The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 14, 2025
Filed:
Nov. 07, 2023
Tongji University, Shanghai, CN;
TONGJI UNIVERSITY, Shanghai, CN;
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.