CN104698501A - Single-hole directional detection radar antenna for tunnel advanced geological prediction - Google Patents
Single-hole directional detection radar antenna for tunnel advanced geological prediction Download PDFInfo
- Publication number
- CN104698501A CN104698501A CN201510081895.0A CN201510081895A CN104698501A CN 104698501 A CN104698501 A CN 104698501A CN 201510081895 A CN201510081895 A CN 201510081895A CN 104698501 A CN104698501 A CN 104698501A
- Authority
- CN
- China
- Prior art keywords
- antenna
- cable
- directional
- stator
- radar antenna
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 67
- 238000005553 drilling Methods 0.000 claims abstract description 9
- 238000004804 winding Methods 0.000 claims description 22
- 230000002745 absorbent Effects 0.000 claims description 15
- 239000002250 absorbent Substances 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 13
- 239000000203 mixture Substances 0.000 claims description 5
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 17
- 230000008569 process Effects 0.000 abstract description 14
- 238000000605 extraction Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 230000002159 abnormal effect Effects 0.000 abstract 3
- 230000002547 anomalous effect Effects 0.000 description 33
- 238000009826 distribution Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005672 electromagnetic field Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- BDAGIHXWWSANSR-UHFFFAOYSA-M Formate Chemical compound [O-]C=O BDAGIHXWWSANSR-UHFFFAOYSA-M 0.000 description 1
- 101001077478 Homo sapiens RNA guanine-N7 methyltransferase activating subunit Proteins 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 102100025054 RNA guanine-N7 methyltransferase activating subunit Human genes 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
Landscapes
- Geophysics And Detection Of Objects (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a single-hole directional detection radar antenna for tunnel advanced geological prediction, which mainly comprises a drilling directional radar antenna, an in-hole automatic walking device and a cable receiving and sending machine; the directional transmitting antenna in the rotor continuously rotates to change the transmitting direction of electromagnetic waves, reflected waves can be received by the directional receiving antenna in the rotor, and the azimuth angle of the geological abnormal body can be obtained by using a strongest reflected wave angle extraction algorithm; the automatic walking device in the hole and the cable receiving and sending machine can complete automatic delivery and recovery operation of the radar antenna and the communication cable under the control of the radar host. The method can realize the fine exploration of the geological abnormal body and the accurate positioning of the azimuth angle within a certain range around the drill hole; the detection directivity can be obviously improved, and the resolution ratio of the azimuth angle of the abnormal body is obviously improved; the detection process is full-automatic, and the detection efficiency and accuracy are greatly improved.
Description
Technical field
The present invention relates to a kind of boring beam radar antenna, particularly relate to a kind of single hole directional detection radar antenna for tunnel geological forecast.
Background technology
Borehole geologic radar method is a kind of wide spectrum electromagnetic technique descending dielectric distribution definitely, emitting antenna and receiving antenna to be all placed in same boring and spacing is fixed, according to the electromagnetic two way travel time of receiving end, amplitude and waveform information, the architectural feature underground rock soil medium can be inferred.The decipher of borehole geologic radar is in the georadar image section of gained after data processing, according to waveform and the strength characteristic of reflection wave groups, by the tracking of lineups, determines the geologic feature of reflection wave groups.
Compared with common ground tabular geological radar, borehole geologic radar tool is by investigation depth restriction and have the high advantage of resolution, and therefore borehole geologic radar is considered to the one detection method that becomes more meticulous and is introduced in tunnel geological forecast field.In Tunnel prediction, in order to obtain the actual conditions of front of tunnel heading unfavorable geologic body, often implement Advance Drilling, but due to " a peephole view ", very easily omit disaster source, become the problem that people extremely pay close attention to.For the problems referred to above, borehole radar antenna is put into existing boring, situation is deposited in the tax that can obtain unfavorable geologic body in certain limit around boring, can solve the problem of " a peephole view " preferably, the utilization factor of the existing boring of expansion and comprehensive benefit.
Common borehole radar antenna is dipole antenna, its energy radiation and the signal received from 360 ° of spaces, can determine the position of reflecting body on drilling depth direction and with the distance in boring vertical direction, but be difficult to the position angle determining reflecting body, this greatly reduces the practicality of single hole radar, is difficult to meet actual requirement of engineering.In order to determine the orientation of reflecting body, 3 borings are at least needed to carry out comprehensive survey and analysis, but the accuracy that azimuthal resolves is very low, reliability is difficult to ensure, and be difficult to accomplish to drill through 3 borings in Practical Project, compare one borehole, the time of more than 3 and 3 at substantial of holing and financial cost, be difficult to be accepted by unit in charge of construction.Therefore to hole directed geological radar in the urgent need to inventing a kind of single hole, for " a peephole view " problem and realizing solving Advance Drilling becomes more meticulous the solution that advanced prediction provides new.
From the beginning of the eighties in last century, many mechanisms begin one's study boring beam radar technology in the world, mainly contain directional transmissions and directive reception two kinds of modes at present: the 3D-BHR radar system of (1) Dutch T & A-RADAR company, adopt directional transmissions mode, because directional transmitting antenna exists design defect, directional transmissions angle is larger, geological anomalous body position angle positioning resolution is low, and antenna size, weight are too huge, the application in Practical Project is very limited; (2) the RAMAC radar system of Sweden MALA company, adopt directive reception mode, adopt four omnidirectional's sub-receiving antenna composition receiving antenna arrays, by being optimized the position angle obtaining anomalous body to the data of four root receiving antenna collections, but due to aerial array spacing less and exist mutual coupling interference, cause the position angle positioning resolution of geological anomalous body very low, actual detection effect is unsatisfactory, stops production at present.
Generally speaking, also there is no the directed geology radar instruments of available effective single hole at present both at home and abroad, mainly there is following problem in single hole geological radar: (1) common single hole radar can only determine the distance of reflecting body, the position angle of geological anomalous body cannot be provided, be difficult to meet actual requirement of engineering; (2) existing single hole beam radar system complex and low to the positioning resolution of geological anomalous body, the application in Practical Project is limited; (3) existing single hole radar detection process automation degree is low, and complex operation is complicated, to antenna rotation angle in detection process, sends low apart from isoparametric precise control, thus affects actual detection effect.
Summary of the invention
Object of the present invention is exactly to solve the problem, a kind of single hole directional detection radar antenna for tunnel geological forecast is provided, spin orientation emitting antenna and directional receiving antenna is adopted to realize directional detection, and automatic travelling device in the hole devising borehole radar antenna, have the following advantages: can realize boring around in certain limit the meticulous of geological anomalous body detect and azimuthal accurate location; This detecting strategy can significantly improve the directivity of detection, significantly improves, meet the needs of Practical Project to azimuthal resolution of anomalous body; Whole detection process, without the need to manually sending reclaimer operation to antenna and cable, greatly improves detection efficiency and accuracy rate.
For achieving the above object, the present invention adopts following technical proposals:
For a single hole directional detection radar antenna for tunnel geological forecast, it is characterized in that: comprise automatic travelling device, cable and cable sending and receiving machine in boring beam radar antenna, hole; Described boring beam radar antenna comprises a shell, described shell parcel rotor and stator, directional transmitting antenna and directional receiving antenna is provided with in described rotor, in order to directional transmissions and reception electromagnetic wave, the two ends of described rotor are connected with stator, described rotor can rotate around its longitudinal axis, to realize radial omnidirectional detection; Described stator is provided with automatic travelling device in hole, and boring beam radar antenna can be driven movable in boring; Described rotor and described stator carry out Signal transmissions and move controlling by cable and radar host computer; Described cable controls cable sending and receiving machine by radar host computer and carries out automatic sending and receiving.
Described rotor is slender cylinder, and directional transmitting antenna and directional receiving antenna are equipped with in inside; Described directional transmitting antenna comprises metallic reflection plate, and the transversal section of described metallic reflection plate is parabola shaped.
Described directional transmitting antenna comprises two dipole antennas, and described dipole antenna places composition two-element antenna array in the recessed side symmetry of described metallic reflection plate, and its symcenter is positioned at the focus place that transversal section is parabola shaped metallic reflection plate; Described directional transmitting antenna realizes directional transmissions electromagnetic wave by the reflection of metallic reflection plate.
The structure of described directional receiving antenna is identical with the structure of described directional transmitting antenna, in order to directive reception electromagnetic wave.
Between described metallic reflection plate and described dipole antenna, fill electromagnetic wave absorbent material, described electromagnetic wave absorbent material is provided with cable via hole, and described cable via hole can pass through for the cable of boring beam radar antenna; Described dipole antenna is processed by fine copper, is provided with and organizes loading resistor-electric capacity more in described dipole antenna.
Described two ends of rotor is connected with described stator by high-frequency rotating joint, described stator is not rotatable, described stator comprises front end stator and rear end stator, and described rear end stationary part is provided with servomotor module, and described servomotor module rotor driven is around two ends stator line central axis.
Described stator is provided with movable pulley and driver module, and described movable pulley and driver module form automatic travelling device in hole jointly; Described driving wheel module comprises drive motor and photoelectric encoder, the automatic walking function that described drive motor drives movable pulley to rotate and then drives boring beam radar antenna to realize in hole, described photoelectric encoder to be obtained holing the distance that beam radar antenna moves forward and backward in horizontal drilling by the number of turns that record drive motor rotates.
The transversal section of described stator is circular, and the driving wheel module being provided with four movable pulleys respectively at four points of phase place places such as grade of its horizontal vertical direction He being attached thereto, described shell is exposed in the outside of described movable pulley.
Stator is held to be provided with attitude detection module in the rear, described attitude detection module is made up of accelerometer, gyroscope and compass, acceleration, angular velocity and ground magnetic obliquity information when boring beam radar antenna moves in the borehole can be obtained respectively, and then obtain the attitude information of beam radar antenna in boring of holing.
Described front end stator is provided with sensor group, and described sensor group comprises camera, searchlight and range sensor, in order to obtain the positional information of described boring beam radar antenna in boring.
The center of described stator is provided with stator cable via hole, and can pass through for cable, described rear end stator afterbody is connected with radar host computer by cable.
Described cable sending and receiving machine inside is provided with coiling electric motor module, cable sending and receiving machine controller and winding roll, described cable is around on winding roll, coiling electric motor module drives winding roll to rotate, and cable sending and receiving machine controller controls the rotating speed of winding roll by the antenna displacement that photoelectric encoder obtains.
Be provided with cable sending and receiving controller and cable stress sensor in described cable sending and receiving machine, the rotating speed of cable stress information to coiling motor module of the antenna displacement that cable sending and receiving machine controller is transmitted by photoelectric encoder and cable stress sensor transmissions controls.
Described cable sending and receiving machine controller receives the information of the antenna displacement of photoelectric encoder transmission, determines coiling electric motor rotating speed sending and receiving cable; In addition, described cable stress sensor by cable stress information feed back to cable sending and receiving machine controller, cable sending and receiving machine controller carries out negative feedback control to coiling motor speed, and the rotating speed of the described coiling electric motor of adjustment, makes the rate of tension that cable remains certain further.
Be provided with between cable sending and receiving machine and described winding roll and prevent the cable between winding roll and radar host computer from the high-frequency rotating joint be wound around occurring.
Beam radar detection mode of holing is as follows: the while that first radar host computer keyhole beam radar antenna automatically advancing in borehole casing, spin orientation emitting antenna carries out spiral fashion traverse scanning, can obtain the rough distribution situation of three-dimensional of geological anomalous body in certain limit around holing; Then keep directional transmitting antenna towards the rough orientation non rotating of geological anomalous body, boring beam radar antenna automatically carries out Beijing area in borehole casing, can obtain the accurate axial depth distribution of geological anomalous body; Finally make boring beam radar antenna advance to the accurate axial depth position at geological anomalous body place, spin orientation emitting antenna carries out common depth scan, can obtain accurate radial distance distribution and the azimuth distribution of geological anomalous body.In whole detection process, operating personnel only need to be controlled by radar host computer, just can complete automatically sending and automatic detection boring beam radar antenna, greatly improve the automaticity of a whole set of radar system.
Beneficial effect of the present invention is:
Described directional transmitting antenna comprises two dipole antennas and the metallic reflection plate of composition two-element antenna array, the transversal section of described metallic reflection plate is parabolic type, the synthesis electromagnetic field directional diagram that two-element antenna array produces is approximate ellipsoidal in radial direction, the signal produced at the symmetrical center positions of two dipole antennas is the strongest, successively decreases at the signal of both sides.Electromagnetic wave absorbent material can partially absorb the electromagnetic wave of two dipole antenna backward launched, the metallic reflection plate of transversal section parabolically type can the unabsorbed backward electromagnetic wave of reflected frontward, electromagnetic wave absorbent material thus double absorption is carried out to retroreflection electromagnetic wave, therefore directional transmitting antenna can launch forward the directional electromagnetic bundle with certain angle, and meets in directional diagram before and after signal than the relation being greater than 3:1.
The transversal section of metallic reflection plate is designed to parabola shaped cleverly, effectively solves the technical barrier realizing radar antenna directional transmissions in the narrow and small boring in region, overcome on conventional art and require that reflecting plate is the technology prejudice of paraboloidal.
For directional receiving antenna, forward direction incident electromagnetic wave can be focused on parabolical focal position place by parabola shaped metallic reflection plate, and can to incident electromagnetic wave after masked segment, electromagnetic wave absorbent material can absorb backward incident electromagnetic wave further, therefore electromagnetic wave signal that two-element antenna array forward direction center receives is positioned at the strongest and successively decrease to both sides, and backward incident electromagnetic wave can be shielded, the directivity of the geological anomalous body reflection wave received can be strengthened further, and then improve the azimuthal positioning precision of geological anomalous body.
Servomotor module drive rotor drives directional transmitting antenna ceaselessly to rotate the transmit direction changing directional electromagnetic bundle, directional electromagnetic bundle reflects after running into geological anomalous body, and the reflection wave being positioned at directional transmitting antenna transmit direction can be directed receiving antenna and receive.After rotor revolves and turns around, the electromagnetic wave signal using most strong reflection wave angle degree extraction algorithm process to receive, can obtain the position angle of geological anomalous body within the scope of 360 degree, realize the azimuthal meticulous detection of geological anomalous body.
Described dipole antenna is processed by the fine copper that resistance is little, improves antenna electrical performance, is provided with and organizes loading resistor-electric capacity more, can improve the bandwidth of operation of dipole antenna in described dipole antenna.
Stator is held to be provided with attitude detection module in the rear, described attitude detection module is made up of accelerometer, gyroscope and compass, acceleration, angular velocity and ground magnetic obliquity information when boring beam radar antenna moves in the borehole can be obtained respectively, and then obtain the attitude information of beam radar antenna in boring of holing, for the refined orientation obtaining geological anomalous body provides basis.
Described front end stator is provided with sensor group, described sensor group comprises camera, searchlight and range sensor, use camera and searchlight can obtain the realtime graphic situation in boring, and transmit back radar host computer realization display, described range sensor can obtain the positional information of described boring beam radar antenna in boring, instructs the exploration operation of radar.
Described two ends of rotor is connected with stator by high-frequency rotating joint, when can prevent rotor from rotating, causes the cable between rotor and stator to occur to be wound around damage.
Described automatic travelling device is provided with the movable pulley of four drive respectively at four points of phase place places such as grade of its horizontal vertical direction, four movable pulleys can be made to drive walking along borehole casing, ensure that the stability that boring beam radar antenna is walked automatically and security, and the smooth and easy walking in boring of boring beam radar antenna can be ensured.
Cable sending and receiving machine inside is provided with coiling electric motor module, cable sending and receiving machine controller and winding roll, described cable is around on winding roll, coiling electric motor module drives winding roll to rotate, cable sending and receiving machine controller controls the rotating speed of winding roll by the antenna displacement that photoelectric encoder obtains, the speed of the travelling speed of automatic travelling device in hole and cable sending and receiving is matched, automatically sending and reclaimer operation cable can be realized.
Described cable sending and receiving machine controller receives the information of the antenna displacement of photoelectric encoder transmission, determines coiling electric motor rotating speed sending and receiving cable, in addition, described cable stress sensor by cable stress information feed back to cable sending and receiving machine controller, cable sending and receiving machine controller carries out negative feedback control to coiling motor speed, the rotating speed of the described coiling electric motor of further adjustment, make the rate of tension that cable remains certain, the disturbance that the speed error of the displacement measuring error and coiling electric motor module that effectively can tackle boring beam radar antenna brings, to ensure that in hole that automatic travelling device can smooth and easy safe walking, avoid the cable produced because of disturbance and cross pine and the coiling problem caused, the possibility of cable damage is there is with cable tension.
Keep boring beam radar antenna towards constant, make the front and back walking in boring of boring beam radar antenna carry out corner-sharing scanning, the axial depth distribution situation of geological anomalous body can be obtained; Keep the depth location of boring beam radar antenna in boring constant, rotary rotor makes boring beam radar antenna carry out common depth scan along longitudinal axis rotation, can obtain the radial distribution situation of geological anomalous body; Simultaneously mobile and rotational orientation radar antenna can obtain the distributed in three dimensions situation of geological anomalous body.In whole detection process, without the need to manually, can completing connecting automatically sending and automatic detection of boring beam radar antenna cables, greatly improving the automaticity of a whole set of radar system.
Directional detection is carried out by the rotation of directional transmitting antenna in rotor and directional receiving antenna, the meticulous of geological condition in boring surrounding certain limit can be realized detect and azimuthal accurate location, the directivity of detection can be significantly improved, compared with traditional directed geological radar, it can significantly improve azimuthal resolution of anomalous body, meets the needs of Practical Project.
The dyadic array that directional transmitting antenna is made up of two dipole antennas produces synthesis electromagnetic field, and adopt electromagnetic wave absorbent material to absorb backward electromagnetic wave, the backward electromagnetic wave of parabola metallic reflection plate reflected frontward, can realize launching forward directional electromagnetic bundle with narrower angle, and have before and after larger signal and compare.
In boring beam radar antenna ends, porose interior automatic travelling device is installed, and coordinate cable sending and receiving machine to use, operating personnel only need be controlled by radar host computer, can realize boring beam radar antenna and automatically the sending and reclaimer operation of the communications cable, and the accurate moving distance information of boring beam radar antenna can be obtained simultaneously.Whole detection process, without the need to manually intervening, greatly simplify detection flow process and improves detection accuracy rate.
Accompanying drawing explanation
Fig. 1 is boring beam radar Antenna Operation schematic diagram;
Fig. 2 is boring beam radar antenna axial direction sectional view;
Fig. 3 is directional transmitting antenna axial side view;
Fig. 4 is directional transmitting antenna radial section figure;
Fig. 5 is boring beam radar antenna detection principle figure;
Fig. 6 is automatic travelling device cut-away view in hole;
Fig. 7 is boring beam radar cable sending and receiving machine schematic diagram;
Fig. 8 is boring beam radar cable sending and receiving machine control system block diagram;
Fig. 9 is boring beam radar automatic detection mode schematic diagram.
In figure: 1. dipole antenna, 2. electromagnetic wave absorbent material, 3. cable via hole, 4. metallic reflection plate, 5. loading resistor-electric capacity, 6. movable pulley, 7. attitude detection module, 8. servomotor module, 9. directional transmitting antenna, 10. directional receiving antenna, 11. stators, 12. high-frequency rotating joints, 13. rotors, 14. shells, 15. cables, 16. sensor groups, 17. movable pulley driver modules, 18. boring beam radar antennas, 19. borehole casings, 20. tunnel tunnel faces, 21. lifting cable support wheels, 22. cable sending and receiving machines, 23. radar host computers, 24. drive motor modules, 25. photoelectric encoders, 26. liftable supports, 27. wire spools, 28. coiling electric motor modules, automatic travelling device in 29. holes, 30. directional diagrams, 31. geological anomalous body, 32. driving belts, 33. cable stress sensors, 34. cable sending and receiving machine controllers, 35. antenna displacements, 36. cable stress information, 37. disturbances, 38. negative feedbacks, 39. coiling electric motor rotating speeds.
Embodiment
Below by instantiation and accompanying drawing, the present invention will be further elaborated; it should be noted that; disclosedly below be only a kind of preferred embodiment of the present invention; certainly the interest field of the present invention can not be limited with this; under the premise without departing from the principles of the invention; those skilled in the art can also make some improvements and modifications, and these improvements and modifications also should be considered as protection scope of the present invention.
Boring beam radar Antenna Operation situation as shown in Figure 1, tunnel tunnel face 20 performs horizontal drilling and installing drill hole sleeve 19, automatic travelling device 29 in hole is equipped with at boring beam radar antenna about 18 two ends, can in borehole casing 19 horizontal autonomous, cable 15 is supported to suitable height by lifting cable support wheel 21, cable 15 can be sent and be reclaimed to cable sending and receiving machine 22 automatically, and radar host computer 23 can control whole detection process and check.In whole detection process, automatically can complete sending and reclaimer operation, without the need to manual intervention boring beam radar antenna 18 and cable 15.
As shown in Figure 2, boring beam radar antenna 18 forms primarily of shell 14, stator 11 and rotor 13 3 part boring beam radar antenna structure, shell 14 internal package stator 11 and rotor 13.Stator 11 is made up of two stationary parts being positioned at boring beam radar antenna about 18, and two, left and right stationary part is all equipped with automatic travelling device 29 in hole, is provided with movable pulley 6, movable pulley driver module 17 in hole in automatic travelling device 29.Also be provided with sensor group 16 at left side stationary part, be also provided with attitude detection module 7 and servomotor module 8 at right side stationary part, right side stationary part afterbody carries out Signal transmissions and moves controlling by cable 15 and radar host computer 23.
Directional transmitting antenna 9 and directional receiving antenna 10 is provided with in rotor 13.Between rotor 13 and two, left and right stator 11, high-frequency rotating joint 12 is housed respectively.Attitude detection module 7 is primarily of compositions such as accelerometer, gyroscope and compass, and attitude detection module 7 can be used for obtaining the azimuth information of boring beam radar antenna 18 in borehole casing 19.Sensor group 16 mainly comprises camera, searchlight and range sensor etc., for obtaining the information of bore inner, instructs operating personnel to control boring beam radar antenna 18.Servomotor module 8 rotor driven 13, at shell 14 internal rotating, can also obtain the angle that rotor rotates simultaneously.High-frequency rotating joint 12 can prevent from causing the cable between rotor 13 and stator 11 to occur to be wound around and damage when rotated at rotor 13.
Directional transmitting antenna and directional receiving antenna all adopt identical antenna structure, and directional transmitting antenna can directional transmissions electromagnetic wave forward at a certain angle, and directional receiving antenna is different to the electromagnetic wave receiving intensity of different directions incidence.
Directional transmitting antenna structure as shown in Figure 3,4, forms primarily of two dipole antennas 1, electromagnetic wave absorbent material 2 and metallic reflection plate 4 three part.Two dipole antennas 1 process by fine copper, and symmetrical placement forms two-element antenna array; Metallic reflection plate 4 is parabolic shape, and the symcenter of two dipole antennas 1 is positioned at the focal position O of parabolic shape metallic reflection plate 4; Between metallic reflection plate 4 and dipole antenna 1, fill electromagnetic wave absorbent material 2, electromagnetic wave absorbent material 2 center is provided with cable via hole 3, and the cable in boring beam radar antenna 18 can pass through from cable via hole 3.Be provided with in dipole antenna 1 and organize loading resistor-electric capacity 5 more, for improving the bandwidth of operation of dipole antenna 1.
As shown in Figure 4, for directional transmitting antenna 9, it is the strongest that two-element antenna array can produce M signal in radial direction, the electromagnetic wave formate field intensity successively decreased to both sides, its direction Figure 30 approximate ellipsoidal.Electromagnetic wave absorbent material 2 can partially absorb the electromagnetic wave of two dipole antenna 1 backward launched, parabolic shape metallic reflection plate 4 can the unabsorbed backward electromagnetic wave of reflected frontward, electromagnetic wave absorbent material 2 thus double absorption is carried out to retroreflection electromagnetic wave, therefore directional transmitting antenna 9 can launch forward the directional electromagnetic bundle with certain angle θ, and in the Figure 30 of direction, meet the relation than A:B>3:1 before and after signal.
For directional receiving antenna 10, forward direction incident electromagnetic wave can be focused on O place, focal position by parabolic shape metallic reflection plate 4, and can to incident electromagnetic wave after masked segment, electromagnetic wave absorbent material 2 can absorb backward incident electromagnetic wave further, therefore electromagnetic wave signal that two-element antenna array forward direction center receives is positioned at the strongest and successively decrease to both sides, and backward incident electromagnetic wave can be shielded, the directivity of geological anomalous body 31 reflection wave received can be strengthened further, and then improve the azimuthal positioning precision of geological anomalous body 31.
Boring beam radar antenna detection principle as shown in Figure 5, rotor 13 drives directional transmitting antenna 9 ceaselessly to rotate to change the transmit direction of directional electromagnetic bundle, directional electromagnetic bundle reflects after running into geological anomalous body 31, and the reflection wave being positioned at directional antenna 9 transmit direction can be directed receiving antenna 10 and receive.After rotor revolves and turns around, the electromagnetic wave signal using most strong reflection wave angle degree extraction algorithm process to receive, can obtain the position angle of geological anomalous body 31 within the scope of 360 degree, realize the azimuthal meticulous detection of geological anomalous body 31.
In hole, automatic travelling device inner structure as shown in Figure 6, in hole, be equidistantly provided with four groups of movable pulley modules in automatic travelling device 29, often organizes movable pulley module and mainly comprise movable pulley 6, driving belt 32, drive motor module 24, photoelectric encoder 25.Drive motor module 24 drives movable pulley 6 to rotate by driving belt 32 thus realizes walking automatically, the number of turns that photoelectric encoder 25 can be rotated by record drive motor, obtains the distance that boring beam radar antenna 18 is movable in horizontal drilling sleeve pipe 19.
Operating personnel, by radar host computer 23, can carry out remote control to boring beam radar antenna 18, boring beam radar antenna 18 can be moved freely in horizontal drilling sleeve pipe 19 and obtain movable Distance geometry gyrobearing angle information simultaneously.Whole detection process, without the need to manually carrying out antenna and send and the antenna displacement obtained and azimuth information being more accurate, substantially increases detection efficiency and accuracy rate.
Boring beam radar cable sending and receiving machine structure as shown in Figure 7, borehole radar cable sending and receiving machine 22 inside is provided with winding roll 27, cable 15 is around on winding roll 27, coiling electric motor module 28 drives winding roll 27 to rotate, photoelectric encoder 25 in hole in automatic travelling device 29 can obtain antenna displacement 35, the available cable stress information 36 of line cable stress sensor 33 in cable sending and receiving machine 22, cable sending and receiving machine controller 34 is controlled by the rotating speed of antenna displacement 35 and cable stress information 36 pairs of coiling motor modules 28, realize automatically sending and reclaimer operation cable 15.Liftable support 26 can regulate the height of borehole radar cable sending and receiving machine 22, between borehole radar cable sending and receiving machine 22 and interior roll drum 27, be provided with high-frequency rotating joint 12, high-frequency rotating joint 12 can prevent the cable 15 between winding roll 27 and radar host computer 23 from winding occurring and cause damage.
Borehole radar cable sending and receiving machine control system block diagram as shown in Figure 8, cable sending and receiving machine controller 34 controls the length that winding roll 27 sent or reclaimed cable 15 and equals antenna displacement 35 in theory, but in fact owing to there is the disturbance 37 such as the displacement measuring error of beam radar antenna 18 and the speed error of coiling electric motor module 28 of holing, cause the two also not exclusively equal, therefore just need cable stress sensor 33 that cable stress information 36 is fed back to cable sending and receiving machine controller 34, cable sending and receiving machine controller 34 pairs of coiling motor speeds 39 carry out negative feedback 38 and control, make the rate of tension that cable 15 remains certain, thus guarantee cable 15 favorable presentation and recovery.Boring beam radar automatic detection mode as shown in Figure 9, first the while that radar host computer 23 keyhole beam radar antenna 18 automatically advancing in borehole casing 19, spin orientation emitting antenna 9 carries out spiral fashion traverse scanning, can obtain the rough distribution situation of three-dimensional of geological anomalous body 31 in certain limit around holing; Then keep directional transmitting antenna 9 towards the rough orientation non rotating of geological anomalous body 31, boring beam radar antenna 18 automatically carries out Beijing area in borehole casing 19, can obtain the accurate axial depth distribution of geological anomalous body 31; Finally make boring beam radar antenna 18 advance to the accurate axial depth position at geological anomalous body 31 place, spin orientation emitting antenna 9 carries out common depth scan, can obtain accurate radial distance distribution and the azimuth distribution of geological anomalous body 31.In whole detection process, operating personnel only need to be controlled by radar host computer 23, just can complete automatically sending and automatic detection boring beam radar antenna 18, greatly improve the automaticity of a whole set of radar system.
Claims (15)
1. for a single hole directional detection radar antenna for tunnel geological forecast, it is characterized in that: comprise automatic travelling device, cable and cable sending and receiving machine in boring beam radar antenna, hole; Described boring beam radar antenna comprises a shell, described shell parcel rotor and stator, beam radar emitting antenna and directional receiving antenna is provided with in described rotor, in order to directional transmissions and reception electromagnetic wave, the two ends of described rotor are connected with stator, described rotor can rotate around its longitudinal axis, to realize radial omnidirectional detection; Described stator is provided with automatic travelling device in hole, and boring beam radar antenna can be driven movable in boring; Described rotor and described stator carry out Signal transmissions and move controlling by cable and radar host computer; Described cable controls cable sending and receiving machine by radar host computer and carries out automatic sending and receiving.
2. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 1, is characterized in that: described rotor is slender cylinder, and directional transmitting antenna and directional receiving antenna are equipped with in inside; Described directional transmitting antenna comprises metallic reflection plate, and the transversal section of described metallic reflection plate is parabola shaped.
3. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 2, it is characterized in that: described directional transmitting antenna comprises two dipole antennas, described dipole antenna places composition two-element antenna array in the recessed side symmetry of described metallic reflection plate, and its symcenter is positioned at the focus place that transversal section is parabola shaped metallic reflection plate; Described directional transmitting antenna realizes directive sending electromagnetic wave by the reflection of metallic reflection plate.
4. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 3, is characterized in that: the structure of described directional receiving antenna is identical with the structure of described directional transmitting antenna, in order to directive reception electromagnetic wave.
5. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 3, it is characterized in that: between described metallic reflection plate and described dipole antenna, fill electromagnetic wave absorbent material, described electromagnetic wave absorbent material is provided with cable via hole, and described cable via hole can pass through for the cable of boring beam radar antenna; Described dipole antenna is processed by fine copper, is provided with and organizes loading resistor-electric capacity more in described dipole antenna.
6. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 1, it is characterized in that: described two ends of rotor is connected with described stator by high-frequency rotating joint, described stator is not rotatable, described stator comprises front end stator and rear end stator, described rear end stationary part is provided with servomotor module, and described servomotor module rotor driven is that axle rotates around two ends stator line.
7. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 6, it is characterized in that: described stator is provided with movable pulley and driver module, described movable pulley and driver module form automatic travelling device in hole jointly; Described driving wheel module comprises drive motor and photoelectric encoder, the automatic walking function that described drive motor drives movable pulley to rotate and then drives boring beam radar antenna to realize in hole, described photoelectric encoder to be obtained holing the distance that beam radar antenna moves forward and backward in horizontal drilling by the number of turns that record drive motor rotates.
8. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 7, it is characterized in that: the transversal section of described stator is for circular, the described driving wheel module being provided with four described movable pulleys respectively at four points of phase place places such as grade of its horizontal vertical direction and be attached thereto, described shell is exposed in the outside of described movable pulley.
9. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 6,7 or 8, it is characterized in that: hold stator to be provided with attitude detection module in the rear, described attitude detection module is made up of accelerometer, gyroscope and compass, acceleration, angular velocity and ground magnetic obliquity information when boring beam radar antenna moves in the borehole can be obtained respectively, and then obtain the attitude information of beam radar antenna in boring of holing.
10. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 6,7 or 8, it is characterized in that: on the stator of described front end, be provided with sensor group, described sensor group comprises camera, searchlight and range sensor, in order to obtain the positional information of described boring beam radar antenna in boring.
11. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 6,7 or 8, it is characterized in that: the center of described stator is provided with stator cable via hole, can pass through for cable, described rear end stator afterbody is connected with radar host computer by cable.
12. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 1, it is characterized in that: described cable sending and receiving machine inside is provided with coiling electric motor module, cable sending and receiving machine controller and winding roll, described cable is around on winding roll, coiling electric motor module drives winding roll to rotate, and cable sending and receiving machine controller controls the rotating speed of winding roll by the antenna displacement that photoelectric encoder obtains.
13. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 12, it is characterized in that: be provided with cable sending and receiving controller and cable stress sensor in described cable sending and receiving machine, the rotating speed of cable stress information to coiling motor module of the antenna displacement that cable sending and receiving machine controller is transmitted by photoelectric encoder and cable stress sensor transmissions controls.
14. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 13, it is characterized in that: described cable sending and receiving machine controller receives the information of the antenna displacement of photoelectric encoder transmission, determines coiling electric motor rotating speed sending and receiving cable; In addition, described cable stress sensor by cable stress information feed back to cable sending and receiving machine controller, cable sending and receiving machine controller carries out negative feedback control to coiling motor speed, and the rotating speed of the described coiling electric motor of adjustment, makes the rate of tension that cable remains certain further.
15. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 12, is characterized in that: be provided with between cable sending and receiving machine and described winding roll and prevent the cable between winding roll and radar host computer from the high-frequency rotating joint be wound around occurring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510081895.0A CN104698501B (en) | 2015-02-15 | 2015-02-15 | Single-hole directional detection radar antenna for tunnel advanced geological prediction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510081895.0A CN104698501B (en) | 2015-02-15 | 2015-02-15 | Single-hole directional detection radar antenna for tunnel advanced geological prediction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104698501A true CN104698501A (en) | 2015-06-10 |
| CN104698501B CN104698501B (en) | 2017-03-22 |
Family
ID=53345819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510081895.0A Active CN104698501B (en) | 2015-02-15 | 2015-02-15 | Single-hole directional detection radar antenna for tunnel advanced geological prediction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104698501B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107132533A (en) * | 2017-06-22 | 2017-09-05 | 河海大学 | A kind of phased pathfinding geology detecting robot expanding device and its detection method |
| CN107436435A (en) * | 2017-08-07 | 2017-12-05 | 广州地铁设计研究院有限公司 | A kind of the GPR device and its detection method of single hole detection boulder |
| CN109031430A (en) * | 2018-07-11 | 2018-12-18 | 中国地质科学院岩溶地质研究所 | A kind of detection method of list borehole geologic radar orienting reflex imaging |
| CN109828286A (en) * | 2019-03-08 | 2019-05-31 | 上海禾赛光电科技有限公司 | Laser radar |
| CN110376652A (en) * | 2019-07-08 | 2019-10-25 | 中国煤炭地质总局水文地质局 | A kind of electromagnetic survey equipment for the acquisition of horizontal branch hole interior orientation data |
| CN111812721A (en) * | 2020-06-29 | 2020-10-23 | 中煤科工集团西安研究院有限公司 | Omnibearing advanced detection device and method for hidden water damage at bottom of drill hole |
| US10865640B2 (en) | 2019-04-10 | 2020-12-15 | Saudi Arabian Oil Company | Downhole tool with CATR |
| CN112560342A (en) * | 2020-12-15 | 2021-03-26 | 哈尔滨工程大学 | DNN-based atmospheric waveguide parameter estimation method |
| CN112670714A (en) * | 2020-12-17 | 2021-04-16 | 山东大学 | Four-direction monopole directional antenna system and method for borehole radar detection |
| CN112731384A (en) * | 2020-12-24 | 2021-04-30 | 南阳理工学院 | Drilling geological detection system and actual measurement method for comprehensive breaking angle and collapse form of overburden rock |
| CN113589279A (en) * | 2021-07-16 | 2021-11-02 | 山东大学 | Phased array geological radar and method for detecting tunnel lining structure diseases |
| CN113960683A (en) * | 2021-09-18 | 2022-01-21 | 中铁西南科学研究院有限公司 | Horizontal hole in-hole detection device for tunnel advanced geological detection |
| US11268380B2 (en) | 2020-04-22 | 2022-03-08 | Saudi Arabian Oil Company | Kick detection using logging while drilling |
| CN115267764A (en) * | 2022-07-22 | 2022-11-01 | 北京超测智能系统有限公司 | Method and system for measuring electrode depth of submerged arc furnace |
| CN118131229A (en) * | 2024-04-30 | 2024-06-04 | 中交第二公路勘察设计研究院有限公司 | Method for detecting geological radar in hole capable of distinguishing abnormal azimuth |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020171951A1 (en) * | 2001-05-17 | 2002-11-21 | National Aerospace Laboratory | Electromagnetic wave focusing device |
| CN103076637A (en) * | 2013-01-09 | 2013-05-01 | 山东大学 | Delivery transmission device and delivery transmission method for tunnel single-hole geological radar imaging antenna |
| CN103076636A (en) * | 2012-12-26 | 2013-05-01 | 山东大学 | Directional induced polarization real-time advance water detecting device and method while drilling for tunnel construction |
| CN103728668A (en) * | 2014-01-07 | 2014-04-16 | 山东大学 | Single-hole directional geological radar for tunnel advanced geological exploration |
| CN103898931A (en) * | 2014-04-11 | 2014-07-02 | 广州建设工程质量安全检测中心有限公司 | Three-dimensional foundation pile detection device and method based on borehole radar |
-
2015
- 2015-02-15 CN CN201510081895.0A patent/CN104698501B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020171951A1 (en) * | 2001-05-17 | 2002-11-21 | National Aerospace Laboratory | Electromagnetic wave focusing device |
| CN103076636A (en) * | 2012-12-26 | 2013-05-01 | 山东大学 | Directional induced polarization real-time advance water detecting device and method while drilling for tunnel construction |
| CN103076637A (en) * | 2013-01-09 | 2013-05-01 | 山东大学 | Delivery transmission device and delivery transmission method for tunnel single-hole geological radar imaging antenna |
| CN103728668A (en) * | 2014-01-07 | 2014-04-16 | 山东大学 | Single-hole directional geological radar for tunnel advanced geological exploration |
| CN103898931A (en) * | 2014-04-11 | 2014-07-02 | 广州建设工程质量安全检测中心有限公司 | Three-dimensional foundation pile detection device and method based on borehole radar |
Non-Patent Citations (1)
| Title |
|---|
| 赵青: "钻孔雷达定向天线仿真与设计", 《电子科技大学学报》 * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107132533A (en) * | 2017-06-22 | 2017-09-05 | 河海大学 | A kind of phased pathfinding geology detecting robot expanding device and its detection method |
| CN107132533B (en) * | 2017-06-22 | 2023-10-20 | 河海大学 | Phased road-finding geological detection robot expanding device and detection method thereof |
| CN107436435A (en) * | 2017-08-07 | 2017-12-05 | 广州地铁设计研究院有限公司 | A kind of the GPR device and its detection method of single hole detection boulder |
| CN109031430A (en) * | 2018-07-11 | 2018-12-18 | 中国地质科学院岩溶地质研究所 | A kind of detection method of list borehole geologic radar orienting reflex imaging |
| CN109828286A (en) * | 2019-03-08 | 2019-05-31 | 上海禾赛光电科技有限公司 | Laser radar |
| US10865640B2 (en) | 2019-04-10 | 2020-12-15 | Saudi Arabian Oil Company | Downhole tool with CATR |
| CN110376652A (en) * | 2019-07-08 | 2019-10-25 | 中国煤炭地质总局水文地质局 | A kind of electromagnetic survey equipment for the acquisition of horizontal branch hole interior orientation data |
| US11268380B2 (en) | 2020-04-22 | 2022-03-08 | Saudi Arabian Oil Company | Kick detection using logging while drilling |
| CN111812721A (en) * | 2020-06-29 | 2020-10-23 | 中煤科工集团西安研究院有限公司 | Omnibearing advanced detection device and method for hidden water damage at bottom of drill hole |
| CN112560342A (en) * | 2020-12-15 | 2021-03-26 | 哈尔滨工程大学 | DNN-based atmospheric waveguide parameter estimation method |
| CN112670714B (en) * | 2020-12-17 | 2023-04-07 | 山东大学 | Four-direction monopole directional antenna system and method for borehole radar detection |
| CN112670714A (en) * | 2020-12-17 | 2021-04-16 | 山东大学 | Four-direction monopole directional antenna system and method for borehole radar detection |
| CN112731384A (en) * | 2020-12-24 | 2021-04-30 | 南阳理工学院 | Drilling geological detection system and actual measurement method for comprehensive breaking angle and collapse form of overburden rock |
| CN113589279A (en) * | 2021-07-16 | 2021-11-02 | 山东大学 | Phased array geological radar and method for detecting tunnel lining structure diseases |
| CN113960683B (en) * | 2021-09-18 | 2023-05-19 | 中铁西南科学研究院有限公司 | Horizontal hole in-hole detection device for advanced geological detection of tunnel |
| CN113960683A (en) * | 2021-09-18 | 2022-01-21 | 中铁西南科学研究院有限公司 | Horizontal hole in-hole detection device for tunnel advanced geological detection |
| CN115267764A (en) * | 2022-07-22 | 2022-11-01 | 北京超测智能系统有限公司 | Method and system for measuring electrode depth of submerged arc furnace |
| CN115267764B (en) * | 2022-07-22 | 2024-02-06 | 北京超测智能系统有限公司 | Method and system for measuring electrode depth of submerged arc furnace |
| CN118131229A (en) * | 2024-04-30 | 2024-06-04 | 中交第二公路勘察设计研究院有限公司 | Method for detecting geological radar in hole capable of distinguishing abnormal azimuth |
| CN118131229B (en) * | 2024-04-30 | 2024-07-12 | 中交第二公路勘察设计研究院有限公司 | Method for detecting geological radar in hole capable of distinguishing abnormal azimuth |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104698501B (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104698501A (en) | Single-hole directional detection radar antenna for tunnel advanced geological prediction | |
| CN110736458B (en) | Heading machine autonomous navigation system and method based on dead reckoning | |
| JP5501818B2 (en) | Tunnel face front exploration device | |
| CN106199594B (en) | It is equipped on the forward direction array radar forward probe system and method on TBM cutterheads | |
| CN104678453B (en) | Borehole radar antenna for tunnel geological detection detects servicing unit automatically | |
| CN103728668B (en) | A kind of single hole orientation geological radar for tunnel geological detection | |
| CN101482010A (en) | While-drilling multi-frequency direction induction resistivity survey instrument | |
| EP1301809B1 (en) | 3d-borehole radar antenna | |
| CN106338716A (en) | Three-coordinate radar technology based civil UAV (Unmanned Aerial Vehicle) capturing technology and system thereof | |
| CN102901962B (en) | Geological radar | |
| JP5271946B2 (en) | Tunnel face front exploration device | |
| CN111734491B (en) | Millimeter wave radar-based underground goaf rapid three-dimensional scanning modeling device and method | |
| CN104167606B (en) | Millimeter wave antenna centering control system | |
| CN203071235U (en) | Mine radio wave penetration system signal receiving loop antenna | |
| CN203838349U (en) | Single-hole directional geological radar used for tunnel advanced geological exploration | |
| CN112670714B (en) | Four-direction monopole directional antenna system and method for borehole radar detection | |
| CN103259101A (en) | Radio wave receiving antenna, receiving device, perspective system and detecting method | |
| CN112394337B (en) | Laser scanning detection device and method capable of adaptively adjusting scanning angle | |
| CN202444059U (en) | Radio wave receiving antenna, receiving device and perspective system | |
| CN115426001B (en) | Portable mobile low-frequency through-the-earth emergency communication device and application method thereof | |
| CN112392462A (en) | Receiving coil array for interlayer interface measurement and measurement system | |
| CN107907908B (en) | Method and device for three-dimensional exploration of minimum shock-distance elastic wave reflection by using drilling | |
| CN104793259A (en) | Vehicular full-section infrared detection advanced geological forecasting device and method for applying same | |
| CN115473033B (en) | Low-frequency through-the-earth communication equipment and system based on rotary magnetic antenna | |
| CN107191225A (en) | A kind of measuring system for coal mine roadway country rock ultrasound examination |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20150610 Assignee: Shandong Zhiyan Exploration Technology Co., Ltd. Assignor: Shandong University Contract record no.: 2019370000006 Denomination of invention: Single-hole directional detecting radar antenna for advance geology forecast of tunnel Granted publication date: 20170322 License type: Exclusive License Record date: 20190124 |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20220418 Address after: 250100 room 1002, floor 10, building a3-1, Hanyu Golden Valley, No. 7000, jingshidong Road, high tech Zone, Jinan, Shandong Province Patentee after: Shandong Zhiyan Exploration Technology Co.,Ltd. Address before: 250061, No. ten, No. 17923, Lixia District, Ji'nan City, Shandong Province Patentee before: SHANDONG University |
|
| TR01 | Transfer of patent right | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Shandong Zhiyan Exploration Technology Co.,Ltd. Assignor: SHANDONG University Contract record no.: 2019370000006 Date of cancellation: 20220507 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220512 Address after: 250100 Room 601, 6 / F, building a7-5, Hanyu Golden Valley, No. 7000, Jingshi Road, Jinan area, China (Shandong) pilot Free Trade Zone, Jinan City, Shandong Province Patentee after: Shandong bai20 Huitong Engineering Technology Co.,Ltd. Address before: 250100 room 1002, floor 10, building a3-1, Hanyu Golden Valley, No. 7000, jingshidong Road, high tech Zone, Jinan, Shandong Province Patentee before: Shandong Zhiyan Exploration Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |