CN112859102A - Photon radar and method for full-airspace real-time detection - Google Patents
Photon radar and method for full-airspace real-time detection Download PDFInfo
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- CN112859102A CN112859102A CN202110389309.4A CN202110389309A CN112859102A CN 112859102 A CN112859102 A CN 112859102A CN 202110389309 A CN202110389309 A CN 202110389309A CN 112859102 A CN112859102 A CN 112859102A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The invention discloses a photon radar and a method for full airspace real-time detection, wherein the photon radar comprises a device carrier, N laser receiving and transmitting modules for full airspace real-time scanning are arranged on the device carrier, the laser receiving and transmitting modules are used for emitting laser beams and receiving target reflected laser, and the N laser receiving and transmitting modules are simultaneously distributed on the peripheral outer wall of the device carrier; n laser beams distributed in a spherical surface are sent out through N laser receiving and sending modules, a detection signal network with controllable gaps is formed in the space domain around the device carrier by the laser beams, a radar analysis system carries out data analysis to obtain positioning information, and the positioning information is input into display equipment to be displayed, so that the problem that monitoring blind spots exist in the existing space domain monitoring equipment for low, small and slow flying targets or static targets is expected to be improved.
Description
Technical Field
The invention relates to airspace object monitoring, in particular to a photon radar and a method for full airspace real-time detection.
Background
The existing radar identification mainly comprises the steps of identifying target characteristic signals through a computer system, forming target scattering echoes with phase difference information through the interaction of electromagnetic waves and a target, and analyzing the echoes through the computer system to obtain physical quantities such as the shape, the volume, the posture, the electromagnetic parameters of surface materials, the surface roughness and the like of the target so as to determine the position and the moving track of the target in an airspace.
The unmanned aerial vehicle is small in size and relatively low in moving speed, meanwhile, the unmanned aerial vehicle is usually in a low-altitude environment when working, in order to monitor an airspace in a wider range, detection signals are generally distributed in a scattering mode, detection blind areas exist in a detection network formed by the detection signals, in order to reduce the limitation of a monitoring area as much as possible, blind area risks can be improved as much as possible through time-sharing scanning in the prior art, but the time-sharing scanning inevitably has positioning delay risks; meanwhile, as for the pulse radar system, the pulse radar system has larger risks of interception and signal interference, so that the discovery of a hidden target is not facilitated; therefore, it is worth studying how to improve the detection of low flying height targets, small-sized targets, slow-moving targets, stationary targets, and stealth targets on the ground.
Disclosure of Invention
The invention aims to provide a photon radar and a method for full airspace real-time detection, aiming at solving the problem that the existing airspace monitoring equipment has monitoring blind spots aiming at low, small and slow flying targets or static targets.
In order to solve the technical problems, the invention adopts the following technical scheme:
a photon radar for real-time detection of a full airspace comprises a device carrier, wherein N laser transceiving modules for real-time scanning of the full airspace are arranged on the device carrier, the laser transceiving modules are used for emitting laser beams and receiving target reflected laser, the N laser transceiving modules are simultaneously distributed on the peripheral outer wall of the device carrier, and the laser beams emitted by the N laser transceiving modules cover the air field; laser beams of the N laser receiving and transmitting modules form a detection signal network for real-time scanning in an airspace around a device carrier, the laser receiving and transmitting modules are connected to a radar analysis system through a sampling unit, and the radar analysis system analyzes and obtains three-coordinate data according to parameter information of target reflected laser and the laser beams.
Preferably, the laser transceiver module is provided with a transmitting unit and a receiving unit, the laser beam emitted by the transmitting unit is modulated laser, and the receiving unit is configured to receive reflected laser formed by a target reflected laser beam.
According to a further technical scheme, the sampling unit is a photon counter, the waveform of the modulated laser is a sine wave, and each single-connected photon detector corresponds to one photon counter.
According to a further technical scheme, the receiving unit is in signal connection with a sampling unit, the sampling unit is in signal connection with a radar analysis system, and the sampling unit performs photon counting on the reflected laser light collected by the receiving unit and transmits counting data to the radar analysis system.
Preferably, the outer wall of the device carrier has an arc surface, a hemisphere is formed on the device carrier by the arc surface, a distribution surface is arranged on a spherical crown of the hemisphere, and the laser transceiver modules are distributed in a spherical shape on the arc surface and the distribution surface.
The further technical scheme is that the laser transceiving modules are uniformly distributed on the cambered surface and the cloth distribution surface according to contour lines.
The invention also discloses a positioning method for monitoring the slow movement of the tiny objects in the low altitude, using the positioning device, emitting N laser beams distributed in a spherical shape through N laser receiving and transmitting modules, forming a detection signal network with controllable gaps in the airspace around the device carrier by the laser beams, when the monitored objects pass through the detection signal network, the laser beams irradiate on the monitored objects to form reflected lasers, the reflected lasers are received by the corresponding laser receiving and transmitting modules, the reflected data information is transmitted to a sampling unit through the laser receiving and transmitting modules for counting, then the counting data is uploaded to a radar analysis system, and the radar analysis system carries out data analysis to obtain the positioning information and inputs the positioning information into a display device for displaying.
Preferably, the number of the wave bands of the laser beams of the N laser transceiver modules is the same, and the number of the wave bands of the laser beams is different from the wave bands of other interference signals.
Compared with the prior art, the invention has the beneficial effects of at least one of the following:
the invention can effectively reduce the gap between the laser beams in a certain airspace range, thereby reducing airspace monitoring blind spots and reducing the possibility that objects with smaller volume fly by using the blind spots, and the laser receiving and transmitting modules are distributed on the device carrier in a hemispherical shape, so that the laser beams are distributed in a spherical shape and form a detection signal network in a low-altitude environment; the system can monitor in real time in a full airspace through a detection signal network, and effectively avoid the delayed positioning risk in the time-sharing scanning process. The laser transceiver module works simultaneously on the device carrier, so that full-airspace coverage and full-airspace real-time detection and positioning are realized, and continuous gapless discovery, positioning and tracking of the swarm unmanned aerial vehicle are facilitated.
The invention adopts modulated laser, can realize time-related known change by modulating frequency and change rule, can set wavelength to deal with external signal interference, and can form differentiation by modulating laser even if optical radars with the same wavelength exist, thereby effectively avoiding other radar interference in the near-space field.
The waveform of the invention can adopt a sine wave form, so that the laser beam still keeps the original waveform after passing through any linear network, the receiving unit is an independent single-photon detector, the single-photon detector is used for sampling the echo at the photon level, the dependence on the echo signal intensity is greatly reduced, the transmitting unit can adopt a low-power laser to transmit continuous laser to realize detection, and the power consumption, the volume and the cost of the transmitting unit are reduced.
Drawings
FIG. 1 is a schematic diagram of the invention.
Fig. 2 is a schematic diagram of laser beam transceiving.
Fig. 3 is a schematic structural diagram of a transceiver module.
Fig. 4 is a schematic diagram of a radar analysis process.
Description of reference numerals:
1-device carrier, 2-transceiver module, 3-transmitting unit, 4-receiving unit, 5-cambered surface, 6-distributing surface and sampling unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1:
referring to fig. 1 to 3, an embodiment of the present invention is a photonic radar for full airspace real-time detection, including an apparatus carrier 1, where the apparatus carrier 1 is provided with N laser transceiver modules 2 for performing full airspace real-time scanning, the laser transceiver modules 2 are used to emit laser beams and receive reflected laser beams from a target, the N laser transceiver modules 2 are simultaneously distributed on peripheral outer walls of the apparatus carrier 1, and laser beams emitted by the N laser transceiver modules 2 cover an air field; the laser beams of the N laser transceiver modules 2 form a detection signal network for real-time scanning in the airspace around the device carrier 1, wherein the device carrier 1 is the existing radar equipment carrier, the laser transceiver modules 2 are distributed in the transverse direction and the longitudinal direction of the device carrier 1, the purpose is to enable the axes of the laser transceiver modules 2 to present spherical distribution, the N laser transceiver modules 2 are enabled to emit N laser beams in a hemispherical shape, and when the laser beams are emitted to the periphery by taking the device carrier 1 as the center, the detection signal network with the longitude and the latitude covered simultaneously can be formed in the peripheral area of the device carrier 1.
Through N laser transceiver module 2 at the arrangement carrier 1 formation semi-globalization permutation arrangement, through N laser transceiver module 2 simultaneous workings, thereby realize the real-time detection location in full airspace cover and full airspace, because the laser beam clearance overall arrangement that two laser transceiver module 2 sent is inseparable, with the resolving power of the size of guaranteeing the laser beam of sending between the laser transceiver module 2 generally be far more than the target size, thereby be favorable to discovering, fixing a position and tracking bee colony class unmanned aerial vehicle's continuous zero clearance. Meanwhile, the laser beam has good propagation directivity and the advantage of narrow beam, and the more important laser beam can only exist on the propagation path, so that the laser beam signal for monitoring is difficult to find, and the risk of interception and interference of signal reflection laser is greatly reduced.
The laser transceiving module 2 is connected to a radar analysis system through the sampling unit 5, wherein the radar analysis system can analyze and obtain longitude and latitude data according to phase difference information of target reflected laser and laser beams. The reflected laser is subjected to photon counting through the sampling unit 5, photon counting data are transmitted to the radar analysis system, the analysis system processes data signals, and finally the data can be converted into reading numbers to be displayed on a computer display.
When the photon radar continuously scans in a full airspace in real time, the radar analysis system can also carry out data deduction based on the time change rule of laser reflected by a target, when the laser transceiving module 2 detects the laser reflected by a target object, the sampling unit 5 samples the laser to obtain photon counting data, the photon counting data is subjected to waveform reduction and filtering to obtain analyzable parameters, phase discrimination and Doppler frequency shift are carried out by utilizing the parameters to carry out speed and distance measurement, and meanwhile, the radar analysis system can also carry out calculation through a corresponding algorithm based on pitch angle information and azimuth angle information of the corresponding laser transceiving module, so that the size, the shape, the flight attitude and the motion track of the target are comprehensively analyzed based on the amplitude, the phase and transformation characteristic information of the laser reflected by the target.
It should be noted that the general low altitude is in the range of 100-1000 meters from the ground, below 100 meters is in the ultra-low altitude, and above 1000 meters is in the hollow and high altitude. The aerial field referred to in this application is only for facilitating the understanding and embodying of the monitoring effect by those skilled in the art, wherein the monitoring range of the photonic radar should at least include a low-altitude field below 1000, and due to the particularity of the laser beam, the laser irradiation range can be regarded as the monitoring range, and the general laser beam irradiation range can reach above 5km, so for those skilled in the art, the detection signal network coverage airspace at least needs to cover an airspace below 1000 meters, but the monitoring range is not limited to 1000 meters, and may also be a high-altitude environment, for example, the common laser beam irradiation range can reach above 5 km.
For slow flight, M is usually required to be less than 0.3, where M is a measure of the degree of change in air density or the magnitude of compressibility. The irradiation area and the signal reflection area of the laser beam meet corresponding heights, and the air change can not cause excessive deviation of the laser beam, so that the laser beam can be suitable for a low-altitude environment as a construction unit of a detection signal network.
It should be noted that the cost of using laser beams by the laser transceiver module 2 is much lower than that of the pulsed rf module, which is beneficial to increase the number of laser transceiver modules 2 on the device carrier 1 and reduce the gap of the detection signal network. The radar analysis system can be an existing airspace radar analysis system.
Example 2:
based on the above embodiment, another embodiment of the present invention is that the laser transceiver module 2 is provided with a transmitting unit 3 and a receiving unit 4, the laser beam emitted by the transmitting unit 3 is modulated laser, and the receiving unit 4 is configured to receive reflected laser formed by a target reflected laser beam, wherein waveforms of the laser beam emitted by the transmitting unit 3 may be various, and the receiving unit 4 is configured to receive reflected laser formed by the target reflected laser beam, and process an echo signal of the reflected laser by a radar analysis system to obtain related data. The transmitting unit 3 is an existing conductor laser or semiconductor laser, the accuracy of distance measurement and angle measurement can be affected by the quality of signals transmitted by the transmitting unit 3, the laser beams are output and modulated by the conductor laser, the stability of the laser beams is ensured, the detection of low, small and slow flying targets and static targets in a full airspace is realized by matching with an array photon counting technology, and the stealth targets can be detected to a certain extent.
Furthermore, the receiving unit 4 is a single-photon detector, wherein each laser transceiver module 2 of the photonic radar is configured with an independent single-photon detector, and the single-photon detector can detect the target echo at the photon level, so that the receiving unit 4 can effectively reduce the dependency on the echo signal intensity by adopting the single-photon detector. Meanwhile, the transmitting unit 3 can also be suitable for a low-power laser on the basis, so that the overall power consumption, the volume and the cost of the laser receiving and transmitting module 2 are reduced, and the full-airspace real-time detection of laser beams is realized. Meanwhile, the receiving unit 4 can be adapted to corresponding elements such as a refrigeration module, a vacuum cavity, an emission lens and the like, so that the working stability of the receiving unit 4 is ensured.
The waveform of the modulated laser is a sine wave, and because the sine wave is a signal with the most single frequency component, the laser beam is emitted in the form of the sine wave, so that the original waveform of the laser beam can be kept after the laser beam passes through any linear network, and the modulated laser is a controllable time-varying modulated laser, and known variation related to time can be realized through the modulation frequency and the variation rule thereof; therefore, the laser beam can be modulated into the linear combination of sine waves with different frequencies, different amplitudes and different phases according to the requirements, and the method is suitable for diversified monitoring requirements.
It should be noted that, since the existing pulse-type laser radar is vulnerable to the risk of wavelength interference, the risk of wavelength interference is overcome by modulating the laser light, and meanwhile, considering the possible influence factors caused by sunlight, the modulated laser light is set to some specific wavelengths, for example 1550nm, so as to avoid the interference of sunlight. In the case of a plurality of radar distributions, even an optical radar having the same wavelength cannot cause a large interference unless it is modulated differently from the present apparatus.
Furthermore, in order to improve the sensitivity of the photon radar, the receiving unit 4 is in signal connection with the sampling unit 7, echoes collected by the single photon detector are processed through the sampling unit 7, photon counting is carried out, meanwhile, basic feasibility is provided for application of an array photon counting technology through distribution of the laser transceiver modules 2, photon range data of feedback laser are collected through the receiving unit 4, and photon counting is carried out through the sampling unit 7.
The sampling unit 7 is in signal connection with the radar analysis system, and the sampling unit 7 performs photon counting on the reflected laser light collected by the receiving unit 4 and transmits the counting data to the radar analysis system. And the radar analysis system carries out parameter estimation on the target object according to the phase identification, the distance measurement and calculation and the Doppler mode.
It should be noted that because there are photons in the laser beam, when the target object is reflected, a large number of photons are reflected, and the photon counting provided by the sampling unit 7 provides an important role for the radar analysis system to perform fast analysis imaging, thereby contributing to improving the sensitivity of the photonic radar.
Example 3:
based on the above embodiment, another embodiment of the present invention is that the outer wall of the device carrier 1 has an arc surface 5, a hemisphere is formed on the device carrier 1 by the arc surface 5, a distribution surface 6 is provided on a spherical crown of the hemisphere, and the laser transceiver modules 2 are distributed in a spherical shape on the arc surface 5 and the distribution surface 6.
The annular arc-shaped body comprises a plurality of forms such as a cone or a sphere, and the purpose of the annular arc-shaped body is mainly to ensure that N emitted laser beams are emitted in a spherical distribution, so that the laser beams can cover different heights in a plurality of directions. Avoid appearing the blind area of timesharing detection, the design that the photon radar passes through cambered surface 5 and distribution surface 6 makes laser transceiver module 2 can realize the hemispherization on device carrier 1 and arranges, and its N laser transceiver module 2 during simultaneous working, the laser beam can realize the full airspace and cover, and cooperation radar analytic system can carry out the real-time detection location in the full airspace, is favorable to discovering, location, tracking the continuous zero clearance of bee colony class unmanned aerial vehicle.
Further, although the more distributed laser transceiver modules 2 on the device carrier 1, the greater the coverage density of the laser beam, in order to make the laser beams emitted by the N laser transceiver modules 2 on the device carrier 1 relatively uniform, the laser transceiver modules 2 are uniformly distributed on the arc surface 5 and the distribution surface 6 according to contour lines, and the distance between two adjacent laser transceiver modules 2 is the same. The laser transceiver modules 2 are distributed on the device carrier 1 in a contour manner in a circle, and the distribution of the emitted laser beams is relatively uniform. The invention also discloses a method for detecting the full airspace in real time, which uses the positioning device, N laser beams distributed in a spherical shape are sent out by N laser transceiving modules 2, a detection signal network with controllable gaps is formed by the laser beams in the airspace around a device carrier 1, when a monitored object passes through the detection signal network, the laser beams irradiate on the monitored object to form reflected lasers, the reflected lasers are received by the corresponding laser transceiving modules 2, the reflected data information is sent to a sampling unit by the laser transceiving modules 2 to be counted, then the counted data is uploaded to a radar analysis system, and the radar analysis system carries out data analysis to obtain the positioning information and inputs the positioning information into a display device to be displayed. Therefore, the real-time detection of low, small, slow and hidden targets in a full airspace is realized. The detection mode avoids the defect that the optical radar is generally only limited to the detection of a small field of view range, and greatly reduces the time consumed by the full-airspace detection.
Furthermore, the frequencies of the laser beams of the N laser transceiver modules 2 are located in the same waveband, and the waveband of the laser beam is distinguished from other interference signal wavebands by setting the distinguishing waveband of the laser beams of the laser transceiver modules 2. Even if other radar units exist near the photon radar, interference risks of other radars can be avoided as long as laser beams of the radar are modulated into different distinct wave bands.
Referring to fig. 4, the radar analysis system mainly uses photon counting, waveform reduction, narrow-band filtering, phase discrimination, doppler shift and corresponding algorithms to perform calculation, specifically, a receiving unit 4 of a laser transceiver module 2 detects a reflected laser signal and amplifies and outputs the signal to a sampling unit 7, that is, the sampling unit 7 is a photon counter, the sampling unit counts the amplified signal photons, that is, the photon counting counts the reflected laser signal within a certain time interval τ to obtain photon distribution data within the whole time interval T, and the photon distribution data is reduced to a sinusoidal waveform in combination with the waveform reduction, and the counted waveform can be expressed as many peaks and burrs due to the existence of poisson noise. In order to avoid the influence of Poisson noise, the characteristics of sine waves can be utilized, and the noise is filtered by a narrow-band filtering algorithm, so that the restored waveform of the echo signal is obtained.
And comparing the restored waveform with the transmitted waveform by a radar analysis system, and calculating the distance between a static target and a moving target by phase difference and frequency shift through a phase discrimination algorithm and a Doppler frequency shift algorithm. The three-coordinate and speed information of the measured target is finally obtained by combining the pitch angle, azimuth angle information and compass information emitted by the laser, the space information of the measured target in different time periods is obtained by detecting the full time domain and the air domain, the running track of the target is restored by combining a corresponding algorithm, and the detection and tracking of the single target and the swarm target are realized.
Reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," "a preferred embodiment," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described generally in this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the invention to effect such feature, structure, or characteristic in connection with other embodiments.
Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. More specifically, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.
Claims (8)
1. A photonic radar for full airspace real-time detection, comprising an apparatus carrier (1), characterized in that: the device carrier (1) is provided with N laser transceiving modules (2) for carrying out full airspace real-time scanning, the laser transceiving modules (2) are used for emitting laser beams and receiving target reflected laser, the N laser transceiving modules (2) are simultaneously distributed on the peripheral outer wall of the device carrier (1), and the laser beams emitted by the N laser transceiving modules (2) cover the air field; laser beams of the N laser transceiver modules (2) form a detection signal network for real-time scanning in an airspace around the device carrier (1), the laser transceiver modules (2) are connected to a radar analysis system through a sampling unit (5), and the radar analysis system analyzes and obtains three-coordinate data according to parameter information of target reflected laser and the laser beams.
2. The photonic radar for full spatial domain real-time detection according to claim 1, wherein: the laser receiving and transmitting module (2) is provided with a transmitting unit (3) and a receiving unit (4), the laser beam emitted by the transmitting unit (3) is modulated laser, and the receiving unit (4) is used for receiving reflected laser formed by the target reflected laser beam.
3. The photonic radar for full spatial domain real-time detection according to claim 2, wherein: the receiving unit (4) is a single photon detector, the sampling unit (7) is a photon counter, the waveform of the modulated laser is a sine wave, and each single photon detector corresponds to one photon counter.
4. The photonic radar for full spatial domain real-time detection according to claim 2, wherein: the receiving unit (4) is in signal connection with the sampling unit (7), the sampling unit (7) is in signal connection with the radar analysis system, and the sampling unit (7) counts the photons of the reflected laser light collected by the receiving unit (4) and transmits the counted data to the radar analysis system.
5. The photonic radar for full spatial domain real-time detection according to claim 1, wherein: the device carrier (1) outer wall has cambered surface (5), by cambered surface (5) forms the hemisphere on device carrier (1), the spherical crown of hemisphere is equipped with distribution face (6), laser transceiver module (2) is spherical distribution on cambered surface (5) and distribution face (6).
6. The photonic radar for full spatial domain real-time detection according to claim 5, wherein: the laser transceiving modules (2) are uniformly distributed on the cambered surface (5) and the distribution surface (6) according to contour lines.
7. A method for full airspace real-time detection using the positioning device of any one of claims 1 to 6, characterized in that: the device comprises N laser receiving and transmitting modules (2), N laser beams distributed in a spherical surface mode are emitted through the N laser receiving and transmitting modules (2), a detection signal network with controllable gaps is formed in the surrounding airspace of a device carrier (1) through the laser beams, when a monitored object passes through the detection signal network, the laser beams irradiate on the monitored object to form reflected lasers, the reflected lasers are received by the corresponding laser receiving and transmitting modules (2), the reflected signals are transmitted to a sampling unit through the laser receiving and transmitting modules (2) to be counted, the counting data are uploaded to a radar analysis system through the sampling unit, and the radar analysis system carries out data analysis to obtain positioning information and inputs the positioning information into display equipment to be displayed.
8. The method for full spatial domain real-time detection according to claim 7, wherein: the N laser transceiving modules (2) have the same laser beam wave band number, and the laser beam wave band number and other interference signal wave bands are arranged in a differentiated mode.
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| CN113870532A (en) * | 2021-09-29 | 2021-12-31 | 哈尔滨工业大学（威海） | Movable type mine roadway surrounding rock three-dimensional monitoring and alarming device and method |
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