field signals to be fed back to the receiving device, the receiving device transmits the acquired induction voltage secondary field signals to the central processing unit, the central processing unit analyzes the signals, and if the induction voltage secondary field signals of the first receiving coil and the second receiving coil are positive values, the abnormal body is in the detection direction of the single-leaf hyperboloid receiving and transmitting mechanism; if the induction voltage secondary field signals of the first receiving coil and the second receiving coil are negative values, the abnormal body is in the direction opposite to the detection direction of the single-leaf hyperboloid receiving and transmitting mechanism; if the induced voltage secondary field signals of the first receiving coil and the second receiving coil are all attenuation straight lines, no abnormal body exists around the current measuring point, and the detection work of the first measuring point is completed;
D. and C, the mechanical arm on the unmanned tracked vehicle restores the single-leaf hyperboloid receiving and transmitting mechanism to an undeployed state, is placed on the vehicle body, continuously runs to a second measuring point, and repeats the steps B and C to detect the second measuring point, so that the detection process of the full roadway is continuously realized.
Further, the low duty cycle step current is a bipolar step square wave with a duty cycle of 1:15. Therefore, the power consumption can be saved, and the detection time and range can be improved.
Compared with the prior art, the invention adopts a mode of combining the transmitting device, the receiving device, the central processor and the single-leaf hyperboloid receiving and transmitting mechanism, and has the following advantages:
1. The single-leaf hyperboloid receiving and transmitting mechanism can be in an undeployed state when not in use and can be unfolded for use when detection is needed, so that the volume of the single-leaf hyperboloid receiving and transmitting mechanism is smaller when not in use, and the single-leaf hyperboloid receiving and transmitting mechanism is convenient to place and carry;
2. The single-leaf hyperboloid receiving and transmitting mechanism has the advantages that the unfolded receiving and transmitting mode is double-transmitting three-receiving, the special structure can detect surrounding abnormal bodies only by exciting low-duty-cycle step current by the transmitting device, and compared with the existing high-duty-cycle step current, the low-duty-cycle step current saves electric quantity, prolongs detection time, is beneficial to receiving deep signals, and improves detection range.
3. When the detection excitation is carried out, the two transmitting coils and the second receiving coil of the single-leaf hyperboloid receiving-transmitting mechanism jointly form an equivalent inverse magnetic flux principle coil structure, at the moment, the two transmitting coils are electrified with equal-large inverse step current, at the moment, the magnetic force lines of the double-coil source are horizontal to form a primary field zero magnetic flux surface, magnetic flux is eliminated, namely, the plane of the second receiving coil is not influenced by primary field turn-off, primary field interference is eliminated, and the two first receiving coils and the second receiving coil can both receive pure secondary field signals; meanwhile, the two transmitting coils and the two first receiving coils form a dual transmitting-receiving coil structure together, and whether an abnormal body and a specific azimuth of the abnormal body exist or not can be accurately judged through the positive and negative conditions of secondary field signals received by the two first receiving coils and the two second receiving coils, so that the dual transmitting-receiving coil structure has the advantages of being strong in anti-interference capability, small in blind area and high in detection precision.
Drawings
FIG. 1 is a schematic illustration of the present invention placed on an unmanned crawler;
FIG. 2 is a schematic diagram of a single-leaf hyperboloid transceiver mechanism without a transmitting coil, a first receiving coil and a second receiving coil and in an undeployed state;
FIG. 3 is a schematic view of the expanded structure of FIG. 2;
FIG. 4 is a schematic diagram of the structure of FIG. 3 after mounting a transmit coil, a first receive coil, and a second receive coil;
fig. 5 is a schematic diagram of the connection between the straight bus bar and the control bearing in the present invention.
In the figure: the device comprises a 1-unmanned tracked vehicle, a 2-transmitting device, a 3-receiving device, a 4-mechanical arm, a 5-single-leaf hyperboloid receiving and transmitting mechanism, a 51-control bearing, a 52-transmitting coil, a 53-first receiving coil, a 54-second receiving coil, a 55-straight bus, a 56-movable ball, a 57-connecting rod and a 58-circular ring.
Detailed Description
The present invention will be further described below.
As shown in fig. 1, a device for roadway detection of an underground roadway unmanned tracked vehicle comprises a transmitting device 2, a receiving device 3, a central processor and a single-leaf hyperboloid receiving and transmitting mechanism 5;
As shown in fig. 4, the single-leaf hyperboloid transceiver 5 includes two control bearings 51, two transmitting coils 52, two first receiving coils 53, two second receiving coils 54 and a plurality of straight buses 55, wherein a plurality of grooves are uniformly distributed on each control bearing 51, each groove is internally provided with a movable ball 56, and the movable ball 56 can freely rotate in the groove; each movable ball 56 is fixedly connected with one end of a connecting rod 57 through a respective groove opening, and the other end of the connecting rod 57 is provided with a circular ring 58; the number of the straight buses 55 is the same as the number of the circular rings 58 connected with each control bearing 51, the two control bearings 51 are coaxially arranged, and the circular rings 58 connected with the two control bearings 51 are in one-to-one correspondence; each straight bus 55 passes through the corresponding circular rings 58 of the two control bearings 51 respectively as shown in fig. 5, so that the two control bearings 51 are symmetrically positioned at two sides of the midpoint of each straight bus 55; the two transmitting coils 52 are respectively arranged at two ends of a plurality of straight buses 55; the two first receiving coils 53 are symmetrically arranged at two sides of the midpoint of each straight bus 55 and are arranged on the straight buses 55 between the control bearing 51 and the transmitting coil 52; the second receiving coil 54 is arranged at the midpoint of each straight bus 55; the straight bus 55 is made of a rigid rod, and the transmitting coil 52, the first receiving coil 53 and the second receiving coil 54 are made of flexible wires;
When the single-leaf hyperboloid receiving and transmitting mechanism 5 does not work, the single-leaf hyperboloid receiving and transmitting mechanism is in an undeployed state as shown in fig. 2, at the moment, all straight buses 55 are in a mutually parallel state, and the two transmitting coils 52, the two first receiving coils 53 and the second receiving coils 54 are all in a loose state; when the single-leaf hyperboloid receiving and transmitting mechanism 5 starts to work, the two control bearings 51 are made to rotate reversely, and then the straight buses 55 rotate along with the two control bearings 51 under the force transfer action of the circular ring 58, the connecting rod 57 and the movable ball 56 until the two transmitting coils 52, the two first receiving coils 53 and the second receiving coils 54 are in a tightening state, at the moment, the planes of the two transmitting coils 52, the two first receiving coils 53 and the second receiving coils 54 are parallel to each other, and the single-leaf hyperboloid receiving and transmitting mechanism 5 is in an unfolding state as shown in fig. 3 and 4 and is used for subsequent roadway detection; in order to ensure the stability of the unfolded single-leaf hyperboloid transceiver 5, the surface of the circular ring 58 is a rough surface, so that the friction between the circular ring 58 and the straight bus 55 can be increased, and the stability of the unfolded single-leaf hyperboloid transceiver 5 is further ensured.
The transmitting device 2 is arranged on the unmanned crawler 1 and is used for exciting step current and enabling the two transmitting coils 52 to generate transient electromagnetic signals; the receiving device 3 is arranged on the crawler belt 1 and is used for receiving the induced voltage signals acquired by the first receiving coil 53 and the second receiving coil 54 and feeding back to the central processor; the central processor is used for controlling the excitation state of the transmitting device 2, analyzing and processing the induction voltage signals fed back by the receiving device 3, and distinguishing the position of the abnormal body.
The straight bus 55 is made of PVC pipe, and the control bearing 51, the movable ball 56, the connecting rod 57 and the circular ring 58 are all made of PVC material. Thus, the structure is stable, and the portable device is light and portable; the central processor is a computer.
The transmitting device 2, the receiving device 3, the central processor and the unmanned tracked vehicle 1 are all existing equipment, wherein the unmanned tracked vehicle 1 is provided with a mechanical arm and has a remote control function.
The working method for the roadway detection device of the unmanned tracked vehicle for the underground roadway comprises the following specific steps of:
A. The radii of the two transmitting coils 52, the two first receiving coils 53 and the second receiving coils 54 in the single-leaf hyperboloid transceiving mechanism 5 in the unfolding state are determined, and the specific installation positions of the two first receiving coils 53 are determined, which is as follows:
the control equation of the single-leaf hyperboloid receiving and transmitting mechanism 5 is as follows:
Wherein, R 0 is the radius of the single-leaf hyperboloid section circle when z=0, namely the second receiving coil Radius after expansion; c is a constant; the overall height of the unfolded single-leaf hyperboloid transceiver 5 is set as h, so the value range of z is as follows:
two transmitting coils 52 are arranged at both ends of the single-leaf hyperboloid coil structure and are positioned at A place;
The equation expression at this time is:
Radius of the two transmit coils 52 after deployment:
The two first receiving coils 53 are symmetrically arranged at two sides of the midpoint of each straight bus 55 and are arranged on the single-leaf hyperboloid receiving-transmitting mechanism 5 A place;
The equation expression at this time is:
Radius of the two first receiving coils 53 after expansion:
The receiving and transmitting mode of the unfolded single-leaf hyperboloid receiving and transmitting mechanism 5 is double-transmitting three-receiving; the two transmitting coils 52 are connected with equal large reverse current, and the magnetic force lines of the double-coil source are horizontal at the moment, so that a primary field zero magnetic flux surface, namely a plane where the second receiving coil 54 is positioned, is formed, and the surface is not influenced by the turn-off of the primary field, so that a pure secondary field signal can be received. The other two first receiving coils 53 are symmetrically distributed on the zero magnetic flux plane Is arranged on the horizontal plane of the frame.
The single-leaf hyperboloid transceiver 5 is manufactured as described above, and then the single-leaf hyperboloid transceiver 5 is placed on the crawler belt 1 and is in an undeployed state, and the signal transmission stability of the transmitting device 2, the receiving device 3, the central processor, the transmitting coil 52, the first receiving coil 53 and the second receiving coil 54 is detected;
B. The unmanned tracked vehicle 1 is remotely controlled by a worker to start running in a roadway, when the unmanned tracked vehicle 1 moves to a first measuring point, the unmanned tracked vehicle 1 stops moving, at the moment, a mechanical arm on the unmanned tracked vehicle 1 is used for grabbing a single-leaf hyperboloid transceiver 5 stored on the unmanned tracked vehicle 1, so that two control bearings 51 are reversely rotated, and further, each straight bus 55 rotates along with the two control bearings 51 under the force transmission action of a circular ring 58, a connecting rod 57 and a movable ball 56 until the two transmitting coils 52, the two first receiving coils 53 and the second receiving coils 54 are in a tight state, and the single-leaf hyperboloid transceiver 5 is in a unfolding state; after the mechanical arm is unfolded, the single-leaf hyperboloid receiving and transmitting mechanism 5 is vertically arranged on the first measuring point and is retracted; completing the placing work of the single-leaf hyperboloid receiving and transmitting mechanism 5;
C. The central processing unit controls the transmitting device 2 to transmit step current with low duty ratio, so that the step current with low duty ratio is simultaneously transmitted to the two transmitting coils 52, and equal large reverse current is simultaneously conducted when the current directions in the two transmitting coils 52 are opposite, at the moment, magnetic force lines of the two transmitting coils are horizontal, a primary field zero magnetic flux surface is formed, the first receiving coil 53 and the second receiving coil 54 both receive fed back transient electromagnetic signals and generate corresponding induction voltage secondary field signals to be fed back to the receiving device 3, the receiving device 3 transmits the acquired induction voltage secondary field signals to the central processing unit, the central processing unit analyzes the signals, and if the induction voltage secondary field signals of the first receiving coil 53 and the second receiving coil 54 are positive values, the abnormal body is indicated to be in the detection direction of the single-leaf hyperboloid receiving and transmitting mechanism 5; if the induced voltage secondary field signals of the first receiving coil 53 and the second receiving coil 54 are negative, it is indicated that the abnormal body is located in the opposite direction of the detection direction of the single-leaf hyperboloid transceiver 5; if the induced voltage secondary field signals of the first receiving coil 53 and the second receiving coil 54 are all attenuation straight lines, no abnormal body exists around the current measuring point, and the detection work of the first measuring point is completed; in order to ensure that the detection direction of the single-leaf hyperboloid transceiving mechanism 5 is the bottom plate after the single-leaf hyperboloid transceiving mechanism 5 is unfolded, the power supply direction of the transmitting coil close to the bottom plate in the single-leaf hyperboloid transceiving mechanism 5 after vertical placement is anticlockwise, and the power supply direction of the transmitting coil far away from the bottom plate is clockwise, so that the detection direction is the bottom plate, and if the received induced voltage secondary field signal is positive, the abnormal body is indicated to be positioned in the bottom plate below the single-leaf hyperboloid transceiving mechanism 5, and if the induced voltage secondary field signal is negative, the abnormal body is indicated to be positioned in the top plate above the single-leaf hyperboloid transceiving mechanism 5.
D. and C, the mechanical arm on the unmanned tracked vehicle 1 restores the single-leaf hyperboloid receiving and transmitting mechanism 5 to an undeployed state, and is placed on the vehicle body to continue to travel to a second measuring point, and the steps B and C are repeated to detect the second measuring point, so that the detection process of the full roadway is continuously realized.
The low duty cycle step current is a bipolar step square wave with a duty cycle of 1:15. Duty Cycle is a term used to describe the proportion of time that a high level (or high state) takes in a periodic signal. Which is defined as the ratio of the duration of the high level (or high state) to the period, typically expressed in percent. Expressed mathematically as:
where T H is the duration of the high level (or high state) and T is the period.
By adopting the single-leaf hyperboloid transceiving mechanism 5, the unfolded transceiving mode is double-emission three-reception, and the special structure ensures that the detection of surrounding abnormal bodies can be realized only by exciting low-duty-cycle step current by the transmitting device 2, and the low-duty-cycle step current saves electric quantity and prolongs detection time compared with the current with high duty cycle, thereby being more beneficial to receiving deep signals and improving detection range. However, due to the structural limitation, the existing transient electromagnetic detection structure needs to use a step current with a high duty ratio (the duty ratio is generally 1:1) to achieve the required detection precision, but the power consumption is greatly increased.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (6)
1. The device for detecting the roadway of the unmanned tracked vehicle in the underground roadway is characterized by comprising a transmitting device, a receiving device, a central processor and a single-leaf hyperboloid receiving-transmitting mechanism;
The single-leaf hyperboloid receiving-transmitting mechanism comprises two control bearings, two transmitting coils, two first receiving coils, a second receiving coil and a plurality of straight buses, wherein a plurality of grooves are uniformly distributed on each control bearing, a movable ball is arranged in each groove, and the movable ball can freely rotate in each groove; each movable ball is fixedly connected with one end of a connecting rod through a respective groove opening, and the other end of the connecting rod is provided with a circular ring; the number of the straight buses is the same as the number of the circular rings connected with each control bearing, the two control bearings are coaxially arranged, and the circular rings connected with the two control bearings are in one-to-one correspondence; each straight bus passes through the corresponding circular rings of the two control bearings respectively, so that the two control bearings are symmetrically positioned at two sides of the midpoint of each straight bus; the two transmitting coils are respectively arranged at two ends of the plurality of straight buses; the two first receiving coils are symmetrically arranged on two sides of the midpoint of each straight bus and are both arranged on the straight bus between the control bearing and the transmitting coil; the second receiving coils are arranged at the midpoints of the straight buses; the straight bus is made of a rigid rod, and the transmitting coil, the first receiving coil and the second receiving coil are made of flexible wires;
When the single-leaf hyperboloid receiving and transmitting mechanism does not work, the single-leaf hyperboloid receiving and transmitting mechanism is in an undeployed state, at the moment, all the straight buses are in a mutually parallel state, and the two transmitting coils, the two first receiving coils and the second receiving coils are all in a loose state; when the single-leaf hyperboloid receiving and transmitting mechanism starts to work, the two control bearings are made to rotate reversely, and then each straight bus rotates along with the two control bearings through the force transmission action of the circular ring, the connecting rod and the movable ball until the two transmitting coils, the two first receiving coils and the second receiving coils are in a tight state, at the moment, the planes of the two transmitting coils, the two first receiving coils and the second receiving coils are parallel to each other, and the single-leaf hyperboloid receiving and transmitting mechanism is in an unfolding state and is used for subsequent roadway detection;
The transmitting device is arranged on the unmanned crawler and is used for exciting step current and enabling the two transmitting coils to generate transient electromagnetic signals; the receiving device is arranged on the unmanned tracked vehicle and is used for receiving the induced voltage signals acquired by the first receiving coil and the second receiving coil and feeding back the induced voltage signals to the central processor; the central processor is used for controlling the excitation state of the transmitting device, analyzing and processing the induction voltage signals fed back by the receiving device, and distinguishing the azimuth of the abnormal body.
2. The apparatus for roadway detection of an underground roadway unmanned crawler of claim 1, wherein the straight bus bar is made of PVC pipe.
3. The device for roadway detection of the unmanned tracked vehicle for the underground roadway of claim 1, wherein the control bearing, the movable ball, the connecting rod and the circular ring are all made of PVC materials.
4. The apparatus for roadway detection of an underground roadway unmanned crawler of claim 1, wherein the central processor is a computer.
5. A method according to any one of claims 1 to 4 for operating a roadway detection apparatus for an underground roadway unmanned crawler, characterized by the specific steps of:
A. the device is placed on an unmanned tracked vehicle and is in an undeployed state, and the signal transmission stability among a transmitting device, a receiving device, a central processor, a transmitting coil, a first receiving coil and a second receiving coil is detected;
B. The method comprises the steps that a worker remotely controls an unmanned tracked vehicle to start running in a roadway, when the unmanned tracked vehicle moves to a first measuring point, the unmanned tracked vehicle stops moving, at the moment, a mechanical arm on the unmanned tracked vehicle is used for grabbing a single-leaf hyperboloid receiving-transmitting mechanism stored on the unmanned tracked vehicle, so that two control bearings are reversely rotated, and further, each straight bus rotates along with the two control bearings through the force transmission effect of a circular ring, a connecting rod and a movable ball until the two transmitting coils, the two first receiving coils and the second receiving coils are in a tightening state, and the single-leaf hyperboloid receiving-transmitting mechanism is in a spreading state; after the mechanical arm is unfolded, the single-leaf hyperboloid receiving and transmitting mechanism is vertically arranged on the first measuring point and the mechanical arm is retracted; completing the placing work of the single-leaf hyperboloid receiving and transmitting mechanism;
C. The central processing unit controls the transmitting device to transmit step current with low duty ratio, so that the step current with low duty ratio is simultaneously transmitted to the two transmitting coils, and equal large reverse currents are simultaneously conducted in opposite directions of currents in the two transmitting coils, at the moment, magnetic force lines of sources of the two transmitting coils are horizontal to form a primary field zero magnetic flux surface, the first receiving coil and the second receiving coil both receive fed back transient electromagnetic signals and generate corresponding induction voltage secondary field signals to be fed back to the receiving device, the receiving device transmits the acquired induction voltage secondary field signals to the central processing unit, the central processing unit analyzes the signals, and if the induction voltage secondary field signals of the first receiving coil and the second receiving coil are positive values, the abnormal body is in the detection direction of the single-leaf hyperboloid receiving and transmitting mechanism; if the induction voltage secondary field signals of the first receiving coil and the second receiving coil are negative values, the abnormal body is in the direction opposite to the detection direction of the single-leaf hyperboloid receiving and transmitting mechanism; if the induced voltage secondary field signals of the first receiving coil and the second receiving coil are all attenuation straight lines, no abnormal body exists around the current measuring point, and the detection work of the first measuring point is completed;
D. and C, the mechanical arm on the unmanned tracked vehicle restores the single-leaf hyperboloid receiving and transmitting mechanism to an undeployed state, is placed on the vehicle body, continuously runs to a second measuring point, and repeats the steps B and C to detect the second measuring point, so that the detection process of the full roadway is continuously realized.
6. The method of claim 5, wherein the low duty cycle step current is a bipolar step square wave with a duty cycle of 1:15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410312088.4A CN118169768B (en) | 2024-03-19 | 2024-03-19 | Device and method for roadway detection of unmanned tracked vehicle in underground roadway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410312088.4A CN118169768B (en) | 2024-03-19 | 2024-03-19 | Device and method for roadway detection of unmanned tracked vehicle in underground roadway |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118169768A CN118169768A (en) | 2024-06-11 |
| CN118169768B true CN118169768B (en) | 2024-07-26 |
Family
ID=91349976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410312088.4A Active CN118169768B (en) | 2024-03-19 | 2024-03-19 | Device and method for roadway detection of unmanned tracked vehicle in underground roadway |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118169768B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054258A (en) * | 2016-05-27 | 2016-10-26 | 中国矿业大学 | Magnetic source ground-tunnel transient electromagnetic advanced detection method |
| CN109343130A (en) * | 2018-11-27 | 2019-02-15 | 中煤科工集团西安研究院有限公司 | A kind of the Loop source ground well transient electromagnetic detecting method and system of broadside |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2785717C (en) * | 2003-02-13 | 2016-07-12 | Bubioil Aps | Measuring equipment and method for mapping the geology in an underground formation |
| US11187824B2 (en) * | 2018-07-02 | 2021-11-30 | Institute Of Geology And Geophysics, Chinese Academy Of Sciences | Method and device for surface-borehole transient electromagnetic detection |
-
2024
- 2024-03-19 CN CN202410312088.4A patent/CN118169768B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054258A (en) * | 2016-05-27 | 2016-10-26 | 中国矿业大学 | Magnetic source ground-tunnel transient electromagnetic advanced detection method |
| CN109343130A (en) * | 2018-11-27 | 2019-02-15 | 中煤科工集团西安研究院有限公司 | A kind of the Loop source ground well transient electromagnetic detecting method and system of broadside |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118169768A (en) | 2024-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102062877B (en) | Nuclear magnetic resonance detection device and method for advanced detection of water bodies in front | |
| CN109738958B (en) | Ocean controllable source electromagnetic detection system | |
| CN112099094B (en) | Self-compensation double-emission-structure dragging type transient electromagnetic detection device and method | |
| CN106772644A (en) | mine transient electromagnetic three-component detection method | |
| CN104035137B (en) | Underground full-space transient electromagnetic detecting instrument and detection method | |
| CN103777247B (en) | Transient electromagnetic radar detection system and detection method | |
| WO2018126724A1 (en) | Dual-coil coupled multi-wave exploration system | |
| CN102147484A (en) | High-power downhole electromagnetic pulse transmission device | |
| CN104612671A (en) | Array induction coil system for measuring vertical formation conductivity | |
| CN102353995A (en) | Deep-sea transient electromagnetic surveying device and method thereof | |
| CN103499841A (en) | Roadway-hole transient electromagnetic device and measuring method | |
| CN103472489B (en) | The antithesis emitter of transient electromagnetic | |
| CN104407392A (en) | One-transmitting and three-receiving type detection device for water filling goaf, and detection method | |
| CN209656905U (en) | Six component marine electromagnetic data measuring units and ocean controllable source electromagnetic survey system | |
| US10036824B2 (en) | Electromagnetic system utilizing multiple pulse transmitter waveforms | |
| CN118169768B (en) | Device and method for roadway detection of unmanned tracked vehicle in underground roadway | |
| CN203535237U (en) | Transient electromagnetic duality emitting device | |
| CN109856683B (en) | Towed phased array electromagnetic detection device and method | |
| CN103499838A (en) | Transient electromagnetic measuring device and recognizing method for anomalous body orientation recognition | |
| CN205643736U (en) | A exploration testing equipment for gallery forward probe | |
| CN203480046U (en) | Transient electromagnetic measuring device for anomalous body azimuth recognition | |
| CN110261914B (en) | Underwater electromagnetic detector capable of distinguishing azimuth | |
| CN106628214A (en) | Unmanned aerial vehicle used for mineral radioactivity detection and application thereof | |
| AU2021100787A4 (en) | Device for acquiring deep information by using high-performance transient electromagnetic sensor | |
| CN217672750U (en) | Ground penetrating radar device car with automatic mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |