CN110196039A - Explore 3 dimension imaging technology in waste and old pit - Google Patents
Explore 3 dimension imaging technology in waste and old pit Download PDFInfo
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- CN110196039A CN110196039A CN201910446582.9A CN201910446582A CN110196039A CN 110196039 A CN110196039 A CN 110196039A CN 201910446582 A CN201910446582 A CN 201910446582A CN 110196039 A CN110196039 A CN 110196039A
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- 239000002699 waste material Substances 0.000 title claims abstract description 26
- 238000003384 imaging method Methods 0.000 title claims abstract description 21
- 238000005516 engineering process Methods 0.000 title claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 24
- 239000000945 filler Substances 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 12
- 239000003245 coal Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the invention discloses waste and old pits to explore 3 dimension imaging technology, comprising: measurement unmanned plane enters in waste and old pit, and moves forward along tunnel；Measure symmetrical equipment first laser range unit at left and right sides of unmanned plane, measurement unmanned plane upper and lower ends symmetrically equip second laser range unit, unmanned aerial vehicle control system receives distance A1 and A2 value, and unmanned aerial vehicle control system is according to the bigger small adjustment unmanned plane during flying posture of A1 and A2 value；Unmanned aerial vehicle control system receives distance B1 and B2 value, and unmanned aerial vehicle control system is according to the bigger small adjustment unmanned plane during flying posture of B1 and B2 value；The spatial digitizer of unmanned drive end unit is set, using unmanned plane direction of travel as axis rotary scanning, and sends scan image to model building device, model building device establishes the 3-D image in pit.The 3-D image that pit can accurately be set up by means of the present invention determines the dosage etc. of backfill filler by the 3-D image in pit, improves the Budget accuracy of pit stemming operation.
Description
Technical field
The present embodiments relate to pit recovery technique fields, and in particular to explores 3 dimension imaging technology in waste and old pit.
Background technique
In coal and the recovery process of various mineral resources, big and small pit can be generated, and if these pits
It not can be carried out and timely backfill, water storage can be generated after rainfall, since water storage may bring a variety of natural calamities such as landslide, infiltration
Evil, has not only broken up original geology style and features, but also may jeopardize the person and property safety.
To solve the problems, such as that above-mentioned pit generates, people, which begin one's study, backfills pit, especially underground pit.But
Since the volume in pit is larger, it is difficult to accurately be measured using traditional measurement method the size in pit, thus cannot be quasi-
The quantity using backfill filler is really estimated, is made troubles to construction budget.Backfill fillers of purchasing are generally required for pit more
Backfill, but if there is excess, then need to retract or need that place is looked for be stacked, influence the effect of backfill.
Therefore, how a kind of three-D imaging method is provided, the shape and materials in pit must not be accurately estimated for solution
The problem of quantity is those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
For this purpose, the embodiment of the present invention, which provides waste and old pit, explores 3 dimension imaging technology, to solve in the prior art due to lacking
The problem of cannot accurately determining pit backfilling material dosage caused by few Accurate Determining method.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
According to embodiments of the present invention, waste and old pit exploration 3 dimension imaging technology is provided, comprising the following steps:
Step 1: measurement unmanned plane enters in waste and old pit, and moves forward along tunnel；
Step 2: symmetrical equipment first laser range unit at left and right sides of measurement unmanned plane measures unmanned plane apart from a pit left side
Lateral extent is A1, and measuring unmanned plane apart from distance on the right side of pit is A2；Measurement unmanned plane upper and lower ends symmetrically equip second laser
Range unit, measuring unmanned plane apart from pit bottom surface distance is B1, and measuring unmanned plane apart from pit top surface distance is B2；
Step 3: unmanned aerial vehicle control system receives distance A1 and A2 value, and compares the size of A1 and A2 value, unmanned aerial vehicle (UAV) control
System is according to the bigger small adjustment unmanned plane during flying posture of A1 and A2 value；
Step 4: unmanned aerial vehicle control system receives distance B1 and B2 value, and compares the size of B1 and B2 value, unmanned aerial vehicle (UAV) control
System is according to the bigger small adjustment unmanned plane during flying posture of B1 and B2 value；
Step 5: the spatial digitizer of unmanned drive end unit is set, using unmanned plane direction of travel as axis rotary scanning, and will
Scan image sends model building device to, and model building device establishes the 3-D image in pit.
Further, in step 3, when distance value A1 and A2 is identical, then unmanned aerial vehicle control system is not to unmanned plane
Left and right flight attitude is adjusted；
As distance value A1 and A2 not identical, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side,
Until distance value A1 and A2 is identical.
Further, in step 4, when distance value B1 and B2 is identical, then unmanned aerial vehicle control system is not to unmanned plane
Upper and lower flight attitude is adjusted；
As distance value B1 and B2 not identical, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side,
Until distance value B1 and B2 is identical.
Further, unmanned plane is moved forward according to flight attitude adjusted, forms a flight axis, flight axis
It is identical apart from distance at left and right sides of pit, likewise, distance is identical up and down in flight axial line distance pit.
Further, the spatial digitizer carries out circumferential scanning by center axis of flight axis, forms the three of pit
Tie up scan image.
Further, unmanned plane tunnel movement speed in pit is 3-8cm/s.
Further, unmanned plane front end also sets up third laser ranging system, for measure unmanned plane apart from front away from
From value C.
Further, when C value is less than 2m, unmanned plane stops moving forward and hovering.
The embodiment of the present invention has the advantages that
The mobile flight in pit by unmanned plane, and flight attitude is adjusted in real time, so that unmanned plane is always according to pit
The kernel of section flight forward in tunnel is scanned pit shape by the spatial digitizer being arranged on unmanned plane, and will
Scanning information sends model building device to, and model building device draws the 3-D image in pit by modeling process.Pass through unmanned plane during flying
Spatial digitizer ensure that so that flight is mobile according to the central axis in pit always to the adjustment of flight attitude in the process
The accuracy of scanning improves effect effect.The 3-D image that pit can accurately be set up by means of the present invention, passes through
The 3-D image in pit determines the dosage etc. of backfill filler, improves the Budget accuracy of pit stemming operation.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
According to embodiments of the present invention, waste and old pit exploration 3 dimension imaging technology is provided, comprising the following steps:
Step 1: measurement unmanned plane enters in waste and old pit, and moves forward along tunnel, and during this, unmanned plane needs people
Labour movement is sent in waste and old pit, and after needing to set relevant parameter, unmanned plane flies according to preset program.
Step 2: symmetrical equipment first laser range unit at left and right sides of measurement unmanned plane measures unmanned plane apart from a pit left side
Lateral extent is A1, and measuring unmanned plane apart from distance on the right side of pit is A2；Measurement unmanned plane upper and lower ends symmetrically equip second laser
Range unit, measuring unmanned plane apart from pit bottom surface distance is B1, and measuring unmanned plane apart from pit top surface distance is B2；
Step 3: unmanned aerial vehicle control system receives distance A1 and A2 value, and compares the size of A1 and A2 value, unmanned aerial vehicle (UAV) control
System is according to the bigger small adjustment unmanned plane during flying posture of A1 and A2 value；Further, in this step, when distance value A1 and A2 phase
Meanwhile then unmanned aerial vehicle control system is not adjusted the left and right flight attitude of unmanned plane；When distance value A1 and A2 be not identical
When, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side, until distance value A1 and A2 identical.So that nobody
In machine flight course, the left and right sides distance apart from tunnel is identical, on the one hand can be avoided unmanned plane and tunnel bumps against, another party
Face can facilitate spatial digitizer to be scanned tunnel, establish accurate 3-D image.
Step 4: unmanned aerial vehicle control system receives distance B1 and B2 value, and compares the size of B1 and B2 value, unmanned aerial vehicle (UAV) control
System is according to the bigger small adjustment unmanned plane during flying posture of B1 and B2 value；Further, in this step, when distance value B1 and B2 phase
Meanwhile then unmanned aerial vehicle control system is not adjusted the flight attitude up and down of unmanned plane；When distance value B1 and B2 be not identical
When, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side, until distance value B1 and B2 identical.So that nobody
In machine flight course, on the one hand upper and lower end faces apart from tunnel can be avoided unmanned plane and tunnel bump against apart from identical, another
Aspect can facilitate spatial digitizer to be scanned tunnel, establish accurate 3-D image.
Step 5: the spatial digitizer of unmanned drive end unit is set, using unmanned plane direction of travel as axis rotary scanning, and will
Scan image sends model building device to, and model building device establishes the 3-D image in pit.
Further, unmanned plane is moved forward according to flight attitude adjusted, forms a flight axis, flight axis
It is identical apart from distance at left and right sides of pit, likewise, distance is identical up and down in flight axial line distance pit.
Further, the spatial digitizer carries out circumferential scanning by center axis of flight axis, forms the three of pit
Tie up scan image.
Further, unmanned plane tunnel movement speed in pit is 3-8cm/s.
Further, unmanned plane front end also sets up third laser ranging system, for measure unmanned plane apart from front away from
From value C.
Further, when C value is less than 2m, unmanned plane stops moving forward and hovering.
Embodiment 1
According to embodiments of the present invention, waste and old pit exploration 3 dimension imaging technology is provided, with being specifically used for measurement Yulin
Area, pit, one coal mining underground, pit distance from bottom ground 320m, tunnel width is in 5-6m, length about 500m.Specifically include with
Lower step:
Step 1: measurement unmanned plane enters in waste and old pit, and moves forward along tunnel, and during this, unmanned plane needs people
Labour movement is sent in waste and old pit, and after needing to set relevant parameter, unmanned plane flies according to preset program.
Step 2: symmetrical equipment first laser range unit at left and right sides of measurement unmanned plane measures unmanned plane apart from a pit left side
Lateral extent is A1, and measuring unmanned plane apart from distance on the right side of pit is A2；Measurement unmanned plane upper and lower ends symmetrically equip second laser
Range unit, measuring unmanned plane apart from pit bottom surface distance is B1, and measuring unmanned plane apart from pit top surface distance is B2；
Step 3: unmanned aerial vehicle control system receives distance A1 and A2 value, and compares the size of A1 and A2 value, unmanned aerial vehicle (UAV) control
System is according to the bigger small adjustment unmanned plane during flying posture of A1 and A2 value；Further, in this step, when distance value A1 and A2 phase
Meanwhile then unmanned aerial vehicle control system is not adjusted the left and right flight attitude of unmanned plane；When distance value A1 and A2 be not identical
When, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side, until distance value A1 and A2 identical.So that nobody
In machine flight course, the left and right sides distance apart from tunnel is identical, on the one hand can be avoided unmanned plane and tunnel bumps against, another party
Face can facilitate spatial digitizer to be scanned tunnel, establish accurate 3-D image.
Step 4: unmanned aerial vehicle control system receives distance B1 and B2 value, and compares the size of B1 and B2 value, unmanned aerial vehicle (UAV) control
System is according to the bigger small adjustment unmanned plane during flying posture of B1 and B2 value；Further, in this step, when distance value B1 and B2 phase
Meanwhile then unmanned aerial vehicle control system is not adjusted the flight attitude up and down of unmanned plane；When distance value B1 and B2 be not identical
When, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side, until distance value B1 and B2 identical.So that nobody
In machine flight course, on the one hand upper and lower end faces apart from tunnel can be avoided unmanned plane and tunnel bump against apart from identical, another
Aspect can facilitate spatial digitizer to be scanned tunnel, establish accurate 3-D image.
Step 5: the spatial digitizer of unmanned drive end unit is set, using unmanned plane direction of travel as axis rotary scanning, and will
Scan image sends model building device to, and model building device establishes the 3-D image in pit.
Further, unmanned plane is moved forward according to flight attitude adjusted, forms a flight axis, flight axis
It is identical apart from distance at left and right sides of pit, likewise, distance is identical up and down in flight axial line distance pit.
Further, the spatial digitizer carries out circumferential scanning by center axis of flight axis, forms the three of pit
Tie up scan image.
Further, unmanned plane tunnel movement speed in pit is 5-8cm/s.
Further, unmanned plane front end also sets up third laser ranging system, for measure unmanned plane apart from front away from
From value C.
Further, when C value is less than 2m, unmanned plane stops moving forward and hovering.
This measurement process amounts to 15 minutes 2 hours used time, sends spatial digitizer scan image in measurement process and builds
Mold device realizes the three-dimensional imaging in pit immediately, and speed is fast, and accuracy rate is high.
Embodiment 2
According to embodiments of the present invention, waste and old pit exploration 3 dimension imaging technology is provided, with being specifically used for measurement Yulin
Another coal mining underground pit of area, pit distance from bottom ground 120m, tunnel width is in 5-6m, length about 350m.Including following
Step:
Step 1: measurement unmanned plane enters in waste and old pit, and moves forward along tunnel, and during this, unmanned plane needs people
Labour movement is sent in waste and old pit, and after needing to set relevant parameter, unmanned plane flies according to preset program.
Step 2: symmetrical equipment first laser range unit at left and right sides of measurement unmanned plane measures unmanned plane apart from a pit left side
Lateral extent is A1, and measuring unmanned plane apart from distance on the right side of pit is A2；Measurement unmanned plane upper and lower ends symmetrically equip second laser
Range unit, measuring unmanned plane apart from pit bottom surface distance is B1, and measuring unmanned plane apart from pit top surface distance is B2；
Step 3: unmanned aerial vehicle control system receives distance A1 and A2 value, and compares the size of A1 and A2 value, unmanned aerial vehicle (UAV) control
System is according to the bigger small adjustment unmanned plane during flying posture of A1 and A2 value；Further, in this step, when distance value A1 and A2 phase
Meanwhile then unmanned aerial vehicle control system is not adjusted the left and right flight attitude of unmanned plane；When distance value A1 and A2 be not identical
When, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side, until distance value A1 and A2 identical.So that nobody
In machine flight course, the left and right sides distance apart from tunnel is identical, on the one hand can be avoided unmanned plane and tunnel bumps against, another party
Face can facilitate spatial digitizer to be scanned tunnel, establish accurate 3-D image.
Step 4: unmanned aerial vehicle control system receives distance B1 and B2 value, and compares the size of B1 and B2 value, unmanned aerial vehicle (UAV) control
System is according to the bigger small adjustment unmanned plane during flying posture of B1 and B2 value；Further, in this step, when distance value B1 and B2 phase
Meanwhile then unmanned aerial vehicle control system is not adjusted the flight attitude up and down of unmanned plane；When distance value B1 and B2 be not identical
When, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side, until distance value B1 and B2 identical.So that nobody
In machine flight course, on the one hand upper and lower end faces apart from tunnel can be avoided unmanned plane and tunnel bump against apart from identical, another
Aspect can facilitate spatial digitizer to be scanned tunnel, establish accurate 3-D image.
Step 5: the spatial digitizer of unmanned drive end unit is set, using unmanned plane direction of travel as axis rotary scanning, and will
Scan image sends model building device to, and model building device establishes the 3-D image in pit.
Further, unmanned plane is moved forward according to flight attitude adjusted, forms a flight axis, flight axis
It is identical apart from distance at left and right sides of pit, likewise, distance is identical up and down in flight axial line distance pit.
Further, the spatial digitizer carries out circumferential scanning by center axis of flight axis, forms the three of pit
Tie up scan image.
Further, unmanned plane tunnel movement speed in pit is 3-5cm/s.
Further, unmanned plane front end also sets up third laser ranging system, for measure unmanned plane apart from front away from
From value C.
Further, when C value is less than 2m, unmanned plane stops moving forward and hovering.
This measurement process is 20 minutes 3 hours total, sends spatial digitizer scan image to modeling dress in measurement process
It sets, realizes the three-dimensional imaging in pit immediately.This time measurement process has turned down the travel speed of unmanned plane, further improves three
Tie up the accuracy rate of imaging.And field survey is carried out to random sites, accuracy rate is 98% or more.
The embodiment of the present invention has the advantages that
The mobile flight in pit by unmanned plane, and flight attitude is adjusted in real time, so that unmanned plane is always according to pit
The kernel of section flight forward in tunnel is scanned pit shape by the spatial digitizer being arranged on unmanned plane, and will
Scanning information sends model building device to, and model building device draws the 3-D image in pit by modeling process.Pass through unmanned plane during flying
Spatial digitizer ensure that so that flight is mobile according to the central axis in pit always to the adjustment of flight attitude in the process
The accuracy of scanning improves effect effect.The 3-D image that pit can accurately be set up by means of the present invention, passes through
The 3-D image in pit determines the dosage etc. of backfill filler, improves the Budget accuracy of pit stemming operation.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (8)
1. 3 dimension imaging technology is explored in waste and old pit, which comprises the following steps:
Step 1: measurement unmanned plane enters in waste and old pit, and moves forward along tunnel；
Step 2: symmetrical equipment first laser range unit at left and right sides of measurement unmanned plane, measure unmanned plane on the left of pit away from
It is A2 from unmanned plane for A1, is measured apart from distance on the right side of pit；Measurement unmanned plane upper and lower ends symmetrically equip second laser ranging
Device, measuring unmanned plane apart from pit bottom surface distance is B1, and measuring unmanned plane apart from pit top surface distance is B2；
Step 3: unmanned aerial vehicle control system receives distance A1 and A2 value, and compares the size of A1 and A2 value, unmanned aerial vehicle control system
According to the bigger small adjustment unmanned plane during flying posture of A1 and A2 value；
Step 4: unmanned aerial vehicle control system receives distance B1 and B2 value, and compares the size of B1 and B2 value, unmanned aerial vehicle control system
According to the bigger small adjustment unmanned plane during flying posture of B1 and B2 value；
Step 5: the spatial digitizer of unmanned drive end unit is set, using unmanned plane direction of travel as axis rotary scanning, and will scanning
Image sends model building device to, and model building device establishes the 3-D image in pit.
2. 3 dimension imaging technology is explored in waste and old pit as described in claim 1, which is characterized in that in step 3, as distance value A1
When identical with A2, then unmanned aerial vehicle control system is not adjusted the left and right flight attitude of unmanned plane；
As distance value A1 and A2 not identical, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side, until
Distance value A1 and A2 is identical.
3. 3 dimension imaging technology is explored in waste and old pit as claimed in claim 2, which is characterized in that in step 4, as distance value B1
When identical with B2, then unmanned aerial vehicle control system is not adjusted the flight attitude up and down of unmanned plane；
As distance value B1 and B2 not identical, then unmanned aerial vehicle control system controls unmanned plane and deviates towards the larger value side, until
Distance value B1 and B2 is identical.
4. 3 dimension imaging technology is explored in waste and old pit as claimed in claim 3, which is characterized in that unmanned plane is according to adjusted
Flight attitude moves forward, and forms a flight axis, and distance is identical at left and right sides of flight axial line distance pit, likewise, flying
Distance is identical up and down in row axial line distance pit.
5. 3 dimension imaging technology is explored in waste and old pit as claimed in claim 4, which is characterized in that the spatial digitizer is to fly
Row axis is that center axis carries out circumferential scanning, forms the 3-D scanning image in pit.
6. 3 dimension imaging technology is explored in waste and old pit as claimed in claim 5, which is characterized in that the unmanned plane is in pit
Tunnel movement speed is 3-8cm/s.
7. 3 dimension imaging technology is explored in waste and old pit as claimed in claim 6, which is characterized in that unmanned plane front end also sets up the
Three laser ranging systems, for measuring distance value C of the unmanned plane apart from front.
8. 3 dimension imaging technology is explored in waste and old pit as claimed in claim 7, which is characterized in that when C value is less than 2m, nobody
Machine stops moving forward and hovering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910446582.9A CN110196039A (en) | 2019-05-27 | 2019-05-27 | Explore 3 dimension imaging technology in waste and old pit |
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|---|---|---|---|
| CN201910446582.9A CN110196039A (en) | 2019-05-27 | 2019-05-27 | Explore 3 dimension imaging technology in waste and old pit |
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| Publication Number | Publication Date |
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Family
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112378336A (en) * | 2020-11-13 | 2021-02-19 | 南通中远海运川崎船舶工程有限公司 | Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof |
| CN113850869A (en) * | 2021-09-10 | 2021-12-28 | 国网重庆市电力公司建设分公司 | Deep foundation pit collapse water seepage detection method based on radar scanning and image analysis |
-
2019
- 2019-05-27 CN CN201910446582.9A patent/CN110196039A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112378336A (en) * | 2020-11-13 | 2021-02-19 | 南通中远海运川崎船舶工程有限公司 | Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof |
| CN112378336B (en) * | 2020-11-13 | 2023-02-17 | 南通中远海运川崎船舶工程有限公司 | Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof |
| CN113850869A (en) * | 2021-09-10 | 2021-12-28 | 国网重庆市电力公司建设分公司 | Deep foundation pit collapse water seepage detection method based on radar scanning and image analysis |
| CN113850869B (en) * | 2021-09-10 | 2024-06-04 | 国网重庆市电力公司建设分公司 | Deep foundation pit collapse water seepage detection method based on radar scanning and image analysis |
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