CN106545338A - A kind of robot of the special Self-bringing lighting system of geological exploration - Google Patents
A kind of robot of the special Self-bringing lighting system of geological exploration Download PDFInfo
- Publication number
- CN106545338A CN106545338A CN201610902048.0A CN201610902048A CN106545338A CN 106545338 A CN106545338 A CN 106545338A CN 201610902048 A CN201610902048 A CN 201610902048A CN 106545338 A CN106545338 A CN 106545338A
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- Prior art keywords
- frame
- hydraulic cylinder
- robot
- lighting system
- support tube
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- 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.)
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- 238000005070 sampling Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000004146 energy storage Methods 0.000 claims abstract description 8
- 230000001681 protective effect Effects 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 4
- 239000011707 mineral Substances 0.000 description 4
- 238000005553 drilling Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000009355 double cropping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
- E21B49/02—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells by mechanically taking samples of the soil
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/027—Drills for drilling shallow holes, e.g. for taking soil samples or for drilling postholes
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Soil Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot of the special Self-bringing lighting system of geological exploration，Including frame，The rear end of the frame is provided with energy storage device and control chamber，Single-chip microcomputer is provided with the control chamber and the RF receiving/transmission device of single-chip microcomputer is electrically connected with，And frame is provided with rotary type camera head in the front end of control chamber，The photographic head outer end of the rotary type camera head is provided with the second illuminating lamp，The lower end of the frame is provided with headstock，The exploration robot Self-bringing lighting system and camera system of present invention design，Workman can be replaced in sleet、Night and field exploring and sampling are carried out under conditions of being difficult to walk，So as to reduce the physical work amount of workman，And the process of exploration can pass through remote monitoring，Device itself is moved and sampling ability is powerful，The burden that survey crew carry instrument can effectively be mitigated，Therefore there is very high practical value.
Description
Technical field
The present invention relates to geological exploration robotics, the special Self-bringing lighting system of specially a kind of geological exploration
Robot.
Background technology
Geological prospecting is geology to be carried out reconnoitring, detected by various means, method, it is determined that suitable supporting course, root
According to the foundation bearing capacity of supporting course, type of foundation is determined, calculate the enquiry-based activity of underlying parameter.It is in search for mineral deposit
It was found that have the mineral deposit of industrial significance, to find out the quality and quantity of mineral products, and the technical conditions that exploitation is utilized, there is provided mine construction sets
Ore reserve and geologic information required for meter, to the rock in a given area, stratum, construction, mineral products, the hydrology, landforms and other places
Matter situation carries out enquiry based work, and current geological exploration process mainly has artificial participation, and smart machine seldom, essentially consists in ground
Matter exploration difficulty is larger, also thus results in that geological exploration working condition is arduous, but with the development of society, increasing intelligence
Change equipment participates in the development trend that geological exploration field is the epoch, it is an object of the invention to provide one kind effectively can be aided in
Geological exploration process, reduces the exploration robot of survey crew's physical work amount, a kind of geological exploration is we provided for this special
With the robot of Self-bringing lighting system.
The content of the invention
It is an object of the invention to provide a kind of robot of the special Self-bringing lighting system of geological exploration, to solve the above-mentioned back of the body
The problem proposed in scape technology.
For achieving the above object, the present invention provides following technical scheme：
A kind of robot of the special Self-bringing lighting system of geological exploration, including frame, the rear end of the frame are provided with energy storage dress
Put and control chamber, single-chip microcomputer is provided with the control chamber and the RF receiving/transmission device of single-chip microcomputer is electrically connected with, and frame is in control
The front end of case processed is provided with rotary type camera head, and the photographic head outer end of the rotary type camera head is provided with the second photograph
Bright lamp, the lower end of the frame are provided with headstock, and the left and right two ends of frame are provided with the wheel being connected with headstock, described
The rear end of frame is provided with phospecting apparatus installing rack, and the front end of frame is provided with front lamp, the left and right two ends of the frame
The side hydraulic cylinder of downward-sloping arrangement is provided with, and side hydraulic cylinder connects pushing plate by hydraulic stem, the front end of the frame sets
It is equipped with side stand, and side stand to be hinged and angular adjustment hydraulic cylinder is installed, the front end of the frame is provided with support shaft, and props up
It is hinged on support axle and installing plate is installed, the angular adjustment hydraulic cylinder is hinged installation, and installing plate by hydraulic stem and installing plate
Upper end be provided with the support tube that can be slided, the right-hand member of the installing plate is provided with front photographic head, and the right-hand member of installing plate sets
The light filling illuminating lamp matched with front photographic head is equipped with, the rear end of the support tube is provided with protective frame, and installing plate and is provided with
The compression hydraulic cylinder being connected with protective frame, the rear end of the support tube are provided with concentric guide pipe, and the outer end of guide pipe sets
It is equipped with guide protrusions, the support tube is internally provided with the guide rail matched with guide protrusions, the rear end of the guide pipe
It is provided with motor, and protective frame and is provided with the propelling hydraulic cylinder being connected with guide pipe rear end, the inside of the guide pipe
Stepper motor driven polished rod is provided with, and the front end of polished rod is provided with conveying screw rod, and the front end of conveying screw rod is arranged
There is drill bit, the support tube is being located at the junction of polished rod and conveying screw rod integrally formed with for sample being prevented from conveying screw rod
The baffle ring for spilling backward, the front end of the support tube are provided with the sampling room connected with support tube, and sampling interior is provided with and takes
Sample box, the single-chip microcomputer control side hydraulic cylinder, propelling hydraulic cylinder, compress hydraulic cylinder and angular adjustment by electromagnetic hydraulic valve respectively
Hydraulic cylinder, and single-chip microcomputer is electrically connected with rotary type camera head, energy storage device, the second illuminating lamp, motor, proactive
As head, front lamp, light filling illuminating lamp and headstock.
Preferably, the side of the wheel is provided with rubber anti-collision projection, and the wheel positioned at frame front end adopts transmission
Band connection headstock, the conveyer belt is cog belt, and is connected using crawler belt between the wheel of frame rear and front end.
Preferably, the front end of the frame is provided with proof rubber wheel, and to be provided with profile of tooth convex for the outer end of proof rubber wheel
Rise, the front end both sides of the frame are provided with balancing weight installing rack, and balancing weight installing rack and are provided with balancing weight.
Preferably, the side hydraulic cylinder, propelling hydraulic cylinder, compression hydraulic cylinder and angular adjustment hydraulic cylinder are single pole double cropping
With hydraulic cylinder, and at least provided with motor, variator, differential mechanism and hydraulic pump in headstock.
Preferably, the single-chip microcomputer is stm32 series monolithics, and the RF receiving/transmission device is that JF24D wireless two-ways are received
Send out module.
Compared with prior art, the invention has the beneficial effects as follows：The exploration robot Self-bringing lighting system of present invention design
And camera system, workman can be replaced to carry out field exploring and sampling at sleet, night and under conditions of being difficult to walk, so as to subtract
Lack the physical work amount of workman, and survey process and can pass through remote monitoring, device motion itself and sampling ability are powerful, energy
It is enough effectively to mitigate the burden that survey crew carry instrument, therefore with very high practical value.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Rearviews of the Fig. 2 for present configuration；
Sectional views of the Fig. 3 for present configuration.
In figure：1 frame, 2 phospecting apparatus installing racks, 3 energy storage devices, 4 control chambers, 5 rotary type camera heads, 6 second
Illuminating lamp, 7 protective frames, 8 motors, 9 side hydraulic cylinders, 10 pushing plates, 11 propelling hydraulic cylinders, 12 side stands, photographic head before 13,
14 front lamps, 15 transmission belts, 16 light filling illuminating lamps, 17 drill bits, 18 support tubes, 19 compress hydraulic cylinders, 20 proof rubber wheels, 21
Installing plate, 22 angular adjustment hydraulic cylinders, 23 balancing weight installing racks, 24 balancing weights, 25 crawler belts, 26 wheels, 27 rubber anti-collisions are raised,
28 headstocks, 29 conveying screw rods, 30 guide rails, 31 polished rods, 32 guide protrusions, 33 guide pipes, 34 single-chip microcomputers, 35 radio-frequency receiving-transmittings
Device, 36 sampling boxes, 37 baffle rings, 38 support shafts, 39 sampling rooms.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-3 are referred to, the present invention provides a kind of technical scheme：
A kind of robot of the special Self-bringing lighting system of geological exploration, including frame 1, the rear end of frame 1 is provided with energy storage device 3
With control chamber 4, single-chip microcomputer 34 is provided with control chamber 4 and the RF receiving/transmission device 35 of single-chip microcomputer 34 is electrically connected with, and frame 1 exists
The front end of control chamber 4 is provided with rotary type camera head 5, and single-chip microcomputer 34 is stm32 series monolithics, RF receiving/transmission device 35
For JF24D wireless two-way transceiver modules, the photographic head outer end of rotary type camera head 5 is provided with the second illuminating lamp 6, frame 1
Lower end headstock 28 is installed, and the left and right two ends of frame 1 are provided with the wheel 26 being connected with headstock, the side of wheel 26
Rubber anti-collision projection 27 is provided with, and the wheel 26 positioned at 1 front end of frame connects headstock 28, conveyer belt 15 using transmission belt 15
For cog belt, and connected using crawler belt 25 between the wheel 26 of 1 rear and front end of frame.
The rear end of frame 1 is provided with phospecting apparatus installing rack 2, and the front end of frame 1 is provided with front lamp 14, frame 1
Left and right two ends be provided with the side hydraulic cylinder 9 of downward-sloping arrangement, and side hydraulic cylinder 9 connects pushing plate 10, machine by hydraulic stem
The front end of frame 1 is provided with side stand 12, and side stand 12 to be hinged and is provided with angular adjustment hydraulic cylinder 22, and the front end of frame 1 sets
It is equipped with support shaft 38, and support shaft 38 to be hinged and installing plate 21 is installed, angular adjustment hydraulic cylinder 22 is by hydraulic stem and installation
Plate 21 is hinged installation, and the upper end of installing plate 21 is provided with the support tube 18 that can be slided, before the right-hand member of installing plate 21 is provided with
Photographic head 13, and the right-hand member of installing plate 21 is provided with the light filling illuminating lamp 16 matched with front photographic head 13, the rear end of support tube 18
It is provided with protective frame 7, and installing plate 21 and is provided with the compression hydraulic cylinder 19 being connected with protective frame 7.
The rear end of support tube 18 is provided with concentric guide pipe 33, and the outer end of guide pipe 33 is provided with guide protrusions 32,
Support tube 18 is internally provided with the guide rail 30 matched with guide protrusions 32, and the rear end of guide pipe 33 is provided with motor
The propelling hydraulic cylinder 11 being connected with 33 rear end of guide pipe is provided with 8, and protective frame 7, being internally provided with for guide pipe 33 passes through
The polished rod 31 that motor 8 drives, and the front end of polished rod 31 is provided with conveying screw rod 29, and the front end of conveying screw rod 29 is provided with
Drill bit 17, support tube 18 are being located at the junction of polished rod 31 and conveying screw rod 29 integrally formed with for preventing sample from conveying spiral shell
The baffle ring 37 that bar 29 is spilt backward.
The front end of support tube 18 is provided with the sampling room 39 connected with support tube 18, and sampling room 39 and is provided with sampling box
36, the front end of frame 1 is provided with proof rubber wheel 20, and the outer end of proof rubber wheel 20 is provided with toothed projections, before frame 1
End both sides are provided with balancing weight installing rack 23, and balancing weight installing rack 23 and are provided with balancing weight 24, side hydraulic cylinder 9, propulsion
Hydraulic cylinder 11, compression hydraulic cylinder 19 and angular adjustment hydraulic cylinder 22 are in single pole double acting hydraulic cylinder, and headstock 28 at least
Be provided with motor, variator, differential mechanism and hydraulic pump, single-chip microcomputer 34 respectively by electromagnetic hydraulic valve control side hydraulic cylinder 9,
Propelling hydraulic cylinder 11, hydraulic cylinder 19 and angular adjustment hydraulic cylinder 22 are compressed, and single-chip microcomputer 34 is electrically connected with rotary type and takes the photograph
As device 5, energy storage device 3, the second illuminating lamp 6, motor 8, front photographic head 13, front lamp 14,16 and of light filling illuminating lamp
Headstock 28.
This device can receive remote control signal by RF receiving/transmission device 35, so as to realize that long-distance remote control is surveyed,
Simultaneously some phospecting apparatus can be carried by phospecting apparatus installing rack 2 in frame 1, phospecting apparatus can by RS232 or
USB interface connects single-chip microcomputer 34, so as to preserving exploration result or being sent to remote control terminal, this device energy with wireless signal
It is enough to pass through freely select the 5 Real-time Collection video signal of rotary type camera head for turning, and by the wheel with crawler belt 25
26 driven machine people advance, and the crawler belt 25 of this device can also be removed, so as to give machine by the independent control to each wheel 26
The flexibility ratio of device people Geng Gao, the front end of this device are provided with illuminator and camera head, can be effectively remote control terminal
Running information is provided, while the front end of this device is provided with proof rubber wheel 20, rubber wheel 20 can be chosen whether as needed
It is connected with headstock 28, so as to facilitate robot to climb, and certain anticollision ability can be provided, the robot occurs rollover
When, effectively attitude correction can be carried out using the pushing plate 10 of both sides, and balancing weight installing rack 23 effectively can pass through
Balancing weight 24 adjusts the center of gravity of robot car, and the critical function of the robot is to carry out drill sampling, and concrete operations are：Pass through
Angular adjustment hydraulic cylinder 22 adjusts drill bit 17 to suitable drilling angle, drives support tube 18 to slide by compressing hydraulic cylinder 19
To suitable drilling position, bit is driven by motor 8, and drill bit is gradually pressed into into soil using propelling hydraulic cylinder 11
In, as now motor 8 is fixedly connected with guide pipe 33, and guide pipe 33 is defined to prop up by guide protrusions 32
Move forward and backward in stay tube 19, after ensureing that the stability of drill bit 17 in drilling process, drill bit 17 are squeezed in soil, sample is broken
Bits are brought into inside support tube 19 by conveying screw rod 29, and are fallen in sampling box 36, so as to realize the collection of pedotheque.This dress
Put effectively to replace and manually explored on the spot, and effectively auxiliary exploration, therefore this can be carried out in field exploring
Device has very high practicality.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (5)
1. a kind of robot of the special Self-bringing lighting system of geological exploration, including frame（1）, it is characterised in that：The frame（1）
Rear end be provided with energy storage device（3）And control chamber（4）, the control chamber（4）Single-chip microcomputer is provided with inside（34）And electric connection
Single-chip microcomputer（34）RF receiving/transmission device（35）, and frame（1）In control chamber（4）Front end rotary type camera head is installed
（5）, the rotary type camera head（5）Photographic head outer end the second illuminating lamp is installed（6）, the frame（1）Lower end
Headstock is installed（28）, and frame（1）Left and right two ends be provided with the wheel being connected with headstock（26）, the frame（1）
Rear end be provided with phospecting apparatus installing rack（2）, and frame（1）Front end be provided with front lamp（14）, the frame（1）'s
Left and right two ends are provided with the side hydraulic cylinder of downward-sloping arrangement（9）, and side hydraulic cylinder（9）Pushing plate is connected by hydraulic stem
（10）, the frame（1）Front end be provided with side stand（12）, and side stand（12）On be hinged angular adjustment hydraulic cylinder be installed
（22）, the frame（1）Front end be provided with support shaft（38）, and support shaft（38）On be hinged installing plate be installed（21）, institute
State angular adjustment hydraulic cylinder（22）By hydraulic stem and installing plate（21）It is hinged installation, and installing plate（21）Be provided with can for upper end
With the support tube for sliding（18）, the installing plate（21）Right-hand member be provided with front photographic head（13）, and installing plate（21）Right-hand member
It is provided with and front photographic head（13）The light filling illuminating lamp of matching（16）, the support tube（18）Rear end be provided with protective frame（7）,
And installing plate（21）On be provided with and protective frame（7）The compression hydraulic cylinder of connection（19）, the support tube（18）Rear end install
There is concentric guide pipe（33）, and guide pipe（33）Outer end be provided with guide protrusions（32）, the support tube（18）Inside
It is provided with and guide protrusions（32）The guide rail of matching（30）, the guide pipe（33）Rear end be provided with motor（8）,
And protective frame（7）On be provided with and guide pipe（33）The propelling hydraulic cylinder of rear end connection（11）, the guide pipe（33）Inside
It is provided with motor（8）The polished rod of driving（31）, and polished rod（31）Front end be provided with conveying screw rod（29）, and convey
Screw rod（29）Front end be provided with drill bit（17）, the support tube（18）Positioned at polished rod（31）And conveying screw rod（29）Connection
Place is integrally formed with for preventing sample from conveying screw rod（29）The baffle ring for spilling backward（37）, the support tube（18）Front end
It is provided with and support tube（18）The sampling room of connection（39）, and sampling room（39）Sampling box is provided with inside（36）, the single-chip microcomputer
（34）Side hydraulic cylinder is controlled by electromagnetic hydraulic valve respectively（9）, propelling hydraulic cylinder（11）, compress hydraulic cylinder（19）And angular adjustment
Hydraulic cylinder（22）, and single-chip microcomputer（34）It is electrically connected with rotary type camera head（5）, energy storage device（3）, the second illuminating lamp
（6）, motor（8）, front photographic head（13）, front lamp（14）, light filling illuminating lamp（16）And headstock（28）.
2. the robot of the special Self-bringing lighting system of a kind of geological exploration according to claim 1, it is characterised in that：It is described
Wheel（26）To be provided with rubber anti-collision raised for side（27）, and it is located at frame（1）The wheel of front end（26）Using transmission belt
（15）Connection headstock（28）, the conveyer belt（15）For cog belt, and it is located at frame（1）The wheel of rear and front end（26）Between
Using crawler belt（25）Connection.
3. the robot of the special Self-bringing lighting system of a kind of geological exploration according to claim 1, it is characterised in that：It is described
Frame（1）Front end proof rubber wheel is installed（20）, and proof rubber wheel（20）Outer end be provided with toothed projections, the machine
Frame（1）Front end both sides be provided with balancing weight installing rack（23）, and balancing weight installing rack（23）On be provided with balancing weight（24）.
4. the robot of the special Self-bringing lighting system of a kind of geological exploration according to claim 1, it is characterised in that：It is described
Side hydraulic cylinder（9）, propelling hydraulic cylinder（11）, compress hydraulic cylinder（19）With angular adjustment hydraulic cylinder（22）It is single pole double acting liquid
Cylinder pressure, and headstock（28）It is interior at least provided with motor, variator, differential mechanism and hydraulic pump.
5. the robot of the special Self-bringing lighting system of a kind of geological exploration according to claim 1, it is characterised in that：It is described
Single-chip microcomputer（34）For stm32 series monolithics, the RF receiving/transmission device（35）For JF24D wireless two-way transceiver modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610902048.0A CN106545338A (en) | 2016-10-17 | 2016-10-17 | A kind of robot of the special Self-bringing lighting system of geological exploration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610902048.0A CN106545338A (en) | 2016-10-17 | 2016-10-17 | A kind of robot of the special Self-bringing lighting system of geological exploration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106545338A true CN106545338A (en) | 2017-03-29 |
Family
ID=58369442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610902048.0A Withdrawn CN106545338A (en) | 2016-10-17 | 2016-10-17 | A kind of robot of the special Self-bringing lighting system of geological exploration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106545338A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112482992A (en) * | 2020-11-27 | 2021-03-12 | 安庆市磐石岩土有限公司 | Surveying equipment and surveying method based on geological surveying |
| CN112757314A (en) * | 2020-12-28 | 2021-05-07 | 河南大学 | Deep layer mine hole surveys two rounds of robots based on 5G communication technology |
-
2016
- 2016-10-17 CN CN201610902048.0A patent/CN106545338A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112482992A (en) * | 2020-11-27 | 2021-03-12 | 安庆市磐石岩土有限公司 | Surveying equipment and surveying method based on geological surveying |
| CN112482992B (en) * | 2020-11-27 | 2022-10-14 | 安庆市磐石岩土有限公司 | Surveying equipment and surveying method based on geological surveying |
| CN112757314A (en) * | 2020-12-28 | 2021-05-07 | 河南大学 | Deep layer mine hole surveys two rounds of robots based on 5G communication technology |
| CN112757314B (en) * | 2020-12-28 | 2022-02-11 | 河南大学 | Deep layer mine hole surveys two rounds of robots based on 5G communication technology |
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Application publication date: 20170329 |