CN112946767A - Extraction method for information of side slope geology and supporting structure - Google Patents
Extraction method for information of side slope geology and supporting structure Download PDFInfo
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- CN112946767A CN112946767A CN202110118359.9A CN202110118359A CN112946767A CN 112946767 A CN112946767 A CN 112946767A CN 202110118359 A CN202110118359 A CN 202110118359A CN 112946767 A CN112946767 A CN 112946767A
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- 238000000605 extraction Methods 0.000 title claims description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000002159 abnormal effect Effects 0.000 claims abstract description 10
- 238000010521 absorption reaction Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 4
- 238000002372 labelling Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 18
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A10/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE at coastal zones; at river basins
- Y02A10/23—Dune restoration or creation; Cliff stabilisation
Abstract
The invention relates to the technical field of surveying before construction, in particular to a method for extracting information of side slope geology and a supporting structure, which comprises the following steps: step S1, the collector moves along the walking track through the power mechanism; step S2, transmitting electromagnetic waves to the slope and the supporting structure through the collector and receiving reflected waves after reflection, and when the energy of the reflected waves is smaller than a preset value, controlling the power mechanism through the controller to drive the collector to move according to a preset distance; step S3, identifying the geological information of the side slope and the structural information of the supporting structure by the reflected wave which can be received by the collector in a point domain, labeling the geological information and the structural information, and establishing a side slope model according to the geological information, the structural information and the labels; and step S4, identifying abnormal areas of the slope and the supporting structure from the slope model according to the characteristics of the electromagnetic waves in the media with different dielectric constants, and predicting risk positions according to the slope model. The method can accurately extract the information of the side slope and the supporting structure.
Description
Technical Field
The invention relates to the technical field of surveying before construction, in particular to a method for extracting information of side slope geology and a supporting structure.
Background
The side slope support refers to a retaining, reinforcing and protecting measure which is taken for the side slope to ensure the safety of the side slope and the environment. The common supporting structure forms are as follows: gravity retaining wall, buttress retaining wall, cantilever support, plate rib type or lattice type anchor rod retaining wall support, row pile type anchor rod retaining wall support, anchor spraying support, slope ratio method and the like. However, the side slope is generally formed by earth excavation and compaction, and concrete is poured on the side slope to form a grid-shaped supporting structure for supporting and protecting, so that the side slope and the supporting structure are affected by rainwater erosion and geological structures in the using process, cracks and holes are generated on the supporting structure, weak parts caused by construction collapse and the like are formed, and therefore, the method is very important for extracting information of the side slope geology and the supporting structure.
Aiming at geological information extraction, at present, geological radars are mainly adopted, workers carry the geological radars to move along an area needing to be observed, electromagnetic signals of the received geological radars are observed in real time, and the received geological radars move to the next area for detection after the reflected electromagnetic signals are absorbed.
Disclosure of Invention
The invention aims to provide an extraction method for side slope geological and supporting structure information, so as to automatically extract and collect the geological information of a side slope and a supporting structure thereof.
The method for extracting the information of the side slope geology and the supporting structure in the scheme comprises the following steps:
step S1, laying a walking track on the side slope and the supporting structure, and enabling the collector to move along the walking track through a power mechanism;
step S2, emitting electromagnetic waves to the slope and the supporting structure through the collector, receiving reflected waves reflected by the slope and the supporting structure, judging the received reflected waves, and controlling the power mechanism to drive the collector to move according to a preset distance through the controller when the energy of the reflected waves is smaller than a preset value;
step S3, identifying the geological information of the side slope and the structural information of the supporting structure by the reflected wave which can be received by the collector in a point domain, marking the geological information and the structural information, and establishing a side slope model of the side slope and the supporting structure according to the geological information, the structural information and the marking;
and step S4, identifying abnormal areas of the slope and the supporting structure from the slope model according to the characteristics of the electromagnetic waves in the media with different dielectric constants, and predicting risk positions according to the slope model.
The beneficial effect of this scheme is:
the collector moves along the walking track through the power mechanism and judges the energy of the reflected wave, and after the energy of the reflected wave is absorbed, the collector continues to move to detect the side slope and the supporting structure thereof, so that the information carried by the reflected wave can be completely acquired, manual walking is not needed, and the information extraction of the side slope and the supporting structure thereof is more convenient; and establishing a slope model of the slope and the supporting structure according to the geological information and the structural information carried by the reflected wave, identifying abnormal areas in the slope model, predicting the risk position, and finding corresponding risk factors in time.
Further, in step S1, a plurality of traveling rails are provided, and each traveling rail is provided with a power mechanism and a collector, so that the power mechanisms on the plurality of traveling rails drive the collectors to move in opposite directions from different directions.
The beneficial effects are that: through a plurality of walking tracks and collectors, monitoring efficiency can be improved, and the moving direction difference of a plurality of collectors can prevent the mutual interference of collectors.
Further, in step S3, the processor calculates the real-time position of the collector on the travel track according to the label and the preset distance, the processor determines the collection time of the collector according to the interval between the sending of the electromagnetic wave and the receiving of the reflected electromagnetic wave, the processor determines the absorption duration of the electromagnetic wave in the slope model until the energy is reduced to be less than the preset value according to the collection time, and the processor predicts the abnormal position according to the difference between the multiple determined absorption durations.
The beneficial effects are that: the real-time position of the collector on the walking track is calculated, then the collecting time of the collector is calculated, the collecting time is the stop time period of the collector, finally the absorption duration of the electromagnetic waves in the slope model is determined according to the collecting time, the abnormal position is predicted according to the absorption duration in the collecting process, and the dangerous position in the slope can be conveniently found in advance.
Further, in step S3, after the collector moves, the camera is used to shoot the environment images of the side slope and the supporting structure, the type of the interfering object is identified from the environment images, the orientation relationship between the collector and the interfering object is determined according to the type of the interfering object and the real-time position, the orientation relationship is compared with the preset orientation, and when the orientation relationship is the same as the preset orientation, the controller controls the power mechanism to drive the collector to steer according to the preset angle.
The beneficial effects are that: the method comprises the steps of shooting an environment image of the surrounding environment of a collector, identifying the type of an interference object such as a building and a high-voltage line tower from the environment image, judging the azimuth relationship between the collector and the interference object according to the type of the interference object and a real-time position, comparing the azimuth relationship with a preset azimuth, wherein the preset azimuth can be that a collector antenna is parallel to the direction of the building and a measuring line of the collector is perpendicular to a high-voltage line tower wiring line, and finally, the collector turns according to a preset angle, so that the interference brought by the environment factors to the collection work of the collector is reduced.
Further, in step S3, the processor pre-determines the collision positions of the collectors on the multiple traveling tracks according to the real-time positions and the collection time, and when the collision positions of at least three collectors are located on the same vertical line perpendicular to the traveling tracks, the processor sends an acceleration signal or a deceleration signal to the controller on the traveling tracks, so that the controller controls the power mechanism to drive the collectors to move according to the acceleration signal or the deceleration signal.
The beneficial effects are that: the collision positions of the plurality of collectors are pre-judged according to the real-time positions and the collection time, and when at least three collectors collide on the same horizontal plane, the acceleration signals or the deceleration signals are sent to the controller, so that the movement rules of the plurality of collectors are changed, and the mutual interference among the plurality of collectors is reduced.
Further, in step S3, the controller controls the retractor of the power mechanism according to the speed-increasing signal to drive the collector to lift first and then move according to a preset height, and the controller controls the retractor of the power mechanism according to the speed-decreasing signal to drive the collector to lower first and then lift according to the preset height.
The beneficial effects are that: because the supporting structure on the side slope is in a grid shape, if the speed-up signal is adopted, the height of the collector is raised, the movement of the collector is not hindered by the supporting structure, the movement speed is increased, if the speed-down signal is adopted, the height of the collector is reduced, the movement of the collector is hindered by the supporting structure, the movement speed is reduced, the collision surface positions of a plurality of collectors are pulled open, and the interference is reduced.
Drawings
FIG. 1 is a flow chart of a first embodiment of the method for extracting information of a slope geology and a supporting structure according to the present invention;
FIG. 2 is a schematic block diagram of a first embodiment of the method for extracting information of a slope geology and a supporting structure according to the present invention;
fig. 3 is a radial cross-sectional view of a walking track in the first embodiment of the method for extracting information of slope geology and supporting structures of the present invention.
Detailed Description
The following is a more detailed description of the present invention by way of specific embodiments.
Reference numerals in the drawings of the specification include: the device comprises a walking track 1, a guide groove 2, a rack 3, a gear 4, a detection end 5, a U-shaped support 6, a telescopic device 7, a speed reduction motor 8, a rotating shaft 9, a mounting plate 10 and a rotator 11.
Example one
In order to realize the extraction method for the side slope geology and supporting structure information, the embodiment also discloses a track laying device, as shown in fig. 3, the track laying device comprises a long-strip-shaped travelling track 1, the travelling track 1 can be made of steel and can be attached to the shape of a side slope, the radial section of the travelling track 1 is square, two acting side walls of the travelling track 1 are provided with guide grooves 2, the side walls of the guide grooves 2, which are opposite to the notches, are welded with racks 3, the racks 3 are meshed with gears 4, the gears 4 are in keyed connection with rotating shafts 9, and U-shaped supports 6 are arranged above the travelling track 1; the power mechanism comprises a telescopic device 7 and a speed reducing motor 8, the telescopic device 7 is mounted on the concave inner wall of the U-shaped support 6 in a hollow manner, the telescopic device 7 can use the existing hydraulic cylinder, a mounting plate 10 is welded on the concave inner wall of the U-shaped support 6, a rotator 11 is fixedly mounted on the mounting plate 10, the rotator 11 can use the existing rotating cylinder, and the output end of the rotator 11 is fixed on the bottom end of the telescopic device 7; the collector comprises a geological radar host and a detection end 5 which sends out electromagnetic waves and receives the reflected electromagnetic waves, the detection end 5 is equivalent to an antenna part, the geological radar host transmits the electromagnetic waves to the detection end 5 and receives the electromagnetic waves reflected by the detection end 5, the detection end 5 of the collector is fixedly installed on a piston rod of a telescopic device 7, a speed reducing motor 8 is fixedly installed at two ends of a U-shaped support 6, and a rotating shaft 9 is welded on an output shaft of the speed reducing motor 8.
The method for extracting the information of the slope geology and the supporting structure, as shown in fig. 1 and 2, comprises the following steps:
step S1, a plurality of walking rails 1 are arranged above the side slope and the supporting structure, namely the walking rails 1 are arranged along the height of the side slope, each walking rail 1 is provided with a power mechanism and a collector, the collectors move along the walking rails 1 through the power mechanisms, the power mechanisms on the walking rails 1 drive the collectors to move oppositely from staggered positions, namely the motors drive the gears 4 to rotate, and the gears 4 move along the racks 3.
And step S2, transmitting electromagnetic waves to the side slope and the supporting structure through the collector, receiving reflected waves reflected by the side slope and the supporting structure, judging the received reflected waves, controlling the power mechanism to drive the collector to move according to a preset distance through the controller when the energy of the reflected waves is smaller than the preset value, and presetting the preset distance according to actual requirements, wherein the preset distance is 10cm if the preset distance is 10 cm.
Step S3, identifying the geological information of the side slope and the structural information of the supporting structure by the reflected wave which can be received by the collector on a point domain, adding a label to the geological information and the structural information, wherein the label is a natural code of the geological radar host for the received information, establishing a side slope model of the side slope and the supporting structure according to the geological information, the structural information and the label, and the technology of establishing the side slope model by the address information, the structural information and the label is finished by the existing geological radar host, and is not repeated herein.
The processor determines the acquisition time of the acquisition device according to the interval between the transmission of the electromagnetic waves and the reception of the reflected electromagnetic waves, the processor determines the absorption time length of the electromagnetic waves in the slope model when the energy is reduced to be less than the preset value according to the acquisition time, the processor predicts the abnormal position according to the difference value of the absorption time lengths determined for multiple times, for example, when the difference value is greater than the threshold value, the positions measured for two times are determined to be the abnormal positions, the absorption time length determined for the previous time is 10ms, and the absorption time length determined for the later time is 15 ms.
The processor calculates the real-time position of the collector on the walking track 1 according to the label and the preset distance, for example, the collector is initially positioned at one end of the walking track, the label C represents the code of the information after three times of receiving, and the real-time position is the distance obtained by multiplying the label by the preset distance from the end.
After the collector moves, the environmental images of the side slope and the supporting structure are shot through the shooting device, the type of the interference object is identified from the environmental images, the type of the interference object comprises a building and an overhead line, the azimuth relation between the collector and the interference object is judged according to the type of the interference object and the real-time position, the azimuth relation can be that the detection end 5 is perpendicular to the trend of the building, the measuring line of the detection end 5 is parallel to the line direction of the overhead line, and the like, the azimuth relation is compared with the preset azimuth, the preset azimuth comprises that the detection end 5 is parallel to the trend of the building and the measuring line of the detection end 5 is parallel to the line direction, when the azimuth relation is the same with the preset azimuth, the power mechanism is controlled by the controller to drive the collector to turn according to a preset angle, the preset angle can be set according to actual needs, and the preset.
The processor pre-judges the collision positions of the collectors on the plurality of the traveling tracks 1 according to the real-time positions and the collection time, and when the collision positions of at least three collectors are positioned on the same vertical line vertical to the traveling tracks 1, the processor sends an acceleration signal or a deceleration signal to the controller on the traveling tracks 1, so that the controller controls the power mechanism to drive the collectors to move according to the acceleration signal or the deceleration signal; the controller controls the telescopic device 7 on the power mechanism to drive the collector to lift according to a preset height and then move according to the preset height, namely, the end part of the detection end 5 leaves the surface of the side slope and then moves linearly, the controller controls the telescopic device 7 on the power mechanism to drive the collector to lower according to the preset height and move and then lift, namely, the end part of the detection end 5 moves along the surface of the side slope, when the end part of the detection end 5 is blocked by a side slope supporting structure, the height of the detection end 5 rises again, and therefore the moving speed is reduced.
And step S4, identifying abnormal areas of the side slope and the supporting structure from the side slope model according to the characteristics of the electromagnetic waves in the media with different dielectric constants, predicting a risk position according to the side slope model, and directly displaying the risk position on a geological radar host of the collector after obtaining the risk position.
This embodiment is utilizing geological radar to survey the in-process of side slope geology and supporting construction information, utilizes a plurality of detectors to survey from different positions simultaneously, improves information detection's efficiency to through the speed of judging the position of detector then adjusting the modulator removal, avoid a plurality of detections to meet the face simultaneously, prevent the mutual interference between a plurality of detectors, improve the accuracy of detection result.
Example two
The difference from the first embodiment is that the robot manipulator system further comprises a radio receiver for receiving wireless signals, wherein the radio receiver is provided with a manipulator, a communicator and a corresponding control unit, the manipulator can use the existing manipulator product, the manipulator is provided with a base, the control unit is positioned in the base and controls the manipulator to drive the radio receiver to move in multiple dimensions, and the communicator is used for sending information to the controller; when the azimuth relation is different from the preset azimuth, the controller sends a starting signal to the communicator, the control unit obtains the starting signal from the communicator and controls the manipulator to start according to the starting signal, the radio receiver searches the wireless signal from the running vehicle and sends the wireless signal to the controller through the communicator, the controller identifies the signal frequency of the wireless signal, the controller obtains the working frequency of the collector and compares the working frequency with the signal frequency, the working frequency of the collector is the frequency of the electromagnetic wave when the collector works, when the working frequency and the signal frequency are in the same frequency band, for example, the working frequency and the signal frequency are in the same high frequency band, the controller judges that the functional interference of the vehicle is the electromagnetic interference of communication equipment on a functional vehicle (such as a fire truck, a communication monitoring vehicle, an ambulance and the like), the controller controls the collector to stop working, and the controller controls the collector to start working after not receiving the wireless signal of the radio receiver.
The direction relation is different from the preset direction, namely, the collector and the direction of the fixed object existing on the ground do not have interference, the manipulator is controlled to be started through the controller, the manipulator drives the radio receiver to search for the wireless signal on the moving vehicle, the controller identifies the signal frequency of the wireless signal, the controller acquires the working frequency of the collector, the signal frequency and the working frequency are compared, when the manipulator is located in the same frequency band, namely the wireless signal on the moving vehicle and the electromagnetic wave emitted by the collector generate mutual interference, the work of the collector is suspended, the situation that the collection result is influenced by the interference of the wireless signal when the collector works is avoided, whether the passing vehicle causes interference is detected, and the interference elimination range in the working process of the collector is enlarged.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (6)
1. The method for extracting the information of the side slope geology and the supporting structure is characterized by comprising the following steps of:
step S1, laying a walking track on the side slope and the supporting structure, and enabling the collector to move along the walking track through a power mechanism;
step S2, emitting electromagnetic waves to the slope and the supporting structure through the collector, receiving reflected waves reflected by the slope and the supporting structure, judging the received reflected waves, and controlling the power mechanism to drive the collector to move according to a preset distance through the controller when the energy of the reflected waves is smaller than a preset value;
step S3, identifying the geological information of the side slope and the structural information of the supporting structure by the reflected wave which can be received by the collector in a point domain, marking the geological information and the structural information, and establishing a side slope model of the side slope and the supporting structure according to the geological information, the structural information and the marking;
and step S4, identifying abnormal areas of the slope and the supporting structure from the slope model according to the characteristics of the electromagnetic waves in the media with different dielectric constants, and predicting risk positions according to the slope model.
2. The extraction method for the slope geology and supporting structure information according to claim 1, characterized in that: in step S1, a plurality of walking rails are provided, and each walking rail is provided with a power mechanism and a collector, so that the power mechanisms on the plurality of walking rails drive the collectors to move from staggered directions to each other.
3. The extraction method for the slope geology and supporting structure information according to claim 2, characterized in that: in step S3, the processor calculates the real-time position of the collector on the travel track according to the label and the preset distance, the processor determines the collection time of the collector according to the interval between the transmission of the electromagnetic wave and the reception of the reflected electromagnetic wave, the processor determines the absorption duration of the electromagnetic wave in the slope model until the energy is reduced to less than the preset value according to the collection time, and the processor predicts the abnormal position according to the difference between the multiple determined absorption durations.
4. The extraction method for the slope geology and supporting structure information according to claim 3, characterized in that: in the step S3, after the collector moves, the camera is used to shoot the environment images of the side slope and the supporting structure, the type of the interfering object is identified from the environment images, the orientation relationship between the collector and the interfering object is determined according to the type of the interfering object and the real-time position, the orientation relationship is compared with the preset orientation, and when the orientation relationship is the same as the preset orientation, the power mechanism is controlled by the controller to drive the collector to steer according to the preset angle.
5. The extraction method for the slope geology and supporting structure information according to claim 3, characterized in that: in step S3, the processor pre-determines the collision positions of the collectors on the multiple traveling rails according to the real-time positions and the collection time, and when the collision positions of at least three collectors are located on the same vertical line perpendicular to the traveling rails, the processor sends an acceleration signal or a deceleration signal to the controller on the traveling rails, so that the controller controls the power mechanism to drive the collectors to move according to the acceleration signal or the deceleration signal.
6. The extraction method for the slope geology and supporting structure information according to claim 5, characterized in that: in the step S3, the controller controls the retractor of the power mechanism according to the speed-increasing signal to drive the collector to lift first and then move according to the preset height, and the controller controls the retractor of the power mechanism according to the speed-decreasing signal to drive the collector to lower first and then lift according to the preset height.
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| CN109375275A (en) * | 2018-09-03 | 2019-02-22 | 山东大学 | Suitable for constructing tunnel phase advance geologic prediction data collection system and method |
| CN109184797A (en) * | 2018-09-25 | 2019-01-11 | 福建省永正工程质量检测有限公司 | A kind of tunnel structure detection device |
| CN109686057A (en) * | 2019-02-19 | 2019-04-26 | 重庆三峡学院 | A kind of Geological Hazards Monitoring device based on side slope radar |
| CN110687533A (en) * | 2019-09-02 | 2020-01-14 | 山东大学 | Geological radar auxiliary device and method suitable for tunnel lining quality detection |
| CN211375056U (en) * | 2019-12-12 | 2020-08-28 | 山东交通学院 | Tunnel vault quality nondestructive test device |
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