地下螺旋钻进机器人探测系统的研究进展

Advances on detection system of subsurface screw drillingrobots

分析了国内外地下钻进机器人探测技术的研究现状,针对地下螺旋钻进机器人的结构特点,提出了采用小型化脉冲探地雷达以构建地下螺旋钻进机器人的探测系统.雷达探测主频1GHz,探测深度0.05～1m.雷达控制核心由MCU（Micro Control Unit）与CPLD（Complex Programmable Logic Device）构成,利用MARX电路生成电压脉冲,根据雷达主频设计了等角螺旋天线,在0.6～2.0GHz频段上具有良好的辐射特性.相关研究结论将有力推动地下钻进机器人的研发,对促进地下探测、开发与救援等具有重要的实际价值与社会效益.

The foreign and domestic advances on detection technology of drilling robots are analyzed. With regard to structural features, the detection system of subsurface screw drilling robots is peoposed using the small-dimensional ground pulse radar （GPR） with I GHz main frequency and 0.05~1.00 m depth. In part- cular, the major radar control element is composed of MCU（Micro Control Unit） and CPLD（Complex Pro- grammable Logic Device）. By generating the voltage pulse with MARX circuit, the equiangular spiral an- tenna is designed based on the mian radar frequency, possessing good radiativity within 0.6 - 2.0 GHz frequncy bandwidth. Accordingly, the conclusions form relevant studies effectively promote the research and development for subsurface drilling robots,signifying practical values and social benefits upon subsur- face detection, development and rescue.