CN118068404A - Underground construction detection system - Google Patents

Abstract

The invention provides an underground building detection system, which comprises: the unmanned aerial vehicle, the exploration positioning module and the communication control module are electrically connected with the communication control module; the unmanned aerial vehicle is used for responding to the throwing instruction sent by the communication control module and throwing the exploration positioning module into the measurement area; the exploration positioning module is used for acquiring positioning information and micro-motion signals of the measurement area and sending the positioning information and the micro-motion signals to the communication control module; the communication control module is used for sending a throwing instruction to the unmanned aerial vehicle, receiving positioning information and micro-motion signals sent by the exploration positioning module, analyzing and processing the positioning information and the micro-motion signals, and determining position information and depth information of the underground building. According to the invention, the detection site is quickly arranged in an unmanned environment through the unmanned aerial vehicle, and the detection of the underground building in the unmanned environment is completed.

Description

Underground construction detection system

Technical Field

The invention relates to the technical field of micro-motion exploration, in particular to an underground building detection system.

Background

The underground building is a shallow underground building poured by thick high-quality concrete in order to prevent high-temperature light radiation and shock wave killing caused by high-altitude explosion or ground explosion. At present, common military underground buildings mainly comprise air-raid shelter, underground weapon warehouse, missile well, underground laboratory and the like. The future informatization war is expanded to deeper underground fields, and if the underground architecture of the enemy army can be positioned quickly and efficiently, the underground architecture is destroyed by using underground weapons such as ground bullets and the like to realize powerful accurate striking, so that the method has important significance for military operations. The detection of the position and structural information of the underground building is the primary link for subsequent military striking. However, how to quickly, accurately and efficiently obtain the information of the position and structure of the underground building is a problem to be solved at present, and is one of the hot spots of military research in various countries.

In order to realize underground building detection, a geophysical exploration method is generally used, and most underground detection methods are realized through geophysical exploration. The detection and data processing of the underground building generally comprise a high-density electric method, a ground penetrating radar and the like, but the detection sites are difficult to quickly arrange in an unmanned environment by the methods, so that the detection of the underground building in the unmanned environment is finished.

Disclosure of Invention

In view of the foregoing, it is necessary to provide an underground building detection system for solving the technical problem that in the prior art, a detection site cannot be rapidly arranged in an unmanned environment, and detection of an underground building in the unmanned environment is completed.

In order to solve the above problems, in one aspect, the present invention provides a underground construction detection system comprising: the system comprises an unmanned aerial vehicle, an exploration positioning module and a communication control module, wherein the unmanned aerial vehicle and the exploration positioning module are electrically connected with the communication control module;

The unmanned aerial vehicle is used for responding to the throwing instruction sent by the communication control module and throwing the exploration positioning module to the measurement area;

The exploration positioning module is used for acquiring positioning information and micro-motion signals of a measurement area and sending the positioning information and the micro-motion signals to the communication control module;

The communication control module is used for sending a throwing instruction to the unmanned aerial vehicle, receiving positioning information and micro-motion signals sent by the exploration positioning module, analyzing and processing the positioning information and the micro-motion signals, and determining position information and depth information of an underground building.

In some possible implementations, the exploration positioning module comprises a vibration pickup reference station and a plurality of vibration pickup mobile stations, wherein the vibration pickup reference station is electrically connected with the vibration pickup mobile stations, and the vibration pickup reference station and the vibration pickup mobile stations are electrically connected with the communication control module;

the vibration pickup reference station is used for acquiring micro-motion signals of the region where the vibration pickup reference station is located, receiving reference differential data of a satellite end, determining absolute positioning information of the vibration pickup reference station based on the reference differential data, sending the micro-motion signals of the region where the vibration pickup reference station is located and the absolute positioning information of the vibration pickup reference station to the communication control module, and sending the reference differential data to the vibration pickup mobile stations;

The vibration picking mobile station is used for acquiring micro-motion signals of the area where the vibration picking mobile station is located, receiving real-time differential data of a satellite end and reference differential data sent from the vibration picking base station, determining relative positioning information of the vibration picking mobile station relative to the vibration picking base station and absolute positioning information of the vibration picking mobile station based on the reference differential data, the real-time differential data and a preset RTK positioning algorithm, and sending the micro-motion signals of the area where the vibration picking mobile station is located, the relative positioning information of the vibration picking mobile station relative to the vibration picking base station and the absolute positioning information of the vibration picking mobile station to the communication control module.

In some possible implementations, the vibration pickup reference station includes a first acquisition unit, a first positioning unit, and a first communication unit, and the vibration pickup rover station includes a second acquisition unit, a second positioning unit, and a second communication unit;

The first acquisition unit is used for acquiring micro-motion signals of the area where the vibration pickup reference station is located;

The first positioning unit is used for determining absolute positioning information of the vibration pickup reference station based on the reference differential data sent by the first communication unit;

The first communication unit is used for receiving reference differential data of a satellite end, transmitting the reference differential data to the first positioning unit and the vibration pickup mobile station, and transmitting micro-motion signals of an area where the vibration pickup reference station is located and absolute positioning information of the vibration pickup reference station to the communication control module;

The second acquisition unit is used for acquiring micro-motion signals of the area where the vibration picking mobile station is located;

The second positioning unit is used for determining relative positioning information of the vibration picking mobile station relative to the vibration picking reference station and absolute positioning information of the vibration picking mobile station based on the reference differential data, the real-time differential data and a preset RTK positioning algorithm sent by the second communication unit;

the second communication unit is used for receiving real-time differential data of a satellite end and reference differential data sent from the first communication unit, sending the real-time differential data and the real-time differential data to the second positioning unit, and sending micro signals of an area where the vibration picking mobile station is located, relative positioning information of the vibration picking mobile station relative to the vibration picking reference station and absolute positioning information of the vibration picking mobile station to the communication control module.

In some possible implementations, the unmanned aerial vehicle is configured to respond to a launch instruction sent from the communication control module, and launch the vibration pickup reference station and the plurality of vibration pickup mobile stations into the measurement area according to an array layout mode.

In some possible implementations, the communication control module includes a communication base station and a control center, the communication base station and the control center are electrically connected, and the communication base station is electrically connected with the unmanned aerial vehicle and the exploration positioning module;

The communication base station is used for forwarding the delivery instruction sent by the control center to the unmanned aerial vehicle and forwarding the positioning information and the micro-motion signal sent by the exploration positioning module to the control center;

The control center is used for sending a release instruction to the communication base station, receiving positioning information and micro-motion signals sent by the communication base station, analyzing and processing the positioning information and the micro-motion signals, and determining position information and depth information of the underground building.

In some possible implementations, the communication base station is disposed on the drone.

In some possible implementations, the control center includes a computing unit and a mapping unit;

The calculating unit is used for extracting a dispersion curve from the micro-motion signal;

The mapping unit is used for determining the position information and the depth information of the underground building based on the positioning information and the dispersion curve.

In some possible implementations, the computing unit is configured to extract a dispersion curve from the jog signal by a high resolution-frequency wavenumber method.

In some possible implementations, the computing unit is configured to perform higher order wave enhancement on the jog signal using a two-dimensional gaussian window.

In some possible implementations, the mapping unit is configured to determine location information and depth information of a subterranean building based on the location information and the dispersion curve, and the specific steps include:

Converting the dispersion curve into a wave velocity depth curve based on a half-wavelength principle;

Performing interpolation imaging on the wave velocity depth curve based on a Kriging interpolation method, and determining a wave velocity depth profile;

and determining abnormal region information from the wave velocity depth profile, and determining position information and depth information of the underground building based on the abnormal region information and the positioning information.

The beneficial effects of adopting the embodiment are as follows: according to the underground building detection system provided by the invention, the unmanned aerial vehicle firstly puts the exploration positioning module into the measurement area to finish the rapid arrangement of the detection site in the unmanned environment, then the exploration positioning module acquires the positioning information and the micro-motion signal of the measurement area and transmits the positioning information and the micro-motion signal back to the communication control module to analyze and process the positioning information and the micro-motion signal, so that the plane position and the depth positioning information of the underground building are determined; the detection site is quickly arranged in the unmanned environment, and the detection of the underground building in the unmanned environment is completed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an embodiment of an underground construction detection system provided by the present invention;

FIG. 2 is a flow chart of one embodiment of the steps provided by the present invention for a mapping unit to determine location information and depth information for a subterranean structure;

reference numerals in fig. 1: 100-unmanned plane, 200-exploration positioning module, 210-vibration pickup reference station, 220-vibration pickup mobile station, 300-communication base station and 400-control center.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. 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.

It should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present invention. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor systems and/or microcontroller systems.

References to "first," "second," etc. in the embodiments of the present invention are for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of features indicated. Thus, a technical feature defining "first", "second" may include at least one such feature, either explicitly or implicitly. "and/or", describes an association relationship of an associated object, meaning that there may be three relationships, for example: a and/or B may represent: a exists alone, A and B exist together, and B exists alone.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The present invention provides an underground construction detecting system, which is described below.

FIG. 1 is a schematic structural diagram of an embodiment of an underground construction detection system according to the present invention, as shown in FIG. 1, the underground construction detection system includes: the unmanned aerial vehicle 100, the exploration positioning module 200 and the communication control module, wherein the communication control module comprises a communication base station 300 and a control center 400, the unmanned aerial vehicle 100 and the exploration positioning module 200 are electrically connected with the communication base station 300, and the communication base station 300 is electrically connected with the control center 400;

the unmanned aerial vehicle 100 is used for responding to the throwing instruction sent from the communication base station 300 and throwing the exploration positioning module 200 into the measurement area;

the exploration positioning module 200 is used for acquiring positioning information and micro signals of a measurement area and transmitting the positioning information and the micro signals to the communication base station 300;

The communication base station 300 is used for forwarding the positioning information and the micro-motion signal sent by the exploration positioning module 200 to the control center 400, and forwarding the throwing instruction sent by the control center 400 to the unmanned aerial vehicle 100;

The control center 400 is configured to receive the positioning information and the micro signal sent from the communication base station 300, analyze the positioning information and the micro signal, determine the position information and the depth information of the underground building, and send a delivery instruction to the communication base station 300.

Compared with the prior art, the method comprises the steps of firstly throwing the exploration positioning module 200 into a measurement area through the unmanned aerial vehicle 100, completing quick arrangement of a detection site in an unmanned environment, then acquiring positioning information and micro-motion signals of the measurement area through the exploration positioning module 200, and transmitting the positioning information and the micro-motion signals back to a communication control module for analysis and processing to determine the plane position and depth positioning information of an underground building; the detection site is quickly arranged in the unmanned environment, and the detection of the underground building in the unmanned environment is completed.

To cope with the long-range data transmission situation where the communication base stations of the partial area are rare and there is no communication base station, the applicability of the present system is improved, and in some embodiments, the communication base station 300 is provided on the drone 100.

It should be noted that, the communication base station 300 is arranged on the unmanned aerial vehicle 100, and can construct a data chain of the exploration positioning module 200, the communication base station 300 is arranged on the unmanned aerial vehicle 100, and the control center 400 is safely returned with positioning information and micro-motion signals of a measurement area through the data chain, meanwhile, the data chain adopts a 4G communication mode between downlink communication (namely the exploration positioning module 200 and the communication base station 300), thereby meeting the medium-long distance and large data volume transmission requirements between the unmanned aerial vehicle 1 and the exploration positioning module 200, and adopts low-altitude satellite communication between uplink communication (namely the communication base station 300 and the control center 400), thereby meeting the long distance data transmission requirements between the unmanned aerial vehicle 1 and the control center 400; the method realizes detection under the conditions of few base stations and no communication base stations in partial areas, is suitable for rapid detection and positioning of underground buildings in various unmanned environments which are difficult to arrange in sites, such as field underground buildings, underground command centers, air-raid shelter and the like, and greatly improves the detection flexibility.

In order to obtain more accurate positioning information of the underground building, in some embodiments, the exploration positioning module 200 obtains the positioning information by adopting an RTK positioning algorithm, and the RTK (carrier phase difference) technology is a high-precision real-time positioning technology, and most of errors in the observation data of the mobile station are eliminated by utilizing the spatial correlation of the satellite carrier phase observation errors of the reference station and the mobile station through the difference technology, so that a centimeter-level high-precision positioning result is obtained in real time, and autonomous positioning between the seismometers put in the unmanned plane can be realized through the RTK technology; according to the invention, the problem of arrangement and positioning of the detection site in the underground building measurement process under the unmanned environment is solved by the RTK positioning technology, and the arrangement speed of the detection site is greatly improved.

Based on the above description of the RTK positioning algorithm, specifically, as shown in fig. 1, the exploration positioning module 200 includes a seismic base station 210 and a plurality of seismic rover stations 220, the seismic base station 210 and the seismic rover stations 220 are electrically connected, and the seismic base station 210 and the seismic rover stations 220 are electrically connected with the communication base station 300;

It should be noted that, when the unmanned aerial vehicle 1 is put in the earthquake picking reference station 210 and the earthquake picking mobile stations 220, an array layout mode is adopted to collect micro-motion signals in three directions including east-north, north-south and vertical directions, and three corresponding mutually perpendicular sensors are correspondingly arranged in the earthquake picking reference station 210 and the earthquake picking mobile stations 220 to collect the micro-motion signals in the three directions; and for the actual relative position situation of the releasing vibration picking reference station 210 and the plurality of vibration picking mobile stations 220, the RTK exploration algorithm adopts different combined arrangement modes of the exploration instrument platform array, including triangular arrangement, cross arrangement, circular arrangement, linear arrangement, L-shaped arrangement and irregular arrangement.

The earthquake picking reference station 210 is used for acquiring micro-motion signals of an area where the earthquake picking reference station is located, receiving reference differential data of a satellite end, determining absolute positioning information of the earthquake picking reference station 210 under a geodetic coordinate system based on the reference differential data, transmitting the micro-motion signals of the area where the earthquake picking reference station 210 is located and the absolute positioning information of the earthquake picking reference station 210 to the communication base station 300, and transmitting the reference differential data to the earthquake picking mobile stations 220;

It should be noted that, in order to better perform data transmission, the vibration pickup reference station 210 sends the reference differential data to the vibration pickup mobile station 220 by using the LoRa communication method, and sends the micro-motion signal of the area where the vibration pickup reference station 210 is located and the absolute positioning information of the vibration pickup reference station 210 to the communication base station 300 by using the 4G communication method.

The seismometer mobile station 220 is configured to obtain a micro-motion signal of an area where the seismometer mobile station 220 is located, and further configured to receive real-time differential data of a satellite end and reference differential data sent from the seismometer base station 210, determine relative positioning information of the seismometer mobile station 220 relative to the seismometer base station 210, and absolute positioning information of the seismometer mobile station 220 under a geodetic coordinate system based on the reference differential data, the real-time differential data and a preset RTK positioning algorithm, and send the micro-motion signal of the area where the seismometer mobile station 220 is located, the relative positioning information of the seismometer mobile station 220 relative to the seismometer base station 210, and the absolute positioning information of the seismometer mobile station 220 to the communication base station 300.

It should be noted that, the vibration picking mobile station 220 receives real-time differential data of the satellite end through the LoRa communication mode, and sends the micro-motion signal of the area where the vibration picking mobile station 220 is located, the relative positioning information of the vibration picking mobile station 220 relative to the vibration picking reference station 210, and the absolute positioning information of the vibration picking mobile station 220 to the communication base station 300 through the 4G communication mode.

For better data acquisition, the seismic base station 210 first acquisition unit, first positioning unit, and first communication unit, and the seismic rover station 220 comprises a second acquisition unit, a second positioning unit, and a second communication unit;

The first acquisition unit is used for acquiring micro-motion signals of the area where the vibration pickup reference station 210 is located;

The first positioning unit is configured to determine absolute positioning information of the vibration pickup base station 210 based on the reference differential data transmitted from the first communication unit;

the first communication unit is configured to receive reference differential data of the satellite end, send the reference differential data to the first positioning unit and the vibration pickup mobile station 220, and send the micro-motion signal of the area where the vibration pickup reference station 210 is located and the absolute positioning information of the vibration pickup reference station to the communication base station 300;

the second acquisition unit is used for acquiring micro-motion signals of the area where the vibration pickup mobile station 220 is located;

The first acquisition unit and the second acquisition unit are both provided with PS-4.5C magneto-electric sensors for monitoring micro-motion signals, and the PS-4.5C magneto-electric sensors have the characteristics of reliable and stable indexes, compact structure, small volume, light weight, convenient maintenance, stronger corrosion resistance, good waterproof performance, wide frequency receiving band, low distortion degree and the like, and are suitable for micro-motion exploration occasions.

The second positioning unit is configured to determine relative positioning information of the vibration pickup mobile station 220 relative to the vibration pickup reference station 210 and absolute positioning information of the vibration pickup mobile station 220 based on the reference differential data, the real-time differential data and the preset RTK positioning algorithm sent from the second communication unit;

It should be noted that, the first positioning unit and the second positioning unit both adopt u-blox ZED-F9P modules to perform resolving positioning, the u-blox ZED-F9P modules can simultaneously receive differential data of satellite systems such as GPS, beidou and the like, RTK is integrated inside, convergence time is short, performance is reliable, centimeter positioning precision can be provided, and the requirement of the micro-motion exploration system on the positioning precision is met.

The second communication unit is configured to receive the real-time differential data of the satellite end and the reference differential data sent from the first communication unit, send the real-time differential data and the real-time differential data to the second positioning unit, and send the micro-motion signal of the area where the vibration pickup mobile station 220 is located, the relative positioning information of the vibration pickup mobile station 220 relative to the vibration pickup reference station 210, and the absolute positioning information of the vibration pickup mobile station 220 to the communication base station 300.

It should be noted that, the first communication unit and the second communication unit both adopt an E22-400M22S lora wireless communication module for data transmission, the E22-400M22S wireless communication module is a lora wireless communication module based on a radio frequency chip SX1268 as a core, and a brand new modulation technology is adopted, so that the anti-interference performance and the communication distance are greatly improved, the actually measured communication distance can reach 5.5km, and the communication distance requirement in large-area array arrangement can be met.

In some embodiments, the seismic base station 210 further includes a first embedded microprocessor coupled to the first acquisition unit and coupled to the first positioning unit via a serial port, and coupled to the first communication unit via an SPI bus, and the seismic rover station 220 includes a second embedded microprocessor coupled to the second acquisition unit and coupled to the second positioning unit via a serial port and coupled to the second communication unit via an SPI bus, thereby controlling the normal operation of the survey positioning module 200.

It should be noted that, the first embedded microprocessor and the second embedded microprocessor both adopt STM32F412, STM32F412 adopts Cortex-M4 kernel supporting floating point operation, providing the best balance of power consumption and performance, supporting the highest working frequency of 100MHz, and meeting the requirements of low power consumption and higher performance of the micro-prospecting instrument; the reference embedded microprocessor uses an embedded real-time operating system RT-Thread to support the system kernel functions of multithreading scheduling, semaphore, mailbox, message queue, memory management and the like, and also comprises a series of application components and driving frames, such as a virtual file system, a network frame, a device frame and the like, wherein the system is stable, occupies small resources, has rich functions, and can meet the complex functional requirements and strict resource requirements of the exploration positioning module 200.

To reduce errors caused by unmanned aerial vehicle launch to micro-motion signal acquisition, in some embodiments, the seismic pickup reference station 210 further comprises a first auto-leveling unit, and the seismic pickup rover station 220 further comprises a second auto-leveling unit, such that the seismic pickup reference station 210 and the seismic pickup rover station 220 have certain anti-drop and self-leveling characteristics;

Specifically, the first automatic leveling unit includes a first dual-axis tilt sensor, a first dc servo motor, and a first mechanical structure, where the first dual-axis tilt sensor and the first dc servo motor are connected to a first embedded microprocessor, the first dual-axis tilt sensor is used to measure tilt angle data of the vibration pickup reference station 210, and the first mechanical structure is connected to the first dc servo motor and is a screw-nut pair and used to convert rotation of the first dc servo motor into linear motion.

When the automatic leveling device is used, the first microprocessor acquires data of the first double-shaft inclination angle sensor, and then calculates and controls the first direct-current servo motor to drive the first mechanical structure to move based on the data of the first double-shaft inclination angle sensor and a built-in three-point support leveling algorithm, so that automatic leveling within an inclination angle of 0-30 degrees is realized.

The second automatic leveling unit is similar to the first automatic leveling unit in structure, and comprises a second double-shaft inclination sensor, a second direct current servo motor and a second mechanical structure, wherein the second double-shaft inclination sensor and the first direct current servo motor are connected with a second embedded microprocessor, the second double-shaft inclination sensor is used for measuring inclination angle data of the vibration pickup mobile station 220, the second mechanical structure is connected with the second direct current servo motor, and the second mechanical structure is a screw nut pair and is used for converting rotation of the second direct current servo motor into linear motion.

When the automatic leveling device is used, the second microprocessor acquires data of the second double-shaft inclination angle sensor, and then calculates and controls the second direct-current servo motor to drive the second mechanical structure to move based on the data of the second double-shaft inclination angle sensor and a built-in three-point support leveling algorithm, so that automatic leveling within an inclination angle of 0-30 degrees is realized.

It should be noted that, in this embodiment, the first dual-axis tilt sensor and the second dual-axis tilt sensor both adopt SINDT dual-axis tilt sensors, and are connected with the corresponding embedded microprocessor through the CAN bus, and the first dc servo motor and the second dc servo motor both adopt CyberGear micro motors.

In order to reduce the influence of external interference, power supply interference and the like on the fidelity of the micro-motion signal acquired by the sensor, the signal quality is improved, in some embodiments, the noise of the sensor is shielded, and the low-noise analog signal is conditioned, specifically: the vibration picking reference station 210 and the vibration picking mobile station 220 are also provided with shielding boxes and planning and layout PCB wiring; the circuit impedance is reduced, analog and digital circuit isolation is performed, and the acquisition noise of the sensor is reduced.

In order to further improve the quality of the micro-motion signals collected by the vibration pickup reference station 210 and the vibration pickup mobile station 220, in some embodiments, the vibration pickup reference station 210 and the vibration pickup mobile station 220 calculate the impedance of a differential circuit by analyzing the noise matching principle, perform impedance matching, calculate the minimum noise coefficient, and improve the quality of the micro-motion signals by constructing a filtering and differential method network; and the ADC data acquisition, conversion and storage of the vibration pickup reference station 210 and the vibration pickup mobile station 220 adopts a high-resolution ADC analog-digital conversion device, a synchronous triggering acquisition mode design, and ADC two-point correction and error elimination are carried out.

The rayleigh wave has dispersion characteristics in the layered medium, namely, the propagation speed changes along with the change of frequency, so that the relationship between the frequency and the wave speed of the micro-motion in the medium propagation is usually described, particularly, when a low-speed weak interlayer exists, a zigzag structure frequently appears on the dispersion curve, the zigzag structure appears on the rayleigh wave dispersion curve is the result of multimode phenomena of the low-speed interlayer and ground cracks, and because an artificial underground building is distinguished from surrounding rocks of a natural underground cavity and underground buildings with different depths, the dispersion curve can have different performances, in some embodiments, the frequency-wave speed characteristics of the underground medium are obtained by extracting the dispersion curve from the micro-motion signal surface wave, so that the structural information of underground layer sequence, interfaces and the like is further inferred, in particular, in some embodiments, the control center 400 comprises a calculation unit and a mapping unit;

the calculating unit is used for extracting a dispersion curve from the micro-motion signal;

The imaging unit is used for carrying out speed profile imaging based on the positioning information and the dispersion curve and determining the position information and the depth information of the underground building.

Before extracting the dispersion curve from the micro-motion signal, data preprocessing is required, and noise signals are filtered by means of normalization, moving average, gaussian filtering and the like, so that the quality of the micro-motion signal is improved.

In order to obtain more accurate underground construction information, in some embodiments, the computing unit extracts the dispersion curve from the surface wave of the micro-motion signal by using a high-resolution-frequency wave number method (F-K), which has the advantage of obtaining Gao Jierui thunder waves with larger penetration depth and sensitivity to formation parameters, and can rapidly extract the dispersion curve from the micro-motion signal, compared with other methods.

Specifically, firstly, time-frequency characteristic extraction is carried out on the inching signal, time-frequency characteristics are determined, then phase speed extraction is carried out on the time-frequency characteristics, and a dispersion curve is determined.

The method is characterized in that the time-frequency characteristic extraction is carried out on the micro-motion signal to obtain the change characteristics of the micro-motion signal in time and frequency domain so as to reveal the propagation characteristics of different frequency components in the underground medium and the change condition of the underground structure; the phase velocity extraction refers to converting the inching signal into a frequency-wave number domain, analyzing the energy distribution and phase change of data on the wave number domain, extracting a surface wave dispersion curve, and describing the spatial distribution of the phase velocity of the underground medium.

Further, because the micro-motion signal encounters the cement and other hard media above the underground building and multiple reflection and refraction occur, the partial reflection and refraction energy can more truly reflect the underground strong wave impedance interface, but the existing F-K algorithm extracts the dispersion information of the dominant mode Rayleigh wave with the maximum energy, the extracted extreme points of the F-K spectrum often comprise the compressed and unable-to-extract higher-mode dispersion information, compared with Gao Motai Rayleigh wave, the velocity of the fundamental wave is smaller, the wave number is larger, the energy extreme points of the F-K spectrum often concentrate in the area far away from the center, and the energy extreme points of the high-mode Rayleigh wave concentrate in the center area of the F-K spectrum, and because the energy is too low to be extracted, in some embodiments, the method of enhancing the high-order wave is often performed during the mode of extracting the dispersion curve by adopting the F-K algorithm, the contour feature of the underground building is more clearly extracted, and the accurate position of the underground building is positioned.

Specifically, according to the wave number characteristics of the multi-mode Rayleigh waves in the F-K spectrogram and the energy characteristics of multi-mode extreme points, a two-dimensional function with a 'mountain peak' shape at the center is adopted for weighting.

Further, among many functions having such a shape, a two-dimensional gaussian window is selected to be used.

It should be noted that the two-dimensional gaussian window has the following advantages over other shape functions: firstly, the standard deviation can directly control the range of a peak so as to be matched with the wave number distribution of the multi-mode energy extremum in the F-K spectrum, and the wave number distribution in the spectrum is matched; secondly, it has no negative side lobe and can avoid introducing extra interference.

It should be noted that, the extreme point after the enhancement of the high-order mode is more obvious, which is helpful to improve the extraction precision of the dispersion curve.

In some embodiments, referring to FIG. 2, the mapping unit determines location information and depth information for the subsurface structure using the following steps:

S201, converting a dispersion curve into a wave velocity depth curve based on a half-wavelength principle;

firstly, determining the position of a section line according to a research target and geological features, and then converting a dispersion curve into a speed-depth domain based on a half-wavelength principle to form a speed-depth curve so as to finish the preliminary layering of the exploration point speed;

s202, performing interpolation imaging on a wave velocity depth curve based on a Kriging interpolation method, and determining a wave velocity depth profile;

Hatching lines are drawn in the wave velocity depth profile, and important geological elements such as geological units, lithology, stratum interfaces, and structural lines are marked.

In this embodiment, the wave velocity depth profile is a profile of the change of the surface wave velocity with the depth, and in other embodiments, the shear wave velocity contour map may be drawn by fast shear wave velocity conversion.

S203, determining abnormal region information from the wave velocity depth profile, and determining position information and depth information of the underground building based on the abnormal region information and the positioning information;

the high-speed energy band and the low-speed energy band are searched for by analyzing the wave speed depth profile, an abnormal area and information thereof are defined, and the plane position and the depth position of the underground building and the internal space characteristics of the underground shelter can be determined according to the abnormal area information.

While the present invention has been described in detail with respect to an underground construction inspection system, specific examples are set forth herein to illustrate the principles and embodiments of the present invention, and the above examples are provided only to assist in understanding the methods and core concepts of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present invention, the present description should not be construed as limiting the present invention.

Claims (10)

1. A subterranean construction detection system, comprising: the system comprises an unmanned aerial vehicle, an exploration positioning module and a communication control module, wherein the unmanned aerial vehicle and the exploration positioning module are electrically connected with the communication control module;

The unmanned aerial vehicle is used for responding to the throwing instruction sent by the communication control module and throwing the exploration positioning module to the measurement area;

The exploration positioning module is used for acquiring positioning information and micro-motion signals of a measurement area and sending the positioning information and the micro-motion signals to the communication control module;

The communication control module is used for sending a throwing instruction to the unmanned aerial vehicle, receiving positioning information and micro-motion signals sent by the exploration positioning module, analyzing and processing the positioning information and the micro-motion signals, and determining position information and depth information of an underground building.

2. The underground building detection system of claim 1, wherein the survey positioning module comprises a seismic pickup reference station and a plurality of seismic pickup rover stations, the seismic pickup reference station and the seismic pickup rover stations being electrically connected to the communication control module;

the vibration pickup reference station is used for acquiring micro-motion signals of the region where the vibration pickup reference station is located, receiving reference differential data of a satellite end, determining absolute positioning information of the vibration pickup reference station based on the reference differential data, sending the micro-motion signals of the region where the vibration pickup reference station is located and the absolute positioning information of the vibration pickup reference station to the communication control module, and sending the reference differential data to the vibration pickup mobile stations;

The vibration picking mobile station is used for acquiring micro-motion signals of the area where the vibration picking mobile station is located, receiving real-time differential data of a satellite end and reference differential data sent from the vibration picking base station, determining relative positioning information of the vibration picking mobile station relative to the vibration picking base station and absolute positioning information of the vibration picking mobile station based on the reference differential data, the real-time differential data and a preset RTK positioning algorithm, and sending the micro-motion signals of the area where the vibration picking mobile station is located, the relative positioning information of the vibration picking mobile station relative to the vibration picking base station and the absolute positioning information of the vibration picking mobile station to the communication control module.

3. The underground construction detection system of claim 2, wherein the seismic acquisition reference station comprises a first acquisition unit, a first positioning unit, and a first communication unit, and the seismic acquisition rover station comprises a second acquisition unit, a second positioning unit, and a second communication unit;

The first acquisition unit is used for acquiring micro-motion signals of the area where the vibration pickup reference station is located;

The first positioning unit is used for determining absolute positioning information of the vibration pickup reference station based on the reference differential data sent by the first communication unit;

The first communication unit is used for receiving reference differential data of a satellite end, transmitting the reference differential data to the first positioning unit and the vibration pickup mobile station, and transmitting micro-motion signals of an area where the vibration pickup reference station is located and absolute positioning information of the vibration pickup reference station to the communication control module;

The second acquisition unit is used for acquiring micro-motion signals of the area where the vibration picking mobile station is located;

The second positioning unit is used for determining relative positioning information of the vibration picking mobile station relative to the vibration picking reference station and absolute positioning information of the vibration picking mobile station based on the reference differential data, the real-time differential data and a preset RTK positioning algorithm sent by the second communication unit;

the second communication unit is used for receiving real-time differential data of a satellite end and reference differential data sent from the first communication unit, sending the real-time differential data and the real-time differential data to the second positioning unit, and sending micro signals of an area where the vibration picking mobile station is located, relative positioning information of the vibration picking mobile station relative to the vibration picking reference station and absolute positioning information of the vibration picking mobile station to the communication control module.

4. The underground construction detection system according to claim 2, wherein the unmanned aerial vehicle is configured to launch the seismic base station and the plurality of seismic rovers into the measurement area in an array layout in response to a launch command sent from the communication control module.

5. The underground construction detection system of claim 1, wherein the communication control module comprises a communication base station and a control center, the communication base station and the control center are electrically connected, and the communication base station is electrically connected with the unmanned aerial vehicle and the exploration positioning module;

The communication base station is used for forwarding the delivery instruction sent by the control center to the unmanned aerial vehicle and forwarding the positioning information and the micro-motion signal sent by the exploration positioning module to the control center;

The control center is used for sending a release instruction to the communication base station, receiving positioning information and micro-motion signals sent by the communication base station, analyzing and processing the positioning information and the micro-motion signals, and determining position information and depth information of the underground building.

6. The underground construction detection system of claim 5, wherein the communication base station is disposed on the drone.

7. The underground construction detection system of claim 5, wherein the control center comprises a computing unit and a mapping unit;

The calculating unit is used for extracting a dispersion curve from the micro-motion signal;

The mapping unit is used for determining the position information and the depth information of the underground building based on the positioning information and the dispersion curve.

8. The underground construction detection system of claim 7, wherein the computing unit is configured to extract a dispersion curve from the micro-motion signal by a high resolution-frequency wavenumber method.

9. The underground construction detection system of claim 8, wherein the computing unit is configured to perform higher order wave enhancement on the micro-motion signal using a two-dimensional gaussian window.

10. The underground structure detection system of claim 7, wherein the mapping unit is configured to determine the location information and the depth information of the underground structure based on the location information and the dispersion curve, and the specific steps include:

Converting the dispersion curve into a wave velocity depth curve based on a half-wavelength principle;

Performing interpolation imaging on the wave velocity depth curve based on a Kriging interpolation method, and determining a wave velocity depth profile;

and determining abnormal region information from the wave velocity depth profile, and determining position information and depth information of the underground building based on the abnormal region information and the positioning information.