CN106005383A - Underground roadway high-precision three-dimensional model scanning device and method - Google Patents
Underground roadway high-precision three-dimensional model scanning device and method Download PDFInfo
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- CN106005383A CN106005383A CN201610384423.7A CN201610384423A CN106005383A CN 106005383 A CN106005383 A CN 106005383A CN 201610384423 A CN201610384423 A CN 201610384423A CN 106005383 A CN106005383 A CN 106005383A
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- 239000000523 sample Substances 0.000 claims description 16
- 230000005484 gravity Effects 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an underground roadway high-precision three-dimensional model scanning device and method. The device is majorly composed of a laser scanning distance measuring module, an unmanned aerial vehicle, a plurality of sensors, bundled software and the like. The laser scanning distance measuring module can be used for measuring distances between all points of a fracture surface of a roadway and a distance measuring instrument within an extremely short time; the unmanned aerial vehicle carries the distance measuring module and can conduct automatic cruise flight in the roadway; during the flight, the distance measuring module is used for measuring the distances between all points, which the distance measuring module passes by, of the fracture surface of the roadway and the distance measuring instrument; combined with data from the sensors, a high-precision three-dimensional point cloud picture is generated from distance measuring results through the bundled software; and the point cloud picture is further subjected to grid processing and finally a high-precision three-dimensional model of the roadway is obtained. According to the underground roadway high-precision three-dimensional model scanning device and method, extremely high precision can be obtained by utilization of laser distance measuring and is not affected by light ray conditions; and further, automation and intelligentization of underground roadway model scanning can be achieved with the aid of the unmanned aerial vehicle,, and the underground roadway high-precision three-dimensional model scanning device and method are ideal for roadway high-precision modeling.
Description
Technical field
The present invention relates to the dimensional Modeling Technology method of real-world object, obtain down-hole particularly to one by laser scanning
The apparatus and method for of the high-precision three-dimensional model in tunnel, belongs to threedimensional model and automatically sets up field.
Technical background
Current mine has the highest demand for high-precision mine working threedimensional model.On the one hand, right along with country
Mine industry requirement information-based, digitized is more and more higher, and mine entirety threedimensional model be Mine Informatization, digitized
Basic data, the most extremely important, and mine industry uses at present is more two dimensional surface engineering drawing, and the most artificial survey
Amount, it is possible to there is larger difference with scene；On the other hand, increasingly attention mine safety worked along with country and enterprise,
By having, more new monitoring class is equipped, technology is applied in existing mine, and these monitoring classes equipments, technology must be in conjunction with existing
Some mines threedimensional model, can intuitively, effectively show monitored mine information, and then play the functions such as such as early warning.
Meanwhile, some specific works on the spot can also have been modeled by high accuracy tunnel, such as the prison to roadway deformation amount
Surveying, traditional measuring method is to utilize the similar devices such as roof separation indicator to detect, and can only detect single point every time,
And by the block mold in tunnel is taken multiple scan, the difference between the Roadway model that before and after's twice sweep obtains can be obtained,
And then obtain the deformation result that tunnel is overall.
Can be seen that, it is thus achieved that mine down-hole tunnel high-precision three-dimensional model just becomes more and more important, and traditional manually side of modeling
Method not only wastes time and energy, but also there is the shortcomings such as modeling accuracy is the highest.Therefore, the mine down-hole tunnel of a kind of automatization is three-dimensional
Model is set up the invention of equipment and is just highly desirable to.
Summary of the invention
As it has been described above, in order to meet the mine demand to high-precision three-dimensional model, the invention discloses a kind of underworkings high accuracy
Threedimensional model scanning device and method, comprise laser scanning and ranging module, unmanned vehicle, multiple sensors, software kit etc.
Assembly, can be obtained the high-precision three-dimensional point cloud chart in tunnel, further point cloud chart be carried out gridding process by these assemblies,
Finally give the high-precision three-dimensional model in tunnel, be suitable for various types of underworkings.
The present invention is a kind of underworkings high-precision three-dimensional model scanning apparatus and method for, it is characterised in that: main by laser scanning
Range finder module, unmanned vehicle, multiple sensors, software kit etc. form.
As it has been described above, the laser scanning and ranging module of this equipment comprises laser ranging probe, rotary plane mirror, Qi Zhongxuan
Rotatable plane mirror place plane and laser ranging probe axle center are 45 degree of angles, and the laser that laser ranging probe is launched is through flat
Face mirror reflection, turns to be radiated in wall after 90 degree and finds range, when plane mirror carries out high speed rotating, after reflection
Laser will rotate with and is found range in cross section, whole tunnel.
As it has been described above, the unmanned vehicle of this equipment comprises main frame, single or multiple fin, multiple sensors, battery, shell
Deng part composition, it is ensured that aircraft smoothly flies in down-hole and completes predetermined operation.
Main frame needs the data of storage to include: the probe of range finder module records the distance of arbitrfary point and records the time of this distance
With the rotation information of plane mirror, all data that the various sensors that equipment comprises obtain.
As it has been described above, the sensor that this equipment comprises includes but not limited to: gyroscope, accelerometer, range sensor, gravity pass
Sensor, electronic compass etc., these sensors can Real-time Collection aircraft and the data of surrounding, it is ensured that equipment normal flat
Steady operation.
The laser scanning and ranging module of this equipment is integrally fixed on unmanned vehicle, and needs to ensure the injection of laser ranging module
Laser is not blocked by aircraft after atwirl plane mirror reflects, it is possible to the whole section of scanning survey distance a little.
The unmanned vehicle of this equipment and laser scanning module need to meet the feature of mine environment, it is possible to reach dust-proof, waterproof,
The relevant criterion such as explosion-proof.
As it has been described above, the software kit of this equipment is by combining the ranging information of laser ranging module and flying that various sensors catch
Row device movement state information, carries out all of point distance measurement locus three-dimensional reduction, and then obtains the point cloud chart in tested tunnel,
The threedimensional model in navigation channel is obtained further by gridding.
Advantages of the present invention is:
1. the scanning device of the present invention can automatically set flight optimization route, automatically process ranging data, finally automatically generates lane
The threedimensional model in road；
2. the principle of the present invention is to utilize laser to find range, it is possible to overcomes down-hole dark surrounds, and obtains high-precision range finding knot
Really；
3. the present invention is by the mirror assembly rotated, it is possible to realizes points all to front, tunnel section and is scanned range finding, improves
Scan efficiency.
Accompanying drawing explanation
Fig. 1 is the agent structure schematic diagram of the present invention a kind of high-precision underground threedimensional model scanning device；
Fig. 2 is the present invention a kind of high-precision underground threedimensional model scanning device schematic diagram operationally；
Fig. 3 is the workflow diagram of the present invention a kind of high-precision underground threedimensional model scanning device.
Detailed description of the invention
The invention discloses a kind of underworkings high-precision three-dimensional model scanning apparatus and method for, by the multiple assembly of this invention altogether
With coordinating, it is possible to realize the scanning automatic, quick to underworkings high-precision three-dimensional model and generation.Nothing in the present invention simultaneously
People's aircraft comprises multiple sensors, it is possible to ensure that aircraft can be when flight automatically, it is possible to avoid and other objects
Bump against, ensure to fly with optimization path in underworkings simultaneously.Owing to the modeling of this invention is all disconnected based on tunnel
The laser ranging result in face combines the state of flight of aircraft, therefore, it is possible to realize the automatic foundation of tunnel high-precision model, reduces
Manual intervention, i.e. reduces the error of modeling, also is able to improve precision and the efficiency of modeling simultaneously, can also realize such as simultaneously
The functions such as tunnel bulk deformation monitoring, this invention simultaneously meets all kinds of mines such as colliery and waits safe requirement for explosion-proof, can be suitable for
In various down-hole tunnels.
A kind of underworkings high-precision three-dimensional model scanning apparatus and method for of the present invention, its equipment mainly include laser ranging module,
Unmanned vehicle, multiple sensors, software kit etc..
Wherein, laser ranging module comprise laser ranging probe with can high speed rotating plane mirror composition, plane mirror with
The laser of laser probe injection becomes 45 degree of angles, and therefore range laser becomes an angle of 90 degrees with incident laser after plane mirror reflects,
And laser can be scanned range finding along with rotating a circle of plane mirror to tunnel section.
Unmanned vehicle is four axles or Multi-axis aircraft, comprises the rotating vane identical with the number of axle, can produce upwards during operation
Lift and then realize flight, and realize the inclination of aircraft by the rotary speed adjusting different leaves, the function such as turn to.Unmanned
The main frame of aircraft also includes that other assemblies, such as battery, processor, internal memory etc. run indispensable electronic component.In order to
Automatically fly and the various states of record-setting flight process, aircraft surface and the most many internal sensors, including: range finding
Sensor, gyroscope, accelerometer, gravity sensor, electronic compass etc..Wherein distance measuring sensor is positioned at aircraft surrounding, energy
Enough sensing aircraft in real time and the distance of external object, it is achieved the aircraft automatic dodging to barrier；Gyroscope, accelerometer,
Gravity sensor, electronic compass etc. can realize the state of flight to aircraft and carry out real time record.
Laser ranging module can be measured aircraft all points in a certain section of face, tunnel when a certain position and find range, before aircraft
After entering a small distance, sensor is able to record that the range ability of aircraft, and laser ranging module simultaneously is able to record that aircraft is transported
After dynamic the drift section of position range measurement a little.By laser ranging module, unmanned vehicle, multiple sensors
Be operated together, it is possible to by aircraft running status, the range measurement of all sections of process all obtain.
Software kit can by the running status of aircraft, sensing data, laser ranging module Data Integration together, logical
Cross suitable calculating, obtain the arbitrfary point of section of this equipment process to the distance of probe of finding range on aircraft, by these all away from
From carrying out spatial arrangements, it becomes possible to obtained aircraft the three-dimensional point cloud atlas in tunnel of process.The lane that software kit will obtain again
Road point cloud chart carries out gridding process, it becomes possible to obtain the high-precision three-dimensional model in tunnel.
In order to run at mine, the assembly such as the unmanned vehicle of this invention, laser ranging module also needs to meet various mine
Particular/special requirement, the most dust-proof, explosion-proof etc..
In order to more clearly from describe the detailed description of the invention of this invention, it is described in conjunction with schematic diagram.
Fig. 1 illustrates the unmanned vehicle in the present invention a kind of underworkings high-precision three-dimensional model scanning apparatus and method for and laser
The agent structure schematic diagram of range finder module, this equipment specifically includes that laser ranging probe 11, rotary plane mirror 12, surveys
Away from laser 13, unmanned vehicle fuselage 14, flight blade 15, aircraft main frame 16.
Wherein: laser ranging probe 11 and rotary plane mirror 12 have collectively constituted laser ranging module, laser ranging is visited
11 direct projections go out range laser 13 with plane mirror 12 in angle of 45 degrees, therefore reflective through plane after range laser 13 injection
Mirror 12 reflects, and finally becomes 90 degree of right angles with the exit direction of laser ranging probe 11, it is achieved range laser 13 is to tested point
Direct projection；Aircraft fuselage 14 is connected with aircraft main frame 16, laser ranging module 11 and 12, it is provided that the entirety of aircraft
Intensity, and fuselage 14 surrounding and top and bottom are mounted with multiple range sensor, it is possible between perception aircraft and place environmental objects
Distance, it is achieved surrounding environment is independently hidden function by aircraft, it is ensured that the flight safety of aircraft, and flight blade 15 has
Multiple, aircraft by regulating the rotary speed of different leaves 15, and then can make each blade produce different lifting forces, with
Realize the taking off of aircraft, land, hover, rotate, the action such as one way or another flight, aircraft main frame 16 comprises gyro
The multiple sensors such as instrument, accelerometer, gravity sensor, electronic compass, with the state of flight number of real-time perception record-setting flight device
According to, run important component possibly together with processor, internal memory, battery etc. in main frame 16 simultaneously.
Fig. 2 illustrates the scanning device in the present invention a kind of underworkings high-precision three-dimensional model scanning apparatus and method in lane, down-hole
Schematic diagram during normal operation in road, including the model scanning equipment 21 of the present invention, the range laser 22 emitted, tunnel
23.Wherein: scanning device 21 is in regular flight condition, it is possible to the distance of sensing surrounding object is to ensure to be positioned at tunnel
23 inscribes do not touch surface, tunnel, simultaneously from the range laser of laser ranging probe 11 injection through rotary plane mirror
12 reflect and rotate, and can reach the effect of similar range laser 22 the most in actual use, i.e. range laser can be along with rotation
The rotation of rotatable illuminator 12 and carry out ranging scan, after illuminator 12 rotates a circle, range laser 22 also can rotating 360 degrees
And the whole section of this position is found range；Aircraft forward flight along with scanning device 21, it becomes possible to tunnel is owned
Section carries out ranging scan.
Fig. 3 illustrates the workflow of the present invention a kind of high-precision underground threedimensional model scanning device.Wherein:
Step S31, by opening of device, after system checks automatically, unmanned vehicle automatic takeoff also enters stabilized flight shape
State；The quick-rotary type plane mirror assembly of laser ranging module also begins to run and quickly rotate, simultaneously rotary speed, every
Initial time that rotation is turned around, rotate the information such as total week number and also begin to be recorded；The various sensors of equipment are started working, in real time
The state of flight of perception unmanned vehicle, such as angle of inclination, flight speed and direction, acceleration magnitude and direction, flight height
Degree etc..
Step S32, laser ranging probe is started working, and penetrates range laser towards plane mirror；Plane mirror is when any
Carving is all 45 degree of angles with range laser, and therefore range laser is after plane mirror reflects, between reflection light and incident ray
In 90 degree of angles, such laser ranging module just can record the detected some distance to range finder module；Simultaneously, plane is anti-
Light microscopic is quickly rotating, and range laser therefore can be driven to rotate at a same speed, after such plane mirror rotates a circle, surveys
Will by the range sweep arriving a little range finder module in a certain section of face out away from laser.
Step S33, unmanned vehicle, by automatically calculating optimal progress path, starts forward flight, and inside unmanned vehicle
Range sensor, gyroscope, accelerometer, gravity sensor, the sensor such as electronic compass also begin to work, by aircraft
Various state of flights are recorded in chronological order；Meanwhile, unmanned vehicle advance process also can drive laser ranging module
Advancing, and plane mirror is also quickly rotating, therefore laser ranging module rotates in the advance of aircraft and plane mirror
Under common effect, it will all drift section points of process are carried out ranging scan, the precision of scanning is visited with laser ranging with speed
The flight speed of frequency, the rotary speed of plane mirror and the unmanned vehicle of head is relevant.
Step S34, in ranging process, this equipment can record all of laser ranging result, quick-rotary type plane simultaneously
The rotation information of illuminator and the detailed state of flight of unmanned vehicle, and remember sequentially in time the while that these data being all
Record, it can therefore be appreciated that the position of any one measuring point corresponding to laser ranging result, and then obtain all of laser ranging
Angular relationship in three dimensions between result, carries out spatial arrangements by range measurement according to angular relationship subsequently, it is possible to
Arrive the three-dimensional point cloud atlas in tested tunnel of process, by software, these point cloud charts are carried out gridding further, by these points all
Couple together, the most just obtained the high-precision three-dimensional model in whole tunnel.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, and any
It is familiar with the technical staff of this method in the range of the method for present disclosure, the change that can readily occur in or change, all should contain
Within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (8)
1. a underworkings high-precision three-dimensional model scanning apparatus and method for, it is characterised in that: mainly by laser scanning and ranging module,
Unmanned vehicle, multiple sensors, software kit etc. form.
2. underworkings high-precision three-dimensional model scanning apparatus and method for as claimed in claim 1, it is characterised in that: swashing of this equipment
Photoscanning range finder module comprises laser ranging probe, rotary plane mirror, and the most rotary plane mirror place is put down
Face and laser ranging probe axle center are 45 degree of angles, and the laser that laser ranging probe is launched reflects through plane mirror, turn
Being radiated in wall after curved 90 degree and find range, when plane mirror carries out high speed rotating, the laser after reflection will be with
Rotation is found range in cross section, whole tunnel.
3. underworkings high-precision three-dimensional model scanning apparatus and method for as claimed in claim 1, it is characterised in that: the nothing of this equipment
People's aircraft comprises the part compositions such as main frame, single or multiple fin, multiple sensors, battery, shell, it is ensured that flight
Device smoothly flies in down-hole and completes predetermined operation.
4. the underworkings high-precision three-dimensional model scanning apparatus and method for as described in claim 1,3, it is characterised in that aircraft
Main frame needs the data of storage to include: the probe of range finder module records the distance of arbitrfary point and records the time of this distance
With the rotation information of plane mirror, all data that the various sensors that equipment comprises obtain.
5. the underworkings high-precision three-dimensional model scanning apparatus and method for as described in claim 1,3, it is characterised in that: this equipment
The sensor comprised includes but not limited to: gyroscope, accelerometer, range sensor, gravity sensor, electronic compass etc.,
These sensors can Real-time Collection aircraft and the data of surrounding, it is ensured that the normal even running of equipment.
6. the underworkings high-precision three-dimensional model scanning apparatus and method for as described in claim 1,2,3, it is characterised in that: this sets
Standby laser scanning and ranging module is integrally fixed on unmanned vehicle, and needs to ensure the laser of laser ranging module injection
Do not blocked by aircraft after atwirl plane mirror reflects, it is possible to the whole section of scanning survey distance a little.
7. the underworkings high-precision three-dimensional model scanning apparatus and method for as described in claim 1,2,3, it is characterised in that: unmanned
Aircraft and laser scanning module need to meet the feature of mine environment, it is possible to reach the relevant mark such as dust-proof, waterproof, explosion-proof
Accurate.
8. underworkings high-precision three-dimensional model scanning apparatus and method for as claimed in claim 1, it is characterised in that: joining of this equipment
The aircraft movement state information that set software is caught with various sensors by the ranging information combining laser ranging module, will
All of point distance measurement locus carries out three-dimensional reduction, and then obtains the point cloud chart in tested tunnel, passes through gridding further
Obtain the threedimensional model in navigation channel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610384423.7A CN106005383A (en) | 2016-06-02 | 2016-06-02 | Underground roadway high-precision three-dimensional model scanning device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610384423.7A CN106005383A (en) | 2016-06-02 | 2016-06-02 | Underground roadway high-precision three-dimensional model scanning device and method |
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| CN106005383A true CN106005383A (en) | 2016-10-12 |
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ID=57089369
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| CN201610384423.7A Pending CN106005383A (en) | 2016-06-02 | 2016-06-02 | Underground roadway high-precision three-dimensional model scanning device and method |
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Cited By (13)
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|---|---|---|---|---|
| CN107246864A (en) * | 2017-06-29 | 2017-10-13 | 山东大学 | Solution cavity space exploration equipment and detection method are lain concealed in tunnel |
| CN107315426A (en) * | 2017-08-31 | 2017-11-03 | 珠海市微半导体有限公司 | One kind rotation ranging sensing device and robot |
| CN107741219A (en) * | 2017-10-16 | 2018-02-27 | 金陵科技学院 | A kind of mine data collector |
| CN107990876A (en) * | 2017-11-20 | 2018-05-04 | 北京科技大学 | The quick scanning means in underground mine goaf and method based on unmanned vehicle |
| CN108073180A (en) * | 2016-11-08 | 2018-05-25 | 北京金风科创风电设备有限公司 | Control method, the device and system of unmanned plane |
| CN109631769A (en) * | 2018-12-20 | 2019-04-16 | 重庆迈高电梯有限公司 | A kind of elevator investigation method |
| CN109736894A (en) * | 2018-11-27 | 2019-05-10 | 中国矿业大学 | A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster |
| CN109760837A (en) * | 2019-02-21 | 2019-05-17 | 西京学院 | A kind of cable duct and the patrol unmanned machine system in tunnel |
| CN110421292A (en) * | 2019-08-14 | 2019-11-08 | 异起(上海)智能科技有限公司 | A kind of method and apparatus to objects' contour positioning of welding robot |
| CN110421288A (en) * | 2019-08-14 | 2019-11-08 | 异起(上海)智能科技有限公司 | A kind of method and apparatus to objects' contour positioning of welding robot |
| CN111846208A (en) * | 2020-07-28 | 2020-10-30 | 东南大学 | Long-endurance three-dimensional modeling unmanned aerial vehicle system for lower tunnel |
| CN113325438A (en) * | 2021-05-12 | 2021-08-31 | 天地（常州）自动化股份有限公司 | System and method for collecting and generating underground environment information |
| CN111414848B (en) * | 2020-03-19 | 2023-04-07 | 小米汽车科技有限公司 | Full-class 3D obstacle detection method, system and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108073180A (en) * | 2016-11-08 | 2018-05-25 | 北京金风科创风电设备有限公司 | Control method, the device and system of unmanned plane |
| CN108073180B (en) * | 2016-11-08 | 2020-07-28 | 北京金风科创风电设备有限公司 | Control method, device and system of unmanned aerial vehicle |
| CN107246864A (en) * | 2017-06-29 | 2017-10-13 | 山东大学 | Solution cavity space exploration equipment and detection method are lain concealed in tunnel |
| CN107315426A (en) * | 2017-08-31 | 2017-11-03 | 珠海市微半导体有限公司 | One kind rotation ranging sensing device and robot |
| CN107741219A (en) * | 2017-10-16 | 2018-02-27 | 金陵科技学院 | A kind of mine data collector |
| CN107990876A (en) * | 2017-11-20 | 2018-05-04 | 北京科技大学 | The quick scanning means in underground mine goaf and method based on unmanned vehicle |
| CN109736894A (en) * | 2018-11-27 | 2019-05-10 | 中国矿业大学 | A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster |
| CN109631769A (en) * | 2018-12-20 | 2019-04-16 | 重庆迈高电梯有限公司 | A kind of elevator investigation method |
| CN109760837A (en) * | 2019-02-21 | 2019-05-17 | 西京学院 | A kind of cable duct and the patrol unmanned machine system in tunnel |
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