CN105422174B - A kind of tunnel safety tool car with 3D holographic scanners - Google Patents
A kind of tunnel safety tool car with 3D holographic scanners Download PDFInfo
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- CN105422174B CN105422174B CN201510883578.0A CN201510883578A CN105422174B CN 105422174 B CN105422174 B CN 105422174B CN 201510883578 A CN201510883578 A CN 201510883578A CN 105422174 B CN105422174 B CN 105422174B
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- plc control
- tunnel
- control modules
- maintenance
- electric signal
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/122—Working or loading platforms
Abstract
The invention discloses a kind of tunnel safety tool car with 3D holography surface sweeping instrument, belong to technical field of engineering machinery, the tunnel safety tool car includes headstock, maintenance lifting platform and compartment；Lifting platform is repaired to be arranged between headstock and compartment.On the basis of said structure, examination and repair system and information acquisition system also add.Examination and repair system includes switch board, display screen, front distance sensor, rear range sensor, swivel bearing mechanism and detection means；Swivel bearing mechanism includes rotating shaft holder, electric rotating machine, rotary shaft and rotary support；Detection means is installed on the rotary shaft by bearing holder (housing, cover)；Information acquisition system includes Universal rotary support, 3D holographic scanners and information storage module.The present invention can be automatically and rapidly detection inner surface of tunnel there is crack or region the problems such as top layer comes off, while realizing rapid-maintenance, zonal 3D information gatherings are carried out to tunnel, foundation is provided for the later stage, so as to lift the effect of the efficiency of maintenance and information gathering and maintenance.
Description
The application is the Application No. 201410121950X submitted March 28 2014 applying date, entitled one kind
The divisional application of the Chinese invention patent application of tunnel safety tool car and detection method.
Technical field
The present invention relates to a kind of tunnel safety tool car with 3D holographic scanners, belong to technical field of engineering machinery.
Background technology
Tunnel is the engineering works being embedded in stratum, is a kind of form of human use's underground space.Tunnel due to
Geographical position is more complicated, and after long-time use, the problems such as crack or top layer come off occurs in the endosexine in tunnel, endangers passing
Vehicle, it is necessary to regularly carry out security information collection and maintenance.
In tunnel overhaul equipment, the common one kind of tool car.Existing tunnel overhaul car is mostly to increase in its compartment
Lowering or hoisting gear, maintenance personal climb up lowering or hoisting gear and carry out artificial information gathering and maintenance.Said structure, the tunnel of one kilometer of maintenance
Road generally requires the time of one month or so, extremely inefficient；Meanwhile the information gathering of maintenance personal can only often pass through camera
Either video camera is taken pictures or shot to the position locally to go wrong, and system can not be integrally carried out to tunnel
Information gathering, it is unfavorable for the analysis in later stage, so as to reduce the effect of the collection of security information.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of tunnel safety tool car and detection method, rapid-maintenance is being realized
Meanwhile realize the efficiency for the overall information gathering in tunnel, lifting maintenance and the effect of information gathering and maintenance.
To achieve the above object, the present invention includes headstock, maintenance lifting platform and compartment；Repair lifting platform be arranged on headstock with
Between compartment.On the basis of said structure, examination and repair system and information acquisition system also add.
Examination and repair system includes switch board, display screen, front distance sensor, rear range sensor, swivel bearing mechanism and inspection
Survey device；
Wherein, switch board is arranged on compartment, is divided into two layers up and down by dividing plate close to the side of headstock, switch board, upper strata
PLC control modules and power supply are provided with, PLC control modules are connected with mains electricity signal；Display screen is arranged on maintenance lifting platform
On maintaining support, the position of corresponding headstock rear view window, be connected with PLC control module electric signals, and control is sent by PLC control modules
System instruction；Front distance sensor and rear range sensor are separately mounted to the front and rear end surfaces of compartment side, control mould with PLC
Block electric signal connects, and sends control instruction by PLC control modules；
Swivel bearing mechanism includes rotating shaft holder, electric rotating machine, rotary shaft and rotary support；Rotating shaft holder is arranged on
The lower floor of switch board；Electric rotating machine is arranged on rotating shaft holder, and electric rotating machine motor switch is provided with electric rotating machine, is rotated
Motor powered switch is connected with PLC control module electric signals, and sends control instruction by PLC control modules；Rotary support is installed
In compartment tail end；Rotary shaft can 180 ° of rotations be arranged between rotating shaft holder and rotary support, it is uniform multiple in rotary shaft
Detection means；
By bearing holder (housing, cover) installation on the rotary shaft, bearing set upper side is mounted on connecting shaft to detection means, in connecting shaft
Motor switch is installed, motor switch is connected with PLC control module electric signals, and sends control instruction by PLC control modules, even
Spindle upper end is provided with electronics searchlight, and described electronics searchlight is connected with motor switch electric signal, electronics artificial moonlight
Button is provided with cross frame, and cross frame centre position is provided with range sensor, range sensor and PLC control module telecommunications
Number connection, and sends control instruction by PLC control modules；
Information acquisition system includes Universal rotary support, 3D holographic scanners and information storage module, 3D holographic scanners
The top of switch board is arranged on by Universal rotary support, 3D holographic scanners are connected with PLC control module electric signals, and by
PLC control modules send control instruction；Information storage module is arranged in switch board, is connected with PLC control module electric signals, and
Control instruction is sent by PLC control modules.
Further, in swivel bearing mechanism, rotating shaft holder and rotary support are separately mounted to control by electronics oil cylinder
On cabinet and compartment processed, electronics oil cylinder is connected with PLC control module electric signals.
Further, display screen is connected with PLC control module radio signals.
Further, matcoveredn is set on the outside of display screen.
Further, electronics searchlight is infrared electronic searchlight.
Further, size scale is carved with the outer surface of rotary shaft.
Further, alarm is installed, alarm is connected with PLC control module electric signals, and alarm is buzzing in headstock
Alarm.
Further, the detecting instruments such as camera, gas sensor are additionally provided with cross frame.
The detection method of above-mentioned tool car and operation principle are as follows：1）Leveling vehicle positions：Driver reaches tool car
Close to the centre position in tunnel portal region, now, the power supply in switch board is opened, longitudinal separation sensor is started working, and
The distance monitored is converted into signal and is sent in PLC control modules, data is further converted to and shows on a display screen,
Testing staff observes display screen, when the distance that front and rear range sensor detects is identical, driver by the rear view window of headstock
It is flame-out, the internal layer keeping parallelism in vehicle and tunnel.
2）Tunnel testing：PLC control modules can be according to the instruction unpack electric rotating machine motor switch stored in advance, electric rotating
Machine drives rotary shaft to start to rotate, and then drives the detection means covered in rotary shaft to be revolved by the rotary speed being previously set
Turn, the range sensor in detection means also detects in rotary course to the distance of inner surface of tunnel；When rotation extremely
There is crack or when top layer comes off in the inner surface of tunnel of a certain angle, and the distance of range sensor detection is inconsistent, now,
PLC control modules close electric rotating machine motor switch,, will be few according to simply principle is judged while stalling rotary shaft rotates
The electronic switch of detection means where the range sensor of the inconsistent distance of number is opened, and then opens electronics searchlight to occurring
The area illumination of problem, maintainer climb up maintenance lifting platform and overhauled.
3）Tunnel information gathers：While maintenance, the 3D holographic scanners above switch board are constantly in electric
State, and 360 ° of scanning is carried out under the drive of Universal rotary support, and the information of collection is stored by PLC control modules
In information storage module, the research for the later stage uses.
After the information gathering and detection of one's respective area terminate, driver starts tool car to drive towards next detection zone, enters
Information gathering and detection after row leveling vehicle, so repeatedly.
With reference to operation principle, there is crack or top layer and come off in the detection inner surface of tunnel that the present invention can be automatically and rapidly
The problems such as region, while realizing rapid-maintenance, zonal 3D information gatherings are carried out to tunnel, for the later stage provide according to
According to so as to lift the effect of the efficiency of maintenance and information gathering and maintenance.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is maintenance and the structural representation of information acquisition system；
Fig. 3 is the structural representation of apparatus for examination and repair；
Fig. 4 is the operation principle block diagram of the present invention.
In figure：1st, headstock, 2, display screen, 3, electric rotating machine motor switch, 4, switch board, 5, PLC control modules, 6, universal
Runing rest, 7,3D holographic scanners, 8, dividing plate, 9, power supply, 10, detection means, 11, rear range sensor, 12, electronics oil
Cylinder, 13, rotary support, 14, rotary shaft, 15, compartment, 16, rotating shaft holder, 17, electric rotating machine, 18, front distance sensor,
19th, repair lifting platform, 20, bearing holder (housing, cover), 21, motor switch, 22, connecting shaft, 23, electronics searchlight, 24, cross frame, 25, away from
From sensor.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of tunnel safety tool car, including headstock 1, maintenance lifting platform 19 and compartment 15；Maintenance lifting
Platform 19 is arranged between headstock 1 and compartment 15.On the basis of the above, with reference to shown in Fig. 2, in addition to examination and repair system and information gathering
System.
Examination and repair system includes switch board 4, display screen 2, front distance sensor 18, rear range sensor 11, swivel bearing machine
Structure and detection means 10；Wherein, switch board 4 is arranged on compartment 15, close to the side of headstock 1, and switch board 4 is divided by dividing plate 8 is
Upper and lower two layers, upper strata is provided with PLC control modules 5 and power supply 9, and PLC control modules 5 are connected with the electric signal of power supply 9；Display screen 2
On the maintaining support of maintenance lifting platform 20, the position of the corresponding rear view window of headstock 1, connect with the electric signal of PLC control modules 5
Connect；Front distance sensor 18 and rear range sensor 11 are separately mounted to the front and rear end surfaces of the side of compartment 15, are controlled with PLC
The electric signal of module 5 connects.
Swivel bearing mechanism includes rotating shaft holder 16, electric rotating machine 17, rotary shaft 14 and rotary support 13；Swivel bearing
Seat 16 is arranged on the lower floor of switch board 4；Electric rotating machine 17 is arranged on rotating shaft holder 16, and rotation is provided with electric rotating machine 18
Motor powered switch 3, electric rotating machine motor switch 3 is connected with the electric signal of PLC control modules 5；Rotary support 13 is arranged on compartment
15 tail ends；Rotary shaft 14 can 180 ° of rotations be arranged between rotating shaft holder 16 and rotary support 13, it is uniform in rotary shaft 15
Multiple detection means 10.
As shown in figure 3, detection means 10 is arranged in rotary shaft 14 by bearing holder (housing, cover) 20, the upper end of bearing holder (housing, cover) 20 is respectively mounted
There is connecting shaft 22, motor switch 21 is installed in connecting shaft 22, motor switch 21 is connected with the electric signal of PLC control modules 5, connection
The upper end of axle 22 is provided with electronics searchlight 23, and electronics searchlight 23 is connected with the electric signal of motor switch 21, and electronics searchlight 23 shines
Bright button is provided with cross frame 24, and the centre position of cross frame 24 is provided with range sensor 25, and range sensor 25 and PLC is controlled
The electric signal of molding block 5 connects.
Information acquisition system includes Universal rotary support 6,3D holographic scanners 7 and information storage module, 3D holoscans
Instrument 7 is arranged on the top of switch board 4 by Universal rotary support 6, and 3D holographic scanners 7 connect with the electric signal of PLC control modules 5
Connect；Information storage module is arranged in switch board 4, is connected with the electric signal of PLC control modules 5.
Further improved as of the invention, in swivel bearing mechanism, rotating shaft holder 16 and rotary support 13 pass through
Electronics oil cylinder 12 is separately mounted on switch board 4 and compartment, and electronics oil cylinder 12 is connected with the electric signal of PLC control modules 5.It is above-mentioned
Design can adjust the height of detection, improve the free degree and effect of detection.
As further improvement of the invention, display screen 2 is connected with the radio signal of PLC control modules 5, it is ensured that signal
Transmission is stable.
As further improvement of the invention, the outside of display screen 2 sets matcoveredn, and display screen 2 is protected not in maintenance
It can cause to damage because of extraneous factor.
As further improvement of the invention, electronics searchlight 23 is infrared electronic searchlight, improves the effect of searchlighting,
It is easy to repair.
As further improvement of the invention, size scale is carved with the outer surface of rotary shaft 15, for uniformly setting rotation
Rotating shaft 15.
As further improvement of the invention, alarm, alarm and the electric signal of PLC control modules 5 are installed in headstock 1
Connection, alarm is buzzer siren, improves the security of detection.
As further improvement of the invention, the detectors such as camera, gas sensor are additionally provided with cross frame 24
Device, further improve the quality of detection.
With reference to shown in Fig. 4, detection method of the invention is as follows：
1）Leveling vehicle positions：After tool car enters tunnel, driver reaches tool car close to tunnel portal region
Centre position, now, open the power supply 9 in switch board 4, longitudinal separation sensor is started working, and the distance that will be monitored
It is converted into signal and is sent in PLC control modules 5, is further converted to data and shows that on the display screen 2, testing staff passes through
Headstock 1 rear view window observation display screen 2, when the distance that front and rear range sensor detects is identical, driver stops working, vehicle with
The internal layer keeping parallelism in tunnel.
2）Tunnel testing：After the completion of leveling, PLC control modules 5 can be electromechanical according to the instruction unpack electric rotating stored in advance
Dynamic switch 3, electric rotating machine 17 drive rotary shaft 14 to start to rotate, and then drive the detection means 10 covered in rotary shaft 14 by prior
The rotary speed set is rotated, and the range sensor 25 in detection means 10 is also in rotary course to inner surface of tunnel
Distance detected；When there is crack or when top layer comes off in the inner surface of tunnel in rotation to a certain angle, Distance-sensing
The distance that device 25 detects is inconsistent, and now, PLC control modules 5 close electric rotating machine motor switch 3, and stalling rotary shaft 14 rotates
While, according to simply principle is judged, by the electronics of the detection means where the range sensor 25 of a small number of inconsistent distances
Switch is opened, and then opens electronics 23 area illumination to going wrong of searchlight, and maintainer climbs up maintenance lifting platform and carried out
Maintenance.
3）Tunnel information gathers：While maintenance, the 3D holographic scanners 7 above switch board 4 are constantly in
Electricity condition, and 360 ° of scanning is carried out under the drive of Universal rotary support 6, and the information of collection is passed through into PLC control modules 5
It is stored in information storage module, the research for the later stage uses.
After the information gathering and detection of one's respective area terminate, driver starts tool car to drive towards next detection zone, enters
Information gathering and detection after row leveling vehicle, so repeatedly.
In summary, crack, which occurs, in the detection inner surface of tunnel that the present invention can be automatically and rapidly or top layer comes off etc. asks
The region of topic, while realizing rapid-maintenance, zonal 3D information gatherings are carried out to tunnel, foundation is provided for the later stage, from
And lift the efficiency of maintenance and the effect of information gathering and maintenance.
Claims (4)
1. a kind of tunnel safety tool car with 3D holographic scanners, the tool car include headstock（1）, maintenance lifting platform（19）
And compartment（15）；Repair lifting platform（19）Installed in headstock（1）With compartment（15）Between, it is characterised in that：Also include maintenance system
System and information acquisition system；
Described examination and repair system includes switch board（4）, display screen（2）, front distance sensor (18), rear range sensor (11),
Swivel bearing mechanism and detection means（10）；
Wherein, switch board（4）Installed in compartment（15）Upper, close headstock（1）Side, switch board（4）By dividing plate（8）It is divided into
Lower two layers, upper strata is provided with PLC control modules（5）And power supply（9）, described PLC control modules（5）With power supply（9）Electric signal
Connection；Described display screen（2）Installed in maintenance lifting platform（19）Maintaining support on, corresponding headstock（1）The position of rear view window,
With PLC control modules（5）Electric signal connects；Described front distance sensor (18) and rear range sensor (11) is separately mounted to
Compartment（15）The front and rear end surfaces of side, with PLC control modules（5）Electric signal connects；
Described swivel bearing mechanism includes rotating shaft holder（16）, electric rotating machine（17）, rotary shaft（14）And rotary support
（13）；Described rotating shaft holder（16）Installed in switch board（4）Lower floor；Electric rotating machine（17）Installed in rotating shaft holder
（16）On, electric rotating machine（17）On electric rotating machine motor switch is installed（3）, electric rotating machine motor switch（3）Mould is controlled with PLC
Block（5）Electric signal connects；Described rotary support（13）Installed in compartment（15）Tail end；Described rotary shaft（14）Can 180 ° of rotations
What is turned is arranged on rotating shaft holder（16）And rotary support（13）Between, rotary shaft（14）Upper uniform multiple detection means（10）；
Described detection means（10）Pass through bearing holder (housing, cover)（20）Installed in rotary shaft（14）On, bearing holder (housing, cover)（20）Upper end is respectively mounted
There is connecting shaft（22）, connecting shaft（22）On motor switch is installed（21）, described motor switch（21）With PLC control modules
（5）Electric signal connects, described connecting shaft（22）Upper end is provided with electronics searchlight（23）, described electronics searchlight（23）With
Motor switch（21）Electric signal connects, described electronics searchlight（23）Illumination button is provided with cross frame（24）, cross frame
（24）Centre position is provided with range sensor（25）, described range sensor（25）With PLC control modules（5）Electric signal connects
Connect；
Described information acquisition system includes Universal rotary support（6）, 3D holographic scanners（7）It is described with information storage module
3D holographic scanners（7）Pass through Universal rotary support（6）Installed in switch board（4）Top, 3D holographic scanners（7）With
PLC control modules（5）Electric signal connects；Described information storage module is arranged on switch board（4）In, with PLC control modules（5）
Electric signal connects；
Described headstock（1）In alarm is installed, described alarm and PLC control modules（5）Electric signal connects, alarm
For buzzer siren；
Described display screen（2）Outside sets matcoveredn；
Described electronics searchlight（23）For infrared electronic searchlight.
2. tool car according to claim 1, it is characterised in that：Described rotary shaft（14）Outer surface be carved with size quarter
Degree.
3. tool car according to claim 1, it is characterised in that：Described cross frame（24）On be additionally provided with camera
And gas sensor.
4. according to any one of claim 1-3 tool car, specific detection method is as follows：
1）Leveling vehicle positions：Driver reaches tool car close to the centre position in tunnel portal region, now, opens control
Cabinet（4）In power supply（9）, front distance sensor（18）With rear range sensor（11）Start working, and the distance that will be monitored
It is converted into signal and is sent to PLC control modules（5）In, it is further converted to data and is shown in display screen（2）On, testing staff
Pass through headstock（1）Rear view window observation display screen（2）, current distance sensor（18）With rear range sensor（11）Detect
Apart from it is identical when, driver stops working, the internal layer keeping parallelism in vehicle and tunnel；
2）Tunnel testing：PLC control modules（5）According to the instruction unpack electric rotating machine motor switch stored in advance（3）, electric rotating
Machine（17）Drive rotary shaft（14）Start to rotate, and then drive rotary shaft（14）The detection means of upper set（10）By being previously set
Rotary speed rotated, detection means（10）On range sensor (25) also in rotary course to inner surface of tunnel
Distance is detected；When there is crack or when top layer comes off in the inner surface of tunnel in rotation to a certain angle, range sensor
（25）The distance of detection is inconsistent, now, PLC control modules（5）Close electric rotating machine motor switch（3）, stall rotary shaft
（14）While rotation, according to simply principle is judged, by the range sensor of a small number of inconsistent distances（25）The detection at place
The motor switch of device is opened, and then opens electronics searchlight（23）To the area illumination to go wrong, maintainer climbs up dimension
Lifting platform is repaiied to be overhauled；
3）Tunnel information gathers：While maintenance, in switch board（4）The 3D holographic scanners of top（7）It is constantly in
Electricity condition, and in Universal rotary support（6）Drive under carry out 360 ° of scanning, and the information of collection is controlled into mould by PLC
Block（5）It is stored in information storage module, the research for the later stage uses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510883578.0A CN105422174B (en) | 2014-03-28 | 2014-03-28 | A kind of tunnel safety tool car with 3D holographic scanners |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410121950.XA CN103912281B (en) | 2014-03-28 | 2014-03-28 | A kind of tunnel overhaul car and detection method |
| CN201510883578.0A CN105422174B (en) | 2014-03-28 | 2014-03-28 | A kind of tunnel safety tool car with 3D holographic scanners |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410121950.XA Division CN103912281B (en) | 2014-03-28 | 2014-03-28 | A kind of tunnel overhaul car and detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105422174A CN105422174A (en) | 2016-03-23 |
| CN105422174B true CN105422174B (en) | 2018-02-09 |
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| CN201410121950.XA Expired - Fee Related CN103912281B (en) | 2014-03-28 | 2014-03-28 | A kind of tunnel overhaul car and detection method |
| CN201510885972.8A Expired - Fee Related CN105422175B (en) | 2014-03-28 | 2014-03-28 | A kind of detection method of the tunnel safety tool car with illumination functions |
| CN201510883578.0A Active CN105422174B (en) | 2014-03-28 | 2014-03-28 | A kind of tunnel safety tool car with 3D holographic scanners |
| CN201510884531.6A Expired - Fee Related CN105350979B (en) | 2014-03-28 | 2014-03-28 | A kind of detection method of the tunnel safety tool car with warning function |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410121950.XA Expired - Fee Related CN103912281B (en) | 2014-03-28 | 2014-03-28 | A kind of tunnel overhaul car and detection method |
| CN201510885972.8A Expired - Fee Related CN105422175B (en) | 2014-03-28 | 2014-03-28 | A kind of detection method of the tunnel safety tool car with illumination functions |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510884531.6A Expired - Fee Related CN105350979B (en) | 2014-03-28 | 2014-03-28 | A kind of detection method of the tunnel safety tool car with warning function |
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| CN103912281B (en) * | 2014-03-28 | 2016-01-27 | 宋金博 | A kind of tunnel overhaul car and detection method |
| CN104865355A (en) * | 2015-06-13 | 2015-08-26 | 安徽圣力达电器有限公司 | Tunnel detection device |
| CN105372391A (en) * | 2015-10-27 | 2016-03-02 | 广西大学 | Ceiling crack detection device |
| CN106197542A (en) * | 2016-07-10 | 2016-12-07 | 安徽省挺辉钢管有限公司 | Tunnel detector |
| CN106657764B (en) * | 2016-10-14 | 2019-08-09 | 山西省交通科学研究院 | A kind of vehicular adjusting platform and its implementation method for tunnel Image Acquisition |
| CN109143936B (en) * | 2018-10-09 | 2021-02-26 | 陕西海嵘工程试验检测股份有限公司 | Tunnel detection vehicle control system with bus control and communication functions |
| CN109131017A (en) * | 2018-10-29 | 2019-01-04 | 重庆切克威科技有限公司 | A kind of front open type detection cabin of tunnel Quick Test Vehicle |
| CN109649421B (en) * | 2018-12-21 | 2021-02-05 | 上海隧道工程质量检测有限公司 | Tunnel quality detects with detecting car |
| CN109488358A (en) * | 2018-12-29 | 2019-03-19 | 华晋焦煤有限责任公司 | Movable-type intelligent advance support system and method for protecting support |
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- 2014-03-28 CN CN201510885972.8A patent/CN105422175B/en not_active Expired - Fee Related
- 2014-03-28 CN CN201510883578.0A patent/CN105422174B/en active Active
- 2014-03-28 CN CN201510884531.6A patent/CN105350979B/en not_active Expired - Fee Related
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105350979A (en) | 2016-02-24 |
| CN105422174A (en) | 2016-03-23 |
| CN105422175B (en) | 2017-11-03 |
| CN103912281B (en) | 2016-01-27 |
| CN103912281A (en) | 2014-07-09 |
| CN105350979B (en) | 2017-09-15 |
| CN105422175A (en) | 2016-03-23 |
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