CN111007578A - Comprehensive detection method and system for roadbed karst and goaf - Google Patents
Comprehensive detection method and system for roadbed karst and goaf Download PDFInfo
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Abstract
The invention provides a comprehensive detection method and a comprehensive detection system for subgrade karst and goaf, which utilize a seismic wave method and a controllable source method to generally survey the subgrade karst and the goaf in a large range and deep part and carry out remote rough detection; performing close-range fine detection by using a ground penetrating radar method, a transient electromagnetic method, a cross-hole high-density electrical method and a ground surface high-density electrical method; using the detection result of the detection method as prior information to perform constraint inversion; then, verifying the inversion result through drilling; enlarging the aperture of the drilled hole, and probing into a three-dimensional laser scanner to scan the karst and the goaf; the method realizes the comprehensive detection of the multi-geophysical method of the subgrade karst and the goaf, adds the prior constraint inversion, reduces the inversion multi-solution, improves the inversion precision, and realizes the accurate positioning, the range size and the detection of the filler of the subgrade karst and the goaf by scanning the karst and the goaf through the three-dimensional laser drilling scanner.
Description
Technical Field
The disclosure relates to the technical field of detection of subgrade karst and goaf, in particular to a comprehensive detection method and system of subgrade karst and goaf.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the development of national economy and improvement of comprehensive national force in China, construction projects such as railways, highways and the like in China are rapidly developed, and a large number of roadbed construction sites span areas containing underground cavities, such as karst caves, coal mine goafs and the like. In the process of constructing highways, karsts and goafs are the main factors which endanger the stability of the roadbed.
Therefore, the position and the size of the karst and the goaf of the roadbed site are proved to be of great significance to the engineering quality and the safety. The current commonly used detection methods of karst and goaf include: seismic wave method, ground penetrating radar method, transient electromagnetic method, sound wave CT method, land sonar method, electric method and the like. For the detection of subgrade karst and goaf, two main tasks are provided: (1) the positions of karst and a goaf are ascertained; (2) and (5) defining the range and the filler of the karst and the goaf.
The inventor of the present disclosure finds that the objective detection of subgrade karst and goaf still faces the following problems: (1) in the large-scale roadbed field measurement, the detection depth is limited, the accuracy is poor, and the influence of physical difference is large by a single geophysical method; (2) most of the existing comprehensive detection methods for roadbed karst and goaf are single detections by multiple single geophysical methods, then the obtained data are artificially interpreted, and one or more detection results are rarely added into other detection inversion equations as prior information for interpretation; (3) for most of karst and goaf detection, drilling holes are basically used for verifying inversion results, but three-dimensional scanning of the karst and the goaf is lacked.
Disclosure of Invention
In order to solve the defects of the prior art, the comprehensive detection method and system for the roadbed karst and the goaf are provided, detection results of various methods are used as prior information to be added into a high-density electrical inversion equation, inversion precision is higher, range positioning is carried out on the karst and the goaf, the space forms of the karst and the goaf are more accurately obtained by matching with a three-dimensional laser drilling scanner, accurate positioning, range size and filler detection on the roadbed karst and the goaf are achieved, and the comprehensive detection method and system for the roadbed karst and the goaf have better guiding significance on roadbed construction.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the disclosure provides a comprehensive detection method for roadbed karst and a gob.
A comprehensive detection method for roadbed karst and a gob comprises the following steps:
(1) combining geological data and drilling data of the detection area, performing geological analysis and determining a detection method;
(2) and (3) carrying out remote rough detection: carrying out general investigation on large-range and deep roadbed karst and goaf by using a seismic wave method and a controllable source method;
(3) performing close-range fine detection: finely depicting the subgrade karst and the goaf in a small range and a shallow part by using a ground penetrating radar method, a transient electromagnetic method, a cross-hole high-density electrical method and a ground surface high-density electrical method;
(4) the detection results of a seismic wave method, a controllable source method, a ground penetrating radar method, a transient electromagnetic method and a cross-hole high-density electrical method are used as prior information, added into an inversion equation of a surface high-density electrical method, and subjected to constraint inversion to obtain the positioning, range and filler information of a karst rock and a goaf;
(5) judging whether the positioning, range and filler information of the karst and the goaf can be defined by the inversion result, if not, returning to the step (1);
(6) if yes, designing a drilling hole, detecting the drilling hole in the region of the karst and the goaf displayed by inversion, performing comparison verification, and if the drilling hole verification result does not accord with the inversion result, returning to the step (1);
(7) if the drilling verification result is consistent with the inversion result, drilling and reaming are carried out, and a three-dimensional laser drilling scanner is explored;
(8) and carrying out three-dimensional laser scanning on the karst and the gob, determining the space forms of the karst and the gob, and guiding roadbed construction.
As some possible implementation manners, in the step (2), for the seismic method, an artificial seismic source is used for excitation, a plurality of measuring lines are arranged in a roadbed measuring area, 24 detectors are arranged on each measuring line, the offset distance is 10m, the track interval is 1m, and the reflected wave information of any measuring line is covered for multiple times.
As some possible implementation manners, in step (2), for the controllable source method, the controllable source transceiver transmits the electric field signal and the magnetic field signal to the road-based sensing area, and the electric field signal and the magnetic field signal are sampled with different sampling frequencies and sampling lengths to obtain corresponding electromagnetic field information.
As some possible implementation manners, in the step (3), for the ground penetrating radar method, a 200MHZ ground penetrating radar transmitter transmits an electromagnetic wave signal, a roadbed survey area with the depth range of 1m-30m is measured, the electromagnetic wave reflected signal is received, and the frequency, amplitude and phase change of the electromagnetic wave reflected signal are analyzed.
In step (3), for the transient electromagnetic method, an ungrounded loop is arranged in the region of a roadbed measuring area, a primary pulse magnetic field is generated to the underground through power supply, a secondary induction eddy current field caused by the primary field in the underground medium is received by a receiving coil, and the measuring depth is in the range of 1m-40 m.
As some possible realization modes, in the step (3), for the cross-hole high-density electrical method, the hole diameter of the drill hole is 12cm, the hole depth is 20m, the distance between the drill holes is 20m, the number of the drill holes is determined by the measuring area range, and the temperature-Schrenberger measuring device is adopted for processing.
As some possible implementation manners, in the step (3), for the surface high-density electrical method, at least three high-density electrical method measuring lines are arranged in a roadbed detection range, a wenner-schlenbach measuring device is used for measuring, the measuring depth range is 1m-30m, and the apparent resistivity is obtained.
As some possible implementation manners, in step (4), the priori signal includes, but is not limited to, boundary information and electrical information, and the priori information is added to an inversion equation of a surface high-density electrical method, so that the inversion multi-solution is reduced, constraint inversion is performed, the inversion accuracy is improved, and the location, range and filler information of the karst rocks and the goaf are obtained.
As some possible implementation manners, in the step (8), drilling and reaming are performed to enable the diameter of the drilled hole to be larger than the maximum diameter of the three-dimensional laser drilling scanner, and then the drilled hole is inserted into the three-dimensional laser drilling scanner to perform three-dimensional fine scanning on the karst and the goaf.
The second aspect of the disclosure provides a comprehensive detection system for roadbed karst and a goaf.
A comprehensive detection system for roadbed karst and a gob comprises:
a detection method determination module configured to: combining geological data and drilling data of the detection area, performing geological analysis and determining a detection method;
a long range coarse detection module configured to: carrying out general investigation on large-range and deep roadbed karst and goaf by using a seismic wave method and a controllable source method;
a close-range fine detection module configured to: finely depicting the subgrade karst and the goaf in a small range and a shallow part by using a ground penetrating radar method, a transient electromagnetic method, a cross-hole high-density electrical method and a ground surface high-density electrical method;
a constraint inversion module configured to: the detection results of a seismic wave method, a controllable source method, a ground penetrating radar method, a transient electromagnetic method and a cross-hole high-density electrical method are used as prior information, added into an inversion equation of a surface high-density electrical method, and subjected to constraint inversion to obtain the positioning, range and filler information of a karst rock and a goaf;
an inversion result determination module configured to: judging whether the positioning, range and filler information of the karst and the goaf can be defined according to the inversion result, and if not, determining the module to restart the detection by using a detection method;
a borehole verification module configured to: if the inversion result can define the location, range and filler information of the karst and the goaf, designing a drill hole, performing drill hole detection on the region of the karst and the goaf displayed by inversion, performing contrast verification, and if the drill hole verification result is not consistent with the inversion result, determining the module by using a detection method to restart the detection;
a three-dimensional laser scanning module configured to: and if the drilling verification result is consistent with the inversion result, drilling and reaming are carried out, a three-dimensional laser drilling scanner is explored, three-dimensional laser scanning is carried out on the karst and the goaf, the space forms of the karst and the goaf are determined, and roadbed construction is guided.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the method adopts the detection idea of combining rough detection and refined detection, combining remote detection and close-range detection and constraining inversion interpretation of various geophysical methods, utilizes the combined detection of various geophysical methods such as a ground surface high-density electrical method, a cross-hole high-density electrical method, a ground penetrating radar method, a transient electromagnetic method, a controllable source method and a seismic wave method, applies the detection results of various geophysical methods as prior information to an inversion equation of the high-density electrical method, reduces inversion multiple resolvability, increases inversion accuracy, realizes the accurate positioning of roadbed karst and goaf, the detection of the range size and fillers, and has better guiding significance for roadbed construction.
2. The method and the device can be used for verifying the detection result by drilling, and can be used for carrying out the space form imaging of the roadbed karst and the goaf by using the three-dimensional laser drilling scanner and mutually verifying the detection result, so that the detection accuracy is further improved.
3. Compared with a single geophysical detection method, the method disclosed by the disclosure has the advantage that the comprehensive detection of multiple geophysical methods is more accurate in positioning and range delineation of subgrade karsts and goafs.
4. According to the method, the acquired information such as a ground penetrating radar method, a transient electromagnetic method, a controllable source method, a seismic wave method and a cross-hole high-density electrical method is used as prior information to be added into an inversion equation, so that inversion multi-resolvability is reduced, and the boundary of a subgrade karst and a goaf is accurately and reliably depicted and positioned.
5. The three-dimensional laser drilling scanner is adopted for carrying out the spatial form imaging of the roadbed karst and the goaf, so that the detection result is more real.
Drawings
Fig. 1 is a schematic flow chart of a comprehensive detection method for roadbed karsts and goafs provided in embodiment 1 of the present disclosure.
Fig. 2 is a schematic diagram of an inversion process provided in embodiment 1 of the present disclosure.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example 1:
as shown in fig. 1, an embodiment 1 of the present disclosure provides a comprehensive detection method for subgrade karst and goaf, which includes the following specific steps:
(1) geological analysis and detection determining method by combining geological data and drilling data of detection area
(2) Carrying out remote rough detection; carrying out general investigation on large-range and deep roadbed karst and goaf by using a seismic wave method and a controllable source method;
for the seismic method, an artificial seismic source is adopted for excitation, a plurality of measuring lines are arranged in a roadbed measuring area, 24 detectors are arranged on each measuring line, the offset distance is 10m, the track interval is 1m, and the reflected wave information of any measuring line is covered for multiple times;
for the controllable source method, a controllable source receiving transmitter transmits an electric field signal and a magnetic field signal to a roadbed survey area, the electric field signal and the magnetic field signal are sampled by different sampling frequencies and sampling lengths to obtain corresponding electromagnetic field information, and the boundaries and the electrical structures of large-range deep karst and goaf are deduced by the two methods;
(3) performing close-range fine detection; finely depicting the subgrade karst and the goaf in a small range and a shallow part by using a ground penetrating radar method, a transient electromagnetic method, a cross-hole high-density electrical method and a ground surface high-density electrical method;
for the ground penetrating radar method, a 200MHZ ground penetrating radar transmitter transmits electromagnetic wave signals, a roadbed measuring area with the range depth of 1-30m is measured, electromagnetic wave reflection signals are received, and the frequency, amplitude and phase changes of the electromagnetic wave reflection signals are analyzed;
for the transient electromagnetic method, an ungrounded return wire is arranged in a roadbed measuring area, a primary pulse magnetic field is generated underground through power supply, a receiving coil receives a secondary induction eddy current field caused by the primary field in an underground medium, and the measuring depth range is 1-40 m.
For the cross-hole high-density electrical method, the hole diameter of the drill hole is 12cm, the hole depth is 20m, the distance between the drill holes is 20m, the number of the drill holes is determined by the range of the measuring area, and the temperature-Schrenberger measuring device is adopted for processing.
For the high-density electrical method, 3 or more high-density electrical method measuring lines are arranged in the roadbed detection range, a Wenna-Schrenberger measuring device is adopted for measuring, the measuring depth range is 1-30m, and the apparent resistivity is obtained.
Deducing the geometric characteristics, the electrical characteristics and the fillers of the roadbed karst and the goaf in a small range and a shallow part by the four methods;
(4) as shown in fig. 2, the detection results obtained by the seismic wave method, the controllable source method, the ground penetrating radar method, the transient electromagnetic method and the cross-hole high-density electrical method are used as prior information, and the method includes: adding boundary information, electrical information and the like into an inversion equation of a surface high-density electrical method, reducing inversion multiple solution, performing constraint inversion, improving inversion accuracy, and obtaining information such as location, range, filler and the like of a karst rock and a goaf;
(5) and judging whether the information such as the positioning, the range, the filling materials and the like of the karst and the goaf can be defined by the inversion result. If not, returning to the step (1);
(6) if so, designing a drill hole, performing drill hole detection on the areas of the karst and the goaf displayed by inversion, and performing comparison verification; if the borehole verification result is not consistent with the inversion result, returning to the step (1);
(7) if the drilling verification result is consistent with the inversion result, drilling and reaming are carried out, the diameter of the drilling and reaming is larger than the maximum diameter of the three-dimensional laser drilling scanner, and then the drilling and reaming is carried out by probing into the three-dimensional laser drilling scanner;
(8) and carrying out three-dimensional laser scanning on the karst and the gob, determining the space forms of the karst and the gob, and guiding roadbed construction.
Example 2:
the embodiment 2 of the present disclosure provides a comprehensive detection system for roadbed karst and goaf, including:
a detection method determination module configured to: combining geological data and drilling data of the detection area, performing geological analysis and determining a detection method;
a long range coarse detection module configured to: carrying out general investigation on large-range and deep roadbed karst and goaf by using a seismic wave method and a controllable source method;
a close-range fine detection module configured to: finely depicting the subgrade karst and the goaf in a small range and a shallow part by using a ground penetrating radar method, a transient electromagnetic method, a cross-hole high-density electrical method and a ground surface high-density electrical method;
a constraint inversion module configured to: the detection results of a seismic wave method, a controllable source method, a ground penetrating radar method, a transient electromagnetic method and a cross-hole high-density electrical method are used as prior information, added into an inversion equation of a surface high-density electrical method, and subjected to constraint inversion to obtain the positioning, range and filler information of a karst rock and a goaf;
an inversion result determination module configured to: judging whether the positioning, range and filler information of the karst and the goaf can be defined according to the inversion result, and if not, determining the module to restart the detection by using a detection method;
a borehole verification module configured to: if the inversion result can define the location, range and filler information of the karst and the goaf, designing a drill hole, performing drill hole detection on the region of the karst and the goaf displayed by inversion, performing contrast verification, and if the drill hole verification result is not consistent with the inversion result, determining the module by using a detection method to restart the detection;
a three-dimensional laser scanning module configured to: and if the drilling verification result is consistent with the inversion result, drilling and reaming are carried out, a three-dimensional laser drilling scanner is explored, three-dimensional laser scanning is carried out on the karst and the goaf, the space forms of the karst and the goaf are determined, and roadbed construction is guided.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. A comprehensive detection method for roadbed karst and a gob is characterized by comprising the following steps:
(1) combining geological data and drilling data of the detection area, performing geological analysis and determining a detection method;
(2) and (3) carrying out remote rough detection: carrying out general investigation on large-range and deep roadbed karst and goaf by using a seismic wave method and a controllable source method;
(3) performing close-range fine detection: finely depicting the subgrade karst and the goaf in a small range and a shallow part by using a ground penetrating radar method, a transient electromagnetic method, a cross-hole high-density electrical method and a ground surface high-density electrical method;
(4) the detection results of a seismic wave method, a controllable source method, a ground penetrating radar method, a transient electromagnetic method and a cross-hole high-density electrical method are used as prior information, added into an inversion equation of a surface high-density electrical method, and subjected to constraint inversion to obtain the positioning, range and filler information of a karst rock and a goaf;
(5) judging whether the positioning, range and filler information of the karst and the goaf can be defined by the inversion result, if not, returning to the step (1);
(6) if yes, designing a drilling hole, detecting the drilling hole in the region of the karst and the goaf displayed by inversion, performing comparison verification, and if the drilling hole verification result does not accord with the inversion result, returning to the step (1);
(7) if the drilling verification result is consistent with the inversion result, drilling and reaming are carried out, and a three-dimensional laser drilling scanner is explored;
(8) and carrying out three-dimensional laser scanning on the karst and the gob, determining the space forms of the karst and the gob, and guiding roadbed construction.
2. The method for comprehensively detecting the subgrade karst and the goaf according to the claim 1, wherein in the step (2), an artificial seismic source is adopted for vibration excitation, a plurality of measuring lines are arranged in a subgrade measuring area, 24 detectors are arranged on each measuring line, the offset is 10m, the track interval is 1m, and the reflected wave information of any measuring line is covered for a plurality of times.
3. The method of claim 1, wherein in the step (2), for the controlled source method, the controlled source transceiver transmits the electric field signal and the magnetic field signal to the roadbed survey area, and the electric field signal and the magnetic field signal are sampled at different sampling frequencies and sampling lengths to obtain the corresponding electromagnetic field information.
4. The method of claim 1, wherein in the step (3), for the ground penetrating radar method, the electromagnetic wave signal is transmitted from a 200MHZ ground penetrating radar transmitter, the measurement is performed on the ground penetrating area with a depth ranging from 1m to 30m, the electromagnetic wave reflected signal is received, and the frequency, amplitude and phase change thereof are analyzed.
5. The comprehensive detection method of subgrade karst and goaf according to claim 1, characterized in that in step (3), for the transient electromagnetic method, within the subgrade detection zone, an ungrounded loop is arranged, a primary pulse magnetic field is generated underground by supplying power, a secondary induction eddy current field caused by the primary field in the underground medium is received by a receiving coil, and the measurement depth is in the range of 1m-40 m.
6. The method for comprehensively detecting roadbed karst and goaf according to claim 1, wherein in step (3), for the cross-hole high-density electrical method, the hole diameter of the drill hole is 12cm, the hole depth is 20m, the distance between the drill holes is 20m, the number of the drill holes is determined by the measuring area range, and the treatment is carried out by using a Wenna-Schrenberger measuring device.
7. The comprehensive detection method of subgrade karst and goaf according to claim 1, characterized in that in step (3), for the surface high-density electrical method, at least three high-density electrical method measuring lines are arranged in the subgrade detection range, and the measurement is carried out by using a Wenna-Schlumberger measuring device, and the measurement depth is 1m-30m, so as to obtain the apparent resistivity.
8. The method for comprehensively detecting subgrade karst and goaf according to claim 1, wherein in step (4), the prior signal includes but is not limited to boundary information and electrical information, the prior information is added into an inversion equation of a surface high-density electrical method, the inversion multi-solution is reduced, the constraint inversion is performed, the inversion accuracy is improved, and the location, range and filler information of the karst and goaf are obtained.
9. The comprehensive detection method of subgrade karst and goaf according to claim 1, characterized in that in step (8), drilling and reaming are carried out to make the diameter larger than the maximum diameter of the three-dimensional laser drilling scanner, and then the three-dimensional laser drilling scanner is explored to carry out three-dimensional fine scanning on the karst and the goaf.
10. The utility model provides a comprehensive detection system of road bed karst and collecting space area which characterized in that includes:
a detection method determination module configured to: combining geological data and drilling data of the detection area, performing geological analysis and determining a detection method;
a long range coarse detection module configured to: carrying out general investigation on large-range and deep roadbed karst and goaf by using a seismic wave method and a controllable source method;
a close-range fine detection module configured to: finely depicting the subgrade karst and the goaf in a small range and a shallow part by using a ground penetrating radar method, a transient electromagnetic method, a cross-hole high-density electrical method and a ground surface high-density electrical method;
a constraint inversion module configured to: the detection results of a seismic wave method, a controllable source method, a ground penetrating radar method, a transient electromagnetic method and a cross-hole high-density electrical method are used as prior information, added into an inversion equation of a surface high-density electrical method, and subjected to constraint inversion to obtain the positioning, range and filler information of a karst rock and a goaf;
an inversion result determination module configured to: judging whether the positioning, range and filler information of the karst and the goaf can be defined according to the inversion result, and if not, determining the module to restart the detection by using a detection method;
a borehole verification module configured to: if the inversion result can define the location, range and filler information of the karst and the goaf, designing a drill hole, performing drill hole detection on the region of the karst and the goaf displayed by inversion, performing contrast verification, and if the drill hole verification result is not consistent with the inversion result, determining the module by using a detection method to restart the detection;
a three-dimensional laser scanning module configured to: and if the drilling verification result is consistent with the inversion result, drilling and reaming are carried out, a three-dimensional laser drilling scanner is explored, three-dimensional laser scanning is carried out on the karst and the goaf, the space forms of the karst and the goaf are determined, and roadbed construction is guided.
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| CN111781651A (en) * | 2020-06-11 | 2020-10-16 | 四川中成煤田物探工程院有限公司 | Karst detection method combining three geophysical prospecting methods and two geological methods |
| CN111812720A (en) * | 2020-06-29 | 2020-10-23 | 山东大学 | Novel tracing method and device based on electromagnetic field |
| CN112363245A (en) * | 2020-10-26 | 2021-02-12 | 王昌益 | Underground water geophysical prospecting measuring method and system |
| CN112817057A (en) * | 2020-12-31 | 2021-05-18 | 中国地质调查局天津地质调查中心 | Method for economically, quickly and accurately detecting underground space distribution characteristics of landfill pond |
| CN113281812A (en) * | 2021-05-25 | 2021-08-20 | 国能宝日希勒能源有限公司 | Transient electromagnetic detection method for small pit goaf |
| CN114019570A (en) * | 2021-11-02 | 2022-02-08 | 中煤科工集团西安研究院有限公司 | Method for transient electromagnetic detection of goaf by combining top and bottom holes |
| CN114895372A (en) * | 2022-04-02 | 2022-08-12 | 中国自然资源航空物探遥感中心 | Underground goaf detection comprehensive interpretation method and system |
| CN115079292A (en) * | 2022-07-08 | 2022-09-20 | 山东大学 | Detection device and detection method for exploring urban underground karst cave space |
| CN116641656A (en) * | 2023-06-21 | 2023-08-25 | 煤炭工业太原设计研究院集团有限公司 | Old mining residual coal roadway type goaf drilling exploration method |
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| CN114019570B (en) * | 2021-11-02 | 2024-04-05 | 中煤科工集团西安研究院有限公司 | Method for detecting goaf through cooperation of space hole and ground hole and integrated transient electromagnetic |
| CN114895372A (en) * | 2022-04-02 | 2022-08-12 | 中国自然资源航空物探遥感中心 | Underground goaf detection comprehensive interpretation method and system |
| CN114895372B (en) * | 2022-04-02 | 2023-09-19 | 中国自然资源航空物探遥感中心 | Comprehensive interpretation method and system for underground goaf detection |
| CN115079292A (en) * | 2022-07-08 | 2022-09-20 | 山东大学 | Detection device and detection method for exploring urban underground karst cave space |
| CN116641656A (en) * | 2023-06-21 | 2023-08-25 | 煤炭工业太原设计研究院集团有限公司 | Old mining residual coal roadway type goaf drilling exploration method |
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