CN106019398A - Detecting device, detecting system and detecting method for exploring internal structure of cave - Google Patents
Detecting device, detecting system and detecting method for exploring internal structure of cave Download PDFInfo
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- CN106019398A CN106019398A CN201610361295.4A CN201610361295A CN106019398A CN 106019398 A CN106019398 A CN 106019398A CN 201610361295 A CN201610361295 A CN 201610361295A CN 106019398 A CN106019398 A CN 106019398A
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- laser ranging
- solution cavity
- rotation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a detecting device, a detecting system and a detecting method for exploring the internal structure of a cave, relating to the technical field of cave detection. The device comprises: a housing with a 360-degree panoramic window; a laser range finder installed inside the housing, a laser beam transmitting end of the laser range finder being opposite to the panoramic window; a rotary encoder installed inside the housing; an azimuth measuring device installed inside the housing; and a controller installed inside the housing. The laser range finder, the rotary encoder and the azimuth measuring device are connected with the controller separately. The device can explore an internal image of the cave, synthesizes a three-dimensional rendering of the inside of the cave, and is small in size and high in efficiency.
Description
Technical field
The present invention relates to CAVE DETECTION technical field, be particularly used for exploring the detection device of solution cavity internal structure, spy
Examining system and detection method.
Background technology
During building highway bridge and railway, the highway bridge that lava area is built gets more and more.Lava is stone
The solubility rock stratum such as limestone, dolomite, Gypsum Fibrosum, rock salt through long-term water erosion effect, fluid bowl that gradually corrosion is formed, lapies or
Solution cavity, its irregular distribution can follow.The supporting course of Calx lava area bridge pile foundation is limestone, and rock matter is the hardest, rock
Crack, solution cavity, fluid bowl, stalagmite development in Ceng, scar inclination angle is big and irregular, brings the biggest difficulty to construction, if processing not
When, often cause brill, bit freezing, the accidents such as hammer, plum blossom hole, spillage, collapse hole of burying to occur, even threaten bridge operation safety.
Therefore whether there is solution cavity in place of typically requiring exploratory bore-hole in advance, and need to detect the internal structure of solution cavity, present stage leads to
The exploitation method often used includes Advance Drilling, geophysical exploration, electromagnetic wave chromatography CT detection, three high" measurement technology etc..Existing
The exploitation method having technology can only judge the presence or absence of solution cavity mostly, can not determine internal structure and the size of solution cavity.
But the exploitation method of prior art can not be fully understood by the law of development of their location, Bridge Pile position solution cavity, grown form,
Charges character etc. in scale, solutional cavity roof strata thickness, integrity, hole, it is impossible to evaluate the stability of karst foundation, nothing
Method takes prophylactico-therapeutic measures steadily in work progress, it is impossible to ensure construction be smoothed out, bridge operation safety.
Summary of the invention
For defect present in prior art, it is an object of the invention to provide a kind of for exploring solution cavity internal structure
Detection device, detection system and detection method, it is possible in real time exploration solution cavity internal image, the internal 3D effect figure of synthesis solution cavity,
There is the advantage that volume is little, efficiency is high.
For reaching object above, the present invention adopts the technical scheme that:
A kind of detection device for exploring solution cavity internal structure, including:
Shell body, described shell body is provided with 360 ° and looks around window；
Laser ranging system, described laser ranging system is installed in described shell body, swashing of described laser ranging system
Light beam issuing side is with described to look around window relative；
Rotary encoder, described rotary encoder is installed in described shell body；
Azimuthal measurement apparatus, described azimuthal measurement apparatus is installed in described shell body；
Controller, described controller is installed in described shell body, described laser ranging system, rotary encoder and orientation
Measurement apparatus is connected with described controller respectively.
On the basis of technique scheme, described laser ranging system, including:
Drive division, described drive division is installed in described shell body, and described drive division is connected with described controller signals；
Laser ranging module, described laser ranging module is connected with described drive division, and described drive division drives described laser
Range finder module 360 ° rotation, and described laser ranging module is connected with described controller.
On the basis of technique scheme, described laser ranging system also includes photographic head and LED ring lamp, described laser
Range finder module is provided with shooting fixture away from one end of described drive division, and described photographic head is fixed on described shooting fixture,
Described photographic head is near the circumferentially disposed described LED ring lamp of one side periphery of described shooting fixture.
On the basis of technique scheme, in described shell body, it is provided with installing plate and rotary support seat, described installation
Installing described drive division and described rotary encoder on plate, described rotary support seat is provided with towards the one side of described installing plate
Gear pair, the outfan of described drive division connects described gear pair, and described rotary support seat is provided with rotating shaft, and described rotating shaft is close
One end of described rotary support seat connects described gear pair, and the other end of described rotating shaft connects described laser ranging module.
On the basis of technique scheme, described shell body includes upper shell, middle casing and the lower casing being sequentially connected
Body, described upper shell is provided with back seat away from one end of described middle casing, and described back seat is provided with plug suit, described lower casing
Body has shading protecgulum away from one end of described middle casing, described in look around window and be arranged on described lower house.
On the basis of technique scheme, described upper shell, described middle casing and described lower house the most cylindrically,
Described upper shell, described middle casing and described lower house are coaxially disposed, and described lower house is optical glass pipe.
On the basis of technique scheme, for exploring the detection system of the detection device of solution cavity internal structure, including:
Laser ranging system, described laser ranging system between Laser Measurement range unit and solution cavity inwall away from
From；
Rotary encoder, described rotary encoder is for measuring the anglec of rotation of described laser ranging system；
Azimuthal measurement apparatus, described azimuthal measurement apparatus is for surveying the amount detector anglec of rotation in magnetic field of the earth；
Controller, described laser ranging system, described rotary encoder, described azimuthal measurement apparatus respectively with described control
Device is connected；
Host computer, described host computer is connected with described controller communication.
On the basis of technique scheme, described azimuthal measurement apparatus is ten shaft core sheets.
On the basis of technique scheme, for exploring the detection method of the detection system of solution cavity internal structure, will survey
Examination cable connects detection device and puts into solution cavity to be measured, and test cable successively transfers detection device, the built-in length of test cable
Calculate detection device and be positioned at the depth H of solution cavitym；
Detection device is in each depth HmUnder, laser ranging system 360 ° rotates in a circumferential direction and measures between itself and solution cavity inwall
Distance Lmn, the anglec of rotation of rotary encoder Laser Measurement range unit i.e. relative rotation angle α ' simultaneouslymn, orientation is surveyed simultaneously
Amount measurement device laser ranging system is at relative rotation angle α 'mnTime lower, the detection device anglec of rotation in magnetic field of the earth is i.e.
Magnetic field rotating angle, θmn, and detection device is at the same degree of depth and same relative rotation angle α 'mnUnder, laser ranging system is repeatedly
Measure distance L between itself and solution cavity inwallmn；
Relative rotation angle α ' is carried out according to updating formulamnCorrection, the following α of updating formulamn=α 'mn-θmn-β ± 360 °,
Wherein αmnFor the laser ranging system anglec of rotation in magnetic field of the earth, β is between rotary encoder and azimuthal measurement apparatus
Fixed angle, and 360 ° of ＞ β >=0 °；
The laser ranging system after correction anglec of rotation α in magnetic field of the earthmnWith laser ranging system and solution cavity inwall
Between distance LmnCarrying out Data Integration, the meeting point after integration is (Lmn, αmn, Hm), to same depth HmWith the same anglec of rotation
Degree αmnUnder some meeting points carry out data screening, obtain same depth H after screeningmWith same anglec of rotation αmnUnder unique collection
Chalaza isWhereinDistance L after data screening, between some laser ranging systems and solution cavity inwallmn
Meansigma methods；
According to the unique set point after screeningGenerate the actual three-dimensional coordinate meeting point of solution cavity inwallAll three-dimensional coordinate meeting points of the same degree of depth are connected and generates three-dimensional object model
Tomography, combines the three-dimensional object model figure generated within solution cavity by the tomography of each degree of depth.
On the basis of technique scheme, wherein, the step of data screening is as follows,
S1, by each degree of depth meeting point (L planarmn, αmn, Hm) according to anglec of rotation αmnSize is from small to large
Arrangement；
S2, to same anglec of rotation αmnUnder some laser ranging systems and solution cavity inwall between distance LmnIt is averaging
ValueWhereinFor distance L between some Laser Measurement range units and the solution cavity inwall before data screeningmnAverage
Value, ifThis meeting point is abnormity point, then reject this abnormity point；
S3, by same anglec of rotation α after S2 rejecting abnormalities pointmnTarget is measured in dry measure optical range finding apparatus under and if solution cavity
Between distance LmnAverageObtain same anglec of rotation α on same planemnOn unique set point
Compared with prior art, it is an advantage of the current invention that:
(1) the detection device being used for exploring solution cavity internal structure of the present invention includes shell body and is arranged at inside shell body
Laser ranging system, rotary encoder and azimuthal measurement module, the compact of this device, can along below boring in solution cavity
Goaf in, and the sealing water resistance of shell body is higher, applied widely, service life is long.It is provided with in shell body and takes the photograph
As head, photographic head can be with scene in Real Time Observation hole, and laser ranging module can be with 360 ° of rotations, it is achieved comprehensive scanning,
Multiple-Scan in same aspect, it is ensured that measuring without dead angle, finding range is big, and certainty of measurement is high.
(2) present invention for the detection system exploring solution cavity internal structure include laser ranging system, rotary encoder,
Azimuthal measurement module, controller and host computer, and laser ranging system, rotary encoder and azimuthal measurement module are equal and controller
Being connected, this system the solution cavity of laser scanning can be chromatographed interior shape and size is measured in real time, and accurately exploration is circulated
The degree of depth and interior shape, effectively reduce disposal costs.
(3) detection method for exploring solution cavity internal structure of the present invention is through data acquisition, data storage, data reduction
And Data Profile, eventually through calling MeshGeometry3D class, synthesizing three-dimensional body, the present invention is surveyed by azimuthal measurement module
The relative rotation angle that rotary encoder is recorded by the magnetic field rotating angle obtained is corrected, and improves the essence of measurement data further
Degree and accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation detecting device in the embodiment of the present invention.
Fig. 2 is the structured flowchart of control system in the embodiment of the present invention.
Fig. 3 is the flow chart of control method in the embodiment of the present invention
In figure: 10-shell body, 11-upper shell, 12-middle casing, 13-lower house, 14-protecgulum, 15-back seat, 16-electricity
Cable union joint, 17-plug is set with, 20-laser ranging system, 21-motor, 22-rotating shaft, 23-installing plate, 24-rotary support seat,
25-gear pair, 26-collector ring, 27-laser ranging module, 28-LED ring lamp, 29-photographic head, 30-rotary encoder, 40-side
Level measuring arrangement, 50-controller, 60-host computer.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Seeing shown in Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of detection device for exploring solution cavity internal structure,
Including:
Shell body 10, shell body 10 includes upper shell 11, middle casing 12 and the lower house 13 that thread seal connects successively,
The most cylindrically, upper shell 11, middle casing 12 and lower house 13 coaxially set for upper shell 11, middle casing 12 and lower house 13
Put.Upper shell 11 is provided with back seat 15 away from one end of middle casing 12, back seat 15 is provided with plug suit 17, back seat 15 away from
One end of upper shell 11 is provided with threaded cable connector 16.Before lower house 13 has shading away from one end of middle casing 12
Cover 14, and lower house 13 is optical glass pipe.The optical glass pipe of shell body 10 forms 360 ° and looks around window.
Laser ranging system 20, comprising: motor 21, upper shell 11 is provided with peace inside the side of middle casing 12
Dress plate 23, motor 21 is installed on installing plate 23 towards on the one side of back seat 15, and motor 21 is connected with controller 50 signal, control
Device 50 controls the velocity of rotation of motor 21.Middle casing 12 is provided with rotary support seat 24, rotary support seat 24 and installing plate 23
All being coaxially disposed with shell body 10, the one side that rotary support seat 24 is relative with installing plate 23 is provided with gear pair 25, motor 21
Outfan connect gear pair 25, motor 21 driven gear secondary 25 rotates.Gear pair 25 connects rotating shaft 22, and rotating shaft 22 is along shell
The axis of body 10 is arranged, and one end of rotating shaft 22 is connected by thrust ball bearing with installing plate 23, and the other end of rotating shaft 22 is positioned at
In lower house 13.
Laser ranging module 27, laser ranging module 27 is installed in lower house 13, and laser ranging module 27 and rotating shaft
22 is affixed, rotating shaft 22 drive laser ranging module 27 along 360 ° of the axis rotation of shell body 10, and laser ranging module 27 and rotation
Turning to support and be provided with collector ring 26 between seat 24, collector ring 26 is coaxial with shell body 10.
Laser ranging module 27 is provided with shooting fixture away from one end of motor 21, and photographic head 29 is fixed on shooting fixture
On, photographic head 29 is near the one side periphery circumferentially disposed LED ring lamp 28 of shooting fixture.Wherein, photographic head 29 is fish eye lens.
Rotary encoder 30, rotary encoder 30 is installed on the installing plate 23 one side towards base 15, rotary encoder 30
It is set up in parallel with motor 21.
Azimuthal measurement apparatus 40, azimuthal measurement apparatus 40 is installed on rotary support seat 24 towards the one of laser ranging module 27
Side；Azimuthal measurement apparatus 40 is ten shaft core sheets.
Controller 50, controller 50 is installed on the rotary support seat 24 one side towards laser ranging module 27, Laser Measuring
It is connected with controller 50 respectively with azimuthal measurement apparatus 40 away from device 20, rotary encoder 30.
Shown in Figure 2, for exploring the detection system of the detection device of solution cavity internal structure, including:
Laser ranging system 20, laser ranging system 20 is for 360 ° of Laser Measurement range units of hoop 20 and solution cavity inwall
Between distance；
Rotary encoder 30, rotary encoder 30 is for the relative rotation angle of Laser Measurement range unit 20；
Azimuthal measurement apparatus 40, azimuthal measurement apparatus 40 is for surveying amount detector magnetic field rotating angle in magnetic field of the earth
Degree；
Controller 50, laser ranging system 20, rotary encoder 30, azimuthal measurement apparatus 40 respectively with controller 50 phase
Even；
Host computer 60, host computer 60 is connected with controller 50.
Shown in Figure 3, for exploring the detection method of the detection system of solution cavity internal structure, comprise the steps:
Step 1, connects test cable detection device and puts into solution cavity to be measured, test cable successively lower section detection device,
The built-in length of test cable is calculated detection device and is positioned at the depth H of solution cavitym；
Step 2, data acquisition: detection device is in each depth HmUnder, laser ranging system 20 360 ° rotates in a circumferential direction measurement
Distance L between itself and solution cavity inwallmn, the anglec of rotation of rotary encoder 30 Laser Measurement range unit 20 rotation the most relatively simultaneously
Gyration α 'mn, azimuthal measurement apparatus 40 Laser Measurement range unit 20 is at relative rotation angle α ' simultaneouslymnTime lower, detect device
The anglec of rotation in magnetic field of the earth i.e. magnetic field rotating angle, θmn, and detection device is in the same degree of depth and same relative rotation angle
α′mnUnder, distance L between laser ranging system 20 repetitive measurement itself and solution cavity inwallmn；
Step 3, relative rotation angle corrects: carry out relative rotation angle α ' according to updating formulamnCorrection, updating formula is such as
Lower αmn=α 'mn-θmn-β ± 360 °, wherein αmnFor the laser ranging system 20 anglec of rotation in magnetic field of the earth, β compiles for rotating
Fixed angle between code device 30 and azimuthal measurement apparatus 40, and 360 ° of ＞ β >=0 °；
Step 4, data screening: anglec of rotation α in magnetic field of the earth of the laser ranging system 20 after correctionmnWith Laser Measuring
Distance L between device 20 and solution cavity inwallmnCarrying out Data Integration, the meeting point after integration is (Lmn, αmn, Hm), to same
Depth HmWith same anglec of rotation αmnUnder some meeting points carry out data screening；
Wherein, the step of data screening is as follows,
S1, by all meeting point (L in each depth planemn, αmn, Hm) according to anglec of rotation αmnSize is from small to large
Arrangement；
S2, to same anglec of rotation αmnUnder some laser ranging systems 20 and solution cavity inwall between distance LmnAsk flat
AverageWhereinFor distance L between the some laser ranging systems of data screening (20) and solution cavity inwallmnMeansigma methods,
IfThis meeting point is abnormity point, then reject this abnormity point；
S3, by same anglec of rotation α after S2 rejecting abnormalities pointmnMesh is measured in dry measure optical range finding apparatus under and if solution cavity
Distance L between markmnAverageObtain same anglec of rotation α on same planemnOn unique set point
S4, repeats step S2 and S3 obtains each anglec of rotation α in same depth planemnOn unique set point；
S5, repeats the meeting point of all depth plane in step S4 obtains solution cavity.
Step 5, Data Profile, corresponding unique of each anglec of rotation in each depth plane after screening according to step 4
Meeting pointGenerate the actual three-dimensional coordinate meeting point of solution cavity inwallAnd
Call MeshGeometry3D class, according to depth HmScreening, the meeting point of distribution Different Plane, the meeting point of adjacent two layers is pressed
According to direction order, use triangle gridding distribution that all three-dimensional coordinate meeting points of all of same degree of depth couple together formation one
The tomography of individual three-dimensional object model, combines the three-dimensional object model figure generated within solution cavity by the tomography of all degree of depth.
The present invention is not limited to above-mentioned embodiment, for those skilled in the art, without departing from
On the premise of the principle of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also considered as the protection of the present invention
Within the scope of.The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (10)
1. the detection device being used for exploring solution cavity internal structure, it is characterised in that including:
Shell body (10), described shell body (10) is provided with 360 ° and looks around window；
Laser ranging system (20), described laser ranging system (20) is installed in described shell body (10), described laser ranging
The laser beam issuing side of device (20) is with described to look around window relative；
Rotary encoder (30), described rotary encoder (30) is installed in described shell body (10)；
Azimuthal measurement apparatus (40), described azimuthal measurement apparatus (40) is installed in described shell body (10)；
Controller (50), described controller (50) is installed in described shell body (10), described laser ranging system (20), rotation
Encoder (30) is connected with described controller (50) respectively with azimuthal measurement apparatus (40).
2. the detection device for exploring solution cavity internal structure as claimed in claim 1, it is characterised in that described laser ranging
Device (20), including:
Drive division, described drive division is installed in described shell body (10), and described drive division is with described controller (50) signal even
Connect；
Laser ranging module (27), described laser ranging module (27) is connected with described drive division, and described drive division drives described
Laser ranging module (27) 360 ° rotation, and described laser ranging module (27) is connected with described controller (50).
3. the detection device for exploring solution cavity internal structure as claimed in claim 2, it is characterised in that: described laser ranging
Device (20) also includes photographic head (29) and LED ring lamp (28), and described laser ranging module (27) is away from the one of described drive division
End is provided with shooting fixture, and described photographic head (29) is fixed on described shooting fixture, and described photographic head (29) is near described
Circumferentially disposed described LED ring lamp (28) of one side periphery of shooting fixture.
4. the detection device for exploring solution cavity internal structure as claimed in claim 2, it is characterised in that: described shell body
(10) being provided with installing plate (23) and rotary support seat (24) in, described installing plate (23) is upper installs described drive division and described rotation
Turning encoder (30), described rotary support seat (24) is provided with gear pair (25), institute towards the one side of described installing plate (23)
The outfan stating drive division connects described gear pair (25), and described rotary support seat (24) is provided with rotating shaft (22), described rotating shaft
(22) connecting described gear pair (25) near one end of described rotary support seat (24), the other end of described rotating shaft (22) connects institute
State laser ranging module (27).
5. the detection device for exploring solution cavity internal structure as claimed in claim 1, it is characterised in that: described shell body
(10) including upper shell (11), middle casing (12) and the lower house (13) being sequentially connected, described upper shell (11) is away from described
One end of middle casing (12) is provided with back seat (15), and described back seat (15) is provided with plug suit (17), described lower house
(13) there is shading protecgulum (14) one end away from described middle casing (12), described in look around window and be arranged at described lower house (13)
On.
6. the detection device for exploring solution cavity internal structure as claimed in claim 5, it is characterised in that: described upper shell
(11), described middle casing (12) and described lower house (13) the most cylindrically, described upper shell (11), described middle casing
(12) it is coaxially disposed with described lower house (13), and described lower house (13) is optical glass pipe.
7. the detection system of the detection device for exploring solution cavity internal structure as described in any one of claim 1 to 6, it is special
Levy and be, including:
Laser ranging system (20), described laser ranging system (20) for Laser Measurement range unit (20) and solution cavity inwall it
Between distance；
Rotary encoder (30), described rotary encoder (30) is used for measuring the anglec of rotation of described laser ranging system (20)；
Azimuthal measurement apparatus (40), described azimuthal measurement apparatus (40) is for surveying the amount detector anglec of rotation in magnetic field of the earth
Degree；
Controller (50), described laser ranging system (20), described rotary encoder (30), described azimuthal measurement apparatus (40) point
It is not connected with described controller (50)；
Host computer (60), described host computer (60) is connected with described controller (50) communication.
8. the detection method of the detection system for exploring solution cavity internal structure as claimed in claim 7, it is characterised in that: institute
Stating azimuthal measurement apparatus (40) is ten shaft core sheets.
9. the detection method of the detection system for exploring solution cavity internal structure as claimed in claim 7, it is characterised in that:
Test cable connecting detection device and puts into solution cavity to be measured, test cable successively transfers detection device, test cable
Built-in length calculates detection device and is positioned at the depth H of solution cavitym；
Detection device is in each depth HmUnder, laser ranging system (20) 360 ° rotates in a circumferential direction and measures between itself and solution cavity inwall
Distance Lmn, the anglec of rotation of rotary encoder (30) Laser Measurement range unit (20) i.e. relative rotation angle α ' simultaneouslymn, with
Time azimuthal measurement apparatus (40) Laser Measurement range unit (20) at relative rotation angle α 'mnTime lower, detection device is at earth magnetic
The anglec of rotation in Chang i.e. magnetic field rotating angle, θmn, and detection device is at the same degree of depth and same relative rotation angle α 'mnUnder,
Distance L between laser ranging system (20) repetitive measurement itself and solution cavity inwallmn；
Relative rotation angle α ' is carried out according to updating formulamnCorrection, the following α of updating formulamn=α 'mn-θmn-β ± 360 °, wherein
αmnFor the laser ranging system (20) anglec of rotation in magnetic field of the earth, β is rotary encoder (30) and azimuthal measurement apparatus
(40) the fixed angle between, and 360 ° of ＞ β >=0 °；
The laser ranging system (20) after correction anglec of rotation α in magnetic field of the earthmnWith laser ranging system (20) and solution cavity
Distance L between inwallmnCarrying out Data Integration, the meeting point after integration is (Lmn,αmn,Hm), to same depth HmWith same rotation
Gyration αmnUnder some meeting points carry out data screening, obtain same depth H after screeningmWith same anglec of rotation αmnUnder only
One meeting point isWhereinAfter data screening, between some laser ranging systems (20) and solution cavity inwall
Distance LmnMeansigma methods；
According to the unique set point after screeningGenerate the actual three-dimensional coordinate meeting point of solution cavity inwallAll three-dimensional coordinate meeting points of the same degree of depth are connected and generates three-dimensional object model
Tomography, combines the three-dimensional object model figure generated within solution cavity by the tomography of each degree of depth.
10. the detection method of the detection system for exploring solution cavity internal structure as claimed in claim 9, it is characterised in that:
Wherein, the step of data screening is as follows,
S1, by each degree of depth meeting point (L planarmn,αmn,Hm) according to anglec of rotation αmnSize arranges from small to large；
S2, to same anglec of rotation αmnUnder some laser ranging systems (20) and solution cavity inwall between distance LmnAverageWhereinFor distance L between some Laser Measurement range units (20) and the solution cavity inwall before data screeningmnAverage
Value, ifThis meeting point is abnormity point, then reject this abnormity point；
S3, by same anglec of rotation α after S2 rejecting abnormalities pointmnMeasure in dry measure optical range finding apparatus under and if solution cavity target it
Between distance LmnAverageObtain same anglec of rotation α on same planemnOn unique set point
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| CN107246864A (en) * | 2017-06-29 | 2017-10-13 | 山东大学 | Solution cavity space exploration equipment and detection method are lain concealed in tunnel |
| CN108168454A (en) * | 2017-11-28 | 2018-06-15 | 华侨大学 | For measuring method of the measuring device of sea cave depth with measuring sea cave depth |
| CN109000561A (en) * | 2018-07-09 | 2018-12-14 | 华侨大学 | For measuring the measuring device and its measurement method of sea cave volume |
| CN110608721A (en) * | 2019-09-16 | 2019-12-24 | 湖南大学 | Unmanned aerial vehicle-based karst cave internal structure detection method and device |
| CN112903027A (en) * | 2021-03-02 | 2021-06-04 | 琚兴菊 | Simple detection device for foundation karst cave |
| CN114595497A (en) * | 2022-01-29 | 2022-06-07 | 中铁北京工程局集团有限公司 | Intelligent detection method and system for hidden karst cave |
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