CN109375275A - Suitable for constructing tunnel phase advance geologic prediction data collection system and method - Google Patents
Suitable for constructing tunnel phase advance geologic prediction data collection system and method Download PDFInfo
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- CN109375275A CN109375275A CN201811020977.4A CN201811020977A CN109375275A CN 109375275 A CN109375275 A CN 109375275A CN 201811020977 A CN201811020977 A CN 201811020977A CN 109375275 A CN109375275 A CN 109375275A
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- data
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- laser scanning
- tunnel
- phase advance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Abstract
The invention discloses one kind to be suitable for constructing tunnel phase advance geologic prediction data collection system and method, with the artificial carrier of wall-climbing device, including high-definition camera, 3 D laser scanning module, geological radar antenna module, wireless data transfer module and remote control module；Remote control module remotely controls climbing robot and is moved, and reaches designated place and is acquired；High-definition camera, the scene of being configured for are taken pictures and are imaged；3 D laser scanning module and high-definition camera cooperate, and are automatic collection face rock mass discontinuity parameter information；High frequency short pulse electromagnetic wave is oriented and is sent into tunnel surrounding by geological radar antenna module, electromagnetic wave encounters in communication process will occur to reflect and transmit there are the stratum of electrical property difference or objective body, receiving antenna receives reflection wave signal and is digitized, and realizes radar data acquisition；The data of collection in worksite are transmitted to the data receiver in a manner of being wirelessly transferred by wireless data transfer module, storage system stores.
Description
Technical field
The present invention relates to one kind to be suitable for constructing tunnel phase advance geologic prediction data collection system and method.
Background technique
Under complex geological condition, tunnel construction technology personnel are generally difficult to the geology item of accurate judgement front of tunnel heading
Part, construction have very big blindness, the accidents such as unexpected landslide, roof fall, water burst often occur.Therefore, the constructing tunnel phase
Unfavorable geology advanced prediction technology is to the engineering position of the construction Rock And Soil situation of front of tunnel heading, unfavorable geologic body and causes disaster
Possibility effectively reduces tunnel working geology disaster as explanation, prediction and forecast to a certain extent, such as landslide, gushing water
The generation of accident has important directive significance for constructing tunnel.Wherein geological information acquires, and is Tunnel prediction work
Basis, mainly include that two sides (including geological radar, TSP, transient electromagnetic, across hole CT etc.) are forecast in geological record and physical prospecting
Face.
Currently, it is mainly contact type measurement, such as scan line method, survey window method that traditional tunnel geology, which edits and records method, sieve is used
The tools such as disk, lining rope obtain the geometric parameter of rock mass discontinuity in conjunction with cognition judgement.There are more defects for this method, such as obtains
Take big amount measurement data is time-consuming and laborious, tunnel tunnel face there are larger human safety issues, the artificial subjectivity of measurement result it is big and
Inaccuracy etc..And geological radar needs manpower to hold radar antenna in tunnel tunnel face, two sides Dong Bi when acquiring geological information
And vault motion scan.But the current condition of front of tunnel heading is poor, and data acquisition is easy interruption.Especially acquire vault geological information
When, it need to be not only time-consuming and laborious by big machineries such as elevators, and there are larger security risks.Therefore, how tradition is improved
Tunnel unfavorable geology advanced prediction technical data acquisition method, it is safe and efficient and accurately obtain unfavorable geology forecast information,
It is a technical problem urgently to be resolved at present.
Summary of the invention
The present invention to solve the above-mentioned problems, proposes a kind of suitable for the acquisition of constructing tunnel phase advance geologic prediction data
System and method, it is not high that the present invention solves inefficiency existing when the acquisition of tunnel geological forecast data, accuracy
And the problems such as personal safety hidden danger.
To achieve the goals above, the present invention adopts the following technical scheme:
One kind be suitable for constructing tunnel phase advance geologic prediction data collection system, including data acquisition, Transmission system and
Data receiver, storage system, in which:
The data, transmission acquisition system are with the artificial carrier of wall-climbing device, including high-definition camera, 3 D laser scanning mould
Block, geological radar antenna module, wireless data transfer module and remote control module；
The remote control module remotely controls climbing robot and is moved, and reaches designated place and is acquired；
The high-definition camera, the scene of being configured for are taken pictures and are imaged；The 3 D laser scanning module and high definition
Camera cooperation, is configured as automatic collection face rock mass discontinuity parameter information；
High frequency short pulse electromagnetic wave is oriented and is sent into tunnel surrounding by the geological radar antenna module, and electromagnetic wave is being propagated through
Encountering in journey will occur to reflect and transmit there are the stratum of electrical property difference or objective body, and receiving antenna receives reflection wave signal simultaneously
It is digitized, realizes radar data acquisition；
The data of collection in worksite are transmitted to the data in a manner of being wirelessly transferred and connect by the wireless data transfer module
It receives, storage system is stored.
Further, the data receiver, storage system be using host computer as carrier, including photo, video storage modules,
Laser scanning data pretreatment and memory module, geological radar reflected waveform data memory module, the photo, video storage
Module stores it in computer after receiving the photo of high-definition camera acquisition, video data；The 3 D laser scanning number
It, will according to memory module after receiving the rock mass discontinuity parameter point cloud data that 3 D laser scanning acquires in conjunction with high-definition camera
It pre-processes and stores；Received tunnel surrounding reflected waveform data is stored in by the geological radar reflected waveform data memory module
In host computer.
Further, the high-definition camera and 3 D laser scanning module cooperate, geological radar antenna module list
Country rock and face geologic data automatic collection and transmission in tunnel are realized in solely work.
Further, the 3 D laser scanning module is pulsed 3 D laser scanning mode, can remotely obtain structure
Face three-dimensional information, without contacting tunnel surrounding and face.
Further, the geological radar antenna module includes transmitting antenna and receiving antenna, and frequency conversion transmitting antenna has
Dominant frequency mapping function, high frequency short pulse electromagnetic wave is oriented and is sent into front of tunnel heading rock mass, and electromagnetic wave encounters in communication process
There are the stratum of electrical property difference or objective body will occur reflect and transmit, receiving antenna receive reflection wave signal and by its number
Change.
Further, the wireless data transfer module is by the way of wireless transmission, in real time by the tunnel geology of acquisition
Information is transmitted in data-storage system.
Further, the remote control module can be realized long-range control climbing robot movement, slap in tunnel
The geological radar in sub- face, hole wall and vault different parts scans.
Further, the laser scanning data pretreatment and memory module are in the rock mass structure millet cake for receiving acquisition
After cloud data, noise reduction process is carried out first, splicing and coordinate conversion is then carried out, and preprocessed data is stored, to the later period
Data analysis.
Working method based on above system, comprising the following steps:
Step 1: after tunneling and underground engineering excavates, climbing robot is marched into the arena work, is carried out first using high-definition camera
It is taken on site, acquires high definition photo, and whole video recording simultaneously；
Step 2: climbing robot being manipulated by remote control module and is moved to the position that mechanical disturbance is less than setting value, is opened
3 D laser scanning module is opened, the acquisition of rock mass structure face data is carried out；
Step 3: climbing robot is moved to face and carries out geological radar scanning, obtains front of tunnel heading unfavorable geologic body
Information, and it is moved to hole wall and vault is scanned, obtain wall rock geology data；
Step 4: by the data that data collection system obtains reach data receiver using wireless transport module in real time, storage is
System.Storage system is developed based on 7 operating system of Windows, and memory space is up to 2T, and system operational speed is fast, computing capability
By force, it is capable of handling and stores the great laser scanning data of occupied space.System has storage photo and video, three
Tie up laser scanning data and Georadar Data three zones.Wherein, photos and videos is respectively with the storage of .jpg and .avi format；
System carries out noise reduction process after receiving laser scanning data first, then carries out splicing and coordinate conversion, finally will be pre-
Data storage is handled, so that the later period is applied in other software.Radar acquires data with the storage of .dzt format.
Data should select to disturb lesser place progress when acquiring, and prevent robot from shaking and influencing data precision.In addition,
Progress when floating dust is more after explosion should be avoided in photo, video and laser scanning data acquisition, to ensure photo and view
The clarity of frequency, and prevent suspended particulate from reflecting three-dimensional laser, cause large error.In order to guarantee three-dimensional laser point cloud data
Splice with geodetic coordinate system perfection, needs to select reasonable target point.Finally, robot should be close to when acquiring radar data
Palisades slowly at the uniform velocity advance, to guarantee the smooth continuous of radar cross-section.
Compared with prior art, the invention has the benefit that
The present invention uses full-automatic tunnel geological forecast data collection system, which is artificially carried with wall-climbing device
Body is, it can be achieved that tunnel construction site high definition photo and video capture, the extraction of rock mass in tunnel structural surface information and geological radar number
According to acquisition etc. work automation with it is integrated, take full advantage of artificial intelligence and do mechanization operation, liberated manpower.Has ring
The advantages that border is adaptable, acquisition data accuracy is high, remote control, solves the low efficiency of traditional data acquisition method
Under, the defects of precision is insufficient and security risk is high, can be used as following intelligent, information-based, standardization constructing tunnel the important set
At part.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is structure composition schematic diagram of the invention.
Fig. 2 is data acquisition of the invention, Transmission system schematic diagram.
Fig. 3 is operating mode schematic diagram of the invention.
Wherein, 1. tunnel geological forecast data collection system, the acquisition of 2. data, Transmission system, 3. data receivers are deposited
Storage system, 4. climbing robots, 5. high-definition cameras, 6. 3 D laser scanning modules, 7. geological radar antenna modules, 8. is wireless
Data transmission module, 9. remote control modules, 10. host computers, 11 photos, video storage modules, 12. 3 D laser scanning numbers
Data preprocess and memory module, 13. geological radar reflected waveform data memory modules, 14. tunnel tunnel faces, 15. poorly textures
It makes, 16. tunnel vaults；
Specific embodiment:
The invention will be further described with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
As shown in Figure 1, 2, 3, a kind of to be suitable for constructing tunnel phase advance geologic prediction data collection system, including data are adopted
Collection, Transmission system and data receiver, storage system two parts.
The data, transmission acquisition system are with the artificial carrier of wall-climbing device, including high-definition camera, 3 D laser scanning mould
Block, geological radar antenna module, wireless data transfer module and remote control module；The data receiver, storage system with
Host computer is carrier, including the pretreatment of photo, video storage modules, laser scanning data and memory module, geology thunder
Up to reflected waveform data memory module.The high-definition camera has scene and takes pictures and camera function；The 3 D laser scanning mould
Block and high-definition camera cooperation can automatic collection face rock mass discontinuity parameter informations；The geological radar antenna module will be high
Frequency short pulse electromagnetic wave orientation is sent into tunnel surrounding, and electromagnetic wave encounters that there are the stratum of electrical property difference or targets in communication process
Body will occur to reflect and transmit, and receiving antenna receives reflection wave signal and digitized, and realize radar data acquisition；It is described
The data of collection in worksite are transmitted to storage system in a manner of being wirelessly transferred by wireless data transfer module；The long-range control mould
Block remotely controls climbing robot and is moved.
The photo, video storage modules store it in after receiving the photo of high-definition camera acquisition, video data
In computer；The rock that the laser scanning data memory module acquires in conjunction with high-definition camera in reception 3 D laser scanning
After body structural plane parameter point cloud data, is pre-processed and stored；The geological radar reflected waveform data memory module will receive
Tunnel surrounding reflected waveform data be stored in host computer.
Data receiver, storage system are using host computer as carrier, including photo, video storage modules, 3 D laser scanning
Data prediction and memory module, geological radar reflected waveform data memory module, the photo, video storage modules are receiving height
Clearly after the photo, video data of camera acquisition, store it in computer；The laser scanning data memory module exists
After receiving the rock mass discontinuity parameter point cloud data that 3 D laser scanning acquires in conjunction with high-definition camera, is pre-processed and deposited
Storage；Received tunnel surrounding reflected waveform data is stored in host computer by the geological radar reflected waveform data memory module.
High-definition camera and 3 D laser scanning module cooperate, and geological radar antenna module works independently, and realize tunnel
Country rock and face geologic data automatic collection and transmission in road.
3 D laser scanning module is pulsed 3 D laser scanning mode, can remotely obtain structural plane three-dimensional information, nothing
Tunnel surrounding and face need to be contacted.
Geological radar antenna module includes transmitting antenna and receiving antenna, and frequency conversion transmitting antenna has dominant frequency mapping function,
High frequency short pulse electromagnetic wave is oriented and is sent into front of tunnel heading rock mass, electromagnetic wave encounters that there are electrical property differences in communication process
Stratum or objective body will occur to reflect and transmit, and receiving antenna receives reflection wave signal and digitized.
The tunnel geology information of acquisition is transmitted to data in real time by the way of wireless transmission by wireless data transfer module
In storage system.
Remote control module can be realized long-range control climbing robot movement, carry out face, Dong Bi and arch in tunnel
Push up the geological radar scanning of different parts.
Laser scanning data pretreatment and memory module are after the rock mass discontinuity point cloud data for receiving acquisition, first
Noise reduction process is carried out, splicing and coordinate conversion is then carried out, and preprocessed data is stored, is analyzed to later data.
A kind of working method suitable for constructing tunnel phase advance geologic prediction data collection system, comprising the following steps:
Step 1: after tunneling and underground engineering excavates, climbing robot (4) is marched into the arena work, uses high-definition camera first
(5) it is taken on site, acquires high definition photo, and whole video recording simultaneously.
Step 2: manipulating climbing robot by remote control module (9) and be moved to the lesser position of mechanical disturbance, open
3 D laser scanning module (6) carries out the acquisition of rock mass structure face data.Data acquisition should be avoided when floating dust is more after explosion into
Row, prevents suspended particulate reflection laser from causing error.
Step 3: climbing robot is moved to tunnel tunnel face (14) and carries out geological radar scanning, obtains front of tunnel heading not
Good geologic body (15) information.And it is movable to hole wall and vault (16) is scanned, obtain wall rock geology data.
Step 4: by data collection system (2) obtain data using wireless transport module (8) reach in real time data receiver,
Storage system (3), and (10) are stored in host computer.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. one kind is suitable for constructing tunnel phase advance geologic prediction data collection system, it is characterized in that: including data acquisition, transmission
System and data receiver, storage system, in which:
The data, transmission acquisition system with the artificial carrier of wall-climbing device, including high-definition camera, 3 D laser scanning module,
Geological radar antenna module, wireless data transfer module and remote control module；
The remote control module remotely controls climbing robot and is moved, and reaches designated place and is acquired；
The high-definition camera, the scene of being configured for are taken pictures and are imaged；The 3 D laser scanning module and high-definition camera
Head cooperation, is configured as automatic collection face rock mass discontinuity parameter information；
High frequency short pulse electromagnetic wave is oriented and is sent into tunnel surrounding by the geological radar antenna module, and electromagnetic wave is in communication process
Encounter there are the stratum of electrical property difference or objective body will occur reflect and transmit, receiving antenna receive reflection wave signal and by its
Radar data acquisition is realized in digitlization；
The data of collection in worksite are transmitted to the data receiver in a manner of being wirelessly transferred, deposited by the wireless data transfer module
Storage system is stored.
2. it is as described in claim 1 a kind of suitable for constructing tunnel phase advance geologic prediction data collection system, it is characterized in that:
The data receiver, storage system are using host computer as carrier, including photo, video storage modules, laser scanning data
Pretreatment and memory module, geological radar reflected waveform data memory module, the photo, video storage modules are taken the photograph in reception high definition
The photo that acquires as head after video data, stores it in computer；The laser scanning data memory module is receiving
After the rock mass discontinuity parameter point cloud data that 3 D laser scanning acquires in conjunction with high-definition camera, is pre-processed and stored；
Received tunnel surrounding reflected waveform data is stored in host computer by the geological radar reflected waveform data memory module.
3. it is as described in claim 1 a kind of suitable for constructing tunnel phase advance geologic prediction data collection system, it is characterized in that:
The high-definition camera and 3 D laser scanning module cooperate, and geological radar antenna module works independently, and realize in tunnel
Country rock and face geologic data automatic collection and transmission.
4. it is as described in claim 1 a kind of suitable for constructing tunnel phase advance geologic prediction data collection system, it is characterized in that:
The 3 D laser scanning module is pulsed 3 D laser scanning mode, structural plane three-dimensional information can be remotely obtained, without connecing
Touch tunnel surrounding and face.
5. it is as described in claim 1 a kind of suitable for constructing tunnel phase advance geologic prediction data collection system, it is characterized in that:
The geological radar antenna module includes transmitting antenna and receiving antenna, and frequency conversion transmitting antenna has dominant frequency mapping function, will be high
Frequency short pulse electromagnetic wave orientation is sent into front of tunnel heading rock mass, and electromagnetic wave encounters the stratum there are electrical property difference in communication process
Or objective body will occur to reflect and transmit, receiving antenna receives reflection wave signal and is digitized.
6. it is as described in claim 1 a kind of suitable for constructing tunnel phase advance geologic prediction data collection system, it is characterized in that:
The tunnel geology information of acquisition is transmitted to data storage in real time by the way of wireless transmission by the wireless data transfer module
In system.
7. it is as described in claim 1 a kind of suitable for constructing tunnel phase advance geologic prediction data collection system, it is characterized in that:
It is mobile that the remote control module can be realized long-range control climbing robot, carries out in tunnel face, hole wall and vault not
Geological radar with position scans.
8. it is as described in claim 1 a kind of suitable for constructing tunnel phase advance geologic prediction data collection system, it is characterized in that:
The laser scanning data pretreatment and memory module carry out first after the rock mass discontinuity point cloud data for receiving acquisition
Noise reduction process then carries out splicing and coordinate conversion, and preprocessed data is stored, and analyzes to later data.
9. based on the working method of system such as of any of claims 1-8, it is characterized in that: the following steps are included:
Step 1: after tunneling and underground engineering excavates, climbing robot is marched into the arena work, carries out scene using high-definition camera first
Shooting acquires high definition photo, and whole video recording simultaneously；
Step 2: climbing robot being manipulated by remote control module and is moved to the position that mechanical disturbance is less than setting value, opens three
Laser scanning module is tieed up, the acquisition of rock mass structure face data is carried out；
Step 3: climbing robot is moved to face and carries out geological radar scanning, obtains front of tunnel heading unfavorable geologic body letter
Breath, and it is moved to hole wall and vault is scanned, obtain wall rock geology data；
Step 4: the data that data collection system obtains are reached into data receiver, storage system using wireless transport module in real time.
10. working method as claimed in claim 9, it is characterized in that: data should select disturbance less than the ground of setting value when acquiring
Fang Jinhang, it is more than the progress of setting range when that the floating dust degree after explosion, which should be avoided, in photo, video and laser scanning data acquisition.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811020977.4A CN109375275A (en) | 2018-09-03 | 2018-09-03 | Suitable for constructing tunnel phase advance geologic prediction data collection system and method |
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| CN201811020977.4A CN109375275A (en) | 2018-09-03 | 2018-09-03 | Suitable for constructing tunnel phase advance geologic prediction data collection system and method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187339A (en) * | 2019-05-07 | 2019-08-30 | 山东大学 | The geological radar antenna mobile remote control auxiliary device and method of underground space detection |
| CN111267984A (en) * | 2020-01-21 | 2020-06-12 | 山东大学 | System and method for identifying poor geologic body in tunnel based on hyperspectral technology analysis |
| CN112484655A (en) * | 2020-11-12 | 2021-03-12 | 李柏松 | Large tank type equipment structure deformation online detection and applicability evaluation system and method |
| CN112946767A (en) * | 2021-01-28 | 2021-06-11 | 中煤科工集团重庆研究院有限公司 | Extraction method for information of side slope geology and supporting structure |
| CN113267140A (en) * | 2021-05-10 | 2021-08-17 | 贵州大学 | Device and method for detecting overexcavation and underexcavation of tunnel |
| CN113686313A (en) * | 2021-08-30 | 2021-11-23 | 中煤科工集团重庆研究院有限公司 | Real-time measuring method and system for coal rock geological image |
| CN114527507A (en) * | 2022-02-21 | 2022-05-24 | 重庆科技学院 | Three-dimensional geological prediction system and method for advanced hole detection |
| CN115793672A (en) * | 2023-01-09 | 2023-03-14 | 中国地质大学（北京） | Three-dimensional intelligent detection robot and detection method thereof |
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| CN104614781A (en) * | 2015-01-23 | 2015-05-13 | 山东大学 | Vehicle-mounted tunnel total-space fissure network detection imaging and pre-warning system and method thereof |
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| CN104614781A (en) * | 2015-01-23 | 2015-05-13 | 山东大学 | Vehicle-mounted tunnel total-space fissure network detection imaging and pre-warning system and method thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187339A (en) * | 2019-05-07 | 2019-08-30 | 山东大学 | The geological radar antenna mobile remote control auxiliary device and method of underground space detection |
| CN111267984A (en) * | 2020-01-21 | 2020-06-12 | 山东大学 | System and method for identifying poor geologic body in tunnel based on hyperspectral technology analysis |
| CN112484655A (en) * | 2020-11-12 | 2021-03-12 | 李柏松 | Large tank type equipment structure deformation online detection and applicability evaluation system and method |
| CN112946767A (en) * | 2021-01-28 | 2021-06-11 | 中煤科工集团重庆研究院有限公司 | Extraction method for information of side slope geology and supporting structure |
| CN112946767B (en) * | 2021-01-28 | 2024-02-13 | 中煤科工集团重庆研究院有限公司 | Extraction method for slope geology and supporting structure information |
| CN113267140A (en) * | 2021-05-10 | 2021-08-17 | 贵州大学 | Device and method for detecting overexcavation and underexcavation of tunnel |
| CN113686313A (en) * | 2021-08-30 | 2021-11-23 | 中煤科工集团重庆研究院有限公司 | Real-time measuring method and system for coal rock geological image |
| CN113686313B (en) * | 2021-08-30 | 2024-02-09 | 中煤科工集团重庆研究院有限公司 | Real-time measurement method and system for coal rock geological image |
| CN114527507A (en) * | 2022-02-21 | 2022-05-24 | 重庆科技学院 | Three-dimensional geological prediction system and method for advanced hole detection |
| CN115793672A (en) * | 2023-01-09 | 2023-03-14 | 中国地质大学（北京） | Three-dimensional intelligent detection robot and detection method thereof |
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Application publication date: 20190222 |