Detection method and system for underground space by joint use of fixed sensor and UAV movement detection

Patent metadata

Field	Value
Publication number	US-12444313-B2
Application number	US-202318387562-A
Country	US
Kind code	B2
Filing date	Nov 7, 2023
Priority date	Nov 8, 2022
Publication date	Oct 14, 2025
Grant date	Oct 14, 2025

Abstract

The present disclosure relates to a detection method and system for an underground space by joint use of fixed sensors and unmanned aerial vehicle (UAV) movement detection. The detection system includes underground space sensor nodes and an underground space UAV. The underground space sensor nodes are configured to perform fixed monitoring based on an adaptive optimal layout strategy for an underground structural space. The underground space UAV is configured to calculate a first virtual force, and realize movement detection by means of a virtual force-guided path planning algorithm. The underground space UAV is configured to calculate the first virtual force based on the electronic telescopic anti-collision bars, a second virtual force based on a static perception probability and a third virtual force based on structural evolution knowledge, and realize a fixed node-guided UAV flight detection mode by means of the virtual force-guided path planning algorithm.

First claim

What is claimed is:

1. A detection method for an underground space by joint use of fixed sensors and unmanned aerial vehicle (UAV) movement detection, which is implemented by a detection system for an underground space by joint use of fixed sensors and UAV movement detection that comprises underground space sensor nodes and an underground space UAV,
wherein the detection method comprises:
collecting data by the underground space sensor nodes to obtain data of fixed sensors, using a fixed monitoring mode for the underground space based on the data of the fixed sensors, and calculating a sensor perception probability;
performing, by the underground space UAV, communication operation of a mobile/fixed star topology on one or more sensor nodes to determine a communication result; and
when the communication result is a failure, reading, by the underground space UAV, a counter for electronic telescopic anti-collision bars of the UAV to obtain a distance between the UAV and an inner wall of the underground space, calculating, by the underground space UAV, a first virtual force based on the distance between the UAV and the inner wall of the underground space, inputting the first virtual force into a virtual force-guided path planning algorithm to obtain a first output result, and using, by the underground space UAV, a movement detection mode for the underground space based on the first output result; when the communication result is a success, reading, by the underground space UAV, the counter for the electronic telescopic anti-collision bars of the UAV to obtain the distance between the UAV and the inner wall of the underground space, calculating, by the underground space UAV, the first virtual force based on the distance between the UAV and the inner wall of the underground space, calculating a second virtual force based on the sensor perception probability, aggregating the data of the fixed sensors to obtain structural spatiotemporal evolution knowledge (SSK), and calculating a third virtual force based on the SSK; and inputting the first virtual force, the second virtual force and the third virtual force into the virtual force-guided path planning algorithm to obtain a second output result, and using, by the underground space UAV, a fixed node-guided UAV flight detection mode for the underground space based on the second output result;
wherein the first virtual force is a repulsive force F w-v of the inner wall of the underground space to the underground space UAV, and a formula for calculating the first virtual force is shown in formula (2) as follows:

F

w
-
v

=

δ

[

d
⁡
(

v
,
w

)

]

2

,

(
2
)

wherein δ is a coefficient of a virtual repulsive force F w-v , d(v, w) means the distance between the UAV and the inner wall of the underground space, and d(v, w) is read based on the electronic telescopic anti-collision bars.

2. The detection method for an underground space by joint use of fixed sensors and UAV movement detection according to claim 1 , wherein the underground space sensor nodes use an adaptive optimal layout strategy for an underground structural space to design perception regions, and establish an optimal coverage objective function of the underground structural space to realize multi-sensor adaptive optimal layout for the underground structural space.

3. The detection method for an underground space by joint use of fixed sensors and UAV movement detection according to claim 1 , wherein the sensor perception probability is an output result after sensor position information is input into a static multi-sensor perception probability model established based on a perception space disk criterion, the sensor perception probability being 1 indicates that a distance between a position of a fixed node of a sensor and a position of a monitoring point is 0, and the sensor perception probability gradually decreases as the distance between the monitoring point and the sensor increases; the perception disk criterion is a static multi-sensor perception region analysis method based on perception characteristics of distributed sensors to analyze overlap, contact, and separation between multiple perception regions, and a formula for calculating the sensor perception probability is shown in formula (1) as follows:

{

S
⁡
(

s
,
p

)

=

1
⁢

/
[

1
+

α
⁢

d
⁡
(

s
,
p

)

]

β

if
⁢

d
⁡
(

Assignees

• Univ Tongji

Inventors

• Li Gang
• He Bin
• Shen Runjie

Classifications

• G08G5/57

  for unmanned aircraft · CPC title

• G08G5/55 Primary

  for a single aircraft · CPC title

• G01C21/20

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title

• B64U20/30

  for safety, e.g. with frangible components (rotor guards B64U30/299) · CPC title

• B64U2101/70

  for use inside enclosed spaces, e.g. in buildings or in vehicles · CPC title