CN112431587A - Real-time exploration hole depth detection device and method - Google Patents
Real-time exploration hole depth detection device and method Download PDFInfo
- Publication number
- CN112431587A CN112431587A CN202011531560.1A CN202011531560A CN112431587A CN 112431587 A CN112431587 A CN 112431587A CN 202011531560 A CN202011531560 A CN 202011531560A CN 112431587 A CN112431587 A CN 112431587A
- Authority
- CN
- China
- Prior art keywords
- drilling
- module
- real
- depth
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 48
- 238000001514 detection method Methods 0.000 title claims description 8
- 238000005553 drilling Methods 0.000 claims abstract description 126
- 238000004891 communication Methods 0.000 claims abstract description 19
- 230000003993 interaction Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000011897 real-time detection Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims description 27
- 238000012545 processing Methods 0.000 claims description 27
- 238000003860 storage Methods 0.000 claims description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 25
- 238000001914 filtration Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 238000005070 sampling Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000000523 sample Substances 0.000 description 4
- 230000008030 elimination Effects 0.000 description 3
- 238000003379 elimination reaction Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000011229 interlayer Substances 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000035772 mutation Effects 0.000 description 2
- 230000001603 reducing effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013479 data entry Methods 0.000 description 1
- 238000007418 data mining Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/04—Measuring depth or liquid level
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
- E21B49/003—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells by analysing drilling variables or conditions
Landscapes
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Geophysics (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention provides an exploration hole depth real-time detection device, which comprises a drilling depth real-time measurement module, a measurement device and an input device, wherein the measurement device and the input device are used for measuring a surplus ruler on a machine in real time and obtaining drilling tool information by using the input device; the exploration hole information interaction module comprises a wireless communication unit and a positioning unit and is used for communication between the drilling depth real-time measuring module and the main control module; the main control module is used for receiving and calculating exploration hole information and acquiring exploration hole depth in real time; the scheme realizes the real-time measurement of the hole depth of the exploration drilling machine, and can be checked by related personnel through a display screen and data transmission, so that workers can grasp the operation condition in real time, and managers can grasp the progress of the whole project; and meanwhile, the full-automatic generation of the drilling record table is realized.
Description
Technical Field
The disclosure relates to the technical field of informatization and intellectualization of engineering exploration, in particular to an exploration hole depth real-time detection device and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In engineering investigation, geological conditions below the earth surface cannot be observed by naked eyes, and the geological conditions have strong concealment and can be revealed by a certain technical means to obtain required geological information; the most common and intuitive means for engineering investigation is drilling; at present, the measurement of exploration depth still depends on-site manual calculation, the measurement means is simple and crude, the measurement error is large, a drilling class report table which is a large factor on the site is a complete recording drilling process, and the drilling class report table is recorded manually at present and cannot be acquired in real time; the accuracy of the data completely depends on the technical experience and responsibility of workers, and the process controllability is poor.
The inventor finds that the exploration hole depth in the prior art mainly comprises the following two schemes, one scheme is mainly determined by manual calculation according to the residual ruler on a drilling tool and a start-stop drilling machine, and the residual ruler can be measured theoretically by a steel ruler when the active drilling rod scales every 10 cm; the drilling shift report is manually recorded and filled by field workers, and the scheme has the defects of simple and single method, poor accuracy and incapability of acquiring data in real time; in the other type, a sensor with a magnetic seat is arranged at the outer end of a drill rod, a special hammer is used for knocking the outer end of the drill rod, so that the drill rod generates stress waves which are transmitted along a rod body, and the stress waves generate emission echoes due to the change of a medium after being transmitted to the tail end of the drill rod. And then receiving the reflected echo through a sensor arranged at the outer end of the drill rod, and detecting the propagation time of the stress wave in the drill rod body. Because the propagation speed of the stress wave in the drill rod body is certain, the length of the drill rod can be calculated, and the depth of the drill hole can be obtained by removing the exposed section length of the drill rod, and the scheme has the following defects:
(1) special magnetic drill rods, probes and the like are needed, and the drill rods and the probes are easy to damage at the bottom, large in change and high in manufacturing cost, are several times of those of an industrial exploration drilling machine, and are not popularized;
(2) a cable connected with a probe needs to be penetrated in the drill rod, and the electric wire needs to be combed and adjusted every time in the drilling process, so that the construction is very inconvenient, and the method is not suitable for repeated core drilling of a work survey;
(3) hole depth measurement is not real-time;
(4) the whole process of drilling work, such as rod matching, in-situ testing, sampling and the like, cannot be recorded;
(5) the drilling log sheet (class sheet) cannot be automatically generated.
Disclosure of Invention
In order to solve the problems, the disclosure provides an exploration hole depth real-time detection device and an exploration hole depth real-time detection method, which are used for realizing the hole depth real-time measurement of an exploration drilling machine, and can be checked by related personnel through a display screen and data transmission, so that workers can timely grasp the operation condition, and managers can grasp the progress of the whole project.
According to a first aspect of the disclosed embodiments, there is provided an exploration hole depth real-time detection device, comprising:
the drilling depth real-time measuring module comprises a measuring device and an input device, wherein the measuring device is used for measuring the residual ruler on the drilling machine in real time, and the input device is used for automatically inputting drilling tool information;
the exploration hole information interaction module comprises a wireless communication unit and a positioning unit and is used for communication between the drilling depth real-time measuring module and the main control module;
and the main control module is used for receiving and calculating exploration hole information and acquiring the exploration hole depth in real time.
Furthermore, the measuring device comprises a separated ultrasonic distance measuring module and a short-edge distance measuring module; the separated ultrasonic ranging module comprises an ultrasonic receiving unit fixed at the top end of the driving drill rod and an ultrasonic transmitting unit fixed on the bracket; the short side distance measuring module is used for measuring the vertical distance between the ultrasonic transmitting unit and a vertical shaft of the drilling machine; the short edge ranging module is an integrated ultrasonic ranging device, and the integrated ultrasonic ranging device and the ultrasonic transmitting unit are fixed into a whole.
Furthermore, the ultrasonic receiving unit is arranged at a non-rotating part at the lower part of a high-pressure water tap at the top end of the driving drill rod, and a gyroscope used for determining an included angle between the ultrasonic transmitting and receiving line and the vertical direction in real time is arranged on the ultrasonic receiving unit.
Further, the ultrasonic transmitting unit is fixed on a support, the support comprises a tripod, a height-adjustable column and a movable cantilever, the ultrasonic transmitting unit is fixed on the movable cantilever, and the support is independent of the drilling machine; the movable cantilever is fixed on the height-adjustable fixing rod, and the height of the ultrasonic receiving unit can be adjusted by adjusting the height-adjustable fixing rod.
Further, the input mode of the input device comprises keyboard input, voice input and radio frequency input.
Further, the radio frequency input mode, including laser sweep yard rifle and bar code lantern ring, the bar code lantern ring is fixed inboard with the drilling rod coupling, laser is swept yard rifle and is fixed in the foot rest position of probing frame, and its height is higher than the drill hole.
Further, the main control module is connected with a storage unit, and the storage unit comprises an SD card and an EEPROM; the storage unit is used for storing original data and processed data in a large capacity, volume data transmission is completed when the mobile terminal is connected, and meanwhile, the system can be effectively ensured to continue to operate after being restarted under the condition that the system of the detection device is crashed or suddenly powered off.
Furthermore, the detection device also comprises a power supply module, wherein the power supply module is in a four-module double-power mode, and double power, namely a built-in lithium battery and an external power supply, supports hot plug of the power supply; the four-mode power supply mode comprises four modes of field solar power supply, built-in lithium battery charging replacement power supply, USB (universal serial bus) and normal power supply and dry battery pack power supply in an emergency state.
According to a second aspect of the disclosed embodiments, there is provided a method for real-time detection of the depth of an exploration hole, comprising:
and measuring the on-machine residual ruler data and the field drilling tool information in real time through the drilling depth real-time measuring module, transmitting the exploration hole depth data to the main control module through the exploration hole information interaction module, and processing the received data by the main control module to obtain the real-time exploration hole depth.
Furthermore, the main control module records and synchronizes time, hole depth, pressure and rotating speed data according to the exploration returns and transmits the data to the cloud server and the field mobile terminal device, and the cloud server automatically generates a drilling record table by analyzing and processing the recorded data in the whole drilling process.
Compared with the prior art, the beneficial effect of this disclosure is:
(1) according to the scheme, the device and the method for measuring the depth of the drilled hole in real time and recording the process are realized by the aid of the measuring device and the input device and technologies such as ultrasonic ranging and Internet of things;
(2) the scheme realizes the real-time measurement of the hole depth of the exploration drilling machine, and can be checked by related personnel through a display screen and data transmission, so that workers can grasp the operation condition in real time, and managers can grasp the progress of the whole project;
(3) the scheme realizes the full-automatic generation of a drilling record table (an original class report table);
(4) the scheme tracks and quantizes the whole advancing process of exploration and drilling pure drilling time to obtain a pure drilling advancing time curve, can reflect the soft and hard strength and interlayer condition of a rock-soil layer, and provides a basis for automatic formation division and geological record; and establishing a real-time relation among the hole depth, the pressure and the rotating speed of the exploration drilling machine, and transmitting the relation to a cloud server to provide possibility for further data mining.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a diagram of a functional implementation structure according to a first embodiment of the disclosure;
fig. 2 is a schematic diagram of a ranging module according to a first embodiment of the disclosure;
FIG. 3 is a schematic view of a display interface for borehole depth data according to a first embodiment of the present disclosure;
fig. 4 is a schematic diagram of a measurement according to a first embodiment of the disclosure.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
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 application 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 application. 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 first embodiment is as follows:
the embodiment aims at providing a device for detecting the depth of an exploration hole in real time.
An exploration hole depth real-time detection device, comprising:
the drilling depth real-time measuring module comprises a measuring device and an input device, wherein the measuring device is used for measuring the residual ruler on the drilling machine in real time, and the input device is used for automatically inputting drilling tool information;
the exploration hole information interaction module comprises a wireless communication unit and a positioning unit and is used for communication between the drilling depth real-time measuring module and the main control module;
and the main control module is used for receiving and calculating exploration hole information and acquiring the exploration hole depth in real time.
Further, the main control module is connected with a storage unit, and the storage unit comprises an SD card and an EEPROM; the storage unit is used for storing original data and processed data in a large capacity, volume data transmission is completed when the mobile terminal is connected, and meanwhile, the system can be effectively ensured to continue to operate after being restarted under the condition that the system of the detection device is crashed or suddenly powered off.
Furthermore, the detection device also comprises a power supply module, wherein the power supply module is in a four-module double-power mode, and double power, namely a built-in lithium battery and an external power supply, supports hot plug of the power supply; the four-mode power supply mode comprises four modes of field solar power supply, built-in lithium battery charging replacement power supply, USB (universal serial bus) and normal power supply and dry battery pack power supply in an emergency state.
Fig. 1 shows a functional structure diagram of the solution of the present application, and with reference to fig. 1, the structure and function of the real-time exploration hole depth detection device in the present embodiment are described in detail here:
the main control module adopts ARM to process the data, and the ARM processor utilizes the self-contained operation function to process the data, and comprises the steps of adopting a filtering algorithm to the data collected by the on-board residual ruler, judging the validity of the data and calculating the correct measurement result; the data validity judgment is used for discharging a non-sampling process and preventing the data validity judgment from being recorded in a sampling process; synchronizing and calculating the acquired drilling tool input data and the on-board excess ruler data; the method can start the sleep mode when judging the non-sampling process, close most processing processes of the data and only keep the judgment on whether to sample or not; the software reset can be realized by utilizing the self-contained watchdog when the program crashes;
the filtering algorithm mainly comprises a jitter elimination filtering algorithm and a moving average filtering method; the jitter elimination filtering algorithm is used for eliminating a noise pole and removing noise point data with large jitter. The moving average filtering method is used for preventing the oscillation of data in continuous time and enabling the data to tend to be smooth;
the main control module is also connected with a display module, the display module displays the exploration depth in real time, adopts segment code liquid crystal with low power consumption and high brightness, and the liquid crystal display refreshes the display data in real time; exploration hole information interaction module
The main control module and the drilling depth real-time measuring module adopt a wireless communication module for data interaction, and data measured by the drilling depth real-time measuring module is transmitted to a control host computer in a 2.4G wireless communication mode through the exploratory hole information interaction module; the 2.4G wireless communication is in a universal ISM frequency band and is free of license;
the main control module is connected with a GPRS module, a communication channel is formed by the GPRS module and cloud server software, the GPRS module is communicated with the cloud server, and data conversion is carried out in an encrypted communication mode between the cloud server and the GPRS module;
the main control module is also connected with a GPS module, carries out geographical positioning when the system is started, transmits the longitude and latitude of the position to a cloud server as the identification of the physical address of the equipment, and carries out positioning record on the position of the drill hole
The time scale of the drilling depth is taken as the working time of the system by a real-time clock. The pure drilling time refers to the time of drilling a new stratum at the bottom of a hole by a drill bit, and the accurate pure drilling machine time and the corresponding footage can be obtained through the whole process recording, so that a pure drilling footage time curve is obtained, the soft and hard strength and the interlayer condition of the stratum can be reflected, and the basis is provided for automatic stratum division and geological record.
The main control module is a core part of the whole system and is used for data analysis processing, algorithm realization and logic control of the whole system. The data transmitted by the ranging sensor are received in real time and transmitted to the cloud server according to a certain format, when the communication with the cloud server is abnormal, a local storage unit of the control host computer is temporarily stored, and when the communication with the cloud server is normal, the data are transmitted to the cloud server again.
The display module (including the warning light) mainly displays the real-time extra distance through the display screen, gives a warning when data errors or operation errors occur, and can display error codes on the display screen.
The drilling tool information input module can enable workers to input information about equipment, basic drilling hole information, field drilling tool application, field test, special conditions and the like, match with residual distance measurement data of the drilling tool, and complete systematic statistical work.
The drilling tool information entry module mainly comprises three entry modes: the method comprises the following steps of keyboard input, voice input and radio frequency input, wherein the keyboard input is a basic input mode, and the voice or radio frequency input is an optional input mode, so that the inconvenience caused by manual operation of a keyboard can be reduced.
The keyboard entry mainly refers to a pluggable special keyboard, and the keyboard adopts a waterproof and dustproof structure and can input 0-9 digits and necessary letters; the keyboard can be connected with the control host; inputting the drilled pole number and system setting into the system through a keyboard; the drilling tool and field data input are convenient, the basic mode of input is provided, and the input module is provided with equipment; the voice recording mainly refers to active noise reduction earphones, headsets, voice recognition systems and the like; the radio frequency recording mainly refers to the utilization of a radio frequency reader-writer and a radio frequency label.
And finally, calculating a correct measurement result through the master control module, and realizing the real-time calculation of the hole depth through the calculation of the drilling tool application, the machine height and the on-machine residual ruler real-time distance measurement data of the drilling tool input module:
the hole depth is the total length of the drilling tool (drill rod + core pipe (including drill bit > + active drill rod) -machine height-machine residual ruler;
the obtained exploration hole depth data are stored through an external expansion memory, and the external expansion memory comprises an SD card module and an EEPROM; the mobile terminal can store original data and processed data in a large capacity, and complete butt joint and data transmission when the mobile terminal is connected; the device can retain data when a device system is crashed (including sudden power failure), and can work after the system is restarted; data can be directly read by a worker in a mode of plugging and unplugging the SD card;
the cloud server derives a plurality of professional data exchange formats from the acquired data, forms various corresponding tables respectively, and supports Excel and Csv format editing.
Further, as shown in fig. 4, a schematic diagram of the measurement according to the present invention is shown, and for convenience of understanding, the structure and operation of the measurement apparatus are described in detail with reference to fig. 4:
the measuring device comprises a separated ultrasonic ranging module and a short edge ranging module; the separated ultrasonic ranging module comprises an ultrasonic receiving unit fixed at the top end of the driving drill rod and an ultrasonic transmitting unit fixed on the bracket; the short side distance measuring module is used for measuring the vertical distance between the ultrasonic transmitting unit and a vertical shaft of the drilling machine; the short edge ranging module is an integrated ultrasonic ranging device, and the integrated ultrasonic ranging device and the ultrasonic transmitting unit are fixed into a whole.
The ultrasonic transmitting unit is arranged at a non-rotating part at the lower part of a high-pressure water tap at the top end of the driving drill rod, and a gyroscope used for determining an included angle between an ultrasonic transmitting and receiving line and the vertical direction in real time is arranged on the ultrasonic transmitting unit.
The ultrasonic receiving unit is fixed on a support, the support comprises a tripod, a height-adjustable column and a movable cantilever, the ultrasonic receiving unit is fixed on the movable cantilever, and the support is independent of a drilling machine; the movable cantilever is fixed on the height-adjustable fixing rod, and the height of the ultrasonic receiving unit can be adjusted by adjusting the height-adjustable fixing rod.
The ultrasonic distance measurement module is connected with a data acquisition module, and the data acquisition module is used for receiving data acquired by the ultrasonic distance measurement module; the data acquisition module is connected with the data processing control module, and the data processing control module is used for analyzing and processing the acquired data; and the data processing control module inputs the analyzed and processed data information into the data storage module for storage through the data transmission module.
The data processing control calculates and acquires the vertical distance from the ultrasonic receiving unit to the top end of the drill rod according to the Pythagorean theorem and the bevel edge C and the fixed short edge distance X of real-time distance measurement, namely the on-machine redundant ruler; the drilling hole depth can be obtained in real time by combining the total length of the drill rod and the height of the ultrasonic receiving device from the ground;
the on-board ruler (bevel edge C ^ 2-short edge X ^2) ^ (1/2).
The vertical distance from the ultrasonic receiving unit to the top end of the drill rod is the residual size of the ultrasonic receiving device, the drilling hole depth can be obtained in real time by establishing an acquisition device of the residual size of the ultrasonic receiving device and utilizing the principle that the hole depth is the total rod length-the height of the ultrasonic receiving device-the residual size of the ultrasonic receiving device, the inherent idea of directly detecting the hole depth in the prior art is broken through, the real-time measurement is realized, and the drilling process can be completely recorded; the ultrasonic distance measuring device is independent from the drilling machine, so that the influence of vibration on the measuring device in the drilling process of the drilling machine is avoided, and the accuracy of distance measurement and the stability of equipment are ensured; in addition, the device is used as an auxiliary device, can be used together with the existing drilling machine, and has the advantages of low manufacturing cost and cost saving compared with a digital drilling machine.
A receiving and transmitting integrated ultrasonic distance measuring module for measuring the vertical distance between the ultrasonic receiving device and a vertical shaft of the drilling machine is further arranged at the mounting position of the ultrasonic receiving unit; the ultrasonic transmitting unit is provided with a gyroscope used for determining an included angle between an ultrasonic transmitting and receiving line and the vertical direction in real time; measuring the vertical distance between the ultrasonic receiving device and a vertical shaft of the drilling machine by using the receiving-transmitting integrated ultrasonic distance measuring device, and directly transmitting the measured data to the data processing control module, so that the data processing control module can directly utilize the pythagorean theorem to obtain the surplus size of the ultrasonic receiving device; the distance measurement precision is higher by using the receiving and transmitting integrated ultrasonic distance measuring device.
The data acquisition module comprises: the data import module is used for transferring the existing data from the external mobile equipment to the data processing control module; the data entry module acquires related data in one or more combination modes of keyboard and bar code scanning; and the automatic acquisition module is connected with the ultrasonic distance measuring device to acquire related distance measuring data.
The ultrasonic transmitting unit is arranged at a non-rotating part at the lower part of a high-pressure water tap above a vertical shaft of the drilling machine, and the transmitting frequency of the ultrasonic transmitting unit is adjustable; the ultrasonic transmitting unit is arranged at the non-rotating part of the lower part of the high-pressure water faucet, so that the stability of the ultrasonic transmitting device can be ensured, and the measuring precision is improved.
The lower part of the support is a tripod, a telescopic support is connected above the tripod, and the upper end of the telescopic support is connected with a movable cantilever for placing an ultrasonic receiving device; the support is independent of the drilling machine, so that the influence on ultrasonic receiving caused by vibration of the drilling machine is avoided; the height of the fixed bracket can be conveniently adjusted by utilizing the telescopic bracket; the upper end of the telescopic support is connected with the movable cantilever, so that the telescopic support is convenient to fold and unfold and carry.
The data processing and analyzing module filters the ranging data and judges the change range of the ranging data, and when the change range is larger than a set value, the real-time measuring device is switched to a power-saving mode; the data processing and analyzing module adopts a jitter elimination filtering algorithm to eliminate a noise pole and remove noise point data with large jitter; the method adopts a moving average filtering method to prevent the data in continuous time from oscillating, so that the ranging data tends to be smooth; when the change amplitude of the ranging data is suddenly increased, the completion of the next drilling is indicated; the distance measurement process also corresponds the terminal, and real-time measuring device gets into power saving mode this moment, and firstly the energy saving also does benefit to the analytic processing to the range finding data in addition.
The data processing control module analyzes the ranging data, and utilizes an internal synchronous clock to draw a curve of the drilling depth and the drilling time so as to obtain an accurate depth position of stratum lithology mutation and obtain the effective working time of the drilling machine; when an engineering drilling machine drills and cores, when the rock is broken, the extracted rock core is discontinuous, loose and broken, and pebbles may be mixed in the extracted rock core, and for the situation, the specific position of the pebbles cannot be judged, and the accurate depth of the stratum lithology mutation cannot be judged. And in the curve of the drilling depth and the drilling time, the drilling speed of the drilling machine can be obtained according to the slope of the curve, and the drilling speed of the drilling machine corresponds to the hardness degree of the stratum. When the slope of the curve is not changed greatly, the drilling speed of the drilling machine is approximately the same, namely the stratum conditions of the corresponding parts are approximately the same. When the curve has sudden change, the corresponding depth is the accurate depth of the formation lithology sudden change.
The data transmission module comprises a wireless communication module and a wired communication module, and the wireless communication module comprises a GPRS data transmission module and/or a Bluetooth module unit; the wired communication module comprises a USB interface; the stored data is transmitted in a wired or wireless mode, and the data can be conveniently transmitted and shared.
Further, to facilitate understanding of the logging device, detailed description is provided herein:
the input mode of the input device comprises keyboard input, voice input and radio frequency input; the radio frequency input mode comprises a radio frequency reader-writer and a radio frequency tag, the radio frequency tag is fixed on the inner side of a drill rod coupling, the radio frequency reader-writer is fixed at the position of a foot stool of the drilling machine frame, and the height of the radio frequency reader-writer is higher than that of a drilling hole;
the method for inputting the information of the drill rod in the embodiment adopts a radio frequency inputting mode, specifically, the drill rod information inputting device comprises a drill rod, a radio frequency tag and a radio frequency reader-writer, a drill hole is arranged at the section of a round rod at the joint position of the drill rod, and the radio frequency tag is embedded in the drill hole; the radio frequency reader-writer is in a double-emitting and double-receiving mode, wherein a transmitting antenna is arranged in the middle, and receiving antennas are arranged above and below the transmitting antenna.
Furthermore, in order to adapt to exploration operation, severe environments which can bear continuous high temperature, high pressure, abrasion corrosion and the like are selected, the external structure of the radio frequency tag adopts a metal thread tag, and the metal thread tag can be quickly embedded into a drill rod by combining with the drilling hole and is slightly embedded to ensure that the drill rod is not easy to abrade; meanwhile, in order to adapt to the specific situation of drilling operation, the internal structure of the radio frequency tag adopts a passive tag, the radio frequency tag does not need to be provided with any form of power supply, and under the action of an external specific frequency magnetic field, induced current is generated, so that energy is obtained, a radio frequency signal with drill rod information is automatically sent out, and the problem that the power supply of the active tag needs to be replaced regularly is avoided;
the radio frequency reader-writer is fixed at the position of a foot rest of the drilling machine frame, and the height of the radio frequency reader-writer is higher than the position of the drill hole; the double-shooting and double-receiving mode comprises a first transmitting antenna, a second transmitting antenna, a first receiving antenna and a second receiving antenna, and is used for logically judging the time of occurrence of the radio frequency tag in the upper and lower ranges of the transmitting antenna, determining the rod adding and rod reducing actions in the drilling process, and connecting and automatically recording the drilling recorder system; the first transmitting antenna and the second transmitting antenna are arranged in the middle, and the first receiving antenna and the second receiving antenna are respectively arranged above and below the transmitting antennas; isolation materials are arranged between the first receiving antenna and the first transmitting antenna, between the first transmitting antenna and the second transmitting antenna and between the second transmitting antenna and the second receiving antenna, and the isolation materials adopted in the embodiment are aluminum alloy materials, so that the interference between the transmitted signals and the received signals is effectively prevented;
the basic strategy of the drill pipe information entry is as follows:
the radio frequency reader-writer is fixed at a foot stool beside the drilling machine frame, the height of the radio frequency reader-writer is slightly higher than the hole opening of the drilling hole, a double-emitting and double-receiving mode is set, a radio carrier signal of set data is simultaneously emitted outwards through the transmitting antenna, and when the radio frequency tag enters a working area of the transmitting antenna (a drill rod is installed in place), the radio frequency tag is activated to emit an information code stored by the radio frequency tag out through the antenna; a receiving antenna of the system receives a carrier signal sent by the radio frequency tag and transmits the carrier signal to the reader-writer through a modulator of the antenna; the reader-writer demodulates and decodes the received signals, and the signals are sent to a field controller for processing and storage; the transmitting antenna is arranged in the middle, the receiving antenna is arranged above and below the transmitting antenna, and the isolating material is arranged in the middle; by logically judging the occurrence time of the radio frequency tag in the upper and lower ranges, the rod adding and rod reducing actions in the drilling process can be effectively determined, and the drilling recorder system is connected and automatically recorded.
Further, the working principle and the flow of the real-time exploration device for the depth of the exploration hole are described in detail with reference to fig. 4:
(1) data acquisition (acquisition of data related to exploration hole depth and acquisition of data of pressure and rotating speed of a drilling machine), specifically, surplus length data and field drilling tool information on the drilling machine are measured in real time through the drilling depth real-time measuring module, the exploration related data are transmitted to the main control module through the exploration hole information interaction module, and the main control module processes the received data to obtain real-time exploration hole depth; the specific calculation formula of the hole depth is as follows:
the hole depth is the total length of the drilling tool (drill rod + core pipe < drill bit > + active drill rod) - (machine height + machine residual ruler).
(2) Data processing
Transmitting the collected signals to the main control module, and processing the original signals by the main control module to convert the original signals into distance information; judging the validity of the obtained distance information, judging whether the distance information is a value in the sampling process, and setting the value as a primary result; if yes, storing the data in the SD card; otherwise, discarding; filtering the value of the obtained primary result to enable the data to tend to be smooth and stable, and setting the data as a secondary result; converting the value of the secondary result into a final result (such as hole depth); outputting the final result to a display screen, and simultaneously transmitting the final result to the mobile terminal equipment;
time, hole depth, pressure, rotating speed data and other drilling data are recorded and synchronized according to the number of times, and are transmitted to a cloud server and other on-site Bluetooth acquisition modules, such as an on-site recorder and the like.
Through the analysis and processing of the recorded data of the whole drilling process, a drilling record table (class report table) is automatically generated.
Example two:
the embodiment aims to provide a method for detecting the depth of an exploration hole in real time.
The exploration hole depth real-time detection method comprises the steps of measuring surplus length data and field drilling tool information on a machine in real time through the exploration hole depth real-time measurement module, transmitting exploration hole depth data to the main control module through the exploration hole information interaction module, and processing the received data through the main control module to obtain real-time exploration hole depth.
Furthermore, the main control module records and synchronizes time, hole depth, pressure and rotating speed data according to the exploration returns and transmits the data to the cloud server and the field mobile terminal device, and the cloud server automatically generates a drilling record table by analyzing and processing the recorded data in the whole drilling process.
Specifically, the real-time exploration method for the exploration hole depth comprises the following steps:
(1) data acquisition (acquisition of data related to exploration hole depth and acquisition of data of pressure and rotating speed of a drilling machine), specifically, surplus length data and field drilling tool information on the drilling machine are measured in real time through the drilling depth real-time measuring module, the exploration related data are transmitted to the main control module through the exploration hole information interaction module, and the main control module processes the received data to obtain real-time exploration hole depth; the specific calculation formula of the hole depth is as follows:
the hole depth is the total length of the drilling tool (drill rod + core pipe < drill bit > + active drill rod) - (machine height + machine residual ruler).
(2) Data processing
Transmitting the collected signals to the main control module, and processing the original signals by the main control module to convert the original signals into distance information; judging the validity of the obtained distance information, judging whether the distance information is a value in the sampling process, and setting the value as a primary result; if yes, storing the data in the SD card; otherwise, discarding; filtering the value of the obtained primary result to enable the data to tend to be smooth and stable, and setting the data as a secondary result; converting the value of the secondary result into a final result (such as hole depth); outputting the final result to a display screen, and simultaneously transmitting the final result to the mobile terminal equipment;
time, hole depth, pressure, rotating speed data and other drilling data are recorded and synchronized according to the number of times, and are transmitted to a cloud server and other on-site Bluetooth acquisition modules, such as an on-site recorder and the like.
Through the analysis and processing of the recorded data of the whole drilling process, a drilling record table (class report table) is automatically generated.
The device and the method for detecting the depth of the exploration hole in real time can be completely realized, and have wide application prospect.
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.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. An apparatus for real-time detection of the depth of an exploration hole, comprising:
the drilling depth real-time measuring module comprises a measuring device and an input device, wherein the measuring device is used for measuring the residual ruler on the drilling machine in real time, and the input device is used for automatically inputting drilling tool information;
the exploration hole information interaction module comprises a wireless communication unit and a positioning unit and is used for communication between the drilling depth real-time measuring module and the main control module;
and the main control module is used for receiving and calculating exploration hole information and acquiring the exploration hole depth in real time.
2. The device for detecting the depth of an exploration hole in real time as claimed in claim 1, wherein the measuring device comprises a separated ultrasonic ranging module and a short-edge ranging module; the separated ultrasonic ranging module comprises an ultrasonic receiving unit fixed at the top end of the driving drill rod and an ultrasonic transmitting unit fixed on the bracket; the short side distance measuring module is used for measuring the vertical distance between the ultrasonic transmitting unit and a vertical shaft of the drilling machine; the short edge ranging module is an integrated ultrasonic ranging device, and the integrated ultrasonic ranging device and the ultrasonic transmitting unit are fixed into a whole.
3. The device for detecting the depth of an exploration hole in real time as claimed in claim 2, wherein the ultrasonic receiving unit is mounted at a non-rotating position below the high-pressure water tap at the top end of the driving drill rod, and a gyroscope for determining the included angle between the ultrasonic transmitting and receiving line and the vertical direction in real time is arranged on the ultrasonic receiving unit.
4. The apparatus of claim 2, wherein the ultrasonic transmitter unit is fixed to a stand, the stand comprises a tripod, a height-adjustable column and a movable cantilever, the ultrasonic transmitter unit is fixed to the movable cantilever, and the stand is independent of the drilling machine; the movable cantilever is fixed on the height-adjustable fixing rod, and the height of the ultrasonic receiving unit can be adjusted by adjusting the height-adjustable fixing rod.
5. The apparatus for real-time detection of exploration hole depth as claimed in claim 1, wherein said input mode of said input device includes keyboard input, voice input and radio frequency input.
6. The apparatus of claim 5, wherein the RF entry mode comprises a laser code scanner and a bar code collar, the bar code collar is fixed to the inner side of the drill pipe coupling, and the laser code scanner is fixed to the drilling rig at a foot stand position and is higher than the drill hole.
7. The device for detecting the depth of an exploration hole in real time as claimed in claim 1, wherein the main control module is connected with a storage unit, and the storage unit comprises an SD card and an EEPROM; the storage unit is used for storing original data and processed data in a large capacity, volume data transmission is completed when the mobile terminal is connected, and meanwhile, the system can be effectively ensured to continue to operate after being restarted under the condition that the system of the detection device is crashed or suddenly powered off.
8. The device for detecting the depth of an exploration hole in real time as claimed in claim 1, wherein the device further comprises a power supply module, the power supply module is in a four-module double-power mode, and double power, namely a built-in lithium battery and an external power supply, supports hot plug of the power supply; the four-mode power supply mode comprises four modes of field solar power supply, built-in lithium battery charging replacement power supply, USB (universal serial bus) and normal power supply and dry battery pack power supply in an emergency state.
9. A method for detecting the depth of an exploration hole in real time is characterized by comprising the following steps:
and measuring the on-machine residual ruler data and the field drilling tool information in real time through the drilling depth real-time measuring module, transmitting the exploration hole depth data to the main control module through the exploration hole information interaction module, and processing the received data by the main control module to obtain the real-time exploration hole depth.
10. The method as claimed in claim 9, wherein the main control module records and synchronizes time, hole depth, pressure and rotation speed data according to the exploration returns, and transmits the data to the cloud server and the field mobile terminal device, and the cloud server automatically generates the drilling record table by analyzing and processing the data recorded in the whole drilling process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011531560.1A CN112431587B (en) | 2020-12-22 | 2020-12-22 | Device and method for detecting depth of exploration hole in real time |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011531560.1A CN112431587B (en) | 2020-12-22 | 2020-12-22 | Device and method for detecting depth of exploration hole in real time |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112431587A true CN112431587A (en) | 2021-03-02 |
| CN112431587B CN112431587B (en) | 2022-12-23 |
Family
ID=74696924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011531560.1A Active CN112431587B (en) | 2020-12-22 | 2020-12-22 | Device and method for detecting depth of exploration hole in real time |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112431587B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114777978A (en) * | 2022-04-19 | 2022-07-22 | 中国地质科学院勘探技术研究所 | Core tube and core drilling tool |
| CN114911786A (en) * | 2022-05-30 | 2022-08-16 | 上海华兴数字科技有限公司 | Drilling depth curve optimization method, device, equipment and operation machine |
| CN115013660A (en) * | 2022-06-02 | 2022-09-06 | 重庆蜀通岩土工程有限公司 | Intelligent engineering measurement working method |
| CN116446842A (en) * | 2023-03-06 | 2023-07-18 | 中建八局第二建设有限公司 | Intelligent drilling machine platform detection system based on Internet of things and cloud architecture technology |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101603422A (en) * | 2009-07-20 | 2009-12-16 | 西安华舜测量设备有限责任公司 | A kind of method of measuring the device of deep hole hole depth and measuring hole depth |
| CN101713278A (en) * | 2009-11-19 | 2010-05-26 | 江苏扬建集团有限公司 | Drilling pouring pile hole formation one-pile double-machine construction method |
| CN102337883A (en) * | 2011-09-15 | 2012-02-01 | 中煤科工集团重庆研究院 | Method for real-time tracking and measuring of drilling depth of measurement while drilling system |
| CN103758508A (en) * | 2014-02-24 | 2014-04-30 | 河南龙腾新型钻具制造有限公司 | Down hole drilling depth detecting instrument |
| US20150096805A1 (en) * | 2013-10-09 | 2015-04-09 | Baker Hughes Incorporated | Downhole Closed Loop Drilling System with Depth Measurement |
| CN105735971A (en) * | 2014-12-11 | 2016-07-06 | 安徽惠洲地质安全研究院股份有限公司 | Drilling hole depth detection system based on elastic waves and detection method thereof |
| US20180119539A1 (en) * | 2015-06-15 | 2018-05-03 | Halliburton Energy Services, Inc. | Application of depth derivative of distributed temperature survey (dts) to identify fluid level as a tool of down hole pressure control |
| CN108917704A (en) * | 2018-08-09 | 2018-11-30 | 中海石油(中国)有限公司 | Based on hull freedom degree offshore drilling blowout fluid liquid-column height measurement method |
| CN109973080A (en) * | 2019-03-22 | 2019-07-05 | 山东电子职业技术学院 | Geological prospecting drilling machine drills real-time deep measuring system |
| CN110360936A (en) * | 2019-08-09 | 2019-10-22 | 江苏通达纸业有限公司 | A kind of paper height measuring system of corrugated board production |
-
2020
- 2020-12-22 CN CN202011531560.1A patent/CN112431587B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101603422A (en) * | 2009-07-20 | 2009-12-16 | 西安华舜测量设备有限责任公司 | A kind of method of measuring the device of deep hole hole depth and measuring hole depth |
| CN101713278A (en) * | 2009-11-19 | 2010-05-26 | 江苏扬建集团有限公司 | Drilling pouring pile hole formation one-pile double-machine construction method |
| CN102337883A (en) * | 2011-09-15 | 2012-02-01 | 中煤科工集团重庆研究院 | Method for real-time tracking and measuring of drilling depth of measurement while drilling system |
| US20150096805A1 (en) * | 2013-10-09 | 2015-04-09 | Baker Hughes Incorporated | Downhole Closed Loop Drilling System with Depth Measurement |
| CN103758508A (en) * | 2014-02-24 | 2014-04-30 | 河南龙腾新型钻具制造有限公司 | Down hole drilling depth detecting instrument |
| CN105735971A (en) * | 2014-12-11 | 2016-07-06 | 安徽惠洲地质安全研究院股份有限公司 | Drilling hole depth detection system based on elastic waves and detection method thereof |
| US20180119539A1 (en) * | 2015-06-15 | 2018-05-03 | Halliburton Energy Services, Inc. | Application of depth derivative of distributed temperature survey (dts) to identify fluid level as a tool of down hole pressure control |
| CN108917704A (en) * | 2018-08-09 | 2018-11-30 | 中海石油(中国)有限公司 | Based on hull freedom degree offshore drilling blowout fluid liquid-column height measurement method |
| CN109973080A (en) * | 2019-03-22 | 2019-07-05 | 山东电子职业技术学院 | Geological prospecting drilling machine drills real-time deep measuring system |
| CN110360936A (en) * | 2019-08-09 | 2019-10-22 | 江苏通达纸业有限公司 | A kind of paper height measuring system of corrugated board production |
Non-Patent Citations (1)
| Title |
|---|
| 夏阳: "科学深钻立轴式钻机机上余尺检测方法研究", 《工程地球物理学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114777978A (en) * | 2022-04-19 | 2022-07-22 | 中国地质科学院勘探技术研究所 | Core tube and core drilling tool |
| CN114911786A (en) * | 2022-05-30 | 2022-08-16 | 上海华兴数字科技有限公司 | Drilling depth curve optimization method, device, equipment and operation machine |
| CN115013660A (en) * | 2022-06-02 | 2022-09-06 | 重庆蜀通岩土工程有限公司 | Intelligent engineering measurement working method |
| CN116446842A (en) * | 2023-03-06 | 2023-07-18 | 中建八局第二建设有限公司 | Intelligent drilling machine platform detection system based on Internet of things and cloud architecture technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112431587B (en) | 2022-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112431587B (en) | Device and method for detecting depth of exploration hole in real time | |
| CN101892830B (en) | Deep ground stress measurement while drilling (MWD) system | |
| CN106194159B (en) | Mine inclination measurement while drilling exploration system and measuring method thereof | |
| CN110988981B (en) | Phased array sound wave advanced prediction system and method suitable for drilling and blasting method tunnel | |
| CN101750629B (en) | Differential positioning seismometer while drilling | |
| CN201280927Y (en) | Underground pipeline detecting and prewarning apparatus | |
| CN101749011A (en) | Drilling earthquake reference signal collection method and device | |
| CN101761062A (en) | Wireless rotating penetrometer | |
| CN201387488Y (en) | Differential positioning seismograph while drilling | |
| CN107346032A (en) | A kind of wireless controlled passes the Tunnel prediction system and method for acceleration transducer | |
| CN106199719A (en) | A kind of VSP during drilling measures clock system and method | |
| CN102628355B (en) | Cable-free borehole clinometer and synchronous inclinometry method thereof based on synchronization technology | |
| CN101482621A (en) | Method for monitoring acceleration of sliding posture of sliding body | |
| CN106401572B (en) | A kind of VSP during drilling measurement sensor pushing device and measuring tool | |
| CN205638443U (en) | Engineering parameter of deep water drilling string is along with boring measuring device | |
| CN109322660A (en) | A kind of main stress direction measurement-while-drilling system signal exciting bank of level | |
| CN109209360A (en) | A kind of main stress direction measurement-while-drilling system of level and measurement method | |
| CN214247309U (en) | Exploration hole depth real-time detection device and drilling device | |
| CN106154333A (en) | A kind of four component VSP measurement-while-drilling systems and method | |
| CN201155968Y (en) | Three-dimensional topographic survey device based on GPS and laser technique | |
| CN105863623B (en) | A kind of data timesharing carrying system and method for VSP during drilling measurement | |
| CN109184675A (en) | A kind of main stress direction measurement-while-drilling system signal acquisition of level and storage device | |
| CN112112624B (en) | Fine and remote detection device and method for multi-parameter drilling geophysical prospecting under coal mine | |
| CN112729178B (en) | Real-time measuring device and method for residual ruler on drilling machine | |
| CN101806591A (en) | Three-dimensional displacement monitoring method for landslide mass |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 250031 No. 576 Wushanxi Road, Tianqiao District, Jinan City, Shandong Province Applicant after: Shandong transportation planning and Design Institute Group Co.,Ltd. Address before: 250031 No. 576 Wushanxi Road, Tianqiao District, Jinan City, Shandong Province Applicant before: Shandong transportation planning and Design Institute Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |