RU2708799C1 - Method for inspection of closed underground mines using unmanned aerial vehicles - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to a method for inspection of closed underground mines using unmanned aerial vehicles. For this purpose, at least three unmanned aerial vehicles (UAVs) equipped with payload for survey are used to obtain survey data. At that, the first UAV is driving, the rest are driven. Leading drone occupies the lower altitude train, the second UAV – intermediate, the third – upper. Permissible drone distance from limit flight limits are determined by flight safety and presence of stable connection. At that, the second UAV is a relay of data over the radio channel from the first UAV to the third UAV, which is also connected via radio channel to the ground base control station, transmitting obtained data of the tracking of the slave UAV and receiving commands of flight control or change of flight program. At that, if stable communication is not provided, all drone are returned to starting position.

EFFECT: higher quality of inspection of closed underground mines by non-destructive methods, increased range of examinations.

1 cl, 6 dwg

Description

Description of the invention

The invention relates to aerial reconnaissance methods using unmanned aerial vehicles (UAVs) of closed underground workings (penetrations) and communications and can be used to create new and modernize existing air reconnaissance systems.

The well-known "Method of controlling the flight of an unmanned aerial vehicle", which consists in the fact that a satellite navigation system receiver (PSSN) and a radio transmitter (RPM) of information on the actual UAV flight parameters are installed on the UAV, and a radio receiver (RPI) is installed on the ground control station (NSU) ) of this information. Consistently, the latitude (GS), longitude (DG) and altitude (N) above sea level of the point of the beginning of each section of the UAV program path (PT) are entered into the memory of the NSI calculator (B), the required 3 Fп, and orientation angles (UO) are calculated UAV speed vectors in each part of the AT and remember them. In UAV flight, with the help of PSSN, 3 GShf, GDf, Nf of point A of the actual UAV location, as well as projections of Vx, Vy, Vz of the vector on the axis of the corresponding coordinate system are determined. Using RPM transmit GShf, GDf, Nf, Vx, Vy, Vz to the NSI, where they use FIR to take them and feed them to B, where deviations Lg and Lv of the actual UAV trajectory from the aircraft are calculated, the actual values of Ff, if UO of the vector, differences dF of angles Fп and Фф and differences of d and angles of ip and if, form control commands (KU), depending on Lг, Lв, dF and dи, transmit KU to UAVs, where they take them and reject UAV rudders in accordance with KU. (see patent RU No. 2 240 588, IPC G05D 1/10, G01C 21/12, G08G 5/00, G01S 13/91, 11/20/2004, Bull. No. 32).

The disadvantage of this method is the narrow scope, since it cannot be implemented without a satellite navigation system.

The closest analogue to the claimed method is the Method of using unmanned aerial vehicles and a control device based on their adaptation of flight modes, characterized in that n UAVs are taken, where n> 3, forming the so-called “whatnot” in flight, the first UAV is the leading one, the second and third followers, with the leading UAV occupying the lower altitude level, the second UAV - intermediate, the third - upper, the distance of the leading UAV from the earth's surface is determined by flight safety and unconditional execution of the first task, for example, for monitoring gas and oil pipelines, this height is approximately 50 m, the second UAV is 50 m higher than the leading one, the third UAV is 50 m higher than the second, while the second UAV is a relay of data over the air from the first UAV to the third An UAV, which is also connected via radio channel to a ground-based control base station, transmitting the received surveillance data from the slave UAV and receiving flight control commands or changes to the flight program, at a flight altitude of the third UAV of ≈150 m and with the accepted gas and oil pipeline asosnymi stations equal to 300 km, the upper third of the UAV is within line of sight to the terrestrial base station thus maintaining a stable relationship with it (see. RU patent No. 2457531, IPC G05D 1/0, 07/27/2012, Bull. No. 21).

There is a development option when, in the event of the loss of one UAV as a result of engine failure, a collision with a bird, etc., the remaining two UAVs will successfully fulfill the monitoring task, while any of the remaining UAVs can become guided, and the other will occupy the upper echelon of 150 m.

There is a development option when, when half or more of the path is reached between neighboring ground stations, the communication of the “whatnot” is transmitted to the neighboring ground control station.

This method is characterized by limited functionality, since it cannot be used for exploration and inspection of the technical condition of closed underground workings, because:

- a repeater of data on a radio channel from the first UAV to the third UAV in the conditions of closed underground workings when direct visibility is impossible, will not provide stable communication;

- flight safety and the conditions for fulfilling the task are limited by the distance of the leading UAV only from the earth's surface. In underground mining, this is not enough. It is necessary to additionally take into account the distance to their enclosing structures (upper and side contours of underground workings);

- from a height of approximately 50 m, only accidents can be recorded and it is practically impossible to assess their technical condition, for example, the actual thickness of the supporting structures.

The objective of the present invention is to expand the functionality of the known method.

The problem is solved in that in the known method, based on the fact that n unmanned aerial vehicles (UAVs) are taken, which form the so-called "whatnot" in flight, the first UAV is leading, the second and third are driven, and the leading UAV is the lower altitude level, the second UAV is intermediate, the third is the upper, the permissible distance of the UAV from the flight limits is determined by flight safety and the unconditional fulfillment of the task, while the second UAV is a radio data relay from the first UAV to the third UAV, which is also connected by radio to the ground-based control base station, transmitting the received surveillance data of the slave UAV and receiving flight control commands or changes to the flight program, the upper third UAV is in direct line of sight with the ground-based base station, which allows maintaining with it a stable connection, in accordance with the present invention n = 3, UAVs are used with the possibility of vertical, horizontal movements and hovering in airspace, as a pre At the same time, the bottom of the closed underground mine or the water level in it, as well as the upper and side contours of the closed underground mine, are taken on the UAV, the payload is installed on the UAV, which allows you to control the distance from the UAV to the limit of the flight, and the payload, which allows you to obtain intelligence information, conduct inspection of the technical condition of sections of sewer tunnel collectors with non-destructive testing methods, and the inspection process is carried out in six stages:

a) all UAVs are brought to the starting position in the hovering mode above the vertical entrance to the closed underground mine;

b) reduce the height of hovering of the leading UAV to an acceptable distance from the bottom of a closed underground mine or the water level in it;

c) carry out a horizontal flight of the leading UAV until a stable communication is provided between the second and first UAVs and put it into hover mode;

d) reduce the height of the hovering of the second - intermediate UAV to an acceptable distance from the bottom of the underground mine or the water level in it;

e) continue to perform horizontal flight of the leading UAV until a stable communication is provided between the second and first UAVs;

e) return all UAVs to the starting position, performing in reverse order steps e), e), d), c), b) and a).

Distinctive features of the proposed method is:

1. The use of the group consisting of three UAVs, i.e. n is 3;

2. The use of UAVs with the possibility of vertical, horizontal movements and hovering in airspace;

3. Acceptance of the bottom of the underground mine or the water level in it, the upper and side contours of the underground mine as the limiting flight boundaries;

4. Installation of a payload on the UAV, allowing you to control the distance from the UAV to the flight limits;

5. Installation of a payload on the UAV, which allows receiving intelligence information;

6. Installation of a payload on the UAV, which allows for the inspection of the technical condition of sections of sewer tunnel collectors with non-destructive testing methods;

7. The conclusion of all UAVs to the starting position in the hovering mode above the vertical entrance to the closed underground mine;

8. Reducing the height of hovering of the leading UAV to an acceptable distance from the bottom of a closed underground mine or the water level in it;

9. Performing a horizontal flight of the leading UAV until a stable communication is provided between the second and first UAVs and its transition to the hover mode when stable communication is over;

10. Reducing the height of hovering of the second - intermediate UAV to an acceptable distance from the bottom of the underground mine or the water level in it;

11. Continuation of the horizontal flight of the leading UAV until a stable communication is provided between the second and first UAVs;

12. The return of all UAVs to the starting position, performing in reverse order steps e), e), d), c), b) and a).

According to the information available to the authors, the distinguishing features No. 1, 2 and 5 are known, and the rest (No. 4, 6-12) are not known. Their combined use allows you to expand the functionality of the method, because with its help, it becomes possible to conduct exploration and examine the technical condition of closed underground workings, because:

- due to the presence of distinguishing features No. 1, 2, 7-12 in the conditions of closed underground workings, it becomes possible to relay data over the air from the first UAV to the third UAV with stable communication;

- due to the presence of distinguishing feature No. 6, it becomes possible to assess the technical condition of closed underground workings, for example, the residual thickness of building reinforcement;

- due to the presence of distinctive features No. 1 - 5, flight safety is ensured in underground mining.

A brief description of the drawings.

In FIG. 1 shows stage a) of the implementation of the method, when all UAVs are brought to the starting position in the hovering mode above the vertical entrance to a closed underground mine; in FIG. 2 presents stage b) of the implementation of the method, when the hovering height of the leading UAV is reduced to an acceptable distance from the bottom of a closed underground mine or the water level in it; in FIG. Figure 3 presents step c) of the implementation of the method when a horizontal flight of the leading UAV is performed until a stable communication is provided between the second and first UAVs and put it into hover mode; in FIG. Figure 4 presents step d) of the implementation of the method, when the hovering height of the second - intermediate UAV is reduced to an acceptable distance from the bottom of the underground mine or the water level in it; in FIG. 5 presents step d) of the implementation of the method, when they continue to perform horizontal flight of the leading UAV until a stable communication is provided between the second and first UAVs; in FIG. Figure 6 shows a section through a closed underground mine in the form of a sewer tunnel collector at the horizontal flight stage of a leading UAV along it.

The implementation of the invention.

The implementation of the invention is demonstrated (see Fig. 1 - 5) as an example of a particular case of a closed underground mine - a sewer tunnel collector 1 connected to at least two vertical inlets: the first vertical inlet 2 and the second vertical inlet 3. In tunnel manifold systems mines are used as vertical entrances. The closed sewer collector 1 has a bottom 4 of a closed underground mine in which water flows, filling it up to level 5. The system for implementing the present method further includes:

- the first UAV 6, the second UAV 7, the third UAV 8;

- base station 9, installed, for example, in the car 10;

- radio channel 11 communication of the first UAV 6 with the second UAV 7;

- radio channel 12 communication of the second UAV 7 with the third UAV 8;

- radio channel 13 for communication of the third UAV 8 with the control base station 9.

In FIG. 6 shows the operating position of the first UAV 6 during horizontal flight inside the sewer tunnel collector 1, which has an upper 14, side circuits 15 and 16. At the same time, a payload 17 is installed on the UAV 6, which allows controlling the distance from the first UAV 6 to the flight limits ( bottom 4, water level 5, upper circuit 14, side circuits 15 and 16) using measurement channels 18, 19, 20 and 21. In addition, a payload 22 is installed on the UAV 6, which allows receiving intelligence information using at least Leray one observation channel 23 and payload 24, allowing to hold condition survey plots sewer tunnel collectors nondestructive inspection methods, e.g., using a laser scanner.

When implementing the invention:

- UAVs 6, 7 and 8 are used with the possibility of vertical, horizontal movements and hovering in airspace;

- the bottom 4 of the closed underground mine - the sewer tunnel collector 1 or the water level 5 in it, its upper 14, side circuits 15 and 16 are taken as the flight flight limits;

- payload 17 is set on UAVs 6, 7 and 8, which allows controlling the distance from UAVs 6, 7 and 8 to the flight limits (bottom 4, water level 5, upper circuit 14, side loops 15 and 16) using measurement channels 18, 19, 20 and 21. In addition, a payload 22 is installed on UAVs 6, 7 and 8, which makes it possible to obtain reconnaissance information using at least one surveillance channel 23, and payload 24, which makes it possible to conduct an inspection of the technical condition of the sections of the sewer tunnel non-destructive collectors their control methods, for example using a laser scanner;

- the examination process is carried out in six stages:

a) all UAVs 6, 7 and 8 are brought to the starting position in the hovering mode above the vertical entrance 2 to the closed underground mine - sewer tunnel collector 1, see FIG. 1;

b) reduce the height of hovering of the leading UAV 6 to an acceptable distance from the bottom 4 of a closed underground mine - a sewer tunnel collector 1 or water level 5 in it, see FIG. 2;

c) a horizontal flight of the leading UAV 6 is performed until a stable communication is provided between the second 7 and the first UAV 6 and put it in the hover mode, see FIG. 3;

d) reduce the height of hovering of the second - intermediate UAV 7 to an acceptable distance from the bottom 4 of the underground mine - the sewer tunnel collector 1 or water level 5 in it, see FIG. 4;

e) continue to carry out a horizontal flight of the leading UAV 6 until a stable connection is provided between the second 7 and the first UAV 6, see FIG. 5 and 6;

e) the return of all UAVs to the starting position, performing in reverse order steps e), e), d), c), b) and a).

In the process of stage e), using a payload 17, which allows you to control the distance from the first UAV 6 to the flight limits (bottom 4, water level 5, top loop 14, side loops 15 and 16) using measurement channels 18, 19, 20 and 21, the first UAV 6 performs a safe flight along the surveyed 4 underground mine - the sewer tunnel collector 1. At the same time, due to the installation of a payload 22 on the UAV 6, which allows receiving intelligence information using at least one channel on 23, and payload 24, which allows for the inspection of the technical condition of sections of sewer tunnel collectors with non-destructive testing methods, for example, using a laser scanner, information received on radio channel 11 of the communication of the first UAV 6 with the second UAV 7, radio channel 12 of the communication of the second UAV 7 with the third UAV 8 and - to the radio communication channel 13 of the third UAV 8 with the base control station 9 is transmitted to the base control station 9. The present invention does not exclude the possibility of recording certain types of received information (for example, laser scanning results) in the payload of the first UAV 6.

Thus, the claimed invention is industrially applicable.

Claims (7)

   A method for examining closed underground workings using unmanned aerial vehicles, based on the fact that n unmanned aerial vehicles (UAVs) are taken, which form the so-called "whatnot" in flight, the first UAV is leading, the second and third are driven, and the leading UAV is the lower altitude level, the second UAV - intermediate, the third - upper, the allowable distance of the UAV from the flight limits is determined by flight safety and the unconditional fulfillment of the task, while the second UAV is It is a repeater of data over the radio channel from the first UAV to the third UAV, which is also connected via radio to the ground-based control base station, transmitting the received observation data from the slave UAV and receiving flight control commands or changes to the flight program, the upper third UAV is in direct line of sight from the ground-based base station that allows you to maintain a stable connection with him, characterized in that n = 3, while using UAVs with the possibility of vertical, horizontal movements and hovering in the air space, as the limit of flight take the bottom of a closed underground mine or the water level in it, as well as the upper and side contours of a closed underground mine, set the payload on the UAV, which allows you to control the distance from the UAV to the limit of flight, and the payload that allows you to receive intelligence information, to conduct a survey of the technical condition of sections of sewer tunnel collectors with non-destructive testing methods, and the inspection process is carried out in there are stages: a) all UAVs are brought to the starting position in the hovering mode above the vertical entrance to the closed underground mine; b) reduce the height of hovering of the leading UAV to an acceptable distance from the bottom of a closed underground mine or the water level in it; c) carry out a horizontal flight of the leading UAV until a stable communication is provided between the second and first UAVs and put it into hover mode; d) reduce the height of the hovering of the second - intermediate UAV to an acceptable distance from the bottom of the underground mine or the water level in it; e) continue to perform horizontal flight of the leading UAV until a stable communication is provided between the second and first UAVs; e) return all UAVs to the starting position, performing in reverse order steps e), e), d), c), b) and a).

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